diff --git a/User_Code/bsp/fdcan/bsp_fdcan.c b/User_Code/bsp/fdcan/bsp_fdcan.c index a6788c7..eac73c9 100644 --- a/User_Code/bsp/fdcan/bsp_fdcan.c +++ b/User_Code/bsp/fdcan/bsp_fdcan.c @@ -1,216 +1,376 @@ #include "bsp_fdcan.h" #include "fdcan.h" +#include "memory.h" +#include "stdlib.h" + +/* FDCAN实例指针存储，用于接收回调 */ +static FDCANInstance *fdcan_instance[CAN_MX_REGISTER_CNT] = {NULL}; +static uint8_t idx = 0; // 全局FDCAN实例索引 + +/* ---------------- 静态函数，由FDCANRegister()调用 -------------------- */ + /** -************************************************************************ -* @brief: bsp_can_init(void) -* @param: void -* @retval: void -* @details: CAN 使能 -************************************************************************ -**/ -void bsp_can_init(void) + * @brief 添加过滤器以实现对特定id的报文的接收 + * @param _instance 特定模块拥有的FDCAN实例 + */ +static void FDCANAddFilter(FDCANInstance *_instance) { - can_filter_init(); - HAL_FDCAN_Start(&hfdcan1); //开启FDCAN - HAL_FDCAN_Start(&hfdcan2); - HAL_FDCAN_Start(&hfdcan3); - HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_WATERMARK, 0); - HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO1_WATERMARK, 0); - HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_BUFFER_NEW_MESSAGE, 0); - HAL_FDCAN_ActivateNotification(&hfdcan1, - 0 | FDCAN_IT_RX_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_WATERMARK - | FDCAN_IT_TX_COMPLETE | FDCAN_IT_TX_FIFO_EMPTY | FDCAN_IT_BUS_OFF - | FDCAN_IT_ARB_PROTOCOL_ERROR | FDCAN_IT_DATA_PROTOCOL_ERROR - | FDCAN_IT_ERROR_PASSIVE | FDCAN_IT_ERROR_WARNING, - 0x00000F00); + FDCAN_FilterTypeDef can_filter_conf; + static uint8_t filter_idx[3] = {0}; // 每个CAN的过滤器索引 + + uint8_t can_num = (_instance->can_handle == &hfdcan1 ? 0 : + _instance->can_handle == &hfdcan2 ? 1 : 2); + + can_filter_conf.IdType = FDCAN_STANDARD_ID; // 标准ID + can_filter_conf.FilterIndex = filter_idx[can_num]++; // 滤波器索引自增 + can_filter_conf.FilterType = FDCAN_FILTER_MASK; // 掩码模式 + can_filter_conf.FilterConfig = (_instance->rx_id & 1) ? FDCAN_FILTER_TO_RXFIFO0 : FDCAN_FILTER_TO_RXFIFO1; + can_filter_conf.FilterID1 = _instance->rx_id << 5; // 过滤器ID1 + can_filter_conf.FilterID2 = 0x7FF << 5; // 掩码，匹配所有标准ID + + if (HAL_FDCAN_ConfigFilter(_instance->can_handle, &can_filter_conf) != HAL_OK) + { + Error_Handler(); + } } + /** -************************************************************************ -* @brief: can_filter_init(void) -* @param: void -* @retval: void -* @details: CAN滤波器初始化 -************************************************************************ -**/ -void can_filter_init(void) + * @brief 在第一个FDCAN实例初始化时自动调用此函数，启动FDCAN服务 + */ +static void FDCANServiceInit() { - FDCAN_FilterTypeDef fdcan_filter; + // 配置全局过滤器 + for (int i = 0; i < 3; i++) + { + FDCAN_HandleTypeDef *hfdcan = (i == 0) ? &hfdcan1 : (i == 1) ? &hfdcan2 : &hfdcan3; - fdcan_filter.IdType = FDCAN_STANDARD_ID; //标准ID - fdcan_filter.FilterIndex = 0; //滤波器索引 - fdcan_filter.FilterType = FDCAN_FILTER_MASK; - fdcan_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; //过滤器0关联到FIFO0 - fdcan_filter.FilterID1 = 0x00; - fdcan_filter.FilterID2 = 0x00; + HAL_FDCAN_ConfigGlobalFilter(hfdcan, FDCAN_REJECT, FDCAN_REJECT, + FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); - HAL_FDCAN_ConfigFilter(&hfdcan1,&fdcan_filter); //接收ID2 - //拒绝接收匹配不成功的标准ID和扩展ID,不接受远程帧 - HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT,FDCAN_REJECT,FDCAN_REJECT_REMOTE,FDCAN_REJECT_REMOTE); - HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO0, 1); - HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO1, 1); - HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_TX_COMPLETE, FDCAN_TX_BUFFER0); + // 启动FDCAN + HAL_FDCAN_Start(hfdcan); + + // 激活通知 + if (i == 0) // FDCAN1使用FIFO0 + { + HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); + } + else // FDCAN2和FDCAN3使用FIFO1 + { + HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0); + } + + HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_BUS_OFF, 0); + } +} + +/** + * @brief 从FDCAN数据长度码转换为实际数据长度 + * @param dlc 数据长度码 + * @return uint8_t 实际数据长度 + */ +static uint8_t FDCANDlcToLen(uint32_t dlc) +{ + if (dlc <= FDCAN_DLC_BYTES_8) + return dlc; + else if (dlc == FDCAN_DLC_BYTES_12) + return 12; + else if (dlc == FDCAN_DLC_BYTES_16) + return 16; + else if (dlc == FDCAN_DLC_BYTES_20) + return 20; + else if (dlc == FDCAN_DLC_BYTES_24) + return 24; + else if (dlc == FDCAN_DLC_BYTES_32) + return 32; + else if (dlc == FDCAN_DLC_BYTES_48) + return 48; + else if (dlc == FDCAN_DLC_BYTES_64) + return 64; + return 0; +} + +/** + * @brief 从实际数据长度转换为FDCAN数据长度码 + * @param len 实际数据长度 + * @return uint32_t 数据长度码 + */ +static uint32_t FDCANLenToDlc(uint8_t len) +{ + if (len <= 8) + return len; + else if (len == 12) + return FDCAN_DLC_BYTES_12; + else if (len == 16) + return FDCAN_DLC_BYTES_16; + else if (len == 20) + return FDCAN_DLC_BYTES_20; + else if (len == 24) + return FDCAN_DLC_BYTES_24; + else if (len == 32) + return FDCAN_DLC_BYTES_32; + else if (len == 48) + return FDCAN_DLC_BYTES_48; + else if (len == 64) + return FDCAN_DLC_BYTES_64; + return FDCAN_DLC_BYTES_8; +} + +/* ----------------------- 外部可调用函数 -----------------------*/ + +FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config) +{ + if (!idx) + { + FDCANServiceInit(); // 第一次注册，先进行硬件初始化 + } + + if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数 + { + while (1); // 错误处理 + } + + for (size_t i = 0; i < idx; i++) + { // 重复注册检查 + if (fdcan_instance[i]->rx_id == config->rx_id && + fdcan_instance[i]->can_handle == config->can_handle) + { + while (1); // ID冲突错误处理 + } + } + + FDCANInstance *instance = (FDCANInstance *)malloc(sizeof(FDCANInstance)); + memset(instance, 0, sizeof(FDCANInstance)); + + // 进行发送报文的配置 + instance->txconf.Identifier = config->tx_id; + instance->txconf.IdType = FDCAN_STANDARD_ID; + instance->txconf.TxFrameType = FDCAN_DATA_FRAME; + instance->txconf.DataLength = FDCAN_DLC_BYTES_8; + instance->txconf.ErrorStateIndicator = FDCAN_ESI_ACTIVE; + instance->txconf.BitRateSwitch = FDCAN_BRS_OFF; + instance->txconf.FDFormat = FDCAN_CLASSIC_CAN; + instance->txconf.TxEventFifoControl = FDCAN_NO_TX_EVENTS; + instance->txconf.MessageMarker = 0; + + // 设置回调函数和接收发送id + instance->can_handle = config->can_handle; + instance->tx_id = config->tx_id; + instance->rx_id = config->rx_id; + instance->can_module_callback = config->can_module_callback; + instance->id = config->id; + + FDCANAddFilter(instance); // 添加FDCAN过滤器规则 + fdcan_instance[idx++] = instance; // 将实例保存到fdcan_instance中 + + return instance; // 返回FDCAN实例指针 +} + +uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout) +{ + uint32_t start_time = HAL_GetTick(); + + // 等待发送FIFO有空闲位置 + while (HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle) == 0) + { + if (HAL_GetTick() - start_time > timeout) + { + return 0; // 超时 + } + } + + // 发送消息 + if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff) != HAL_OK) + { + return 0; // 发送失败 + } + + return 1; // 发送成功 +} + +void FDCANSetDLC(FDCANInstance *_instance, uint8_t length) +{ + if (length > 64) // FDCAN最大支持64字节 + { + while (1); // 错误处理 + } + _instance->txconf.DataLength = FDCANLenToDlc(length); } void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud) { - uint32_t nom_brp=0, nom_seg1=0, nom_seg2=0, nom_sjw=0; - uint32_t dat_brp=0, dat_seg1=0, dat_seg2=0, dat_sjw=0; + uint32_t nom_brp=0, nom_seg1=0, nom_seg2=0, nom_sjw=0; + uint32_t dat_brp=0, dat_seg1=0, dat_seg2=0, dat_sjw=0; - /* nominal_baud = 80M/brp/(1+seg1+seg2) - sample point = (1+seg1)/(1+seg1+sjw) */ - if(mode == CAN_CLASS) - { - switch (baud) - { - case CAN_BR_125K: nom_brp=4 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5% - case CAN_BR_200K: nom_brp=2 ; nom_seg1=174; nom_seg2=25; nom_sjw=25; break; // sample point 87.5% - case CAN_BR_250K: nom_brp=2 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5% - case CAN_BR_500K: nom_brp=1 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5% - case CAN_BR_1M: nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; break; // sample point 75% - } - dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; // 仲裁域默认1M - hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC; - } - /* data_baud = 80M/brp/(1+seg1+seg2) - sample point = (1+seg1)/(1+seg1+sjw) */ - if(mode == CAN_FD_BRS) - { - switch (baud) - { - case CAN_BR_2M: dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; break; // sample point 75% - case CAN_BR_2M5: dat_brp=1 ; dat_seg1=25; dat_seg2=6 ; dat_sjw=6 ; break; // sample point 81.25% - case CAN_BR_3M2: dat_brp=1 ; dat_seg1=19; dat_seg2=5 ; dat_sjw=5 ; break; // sample point 80% - case CAN_BR_4M: dat_brp=1 ; dat_seg1=14; dat_seg2=5 ; dat_sjw=5 ; break; // sample point 75% - case CAN_BR_5M: dat_brp=1 ; dat_seg1=13; dat_seg2=2 ; dat_sjw=2 ; break; // sample point 87.5% - } - nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; // 数据域默认1M - hfdcan->Init.FrameFormat = FDCAN_FRAME_FD_BRS; - } - - HAL_FDCAN_DeInit(hfdcan); - - hfdcan->Init.NominalPrescaler = nom_brp; - hfdcan->Init.NominalTimeSeg1 = nom_seg1; - hfdcan->Init.NominalTimeSeg2 = nom_seg2; - hfdcan->Init.NominalSyncJumpWidth = nom_sjw; - - hfdcan->Init.DataPrescaler = dat_brp; - hfdcan->Init.DataTimeSeg1 = dat_seg1; - hfdcan->Init.DataTimeSeg2 = dat_seg2; - hfdcan->Init.DataSyncJumpWidth = dat_sjw; - - HAL_FDCAN_Init(hfdcan); -} - - -/** -************************************************************************ -* @brief: fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len) -* @param: hfdcan：FDCAN句柄 -* @param: id：CAN设备ID -* @param: data：发送的数据 -* @param: len：发送的数据长度 -* @retval: void -* @details: 发送数据 -************************************************************************ -**/ -uint8_t fdcanx_send_data(hcan_t *hfdcan, uint16_t id, uint8_t *data, uint32_t len) -{ - FDCAN_TxHeaderTypeDef pTxHeader; - pTxHeader.Identifier=id; - pTxHeader.IdType=FDCAN_STANDARD_ID; - pTxHeader.TxFrameType=FDCAN_DATA_FRAME; - - if(len<=8) - pTxHeader.DataLength = len; - else if(len==12) - pTxHeader.DataLength = FDCAN_DLC_BYTES_12; - else if(len==16) - pTxHeader.DataLength = FDCAN_DLC_BYTES_16; - else if(len==20) - pTxHeader.DataLength = FDCAN_DLC_BYTES_20; - else if(len==24) - pTxHeader.DataLength = FDCAN_DLC_BYTES_24; - else if(len==32) - pTxHeader.DataLength = FDCAN_DLC_BYTES_32; - else if(len==48) - pTxHeader.DataLength = FDCAN_DLC_BYTES_48; - else if(len==64) - pTxHeader.DataLength = FDCAN_DLC_BYTES_64; - - pTxHeader.ErrorStateIndicator=FDCAN_ESI_ACTIVE; - pTxHeader.BitRateSwitch=FDCAN_BRS_ON; - pTxHeader.FDFormat=FDCAN_FD_CAN; - pTxHeader.TxEventFifoControl=FDCAN_NO_TX_EVENTS; - pTxHeader.MessageMarker=0; - - if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &pTxHeader, data)!=HAL_OK) - return 1;//发送 - return 0; -} -/** -************************************************************************ -* @brief: fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf) -* @param: hfdcan：FDCAN句柄 -* @param: buf：接收数据缓存 -* @retval: 接收的数据长度 -* @details: 接收数据 -************************************************************************ -**/ -uint8_t fdcanx_receive(hcan_t *hfdcan, uint16_t *rec_id, uint8_t *buf) -{ - FDCAN_RxHeaderTypeDef pRxHeader; - uint8_t len; - - if(HAL_FDCAN_GetRxMessage(hfdcan,FDCAN_RX_FIFO0, &pRxHeader, buf)==HAL_OK) - { - *rec_id = pRxHeader.Identifier; - if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_8) - len = pRxHeader.DataLength; - else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_12) - len = 12; - else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_16) - len = 16; - else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_20) - len = 20; - else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_24) - len = 24; - else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_32) - len = 32; - else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_48) - len = 48; - else if(pRxHeader.DataLength==FDCAN_DLC_BYTES_64) - len = 64; - - return len;//接收数据 - } - return 0; -} - - - -__weak void fdcan1_rx_callback(void) -{ - -} - -void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) -{ - if (hfdcan == &hfdcan1) + if(mode == CAN_CLASS) { - fdcan1_rx_callback(); + switch (baud) + { + case CAN_BR_125K: nom_brp=4 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; + case CAN_BR_200K: nom_brp=2 ; nom_seg1=174; nom_seg2=25; nom_sjw=25; break; + case CAN_BR_250K: nom_brp=2 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; + case CAN_BR_500K: nom_brp=1 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; + case CAN_BR_1M: nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; break; + } + dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; + hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC; + } + + if(mode == CAN_FD_BRS) + { + switch (baud) + { + case CAN_BR_2M: dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; break; + case CAN_BR_2M5: dat_brp=1 ; dat_seg1=25; dat_seg2=6 ; dat_sjw=6 ; break; + case CAN_BR_3M2: dat_brp=1 ; dat_seg1=19; dat_seg2=5 ; dat_sjw=5 ; break; + case CAN_BR_4M: dat_brp=1 ; dat_seg1=14; dat_seg2=5 ; dat_sjw=5 ; break; + case CAN_BR_5M: dat_brp=1 ; dat_seg1=13; dat_seg2=2 ; dat_sjw=2 ; break; + } + nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; + hfdcan->Init.FrameFormat = FDCAN_FRAME_FD_BRS; + } + + HAL_FDCAN_DeInit(hfdcan); + + hfdcan->Init.NominalPrescaler = nom_brp; + hfdcan->Init.NominalTimeSeg1 = nom_seg1; + hfdcan->Init.NominalTimeSeg2 = nom_seg2; + hfdcan->Init.NominalSyncJumpWidth = nom_sjw; + + hfdcan->Init.DataPrescaler = dat_brp; + hfdcan->Init.DataTimeSeg1 = dat_seg1; + hfdcan->Init.DataTimeSeg2 = dat_seg2; + hfdcan->Init.DataSyncJumpWidth = dat_sjw; + + HAL_FDCAN_Init(hfdcan); +} + +/* ----------------------- 回调函数定义 --------------------------*/ + +/** + * @brief 处理FIFO0和FIFO1接收中断 + * @param _hcan FDCAN句柄 + * @param fifox 传递给HAL_FDCAN_GetRxMessage()以从特定FIFO获取消息 + */ +static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hcan, uint32_t fifox) +{ + FDCAN_RxHeaderTypeDef rxconf; + uint8_t can_rx_buff[64]; + + while (HAL_FDCAN_GetRxFifoFillLevel(_hcan, fifox)) // FIFO不为空 + { + HAL_FDCAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); + + for (size_t i = 0; i < idx; ++i) + { + if (_hcan == fdcan_instance[i]->can_handle && + rxconf.Identifier == fdcan_instance[i]->rx_id) + { + if (fdcan_instance[i]->can_module_callback != NULL) + { + fdcan_instance[i]->rx_len = FDCANDlcToLen(rxconf.DataLength); + memcpy(fdcan_instance[i]->rx_buff, can_rx_buff, fdcan_instance[i]->rx_len); + fdcan_instance[i]->can_module_callback(fdcan_instance[i]); + } + return; + } + } } } +// 弱定义的接收回调函数 +__weak void fdcan1_rx_callback(void) +{ + // 用户可重写 +} + +__weak void fdcan2_rx_callback(void) +{ + // 用户可重写 +} + +__weak void fdcan3_rx_callback(void) +{ + // 用户可重写 +} + +/** + * @brief FIFO0接收回调函数 + */ +void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) +{ + if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET) + { + FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO0); + + // 调用用户回调 + if (hfdcan == &hfdcan1) + { + fdcan1_rx_callback(); + } + } +} + +/** + * @brief FIFO1接收回调函数 + */ +void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) +{ + if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET) + { + FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO1); + + // 调用用户回调 + if (hfdcan == &hfdcan2) + { + fdcan2_rx_callback(); + } + else if (hfdcan == &hfdcan3) + { + fdcan3_rx_callback(); + } + } +} + +/** + * @brief 错误状态回调函数 + */ void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs) { - if(ErrorStatusITs & FDCAN_IR_BO) - { - CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT); - } - if(ErrorStatusITs & FDCAN_IR_EP) - { - // MX_FDCAN1_Init(); - // bsp_can_init(); - } -} + if (ErrorStatusITs & FDCAN_IR_BO) + { + // 总线关闭恢复 + CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT); + hfdcan->ErrorCode = 0; + } + if (ErrorStatusITs & FDCAN_IR_EP) + { + // 错误被动状态处理，重新初始化FDCAN + if (hfdcan->Instance == FDCAN1) + { + MX_FDCAN1_Init(); + } + else if (hfdcan->Instance == FDCAN2) + { + MX_FDCAN2_Init(); + } + else if (hfdcan->Instance == FDCAN3) + { + MX_FDCAN3_Init(); + } + + // 重新配置过滤器并启动 + HAL_FDCAN_Start(hfdcan); + if (hfdcan == &hfdcan1) + { + HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); + } + else + { + HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0); + } + HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_BUS_OFF, 0); + + hfdcan->ErrorCode = 0; + } +} \ No newline at end of file diff --git a/User_Code/bsp/fdcan/bsp_fdcan.h b/User_Code/bsp/fdcan/bsp_fdcan.h index a8decdb..4cb9887 100644 --- a/User_Code/bsp/fdcan/bsp_fdcan.h +++ b/User_Code/bsp/fdcan/bsp_fdcan.h @@ -5,6 +5,10 @@ #define hcan_t FDCAN_HandleTypeDef +#define CAN_MX_REGISTER_CNT 16 // 最大CAN设备注册数量 +#define MX_CAN_FILTER_CNT (3 * 14) // 最多可以使用的CAN过滤器数量，支持3个CAN +#define DEVICE_CAN_CNT 3 // FDCAN1, FDCAN2, FDCAN3 + #define CAN_CLASS 0 #define CAN_FD_BRS 1 @@ -19,14 +23,67 @@ #define CAN_BR_4M 8 #define CAN_BR_5M 9 -void bsp_can_init(void); -void can_filter_init(void); +/* FDCAN实例结构体，每个注册到FDCAN的模块都应该有这个变量 */ +#pragma pack(1) +typedef struct _ +{ + FDCAN_HandleTypeDef *can_handle; // FDCAN句柄 + FDCAN_TxHeaderTypeDef txconf; // FDCAN报文发送配置 + uint32_t tx_id; // 发送id + uint32_t tx_mailbox; // FDCAN消息填入的邮箱号 + uint8_t tx_buff[64]; // 发送缓存，FDCAN最大支持64字节 + uint8_t rx_buff[64]; // 接收缓存，FDCAN最大支持64字节 + uint32_t rx_id; // 接收id + uint8_t rx_len; // 接收长度 + // 接收的回调函数，用于解析接收到的数据 + void (*can_module_callback)(struct _ *); // 回调函数需要实例来区分注册的设备 + void *id; // 使用FDCAN外设的模块指针 +} FDCANInstance; +#pragma pack() + +/* FDCAN实例初始化结构体，将此结构体指针传入注册函数 */ +typedef struct +{ + FDCAN_HandleTypeDef *can_handle; // FDCAN句柄 + uint32_t tx_id; // 发送id + uint32_t rx_id; // 接收id + void (*can_module_callback)(FDCANInstance *); // 处理接收数据的回调函数 + void *id; // 拥有FDCAN实例的模块地址 +} FDCAN_Init_Config_s; + +/** + * @brief 注册一个模块到FDCAN服务，在使用FDCAN设备前调用 + * @param config 初始化配置 + * @return FDCANInstance* 模块拥有的FDCAN实例 + */ +FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config); + +/** + * @brief 修改FDCAN发送报文的数据帧长度 + * @param _instance 要修改长度的FDCAN实例 + * @param length 设定长度，FDCAN最大支持64字节 + */ +void FDCANSetDLC(FDCANInstance *_instance, uint8_t length); + +/** + * @brief 通过FDCAN实例发送消息 + * @param _instance 模块拥有的FDCAN实例 + * @param timeout 超时时间，单位为ms + * @return uint8_t 发送成功返回1，失败返回0 + */ +uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout); + +/** + * @brief 设置FDCAN波特率 + * @param hfdcan FDCAN句柄 + * @param mode CAN模式：CAN_CLASS或CAN_FD_BRS + * @param baud 波特率选择 + */ void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud); -uint8_t fdcanx_send_data(hcan_t *hfdcan, uint16_t id, uint8_t *data, uint32_t len); -uint8_t fdcanx_receive(hcan_t *hfdcan, uint16_t *rec_id, uint8_t *buf); -void fdcan1_rx_callback(void); -void fdcan2_rx_callback(void); -void fdcan3_rx_callback(void); -#endif /* __BSP_FDCAN_H_ */ +// 弱定义的接收回调函数，用户可重写 +__weak void fdcan1_rx_callback(void); +__weak void fdcan2_rx_callback(void); +__weak void fdcan3_rx_callback(void); +#endif /* __BSP_FDCAN_H_ */ \ No newline at end of file