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changed fdcan.c

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TuxMonkey
2025-10-26 13:26:30 +08:00
parent 2f5e60e86c
commit 2cd749a652
2 changed files with 421 additions and 204 deletions
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552
User_Code/bsp/fdcan/bsp_fdcan.c
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@@ -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;
}
}