TuxMonkey/tronone-h7-scaffold
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TuxMonkey
2025-11-15 15:55:05 +08:00
parent 0f85356b7d
commit 71e9329709
2 changed files with 124 additions and 60 deletions
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6
.clang-format
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@@ -18,10 +18,10 @@ BraceWrapping:
AfterStruct: true
AfterUnion: true
AfterExternBlock: true
BeforeCatch: false
BeforeElse: false
BeforeCatch: true
BeforeElse: true
BeforeLambdaBody: true
BeforeWhile: false
BeforeWhile: true
IndentBraces: false
SplitEmptyFunction: true
SplitEmptyRecord: true

178
User_Code/bsp/fdcan/bsp_fdcan.c
View File

@@ -23,7 +23,8 @@ static uint8_t idx = 0; // 全局FDCAN实例索引,每次有新的模块注册
*
* @param _instance FDCAN实例
*/
static void FDCANAddFilter(FDCANInstance *_instance) {
static void FDCANAddFilter(FDCANInstance *_instance)
{
FDCAN_FilterTypeDef can_filter_conf;
static uint8_t fdcan1_filter_idx = 0, fdcan2_filter_idx = 0, fdcan3_filter_idx = 0;
@@ -31,11 +32,16 @@ static void FDCANAddFilter(FDCANInstance *_instance) {
can_filter_conf.FilterType = FDCAN_FILTER_MASK; // 使用掩码模式
// 根据can_handle判断是哪个FDCAN,然后分配过滤器索引
if (_instance->can_handle == &hfdcan1) {
if (_instance->can_handle == &hfdcan1)
{
can_filter_conf.FilterIndex = fdcan1_filter_idx++;
} else if (_instance->can_handle == &hfdcan2) {
}
else if (_instance->can_handle == &hfdcan2)
{
can_filter_conf.FilterIndex = fdcan2_filter_idx++;
} else if (_instance->can_handle == &hfdcan3) {
}
else if (_instance->can_handle == &hfdcan3)
{
can_filter_conf.FilterIndex = fdcan3_filter_idx++;
}
@@ -43,7 +49,8 @@ static void FDCANAddFilter(FDCANInstance *_instance) {
can_filter_conf.FilterID1 = _instance->rx_id << 5; // 标准ID左移5位
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) {
if (HAL_FDCAN_ConfigFilter(_instance->can_handle, &can_filter_conf) != HAL_OK)
{
Error_Handler();
}
}
@@ -54,7 +61,8 @@ static void FDCANAddFilter(FDCANInstance *_instance) {
* @note 此函数会启动FDCAN1、FDCAN2和FDCAN3,开启相应的FIFO中断通知
*
*/
static void FDCANServiceInit() {
static void FDCANServiceInit()
{
// 配置全局过滤器 - 拒绝所有不匹配的帧
HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
@@ -83,7 +91,8 @@ static void FDCANServiceInit() {
* @param dlc 数据长度码
* @return uint8_t 实际数据长度
*/
static uint8_t FDCANDlcToLen(uint32_t dlc) {
static uint8_t FDCANDlcToLen(uint32_t dlc)
{
if (dlc <= FDCAN_DLC_BYTES_8)
return dlc;
else if (dlc == FDCAN_DLC_BYTES_12)
@@ -108,7 +117,8 @@ static uint8_t FDCANDlcToLen(uint32_t dlc) {
* @param len 实际数据长度
* @return uint32_t 数据长度码
*/
static uint32_t FDCANLenToDlc(uint8_t len) {
static uint32_t FDCANLenToDlc(uint8_t len)
{
if (len <= 8)
return len;
else if (len == 12)
@@ -130,20 +140,26 @@ static uint32_t FDCANLenToDlc(uint8_t len) {
/* ----------------------- 外部可调用函数 -----------------------*/
FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config) {
if (!idx) {
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) {
while (1)
{
// LOGERROR("[bsp_fdcan] FDCAN instance exceeded MAX num, consider balance the load of FDCAN bus");
}
}
for (size_t i = 0; i < idx; i++) {
for (size_t i = 0; i < idx; i++)
{
// 重复注册 | id重复
if (fdcan_instance[i]->rx_id == config->rx_id && fdcan_instance[i]->can_handle == config->can_handle) {
while (1) {
if (fdcan_instance[i]->rx_id == config->rx_id && fdcan_instance[i]->can_handle == config->can_handle)
{
while (1)
{
// LOGERROR("[bsp_fdcan] FDCAN id crash ,tx [%d] or rx [%d] already registered", config->tx_id, config->rx_id);
}
}
@@ -186,13 +202,15 @@ FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config) {
* @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) {
uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout)
{
// static uint32_t busy_count;
static volatile float wait_time __attribute__((unused)); // for cancel warning
// float dwt_start = DWT_GetTimeline_ms();
// 等待发送FIFO有空闲位置
while (HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle) == 0) {
while (HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle) == 0)
{
// if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
// {
// LOGWARNING("[bsp_fdcan] FDCAN TX FIFO full! failed to add msg to FIFO. Cnt [%d]", busy_count);
@@ -203,7 +221,8 @@ uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout) {
// wait_time = DWT_GetTimeline_ms() - dwt_start;
// 发送消息
if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff) != HAL_OK) {
if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff) != HAL_OK)
{
// LOGWARNING("[bsp_fdcan] FDCAN bus BUS! cnt:%d", busy_count);
// busy_count++;
return 0;
@@ -218,10 +237,12 @@ uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout) {
* @param _instance 要修改长度的FDCAN实例
* @param length 设定长度
*/
void FDCANSetDLC(FDCANInstance *_instance, uint8_t length) {
void FDCANSetDLC(FDCANInstance *_instance, uint8_t length)
{
// 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问
if (length > 64 || length == 0) // 安全检查
while (1) {
while (1)
{
//LOGERROR("[bsp_fdcan] FDCAN DLC error! check your code or wild pointer");
}
_instance->txconf.DataLength = FDCANLenToDlc(length);
@@ -233,72 +254,90 @@ void FDCANSetDLC(FDCANInstance *_instance, uint8_t length) {
* @param mode CAN模式：CAN_CLASS或CAN_FD_BRS
* @param baud 波特率选择
*/
void bsp_fdcan_set_baud(FDCAN_HandleTypeDef *hfdcan, uint8_t mode, uint8_t baud) {
void bsp_fdcan_set_baud(FDCAN_HandleTypeDef *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;
if (mode == CAN_CLASS) {
switch (baud) {
case CAN_BR_125K: nom_brp = 4;
if (mode == CAN_CLASS)
{
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;
case CAN_BR_200K:
nom_brp = 2;
nom_seg1 = 174;
nom_seg2 = 25;
nom_sjw = 25;
break;
case CAN_BR_250K: nom_brp = 2;
case CAN_BR_250K:
nom_brp = 2;
nom_seg1 = 139;
nom_seg2 = 20;
nom_sjw = 20;
break;
case CAN_BR_500K: nom_brp = 1;
case CAN_BR_500K:
nom_brp = 1;
nom_seg1 = 139;
nom_seg2 = 20;
nom_sjw = 20;
break;
case CAN_BR_1M: nom_brp = 1;
case CAN_BR_1M:
nom_brp = 1;
nom_seg1 = 59;
nom_seg2 = 20;
nom_sjw = 20;
break;
default: break;
default:
break;
}
dat_brp = 1;
dat_seg1 = 29;
dat_seg2 = 10;
dat_sjw = 10; // 仲裁域默认1M
hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC;
} else if (mode == CAN_FD_BRS) {
switch (baud) {
case CAN_BR_2M: dat_brp = 1;
}
else 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;
case CAN_BR_2M5:
dat_brp = 1;
dat_seg1 = 25;
dat_seg2 = 6;
dat_sjw = 6;
break;
case CAN_BR_3M2: dat_brp = 1;
case CAN_BR_3M2:
dat_brp = 1;
dat_seg1 = 19;
dat_seg2 = 5;
dat_sjw = 5;
break;
case CAN_BR_4M: dat_brp = 1;
case CAN_BR_4M:
dat_brp = 1;
dat_seg1 = 14;
dat_seg2 = 5;
dat_sjw = 5;
break;
case CAN_BR_5M: dat_brp = 1;
case CAN_BR_5M:
dat_brp = 1;
dat_seg1 = 13;
dat_seg2 = 2;
dat_sjw = 2;
break;
default: break;
default:
break;
}
nom_brp = 1;
nom_seg1 = 59;
@@ -319,7 +358,8 @@ void bsp_fdcan_set_baud(FDCAN_HandleTypeDef *hfdcan, uint8_t mode, uint8_t baud)
hfdcan->Init.DataTimeSeg2 = dat_seg2;
hfdcan->Init.DataSyncJumpWidth = dat_sjw;
if (HAL_FDCAN_Init(hfdcan) != HAL_OK) {
if (HAL_FDCAN_Init(hfdcan) != HAL_OK)
{
Error_Handler();
}
@@ -328,9 +368,12 @@ void bsp_fdcan_set_baud(FDCAN_HandleTypeDef *hfdcan, uint8_t mode, uint8_t baud)
HAL_FDCAN_ConfigGlobalFilter(hfdcan, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
// 重新激活通知
if (hfdcan == &hfdcan1) {
if (hfdcan == &hfdcan1)
{
HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
} else {
}
else
{
HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
}
HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_BUS_OFF, 0);
@@ -345,7 +388,8 @@ void bsp_fdcan_set_baud(FDCAN_HandleTypeDef *hfdcan, uint8_t mode, uint8_t baud)
* @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) {
static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hcan, uint32_t fifox)
{
FDCAN_RxHeaderTypeDef rxconf;
uint8_t can_rx_buff[64];
@@ -353,9 +397,11 @@ static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hcan, uint32_t fifox) {
{
HAL_FDCAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
for (size_t i = 0; i < idx; ++i) {
for (size_t i = 0; i < idx; ++i)
{
// 两者相等说明这是要找的实例
if (_hcan == fdcan_instance[i]->can_handle && rxconf.Identifier == fdcan_instance[i]->rx_id) {
if (_hcan == fdcan_instance[i]->can_handle && rxconf.Identifier == fdcan_instance[i]->rx_id)
{
if (fdcan_instance[i]->can_module_callback != NULL) // 回调函数不为空就调用
{
fdcan_instance[i]->rx_len = FDCANDlcToLen(rxconf.DataLength); // 保存接收到的数据长度
@@ -380,8 +426,10 @@ static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hcan, uint32_t fifox) {
* @param hfdcan FDCAN handle indicate which device the message in FIFO_0 comes from
* @param RxFifo0ITs FIFO0中断标志
*/
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET) {
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
{
FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO0); // 调用我们自己写的函数来处理消息
}
}
@@ -392,8 +440,10 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
* @param hfdcan FDCAN handle indicate which device the message in FIFO_1 comes from
* @param RxFifo1ITs FIFO1中断标志
*/
void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET) {
void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
{
if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET)
{
FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
}
}
@@ -403,22 +453,30 @@ void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
* @param hfdcan FDCAN句柄
* @param ErrorStatusITs 错误状态中断标志
*/
void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs) {
if (ErrorStatusITs & FDCAN_IR_BO) {
void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
{
if (ErrorStatusITs & FDCAN_IR_BO)
{
// 总线关闭恢复
CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT);
hfdcan->ErrorCode = 0;
// LOGWARNING("[bsp_fdcan] FDCAN Bus Off recovered");
}
if (ErrorStatusITs & FDCAN_IR_EP) {
if (ErrorStatusITs & FDCAN_IR_EP)
{
// 错误被动状态处理，重新初始化FDCAN
// LOGWARNING("[bsp_fdcan] FDCAN Error Passive, reinitializing...");
if (hfdcan->Instance == FDCAN1) {
if (hfdcan->Instance == FDCAN1)
{
MX_FDCAN1_Init();
} else if (hfdcan->Instance == FDCAN2) {
}
else if (hfdcan->Instance == FDCAN2)
{
MX_FDCAN2_Init();
} else if (hfdcan->Instance == FDCAN3) {
}
else if (hfdcan->Instance == FDCAN3)
{
MX_FDCAN3_Init();
}
@@ -426,9 +484,12 @@ void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorSt
HAL_FDCAN_Start(hfdcan);
HAL_FDCAN_ConfigGlobalFilter(hfdcan, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
if (hfdcan == &hfdcan1) {
if (hfdcan == &hfdcan1)
{
HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
} else {
}
else
{
HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
}
HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_BUS_OFF, 0);
@@ -438,14 +499,17 @@ void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorSt
}
// 弱定义的接收回调函数，用户可重写
__weak void fdcan1_rx_callback(void) {
__weak void fdcan1_rx_callback(void)
{
// 用户可重写
}
__weak void fdcan2_rx_callback(void) {
__weak void fdcan2_rx_callback(void)
{
// 用户可重写
}
__weak void fdcan3_rx_callback(void) {
__weak void fdcan3_rx_callback(void)
{
// 用户可重写
}