From 71e9329709cfb8f0eb8c2a5a6a062260e69f609e Mon Sep 17 00:00:00 2001 From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com> Date: Sat, 15 Nov 2025 15:55:05 +0800 Subject: [PATCH] linux armnoneeabigcc --- .clang-format | 6 +- User_Code/bsp/fdcan/bsp_fdcan.c | 178 ++++++++++++++++++++++---------- 2 files changed, 124 insertions(+), 60 deletions(-) diff --git a/.clang-format b/.clang-format index 5693804..a07cf7f 100644 --- a/.clang-format +++ b/.clang-format @@ -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 diff --git a/User_Code/bsp/fdcan/bsp_fdcan.c b/User_Code/bsp/fdcan/bsp_fdcan.c index 214602a..b707097 100644 --- a/User_Code/bsp/fdcan/bsp_fdcan.c +++ b/User_Code/bsp/fdcan/bsp_fdcan.c @@ -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 }