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TuxMonkey
2026-01-09 03:05:55 +08:00
parent 59e545e3f2
commit 93abe2381f
3 changed files with 367 additions and 479 deletions
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User_Code/bsp/fdcan/bsp_fdcan.c
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@@ -2,514 +2,394 @@
#include "main.h"
#include "memory.h"
#include "stdlib.h"
// #include "bsp_dwt.h"
// #include "bsp_log.h"
#include "bsp_dwt.h"
#include "bsp_log.h"
/* FDCAN实例指针存储，用于接收回调 */
// 在FDCAN产生接收中断会遍历数组,选出hfdcan和rxid与发生中断的实例相同的那个,调用其回调函数
/* can instance ptrs storage, used for recv callback */
// 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数
// @todo: 后续为每个CAN总线单独添加一个can_instance指针数组,提高回调查找的性能
static FDCANInstance *fdcan_instance[CAN_MX_REGISTER_CNT] = {NULL};
static uint8_t idx = 0; // 全局FDCAN实例索引,每次有新的模块注册会自增
static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增
/* ---------------- 静态函数，由FDCANRegister()调用 -------------------- */
/* ----------------two static function called by CANRegister()-------------------- */
/**
* @brief 添加过滤器以实现对特定id的报文的接收,会被FDCANRegister()调用
* 给FDCAN添加过滤器后,FDCAN会根据接收到的报文的id进行消息过滤,符合规则的id会被填入FIFO触发中断
* @brief 添加过滤器以实现对特定id的报文的接收,会被CANRegister()调用
* 给CAN添加过滤器后,BxCAN会根据接收到的报文的id进行消息过滤,符合规则的id会被填入FIFO触发中断
* 对于FDCAN，设置使用特定ID模式过滤。
*
* @note H7的FDCAN有多个过滤器,这里为每个FDCAN分配独立的过滤器索引
* @note f407的bxCAN有28个过滤器,这里将其配置为前14个过滤器给CAN1使用,后14个被CAN2使用
* 初始化时,奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
* 注册到CAN1的模块使用过滤器0-13,CAN2使用过滤器14-27
* FDCAN的消息RAM是所有FDCAN外设共用的。
* H723系列FDCAN过滤器数量完全在CubeMX中自定义，因此先做一次检查，再添加即可。
*
* @attention FDCAN的过滤器配置与标准CAN有所不同,使用掩码模式进行过滤
* @attention 你不需要完全理解这个函数的作用,因为它主要是用于初始化,在开发过程中不需要关心底层的实现
* 享受开发的乐趣吧!如果你真的想知道这个函数在干什么,请联系作者或自己查阅资料(请直接查阅官方的reference manual)
* FDCAN的教程较少，但是添加FDCAN的人已经发了一篇CSDN讲解了，可以参考一下
*
* @param _instance FDCAN实例
* @param _instance can instance owned by specific module
*/
static void FDCANAddFilter(FDCANInstance *_instance)
static void CANAddFilter(FDCANInstance *_instance)
{
FDCAN_FilterTypeDef can_filter_conf;
static uint8_t fdcan1_filter_idx = 0, fdcan2_filter_idx = 0, fdcan3_filter_idx = 0;
can_filter_conf.IdType = FDCAN_STANDARD_ID; // 标准ID
can_filter_conf.FilterType = FDCAN_FILTER_MASK; // 使用掩码模式
#ifdef FDCAN
static uint8_t can1_filter_idx = 0, can2_filter_idx = 0 , can3_filter_idx = 0;
//检查是否超出过滤器设定数量上限
if(can1_filter_idx > hfdcan1.Init.StdFiltersNbr || can2_filter_idx>hfdcan2.Init.StdFiltersNbr || can3_filter_idx > hfdcan3.Init.StdFiltersNbr)
{
while(1)
{
//报错
}
}
uint8_t *filter_idx_p;
// 根据can_handle判断是哪个FDCAN,然后分配过滤器索引
if (_instance->can_handle == &hfdcan1)
{
can_filter_conf.FilterIndex = fdcan1_filter_idx++;
}
else if (_instance->can_handle == &hfdcan2)
{
can_filter_conf.FilterIndex = fdcan2_filter_idx++;
}
else if (_instance->can_handle == &hfdcan3)
{
can_filter_conf.FilterIndex = fdcan3_filter_idx++;
}
if(_instance->can_handle==&hfdcan1)
{
filter_idx_p=&can1_filter_idx;
}
else if(_instance->can_handle==&hfdcan2)
{
filter_idx_p=&can2_filter_idx;
}
else if(_instance->can_handle==&hfdcan3)
{
filter_idx_p=&can3_filter_idx;
}
else
{
while(1)
{
//报错
}
}
can_filter_conf.FilterConfig = (_instance->rx_id & 1) ? FDCAN_FILTER_TO_RXFIFO0 : FDCAN_FILTER_TO_RXFIFO1;
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
FDCAN_FilterTypeDef fdcan_filter_conf;
fdcan_filter_conf.FilterIndex=(*filter_idx_p)++;
//使用单个ID模式
fdcan_filter_conf.FilterType=FDCAN_FILTER_DUAL;
fdcan_filter_conf.FilterConfig=(_instance->tx_id & 1) ? FDCAN_FILTER_TO_RXFIFO0 : FDCAN_FILTER_TO_RXFIFO1;//奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
fdcan_filter_conf.FilterID1=_instance->rx_id;
fdcan_filter_conf.FilterID2=_instance->rx_id;
fdcan_filter_conf.IdType=FDCAN_STANDARD_ID;
fdcan_filter_conf.IsCalibrationMsg=0;
//fdcan_filter_conf.RxBufferIndex=0;
HAL_FDCAN_ConfigFilter(_instance->can_handle, &fdcan_filter_conf);
#else
CAN_FilterTypeDef can_filter_conf;
static uint8_t can1_filter_idx = 0, can2_filter_idx = 14; // 0-13给can1用,14-27给can2用
can_filter_conf.FilterMode = CAN_FILTERMODE_IDLIST; // 使用id list模式,即只有将rxid添加到过滤器中才会接收到,其他报文会被过滤
can_filter_conf.FilterScale = CAN_FILTERSCALE_16BIT; // 使用16位id模式,即只有低16位有效
can_filter_conf.FilterFIFOAssignment = (_instance->tx_id & 1) ? CAN_RX_FIFO0 : CAN_RX_FIFO1; // 奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
can_filter_conf.SlaveStartFilterBank = 14; // 从第14个过滤器开始配置从机过滤器(在STM32的BxCAN控制器中CAN2是CAN1的从机)
can_filter_conf.FilterIdLow = _instance->rx_id << 5; // 过滤器寄存器的低16位,因为使用STDID,所以只有低11位有效,高5位要填0
can_filter_conf.FilterBank = _instance->can_handle == &hcan1 ? (can1_filter_idx++) : (can2_filter_idx++); // 根据can_handle判断是CAN1还是CAN2,然后自增
can_filter_conf.FilterActivation = CAN_FILTER_ENABLE; // 启用过滤器
HAL_CAN_ConfigFilter(_instance->can_handle, &can_filter_conf);
#endif
if (HAL_FDCAN_ConfigFilter(_instance->can_handle, &can_filter_conf) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief 在第一个FDCAN实例初始化的时候会自动调用此函数,启动FDCAN服务
* @brief 在第一个CAN实例初始化的时候会自动调用此函数,启动CAN服务
*
* @note 此函数会启动FDCAN1、FDCAN2和FDCAN3,开启相应的FIFO中断通知
* @note 此函数会启动CAN1并开启中断
* FDCAN的情况下，我们采用FIFO接收方式（而不是buffer），FIFO和buffer还有queue接收方式请自行查阅H723手册
* FDCAN比bxCAN多了一个全局过滤器，这里配置为全部拒绝，只接受指定ID。
*
*/
static void FDCANServiceInit()
void CANServiceInit()
{
// 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);
HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
#ifdef FDCAN
//可能不需要这么多中断
uint32_t FDCAN_RXActiveITs = FDCAN_IT_RX_FIFO0_NEW_MESSAGE|FDCAN_IT_RX_FIFO0_FULL\
|FDCAN_IT_RX_FIFO0_WATERMARK|FDCAN_IT_RX_FIFO0_MESSAGE_LOST \
|FDCAN_IT_RX_FIFO1_NEW_MESSAGE| FDCAN_IT_RX_FIFO1_FULL\
|FDCAN_IT_RX_FIFO1_WATERMARK|FDCAN_IT_RX_FIFO1_MESSAGE_LOST;
// 启动FDCAN
HAL_FDCAN_Start(&hfdcan1);
HAL_FDCAN_Start(&hfdcan2);
HAL_FDCAN_Start(&hfdcan3);
// 激活接收中断 - FDCAN1使用FIFO0, FDCAN2和FDCAN3使用FIFO1
HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
//HAL_FDCAN_ConfigClockCalibration()
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan1,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan1,FDCAN_RX_FIFO1,FDCAN_RX_FIFO_OVERWRITE);
HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);//全局过滤器设置
HAL_FDCAN_Start(&hfdcan1);
HAL_FDCAN_ActivateNotification(&hfdcan1,FDCAN_RXActiveITs, 0);
// 激活错误中断
HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0);
HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_BUS_OFF, 0);
HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_BUS_OFF, 0);
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan2,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan2,FDCAN_RX_FIFO1,FDCAN_RX_FIFO_OVERWRITE);
HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
HAL_FDCAN_Start(&hfdcan2);
HAL_FDCAN_ActivateNotification(&hfdcan2,FDCAN_RXActiveITs, 0);
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan3,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan3,FDCAN_RX_FIFO1,FDCAN_RX_FIFO_OVERWRITE);
HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
HAL_FDCAN_Start(&hfdcan3);
HAL_FDCAN_ActivateNotification(&hfdcan3,FDCAN_RXActiveITs, 0);
#else
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING);
HAL_CAN_Start(&hcan2);
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
#endif
// LOGINFO("[bsp_fdcan] FDCAN Service Init");
}
/**
* @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;
}
/* ----------------------- two extern callable function -----------------------*/
/**
* @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)
FDCANInstance *CANRegister(FDCAN_Init_Config_s *config)
{
if (!idx)
{
FDCANServiceInit(); // 第一次注册,先进行硬件初始化
CANServiceInit(); // 第一次注册,先进行硬件初始化
LOGINFO("[bsp_can] CAN Service Init");
}
if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数
{
while (1)
{
// Todo:LOGERROR("[bsp_fdcan] FDCAN instance exceeded MAX num, consider balance the load of FDCAN bus");
LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus");
}
}
for (size_t i = 0; i < idx; i++)
{
// 重复注册 | id重复
{ // 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)
{
// Todo:LOGERROR("[bsp_fdcan] FDCAN id crash ,tx [%d] or rx [%d] already registered", config->tx_id, config->rx_id);
LOGERROR("[}bsp_can] CAN id crash ,tx [%d] or rx [%d] already registered", &config->tx_id, &config->rx_id);
}
}
}
auto instance = (FDCANInstance *) malloc(sizeof(FDCANInstance)); // 分配空间
memset(instance, 0, sizeof(FDCANInstance)); // 分配的空间未必是0,所以要先清空
FDCANInstance *instance = (FDCANInstance *)malloc(sizeof(FDCANInstance)); // 分配空间
memset(instance, 0, sizeof(FDCANInstance)); // 分配的空间未必是0,所以要先清空
// 进行发送报文的配置
instance->txconf.Identifier = config->tx_id; // 发送id
instance->txconf.IdType = FDCAN_STANDARD_ID; // 使用标准id
instance->txconf.TxFrameType = FDCAN_DATA_FRAME; // 发送数据帧
instance->txconf.DataLength = FDCAN_DLC_BYTES_8; // 默认发送长度为8
instance->txconf.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
instance->txconf.BitRateSwitch = FDCAN_BRS_OFF; // 默认关闭比特率切换
instance->txconf.FDFormat = FDCAN_CLASSIC_CAN; // 默认经典CAN模式
instance->txconf.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
instance->txconf.MessageMarker = 0;
#ifdef FDCAN
instance->txconf.Identifier = config->tx_id; // 发送id
instance->txconf.IdType = FDCAN_STANDARD_ID; // 使用标准id,扩展id则使用CAN_ID_EXT(目前没有需求)
instance->txconf.TxFrameType = FDCAN_DATA_FRAME, // 发送数据帧
instance->txconf.DataLength = FDCAN_DLC_BYTES_8, // 数据长度为8字节
instance->txconf.ErrorStateIndicator = FDCAN_ESI_ACTIVE, // 兼容CAN2.0,错误状态指示器设为主动
instance->txconf.BitRateSwitch = FDCAN_BRS_OFF, // 兼容CAN2.0禁用位速率切换
instance->txconf.FDFormat = FDCAN_CLASSIC_CAN, // 使用经典CAN格式
instance->txconf.TxEventFifoControl = FDCAN_NO_TX_EVENTS, // 不需要，禁用事件FIFO
instance->txconf.MessageMarker = 0; // 不使用消息标记
#else
instance->txconf.StdId = config->tx_id; // 发送id
instance->txconf.IDE = CAN_ID_STD; // 使用标准id,扩展id则使用CAN_ID_EXT(目前没有需求)
instance->txconf.RTR = CAN_RTR_DATA; // 发送数据帧
instance->txconf.DLC = 0x08; // 默认发送长度为8
#endif
// 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->tx_id = config->tx_id; // 好像没用,可以删掉
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
CANAddFilter(instance); // 添加CAN过滤器规则
fdcan_instance[idx++] = instance; // 将实例保存到can_instance中
return instance; // 返回FDCAN实例指针
return instance; // 返回can实例指针
}
/**
* @brief 通过FDCAN实例发送消息
* 发送前需要向FDCAN实例的tx_buff写入发送数据
*
* @attention 超时时间不应该超过调用此函数的任务的周期,否则会导致任务阻塞
*
* @param _instance 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)
/* @todo 目前似乎封装过度,应该添加一个指向tx_buff的指针,tx_buff不应该由CAN instance保存 */
/* 如果让CANinstance保存txbuff,会增加一次复制的开销 */
uint8_t CANTransmit(FDCANInstance *_instance, float timeout)
{
// static uint32_t busy_count;
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)
float dwt_start = DWT_GetTimeline_ms();
#ifdef FDCAN
while(HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle)==0)
#else
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
#endif
{
// 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);
// busy_count++;
// return 0;
// }
if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
{
LOGWARNING("[bsp_can] CAN MAILbox full! failed to add msg to mailbox. Cnt [%d]", busy_count);
busy_count++;
return 0;
}
}
// wait_time = DWT_GetTimeline_ms() - dwt_start;
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)
#ifdef FDCAN
if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff))
#else
// tx_mailbox会保存实际填入了这一帧消息的邮箱,但是知道是哪个邮箱发的似乎也没啥用
if (HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox))
#endif
{
// LOGWARNING("[bsp_fdcan] FDCAN bus BUS! cnt:%d", busy_count);
// busy_count++;
LOGWARNING("[bsp_can] CAN bus BUSY! cnt:%d", busy_count);
busy_count++;
return 0;
}
return 1; // 发送成功
}
/**
* @brief 修改FDCAN发送报文的数据帧长度
* 注意FDCAN最大支持64字节,在没有进行修改的时候,默认长度为8
*
* @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 CANSetDLC(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
if (length > 8 || length == 0) // 安全检查
while (1)
{
//Todo:LOGERROR("[bsp_fdcan] FDCAN DLC error! check your code or wild pointer");
LOGERROR("[bsp_can] CAN DLC error! check your code or wild pointer");
}
_instance->txconf.DataLength = FDCANLenToDlc(length);
_instance->txconf.DataLength = length;
}
/* -----------------------belows are callback definitions--------------------------*/
//对于FDCAN，回调函数和处理方式完全不同，因此直接用两套逻辑处理
#ifdef FDCAN
/**
* @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(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;
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;
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;
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;
default:
break;
}
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_Stop(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;
if (HAL_FDCAN_Init(hfdcan) != HAL_OK)
{
Error_Handler();
}
// 重新启动FDCAN并配置过滤器
HAL_FDCAN_Start(hfdcan);
HAL_FDCAN_ConfigGlobalFilter(hfdcan, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
// 重新激活通知
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);
}
/* ----------------------- 回调函数定义 --------------------------*/
/**
* @brief 此函数会被下面两个函数调用,用于处理FIFO0和FIFO1接收中断(说明收到了新的数据)
* @brief 此函数会被下面两个函数调用,用于处理FIFO0和FIFO1溢出中断(说明收到了新的数据)
* 所有的实例都会被遍历,找到can_handle和rx_id相等的实例时,调用该实例的回调函数
*
* @param _hcan FDCAN句柄
* @param fifox 传递给HAL_FDCAN_GetRxMessage()以从特定FIFO获取消息
* @param _fdhcan
* @param fifox passed to HAL_CAN_GetRxMessage() to get mesg from a specific fifo
*/
static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hcan, uint32_t fifox)
static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hfdcan, uint32_t fifox)
{
FDCAN_RxHeaderTypeDef rxconf;
uint8_t can_rx_buff[64];
while (HAL_FDCAN_GetRxFifoFillLevel(_hcan, fifox)) // FIFO不为空,有可能在其他中断时有多帧数据进入
static FDCAN_RxHeaderTypeDef rxconf; // 同上
static uint16_t DataLength = 0;
static uint8_t fdcan_rx_buff[8];
while (HAL_FDCAN_GetRxFifoFillLevel(_hfdcan, fifox)) // FIFO不为空,有可能在其他中断时有多帧数据进入
{
HAL_FDCAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
for (size_t i = 0; i < idx; ++i)
HAL_FDCAN_GetRxMessage(_hfdcan, fifox, &rxconf, fdcan_rx_buff); // 从FIFO中获取数据
//解析数据长度，@Todo 此处在用新版本重新生成后可能得修改，DataLength可能不需要右移，具体情况具体看 ！
if(((rxconf.DataLength >> 16) & 0xF)>=0 && ((rxconf.DataLength >> 16) & 0xF)<=8)
{
DataLength=(rxconf.DataLength >> 16) & 0xF; // 保存接收到的数据长度
}
else
{
DataLength=0;
}
if(rxconf.RxFrameType==FDCAN_DATA_FRAME && rxconf.IdType==FDCAN_STANDARD_ID)
{
// 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 (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
memcpy(fdcan_instance[i]->rx_buff, can_rx_buff, fdcan_instance[i]->rx_len); // 消息拷贝到对应实例
fdcan_instance[i]->can_module_callback(fdcan_instance[i]); // 触发回调进行数据解析和处理
}
return;
}
for (size_t i = 0; i < idx; ++i)
{
// 两者相等说明这是要找的实例
if (_hfdcan == 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 = DataLength; // 保存接收到的数据长度
memcpy(fdcan_instance[i]->rx_buff, fdcan_rx_buff, fdcan_instance[i]->rx_len); // 消息拷贝到对应实例
fdcan_instance[i]->can_module_callback(fdcan_instance[i]); // 触发回调进行数据解析和处理
}
return;
}
}
}
}
}
/**
* @brief 注意,STM32的FDCAN设备有独立的FIFO
* 下面两个函数是HAL库中的回调函数,他们被HAL声明为__weak,这里对他们进行重载(重写)
* 当FIFO0或FIFO1有新消息时会调用这两个函数
*/
/**
* @brief rx fifo callback. Once FIFO_0 has new message, this func would be called
*
* @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)
{
FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO0); // 调用我们自己写的函数来处理消息
}
/* 检查Rx FIFO 0中是否有消息丢失 */
if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_MESSAGE_LOST) != 0)
{
//报错
}
/* 检查是否有新消息写入Rx FIFO 0或到达一定阈值 */
if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE)||(RxFifo0ITs & FDCAN_IT_RX_FIFO0_FULL)||(RxFifo0ITs & FDCAN_IT_RX_FIFO0_WATERMARK))
{
FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO0); // 调用我们自己写的函数来处理消息
}
}
/**
* @brief rx fifo callback. Once FIFO_1 has new message, this func would be called
*
* @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)
{
FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
}
/* 检查Rx FIFO 1中是否有消息丢失 */
if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_MESSAGE_LOST) != 0)
{
//报错
}
/* 检查是否有新消息写入Rx FIFO 1或到达一定阈值 */
if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE)||(RxFifo1ITs & FDCAN_IT_RX_FIFO1_FULL)||(RxFifo1ITs & FDCAN_IT_RX_FIFO1_WATERMARK))
{
FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
}
}
#else
/**
* @brief 此函数会被下面两个函数调用,用于处理FIFO0和FIFO1溢出中断(说明收到了新的数据)
* 所有的实例都会被遍历,找到can_handle和rx_id相等的实例时,调用该实例的回调函数
*
* @param _hcan
* @param fifox passed to HAL_CAN_GetRxMessage() to get mesg from a specific fifo
*/
static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
{
static CAN_RxHeaderTypeDef rxconf; // 同上
uint8_t can_rx_buff[8];
while (HAL_CAN_GetRxFifoFillLevel(_hcan, fifox)) // FIFO不为空,有可能在其他中断时有多帧数据进入
{
HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
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.StdId == 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 = rxconf.DLC; // 保存接收到的数据长度
memcpy(fdcan_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
fdcan_instance[i]->can_module_callback(fdcan_instance[i]); // 触发回调进行数据解析和处理
}
return;
}
}
}
}
/**
* @brief 错误状态回调函数
* @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)
* @brief 注意,STM32的两个CAN设备共享两个FIFO
* 下面两个函数是HAL库中的回调函数,他们被HAL声明为__weak,这里对他们进行重载(重写)
* 当FIFO0或FIFO1溢出时会调用这两个函数
*/
// 下面的函数会调用CANFIFOxCallback()来进一步处理来自特定CAN设备的消息
/**
* @brief rx fifo callback. Once FIFO_0 is full,this func would be called
*
* @param hcan CAN handle indicate which device the oddest mesg in FIFO_0 comes from
*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
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)
{
// 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)
{
MX_FDCAN1_Init();
}
else if (hfdcan->Instance == FDCAN2)
{
MX_FDCAN2_Init();
}
else if (hfdcan->Instance == FDCAN3)
{
MX_FDCAN3_Init();
}
// 重新配置并启动
HAL_FDCAN_Start(hfdcan);
HAL_FDCAN_ConfigGlobalFilter(hfdcan, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
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;
}
CANFIFOxCallback(hcan, CAN_RX_FIFO0); // 调用我们自己写的函数来处理消息
}
// 弱定义的接收回调函数，用户可重写
__weak void fdcan1_rx_callback(void)
/**
* @brief rx fifo callback. Once FIFO_1 is full,this func would be called
*
* @param hcan CAN handle indicate which device the oddest mesg in FIFO_1 comes from
*/
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
// 用户可重写
CANFIFOxCallback(hcan, CAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
}
__weak void fdcan2_rx_callback(void)
{
// 用户可重写
}
__weak void fdcan3_rx_callback(void)
{
// 用户可重写
}
#endif

146
User_Code/bsp/fdcan/bsp_fdcan.h
View File

@@ -1,93 +1,103 @@
#ifndef __BSP_FDCAN_H__
#define __BSP_FDCAN_H__
#ifndef BSP_CAN_H
#define BSP_CAN_H
//在此选择CAN类型，两者只能选择一个！！！
#define FDCAN //G系列和H7系列使用FDCAN
//#define BXCAN //F系列使用BxCAN
//CAN类型宏定义检查，有错误停止编译
#if !defined(FDCAN) && !defined(BXCAN)
#error "Neither FDCAN nor BXCAN is defined. Please define one of them."
#elif defined(FDCAN) && defined(BXCAN)
#error "Both FDCAN and BXCAN are defined. Please define only one."
#endif
#include "main.h"
#include "fdcan.h"
#include <stdint.h>
#ifdef FDCAN
#include "fdcan.h"
#define hcan1 hfdcan1
#define hcan2 hfdcan2
#define hcan3 hfdcan3
#define CAN_MX_REGISTER_CNT 16 // 最大FDCAN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_MX_REGISTER_CNT 16 // 这个数量取决于CAN总线的负载
#define MX_CAN_FILTER_CNT (3 * 14) // 最多可以使用的CAN过滤器数量,目前远不会用到这么多
#define DEVICE_CAN_CNT 3 //H723VG有3个FDCAN
#define CAN_CLASS 0
#define CAN_FD_BRS 1
#endif
#ifdef BXCAN
#include "can.h"
// 最多能够支持的CAN设备数
#define CAN_MX_REGISTER_CNT 16 // 这个数量取决于CAN总线的负载
#define MX_CAN_FILTER_CNT (2 * 14) // 最多可以使用的CAN过滤器数量,目前远不会用到这么多
#define DEVICE_CAN_CNT 2 // 根据板子设定,F407IG有CAN1,CAN2,因此为2;F334只有一个,则设为1
// 如果只有1个CAN,还需要把bsp_can.c中所有的hcan2变量改为hcan1(别担心,主要是总线和FIFO的负载均衡,不影响功能)
#endif
#define CAN_BR_125K 0
#define CAN_BR_200K 1
#define CAN_BR_250K 2
#define CAN_BR_500K 3
#define CAN_BR_1M 4
#define CAN_BR_2M 5
#define CAN_BR_2M5 6
#define CAN_BR_3M2 7
#define CAN_BR_4M 8
#define CAN_BR_5M 9
/* FDCAN实例结构体，每个注册到FDCAN的模块都应该有这个变量 */
/* can instance typedef, every module registered to CAN should have this variable */
#pragma pack(1)
typedef struct _FDCANInstance {
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 _FDCANInstance *); // 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
typedef struct _
{
#ifdef FDCAN
FDCAN_HandleTypeDef *can_handle; // can句柄
FDCAN_TxHeaderTypeDef txconf; // CAN报文发送配置
#else
CAN_HandleTypeDef *can_handle; // can句柄
CAN_TxHeaderTypeDef txconf; // CAN报文发送配置
#endif
uint32_t tx_id; // 发送id
uint32_t tx_mailbox; // CAN消息填入的邮箱号
uint8_t tx_buff[8]; // 发送缓存,发送消息长度可以通过CANSetDLC()设定,最大为8
uint8_t rx_buff[8]; // 接收缓存,最大消息长度为8
uint32_t rx_id; // 接收id
uint8_t rx_len; // 接收长度,可能为0-8
// 接收的回调函数,用于解析接收到的数据
void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
void *id; // 使用can外设的模块指针(即id指向的模块拥有此can实例,是父子关系)
} 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
/* CAN实例初始化结构体,将此结构体指针传入注册函数 */
typedef struct
{
#ifdef FDCAN
FDCAN_HandleTypeDef *can_handle; // can句柄
#else
CAN_HandleTypeDef *can_handle; // can句柄
#endif
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
void *id; // 拥有can实例的模块地址,用于区分不同的模块(如果有需要的话),如果不需要可以不传入
} 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
* @brief Register a module to CAN service,remember to call this before using a CAN device
* 注册(初始化)一个can实例,需要传入初始化配置的指针.
* @param config init config
* @return CANInstance* can instance owned by module
*/
FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config);
FDCANInstance *CANRegister(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
* @brief 修改CAN发送报文的数据帧长度;注意最大长度为8,在没有进行修改的时候,默认长度为8
*
* @param _instance 要修改长度的can实例
* @param length 设定长度
*/
void FDCANSetDLC(FDCANInstance *_instance, uint8_t length);
void CANSetDLC(FDCANInstance *_instance, uint8_t length);
/**
* @brief 通过FDCAN实例发送消息
* 发送前需要向FDCAN实例的tx_buff写入发送数据
* @brief transmit mesg through CAN device,通过can实例发送消息
* 发送前需要向CAN实例的tx_buff写入发送数据
*
* @attention 超时时间不应该超过调用此函数的任务的周期,否则会导致任务阻塞
*
* @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
* @param timeout 超时时间,单位为ms;后续改为us,获得更精确的控制
* @param _instance* can instance owned by module
*/
uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout);
uint8_t CANTransmit(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(FDCAN_HandleTypeDef *hfdcan, uint8_t mode, uint8_t baud);
// 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_ */
#endif

4
User_Code/module/periph/servo/mg996/mg996.h
View File

@@ -18,9 +18,7 @@ extern "C"
#endif
#include <stdint.h>
// 前向声明PWM实例结构体，与bsp_pwm.h中的类型保持一致
typedef struct PWMInstance PWMInstance;
#include "bsp_pwm.h"
/**
* @brief MG996舵机初始化配置结构体