From 9bffbabeac5a2385b7b7e926c54a3c9d59ec7e8e Mon Sep 17 00:00:00 2001 From: TuxMonkey Date: Sun, 26 Oct 2025 13:39:49 +0800 Subject: [PATCH] changed bsp_fdcan.c/bsp_fdcan.h --- User_Code/bsp/fdcan/bsp_fdcan.c | 334 ++++++++++++++++++++------------ User_Code/bsp/fdcan/bsp_fdcan.h | 20 +- 2 files changed, 217 insertions(+), 137 deletions(-) diff --git a/User_Code/bsp/fdcan/bsp_fdcan.c b/User_Code/bsp/fdcan/bsp_fdcan.c index eac73c9..ed935e1 100644 --- a/User_Code/bsp/fdcan/bsp_fdcan.c +++ b/User_Code/bsp/fdcan/bsp_fdcan.c @@ -1,32 +1,53 @@ #include "bsp_fdcan.h" -#include "fdcan.h" +#include "main.h" #include "memory.h" #include "stdlib.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 static FDCANInstance *fdcan_instance[CAN_MX_REGISTER_CNT] = {NULL}; -static uint8_t idx = 0; // 全局FDCAN实例索引 +static uint8_t idx = 0; // 全局FDCAN实例索引,每次有新的模块注册会自增 /* ---------------- 静态函数，由FDCANRegister()调用 -------------------- */ /** - * @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 + * @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 + * + * @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 + * 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 + * + * @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 + * + * @param _instance FDCAN实例 */ static void FDCANAddFilter(FDCANInstance *_instance) { 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); + 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.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.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) + { + 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++; + } + 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 + 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) { @@ -35,33 +56,34 @@ static void FDCANAddFilter(FDCANInstance *_instance) } /** - * @brief 在第一个FDCAN实例初始化时自动调用此函数，启动FDCAN服务 + * @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 + * + * @note 此函数会启动FDCAN1、FDCAN2和FDCAN3,开启相应的FIFO中断通知 + * */ static void FDCANServiceInit() { - // 配置全局过滤器 - for (int i = 0; i < 3; i++) - { - FDCAN_HandleTypeDef *hfdcan = (i == 0) ? &hfdcan1 : (i == 1) ? &hfdcan2 : &hfdcan3; + // 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); - HAL_FDCAN_ConfigGlobalFilter(hfdcan, FDCAN_REJECT, FDCAN_REJECT, - FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); + // 启动FDCAN + HAL_FDCAN_Start(&hfdcan1); + HAL_FDCAN_Start(&hfdcan2); + HAL_FDCAN_Start(&hfdcan3); - // 启动FDCAN - HAL_FDCAN_Start(hfdcan); + // 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); - // 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); - } + // 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_ActivateNotification(hfdcan, FDCAN_IT_BUS_OFF, 0); - } + // LOGINFO("[bsp_fdcan] FDCAN Service Init"); } /** @@ -122,34 +144,35 @@ FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config) { if (!idx) { - FDCANServiceInit(); // 第一次注册，先进行硬件初始化 + 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 + 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++) - { // 重复注册检查 - if (fdcan_instance[i]->rx_id == config->rx_id && - fdcan_instance[i]->can_handle == config->can_handle) + { // 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); // ID冲突错误处理 + while (1) { + // LOGERROR("[bsp_fdcan] FDCAN id crash ,tx [%d] or rx [%d] already registered", config->tx_id, config->rx_id); + } } } - FDCANInstance *instance = (FDCANInstance *)malloc(sizeof(FDCANInstance)); - memset(instance, 0, sizeof(FDCANInstance)); + 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; - instance->txconf.IdType = FDCAN_STANDARD_ID; - instance->txconf.TxFrameType = FDCAN_DATA_FRAME; - instance->txconf.DataLength = FDCAN_DLC_BYTES_8; + 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; - instance->txconf.FDFormat = FDCAN_CLASSIC_CAN; + 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; @@ -166,89 +189,140 @@ FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config) return instance; // 返回FDCAN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) { - uint32_t start_time = HAL_GetTick(); + // 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) { - if (HAL_GetTick() - start_time > timeout) - { - return 0; // 超时 - } + // 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; + // } } + // 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) { - return 0; // 发送失败 + // LOGWARNING("[bsp_fdcan] FDCAN bus BUS! 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) { - if (length > 64) // FDCAN最大支持64字节 - { - while (1); // 错误处理 - } + // 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) { + //LOGERROR("[bsp_fdcan] FDCAN DLC error! check your code or wild pointer"); + } _instance->txconf.DataLength = FDCANLenToDlc(length); } -void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud) +/** + * @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; + 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) + 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; + 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; + dat_brp = 1; dat_seg1 = 29; dat_seg2 = 10; dat_sjw = 10; // 仲裁域默认1M hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC; } - - if(mode == CAN_FD_BRS) + 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; + 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; + 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); + HAL_FDCAN_Stop(hfdcan); hfdcan->Init.NominalPrescaler = nom_brp; - hfdcan->Init.NominalTimeSeg1 = nom_seg1; - hfdcan->Init.NominalTimeSeg2 = nom_seg2; + 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.DataTimeSeg1 = dat_seg1; + hfdcan->Init.DataTimeSeg2 = dat_seg2; hfdcan->Init.DataSyncJumpWidth = dat_sjw; - HAL_FDCAN_Init(hfdcan); + 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 处理FIFO0和FIFO1接收中断 + * @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) + * 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 */ @@ -257,20 +331,19 @@ 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 + 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 { - HAL_FDCAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); + HAL_FDCAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据 for (size_t i = 0; i < idx; ++i) - { - if (_hcan == fdcan_instance[i]->can_handle && - rxconf.Identifier == fdcan_instance[i]->rx_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) + 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); - memcpy(fdcan_instance[i]->rx_buff, can_rx_buff, fdcan_instance[i]->rx_len); - fdcan_instance[i]->can_module_callback(fdcan_instance[i]); + 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; } @@ -278,62 +351,44 @@ static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hcan, uint32_t fifox) } } -// 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 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 FIFO0接收回调函数 + * @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); - - // 调用用户回调 - if (hfdcan == &hfdcan1) - { - fdcan1_rx_callback(); - } + FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO0); // 调用我们自己写的函数来处理消息 } } /** - * @brief FIFO1接收回调函数 + * @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); - - // 调用用户回调 - if (hfdcan == &hfdcan2) - { - fdcan2_rx_callback(); - } - else if (hfdcan == &hfdcan3) - { - fdcan3_rx_callback(); - } + FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO1); // 调用我们自己写的函数来处理消息 } } /** * @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) { @@ -342,10 +397,13 @@ void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorSt // 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(); @@ -359,8 +417,10 @@ void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorSt MX_FDCAN3_Init(); } - // 重新配置过滤器并启动 + // 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); @@ -373,4 +433,20 @@ void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorSt hfdcan->ErrorCode = 0; } +} + +// 弱定义的接收回调函数，用户可重写 +__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 } \ 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 4cb9887..08c7722 100644 --- a/User_Code/bsp/fdcan/bsp_fdcan.h +++ b/User_Code/bsp/fdcan/bsp_fdcan.h @@ -1,11 +1,11 @@ #ifndef __BSP_FDCAN_H__ #define __BSP_FDCAN_H__ + #include "main.h" #include "fdcan.h" +#include -#define hcan_t FDCAN_HandleTypeDef - -#define CAN_MX_REGISTER_CNT 16 // 最大CAN设备注册数量 +#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 @@ -25,7 +25,7 @@ /* 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 _ +typedef struct _FDCANInstance { FDCAN_HandleTypeDef *can_handle; // FDCAN句柄 FDCAN_TxHeaderTypeDef txconf; // FDCAN报文发送配置 @@ -36,7 +36,7 @@ typedef struct _ 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 (*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 } FDCANInstance; #pragma pack() @@ -67,9 +67,13 @@ void FDCANSetDLC(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 + * + * @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 + * @return uint8_t 发送成功返回1,失败返回0 */ uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout); @@ -79,7 +83,7 @@ uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout); * @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); +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);