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https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-23 19:25:09 +08:00
修复了吗？没有，很难的啦
This commit is contained in:
TuxMonkey
@@ -33,67 +33,80 @@ static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自
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*/
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static void CANAddFilter(FDCANInstance *_instance)
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{
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#ifdef FDCAN
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static uint8_t can1_filter_idx = 0, can2_filter_idx = 0 , can3_filter_idx = 0;
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static uint8_t can1_filter_idx = 0, can2_filter_idx = 0, can3_filter_idx = 0;
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//检查是否超出过滤器设定数量上限
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if(can1_filter_idx > hfdcan1.Init.StdFiltersNbr || can2_filter_idx>hfdcan2.Init.StdFiltersNbr || can3_filter_idx > hfdcan3.Init.StdFiltersNbr)
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if (can1_filter_idx > hfdcan1.Init.StdFiltersNbr || can2_filter_idx > hfdcan2.Init.StdFiltersNbr || can3_filter_idx
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> hfdcan3.Init.StdFiltersNbr)
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{
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while(1)
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while (1)
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{
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//报错
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}
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}
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uint8_t *filter_idx_p;
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if(_instance->can_handle==&hfdcan1)
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if (_instance->can_handle == &hfdcan1)
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{
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filter_idx_p=&can1_filter_idx;
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filter_idx_p = &can1_filter_idx;
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}
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else if(_instance->can_handle==&hfdcan2)
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else if (_instance->can_handle == &hfdcan2)
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{
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filter_idx_p=&can2_filter_idx;
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filter_idx_p = &can2_filter_idx;
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}
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else if(_instance->can_handle==&hfdcan3)
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else if (_instance->can_handle == &hfdcan3)
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{
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filter_idx_p=&can3_filter_idx;
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filter_idx_p = &can3_filter_idx;
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}
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else
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{
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while(1)
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while (1)
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{
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//报错
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}
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}
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FDCAN_FilterTypeDef fdcan_filter_conf;
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fdcan_filter_conf.FilterIndex=(*filter_idx_p)++;
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fdcan_filter_conf.FilterIndex = (*filter_idx_p)++;
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//使用单个ID模式
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fdcan_filter_conf.FilterType=FDCAN_FILTER_DUAL;
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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
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fdcan_filter_conf.FilterID1=_instance->rx_id;
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fdcan_filter_conf.FilterID2=_instance->rx_id;
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fdcan_filter_conf.IdType=FDCAN_STANDARD_ID;
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fdcan_filter_conf.IsCalibrationMsg=0;
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fdcan_filter_conf.FilterType = FDCAN_FILTER_DUAL;
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fdcan_filter_conf.FilterConfig = (_instance->tx_id & 1) ? FDCAN_FILTER_TO_RXFIFO0 : FDCAN_FILTER_TO_RXFIFO1;
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//奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
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fdcan_filter_conf.FilterID1 = _instance->rx_id;
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fdcan_filter_conf.FilterID2 = _instance->rx_id;
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fdcan_filter_conf.IdType = FDCAN_STANDARD_ID;
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fdcan_filter_conf.IsCalibrationMsg = 0;
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//fdcan_filter_conf.RxBufferIndex=0;
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// ================== 【核心修复区】 ==================
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// 1. 强制让 FDCAN 进入 INIT 模式，否则无法写入 Message RAM
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HAL_FDCAN_Stop(_instance->can_handle);
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// 2. 写入过滤器配置
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HAL_FDCAN_ConfigFilter(_instance->can_handle, &fdcan_filter_conf);
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// 3. 重新启动 FDCAN
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HAL_FDCAN_Start(_instance->can_handle);
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// ====================================================
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HAL_FDCAN_ConfigFilter(_instance->can_handle, &fdcan_filter_conf);
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#else
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CAN_FilterTypeDef can_filter_conf;
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static uint8_t can1_filter_idx = 0, can2_filter_idx = 14; // 0-13给can1用,14-27给can2用
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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
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can_filter_conf.FilterScale = CAN_FILTERSCALE_16BIT; // 使用16位id模式,即只有低16位有效
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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
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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)
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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
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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
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can_filter_conf.FilterActivation = CAN_FILTER_ENABLE; // 启用过滤器
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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
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can_filter_conf.FilterScale = CAN_FILTERSCALE_16BIT; // 使用16位id模式,即只有低16位有效
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can_filter_conf.FilterFIFOAssignment = (_instance->tx_id & 1) ? CAN_RX_FIFO0 : CAN_RX_FIFO1;
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// 奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
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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)
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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
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can_filter_conf.FilterBank = _instance->can_handle == &hcan1 ? (can1_filter_idx++) : (can2_filter_idx++);
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// 根据can_handle判断是CAN1还是CAN2,然后自增
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can_filter_conf.FilterActivation = CAN_FILTER_ENABLE; // 启用过滤器
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HAL_CAN_ConfigFilter(_instance->can_handle, &can_filter_conf);
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#endif
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}
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/**
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@@ -108,31 +121,32 @@ void CANServiceInit()
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{
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#ifdef FDCAN
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//可能不需要这么多中断
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uint32_t FDCAN_RXActiveITs = FDCAN_IT_RX_FIFO0_NEW_MESSAGE|FDCAN_IT_RX_FIFO0_FULL\
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|FDCAN_IT_RX_FIFO0_WATERMARK|FDCAN_IT_RX_FIFO0_MESSAGE_LOST \
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|FDCAN_IT_RX_FIFO1_NEW_MESSAGE| FDCAN_IT_RX_FIFO1_FULL\
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|FDCAN_IT_RX_FIFO1_WATERMARK|FDCAN_IT_RX_FIFO1_MESSAGE_LOST;
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uint32_t FDCAN_RXActiveITs = FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_RX_FIFO0_FULL\
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| FDCAN_IT_RX_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_MESSAGE_LOST
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| FDCAN_IT_RX_FIFO1_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_FULL\
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| FDCAN_IT_RX_FIFO1_WATERMARK | FDCAN_IT_RX_FIFO1_MESSAGE_LOST;
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//HAL_FDCAN_ConfigClockCalibration()
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HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan1,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
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HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan1,FDCAN_RX_FIFO1,FDCAN_RX_FIFO_OVERWRITE);
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);//全局过滤器设置
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
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//全局过滤器设置
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HAL_FDCAN_Start(&hfdcan1);
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HAL_FDCAN_ActivateNotification(&hfdcan1,FDCAN_RXActiveITs, 0);
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HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_RXActiveITs, 0);
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HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan2,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
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HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan2,FDCAN_RX_FIFO1,FDCAN_RX_FIFO_OVERWRITE);
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
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HAL_FDCAN_Start(&hfdcan2);
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HAL_FDCAN_ActivateNotification(&hfdcan2,FDCAN_RXActiveITs, 0);
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HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_RXActiveITs, 0);
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HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan3,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
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HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan3,FDCAN_RX_FIFO1,FDCAN_RX_FIFO_OVERWRITE);
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
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HAL_FDCAN_Start(&hfdcan3);
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HAL_FDCAN_ActivateNotification(&hfdcan3,FDCAN_RXActiveITs, 0);
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HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_RXActiveITs, 0);
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#else
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@@ -143,116 +157,115 @@ void CANServiceInit()
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HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
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HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
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#endif
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}
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/* ----------------------- two extern callable function -----------------------*/
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FDCANInstance *CANRegister(FDCAN_Init_Config_s *config)
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{
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if (!idx)
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{
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CANServiceInit(); // 第一次注册,先进行硬件初始化
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LOGINFO("[bsp_can] CAN Service Init");
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}
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if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数
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{
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while (1)
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{
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LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus");
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}
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if (!idx)
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{
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CANServiceInit(); // 第一次注册,先进行硬件初始化
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LOGINFO("[bsp_can] CAN Service Init");
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}
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if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数
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{
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while (1)
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{
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LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus");
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}
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}
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for (size_t i = 0; i < idx; i++)
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{
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// 重复注册 | id重复
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if (fdcan_instance[i]->rx_id == config->rx_id && fdcan_instance[i]->can_handle == config->can_handle)
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{
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while (1)
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{
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LOGERROR("[}bsp_can] CAN id crash ,tx [%d] or rx [%d] already registered", &config->tx_id,
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&config->rx_id);
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}
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}
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}
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}
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for (size_t i = 0; i < idx; i++)
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{ // 重复注册 | id重复
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if (fdcan_instance[i]->rx_id == config->rx_id && fdcan_instance[i]->can_handle == config->can_handle)
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{
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while (1)
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{
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LOGERROR("[}bsp_can] CAN id crash ,tx [%d] or rx [%d] already registered", &config->tx_id, &config->rx_id);
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}
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}
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}
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FDCANInstance *instance = (FDCANInstance *)malloc(sizeof(FDCANInstance)); // 分配空间
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memset(instance, 0, sizeof(FDCANInstance)); // 分配的空间未必是0,所以要先清空
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// 进行发送报文的配置
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FDCANInstance *instance = (FDCANInstance *) malloc(sizeof(FDCANInstance)); // 分配空间
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memset(instance, 0, sizeof(FDCANInstance)); // 分配的空间未必是0,所以要先清空
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// 进行发送报文的配置
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#ifdef FDCAN
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instance->txconf.Identifier = config->tx_id; // 发送id
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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)
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instance->txconf.TxFrameType = FDCAN_DATA_FRAME, // 发送数据帧
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instance->txconf.DataLength = FDCAN_DLC_BYTES_8, // 数据长度为8字节
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instance->txconf.ErrorStateIndicator = FDCAN_ESI_ACTIVE, // 兼容CAN2.0,错误状态指示器设为主动
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instance->txconf.BitRateSwitch = FDCAN_BRS_OFF, // 兼容CAN2.0禁用位速率切换
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instance->txconf.FDFormat = FDCAN_CLASSIC_CAN, // 使用经典CAN格式
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instance->txconf.TxEventFifoControl = FDCAN_NO_TX_EVENTS, // 不需要，禁用事件FIFO
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instance->txconf.MessageMarker = 0; // 不使用消息标记
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instance->txconf.Identifier = config->tx_id; // 发送id
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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)
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instance->txconf.TxFrameType = FDCAN_DATA_FRAME, // 发送数据帧
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instance->txconf.DataLength = FDCAN_DLC_BYTES_8, // 数据长度为8字节
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instance->txconf.ErrorStateIndicator = FDCAN_ESI_ACTIVE, // 兼容CAN2.0,错误状态指示器设为主动
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instance->txconf.BitRateSwitch = FDCAN_BRS_OFF, // 兼容CAN2.0禁用位速率切换
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instance->txconf.FDFormat = FDCAN_CLASSIC_CAN, // 使用经典CAN格式
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instance->txconf.TxEventFifoControl = FDCAN_NO_TX_EVENTS, // 不需要，禁用事件FIFO
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instance->txconf.MessageMarker = 0; // 不使用消息标记
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#else
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instance->txconf.StdId = config->tx_id; // 发送id
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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)
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instance->txconf.RTR = CAN_RTR_DATA; // 发送数据帧
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instance->txconf.DLC = 0x08; // 默认发送长度为8
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instance->txconf.StdId = config->tx_id; // 发送id
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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)
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instance->txconf.RTR = CAN_RTR_DATA; // 发送数据帧
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instance->txconf.DLC = 0x08; // 默认发送长度为8
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#endif
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// 设置回调函数和接收发送id
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instance->can_handle = config->can_handle;
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instance->tx_id = config->tx_id; // 好像没用,可以删掉
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instance->rx_id = config->rx_id;
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instance->can_module_callback = config->can_module_callback;
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instance->id = config->id;
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// 设置回调函数和接收发送id
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instance->can_handle = config->can_handle;
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instance->tx_id = config->tx_id; // 好像没用,可以删掉
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instance->rx_id = config->rx_id;
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instance->can_module_callback = config->can_module_callback;
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instance->id = config->id;
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CANAddFilter(instance); // 添加CAN过滤器规则
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fdcan_instance[idx++] = instance; // 将实例保存到can_instance中
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CANAddFilter(instance); // 添加CAN过滤器规则
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fdcan_instance[idx++] = instance; // 将实例保存到can_instance中
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return instance; // 返回can实例指针
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return instance; // 返回can实例指针
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}
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/* @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 */
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/* 如果让CANinstance保存txbuff,会增加一次复制的开销 */
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uint8_t CANTransmit(FDCANInstance *_instance, float timeout)
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{
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static uint32_t busy_count;
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static volatile float wait_time __attribute__((unused)); // for cancel warning
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float dwt_start = DWT_GetTimeline_ms();
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static uint32_t busy_count;
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static volatile float wait_time __attribute__((unused)); // for cancel warning
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float dwt_start = DWT_GetTimeline_ms();
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#ifdef FDCAN
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while(HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle)==0)
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while (HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle) == 0)
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#else
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while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
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while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
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#endif
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{
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if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
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{
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LOGWARNING("[bsp_can] CAN MAILbox full! failed to add msg to mailbox. Cnt [%d]", busy_count);
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busy_count++;
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return 0;
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}
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}
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wait_time = DWT_GetTimeline_ms() - dwt_start;
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{
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if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
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{
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LOGWARNING("[bsp_can] CAN MAILbox full! failed to add msg to mailbox. Cnt [%d]", busy_count);
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busy_count++;
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return 0;
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}
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}
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wait_time = DWT_GetTimeline_ms() - dwt_start;
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#ifdef FDCAN
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if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff))
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if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff))
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#else
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// 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
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if (HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox))
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// 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_can] CAN bus BUSY! cnt:%d", busy_count);
|
||||
busy_count++;
|
||||
return 0;
|
||||
}
|
||||
return 1; // 发送成功
|
||||
{
|
||||
LOGWARNING("[bsp_can] CAN bus BUSY! cnt:%d", busy_count);
|
||||
busy_count++;
|
||||
return 0;
|
||||
}
|
||||
return 1; // 发送成功
|
||||
}
|
||||
|
||||
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 > 8 || length == 0) // 安全检查
|
||||
while (1)
|
||||
{
|
||||
LOGERROR("[bsp_can] CAN DLC error! check your code or wild pointer");
|
||||
}
|
||||
// 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 > 8 || length == 0) // 安全检查
|
||||
while (1)
|
||||
{
|
||||
LOGERROR("[bsp_can] CAN DLC error! check your code or wild pointer");
|
||||
}
|
||||
|
||||
_instance->txconf.DataLength = DLC_LookUp_Table[length];
|
||||
_instance->txconf.DataLength = DLC_LookUp_Table[length];
|
||||
}
|
||||
|
||||
/* -----------------------belows are callback definitions--------------------------*/
|
||||
@@ -268,39 +281,39 @@ void CANSetDLC(FDCANInstance *_instance, uint8_t length)
|
||||
*/
|
||||
static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hfdcan, uint32_t fifox)
|
||||
{
|
||||
static FDCAN_RxHeaderTypeDef rxconf; // 同上
|
||||
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(_hfdcan, fifox, &rxconf, fdcan_rx_buff); // 从FIFO中获取数据
|
||||
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(_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)
|
||||
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
|
||||
DataLength = (rxconf.DataLength >> 16) & 0xF; // 保存接收到的数据长度
|
||||
}
|
||||
else
|
||||
{
|
||||
DataLength=0;
|
||||
DataLength = 0;
|
||||
}
|
||||
if(rxconf.RxFrameType==FDCAN_DATA_FRAME && rxconf.IdType==FDCAN_STANDARD_ID)
|
||||
{
|
||||
for (size_t i = 0; i < idx; ++i)
|
||||
if (rxconf.RxFrameType == FDCAN_DATA_FRAME && rxconf.IdType == FDCAN_STANDARD_ID)
|
||||
{
|
||||
for (size_t i = 0; i < idx; ++i)
|
||||
{
|
||||
// 两者相等说明这是要找的实例
|
||||
// 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
|
||||
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
|
||||
fdcan_instance[i]->can_module_callback(fdcan_instance[i]); // 触发回调进行数据解析和处理
|
||||
}
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -312,11 +325,13 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
|
||||
//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))
|
||||
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
|
||||
}
|
||||
}
|
||||
|
||||
void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
|
||||
{
|
||||
/* 检查Rx FIFO 1中是否有消息丢失 */
|
||||
@@ -325,7 +340,8 @@ void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
|
||||
//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))
|
||||
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
|
||||
}
|
||||
@@ -344,25 +360,26 @@ void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
|
||||
*/
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -379,7 +396,7 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
|
||||
*/
|
||||
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
|
||||
{
|
||||
CANFIFOxCallback(hcan, CAN_RX_FIFO0); // 调用我们自己写的函数来处理消息
|
||||
CANFIFOxCallback(hcan, CAN_RX_FIFO0); // 调用我们自己写的函数来处理消息
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -389,7 +406,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
|
||||
*/
|
||||
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
|
||||
{
|
||||
CANFIFOxCallback(hcan, CAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
|
||||
CANFIFOxCallback(hcan, CAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -19,12 +19,12 @@ static float current_energy_j = 0.0f;
|
||||
// 1. 定义为静态变量（static），确保它的内存空间常驻，防止底层指针悬垂！
|
||||
static XidiPowerMeter_Init_Config_s xidi_pm_config = {
|
||||
.can_config = {
|
||||
.can_handle = &hfdcan1, // 原来直接传的句柄，现在放进结构体里
|
||||
.rx_id = 0x213, // 接收 ID
|
||||
.tx_id = 0x000, // 发送 ID (不发送填0)
|
||||
.can_handle = &hfdcan1, // 原来直接传的句柄，现在放进结构体里
|
||||
.rx_id = 0x213, // 接收 ID
|
||||
.tx_id = 0x001, // 发送 ID (不发送填0)
|
||||
},
|
||||
.daemon_config = {
|
||||
.reload_count = 5, // 守护进程超时周期 (例如：5次没收到算离线)
|
||||
.reload_count = 5, // 守护进程超时周期 (例如：5次没收到算离线)
|
||||
}
|
||||
};
|
||||
|
||||
@@ -44,6 +44,7 @@ void RobotCMDInit()
|
||||
LOGINFO("[CMD] Power Meter Init Success!");
|
||||
}
|
||||
}
|
||||
|
||||
// ==================== 4. 在控制任务中读取使用 ====================
|
||||
void CmdTask(void *argument)
|
||||
{
|
||||
@@ -63,4 +64,4 @@ void CmdTask(void *argument)
|
||||
|
||||
osDelay(10); // 根据实际需要调整读取频率
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,56 +1,54 @@
|
||||
|
||||
Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/user_task/dev_tasks/dev_cmd.c:30, State=BP_STATE_ON
|
||||
GraphedExpression="(QEKF_INS).Roll", Color=#a00909
|
||||
OpenDocument="main.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c", Line=71
|
||||
OpenDocument="cmsis_os2.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=871
|
||||
OpenDocument="freertos.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/freertos.c", Line=366
|
||||
OpenDocument="xidipwmeter.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c", Line=21
|
||||
OpenDocument="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=404
|
||||
OpenDocument="stm32h7xx_it.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/stm32h7xx_it.c", Line=306
|
||||
OpenDocument="stm32h7xx_hal_spi.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c", Line=1536
|
||||
OpenDocument="stm32h7xx_hal_spi.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c", Line=1505
|
||||
OpenDocument="buzzer.cpp", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/buzzer/buzzer.cpp", Line=319
|
||||
OpenDocument="rc.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/remote_control/rc.c", Line=0
|
||||
OpenDocument="delayticks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/delayticks/delayticks.c", Line=4
|
||||
OpenDocument="port.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c", Line=217
|
||||
OpenDocument="bsp_dwt.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/dwt/bsp_dwt.c", Line=15
|
||||
OpenDocument="robot.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/application/robot.c", Line=33
|
||||
OpenDocument="cmsis_os2.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=871
|
||||
OpenDocument="dev_cmd.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/user_task/dev_tasks/dev_cmd.c", Line=12
|
||||
OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2305
|
||||
OpenDocument="list.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/list.c", Line=144
|
||||
OpenDocument="cmsis_gcc.h", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/CMSIS/Include/cmsis_gcc.h", Line=264
|
||||
OpenDocument="xidipwmeter.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c", Line=114
|
||||
OpenDocument="freertos.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/freertos.c", Line=366
|
||||
OpenDocument="stm32h7xx_hal_fdcan.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c", Line=2945
|
||||
OpenDocument="ws2812.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/ws2812/ws2812.c", Line=0
|
||||
OpenDocument="ins_task.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/imu/ins_task.c", Line=0
|
||||
OpenToolbar="Debug", Floating=0, x=0, y=0
|
||||
OpenToolbar="Breakpoints", Floating=0, x=1, y=0
|
||||
OpenWindow="Call Stack", DockArea=RIGHT, x=0, y=0, w=681, h=257, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Call Stack", DockArea=RIGHT, x=0, y=0, w=681, h=258, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Registers 1", DockArea=BOTTOM, x=1, y=0, w=361, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
|
||||
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=551, h=273, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Disassembly", DockArea=BOTTOM, x=2, y=0, w=629, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=282, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
|
||||
OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=216, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
|
||||
OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=465, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x2000B98C
|
||||
OpenWindow="Global Data", DockArea=RIGHT, x=0, y=3, w=681, h=303, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=279, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=238, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=238, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Global Data", DockArea=RIGHT, x=0, y=3, w=681, h=301, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=344, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=239, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=239, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=1102, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
|
||||
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=2, w=681, h=297, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="435;0", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="475;0"
|
||||
OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=238, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="FreeRTOS", DockArea=RIGHT, x=0, y=1, w=681, h=235, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing="Task List"
|
||||
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=2, w=681, h=295, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="435;0", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=0, CodeGraphLegendPosition="475;0"
|
||||
OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=239, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="FreeRTOS", DockArea=RIGHT, x=0, y=1, w=681, h=238, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing="Task List"
|
||||
TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118]
|
||||
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1164;100;100;100;100]
|
||||
TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;486]
|
||||
TableHeader="Vector Catches", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500]
|
||||
TableHeader="Break & Tracepoints", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;142;209]
|
||||
TableHeader="Call Stack", SortCol="Function", SortOrder="ASCENDING", VisibleCols=["Function";"Stack Frame";"Source";"PC";"Return Address";"Stack Used"], ColWidths=[110;126;190;100;190;100]
|
||||
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[229;100;100;100;1046]
|
||||
TableHeader="Data Sampling Table", SortCol="Index", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (QEKF_INS).Roll"], ColWidths=[100;100;100]
|
||||
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[320;100;100;100;100;100;102;118;118]
|
||||
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (QEKF_INS).Roll"], ColWidths=[100;100;100]
|
||||
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[320;100;110;110;100;110;102;118;118]
|
||||
TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
|
||||
TableHeader="Task List", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info (Free / Size)";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
|
||||
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;198]
|
||||
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location"], ColWidths=[171;101;279]
|
||||
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;294]
|
||||
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location"], ColWidths=[171;101;258]
|
||||
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
|
||||
TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118]
|
||||
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;38]
|
||||
WatchedExpression="QEKF_INS", RefreshRate=2, Window=Watched Data 1
|
||||
WatchedExpression="BMI088", RefreshRate=2, Window=Watched Data 1
|
||||
WatchedExpression="RobotMode_t", Window=Watched Data 1
|
||||
|
||||
Reference in New Issue
Block a user