From a96e9e939cc9763395acab68b4b52c86ee6e1b7b Mon Sep 17 00:00:00 2001 From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com> Date: Mon, 9 Mar 2026 17:47:13 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E4=BA=86=E5=90=97=EF=BC=9F?= =?UTF-8?q?=E6=B2=A1=E6=9C=89=EF=BC=8C=E5=BE=88=E9=9A=BE=E7=9A=84=E5=95=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User_Code/bsp/fdcan/bsp_fdcan.c | 323 +++++++++++++----------- User_Code/user_task/dev_tasks/dev_cmd.c | 11 +- ozonedeb/windebnewestux.jdebug.user | 40 ++- 3 files changed, 195 insertions(+), 179 deletions(-) diff --git a/User_Code/bsp/fdcan/bsp_fdcan.c b/User_Code/bsp/fdcan/bsp_fdcan.c index 72b74e4..5a42404 100644 --- a/User_Code/bsp/fdcan/bsp_fdcan.c +++ b/User_Code/bsp/fdcan/bsp_fdcan.c @@ -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 */ static void CANAddFilter(FDCANInstance *_instance) { - #ifdef FDCAN - static uint8_t can1_filter_idx = 0, can2_filter_idx = 0 , can3_filter_idx = 0; + 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) + if (can1_filter_idx > hfdcan1.Init.StdFiltersNbr || can2_filter_idx > hfdcan2.Init.StdFiltersNbr || can3_filter_idx + > hfdcan3.Init.StdFiltersNbr) { - while(1) + while (1) { //报错 } } uint8_t *filter_idx_p; - if(_instance->can_handle==&hfdcan1) + if (_instance->can_handle == &hfdcan1) { - filter_idx_p=&can1_filter_idx; + filter_idx_p = &can1_filter_idx; } - else if(_instance->can_handle==&hfdcan2) + else if (_instance->can_handle == &hfdcan2) { - filter_idx_p=&can2_filter_idx; + filter_idx_p = &can2_filter_idx; } - else if(_instance->can_handle==&hfdcan3) + else if (_instance->can_handle == &hfdcan3) { - filter_idx_p=&can3_filter_idx; + filter_idx_p = &can3_filter_idx; } else { - while(1) + while (1) { //报错 } } FDCAN_FilterTypeDef fdcan_filter_conf; - fdcan_filter_conf.FilterIndex=(*filter_idx_p)++; + 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.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; + // ================== 【核心修复区】 ================== + // 1. 强制让 FDCAN 进入 INIT 模式，否则无法写入 Message RAM + HAL_FDCAN_Stop(_instance->can_handle); + + // 2. 写入过滤器配置 + HAL_FDCAN_ConfigFilter(_instance->can_handle, &fdcan_filter_conf); + + // 3. 重新启动 FDCAN + HAL_FDCAN_Start(_instance->can_handle); + // ==================================================== + 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 + 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 - } /** @@ -108,31 +121,32 @@ void CANServiceInit() { #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; + 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; //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_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); + HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_RXActiveITs, 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_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); + HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_RXActiveITs, 0); #else @@ -143,116 +157,115 @@ void CANServiceInit() HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING); HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING); #endif - } /* ----------------------- two extern callable function -----------------------*/ FDCANInstance *CANRegister(FDCAN_Init_Config_s *config) { - if (!idx) - { - 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) - { - LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus"); - } + if (!idx) + { + 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) + { + 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 + if (fdcan_instance[i]->rx_id == config->rx_id && fdcan_instance[i]->can_handle == config->can_handle) + { + while (1) + { + LOGERROR("[}bsp_can] CAN id crash ,tx [%d] or rx [%d] already registered", &config->tx_id, + &config->rx_id); + } + } + } - } - for (size_t i = 0; i < idx; i++) - { // 重复注册 | id重复 - if (fdcan_instance[i]->rx_id == config->rx_id && fdcan_instance[i]->can_handle == config->can_handle) - { - while (1) - { - LOGERROR("[}bsp_can] CAN id crash ,tx [%d] or rx [%d] already registered", &config->tx_id, &config->rx_id); - } - - } - } - - 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 + 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 #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 + 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 + 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; // 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; + // 设置回调函数和接收发送id + instance->can_handle = config->can_handle; + 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; - CANAddFilter(instance); // 添加CAN过滤器规则 - fdcan_instance[idx++] = instance; // 将实例保存到can_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can实例指针 + return instance; // 返回can实例指针 } /* @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 volatile float wait_time __attribute__((unused)); // for cancel warning - float dwt_start = DWT_GetTimeline_ms(); + static uint32_t busy_count; + static volatile float wait_time __attribute__((unused)); // for cancel warning + float dwt_start = DWT_GetTimeline_ms(); #ifdef FDCAN - while(HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle)==0) + while (HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle) == 0) #else - while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲 + 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_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; + { + 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; #ifdef FDCAN - if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff)) + 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)) + // 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 } diff --git a/User_Code/user_task/dev_tasks/dev_cmd.c b/User_Code/user_task/dev_tasks/dev_cmd.c index 1092e98..c97cd43 100644 --- a/User_Code/user_task/dev_tasks/dev_cmd.c +++ b/User_Code/user_task/dev_tasks/dev_cmd.c @@ -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 } -} \ No newline at end of file +} diff --git a/ozonedeb/windebnewestux.jdebug.user b/ozonedeb/windebnewestux.jdebug.user index 977018f..ac797d2 100644 --- a/ozonedeb/windebnewestux.jdebug.user +++ b/ozonedeb/windebnewestux.jdebug.user @@ -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