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修复了吗？没有，很难的啦

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TuxMonkey
2026-03-09 17:47:13 +08:00
parent 79afbaf68d
commit a96e9e939c
3 changed files with 195 additions and 179 deletions
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323
User_Code/bsp/fdcan/bsp_fdcan.c
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@@ -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) static void CANAddFilter(FDCANInstance *_instance)
{ {
#ifdef FDCAN #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 //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 //报错
} }
} }
uint8_t *filter_idx_p; 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 else
{ {
while(1) while (1)
{ {
//报错 //报错
} }
} }
FDCAN_FilterTypeDef fdcan_filter_conf; 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 //使用单个ID模式
fdcan_filter_conf.FilterType=FDCAN_FILTER_DUAL; 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.FilterConfig = (_instance->tx_id & 1) ? FDCAN_FILTER_TO_RXFIFO0 : FDCAN_FILTER_TO_RXFIFO1;
fdcan_filter_conf.FilterID1=_instance->rx_id; //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.FilterID2=_instance->rx_id; fdcan_filter_conf.FilterID1 = _instance->rx_id;
fdcan_filter_conf.IdType=FDCAN_STANDARD_ID; fdcan_filter_conf.FilterID2 = _instance->rx_id;
fdcan_filter_conf.IsCalibrationMsg=0; fdcan_filter_conf.IdType = FDCAN_STANDARD_ID;
fdcan_filter_conf.IsCalibrationMsg = 0;
//fdcan_filter_conf.RxBufferIndex=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); HAL_FDCAN_ConfigFilter(_instance->can_handle, &fdcan_filter_conf);
#else #else
CAN_FilterTypeDef can_filter_conf; 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 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.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.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.FilterFIFOAssignment = (_instance->tx_id & 1) ? CAN_RX_FIFO0 : CAN_RX_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) // 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.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.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.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.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.FilterActivation = CAN_FILTER_ENABLE; // 启用过滤器 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); HAL_CAN_ConfigFilter(_instance->can_handle, &can_filter_conf);
#endif #endif
} }
/** /**
@@ -108,31 +121,32 @@ void CANServiceInit()
{ {
#ifdef FDCAN #ifdef FDCAN
//可能不需要这么多中断 //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\ 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_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_MESSAGE_LOST
|FDCAN_IT_RX_FIFO1_NEW_MESSAGE| FDCAN_IT_RX_FIFO1_FULL\ | FDCAN_IT_RX_FIFO1_NEW_MESSAGE | FDCAN_IT_RX_FIFO1_FULL\
|FDCAN_IT_RX_FIFO1_WATERMARK|FDCAN_IT_RX_FIFO1_MESSAGE_LOST; | FDCAN_IT_RX_FIFO1_WATERMARK | FDCAN_IT_RX_FIFO1_MESSAGE_LOST;
//HAL_FDCAN_ConfigClockCalibration() //HAL_FDCAN_ConfigClockCalibration()
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan1,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE); HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan1,FDCAN_RX_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan1,FDCAN_RX_FIFO1,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_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_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan2,FDCAN_RX_FIFO1,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_ConfigGlobalFilter(&hfdcan2, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
HAL_FDCAN_Start(&hfdcan2); 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_FIFO0,FDCAN_RX_FIFO_OVERWRITE);
HAL_FDCAN_ConfigRxFifoOverwrite(&hfdcan3,FDCAN_RX_FIFO1,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_ConfigGlobalFilter(&hfdcan3, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
HAL_FDCAN_Start(&hfdcan3); HAL_FDCAN_Start(&hfdcan3);
HAL_FDCAN_ActivateNotification(&hfdcan3,FDCAN_RXActiveITs, 0); HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_RXActiveITs, 0);
#else #else
@@ -143,116 +157,115 @@ void CANServiceInit()
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING); HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING); HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
#endif #endif
} }
/* ----------------------- two extern callable function -----------------------*/ /* ----------------------- two extern callable function -----------------------*/
FDCANInstance *CANRegister(FDCAN_Init_Config_s *config) FDCANInstance *CANRegister(FDCAN_Init_Config_s *config)
{ {
if (!idx) if (!idx)
{ {
CANServiceInit(); // 第一次注册,先进行硬件初始化 CANServiceInit(); // 第一次注册,先进行硬件初始化
LOGINFO("[bsp_can] CAN Service Init"); LOGINFO("[bsp_can] CAN Service Init");
} }
if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数 if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数
{ {
while (1) while (1)
{ {
LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus"); LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus");
} }
}
for (size_t i = 0; i < idx; i++)
{
// 重复注册 | id重复
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
for (size_t i = 0; i < idx; i++) memset(instance, 0, sizeof(FDCANInstance)); // 分配的空间未必是0,所以要先清空
{ // 重复注册 | id重复 // 进行发送报文的配置
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
#ifdef FDCAN #ifdef FDCAN
instance->txconf.Identifier = config->tx_id; // 发送id 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.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.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.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.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.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.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.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.MessageMarker = 0; // 不使用消息标记
#else #else
instance->txconf.StdId = config->tx_id; // 发送id 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.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.RTR = CAN_RTR_DATA; // 发送数据帧
instance->txconf.DLC = 0x08; // 默认发送长度为8 instance->txconf.DLC = 0x08; // 默认发送长度为8
#endif #endif
// 设置回调函数和接收发送id // 设置回调函数和接收发送id
instance->can_handle = config->can_handle; instance->can_handle = config->can_handle;
instance->tx_id = config->tx_id; // 好像没用,可以删掉 instance->tx_id = config->tx_id; // 好像没用,可以删掉
instance->rx_id = config->rx_id; instance->rx_id = config->rx_id;
instance->can_module_callback = config->can_module_callback; instance->can_module_callback = config->can_module_callback;
instance->id = config->id; instance->id = config->id;
CANAddFilter(instance); // 添加CAN过滤器规则 CANAddFilter(instance); // 添加CAN过滤器规则
fdcan_instance[idx++] = instance; // 将实例保存到can_instance中 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 */ /* @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 */ /* 如果让CANinstance保存txbuff,会增加一次复制的开销 */
uint8_t CANTransmit(FDCANInstance *_instance, float timeout) uint8_t CANTransmit(FDCANInstance *_instance, float timeout)
{ {
static uint32_t busy_count; static uint32_t busy_count;
static volatile float wait_time __attribute__((unused)); // for cancel warning static volatile float wait_time __attribute__((unused)); // for cancel warning
float dwt_start = DWT_GetTimeline_ms(); float dwt_start = DWT_GetTimeline_ms();
#ifdef FDCAN #ifdef FDCAN
while(HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle)==0) while (HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle) == 0)
#else #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 #endif
{ {
if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时 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); LOGWARNING("[bsp_can] CAN MAILbox full! failed to add msg to mailbox. Cnt [%d]", busy_count);
busy_count++; busy_count++;
return 0; return 0;
} }
} }
wait_time = DWT_GetTimeline_ms() - dwt_start; wait_time = DWT_GetTimeline_ms() - dwt_start;
#ifdef FDCAN #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 #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 // 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)) if (HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox))
#endif #endif
{ {
LOGWARNING("[bsp_can] CAN bus BUSY! cnt:%d", busy_count); LOGWARNING("[bsp_can] CAN bus BUSY! cnt:%d", busy_count);
busy_count++; busy_count++;
return 0; return 0;
} }
return 1; // 发送成功 return 1; // 发送成功
} }
void CANSetDLC(FDCANInstance *_instance, uint8_t length) void CANSetDLC(FDCANInstance *_instance, uint8_t length)
{ {
// 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问 // 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 if (length > 8 || length == 0) // 安全检查
while (1) while (1)
{ {
LOGERROR("[bsp_can] CAN DLC error! check your code or wild pointer"); 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--------------------------*/ /* -----------------------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 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 uint16_t DataLength = 0;
static uint8_t fdcan_rx_buff[8]; 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 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 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 ！ //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 else
{ {
DataLength=0; DataLength = 0;
} }
if(rxconf.RxFrameType==FDCAN_DATA_FRAME && rxconf.IdType==FDCAN_STANDARD_ID) if (rxconf.RxFrameType == FDCAN_DATA_FRAME && rxconf.IdType == FDCAN_STANDARD_ID)
{ {
for (size_t i = 0; i < idx; ++i) for (size_t i = 0; i < idx; ++i)
{ {
// 两者相等说明这是要找的实例 // 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 (_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 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 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; return;
} }
} }
} }
} }
} }
@@ -312,11 +325,13 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
//报错 //报错
} }
/* 检查是否有新消息写入Rx FIFO 0或到达一定阈值 */ /* 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 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) void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
{ {
/* 检查Rx FIFO 1中是否有消息丢失 */ /* 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 //报错
} }
/* 检查是否有新消息写入Rx FIFO 1或到达一定阈值 */ /* 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 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 void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
{ {
static CAN_RxHeaderTypeDef rxconf; // 同上 static CAN_RxHeaderTypeDef rxconf; // 同上
uint8_t can_rx_buff[8]; 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 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 HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
for (size_t i = 0; i < idx; ++i) for (size_t i = 0; i < idx; ++i)
{ // 两者相等说明这是要找的实例 {
if (_hcan == fdcan_instance[i]->can_handle && rxconf.StdId == 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.StdId == fdcan_instance[i]->rx_id)
if (fdcan_instance[i]->can_module_callback != NULL) // 回调函数不为空就调用 {
{ 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]->rx_len = rxconf.DLC; // 保存接收到的数据长度
fdcan_instance[i]->can_module_callback(fdcan_instance[i]); // 触发回调进行数据解析和处理 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; }
} return;
} }
} }
}
} }
/** /**
@@ -379,7 +396,7 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
*/ */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) 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) 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
} }

11
User_Code/user_task/dev_tasks/dev_cmd.c
View File

@@ -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！ // 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 = { static XidiPowerMeter_Init_Config_s xidi_pm_config = {
.can_config = { .can_config = {
.can_handle = &hfdcan1, // 原来直接传的句柄，现在放进结构体里 .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 .rx_id = 0x213, // 接收 ID
.tx_id = 0x000, // 发送 ID (不发送填0) .tx_id = 0x001, // 发送 ID (不发送填0)
}, },
.daemon_config = { .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!"); LOGINFO("[CMD] Power Meter Init Success!");
} }
} }
// ==================== 4. 在控制任务中读取使用 ==================== // ==================== 4. 在控制任务中读取使用 ====================
void CmdTask(void *argument) 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 osDelay(10); // 根据实际需要调整读取频率
} }
} }

40
ozonedeb/windebnewestux.jdebug.user
View File

@@ -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 GraphedExpression="(QEKF_INS).Roll", Color=#a00909
OpenDocument="main.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c", Line=71 OpenDocument="xidipwmeter.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c", Line=21
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="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=404 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_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="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="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="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="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="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="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="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="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="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="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="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 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="Debug", Floating=0, x=0, y=0
OpenToolbar="Breakpoints", Floating=0, x=1, 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="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="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="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="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="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=279, 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=238, TabPos=1, TopOfStack=0, 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=238, TabPos=2, TopOfStack=1, 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="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="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=238, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=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=235, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing="Task List" 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="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="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="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="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="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="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 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;100;100;100;100;102;118;118] 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="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="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="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;279] 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="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="QEKF_INS", RefreshRate=2, Window=Watched Data 1
WatchedExpression="BMI088", RefreshRate=2, Window=Watched Data 1 WatchedExpression="BMI088", RefreshRate=2, Window=Watched Data 1
WatchedExpression="RobotMode_t", Window=Watched Data 1 WatchedExpression="RobotMode_t", Window=Watched Data 1