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changed FDCAN！PowerModule OK！

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TuxMonkey
2026-03-16 18:15:05 +08:00
parent e84c3e11f3
commit aa6eefda50
2 changed files with 49 additions and 31 deletions
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51
User_Code/bsp/fdcan/bsp_fdcan.c
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@@ -288,42 +288,59 @@ 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;
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
while (HAL_FDCAN_GetRxFifoFillLevel(_hfdcan, fifox))
{
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)
HAL_FDCAN_GetRxMessage(_hfdcan, fifox, &rxconf, fdcan_rx_buff);
//@todo:DataLength解析
switch (rxconf.DataLength)
{
DataLength = (rxconf.DataLength >> 16) & 0xF; // 保存接收到的数据长度
}
else
{
DataLength = 0;
case FDCAN_DLC_BYTES_0: DataLength = 0;
break;
case FDCAN_DLC_BYTES_1: DataLength = 1;
break;
case FDCAN_DLC_BYTES_2: DataLength = 2;
break;
case FDCAN_DLC_BYTES_3: DataLength = 3;
break;
case FDCAN_DLC_BYTES_4: DataLength = 4;
break;
case FDCAN_DLC_BYTES_5: DataLength = 5;
break;
case FDCAN_DLC_BYTES_6: DataLength = 6;
break;
case FDCAN_DLC_BYTES_7: DataLength = 7;
break;
case FDCAN_DLC_BYTES_8: DataLength = 8;
break;
// 如果后续用到了 FDCAN 真正的长帧(12~64字节)，可以在这里继续加 case
default: DataLength = 8;
break; // 兜底保护
}
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
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)
{
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]->rx_len = DataLength;
memcpy(fdcan_instance[i]->rx_buff, fdcan_rx_buff, fdcan_instance[i]->rx_len);
fdcan_instance[i]->can_module_callback(fdcan_instance[i]);
}
return;
break;
}
}
}
}
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
/* 检查Rx FIFO 0中是否有消息丢失 */