#include "bsp_fdcan.h" #include "main.h" #include "memory.h" #include "stdlib.h" // #include "bsp_dwt.h" // #include "bsp_log.h" /* FDCAN实例指针存储，用于接收回调 */ // 在FDCAN产生接收中断会遍历数组,选出hfdcan和rxid与发生中断的实例相同的那个,调用其回调函数 static FDCANInstance *fdcan_instance[CAN_MX_REGISTER_CNT] = {NULL}; static uint8_t idx = 0; // 全局FDCAN实例索引,每次有新的模块注册会自增 /* ---------------- 静态函数，由FDCANRegister()调用 -------------------- */ /** * @brief 添加过滤器以实现对特定id的报文的接收,会被FDCANRegister()调用 * 给FDCAN添加过滤器后,FDCAN会根据接收到的报文的id进行消息过滤,符合规则的id会被填入FIFO触发中断 * * @note H7的FDCAN有多个过滤器,这里为每个FDCAN分配独立的过滤器索引 * 初始化时,奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1 * * @attention FDCAN的过滤器配置与标准CAN有所不同,使用掩码模式进行过滤 * * @param _instance FDCAN实例 */ static void FDCANAddFilter(FDCANInstance *_instance) { FDCAN_FilterTypeDef can_filter_conf; static uint8_t fdcan1_filter_idx = 0, fdcan2_filter_idx = 0, fdcan3_filter_idx = 0; can_filter_conf.IdType = FDCAN_STANDARD_ID; // 标准ID can_filter_conf.FilterType = FDCAN_FILTER_MASK; // 使用掩码模式 // 根据can_handle判断是哪个FDCAN,然后分配过滤器索引 if (_instance->can_handle == &hfdcan1) { can_filter_conf.FilterIndex = fdcan1_filter_idx++; } else if (_instance->can_handle == &hfdcan2) { can_filter_conf.FilterIndex = fdcan2_filter_idx++; } else if (_instance->can_handle == &hfdcan3) { can_filter_conf.FilterIndex = fdcan3_filter_idx++; } can_filter_conf.FilterConfig = (_instance->rx_id & 1) ? FDCAN_FILTER_TO_RXFIFO0 : FDCAN_FILTER_TO_RXFIFO1; can_filter_conf.FilterID1 = _instance->rx_id << 5; // 标准ID左移5位 can_filter_conf.FilterID2 = 0x7FF << 5; // 掩码: 匹配所有标准ID if (HAL_FDCAN_ConfigFilter(_instance->can_handle, &can_filter_conf) != HAL_OK) { Error_Handler(); } } /** * @brief 在第一个FDCAN实例初始化的时候会自动调用此函数,启动FDCAN服务 * * @note 此函数会启动FDCAN1、FDCAN2和FDCAN3,开启相应的FIFO中断通知 * */ static void FDCANServiceInit() { // 配置全局过滤器 - 拒绝所有不匹配的帧 HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); // 启动FDCAN HAL_FDCAN_Start(&hfdcan1); HAL_FDCAN_Start(&hfdcan2); HAL_FDCAN_Start(&hfdcan3); // 激活接收中断 - FDCAN1使用FIFO0, FDCAN2和FDCAN3使用FIFO1 HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0); HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0); // 激活错误中断 HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0); HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_BUS_OFF, 0); HAL_FDCAN_ActivateNotification(&hfdcan3, FDCAN_IT_BUS_OFF, 0); // LOGINFO("[bsp_fdcan] FDCAN Service Init"); } /** * @brief 从FDCAN数据长度码转换为实际数据长度 * @param dlc 数据长度码 * @return uint8_t 实际数据长度 */ static uint8_t FDCANDlcToLen(uint32_t dlc) { if (dlc <= FDCAN_DLC_BYTES_8) return dlc; else if (dlc == FDCAN_DLC_BYTES_12) return 12; else if (dlc == FDCAN_DLC_BYTES_16) return 16; else if (dlc == FDCAN_DLC_BYTES_20) return 20; else if (dlc == FDCAN_DLC_BYTES_24) return 24; else if (dlc == FDCAN_DLC_BYTES_32) return 32; else if (dlc == FDCAN_DLC_BYTES_48) return 48; else if (dlc == FDCAN_DLC_BYTES_64) return 64; return 0; } /** * @brief 从实际数据长度转换为FDCAN数据长度码 * @param len 实际数据长度 * @return uint32_t 数据长度码 */ static uint32_t FDCANLenToDlc(uint8_t len) { if (len <= 8) return len; else if (len == 12) return FDCAN_DLC_BYTES_12; else if (len == 16) return FDCAN_DLC_BYTES_16; else if (len == 20) return FDCAN_DLC_BYTES_20; else if (len == 24) return FDCAN_DLC_BYTES_24; else if (len == 32) return FDCAN_DLC_BYTES_32; else if (len == 48) return FDCAN_DLC_BYTES_48; else if (len == 64) return FDCAN_DLC_BYTES_64; return FDCAN_DLC_BYTES_8; } /* ----------------------- 外部可调用函数 -----------------------*/ FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config) { if (!idx) { FDCANServiceInit(); // 第一次注册,先进行硬件初始化 } if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数 { while (1) { // LOGERROR("[bsp_fdcan] FDCAN instance exceeded MAX num, consider balance the load of FDCAN bus"); } } for (size_t i = 0; i < idx; i++) { // 重复注册 | id重复 if (fdcan_instance[i]->rx_id == config->rx_id && fdcan_instance[i]->can_handle == config->can_handle) { while (1) { // LOGERROR("[bsp_fdcan] FDCAN id crash ,tx [%d] or rx [%d] already registered", config->tx_id, config->rx_id); } } } FDCANInstance *instance = (FDCANInstance *) malloc(sizeof(FDCANInstance)); // 分配空间 memset(instance, 0, sizeof(FDCANInstance)); // 分配的空间未必是0,所以要先清空 // 进行发送报文的配置 instance->txconf.Identifier = config->tx_id; // 发送id instance->txconf.IdType = FDCAN_STANDARD_ID; // 使用标准id instance->txconf.TxFrameType = FDCAN_DATA_FRAME; // 发送数据帧 instance->txconf.DataLength = FDCAN_DLC_BYTES_8; // 默认发送长度为8 instance->txconf.ErrorStateIndicator = FDCAN_ESI_ACTIVE; instance->txconf.BitRateSwitch = FDCAN_BRS_OFF; // 默认关闭比特率切换 instance->txconf.FDFormat = FDCAN_CLASSIC_CAN; // 默认经典CAN模式 instance->txconf.TxEventFifoControl = FDCAN_NO_TX_EVENTS; instance->txconf.MessageMarker = 0; // 设置回调函数和接收发送id instance->can_handle = config->can_handle; instance->tx_id = config->tx_id; instance->rx_id = config->rx_id; instance->can_module_callback = config->can_module_callback; instance->id = config->id; FDCANAddFilter(instance); // 添加FDCAN过滤器规则 fdcan_instance[idx++] = instance; // 将实例保存到fdcan_instance中 return instance; // 返回FDCAN实例指针 } /** * @brief 通过FDCAN实例发送消息 * 发送前需要向FDCAN实例的tx_buff写入发送数据 * * @attention 超时时间不应该超过调用此函数的任务的周期,否则会导致任务阻塞 * * @param _instance FDCAN实例 * @param timeout 超时时间,单位为ms * @return uint8_t 发送成功返回1,失败返回0 */ uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout) { // static uint32_t busy_count; static volatile float wait_time __attribute__((unused)); // for cancel warning // float dwt_start = DWT_GetTimeline_ms(); // 等待发送FIFO有空闲位置 while (HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle) == 0) { // if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时 // { // LOGWARNING("[bsp_fdcan] FDCAN TX FIFO full! failed to add msg to FIFO. Cnt [%d]", busy_count); // busy_count++; // return 0; // } } // wait_time = DWT_GetTimeline_ms() - dwt_start; // 发送消息 if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff) != HAL_OK) { // LOGWARNING("[bsp_fdcan] FDCAN bus BUS! cnt:%d", busy_count); // busy_count++; return 0; } return 1; // 发送成功 } /** * @brief 修改FDCAN发送报文的数据帧长度 * 注意FDCAN最大支持64字节,在没有进行修改的时候,默认长度为8 * * @param _instance 要修改长度的FDCAN实例 * @param length 设定长度 */ void FDCANSetDLC(FDCANInstance *_instance, uint8_t length) { // 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问 if (length > 64 || length == 0) // 安全检查 while (1) { //LOGERROR("[bsp_fdcan] FDCAN DLC error! check your code or wild pointer"); } _instance->txconf.DataLength = FDCANLenToDlc(length); } /** * @brief 设置FDCAN波特率 * @param hfdcan FDCAN句柄 * @param mode CAN模式：CAN_CLASS或CAN_FD_BRS * @param baud 波特率选择 */ void bsp_fdcan_set_baud(FDCAN_HandleTypeDef *hfdcan, uint8_t mode, uint8_t baud) { uint32_t nom_brp = 0, nom_seg1 = 0, nom_seg2 = 0, nom_sjw = 0; uint32_t dat_brp = 0, dat_seg1 = 0, dat_seg2 = 0, dat_sjw = 0; if (mode == CAN_CLASS) { switch (baud) { case CAN_BR_125K: nom_brp = 4; nom_seg1 = 139; nom_seg2 = 20; nom_sjw = 20; break; case CAN_BR_200K: nom_brp = 2; nom_seg1 = 174; nom_seg2 = 25; nom_sjw = 25; break; case CAN_BR_250K: nom_brp = 2; nom_seg1 = 139; nom_seg2 = 20; nom_sjw = 20; break; case CAN_BR_500K: nom_brp = 1; nom_seg1 = 139; nom_seg2 = 20; nom_sjw = 20; break; case CAN_BR_1M: nom_brp = 1; nom_seg1 = 59; nom_seg2 = 20; nom_sjw = 20; break; default: break; } dat_brp = 1; dat_seg1 = 29; dat_seg2 = 10; dat_sjw = 10; // 仲裁域默认1M hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC; } else if (mode == CAN_FD_BRS) { switch (baud) { case CAN_BR_2M: dat_brp = 1; dat_seg1 = 29; dat_seg2 = 10; dat_sjw = 10; break; case CAN_BR_2M5: dat_brp = 1; dat_seg1 = 25; dat_seg2 = 6; dat_sjw = 6; break; case CAN_BR_3M2: dat_brp = 1; dat_seg1 = 19; dat_seg2 = 5; dat_sjw = 5; break; case CAN_BR_4M: dat_brp = 1; dat_seg1 = 14; dat_seg2 = 5; dat_sjw = 5; break; case CAN_BR_5M: dat_brp = 1; dat_seg1 = 13; dat_seg2 = 2; dat_sjw = 2; break; default: break; } nom_brp = 1; nom_seg1 = 59; nom_seg2 = 20; nom_sjw = 20; // 数据域默认1M hfdcan->Init.FrameFormat = FDCAN_FRAME_FD_BRS; } HAL_FDCAN_Stop(hfdcan); hfdcan->Init.NominalPrescaler = nom_brp; hfdcan->Init.NominalTimeSeg1 = nom_seg1; hfdcan->Init.NominalTimeSeg2 = nom_seg2; hfdcan->Init.NominalSyncJumpWidth = nom_sjw; hfdcan->Init.DataPrescaler = dat_brp; hfdcan->Init.DataTimeSeg1 = dat_seg1; hfdcan->Init.DataTimeSeg2 = dat_seg2; hfdcan->Init.DataSyncJumpWidth = dat_sjw; if (HAL_FDCAN_Init(hfdcan) != HAL_OK) { Error_Handler(); } // 重新启动FDCAN并配置过滤器 HAL_FDCAN_Start(hfdcan); HAL_FDCAN_ConfigGlobalFilter(hfdcan, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); // 重新激活通知 if (hfdcan == &hfdcan1) { HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); } else { HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0); } HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_BUS_OFF, 0); } /* ----------------------- 回调函数定义 --------------------------*/ /** * @brief 此函数会被下面两个函数调用,用于处理FIFO0和FIFO1接收中断(说明收到了新的数据) * 所有的实例都会被遍历,找到can_handle和rx_id相等的实例时,调用该实例的回调函数 * * @param _hcan FDCAN句柄 * @param fifox 传递给HAL_FDCAN_GetRxMessage()以从特定FIFO获取消息 */ static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hcan, uint32_t fifox) { FDCAN_RxHeaderTypeDef rxconf; uint8_t can_rx_buff[64]; while (HAL_FDCAN_GetRxFifoFillLevel(_hcan, fifox)) // FIFO不为空,有可能在其他中断时有多帧数据进入 { HAL_FDCAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 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.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 = FDCANDlcToLen(rxconf.DataLength); // 保存接收到的数据长度 memcpy(fdcan_instance[i]->rx_buff, can_rx_buff, fdcan_instance[i]->rx_len); // 消息拷贝到对应实例 fdcan_instance[i]->can_module_callback(fdcan_instance[i]); // 触发回调进行数据解析和处理 } return; } } } } /** * @brief 注意,STM32的FDCAN设备有独立的FIFO * 下面两个函数是HAL库中的回调函数,他们被HAL声明为__weak,这里对他们进行重载(重写) * 当FIFO0或FIFO1有新消息时会调用这两个函数 */ /** * @brief rx fifo callback. Once FIFO_0 has new message, this func would be called * * @param hfdcan FDCAN handle indicate which device the message in FIFO_0 comes from * @param RxFifo0ITs FIFO0中断标志 */ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) { if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET) { FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO0); // 调用我们自己写的函数来处理消息 } } /** * @brief rx fifo callback. Once FIFO_1 has new message, this func would be called * * @param hfdcan FDCAN handle indicate which device the message in FIFO_1 comes from * @param RxFifo1ITs FIFO1中断标志 */ void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) { if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET) { FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO1); // 调用我们自己写的函数来处理消息 } } /** * @brief 错误状态回调函数 * @param hfdcan FDCAN句柄 * @param ErrorStatusITs 错误状态中断标志 */ void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs) { if (ErrorStatusITs & FDCAN_IR_BO) { // 总线关闭恢复 CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT); hfdcan->ErrorCode = 0; // LOGWARNING("[bsp_fdcan] FDCAN Bus Off recovered"); } if (ErrorStatusITs & FDCAN_IR_EP) { // 错误被动状态处理，重新初始化FDCAN // LOGWARNING("[bsp_fdcan] FDCAN Error Passive, reinitializing..."); if (hfdcan->Instance == FDCAN1) { MX_FDCAN1_Init(); } else if (hfdcan->Instance == FDCAN2) { MX_FDCAN2_Init(); } else if (hfdcan->Instance == FDCAN3) { MX_FDCAN3_Init(); } // 重新配置并启动 HAL_FDCAN_Start(hfdcan); HAL_FDCAN_ConfigGlobalFilter(hfdcan, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE); if (hfdcan == &hfdcan1) { HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); } else { HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0); } HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_BUS_OFF, 0); hfdcan->ErrorCode = 0; } } // 弱定义的接收回调函数，用户可重写 __weak void fdcan1_rx_callback(void) { // 用户可重写 } __weak void fdcan2_rx_callback(void) { // 用户可重写 } __weak void fdcan3_rx_callback(void) { // 用户可重写 }