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https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-24 03:27:45 +08:00
376 lines
11 KiB
C
376 lines
11 KiB
C
#include "bsp_fdcan.h"
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#include "fdcan.h"
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#include "memory.h"
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#include "stdlib.h"
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/* FDCAN实例指针存储，用于接收回调 */
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static FDCANInstance *fdcan_instance[CAN_MX_REGISTER_CNT] = {NULL};
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static uint8_t idx = 0; // 全局FDCAN实例索引
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/* ---------------- 静态函数，由FDCANRegister()调用 -------------------- */
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/**
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* @brief 添加过滤器以实现对特定id的报文的接收
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* @param _instance 特定模块拥有的FDCAN实例
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*/
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static void FDCANAddFilter(FDCANInstance *_instance)
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{
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FDCAN_FilterTypeDef can_filter_conf;
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static uint8_t filter_idx[3] = {0}; // 每个CAN的过滤器索引
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uint8_t can_num = (_instance->can_handle == &hfdcan1 ? 0 :
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_instance->can_handle == &hfdcan2 ? 1 : 2);
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can_filter_conf.IdType = FDCAN_STANDARD_ID; // 标准ID
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can_filter_conf.FilterIndex = filter_idx[can_num]++; // 滤波器索引自增
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can_filter_conf.FilterType = FDCAN_FILTER_MASK; // 掩码模式
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can_filter_conf.FilterConfig = (_instance->rx_id & 1) ? FDCAN_FILTER_TO_RXFIFO0 : FDCAN_FILTER_TO_RXFIFO1;
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can_filter_conf.FilterID1 = _instance->rx_id << 5; // 过滤器ID1
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can_filter_conf.FilterID2 = 0x7FF << 5; // 掩码，匹配所有标准ID
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if (HAL_FDCAN_ConfigFilter(_instance->can_handle, &can_filter_conf) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/**
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* @brief 在第一个FDCAN实例初始化时自动调用此函数，启动FDCAN服务
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*/
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static void FDCANServiceInit()
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{
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// 配置全局过滤器
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for (int i = 0; i < 3; i++)
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{
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FDCAN_HandleTypeDef *hfdcan = (i == 0) ? &hfdcan1 : (i == 1) ? &hfdcan2 : &hfdcan3;
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HAL_FDCAN_ConfigGlobalFilter(hfdcan, FDCAN_REJECT, FDCAN_REJECT,
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FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE);
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// 启动FDCAN
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HAL_FDCAN_Start(hfdcan);
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// 激活通知
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if (i == 0) // FDCAN1使用FIFO0
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{
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HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
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}
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else // FDCAN2和FDCAN3使用FIFO1
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{
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HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
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}
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HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_BUS_OFF, 0);
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}
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}
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/**
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* @brief 从FDCAN数据长度码转换为实际数据长度
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* @param dlc 数据长度码
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* @return uint8_t 实际数据长度
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*/
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static uint8_t FDCANDlcToLen(uint32_t dlc)
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{
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if (dlc <= FDCAN_DLC_BYTES_8)
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return dlc;
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else if (dlc == FDCAN_DLC_BYTES_12)
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return 12;
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else if (dlc == FDCAN_DLC_BYTES_16)
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return 16;
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else if (dlc == FDCAN_DLC_BYTES_20)
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return 20;
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else if (dlc == FDCAN_DLC_BYTES_24)
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return 24;
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else if (dlc == FDCAN_DLC_BYTES_32)
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return 32;
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else if (dlc == FDCAN_DLC_BYTES_48)
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return 48;
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else if (dlc == FDCAN_DLC_BYTES_64)
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return 64;
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return 0;
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}
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/**
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* @brief 从实际数据长度转换为FDCAN数据长度码
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* @param len 实际数据长度
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* @return uint32_t 数据长度码
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*/
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static uint32_t FDCANLenToDlc(uint8_t len)
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{
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if (len <= 8)
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return len;
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else if (len == 12)
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return FDCAN_DLC_BYTES_12;
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else if (len == 16)
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return FDCAN_DLC_BYTES_16;
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else if (len == 20)
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return FDCAN_DLC_BYTES_20;
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else if (len == 24)
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return FDCAN_DLC_BYTES_24;
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else if (len == 32)
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return FDCAN_DLC_BYTES_32;
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else if (len == 48)
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return FDCAN_DLC_BYTES_48;
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else if (len == 64)
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return FDCAN_DLC_BYTES_64;
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return FDCAN_DLC_BYTES_8;
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}
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/* ----------------------- 外部可调用函数 -----------------------*/
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FDCANInstance *FDCANRegister(FDCAN_Init_Config_s *config)
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{
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if (!idx)
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{
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FDCANServiceInit(); // 第一次注册，先进行硬件初始化
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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); // 错误处理
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}
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for (size_t i = 0; i < idx; i++)
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{ // 重复注册检查
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if (fdcan_instance[i]->rx_id == config->rx_id &&
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fdcan_instance[i]->can_handle == config->can_handle)
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{
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while (1); // ID冲突错误处理
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}
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}
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FDCANInstance *instance = (FDCANInstance *)malloc(sizeof(FDCANInstance));
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memset(instance, 0, sizeof(FDCANInstance));
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// 进行发送报文的配置
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instance->txconf.Identifier = config->tx_id;
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instance->txconf.IdType = FDCAN_STANDARD_ID;
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instance->txconf.TxFrameType = FDCAN_DATA_FRAME;
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instance->txconf.DataLength = FDCAN_DLC_BYTES_8;
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instance->txconf.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
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instance->txconf.BitRateSwitch = FDCAN_BRS_OFF;
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instance->txconf.FDFormat = FDCAN_CLASSIC_CAN;
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instance->txconf.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
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instance->txconf.MessageMarker = 0;
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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;
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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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FDCANAddFilter(instance); // 添加FDCAN过滤器规则
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fdcan_instance[idx++] = instance; // 将实例保存到fdcan_instance中
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return instance; // 返回FDCAN实例指针
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}
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uint8_t FDCANTransmit(FDCANInstance *_instance, float timeout)
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{
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uint32_t start_time = HAL_GetTick();
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// 等待发送FIFO有空闲位置
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while (HAL_FDCAN_GetTxFifoFreeLevel(_instance->can_handle) == 0)
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{
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if (HAL_GetTick() - start_time > timeout)
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{
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return 0; // 超时
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}
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}
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// 发送消息
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if (HAL_FDCAN_AddMessageToTxFifoQ(_instance->can_handle, &_instance->txconf, _instance->tx_buff) != HAL_OK)
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{
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return 0; // 发送失败
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}
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return 1; // 发送成功
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}
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void FDCANSetDLC(FDCANInstance *_instance, uint8_t length)
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{
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if (length > 64) // FDCAN最大支持64字节
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{
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while (1); // 错误处理
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}
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_instance->txconf.DataLength = FDCANLenToDlc(length);
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}
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void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud)
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{
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uint32_t nom_brp=0, nom_seg1=0, nom_seg2=0, nom_sjw=0;
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uint32_t dat_brp=0, dat_seg1=0, dat_seg2=0, dat_sjw=0;
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if(mode == CAN_CLASS)
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{
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switch (baud)
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{
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case CAN_BR_125K: nom_brp=4 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break;
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case CAN_BR_200K: nom_brp=2 ; nom_seg1=174; nom_seg2=25; nom_sjw=25; break;
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case CAN_BR_250K: nom_brp=2 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break;
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case CAN_BR_500K: nom_brp=1 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break;
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case CAN_BR_1M: nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; break;
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}
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dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10;
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hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC;
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}
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if(mode == CAN_FD_BRS)
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{
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switch (baud)
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{
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case CAN_BR_2M: dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; break;
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case CAN_BR_2M5: dat_brp=1 ; dat_seg1=25; dat_seg2=6 ; dat_sjw=6 ; break;
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case CAN_BR_3M2: dat_brp=1 ; dat_seg1=19; dat_seg2=5 ; dat_sjw=5 ; break;
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case CAN_BR_4M: dat_brp=1 ; dat_seg1=14; dat_seg2=5 ; dat_sjw=5 ; break;
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case CAN_BR_5M: dat_brp=1 ; dat_seg1=13; dat_seg2=2 ; dat_sjw=2 ; break;
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}
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nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20;
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hfdcan->Init.FrameFormat = FDCAN_FRAME_FD_BRS;
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}
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HAL_FDCAN_DeInit(hfdcan);
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hfdcan->Init.NominalPrescaler = nom_brp;
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hfdcan->Init.NominalTimeSeg1 = nom_seg1;
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hfdcan->Init.NominalTimeSeg2 = nom_seg2;
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hfdcan->Init.NominalSyncJumpWidth = nom_sjw;
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hfdcan->Init.DataPrescaler = dat_brp;
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hfdcan->Init.DataTimeSeg1 = dat_seg1;
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hfdcan->Init.DataTimeSeg2 = dat_seg2;
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hfdcan->Init.DataSyncJumpWidth = dat_sjw;
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HAL_FDCAN_Init(hfdcan);
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}
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/* ----------------------- 回调函数定义 --------------------------*/
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/**
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* @brief 处理FIFO0和FIFO1接收中断
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* @param _hcan FDCAN句柄
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* @param fifox 传递给HAL_FDCAN_GetRxMessage()以从特定FIFO获取消息
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*/
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static void FDCANFIFOxCallback(FDCAN_HandleTypeDef *_hcan, uint32_t fifox)
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{
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FDCAN_RxHeaderTypeDef rxconf;
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uint8_t can_rx_buff[64];
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while (HAL_FDCAN_GetRxFifoFillLevel(_hcan, fifox)) // FIFO不为空
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{
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HAL_FDCAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff);
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for (size_t i = 0; i < idx; ++i)
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{
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if (_hcan == fdcan_instance[i]->can_handle &&
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rxconf.Identifier == fdcan_instance[i]->rx_id)
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{
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if (fdcan_instance[i]->can_module_callback != NULL)
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{
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fdcan_instance[i]->rx_len = FDCANDlcToLen(rxconf.DataLength);
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memcpy(fdcan_instance[i]->rx_buff, can_rx_buff, fdcan_instance[i]->rx_len);
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fdcan_instance[i]->can_module_callback(fdcan_instance[i]);
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}
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return;
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}
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}
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}
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}
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// 弱定义的接收回调函数
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__weak void fdcan1_rx_callback(void)
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{
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// 用户可重写
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}
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__weak void fdcan2_rx_callback(void)
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{
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// 用户可重写
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}
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__weak void fdcan3_rx_callback(void)
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{
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// 用户可重写
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}
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/**
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* @brief FIFO0接收回调函数
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*/
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
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{
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if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
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{
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FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO0);
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// 调用用户回调
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if (hfdcan == &hfdcan1)
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{
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fdcan1_rx_callback();
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}
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}
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}
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/**
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* @brief FIFO1接收回调函数
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*/
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void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
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{
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if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET)
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{
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FDCANFIFOxCallback(hfdcan, FDCAN_RX_FIFO1);
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// 调用用户回调
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if (hfdcan == &hfdcan2)
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{
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fdcan2_rx_callback();
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}
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else if (hfdcan == &hfdcan3)
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{
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fdcan3_rx_callback();
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}
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}
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}
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/**
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* @brief 错误状态回调函数
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*/
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void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
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{
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if (ErrorStatusITs & FDCAN_IR_BO)
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{
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// 总线关闭恢复
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CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT);
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hfdcan->ErrorCode = 0;
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}
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if (ErrorStatusITs & FDCAN_IR_EP)
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{
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// 错误被动状态处理，重新初始化FDCAN
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if (hfdcan->Instance == FDCAN1)
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{
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MX_FDCAN1_Init();
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}
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else if (hfdcan->Instance == FDCAN2)
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{
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MX_FDCAN2_Init();
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}
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else if (hfdcan->Instance == FDCAN3)
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{
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MX_FDCAN3_Init();
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}
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// 重新配置过滤器并启动
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HAL_FDCAN_Start(hfdcan);
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if (hfdcan == &hfdcan1)
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{
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HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
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}
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else
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{
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HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
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}
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HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_BUS_OFF, 0);
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hfdcan->ErrorCode = 0;
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}
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} |