mirror of
https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-24 03:27:45 +08:00
452 lines
16 KiB
C
452 lines
16 KiB
C
#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
|
||
} |