更新项目结构，修改自述文件

2026-05-17 21:16:52 +08:00
parent bc5bd0c72e
commit a4ccd91c75
28 changed files with 129 additions and 50 deletions
--- a/00-Driver/BSP_CAN.c
+++ b/00-Driver/BSP_CAN.c
@@ -0,0 +1,102 @@
+#include "bsp_can.h"
+#include "main.h"
+#include "Motor.h"
+//===============变量区
+extern CAN_HandleTypeDef hcan1;
+extern CAN_HandleTypeDef hcan2;
+
+//===============公共函数
+void Can_Filter_Init(void)
+{
+    CAN_FilterTypeDef can_filter_st;
+    can_filter_st.FilterActivation 	= ENABLE;
+    can_filter_st.FilterMode 				= CAN_FILTERMODE_IDMASK;//CAN_FILTERMODE_IDLIST//CAN_FILTERMODE_IDMASK
+    can_filter_st.FilterScale 			= CAN_FILTERSCALE_16BIT;
+    can_filter_st.FilterIdHigh 			= 0x0000; //(0x207<<5)
+    can_filter_st.FilterIdLow 			= 0x0000;
+    can_filter_st.FilterMaskIdHigh 	= 0x0000;//(0x1FF<<5)
+    can_filter_st.FilterMaskIdLow 	= 0x0000;
+    can_filter_st.FilterBank 				= 0;
+    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
+    HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
+    HAL_CAN_Start(&hcan1);
+    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
+
+    can_filter_st.SlaveStartFilterBank = 14;
+    can_filter_st.FilterBank = 14;
+	
+    HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
+    HAL_CAN_Start(&hcan2);
+    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
+
+}
+
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+    CAN_RxHeaderTypeDef rx_header;
+    uint8_t rx_data[8];
+
+    // 读取接收到的消息
+    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) != HAL_OK)
+        return; // 安全检查
+
+    // 只处理标准帧
+    if (rx_header.IDE != CAN_ID_STD)
+        return;
+
+    // 根据 CAN 外设实例区分总线
+    if (hcan == &hcan1)
+    {
+        switch (rx_header.StdId)
+			{
+					case 0x201:
+							CAN1_M3508_DataProcess(0x201,rx_data);break;
+					case 0x202:
+							CAN1_M3508_DataProcess(0x202,rx_data);break;
+					case 0x203:
+							CAN1_M3508_DataProcess(0x203,rx_data);break;
+					case 0x204:
+							CAN1_M3508_DataProcess(0x204,rx_data);break;
+					case 0x205:
+							break;
+					case 0x206:
+							break;
+					case 0x207:
+							break;
+					case 0x208:
+							break;
+					default:
+					{
+							break;
+					}
+			}
+    }
+    else if (hcan == &hcan2)
+    {
+				switch (rx_header.StdId)
+			{
+					case 0x201:
+							break;
+					case 0x202:
+							break;
+					case 0x203:
+							break;
+					case 0x204:
+							break;
+					case 0x205:
+							CAN2_M6020_DataProcess(0x205,rx_data);break;
+					case 0x206:
+							CAN2_M6020_DataProcess(0x206,rx_data);break;
+					case 0x207:
+							break;
+					case 0x208:
+							break;
+					case 0x149:
+							CToC_CANDataProcess(0x149,rx_data);break;
+					default:
+					{
+							break;
+					}
+			}
+    }
+}