558 lines
17 KiB
C
558 lines
17 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file can.c
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* @brief This file provides code for the configuration
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* of the CAN instances.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "can.h"
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/* USER CODE BEGIN 0 */
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#include "CToC.h"
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#include "GM6020.h"
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#include "M2006.h"
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#include "M3508.h"
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uint8_t CAN_CAN1DeviceNumber = 4; // CAN1总线上设备数量
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uint8_t CAN_CAN2DeviceNumber = 2; // CAN2总线上设备数量
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uint8_t CAN_DeviceNumber = 6; // CAN总线上设备数量
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uint32_t CAN_CAN1IDList[10][2] = {{CAN_GM6020, GM6020_2}, {CAN_M2006, M2006_7}, {CAN_M3508, M3508_1}, {CAN_M3508, M3508_2}, 0}; // CAN1总线上设备ID列表
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uint32_t CAN_CAN2IDList[10][2] = {{CAN_GM6020, GM6020_1}, {CAN_RoboMasterC, CToC_MasterID1}, 0}; // CAN2总线上设备ID列表
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int8_t CAN_IDSelect = 0; // CAN总线上ID列表选择位
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/* USER CODE END 0 */
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CAN_HandleTypeDef hcan1;
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CAN_HandleTypeDef hcan2;
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/* CAN1 init function */
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void MX_CAN1_Init(void)
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{
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/* USER CODE BEGIN CAN1_Init 0 */
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/* USER CODE END CAN1_Init 0 */
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/* USER CODE BEGIN CAN1_Init 1 */
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/* USER CODE END CAN1_Init 1 */
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hcan1.Instance = CAN1;
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hcan1.Init.Prescaler = 3;
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hcan1.Init.Mode = CAN_MODE_NORMAL;
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hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
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hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
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hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
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hcan1.Init.TimeTriggeredMode = DISABLE;
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hcan1.Init.AutoBusOff = ENABLE;
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hcan1.Init.AutoWakeUp = ENABLE;
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hcan1.Init.AutoRetransmission = DISABLE;
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hcan1.Init.ReceiveFifoLocked = DISABLE;
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hcan1.Init.TransmitFifoPriority = DISABLE;
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if (HAL_CAN_Init(&hcan1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN CAN1_Init 2 */
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/* USER CODE END CAN1_Init 2 */
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}
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/* CAN2 init function */
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void MX_CAN2_Init(void)
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{
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/* USER CODE BEGIN CAN2_Init 0 */
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/* USER CODE END CAN2_Init 0 */
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/* USER CODE BEGIN CAN2_Init 1 */
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/* USER CODE END CAN2_Init 1 */
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hcan2.Instance = CAN2;
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hcan2.Init.Prescaler = 3;
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hcan2.Init.Mode = CAN_MODE_NORMAL;
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hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
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hcan2.Init.TimeSeg1 = CAN_BS1_10TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_3TQ;
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hcan2.Init.TimeTriggeredMode = DISABLE;
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hcan2.Init.AutoBusOff = ENABLE;
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hcan2.Init.AutoWakeUp = ENABLE;
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hcan2.Init.AutoRetransmission = DISABLE;
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hcan2.Init.ReceiveFifoLocked = DISABLE;
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hcan2.Init.TransmitFifoPriority = DISABLE;
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if (HAL_CAN_Init(&hcan2) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN CAN2_Init 2 */
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/* USER CODE END CAN2_Init 2 */
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}
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static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
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void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if(canHandle->Instance==CAN1)
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{
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/* USER CODE BEGIN CAN1_MspInit 0 */
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/* USER CODE END CAN1_MspInit 0 */
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/* CAN1 clock enable */
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HAL_RCC_CAN1_CLK_ENABLED++;
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if(HAL_RCC_CAN1_CLK_ENABLED==1){
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__HAL_RCC_CAN1_CLK_ENABLE();
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}
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__HAL_RCC_GPIOD_CLK_ENABLE();
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/**CAN1 GPIO Configuration
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PD0 ------> CAN1_RX
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PD1 ------> CAN1_TX
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
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HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
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/* CAN1 interrupt Init */
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HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
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/* USER CODE BEGIN CAN1_MspInit 1 */
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/* USER CODE END CAN1_MspInit 1 */
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}
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else if(canHandle->Instance==CAN2)
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{
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/* USER CODE BEGIN CAN2_MspInit 0 */
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/* USER CODE END CAN2_MspInit 0 */
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/* CAN2 clock enable */
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__HAL_RCC_CAN2_CLK_ENABLE();
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HAL_RCC_CAN1_CLK_ENABLED++;
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if(HAL_RCC_CAN1_CLK_ENABLED==1){
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__HAL_RCC_CAN1_CLK_ENABLE();
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}
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**CAN2 GPIO Configuration
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PB5 ------> CAN2_RX
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PB6 ------> CAN2_TX
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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/* CAN2 interrupt Init */
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HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
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/* USER CODE BEGIN CAN2_MspInit 1 */
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/* USER CODE END CAN2_MspInit 1 */
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}
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}
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void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
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{
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if(canHandle->Instance==CAN1)
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{
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/* USER CODE BEGIN CAN1_MspDeInit 0 */
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/* USER CODE END CAN1_MspDeInit 0 */
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/* Peripheral clock disable */
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HAL_RCC_CAN1_CLK_ENABLED--;
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if(HAL_RCC_CAN1_CLK_ENABLED==0){
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__HAL_RCC_CAN1_CLK_DISABLE();
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}
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/**CAN1 GPIO Configuration
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PD0 ------> CAN1_RX
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PD1 ------> CAN1_TX
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*/
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HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
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/* CAN1 interrupt Deinit */
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HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
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/* USER CODE BEGIN CAN1_MspDeInit 1 */
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/* USER CODE END CAN1_MspDeInit 1 */
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}
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else if(canHandle->Instance==CAN2)
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{
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/* USER CODE BEGIN CAN2_MspDeInit 0 */
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/* USER CODE END CAN2_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_CAN2_CLK_DISABLE();
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HAL_RCC_CAN1_CLK_ENABLED--;
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if(HAL_RCC_CAN1_CLK_ENABLED==0){
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__HAL_RCC_CAN1_CLK_DISABLE();
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}
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/**CAN2 GPIO Configuration
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PB5 ------> CAN2_RX
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PB6 ------> CAN2_TX
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*/
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HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
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/* CAN2 interrupt Deinit */
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HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
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/* USER CODE BEGIN CAN2_MspDeInit 1 */
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/* USER CODE END CAN2_MspDeInit 1 */
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}
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}
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/* USER CODE BEGIN 1 */
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/*
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*函数简介:CAN1总线接收报文
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*参数说明:报文存储数组
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*返回类型:报文ID
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*备注:默认8字节标准数据帧
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*备注:没有接收到数据,直接退出,返回0
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*/
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uint32_t CAN_CAN1Receive(uint8_t *Data)
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{
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CAN_RxHeaderTypeDef RxHeader;
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uint8_t RxData[8];
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if (HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
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{
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return 0; // 没有接收到数据，直接退出
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}
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// 复制接收到的数据
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for (uint8_t i = 0; i < 8; i++)
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{
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Data[i] = RxData[i];
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}
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return RxHeader.StdId; // 返回标准ID
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}
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/*
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*函数简介:CAN2总线接收报文
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*参数说明:报文存储数组
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*返回类型:报文ID
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*备注:默认8字节数据
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*备注:没有接收到数据,直接退出,返回0
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*/
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uint32_t CAN_CAN2Receive(uint8_t *Data)
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{
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CAN_RxHeaderTypeDef RxHeader;
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uint8_t RxData[8];
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if (HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &RxHeader, RxData) != HAL_OK)
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{
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return 0;
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}
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for (uint8_t i = 0; i < 8; i++)
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{
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Data[i] = RxData[i];
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}
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return RxHeader.StdId;
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}
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/*
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*函数简介:CAN1总线更改接收ID
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*参数说明:接收ID
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*返回类型:无
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*备注:无
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*/
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void CAN_CAN1ChangeID(uint32_t ID)
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{
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// CAN_FilterTypeDef sFilterConfig;
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// // 配置过滤器
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// sFilterConfig.FilterBank = 0; // 使用过滤器0
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// sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
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// sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // 32位过滤器
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// // ID配置：标准ID左移5位
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// sFilterConfig.FilterIdHigh = (ID << 5) >> 16; // ID高16位
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// sFilterConfig.FilterIdLow = (ID << 5) & 0xFFFF; // ID低16位
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// // 掩码配置：0xFFE3直接赋值
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// sFilterConfig.FilterMaskIdHigh = 0xFFE3; // 掩码高16位
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// sFilterConfig.FilterMaskIdLow = 0xFFE3; // 掩码低16位
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// sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0; // 分配到FIFO0
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// sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
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// sFilterConfig.SlaveStartFilterBank = 14; // 从CAN2开始使用的过滤器编号
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CAN_FilterTypeDef sFilterConfig;
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// 配置过滤器
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sFilterConfig.FilterBank = 0; // 使用过滤器0
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sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
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sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // 32位过滤器
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// ID配置：标准ID左移5位
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sFilterConfig.FilterIdHigh = (ID << 5) >> 16; // ID高16位
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sFilterConfig.FilterIdLow = (ID << 5) & 0xFFFF; // ID低16位
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// 掩码配置：0xFFE3直接赋值
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sFilterConfig.FilterMaskIdHigh = 0xFFE3; // 掩码高16位-
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sFilterConfig.FilterMaskIdLow = 0xFFE3; // 掩码低16位
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// 配置过滤器（使用 16-bit scale，保持与原寄存器行为一致）
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sFilterConfig.FilterBank = 0; // 使用过滤器0
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sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
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sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT; // 16位过滤器（与原实现一致）
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// 16-bit 尺度下，把 (ID << 5) 放入 16 位字段
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sFilterConfig.FilterIdHigh = (uint16_t)((ID << 5) & 0xFFFF);
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sFilterConfig.FilterIdLow = (uint16_t)((ID << 5) & 0xFFFF);
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// 掩码配置（16 位尺度下放到相应字段）
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sFilterConfig.FilterMaskIdHigh = 0xFFE3;
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sFilterConfig.FilterMaskIdLow = 0xFFE3;
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sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0; // 分配到FIFO0
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sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
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sFilterConfig.SlaveStartFilterBank = 14; // 从CAN2开始使用的过滤器编号
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// 配置过滤器
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if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != 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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*函数简介:CAN2总线更改接收ID
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*参数说明:接收ID
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*返回类型:无
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*备注:无
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*/
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void CAN_CAN2ChangeID(uint32_t ID)
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{
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CAN_FilterTypeDef sFilterConfig;
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// 配置过滤器（使用 16-bit scale）
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sFilterConfig.FilterBank = 15; // 使用过滤器15 (CAN2 区域)
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sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
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sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT; // 16位过滤器
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sFilterConfig.FilterIdHigh = (uint16_t)((ID << 5) & 0xFFFF);
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sFilterConfig.FilterIdLow = (uint16_t)((ID << 5) & 0xFFFF);
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sFilterConfig.FilterMaskIdHigh = 0xFFE3;
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sFilterConfig.FilterMaskIdLow = 0xFFE3;
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sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO1; // 分配到FIFO1
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sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
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sFilterConfig.SlaveStartFilterBank = 14; // 从CAN2开始使用的过滤器编号
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// CAN_FilterTypeDef sFilterConfig;
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// // 配置过滤器
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// sFilterConfig.FilterBank = 15; // 使用过滤器15
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// sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 掩码模式
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// sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // 32位过滤器
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// // ID配置：标准ID左移5位
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// sFilterConfig.FilterIdHigh = (ID << 5) >> 16; // ID高16位
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// sFilterConfig.FilterIdLow = (ID << 5) & 0xFFFF; // ID低16位
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// // 掩码配置：0xFFE3直接赋值
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// sFilterConfig.FilterMaskIdHigh = 0xFFE3; // 掩码高16位
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// sFilterConfig.FilterMaskIdLow = 0xFFE3; // 掩码低16位
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// sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO1; // 分配到FIFO1
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// sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
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// sFilterConfig.SlaveStartFilterBank = 14; // 从CAN2开始使用的过滤器编号
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// 配置过滤器
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if (HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != 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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*函数简介:CAN接收ID列表复位
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*参数说明:无
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*返回类型:无
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*备注:复位CAN_IDSelect,重新从CAN1的1号设备开始接收
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*/
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void CAN_CANIDReset(void)
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{
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CAN_IDSelect = 0;
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CAN_CAN1ChangeID(CAN_CAN1IDList[0][1]);
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CAN_CAN2ChangeID(0x000);
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}
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/*
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*函数简介:CAN接收获取裁判系统状态
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*参数说明:无
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*返回类型:无
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*备注:跳转到接收底盘C板的回传数据,主要用于发射机构掉电时的CAN设备隔离
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*/
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void CAN_CAN_GetRefereeSystemData(void)
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{
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CAN_IDSelect = 5;
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CAN_CAN1ChangeID(0x000);
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CAN_CAN2ChangeID(CAN_CAN2IDList[1][1]);
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}
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/*
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*函数简介:CAN1_FIFO0接收中断函数
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*参数说明:无
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*返回类型:无
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*备注:进入中断时关闭连接检测计时,离开中断时重新打开连接检测计时
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*备注:某一设备掉线时,CAN_IDSelect会停留在当前设备在ID列表的索引
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*备注:从掉线到重新连接时会重启遥控器
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*/
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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if (hcan->Instance == CAN1)
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{
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uint8_t Data[8];
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uint32_t ID = CAN_CAN1Receive(Data);
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// 暂时注释掉连接检测相关功能
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/*
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LinkCheck_OFF();
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if(LinkCheck_ErrorID >= 0 && LinkCheck_ErrorID < CAN_CAN1DeviceNumber)
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{
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if(ID == CAN_CAN1IDList[LinkCheck_ErrorID][1])
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{
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LinkCheck_ErrorID = -1;
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LinkCheck_Error = 0;
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Warming_BuzzerClean();
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}
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}
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*/
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// if(CAN_CAN1IDList[CAN_IDSelect][0] == CAN_M3508)
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// M3508_CANDataProcess(ID, Data);
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// else if(CAN_CAN1IDList[CAN_IDSelect][0] == CAN_M2006)
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// M2006_CANDataProcess(ID, Data);
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||
// else
|
||
// GM6020_CANDataProcess(ID, Data);
|
||
|
||
// 保留ID切换逻辑
|
||
CAN_IDSelect = (CAN_IDSelect + 1) % CAN_DeviceNumber;
|
||
if (CAN_IDSelect >= 0 && CAN_IDSelect < CAN_CAN1DeviceNumber)
|
||
{
|
||
CAN_CAN1ChangeID(CAN_CAN1IDList[CAN_IDSelect][1]);
|
||
CAN_CAN2ChangeID(0x000);
|
||
}
|
||
else
|
||
{
|
||
CAN_CAN1ChangeID(0x000);
|
||
CAN_CAN2ChangeID(CAN_CAN2IDList[CAN_IDSelect - CAN_CAN1DeviceNumber][1]);
|
||
}
|
||
|
||
// 暂时注释掉发射机构相关功能
|
||
/*
|
||
if(RefereeSystem_ShooterOpenFlag == 1)
|
||
{
|
||
RefereeSystem_ShooterOpenCounter++;
|
||
if(RefereeSystem_ShooterOpenCounter >= 5000)
|
||
{
|
||
RefereeSystem_ShooterOpenCounter = 0;
|
||
RefereeSystem_ShooterOpenFlag = 0;
|
||
CAN_CAN1DeviceNumber = 4;
|
||
CAN_DeviceNumber = 6;
|
||
}
|
||
}
|
||
*/
|
||
|
||
// 暂时注释掉连接检测
|
||
// LinkCheck_ON();
|
||
}
|
||
}
|
||
|
||
/*
|
||
*函数简介:CAN2_FIFO1接收中断函数
|
||
*参数说明:无
|
||
*返回类型:无
|
||
*备注:进入中断时关闭连接检测计时,离开中断时重新打开连接检测计时
|
||
*备注:某一设备掉线时,CAN_IDSelect会停留在当前设备在ID列表的索引
|
||
*/
|
||
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
|
||
{
|
||
if (hcan->Instance == CAN2)
|
||
{
|
||
uint8_t Data[8];
|
||
uint32_t ID = CAN_CAN2Receive(Data);
|
||
|
||
// 暂时注释掉连接检测相关功能
|
||
/*
|
||
LinkCheck_OFF();
|
||
if(LinkCheck_ErrorID >= CAN_CAN1DeviceNumber && LinkCheck_ErrorID < CAN_DeviceNumber)
|
||
{
|
||
if(ID == CAN_CAN2IDList[LinkCheck_ErrorID-CAN_CAN1DeviceNumber][1])
|
||
{
|
||
LinkCheck_ErrorID = -1;
|
||
LinkCheck_Error = 0;
|
||
Warming_BuzzerClean();
|
||
}
|
||
}
|
||
*/
|
||
|
||
// if(CAN_CAN2IDList[CAN_IDSelect-CAN_CAN1DeviceNumber][0] == CAN_GM6020)
|
||
// GM6020_CANDataProcess(ID, Data);
|
||
// else
|
||
if(CAN_CAN2IDList[CAN_IDSelect-CAN_CAN1DeviceNumber][0] == CAN_RoboMasterC){
|
||
CToC_CANDataProcess(ID, Data);
|
||
}
|
||
|
||
|
||
// 保留ID切换逻辑
|
||
CAN_IDSelect = (CAN_IDSelect + 1) % CAN_DeviceNumber;
|
||
if (CAN_IDSelect >= 0 && CAN_IDSelect < CAN_CAN1DeviceNumber)
|
||
{
|
||
CAN_CAN1ChangeID(CAN_CAN1IDList[CAN_IDSelect][1]);
|
||
CAN_CAN2ChangeID(0x000);
|
||
}
|
||
else
|
||
{
|
||
CAN_CAN1ChangeID(0x000);
|
||
CAN_CAN2ChangeID(CAN_CAN2IDList[CAN_IDSelect - CAN_CAN1DeviceNumber][1]);
|
||
}
|
||
|
||
// 暂时注释掉发射机构相关功能
|
||
/*
|
||
if(RefereeSystem_ShooterOpenFlag == 1)
|
||
{
|
||
RefereeSystem_ShooterOpenCounter++;
|
||
if(RefereeSystem_ShooterOpenCounter >= 5000)
|
||
{
|
||
RefereeSystem_ShooterOpenCounter = 0;
|
||
RefereeSystem_ShooterOpenFlag = 0;
|
||
CAN_CAN1DeviceNumber = 4;
|
||
CAN_DeviceNumber = 6;
|
||
}
|
||
}
|
||
*/
|
||
|
||
// 暂时注释掉连接检测
|
||
// LinkCheck_ON();
|
||
}
|
||
}
|
||
|
||
/* USER CODE END 1 */
|