ELCT/Simba-ELCT-FrameWork
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

加入大疆C板例程bsp

Browse Source
This commit is contained in:
Qi Bin
2026-04-12 20:34:47 +08:00
parent 7475077b9e
commit b68ac54a34
51 changed files with 5950 additions and 1290 deletions
Download Patch File Download Diff File Expand all files Collapse all files

45
bsp/boards/bsp_can.c Normal file
View File

@@ -0,0 +1,45 @@
#include "bsp_can.h"
void can_filter_init(void)
{
CAN_FilterTypeDef can_filter_st;
can_filter_st.FilterActivation = ENABLE;
can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter_st.FilterIdHigh = 0x0000;
can_filter_st.FilterIdLow = 0x0000;
can_filter_st.FilterMaskIdHigh = 0x0000;
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);
}
/**
* @brief 发送控制数据
* @param[in] can_handle 选择CAN1或CAN2
* @param[in] tx_header CAN发送数据header
* @param[in] tx_data 发送数据
* @return none
*/
void CAN_SendTxMessage(CanCtrlData_s * can_ctrl_data)
{
uint32_t send_mail_box;
uint8_t cnt = 20; // 重复检测次数
uint32_t free_TxMailbox =
HAL_CAN_GetTxMailboxesFreeLevel(can_ctrl_data->hcan); // 检测是否有空闲邮箱
while (free_TxMailbox < 3 && cnt--) { // 等待空闲邮箱数达到3
free_TxMailbox = HAL_CAN_GetTxMailboxesFreeLevel(can_ctrl_data->hcan);
}
HAL_CAN_AddTxMessage(
can_ctrl_data->hcan, &can_ctrl_data->tx_header, can_ctrl_data->tx_data, &send_mail_box);
}