chore: 导入 Simba-OmniInfantry 基线(云台/底盘双工程)

- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码 - 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等) 与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局) - core.autocrlf=false,避免固件源码在检出时被改动换行符
2026-09-12 10:28:21 +08:00
commit a4da5ad17c
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+/* =============================================================================
+ * bsp_can.c - CAN 总线板级支持包(收发中枢)
+ * 职责:
+ *   1. can_start()          启动两路 CAN(过滤器全开掩码 0,接收所有 ID),
+ *                           并使能 CAN1_RX0/CAN2_RX0 NVIC(CAN2 中断 ioc 未开,
+ *                           在此代码补齐,优先级 5 = FreeRTOS 管理下限)
+ *   2. can_rx_register()    按 (hcan, 标准ID) 注册接收回调,查表容量 32
+ *   3. HAL_CAN_RxFifo0MsgPendingCallback
+ *                           RX0 中断里取帧并按 ID 分发到注册回调
+ *                           (中断上下文,回调必须尽量短)
+ *   4. CAN_SendTxMessage()  发送帧(等待 3 个发送邮箱空闲,最多重试 20 次)
+ * 数据流:  电机反馈/板间通讯/裁判数据 --ISR--> 回调表 --> 各模块解析
+ * 依赖:    CubeMX 生成的 hcan1/hcan2(Core/Src/can.c)
+ * 对比 legacy: 替代了"单滤波器轮询切换 ID"的脆弱接收机制
+ * ========================================================================== */
+#include "bsp_can.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define CAN_RX_CALLBACK_MAX 32
+
+typedef struct
+{
+    hcan_t * hcan;
+    uint32_t std_id;
+    can_rx_callback_f callback;
+} can_rx_callback_item_t;
+
+static can_rx_callback_item_t can_rx_callback_table[CAN_RX_CALLBACK_MAX];
+static uint8_t can_started = 0;
+
+/* 初始化过滤器并启动两路 CAN
+ * 过滤器掩码全 0,接收所有 ID,由 can_rx_register 注册的回调按 ID 分发 */
+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);
+}
+
+/* 应用层统一入口:启动 CAN(含 CAN2 接收中断使能,ioc 未开启,此处代码补齐)
+ * FreeRTOS 管理的中断优先级不得高于 configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY(5) */
+void can_start(void)
+{
+    if (can_started)
+        return;
+    can_started = 1;
+
+    can_filter_init();
+
+    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+
+    /* CAN2 的 RX0 中断未在 CubeMX 中开启,在此手动补齐 */
+    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
+}
+
+int can_rx_register(hcan_t * hcan, uint32_t std_id, can_rx_callback_f callback)
+{
+    for (uint32_t i = 0; i < CAN_RX_CALLBACK_MAX; i++)
+    {
+        if (can_rx_callback_table[i].callback == NULL)
+        {
+            can_rx_callback_table[i].hcan = hcan;
+            can_rx_callback_table[i].std_id = std_id;
+            can_rx_callback_table[i].callback = callback;
+            return 0;
+        }
+    }
+    return -1;
+}
+
+/* HAL CAN 接收回调:在 RX0 中断上下文中按 (hcan, StdId) 查表分发 */
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef * hcan)
+{
+    CAN_RxHeaderTypeDef rx_header;
+    uint8_t rx_data[8];
+
+    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) != HAL_OK)
+        return;
+    if (rx_header.IDE != CAN_ID_STD)
+        return;
+
+    for (uint32_t i = 0; i < CAN_RX_CALLBACK_MAX; i++)
+    {
+        if (can_rx_callback_table[i].callback != NULL && can_rx_callback_table[i].hcan == hcan &&
+            can_rx_callback_table[i].std_id == rx_header.StdId)
+        {
+            can_rx_callback_table[i].callback(rx_header.StdId, rx_data, rx_header.DLC);
+            return;
+        }
+    }
+}
+
+/**
+ * @brief          发送控制数据
+ * @param[in]      can_ctrl_data 打包好的发送结构体
+ * @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);
+}