LSMushui
a4da5ad17c
- 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
130 lines
4.8 KiB
C
130 lines
4.8 KiB
C
/* =============================================================================
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* bsp_can.c - CAN 总线板级支持包(收发中枢)
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* 职责:
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* 1. can_start() 启动两路 CAN(过滤器全开掩码 0,接收所有 ID),
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* 并使能 CAN1_RX0/CAN2_RX0 NVIC(CAN2 中断 ioc 未开,
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* 在此代码补齐,优先级 5 = FreeRTOS 管理下限)
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* 2. can_rx_register() 按 (hcan, 标准ID) 注册接收回调,查表容量 32
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* 3. HAL_CAN_RxFifo0MsgPendingCallback
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* RX0 中断里取帧并按 ID 分发到注册回调
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* (中断上下文,回调必须尽量短)
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* 4. CAN_SendTxMessage() 发送帧(等待 3 个发送邮箱空闲,最多重试 20 次)
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* 数据流: 电机反馈/板间通讯/裁判数据 --ISR--> 回调表 --> 各模块解析
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* 依赖: CubeMX 生成的 hcan1/hcan2(Core/Src/can.c)
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* 对比 legacy: 替代了"单滤波器轮询切换 ID"的脆弱接收机制
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* ========================================================================== */
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#include "bsp_can.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#define CAN_RX_CALLBACK_MAX 32
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typedef struct
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{
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hcan_t * hcan;
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uint32_t std_id;
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can_rx_callback_f callback;
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} can_rx_callback_item_t;
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static can_rx_callback_item_t can_rx_callback_table[CAN_RX_CALLBACK_MAX];
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static uint8_t can_started = 0;
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/* 初始化过滤器并启动两路 CAN
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* 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 */
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void can_filter_init(void)
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{
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CAN_FilterTypeDef can_filter_st;
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can_filter_st.FilterActivation = ENABLE;
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can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
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can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
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can_filter_st.FilterIdHigh = 0x0000;
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can_filter_st.FilterIdLow = 0x0000;
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can_filter_st.FilterMaskIdHigh = 0x0000;
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can_filter_st.FilterMaskIdLow = 0x0000;
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can_filter_st.FilterBank = 0;
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can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
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HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
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HAL_CAN_Start(&hcan1);
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HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
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can_filter_st.SlaveStartFilterBank = 14;
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can_filter_st.FilterBank = 14;
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HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
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HAL_CAN_Start(&hcan2);
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HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
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}
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/* 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)
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* FreeRTOS 管理的中断优先级不得高于 configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY(5) */
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void can_start(void)
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{
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if (can_started)
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return;
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can_started = 1;
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can_filter_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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/* CAN2 的 RX0 中断未在 CubeMX 中开启,在此手动补齐 */
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HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
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}
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int can_rx_register(hcan_t * hcan, uint32_t std_id, can_rx_callback_f callback)
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{
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for (uint32_t i = 0; i < CAN_RX_CALLBACK_MAX; i++)
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{
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if (can_rx_callback_table[i].callback == NULL)
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{
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can_rx_callback_table[i].hcan = hcan;
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can_rx_callback_table[i].std_id = std_id;
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can_rx_callback_table[i].callback = callback;
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return 0;
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}
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}
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return -1;
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}
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/* HAL CAN 接收回调:在 RX0 中断上下文中按 (hcan, StdId) 查表分发 */
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef * hcan)
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{
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CAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[8];
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) != HAL_OK)
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return;
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if (rx_header.IDE != CAN_ID_STD)
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return;
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for (uint32_t i = 0; i < CAN_RX_CALLBACK_MAX; i++)
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{
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if (can_rx_callback_table[i].callback != NULL && can_rx_callback_table[i].hcan == hcan &&
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can_rx_callback_table[i].std_id == rx_header.StdId)
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{
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can_rx_callback_table[i].callback(rx_header.StdId, rx_data, rx_header.DLC);
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return;
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}
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}
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}
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/**
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* @brief 发送控制数据
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* @param[in] can_ctrl_data 打包好的发送结构体
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* @return none
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*/
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void CAN_SendTxMessage(CanCtrlData_s * can_ctrl_data)
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{
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uint32_t send_mail_box;
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uint8_t cnt = 20; // 重复检测次数
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uint32_t free_TxMailbox =
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HAL_CAN_GetTxMailboxesFreeLevel(can_ctrl_data->hcan); // 检测是否有空闲邮箱
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while (free_TxMailbox < 3 && cnt--) { // 等待空闲邮箱数达到3
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free_TxMailbox = HAL_CAN_GetTxMailboxesFreeLevel(can_ctrl_data->hcan);
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}
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HAL_CAN_AddTxMessage(
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can_ctrl_data->hcan, &can_ctrl_data->tx_header, can_ctrl_data->tx_data, &send_mail_box);
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}
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