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4b8b47bc9b
- 新增完整的CMSIS解决方案配置，包含AC6/GCC/IAR/CLANG编译器支持 - 添加项目配置文件，定义了设备层、系统层、应用层的模块结构 - 配置ARM::CMSIS和GigaDevice::GD32E50x_DFP软件包依赖 - 创建多层代码架构：应用入口(main)、系统层(sys)、设备层(device) - 实现任务管理系统，包含任务调度器和任务执行器分离设计 - 集成ADC、CANFD、定时器、串口、温度采样等核心功能模块 - 添加详细的README文档说明项目结构和代码组织方式 - 配置AC6链接脚本和运行时环境文件 - 设置Git忽略规则以排除编译产物和临时文件
278 lines
8.4 KiB
Plaintext
278 lines
8.4 KiB
Plaintext
/**
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* @file CANFD.cpp
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* @brief CANFD 通信外设初始化、收发与诊断实现。
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*/
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#include "main.h"
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#include "device/canfd.h"
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#include "sys/config.h"
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namespace {
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/** @brief 内部接收帧缓存结构。 */
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struct CanfdRxFrame {
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uint32_t id = 0U;
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uint8_t data[64] = {0};
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uint8_t length = 0U;
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uint8_t valid = 0U;
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};
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/** @brief 内部发送帧缓存结构。 */
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struct CanfdTxBuffer {
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can_trasnmit_message_struct tx_message{};
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uint8_t payload[64] = {0};
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uint8_t valid = 0U;
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};
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canfd_diag_t g_can_diag{};
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CanfdRxFrame g_rx_frame{};
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CanfdTxBuffer g_tx_buffer{};
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/**
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* @brief 初始化 CAN 外设所需 GPIO 引脚。
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*/
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inline void can_gpio_init()
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{
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rcu_periph_clock_enable(CONFIG_CAN_RCU);
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(RCU_AF);
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gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_8);
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gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
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gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);
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}
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/**
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* @brief 配置 CAN 接收过滤器为接受所有报文。
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*/
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inline void can_filter_accept_all()
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{
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can_filter_parameter_struct can_filter{};
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can_filter.filter_number = 0U;
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can_filter.filter_mode = CAN_FILTERMODE_MASK;
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can_filter.filter_bits = CAN_FILTERBITS_32BIT;
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can_filter.filter_list_high = 0x0000U;
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can_filter.filter_list_low = 0x0000U;
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can_filter.filter_mask_high = 0x0000U;
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can_filter.filter_mask_low = 0x0000U;
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can_filter.filter_fifo_number = CAN_FIFO0;
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can_filter.filter_enable = ENABLE;
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can_filter_init(CONFIG_CAN_INSTANCE, &can_filter);
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}
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/**
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* @brief 配置 CAN 标称位定时参数。
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* @note 参考 APP 项目配置：仲裁段波特率为 1 Mbps，采样点约 80%。
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*/
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inline void can_nominal_init()
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{
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can_parameter_struct can_parameter{};
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can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
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can_parameter.time_triggered = DISABLE;
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can_parameter.auto_bus_off_recovery = ENABLE;
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can_parameter.auto_wake_up = DISABLE;
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can_parameter.auto_retrans = ENABLE;
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can_parameter.rec_fifo_overwrite = DISABLE;
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can_parameter.trans_fifo_order = DISABLE;
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can_parameter.working_mode = CAN_NORMAL_MODE;
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 6U;
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can_init(CONFIG_CAN_INSTANCE, &can_parameter);
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}
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/**
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* @brief 配置 CANFD 可变速率模式参数。
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* @note 参考 APP 项目配置：
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* - 仲裁段保持 1 Mbps；
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* - 数据段配置为 2 Mbps，采样点约 80%；
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* - 发送时启用 BRS 后才会切到数据段速率。
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*/
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inline void can_fd_mode_init()
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{
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#ifdef GD32E508
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can_fdframe_struct can_fd_parameter{};
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can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
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can_fd_parameter.fd_frame = ENABLE;
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can_fd_parameter.excp_event_detect = ENABLE;
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can_fd_parameter.delay_compensation = ENABLE;
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can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
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can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
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can_fd_parameter.data_prescaler = 6U;
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can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
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can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
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can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
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can_fd_init(CONFIG_CAN_INSTANCE, &can_fd_parameter);
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#else
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can_fd_function_enable(CONFIG_CAN_INSTANCE);
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#endif
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}
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/**
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* @brief 根据状态载荷构造 CANFD 状态发送帧并置有效标志。
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* @param[in] status 指向状态载荷的指针；不为空时执行构造和置位。
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*/
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inline void canfd_build_status_frame(const canfd_status_payload_t *status)
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{
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const int16_t temp_x100 = static_cast<int16_t>(status->temperature * 100.0f);
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const uint16_t vdda_x1000 = static_cast<uint16_t>(status->vdda * 1000.0f);
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can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &g_tx_buffer.tx_message);
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g_tx_buffer.tx_message.tx_sfid = CONFIG_CAN_STATUS_ID;
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g_tx_buffer.tx_message.tx_efid = 0U;
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g_tx_buffer.tx_message.tx_ff = CAN_FF_STANDARD;
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g_tx_buffer.tx_message.tx_ft = CAN_FT_DATA;
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g_tx_buffer.tx_message.tx_dlen = CANFD_STATUS_DLEN;
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#ifdef GD32E508
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g_tx_buffer.tx_message.fd_flag = ENABLE;
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g_tx_buffer.tx_message.fd_brs = ENABLE;
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g_tx_buffer.tx_message.fd_esi = CAN_ESI_DOMINANT;
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#endif
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auto &p = g_tx_buffer.payload;
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p[0] = static_cast<uint8_t>(status->temp_raw & 0xFFU);
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p[1] = static_cast<uint8_t>((status->temp_raw >> 8) & 0xFFU);
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p[2] = static_cast<uint8_t>(status->vref_raw & 0xFFU);
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p[3] = static_cast<uint8_t>((status->vref_raw >> 8) & 0xFFU);
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p[4] = static_cast<uint8_t>(temp_x100 & 0xFF);
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p[5] = static_cast<uint8_t>((temp_x100 >> 8) & 0xFF);
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p[6] = static_cast<uint8_t>(vdda_x1000 & 0xFFU);
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p[7] = static_cast<uint8_t>((vdda_x1000 >> 8) & 0xFFU);
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p[8] = CONFIG_CAN_STATUS_TAG0;
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p[9] = CONFIG_CAN_STATUS_TAG1;
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p[10] = CONFIG_CAN_STATUS_TAG2;
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p[11] = CONFIG_CAN_STATUS_TAG3;
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for(uint8_t i = 0; i < CANFD_STATUS_DLEN; ++i) {
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g_tx_buffer.tx_message.tx_data[i] = p[i];
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}
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g_tx_buffer.valid = 1U;
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}
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} // namespace
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/**
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* @brief 初始化 CANFD 外设、GPIO、波特率参数与接收过滤器。
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*/
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void canfd_init(void)
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{
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can_gpio_init();
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can_deinit(CONFIG_CAN_INSTANCE);
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can_nominal_init();
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can_fd_mode_init();
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can_filter_accept_all();
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g_rx_frame.valid = 0U;
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g_tx_buffer.valid = 0U;
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}
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/**
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* @brief 轮询 CANFD 接收 FIFO，并缓存最近收到的一帧数据。
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* @note 若当前没有待接收报文，直接返回。
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*/
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void canfd_poll(void)
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{
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can_receive_message_struct rx_message{};
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if(can_receive_message_length_get(CONFIG_CAN_INSTANCE, CAN_FIFO0) == 0U) {
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return;
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}
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can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &rx_message);
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can_message_receive(CONFIG_CAN_INSTANCE, CAN_FIFO0, &rx_message);
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g_can_diag.rx_count++;
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g_can_diag.last_payload_length = rx_message.rx_dlen;
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g_can_diag.last_rx_fd_flag = rx_message.fd_flag;
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g_can_diag.last_rx_brs = rx_message.fd_brs;
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g_can_diag.last_rx_esi = rx_message.fd_esi;
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g_can_diag.last_rx_id = (rx_message.rx_ff == CAN_FF_STANDARD) ? rx_message.rx_sfid : rx_message.rx_efid;
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g_rx_frame.id = g_can_diag.last_rx_id;
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g_rx_frame.length = rx_message.rx_dlen;
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for(uint8_t i = 0; i < rx_message.rx_dlen; ++i) {
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g_rx_frame.data[i] = rx_message.rx_data[i];
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}
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g_rx_frame.valid = 1U;
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}
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/**
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* @brief 根据状态载荷准备一帧待发送的 CANFD 状态报文。
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* @param[in] status 指向状态载荷的指针；为空时将清除待发送标志。
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*/
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void canfd_prepare_status(const canfd_status_payload_t *status)
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{
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if(status == nullptr) {
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g_tx_buffer.valid = 0U;
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return;
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}
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canfd_build_status_frame(status);
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}
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/**
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* @brief 发送已准备好的 CANFD 状态报文。
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* @note 若当前没有有效待发送报文，直接返回。
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*/
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void canfd_send_prepared(void)
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{
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if(g_tx_buffer.valid == 0U) {
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return;
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}
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const uint8_t mailbox = can_message_transmit(CONFIG_CAN_INSTANCE, &g_tx_buffer.tx_message);
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if(mailbox != CAN_NOMAILBOX) {
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g_can_diag.tx_count++;
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g_can_diag.last_payload_length = g_tx_buffer.tx_message.tx_dlen;
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g_can_diag.last_tx_id = g_tx_buffer.tx_message.tx_sfid;
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} else {
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g_can_diag.error_count++;
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}
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}
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/**
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* @brief 查询是否存在尚未消费的接收报文。
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* @retval 非 0 存在待消费报文，0 无报文。
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*/
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uint8_t canfd_has_rx_frame(void)
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{
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return g_rx_frame.valid;
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}
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/**
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* @brief 读取并消费最近一次缓存的接收报文。
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* @param[out] id 输出报文标识符的指针；允许为空。
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* @param[out] data 输出报文数据缓存区指针；允许为空。
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* @param[out] length 输出报文数据长度的指针；允许为空。
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* @retval 1 成功消费一帧报文，0 当前无有效缓存报文。
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*/
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uint8_t canfd_consume_rx_frame(uint32_t *id, uint8_t *data, uint8_t *length)
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{
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if(g_rx_frame.valid == 0U) {
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return 0U;
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}
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if(id != nullptr) {
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*id = g_rx_frame.id;
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}
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if(length != nullptr) {
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*length = g_rx_frame.length;
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}
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if(data != nullptr) {
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for(uint8_t i = 0; i < g_rx_frame.length; ++i) {
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data[i] = g_rx_frame.data[i];
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}
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}
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g_rx_frame.valid = 0U;
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return 1U;
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}
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/**
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* @brief 获取 CANFD 诊断统计信息只读指针。
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* @retval 指向内部诊断统计结构体的只读指针。
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*/
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const canfd_diag_t *canfd_get_diag(void)
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{
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return &g_can_diag;
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} |