cbb
aefb7d4ee4
- 添加sendBackup方法用于在备份APP激活时发送确认消息 - 优化OTA跳转逻辑，在jumpToApplication中清除复位标志 - 修复move_app_data函数中数据源地址错误，从备份区域正确读取数据 - 在OTA流程中正确设置APP状态标志，确保应用验证状态管理 refactor(can): 清理调试代码和函数签名优化 - 移除调试用的printf语句和未使用的cstdio头文件 - 统一函数参数类型为u8和u32，提高代码一致性 - 优化CAN通信检查逻辑，移除冗余的调试输出 perf(ota): 优化OTA处理中的延时函数 - 将delay_1ms(1)改为delay_1us(100)，提高延时精度 - 添加微秒级延时函数delay_1us实现 - 增加OTA超时时间从10秒到100秒 fix(ota): 修复OTA状态管理和错误处理 - 在各种错误情况下正确设置ota_state为OTA_STATE_IDLE - 在eraseApplicationArea中正确初始化APP状态标志 - 添加CRC校验失败时的调试输出选项 - 修复数据包大小验证逻辑
415 lines
12 KiB
C++
415 lines
12 KiB
C++
#include "Can.h"
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#include "OTA.h"
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#include "config.h"
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#include "gd32c10x.h"
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#include "gd32c10x_can.h"
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#include "gd32c10x_dma.h"
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#include "gd32c10x_gpio.h"
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#include "main.h"
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#include <cstdlib>
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#include <cstring>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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CAN_transmiter CAN0_transmiter; // CAN初始化
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extern BootloaderSystem sys;
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extern OTAHandler ota;
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// 添加DMA相关变量
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dma_parameter_struct dma_rx_parameter;
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dma_parameter_struct dma_tx_parameter;
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uint8_t can_rx_buffer[8]; // CAN接收缓冲区
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uint8_t can_tx_buffer[8]; // CAN发送缓冲区
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/*!
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\brief initialize CAN GPIO
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\param[in] none
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\param[out] none
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\retval ErrStatus: SUCCESS or ERROR
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*/
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u8 can_gpio_init() {
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/* enable CAN clock */
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rcu_periph_clock_enable(RCU_CAN0);
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(RCU_AF);
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/* configure CAN0 GPIO */
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gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_8); // rx
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gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9); // tx
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gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);
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/* enable the EN GPIO clock */
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gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
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gpio_bit_reset(GPIOB, GPIO_PIN_13);
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return 0;
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}
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/*!
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\brief 初始化CAN DMA
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\param[in] none
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\param[out] none
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\retval none
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*/
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void can_dma_init(void) {
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// 使能DMA时钟
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rcu_periph_clock_enable(RCU_DMA0);
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// 配置接收DMA
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dma_struct_para_init(&dma_rx_parameter);
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dma_rx_parameter.periph_addr =
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(uint32_t)(&CAN_RFIFOMDATA0(CAN0, CAN_FIFO0)); // CAN接收数据寄存器地址
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dma_rx_parameter.memory_addr = (uint32_t)can_rx_buffer; // 接收缓冲区地址
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dma_rx_parameter.direction = DMA_PERIPHERAL_TO_MEMORY; // 外设到内存
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dma_rx_parameter.memory_width = DMA_MEMORY_WIDTH_8BIT; // 内存宽度8位
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dma_rx_parameter.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; // 外设宽度8位
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dma_rx_parameter.priority = DMA_PRIORITY_HIGH; // 高优先级
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dma_rx_parameter.number = 8; // 传输字节数
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dma_rx_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // 外设地址不递增
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dma_rx_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE; // 内存地址递增
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dma_init(DMA0, DMA_CH4, &dma_rx_parameter); // 使用DMA通道4
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// 配置发送DMA
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dma_struct_para_init(&dma_tx_parameter);
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dma_tx_parameter.periph_addr =
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(uint32_t)(&CAN_TMI0(CAN0)); // CAN发送数据寄存器地址
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dma_tx_parameter.memory_addr = (uint32_t)can_tx_buffer; // 发送缓冲区地址
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dma_tx_parameter.direction = DMA_MEMORY_TO_PERIPHERAL; // 内存到外设
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dma_tx_parameter.memory_width = DMA_MEMORY_WIDTH_8BIT; // 内存宽度8位
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dma_tx_parameter.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; // 外设宽度8位
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dma_tx_parameter.priority = DMA_PRIORITY_HIGH; // 高优先级
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dma_tx_parameter.number = 8; // 传输字节数
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dma_tx_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // 外设地址不递增
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dma_tx_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE; // 内存地址递增
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dma_init(DMA0, DMA_CH5, &dma_tx_parameter); // 使用DMA通道5
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// 使能DMA通道
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dma_channel_enable(DMA0, DMA_CH4);
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dma_channel_enable(DMA0, DMA_CH5);
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}
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/*!
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\brief 初始化CAN0 CANFD模式
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\param[in] none
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\param[out] none
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\retval none
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*/
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void canfd_config(void) {
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can_gpio_init();
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can_dma_init();
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can_parameter_struct can_parameter;
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can_fdframe_struct can_fd_parameter;
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can_fd_tdc_struct can_fd_tdc_parameter;
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can_filter_parameter_struct can_filter;
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/* initialize CAN register */
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can_deinit(CAN0);
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/* initialize CAN */
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can_parameter.time_triggered = DISABLE;
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can_parameter.auto_bus_off_recovery = DISABLE;
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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 = ENABLE;
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can_parameter.trans_fifo_order = ENABLE;
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can_parameter.working_mode = CAN_NORMAL_MODE;
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/* baudrate 1Mbps, sample piont at 80% */
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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 = 6;
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can_init(CAN0, &can_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_tdc_parameter.tdc_filter = 0x04;
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can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
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can_fd_tdc_parameter.tdc_offset = 0x04;
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can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
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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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/* FD mode data baudrate 2Mbps, sample piont at 80% */
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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 data segement prescaler should be the same as non-data segement
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* prescaler */
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can_fd_parameter.data_prescaler = 6;
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can_fd_init(CAN0, &can_fd_parameter);
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/* initialize filter */
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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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/* configure filter ID */
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can_filter.filter_list_high = 0x0000;
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can_filter.filter_list_low = 0x0000;
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/* configure filter mask */
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can_filter.filter_mask_high = 0x0000;
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can_filter.filter_mask_low = 0x0000;
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/* select receiver fifo */
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can_filter.filter_fifo_number = CAN_FIFO0;
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can_filter.filter_enable = ENABLE;
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/* configure filter number */
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can_filter.filter_number = 0;
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can_filter_init(&can_filter);
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/* configure CAN0 NVIC */
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nvic_irq_enable(CAN0_RX0_IRQn, 1, 0);
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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// 使能DMA中断
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nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1);
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dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF);
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}
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/*!
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\brief CAN_transmiter构造函数
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\note 初始化CAN通信相关参数和硬件配置
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*/
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u8 CAN_transmiter::init() {
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// 初始化CAN硬件
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canfd_config();
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// 初始化发送消息结构体
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can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
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/* initialize receive message */
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can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
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// 初始化DMA缓冲区
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memset(can_rx_buffer, 0, sizeof(can_rx_buffer));
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memset(can_tx_buffer, 0, sizeof(can_tx_buffer));
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return 0;
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}
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/**
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* @brief CAN通信检查函数
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* @retval 0: 无新消息
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* 1: 有新消息
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*/
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void CAN_transmiter::communication_check() {
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// CAN0 发送数据标志
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if (SET == can0_send_flag) {
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can0_send_flag = RESET;
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}
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// CAN0 接收数据标志
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if (SET == can0_receive_flag) {
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if (receive_message.rx_efid == CANFD_OTA_DATA_ID or
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receive_message.rx_efid == CANFD_OTA_REQ_ID) {
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ota.handleOTAMessage(receive_message.rx_efid,
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receive_message.rx_data,
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receive_message.rx_dlen);
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} else {
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#if CAN_DEBUG
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printf("Unknown CAN ID: %X\n", receive_message.rx_efid);
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#endif
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}
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can0_receive_flag = RESET;
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}
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}
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u8 CAN_transmiter::sendDATA_ACK(u32 packet_num, u8 *data) { // 握手的时候
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memset(transmit_data, 0, sizeof(transmit_data));
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transmit_data[0] = 0xBA;
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transmit_data[1] = 0xC0;
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// 修复原始代码中不完整的循环
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for (int i = 2; i < 6; i++) {
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transmit_data[i] = data[i - 2];
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}
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return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, transmit_data);
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}
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u8 CAN_transmiter::sendBackup() { // 握手的时候
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return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 0, transmit_data);
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}
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u8 CAN_transmiter::sendDATA_ACK(u32 packet_num,
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bool if_success) { // 发送数据的时候
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memset(transmit_data, 0, 4);
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if (if_success) {
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transmit_data[0] = 0x01;
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transmit_data[1] = 0x00;
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}
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return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 4, transmit_data);
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}
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/**
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* @brief CAN0中断服务程序
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* @retval 无
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*/
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void CAN0_RX0_IRQHandler(void) {
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// 检查是否是FIFO0消息挂起中断
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if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFL0) != RESET) {
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// 清除中断标志
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can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFL0);
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// 使用DMA读取接收到的数据
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dma_channel_disable(DMA0, DMA_CH4);
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dma_rx_parameter.number =
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can_receive_message_length_get(CAN0, CAN_FIFO0);
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dma_init(DMA0, DMA_CH4, &dma_rx_parameter);
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dma_channel_enable(DMA0, DMA_CH4);
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// 读取接收到的数据
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can_message_receive(CAN0, CAN_FIFO0, &CAN0_transmiter.receive_message);
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// 接收标志位置1
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CAN0_transmiter.can0_receive_flag = SET;
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}
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// 检查其他可能的中断源
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if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFF0) != RESET) {
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// FIFO0满中断
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can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFF0);
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#if CAN_DEBUG
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printf("CAN FIFO0 full\n");
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#endif
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}
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if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFO0) != RESET) {
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// FIFO0溢出中断
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can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFO0);
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#if CAN_DEBUG
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printf("CAN FIFO0 overflow\n");
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#endif
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}
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}
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/**
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* @brief DMA通道4中断服务程序(CAN接收DMA)
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* @retval 无
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*/
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void DMA0_Channel4_IRQHandler(void) {
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if (dma_interrupt_flag_get(DMA0, DMA_CH4, DMA_INT_FLAG_FTF)) {
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// 清除DMA传输完成中断标志
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dma_interrupt_flag_clear(DMA0, DMA_CH4, DMA_INT_FLAG_G);
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// 将DMA缓冲区的数据复制到接收消息结构体
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for (int i = 0; i < CAN0_transmiter.receive_message.rx_dlen && i < 8;
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i++) {
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CAN0_transmiter.receive_message.rx_data[i] = can_rx_buffer[i];
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}
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}
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}
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/**
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* @brief DMA通道5中断服务程序(CAN/CANFD发送DMA)
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* @retval 无
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*/
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void DMA0_Channel5_IRQHandler(void) {
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if (dma_interrupt_flag_get(DMA0, DMA_CH5, DMA_INT_FLAG_FTF)) {
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// DMA传输完成，可以在此处执行后续处理
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// 清除DMA传输完成中断标志
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dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_FTF);
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// 可以在此添加后续处理逻辑，如发送下一个数据包等
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}
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}
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/**
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* @brief 异步CANFD数据发送(使用DMA和中断机制)
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* @param id CAN消息ID
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* @param length CAN消息长度
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* @param data CAN消息数据
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*/
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u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) {
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u8 valid_length = length;
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// 检查CANFD模式是否启用
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if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
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#if CAN_DEBUG
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printf("CANFD mode not enabled\r\n");
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#endif
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return 0;
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}
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// 检查数据指针是否有效
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if (data == nullptr) {
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#if CAN_DEBUG
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printf("Invalid data pointer\r\n");
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#endif
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return 0;
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}
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// 检查数据长度是否符合CANFD规范
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if (length > 8) {
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if (length > 8 and length < 13) {
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valid_length = 12;
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} else if (length > 12 and length < 17) {
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valid_length = 16;
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} else if (length > 16 and length < 21) {
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valid_length = 20;
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} else if (length > 20 and length < 24) {
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valid_length = 24;
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} else if (length > 28 and length < 33) {
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valid_length = 32;
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} else if (length > 32 and length < 49) {
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valid_length = 48;
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} else if (length > 48 and length < 65) {
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valid_length = 64;
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} else {
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#if CAN_DEBUG
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printf("CANFD data length error\r\n");
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#endif
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return 0;
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}
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}
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/* 配置发送消息参数 */
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transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
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transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式
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transmit_message.tx_efid = id; // 扩展帧ID
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transmit_message.tx_dlen = valid_length; // 设置数据长度
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// 设置CANFD特定参数
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transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式
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transmit_message.fd_brs = ENABLE; // 使能比特率切换
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transmit_message.fd_esi = DISABLE; // 错误状态指示
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// 复制数据到发送缓冲区
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for (int i = 0; i < valid_length; i++) {
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if (i < length) {
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transmit_message.tx_data[i] = *(data + i);
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} else {
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transmit_message.tx_data[i] = 0;
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}
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}
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// 自动选择空闲mailbox发送消息
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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// 检查是否成功获取mailbox
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if (transmit_mailbox == CAN_NOMAILBOX) {
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#if CAN_DEBUG
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// 没有可用的mailbox，启用发送中断以便在邮箱可用时重试
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printf("No available mailbox for CANFD transmission, enabling TX "
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"interrupt\r\n");
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#endif
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return 0;
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}
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// 启用CAN发送中断以检测传输完成
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can_interrupt_enable(CAN0, CAN_INTEN_TMEIE);
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return 1;
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}
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// 添加CAN传输中断处理函数
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void CAN0_TX_IRQHandler(void) {
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// 检查是否有发送邮箱空闲
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if (can_flag_get(CAN0, CAN_FLAG_TME0) != RESET ||
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can_flag_get(CAN0, CAN_FLAG_TME1) != RESET ||
|
|
can_flag_get(CAN0, CAN_FLAG_TME2) != RESET) {
|
|
// 邮箱已空闲，可以发送新消息
|
|
// 可以在这里处理待发送队列中的消息
|
|
// 清除发送中断标志
|
|
can_flag_clear(CAN0, CAN_FLAG_TME0);
|
|
can_flag_clear(CAN0, CAN_FLAG_TME1);
|
|
can_flag_clear(CAN0, CAN_FLAG_TME2);
|
|
}
|
|
}
|