#include "Can.h" #include "FOC.h" #include "Filter.h" #include "adc.h" #include "ang_sensor.h" #include "config.h" #include "flash.h" #include "gd32c10x.h" #include "gd32c10x_can.h" #include "gd32c10x_dma.h" #include "gd32c10x_fmc.h" #include "gd32c10x_gpio.h" #include "initial.h" #include "motor.h" #include "systick.h" #include #include #include #include // CAN 调试宏定义 #if CAN_DEBUG #define CAN_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__) #else #define CAN_DEBUG_PRINT(fmt, ...) ((void)0) #endif constexpr u16 CANX = CAN0; extern FOC_Controller FOC; extern sampler sampler; extern angle_sensor KTH7823; extern EncoderAngleKalman Angle_kalman; // 角度滤波 extern EncoderVelocityKalman Vel_kalman; // 速度滤波 extern FlashEEPROM flashEEP; extern VersionManager Version; // 声明外部版本管理器实例 extern u32 motor_runtime_50us; // 电机驱动计算轮次（用于静默模式计时） // 添加 DMA 相关变量 dma_parameter_struct dma_rx_parameter; uint8_t can_rx_buffer[64]; // CAN 接收缓冲区（支持CAN FD最大64字节） static uint32_t can_rx_dma_words[16]; // CAN FD接收DMA按32位搬运，最多64字节 static volatile bool can_rx_dma_busy = false; static can_receive_message_struct can_rx_dma_message; // CAN接收/发送队列结构 #define CAN_RX_QUEUE_SIZE 32 #define CAN_TX_QUEUE_SIZE 32 typedef struct { u32 id; u8 length; u8 data[64]; } can_rx_queue_item_t; typedef struct { can_trasnmit_message_struct message; u8 valid; } can_tx_queue_item_t; static can_rx_queue_item_t rx_queue[CAN_RX_QUEUE_SIZE]; static volatile u8 rx_queue_head = 0; static volatile u8 rx_queue_tail = 0; static volatile u8 rx_queue_count = 0; static can_tx_queue_item_t tx_queue[CAN_TX_QUEUE_SIZE]; static volatile u8 tx_queue_head = 0; static volatile u8 tx_queue_tail = 0; static volatile u8 tx_queue_count = 0; // CAN FD DLC 9~15对应的非线性payload长度表 static constexpr u8 CANFD_DLC_LENGTH_TABLE[7] = {12, 16, 20, 24, 32, 48, 64}; CAN_transmiter CAN0_transmiter; // CAN 初始化 // ============================================================================ // 节点 ID 相关函数实现 (多电机 CAN 总线隔离) // 使用高 16 位 (bits 31-16) 存储节点 ID，低 16 位 (bits 15-0) 存储基础 ID // 格式：[节点 ID(16 位)][基础 ID(16 位)] // 例如：node_id=1, base_id=0x0200 → 0x00010200 // ============================================================================ /*! \brief 根据节点 ID 构建 CAN ID \param[in] base_id 基础 CAN ID(低 16 位) \param[out] none \retval 构建后的完整 CAN ID \note 将节点 ID 放在高 16 位，基础 ID 放在低 16 位格式：[节点 ID(16 位)][基础 ID(16 位)] 例如：node_id=1, base_id=0x0200 → 0x00010200 */ u32 CAN_transmiter::build_can_id(u32 base_id) { return ((u32)node_id << 16) | (base_id & 0xFFFF); } /*! \brief 判断接收到的消息是否是发给本节点的 \param[in] received_id 接收到的 CAN ID \param[out] none \retval true: 消息是发给本节点的 (或广播消息) false: 消息不是发给本节点的 \note 支持广播地址 (0xFFFF)，广播消息所有节点都会响应提取高 16 位进行节点 ID 匹配 */ bool CAN_transmiter::is_message_for_me(u32 received_id) { u16 rx_node_id = (u16)((received_id >> 16) & 0xFFFF); return (rx_node_id == BROADCAST_NODE_ID) || (rx_node_id == node_id); } /*! \brief 获取当前节点 ID \param[in] none \param[out] none \retval 当前节点 ID 值 (0-65534) */ u16 CAN_transmiter::get_node_id() { return node_id; } /*! \brief 设置节点 ID \param[in] new_id 新的节点 ID 值 \param[out] none \retval none \note 节点 ID 范围：0-65534，0xFFFF 保留为广播地址 */ void CAN_transmiter::set_node_id(u16 new_id) { if (new_id <= MAX_NODE_ID) { node_id = new_id; CAN_DEBUG_PRINT("Node ID set to: %d\r\n", node_id); } } /*! \brief 从 Flash 加载节点 ID（使用魔数+双重备份+计数器机制） \param[in] none \param[out] none \retval FLASH_EEPROM_OK: 加载成功其他：加载失败，使用默认值 \note 使用独立的节点 ID 存储区域，带魔数验证和 CRC 校验防止位翻转导致错读 */ u8 CAN_transmiter::load_node_id_from_flash() { u16 node_id_temp = 0; FlashEepromStatus status = flashEEP.readNodeId(&node_id_temp); // 检查读取是否成功 if (status != FLASH_EEPROM_OK) { node_id = DEFAULT_NODE_ID; CAN_DEBUG_PRINT( "Node ID not found in Flash (status=%d), using default: %d\r\n", status, node_id); return FLASH_EEPROM_DATA_NOT_FOUND; } // 检查节点 ID 是否有效 (0-65534 都是有效值) if (node_id_temp <= MAX_NODE_ID) { node_id = node_id_temp; CAN_DEBUG_PRINT("Node ID loaded from Flash: %d\r\n", node_id); return FLASH_EEPROM_OK; } else { node_id = DEFAULT_NODE_ID; CAN_DEBUG_PRINT("Invalid Node ID in Flash (%d), using default: %d\r\n", node_id_temp, node_id); return FLASH_EEPROM_DATA_NOT_FOUND; } } /*! \brief 保存节点 ID 到 Flash（使用魔数+双重备份+计数器机制） \param[in] new_id 要保存的节点 ID \param[out] none \retval FLASH_EEPROM_OK: 保存成功其他：保存失败 \note 写入主备份和备用备份，确保数据可靠性 */ u8 CAN_transmiter::save_node_id_to_flash(u16 new_id) { if (new_id > MAX_NODE_ID) { CAN_DEBUG_PRINT("Invalid Node ID: %d\r\n", new_id); return FLASH_EEPROM_INVALID_ADDR; } FlashEepromStatus status = flashEEP.writeNodeId(new_id); if (status == FLASH_EEPROM_OK) { node_id = new_id; CAN_DEBUG_PRINT("Node ID saved to Flash: %d\r\n", node_id); return FLASH_EEPROM_OK; } else { CAN_DEBUG_PRINT("Failed to save Node ID to Flash (status=%d)\r\n", status); return (u8)status; } } // CAN 接收缓冲区相关函数实现 /*! \brief 检查 CAN 接收缓冲区是否已满 \param[in] none \param[out] none \retval bool 返回 true 表示缓冲区已满，false 表示未满 \note 通过比较头指针的下一个位置和尾指针来判断缓冲区是否已满使用循环缓冲区策略，当(rx_buffer_head + 1) % CAN_RX_BUFFER_SIZE 等于 rx_buffer_tail 时，表示缓冲区已达到最大容量 */ bool CAN_transmiter::is_rx_buffer_full() { return ((rx_buffer_head + 1) % CAN_RX_BUFFER_SIZE) == rx_buffer_tail; } /*! \brief 检查 CAN 接收缓冲区是否为空 \param[in] none \param[out] none \retval bool 返回 true 表示缓冲区为空，false 表示缓冲区不为空 \note 通过比较头指针和尾指针是否相等来判断缓冲区是否为空 */ bool CAN_transmiter::is_rx_buffer_empty() { return rx_buffer_head == rx_buffer_tail; } /** * @brief 从接收缓冲区中取出一条 CAN 消息 * * 该函数检查接收缓冲区是否为空，如果不为空则取出缓冲区队列头部的消息， * 并更新队列尾部索引。如果缓冲区为空，则返回 false。 * * @param message 引用类型的输出参数，用于存储取出的 CAN 接收消息结构体 * @return bool 返回操作是否成功，true 表示成功取出消息，false 表示缓冲区为空 */ bool CAN_transmiter::dequeue_rx_message(can_receive_message_struct &message) { if (!is_rx_buffer_empty()) { message = rx_message_buffer[rx_buffer_tail]; rx_buffer_tail = (rx_buffer_tail + 1) % CAN_RX_BUFFER_SIZE; return true; } return false; } // 静默模式相关函数实现 // 使用 systick 获取系统时间（ms） extern u32 get_systick_ms(void); /*! \brief 进入静默模式（停发 10 秒） */ void CAN_transmiter::enter_silent_mode() { is_silent = true; silent_start_time = get_systick_ms(); // 记录当前时间（ms） CAN_DEBUG_PRINT("Enter silent mode for %d ms, start_time=%d\r\n", CAN_SILENT_DURATION_MS, silent_start_time); } /*! \brief 检查是否在静默模式中 */ bool CAN_transmiter::is_in_silent_mode() { return is_silent; } /*! \brief 检查静默模式是否结束 */ void CAN_transmiter::check_silent_mode() { if (is_silent) { u32 current_time = get_systick_ms(); // 当前时间（ms） if (current_time - silent_start_time >= CAN_SILENT_DURATION_MS) { is_silent = false; CAN_DEBUG_PRINT("Exit silent mode, elapsed=%d ms\r\n", current_time - silent_start_time); } } } /*! \brief initialize CAN GPIO \param[in] none \param[out] none \retval ErrStatus: SUCCESS or ERROR */ u8 can_gpio_init() { /* enable CAN clock */ rcu_periph_clock_enable(RCU_CAN0); rcu_periph_clock_enable(RCU_GPIOB); rcu_periph_clock_enable(RCU_AF); /* configure CAN0 GPIO */ gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_8); // rx gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9); // tx gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE); /* enable the EN GPIO clock */ gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13 | GPIO_PIN_14); gpio_bit_reset(GPIOB, GPIO_PIN_13); gpio_bit_reset(GPIOB, GPIO_PIN_14); return 0; } /*! \brief 初始化 CAN DMA \param[in] none \param[out] none \retval none */ void can_dma_init(void) { // 使能 DMA 时钟 rcu_periph_clock_enable(RCU_DMA0); // 配置接收 DMA dma_struct_para_init(&dma_rx_parameter); dma_rx_parameter.periph_addr = (uint32_t)(&CAN_RFIFOMDATA0(CAN0, CAN_FIFO0)); // CAN 接收数据寄存器地址 dma_rx_parameter.memory_addr = (uint32_t)can_rx_dma_words; // 接收 DMA 缓冲区地址 dma_rx_parameter.direction = DMA_PERIPHERAL_TO_MEMORY; // 外设到内存 dma_rx_parameter.memory_width = DMA_MEMORY_WIDTH_32BIT; // 内存宽度 32 位 dma_rx_parameter.periph_width = DMA_PERIPHERAL_WIDTH_32BIT; // 外设宽度 32 位 dma_rx_parameter.priority = DMA_PRIORITY_HIGH; // 高优先级 dma_rx_parameter.number = 16; // 最多 16 个 word = 64 字节 dma_rx_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // CAN FIFO 数据端口不递增 dma_rx_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE; // 内存地址递增 dma_init(DMA0, DMA_CH4, &dma_rx_parameter); // 使用 DMA 通道 4 dma_memory_to_memory_enable(DMA0, DMA_CH4); // CAN 无独立 DMA request 时，按帧启动 M2M 读取 FIFO 数据端口 // RX DMA 按帧启动，初始化时不使能 CH4，避免无有效帧时搬运垃圾数据 dma_channel_disable(DMA0, DMA_CH4); can_rx_dma_busy = false; memset(can_rx_dma_words, 0, sizeof(can_rx_dma_words)); } /*! \brief 初始化 CAN0 2.0B 模式 \param[in] none \param[out] none \retval none */ void can_config(void) { can_gpio_init(); can_dma_init(); // 初始化 DMA can_parameter_struct can_parameter; can_filter_parameter_struct can_filter; can_struct_para_init(CAN_INIT_STRUCT, &can_parameter); /* initialize CAN register */ can_deinit(CAN0); /* initialize CAN parameters */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = DISABLE; can_parameter.rec_fifo_overwrite = DISABLE; can_parameter.trans_fifo_order = DISABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* configure CAN0 baud rate 1MBps, sample point at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; can_parameter.prescaler = 6; /* initialize CAN */ if (can_init(CAN0, &can_parameter) != SUCCESS) { while (1) CAN_DEBUG_PRINT("can init error \r\n"); } /* initialize filter */ /* configure filter mode */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; /* configure filter mask */ can_filter.filter_mask_high = 0x0000; can_filter.filter_mask_low = 0x0000; /* select receiver fifo */ can_filter.filter_fifo_number = CAN_FIFO0; can_filter.filter_enable = ENABLE; /* configure filter number */ can_filter.filter_number = 0; can_filter_init(&can_filter); /* configure CAN0 NVIC */ nvic_irq_enable(CAN0_RX0_IRQn, 1, 0); nvic_irq_enable(CAN0_TX_IRQn, 1, 1); // 添加发送中断 /* enable can receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0); /* enable can transmit mailbox empty interrupt */ can_interrupt_enable(CAN0, CAN_INTEN_TMEIE); // 使能 DMA 中断 nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1); dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF); } /*! \brief 初始化 CAN0 CANFD 模式 \param[in] none \param[out] none \retval none */ void canfd_config(void) { can_gpio_init(); can_dma_init(); can_parameter_struct can_parameter; can_fdframe_struct can_fd_parameter; can_fd_tdc_struct can_fd_tdc_parameter; can_filter_parameter_struct can_filter; /* initialize CAN register */ can_deinit(CAN0); /* initialize CAN */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = ENABLE; can_parameter.rec_fifo_overwrite = ENABLE; can_parameter.trans_fifo_order = ENABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* baudrate 1Mbps, sample piont at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; can_parameter.prescaler = 6; can_init(CAN0, &can_parameter); can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter); can_fd_parameter.fd_frame = ENABLE; can_fd_parameter.excp_event_detect = ENABLE; can_fd_parameter.delay_compensation = ENABLE; can_fd_tdc_parameter.tdc_filter = 0x04; can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET; can_fd_tdc_parameter.tdc_offset = 0x04; can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter; can_fd_parameter.iso_bosch = CAN_FDMOD_ISO; can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE; /* FD mode data baudrate 2Mbps, sample piont at 80% */ can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ; can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ; can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ; /* CAN-FD data segement prescaler should be the same as non-data segement * prescaler */ can_fd_parameter.data_prescaler = 6; can_fd_init(CAN0, &can_fd_parameter); /* initialize filter */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; /* configure filter ID */ can_filter.filter_list_high = 0x0000; can_filter.filter_list_low = 0x0000; /* configure filter mask */ can_filter.filter_mask_high = 0x0000; can_filter.filter_mask_low = 0x0000; /* select receiver fifo */ can_filter.filter_fifo_number = CAN_FIFO0; can_filter.filter_enable = ENABLE; /* configure filter number */ can_filter.filter_number = 0; can_filter_init(&can_filter); /* configure CAN0 NVIC */ nvic_irq_enable(CAN0_RX0_IRQn, 1, 0); nvic_irq_enable(CAN0_TX_IRQn, 1, 1); /* enable can receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0); // 使能 DMA 中断 nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1); dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF | DMA_INT_ERR); } /*! \brief 初始化 CAN0 回环测试 \param[in] none \param[out] none \retval none */ void can_loopback_init(void) { can_gpio_init(); can_parameter_struct can_parameter; can_filter_parameter_struct can_filter; /* initialize CAN register */ can_deinit(CANX); /* initialize CAN */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = DISABLE; can_parameter.rec_fifo_overwrite = DISABLE; can_parameter.trans_fifo_order = DISABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* baudrate 1Mbps, sample piont at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; can_parameter.prescaler = 6; if (can_init(CANX, &can_parameter) != SUCCESS) { u16 i = 200; while (--i > 0) { delay_1ms(10); CAN_DEBUG_PRINT("can init error \r\n"); } system_soft_reset(); } /* initialize filter */ /* configure filter mode */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; /* configure filter ID */ can_filter.filter_list_high = (uint16_t)(DEV_CAN_LOOPBACK_ID >> 13U); can_filter.filter_list_low = ((uint16_t)(DEV_CAN_LOOPBACK_ID)) << 3U | (1U << 2); /* configure filter mask */ can_filter.filter_mask_high = 0x0000; can_filter.filter_mask_low = 0x0000; /* select receiver fifo */ can_filter.filter_fifo_number = CAN_FIFO0; can_filter.filter_enable = ENABLE; /* configure filter number */ can_filter.filter_number = 0; can_filter_init(&can_filter); } /*! \brief CAN0 FD 回环测试 \param[in] none \param[out] none \retval ErrStatus */ void canfd_loopback_test(void) { can_trasnmit_message_struct transmit_message; can_receive_message_struct receive_message; uint32_t timeout = 0xFFFF; uint8_t transmit_mailbox = 0; std::mt19937 gen; std::uniform_int_distribution dis(0, 255); can_struct_para_init(CAN_FD_FRAME_STRUCT, &transmit_message); transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID; transmit_message.tx_efid = 0x00; transmit_message.tx_ft = CAN_FT_DATA; transmit_message.tx_ff = CAN_FF_EXTENDED; transmit_message.tx_dlen = 7; transmit_message.fd_flag = 1; transmit_message.fd_brs = 1; transmit_message.fd_esi = 0; int i = 0; while (i++ < transmit_message.tx_dlen) { transmit_message.tx_data[i] = dis(gen); CAN_DEBUG_PRINT("%x\n", transmit_message.tx_data[i]); } /* transmit message */ transmit_mailbox = can_message_transmit(CAN0, &transmit_message); /* waiting for transmit completed */ while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) && (0 != timeout)) { timeout--; } timeout = 0xFFFF; /* waiting for receive completed */ while ((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) && (0 != timeout)) { timeout--; } can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message); can_message_receive(CAN0, CAN_FIFO0, &receive_message); /* check the receive message */ if ((transmit_message.tx_sfid == receive_message.rx_sfid) && (transmit_message.tx_ff == receive_message.rx_ff) && (transmit_message.tx_dlen == receive_message.rx_dlen)) { /* loopback test is success */ CAN_DEBUG_PRINT("CAN LO0PBACK SUCCESS\r\n"); } else { /* loopback test is failed */ CAN_DEBUG_PRINT("CAN LO0PBACK FAIL\r\n"); } } /** \brief CAN0 回环测试 \param[in] none \param[out] none \retval none */ void can_loopback_test(void) { can_trasnmit_message_struct transmit_message; can_receive_message_struct receive_message; uint32_t timeout = 0xFF; uint8_t transmit_mailbox = 0; std::mt19937 gen(rand()); // 使用随机设备生成的种子 std::uniform_int_distribution dis(0, 0xff); can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message); /* initialize transmit message */ transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID; transmit_message.tx_ft = CAN_FT_DATA; transmit_message.tx_ff = CAN_FF_STANDARD; transmit_message.tx_dlen = 7; int i = 0; while (i++ < transmit_message.tx_dlen) { // transmit_message.tx_data[i] = dis(gen); transmit_message.tx_data[i] = i; } /* transmit message */ transmit_mailbox = can_message_transmit(CANX, &transmit_message); /* waiting for transmit completed */ while ((CAN_TRANSMIT_OK != can_transmit_states(CANX, transmit_mailbox)) && (0 != timeout)) { CAN_DEBUG_PRINT("sending:%x...\n", can_transmit_states(CANX, transmit_mailbox)); timeout--; } timeout = 0xFF; /* waiting for receive completed */ while ((can_receive_message_length_get(CANX, CAN_FIFO0) < 1) && (0 != timeout)) { timeout--; } can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message); can_message_receive(CANX, CAN_FIFO0, &receive_message); /* check the receive message */ if ((DEV_CAN_LOOPBACK_ID == receive_message.rx_sfid) && (CAN_FF_STANDARD == receive_message.rx_ff) && (transmit_message.tx_dlen == receive_message.rx_dlen)) { i = transmit_message.tx_dlen; while (i-- > 0) { CAN_DEBUG_PRINT("rx %d:%x:%x\n", i, transmit_message.tx_data[i], receive_message.rx_data[i]); } if (std::memcmp(receive_message.rx_data, transmit_message.tx_data, transmit_message.tx_dlen) == 0) { /* loopback test is success */ CAN_DEBUG_PRINT("loopback success\n"); } else { /* loopback test is failed */ CAN_DEBUG_PRINT("loopback failed\n"); } } else { /* loopback test is failed */ CAN_DEBUG_PRINT("loopback failed\n"); } } /*! \brief CAN_transmiter 构造函数 \note 初始化 CAN 通信相关参数和硬件配置 */ u8 CAN_transmiter::init() { // 初始化 CAN 硬件 // can_config(); canfd_config(); // 初始化发送消息结构体 can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message); /* initialize receive message */ can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message); // 初始化收发队列和标志位 rx_queue_head = 0; rx_queue_tail = 0; rx_queue_count = 0; tx_queue_head = 0; tx_queue_tail = 0; tx_queue_count = 0; can0_send_flag = RESET; // 初始化 DMA 缓冲区 memset(can_rx_buffer, 0, sizeof(can_rx_buffer)); memset(can_rx_dma_words, 0, sizeof(can_rx_dma_words)); can_rx_dma_busy = false; // 初始化节点 ID 为默认值 node_id = DEFAULT_NODE_ID; // 从 Flash 加载节点 ID (如果 Flash 中有有效值则覆盖默认值) load_node_id_from_flash(); return 0; } static uint32_t CAN_EnterCritical(void) { uint32_t primask = __get_PRIMASK(); __disable_irq(); return primask; } static void CAN_ExitCritical(uint32_t primask) { __set_PRIMASK(primask); } static u8 CANFD_DlcToLength(u8 dlc) { return (dlc <= 8U) ? dlc : ((dlc <= 15U) ? CANFD_DLC_LENGTH_TABLE[dlc - 9U] : 0U); } static u8 CANFD_NormalizeLength(u8 length) { if (length <= 8U) return length; for (u8 i = 0; i < sizeof(CANFD_DLC_LENGTH_TABLE); i++) { if (length <= CANFD_DLC_LENGTH_TABLE[i]) { return CANFD_DLC_LENGTH_TABLE[i]; } } return 0U; } static u8 CANFD_WordCount(u8 length) { return (length + 3U) / 4U; } static void CAN_RX_QueuePushFromIsr(const can_receive_message_struct &message) { if (rx_queue_count < CAN_RX_QUEUE_SIZE) { rx_queue[rx_queue_tail].id = message.rx_efid; rx_queue[rx_queue_tail].length = message.rx_dlen; if (rx_queue[rx_queue_tail].length > 64) { rx_queue[rx_queue_tail].length = 64; } for (int i = 0; i < rx_queue[rx_queue_tail].length; i++) { rx_queue[rx_queue_tail].data[i] = message.rx_data[i]; } rx_queue_tail = (rx_queue_tail + 1) % CAN_RX_QUEUE_SIZE; rx_queue_count++; } else { CAN_DEBUG_PRINT("RX queue full, message dropped\r\n"); } } static void CAN_RX_ReleaseFifo0(void) { CAN_RFIFO0(CAN0) |= CAN_RFIFO0_RFD0; } static u8 CAN_RX_Fifo0PendingCount(void) { return can_receive_message_length_get(CAN0, CAN_FIFO0); } static bool CAN_TX_HasEmptyMailbox(void) { return (can_flag_get(CAN0, CAN_FLAG_TME0) != RESET) || (can_flag_get(CAN0, CAN_FLAG_TME1) != RESET) || (can_flag_get(CAN0, CAN_FLAG_TME2) != RESET); } static void CAN_RX_ReadMetadata(can_receive_message_struct *message) { uint8_t dlc; uint32_t rfifomi = CAN_RFIFOMI(CAN0, CAN_FIFO0); uint32_t rfifomp = CAN_RFIFOMP(CAN0, CAN_FIFO0); uint32_t canfd_en = CAN_FDCTL(CAN0) & CAN_FDCTL_FDEN; can_struct_para_init(CAN_RX_MESSAGE_STRUCT, message); message->rx_ff = (uint8_t)(CAN_RFIFOMI_FF & rfifomi); if (CAN_FF_STANDARD == message->rx_ff) { message->rx_sfid = (uint32_t)(GET_RFIFOMI_SFID(rfifomi)); } else { message->rx_efid = (uint32_t)(GET_RFIFOMI_EFID(rfifomi)); } message->rx_ft = (uint8_t)(CAN_RFIFOMI_FT & rfifomi); message->rx_fi = (uint8_t)(GET_RFIFOMP_FI(rfifomp)); message->fd_flag = (uint8_t)((CAN_RFIFOMP_FDF & rfifomp) >> 7); dlc = (uint8_t)(GET_RFIFOMP_DLENC(rfifomp)); if ((canfd_en != 0U) && (message->fd_flag != CAN_FDF_CLASSIC)) { message->rx_dlen = CANFD_DlcToLength(dlc); message->fd_brs = (uint8_t)((rfifomp & CAN_RFIFOMP_BRS) >> 5); message->fd_esi = (uint8_t)((rfifomp & CAN_RFIFOMP_ESI) >> 4); } else { message->rx_dlen = (dlc <= 8U) ? dlc : 8U; } } static void CAN_RX_StartPayloadDma(const can_receive_message_struct &metadata) { can_rx_dma_message = metadata; if (can_rx_dma_message.rx_dlen > 64) { can_rx_dma_message.rx_dlen = 64; } u8 word_count = CANFD_WordCount(can_rx_dma_message.rx_dlen); if (word_count == 0) { CAN_RX_QueuePushFromIsr(can_rx_dma_message); CAN_RX_ReleaseFifo0(); return; } can_rx_dma_busy = true; dma_channel_disable(DMA0, DMA_CH4); dma_interrupt_flag_clear(DMA0, DMA_CH4, DMA_INT_FLAG_G); dma_periph_address_config(DMA0, DMA_CH4, (uint32_t)(&CAN_RFIFOMDATA0(CAN0, CAN_FIFO0))); dma_memory_address_config(DMA0, DMA_CH4, (uint32_t)can_rx_dma_words); dma_transfer_number_config(DMA0, DMA_CH4, word_count); dma_channel_enable(DMA0, DMA_CH4); } static void CAN_RX_PumpFifo0(void) { while (!can_rx_dma_busy) { if (CAN_RX_Fifo0PendingCount() == 0U) { can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0); return; } can_receive_message_struct temp_message; CAN_RX_ReadMetadata(&temp_message); if (temp_message.rx_ff == CAN_FF_EXTENDED) { CAN_RX_StartPayloadDma(temp_message); } else { CAN_RX_ReleaseFifo0(); CAN_DEBUG_PRINT("Drop standard CAN frame in CANFD path\r\n"); } } } static u8 CAN_RX_QueuePop(can_rx_queue_item_t *item) { u8 popped = 0U; uint32_t primask = CAN_EnterCritical(); if (rx_queue_count == 0) { CAN_ExitCritical(primask); return 0U; } *item = rx_queue[rx_queue_head]; rx_queue_head = (rx_queue_head + 1) % CAN_RX_QUEUE_SIZE; rx_queue_count--; popped = 1U; CAN_ExitCritical(primask); return popped; } static u8 CAN_TX_QueuePush(const can_trasnmit_message_struct &message) { u8 queued = 0U; uint32_t primask = CAN_EnterCritical(); if (tx_queue_count < CAN_TX_QUEUE_SIZE) { tx_queue[tx_queue_tail].message = message; tx_queue[tx_queue_tail].valid = 1U; tx_queue_tail = (tx_queue_tail + 1U) % CAN_TX_QUEUE_SIZE; tx_queue_count++; queued = 1U; } CAN_ExitCritical(primask); if (queued != 0U) { can_interrupt_enable(CAN0, CAN_INTEN_TMEIE); return 1U; } CAN_DEBUG_PRINT("TX queue full, message dropped\r\n"); return 0U; } static u8 CAN_TX_QueuePeek(can_trasnmit_message_struct *message) { u8 has_message = 0U; uint32_t primask = CAN_EnterCritical(); if (tx_queue_count != 0U) { *message = tx_queue[tx_queue_head].message; has_message = 1U; } CAN_ExitCritical(primask); return has_message; } static u8 CAN_TX_QueuePop(can_trasnmit_message_struct *message) { u8 popped = 0U; uint32_t primask = CAN_EnterCritical(); if (tx_queue_count != 0U) { *message = tx_queue[tx_queue_head].message; tx_queue[tx_queue_head].valid = 0U; tx_queue_head = (tx_queue_head + 1U) % CAN_TX_QUEUE_SIZE; tx_queue_count--; popped = 1U; } CAN_ExitCritical(primask); return popped; } static void CAN_TX_DisableTmeIfQueueEmpty(void) { uint32_t primask = CAN_EnterCritical(); if (tx_queue_count == 0U) { can_interrupt_disable(CAN0, CAN_INTEN_TMEIE); } CAN_ExitCritical(primask); } static void CAN_TX_ServiceQueue(void) { can_trasnmit_message_struct queued_message; while (CAN_TX_HasEmptyMailbox()) { if (CAN_TX_QueuePeek(&queued_message) == 0U) { CAN_TX_DisableTmeIfQueueEmpty(); return; } if (can_message_transmit(CAN0, &queued_message) == CAN_NOMAILBOX) { CAN_DEBUG_PRINT( "Mailbox became unavailable while draining TX queue\r\n"); can_interrupt_enable(CAN0, CAN_INTEN_TMEIE); return; } CAN_TX_QueuePop(&queued_message); } } /*! \brief CAN 数据更新 */ void CAN_transmiter::update(void) { target_angle_union.f = FOC.target_angle; target_velocity_union.f = FOC.target_velocity; target_current_union.f = FOC.target_current; rt_angle_union.f = FOC.rt_angle; rt_velocity_union.f = FOC.rt_velocity; rt_current_union.f = FOC.rt_current; limit_voltage = FOC.limit_voltage * 1000; mcu_temp = sampler.get_mcu_temp() * 100; motor_temp = sampler.get_drv_temp() * 100; Power_Voltage = sampler.get_vbus_voltage() * 1000; MotorStatus = gpio_input_bit_get(GPIOB, GPIO_PIN_2) == RESET; EEPROMStatus = flashEEP.EEPROMStatus; Target_Control_Mode = FOC.control_mode; controller_Mode = FOC.control_mode; cpu_usage = get_cpu_usage(); // 使用简单平均滤波的电流值 u_current_union.f = sampler.get_current('U') * 1000; w_current_union.f = sampler.get_current('W') * 1000; v_current_union.f = sampler.get_current('V') * 1000; } /** * @brief CANFD 发送函数 * @retval 0: 发送失败（或处于静默模式） * 1: 发送成功 */ u8 CAN_transmiter::CANFD_all_Send() { // 检查是否在静默模式中，如果是则不发送 if (is_in_silent_mode()) { check_silent_mode(); // 检查是否已退出静默 return 0; } u32 success_flag = 0; // 打包 status 数据 - 只清零实际使用的 32 字节 memset(transmit_data, 0, 32); pack_u16_to_bytes(transmit_data, 0, mcu_temp); pack_u16_to_bytes(transmit_data, 2, motor_temp); pack_u16_to_bytes(transmit_data, 4, u16(u_current_union.f)); pack_u16_to_bytes(transmit_data, 6, u16(v_current_union.f)); pack_u16_to_bytes(transmit_data, 8, u16(w_current_union.f)); transmit_data[10] = (transmit_data[10] & ~0x07) | ((MotorStatus & 0x01) | ((MagStatus & 0x01) << 1) | ((ThermalStatus & 0x01) << 2) | ((EEPROMStatus & 0x07) << 3)); pack_u16_to_bytes(transmit_data, 11, Power_Voltage); pack_float_to_bytes(transmit_data, 13, rt_angle_union); pack_float_to_bytes(transmit_data, 17, rt_velocity_union); pack_float_to_bytes(transmit_data, 21, rt_current_union); pack_float_to_bytes(transmit_data, 25, testfloat_union); transmit_data[29] = test_u16 & 0xFF; transmit_data[30] = (test_u16 >> 8) & 0xFF; transmit_data[31] = cpu_usage; // 使用节点 ID 构建发送 ID (高 16 位为节点 ID) success_flag += CANFD_AsyncSend(build_can_id(CANFD_STATUS_ID), 32, transmit_data); // 打包 config 数据 - 只清零实际使用的 24 字节 memset(transmit_data, 0, 24); transmit_data[0] = controller_Mode; pack_u16_to_bytes(transmit_data, 1, limit_voltage); pack_float_to_bytes(transmit_data, 3, target_current_union); pack_float_to_bytes(transmit_data, 7, target_velocity_union); pack_float_to_bytes(transmit_data, 11, target_angle_union); // 使用节点 ID 构建发送 ID (高 16 位为节点 ID) success_flag += CANFD_AsyncSend(build_can_id(CANFD_CONFIG_ID), 24, transmit_data); return success_flag; } /** * @brief CAN 通信检查函数 * @retval 0: 无新消息 * 1: 有新消息 */ void CAN_transmiter::communication_check() { // CAN0 发送数据标志 if (SET == can0_send_flag) { // 检查是否在静默模式中 if (!is_in_silent_mode()) { update(); CANFD_all_Send(); } else { check_silent_mode(); // 检查静默是否结束 } can0_send_flag = RESET; } // 处理所有接收到的 CANFD 消息（从底层中断队列中取出） can_rx_queue_item_t rx_item; while (CAN_RX_QueuePop(&rx_item)) { can_receive_message_struct current_message; can_struct_para_init(CAN_RX_MESSAGE_STRUCT, ¤t_message); current_message.rx_efid = rx_item.id; current_message.rx_dlen = rx_item.length; memcpy(current_message.rx_data, rx_item.data, rx_item.length); // 提取基础 ID (低 16 位，去除高 16 位节点 ID 部分) u32 base_id = current_message.rx_efid & 0xFFFF; // 提取发送方的节点 ID u16 sender_node_id = (u16)((current_message.rx_efid >> 16) & 0xFFFF); // 特殊处理 base_id=0x0000（BOOT 命令）：即使是其他节点的广播消息也要处理 if (base_id == CANFD_BOOT_ID) { // 判断是广播消息还是其他节点的命令 if (sender_node_id == BROADCAST_NODE_ID || sender_node_id != node_id) { // 广播消息或其他节点的命令 → 进入静默模式（停发 10 秒） CAN_DEBUG_PRINT( "Received base_id=0x0000 from node %d, entering silent mode for 10s\r\n", sender_node_id); enter_silent_mode(); } else { // 自己节点的命令 → 执行 BOOT 功能 CAN_DEBUG_PRINT( "Received base_id=0x0000 from self, jumping to BOOT\r\n"); motor_sleep(); flashEEP.save_system_config(false); fmc_unlock(); OTA_SET(n_APP_LATEST_EN_ADDR, OTA_NOT_AVAL); // 设置 APP 为不激活 fmc_lock(); jumpToBOOT(); } continue; // BOOT 命令处理完跳过后续逻辑 } // 设置节点 ID 命令 (基础 ID: 0x0400) // 注意：此命令在 is_message_for_me 检查之前处理，所有节点都会响应 // 这样即使节点ID已经改变，仍然可以用旧节点ID或广播ID来修改 else if (base_id == CANFD_SET_NODE_ID) { // 打印接收到的原始数据 CAN_DEBUG_PRINT( "SET_NODE_ID: rx_dlen=%d, data[0]=%02X data[1]=%02X\r\n", current_message.rx_dlen, current_message.rx_data[0], current_message.rx_data[1]); // 解析新节点 ID - 支持 1 字节或 2 字节格式 u16 new_node_id; if (current_message.rx_dlen >= 2) { new_node_id = unpack_bytes_to_u16(current_message.rx_data, 0); } else { new_node_id = current_message.rx_data[0]; // 只发送 1 字节时直接使用 } u16 old_node_id = node_id; // 保存旧节点 ID 用于构建响应 ID CAN_DEBUG_PRINT( "SET_NODE_ID: recv new_id=%d (0x%04X), old_id=%d\r\n", new_node_id, new_node_id, old_node_id); if (new_node_id <= MAX_NODE_ID && new_node_id != BROADCAST_NODE_ID) { // 先发送响应（使用旧节点ID构建CAN ID） // 响应数据格式：[status:1byte][new_node_id:2byte] = 3 字节 transmit_data[0] = 0x01; // 成功 transmit_data[1] = (u8)(new_node_id & 0xFF); // 新 ID 低字节 transmit_data[2] = (u8)((new_node_id >> 8) & 0xFF); // 新 ID 高字节 // 使用旧节点 ID 发送响应 node_id = old_node_id; u8 send_result = CANFD_AsyncSend(build_can_id(CANFD_SET_NODE_ID), 3, transmit_data); // 然后保存新节点 ID 到 Flash u8 save_status = save_node_id_to_flash(new_node_id); CAN_DEBUG_PRINT( "SET_NODE_ID: save_status=%d, send_result=%d\r\n", save_status, send_result); if (save_status == FLASH_EEPROM_OK) { CAN_DEBUG_PRINT( "SET_NODE_ID: SUCCESS, node_id updated from %d to %d\r\n", old_node_id, new_node_id); } else { CAN_DEBUG_PRINT( "SET_NODE_ID: Flash write FAILED, status=%d\r\n", save_status); // 发送错误响应 transmit_data[0] = 0x00; // 失败 node_id = old_node_id; CANFD_AsyncSend(build_can_id(CANFD_SET_NODE_ID), 3, transmit_data); } } else { // 发送错误响应 - 使用旧节点 ID 构建响应 ID CAN_DEBUG_PRINT("SET_NODE_ID: invalid new_id=%d (max=%d)\r\n", new_node_id, MAX_NODE_ID); transmit_data[0] = 0x00; // 失败 transmit_data[1] = (u8)(new_node_id & 0xFF); transmit_data[2] = (u8)((new_node_id >> 8) & 0xFF); node_id = old_node_id; // 临时恢复旧 ID 用于构建响应 CANFD_AsyncSend(build_can_id(CANFD_SET_NODE_ID), 3, transmit_data); // 保持原 ID 不变 } continue; // SET_NODE_ID 命令处理完跳过后续逻辑 } // 其他 base_id 的消息，检查是否是发给本节点的 if (!is_message_for_me(current_message.rx_efid)) { continue; // 不是发给本节点的消息，跳过 } if (base_id == CANFD_CMD_ID) { // 控制模式 FOC.control_mode = current_message.rx_data[0]; // 目标电压限制 FOC.limit_voltage = float(unpack_bytes_to_u16(current_message.rx_data, 1)) / 1000; // 目标电流 target_current_union.f = unpack_bytes_to_float(current_message.rx_data, 3).f; FOC.current_loop.set_limit(target_current_union.f); FOC.vel_inMITloop.set_limit(target_current_union.f); // 目标速度 target_velocity_union.f = unpack_bytes_to_float(current_message.rx_data, 7).f; FOC.ang_inVelAngloop.set_limit(target_velocity_union.f); FOC.ang_inMITloop.set_limit(target_velocity_union.f); // 目标角度 target_angle_union.f = unpack_bytes_to_float(current_message.rx_data, 11).f; // 赋值 FOC.target_angle = target_angle_union.f; FOC.target_velocity = target_velocity_union.f; FOC.target_current = target_current_union.f; // 解析 PID 参数 float voltage = FOC.limit_voltage; // PID 参数 u16 P_config = unpack_bytes_to_u16(current_message.rx_data, 15); FOC.cur_loop_p = DEFAULT_current_loop_p * P_config / voltage; FOC.cur_MIT_p = DEFAULT_current_MIT_p * P_config / voltage; P_config = unpack_bytes_to_u16(current_message.rx_data, 17); FOC.vel_loop_p = DEFAULT_vel_loop_p * P_config / voltage; FOC.vel_angloop_p = DEFAULT_vel_angloop_p * P_config; FOC.vel_MIT_p = DEFAULT_vel_MIT_p * P_config; P_config = unpack_bytes_to_u16(current_message.rx_data, 19); FOC.ang_loop_p = DEFAULT_angle_loop_p * P_config / voltage; FOC.ang_angloop_p = DEFAULT_angle_angloop_p * P_config / voltage; FOC.ang_MIT_p = DEFAULT_angle_MIT_p * P_config / voltage; } else if (base_id == CANFD_RESET_ID) { u8 first_byte = current_message.rx_data[0]; u8 eigth_byte = current_message.rx_data[7]; // 电机重置 if (first_byte & 0x01) { motor_reset(); testfloat_union.f = KTH7823.getcurrent_sensorangle(); } // EEPROM 重置 if (first_byte >> 1 & 0x01) { // flashEEP.format(); } // 系统参数保存 if (first_byte >> 2 & 0x01) { flashEEP.save_system_config(false); } // 角度传感器重置 if (first_byte >> 3 & 0x01) { KTH7823.angle_set(0); Angle_kalman.init(0); // 角度滤波 Vel_kalman.init(0); // 角度滤波 } // 休眠 if (eigth_byte & 0x80 >> 7) { app_prepare_deep_sleep(true); // CAN_Sleep(); } } else if (base_id == CANFD_VERSION_ID) { // 处理版本号请求，发送当前系统版本信息 Version.sendVersionInfoViaCan(); } else if (base_id == CANFD_OTA_ACK_ID) { volatile u32 *flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR; u32 app_enable = *flash_ptr; flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR; u32 app_check = *flash_ptr; transmit_data[0] = 0x0A; transmit_data[1] = 0xAC; delay_1ms(1); if (app_enable == OTA_AVAL && app_check == OTA_AVAL) { CANFD_AsyncSend(build_can_id(CANFD_OTA_ACK_ID), 2, transmit_data); } } // 查询节点 ID 命令 (基础 ID: 0x0402) else if (base_id == CANFD_GET_NODE_ID) { pack_u16_to_bytes(transmit_data, 0, get_node_id()); CANFD_AsyncSend(build_can_id(CANFD_GET_NODE_ID), 2, transmit_data); } else { CAN_DEBUG_PRINT("Unknown CAN ID: %X (node_id=%d)\n", current_message.rx_efid, node_id); } } } /** * @brief CAN 睡眠 * @param None * @retval None */ u8 CAN_transmiter::CAN_Sleep() { gpio_bit_set(GPIOB, GPIO_PIN_13); is_sleep = true; return 0; } /** * @brief CAN 唤醒 * @param None * @retval None */ u8 CAN_transmiter::CAN_Wakeup() { CAN_DEBUG_PRINT("can wake\r\n"); is_sleep = false; canfd_config(); return 0; } /** * @brief CAN0 中断服务程序（优化版：直接读取数据，减少DMA竞态条件） * @retval 无 */ void CAN0_RX0_IRQHandler(void) { // FIFO0 非空时，关中断并持续抽空 FIFO；DMA 完成后由 DMA ISR 继续续传。 if (CAN_RX_Fifo0PendingCount() != 0U) { can_interrupt_disable(CAN0, CAN_INTEN_RFNEIE0); CAN_RX_PumpFifo0(); } // 检查其他可能的中断源 if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFF0) != RESET) { // FIFO0 满中断 can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFF0); CAN_DEBUG_PRINT("CAN FIFO0 full\n"); } if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFO0) != RESET) { // FIFO0 溢出中断 can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFO0); CAN_DEBUG_PRINT("CAN FIFO0 overflow\n"); } } /** * @brief DMA 通道 4 中断服务程序 (CAN 接收 DMA) * @retval 无 */ void DMA0_Channel4_IRQHandler(void) { if (dma_interrupt_flag_get(DMA0, DMA_CH4, DMA_INT_FLAG_ERR)) { dma_interrupt_flag_clear(DMA0, DMA_CH4, DMA_INT_FLAG_G); dma_channel_disable(DMA0, DMA_CH4); if (can_rx_dma_busy) { CAN_RX_ReleaseFifo0(); can_rx_dma_busy = false; } CAN_DEBUG_PRINT("CAN RX DMA error, frame dropped\r\n"); CAN_RX_PumpFifo0(); return; } if (dma_interrupt_flag_get(DMA0, DMA_CH4, DMA_INT_FLAG_FTF)) { // 清除 DMA 传输完成中断标志 dma_interrupt_flag_clear(DMA0, DMA_CH4, DMA_INT_FLAG_G); dma_channel_disable(DMA0, DMA_CH4); if (!can_rx_dma_busy) { CAN_RX_PumpFifo0(); return; } memcpy(can_rx_dma_message.rx_data, can_rx_dma_words, can_rx_dma_message.rx_dlen); CAN_RX_QueuePushFromIsr(can_rx_dma_message); CAN_RX_ReleaseFifo0(); can_rx_dma_busy = false; CAN_RX_PumpFifo0(); } } /** * @brief DMA 通道 5 中断服务程序 (CAN/CANFD 发送 DMA) * @retval 无 */ void DMA0_Channel5_IRQHandler(void) { // 保留空实现：发送链路改用 CAN mailbox + TME 中断队列。 } /** * @brief 异步 CAN 数据发送 (使用 DMA 和中断机制) * @param id CAN 消息 ID * @param length CAN 消息长度 * @param data CAN 消息数据 */ u8 CAN_transmiter::CAN_AsyncSend(u32 id, u8 length, u8 *data) { // 检查数据长度是否符合 CAN 规范 if (length > 8) { CAN_DEBUG_PRINT("CAN data length exceeds maximum of 8 bytes\r\n"); return 0; } // 检查数据指针是否有效 if (data == nullptr) { CAN_DEBUG_PRINT("Invalid data pointer\r\n"); return 0; } /* 配置发送消息参数 */ transmit_message.tx_ft = CAN_FT_DATA; // 数据帧 transmit_message.tx_ff = CAN_FF_STANDARD; // 标准帧格式 transmit_message.tx_sfid = id; // 设置帧 ID transmit_message.tx_dlen = length; // 设置数据长度 // 复制数据到发送缓冲区 for (int i = 0; i < length && i < 8; i++) { transmit_message.tx_data[i] = *(data + i); } // 自动选择空闲 mailbox 发送消息 transmit_mailbox = can_message_transmit(CAN0, &transmit_message); // 检查是否成功获取 mailbox if (transmit_mailbox == CAN_NOMAILBOX) { // 没有可用的 mailbox，启用发送中断以便在邮箱可用时重试 CAN_DEBUG_PRINT( "No available mailbox for CAN transmission, enabling TX " "interrupt\r\n"); // 可以设置一个标志位，当邮箱可用时发送 // 在实际应用中，可以维护一个待发送队列 return 0; } // 启用 CAN 发送中断以检测传输完成 can_interrupt_enable(CAN0, CAN_INTEN_TMEIE); return 1; } /** * @brief 异步 CANFD 数据发送 (使用队列机制防止丢帧) * @param id CAN 消息 ID * @param length CAN 消息长度 * @param data CAN 消息数据 */ u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) { u8 valid_length = 0U; // 检查 CANFD 模式是否启用 if ((CAN_FDCTL(CAN0) & CAN_FDCTL_FDEN) == 0U) { CAN_DEBUG_PRINT("CANFD mode not enabled\r\n"); return 0; } // 检查数据指针是否有效 if (data == nullptr && length != 0U) { CAN_DEBUG_PRINT("Invalid data pointer\r\n"); return 0; } // 检查数据长度是否符合 CANFD 规范，并映射到合法 DLC 长度 if (length == 0U) { valid_length = 0U; } else { valid_length = CANFD_NormalizeLength(length); } if ((length != 0U) && (valid_length == 0U)) { CAN_DEBUG_PRINT("CANFD data length error\r\n"); return 0; } /* 配置发送消息参数 */ can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message); transmit_message.tx_ft = CAN_FT_DATA; // 数据帧 transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式 transmit_message.tx_efid = id; // 扩展帧 ID transmit_message.tx_dlen = valid_length; // 设置数据长度 // 设置 CANFD 特定参数 transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD 帧格式 transmit_message.fd_brs = ENABLE; // 使能比特率切换 transmit_message.fd_esi = DISABLE; // 错误状态指示 memset(transmit_message.tx_data, 0, sizeof(transmit_message.tx_data)); for (int i = 0; i < valid_length; i++) { if (i < length) { transmit_message.tx_data[i] = *(data + i); } } // 自动选择空闲 mailbox 发送消息 transmit_mailbox = can_message_transmit(CAN0, &transmit_message); // 检查是否成功获取 mailbox if (transmit_mailbox == CAN_NOMAILBOX) { // 没有可用的 mailbox，将消息加入发送队列 CAN_DEBUG_PRINT("No available mailbox, adding to TX queue\r\n"); return CAN_TX_QueuePush(transmit_message); } // 启用 CAN 发送中断以检测传输完成（用于队列发送） can_interrupt_enable(CAN0, CAN_INTEN_TMEIE); return 1; } /** * @brief CAN 传输中断处理函数（支持队列发送） */ void CAN0_TX_IRQHandler(void) { if (CAN_TX_HasEmptyMailbox()) { CAN_TX_ServiceQueue(); } }