cbb
9f56ab394e
- 添加CAN调试宏定义，支持条件编译调试信息输出 - 实现节点ID相关功能，包括构建CAN ID、消息过滤、获取/设置节点ID - 支持Flash存储节点ID，提供加载和保存功能 - 实现节点ID设置和查询命令处理 - 更新CANFD发送函数使用节点ID构建发送ID - 添加消息过滤逻辑，只处理目标节点的消息 - 重构DMA中断服务程序，优化数据传输处理 - 替换printf为调试宏，便于生产环境控制调试输出
1122 lines
36 KiB
C++
1122 lines
36 KiB
C++
#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 <cstdio>
|
||
#include <cstdlib>
|
||
#include <cstring>
|
||
#include <random>
|
||
|
||
// 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
|
||
|
||
// 添加 DMA 相关变量
|
||
dma_parameter_struct dma_rx_parameter;
|
||
dma_parameter_struct dma_tx_parameter;
|
||
uint8_t can_rx_buffer[8]; // CAN 接收缓冲区
|
||
uint8_t can_tx_buffer[8]; // CAN 发送缓冲区
|
||
|
||
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
|
||
\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 Flash 擦除状态为 0xFFFF，需要特殊处理避免误判
|
||
*/
|
||
u8 CAN_transmiter::load_node_id_from_flash() {
|
||
u16 node_id_temp = 0xFFFF; // 初始化为 Flash 擦除值
|
||
FlashEepromStatus status =
|
||
flashEEP.read(FlashEEPROM::ADDR_NODE_ID, &node_id_temp);
|
||
|
||
// 检查 Flash 是否为擦除状态 (0xFFFF 或 0) 或读取失败
|
||
// 注意：Flash 未写入时读到的值是 0xFFFF，但有些情况可能读到 0
|
||
if (status != FLASH_EEPROM_OK || node_id_temp == 0xFFFF ||
|
||
node_id_temp == 0) {
|
||
node_id = DEFAULT_NODE_ID;
|
||
CAN_DEBUG_PRINT(
|
||
"Node ID not found in Flash (status=%d, val=0x%04X), using "
|
||
"default: %d\r\n",
|
||
status, node_id_temp, node_id);
|
||
return FLASH_EEPROM_DATA_NOT_FOUND;
|
||
}
|
||
|
||
// 检查节点 ID 是否有效
|
||
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
|
||
\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
|
||
*/
|
||
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.write(FlashEEPROM::ADDR_NODE_ID, 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\r\n");
|
||
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;
|
||
}
|
||
|
||
/*!
|
||
\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_buffer; // 接收缓冲区地址
|
||
dma_rx_parameter.direction = DMA_PERIPHERAL_TO_MEMORY; // 外设到内存
|
||
dma_rx_parameter.memory_width = DMA_MEMORY_WIDTH_8BIT; // 内存宽度 8 位
|
||
dma_rx_parameter.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; // 外设宽度 8 位
|
||
dma_rx_parameter.priority = DMA_PRIORITY_HIGH; // 高优先级
|
||
dma_rx_parameter.number = 8; // 传输字节数
|
||
dma_rx_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // 外设地址不递增
|
||
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
|
||
|
||
// 配置发送 DMA
|
||
dma_struct_para_init(&dma_tx_parameter);
|
||
dma_tx_parameter.periph_addr =
|
||
(uint32_t)(&CAN_TMI0(CAN0)); // CAN 发送数据寄存器地址
|
||
dma_tx_parameter.memory_addr = (uint32_t)can_tx_buffer; // 发送缓冲区地址
|
||
dma_tx_parameter.direction = DMA_MEMORY_TO_PERIPHERAL; // 内存到外设
|
||
dma_tx_parameter.memory_width = DMA_MEMORY_WIDTH_8BIT; // 内存宽度 8 位
|
||
dma_tx_parameter.periph_width = DMA_PERIPHERAL_WIDTH_8BIT; // 外设宽度 8 位
|
||
dma_tx_parameter.priority = DMA_PRIORITY_HIGH; // 高优先级
|
||
dma_tx_parameter.number = 8; // 传输字节数
|
||
dma_tx_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE; // 外设地址不递增
|
||
dma_tx_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE; // 内存地址递增
|
||
dma_init(DMA0, DMA_CH5, &dma_tx_parameter); // 使用 DMA 通道 5
|
||
|
||
// 使能 DMA 通道
|
||
dma_channel_enable(DMA0, DMA_CH4);
|
||
dma_channel_enable(DMA0, DMA_CH5);
|
||
|
||
// 使能 CAN 接收 DMA
|
||
// can_dma_enable(CAN0, CAN_DMA_RECEIVE);
|
||
}
|
||
|
||
/*!
|
||
\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(); // 初始化 DMA
|
||
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);
|
||
/* 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);
|
||
}
|
||
|
||
/*!
|
||
\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<int> 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<int> 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 DMA 缓冲区
|
||
memset(can_rx_buffer, 0, sizeof(can_rx_buffer));
|
||
memset(can_tx_buffer, 0, sizeof(can_tx_buffer));
|
||
|
||
// 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;
|
||
}
|
||
|
||
/*!
|
||
\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;
|
||
|
||
// 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
|
||
* 1: 发送成功
|
||
*/
|
||
u8 CAN_transmiter::CANFD_all_Send() {
|
||
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);
|
||
pack_u16_to_bytes(transmit_data, 29, test_u16);
|
||
// 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) {
|
||
// CAN_DEBUG_PRINT("\r\n can0 %X receive data:",
|
||
// receive_message.rx_efid);
|
||
update();
|
||
// CAN0_transmiter.CAN_all_Send();
|
||
CANFD_all_Send();
|
||
can0_send_flag = RESET;
|
||
}
|
||
|
||
// 处理所有接收到的 CAN 消息（从环形缓冲区中）
|
||
can_receive_message_struct current_message;
|
||
while (dequeue_rx_message(current_message)) {
|
||
// CAN_DEBUG_PRINT("\r\n can0 %X receive data:",
|
||
// current_message.rx_efid); for (i = 0; i < current_message.rx_dlen;
|
||
// i++) { CAN_DEBUG_PRINT(" %02x", current_message.rx_data[i]);
|
||
// }
|
||
// 检查消息是否是发给本节点的 (检查高 16 位)
|
||
if (!is_message_for_me(current_message.rx_efid)) {
|
||
continue; // 不是发给本节点的消息，跳过
|
||
}
|
||
|
||
// 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;
|
||
|
||
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_BOOT_ID) {
|
||
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();
|
||
} 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);
|
||
}
|
||
}
|
||
// 设置节点 ID 命令 (基础 ID: 0x0400)
|
||
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) {
|
||
u8 save_status = save_node_id_to_flash(new_node_id);
|
||
CAN_DEBUG_PRINT(
|
||
"SET_NODE_ID: save_status=%d, current node_id=%d\r\n",
|
||
save_status, node_id);
|
||
if (save_status == FLASH_EEPROM_OK) {
|
||
// 发送确认响应 - 使用旧节点 ID 构建响应 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
|
||
CAN_DEBUG_PRINT("SET_NODE_ID: SUCCESS, send response with "
|
||
"old_id=%d, new_id_bytes=%02X %02X\r\n",
|
||
old_node_id, transmit_data[1],
|
||
transmit_data[2]);
|
||
// 注意：这里不修改 node_id，因为 save_node_id_to_flash
|
||
// 已经更新了 但构建响应时需要用旧 ID，所以临时修改
|
||
node_id = old_node_id;
|
||
CANFD_AsyncSend(build_can_id(CANFD_SET_NODE_ID), 3,
|
||
transmit_data); // 发送 3 字节
|
||
node_id = new_node_id; // 恢复新 ID
|
||
CAN_DEBUG_PRINT("SET_NODE_ID: node_id updated to %d\r\n",
|
||
node_id);
|
||
} else {
|
||
// Flash 写入失败，发送错误响应
|
||
CAN_DEBUG_PRINT(
|
||
"SET_NODE_ID: Flash write FAILED, status=%d\r\n",
|
||
save_status);
|
||
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;
|
||
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
|
||
}
|
||
}
|
||
// 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
|
||
* @retval 无
|
||
*/
|
||
void CAN0_RX0_IRQHandler(void) {
|
||
// 检查是否是 FIFO0 消息挂起中断
|
||
if (can_interrupt_flag_get(CAN0, CAN_INT_FLAG_RFL0) != RESET) {
|
||
// 清除中断标志
|
||
can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFL0);
|
||
|
||
// 使用 DMA 读取接收到的数据
|
||
dma_channel_disable(DMA0, DMA_CH4);
|
||
dma_rx_parameter.number =
|
||
can_receive_message_length_get(CAN0, CAN_FIFO0);
|
||
dma_init(DMA0, DMA_CH4, &dma_rx_parameter);
|
||
dma_channel_enable(DMA0, DMA_CH4);
|
||
|
||
// 读取接收到的数据
|
||
can_receive_message_struct temp_message;
|
||
can_message_receive(CAN0, CAN_FIFO0, &temp_message);
|
||
|
||
// 将接收到的消息加入环形缓冲区
|
||
CAN0_transmiter.enqueue_rx_message_from_isr(temp_message);
|
||
}
|
||
|
||
// 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_FTF)) {
|
||
// 清除 DMA 传输完成中断标志
|
||
dma_interrupt_flag_clear(DMA0, DMA_CH4, DMA_INT_FLAG_G);
|
||
// 将 DMA 缓冲区的数据复制到接收消息结构体
|
||
for (int i = 0; i < CAN0_transmiter.receive_message.rx_dlen && i < 8;
|
||
i++) {
|
||
CAN0_transmiter.receive_message.rx_data[i] = can_rx_buffer[i];
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief DMA 通道 5 中断服务程序 (CAN/CANFD 发送 DMA)
|
||
* @retval 无
|
||
*/
|
||
void DMA0_Channel5_IRQHandler(void) {
|
||
if (dma_interrupt_flag_get(DMA0, DMA_CH5, DMA_INT_FLAG_FTF)) {
|
||
// DMA 传输完成，可以在此处执行后续处理
|
||
// 清除 DMA 传输完成中断标志
|
||
dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_FTF);
|
||
// 可以在此添加后续处理逻辑，如发送下一个数据包等
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @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 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::CANFD_AsyncSend(u32 id, u8 length, u8 *data) {
|
||
u8 valid_length = length;
|
||
// 检查 CANFD 模式是否启用
|
||
if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
|
||
CAN_DEBUG_PRINT("CANFD mode not enabled\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;
|
||
}
|
||
|
||
// 检查数据长度是否符合 CANFD 规范
|
||
if (length > 8) {
|
||
if (length > 8 and length < 13) {
|
||
valid_length = 12;
|
||
} else if (length > 12 and length < 17) {
|
||
valid_length = 16;
|
||
} else if (length > 16 and length < 21) {
|
||
valid_length = 20;
|
||
} else if (length > 20 and length < 25) {
|
||
valid_length = 24;
|
||
} else if (length > 24 and length < 33) {
|
||
valid_length = 32;
|
||
} else if (length > 32 and length < 49) {
|
||
valid_length = 48;
|
||
} else if (length > 48 and length < 65) {
|
||
valid_length = 64;
|
||
} else {
|
||
CAN_DEBUG_PRINT("CANFD data length error\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_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
|
||
// 复制数据到发送缓冲区
|
||
for (int i = 0; i < valid_length; i++) {
|
||
if (i < length) {
|
||
transmit_message.tx_data[i] = *(data + i);
|
||
} else {
|
||
transmit_message.tx_data[i] = 0;
|
||
}
|
||
}
|
||
|
||
// 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 CANFD transmission, enabling TX "
|
||
"interrupt\r\n");
|
||
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;
|
||
}
|
||
|
||
// 添加 CAN 传输中断处理函数
|
||
void CAN0_TX_IRQHandler(void) {
|
||
// 检查是否有发送邮箱空闲
|
||
if (can_flag_get(CAN0, CAN_FLAG_TME0) != RESET ||
|
||
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);
|
||
}
|
||
} |