120 lines
4.5 KiB
C
120 lines
4.5 KiB
C
#include "hw_can.h"
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#include "main.h"
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#include "FreeRTOS.h"
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#include "task.h"
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void hwCanInit(void)
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{
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CAN_FilterTypeDef filter;
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/* 16-bit ID List 滤波: 每个 filter bank 容纳 4 个标准帧 ID
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* 标准帧 ID 必须左移 5 位 (STID 在寄存器位[15:5])
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*
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* 本设备需接收 0x180-0x18A 全部 ID (多设备升级寻址范围)
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* 0x180-0x18A = 11 个 ID, 需 3 个 bank (12 槽位)
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* Bank0: 0x180-0x183 Bank1: 0x184-0x187 Bank2: 0x188-0x18B
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* 具体哪个ID是本设备的, 由软件层 IAP_CAN_RX_ID 精确过滤 */
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/* Bank 0: 0x180-0x183 → FIFO0 */
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filter.FilterIdHigh = 0x180U << 5; /* ID0 = 0x180 */
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filter.FilterIdLow = 0x181U << 5; /* ID1 = 0x181 */
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filter.FilterMaskIdHigh = 0x182U << 5; /* ID2 = 0x182 */
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filter.FilterMaskIdLow = 0x183U << 5; /* ID3 = 0x183 */
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filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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filter.FilterBank = 0;
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filter.FilterMode = CAN_FILTERMODE_IDLIST; /* ID List 方式 */
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filter.FilterScale = CAN_FILTERSCALE_16BIT; /* 16位 */
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filter.FilterActivation = CAN_FILTER_ENABLE; /* 使能 */
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filter.SlaveStartFilterBank = 14; /* 全部分配给CAN1 */
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if (HAL_CAN_ConfigFilter(&hcan, &filter) != HAL_OK)
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{
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}
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/* Bank 1: 0x184-0x187 → FIFO0 */
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filter.FilterIdHigh = 0x184U << 5; /* ID0 = 0x184 */
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filter.FilterIdLow = 0x185U << 5; /* ID1 = 0x185 */
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filter.FilterMaskIdHigh = 0x186U << 5; /* ID2 = 0x186 */
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filter.FilterMaskIdLow = 0x187U << 5; /* ID3 = 0x187 */
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filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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filter.FilterBank = 1;
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HAL_CAN_ConfigFilter(&hcan, &filter);
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/* Bank 2: 0x188-0x18B → FIFO1 (0x18A 为寻址上限, 0x18B 预留) */
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filter.FilterIdHigh = 0x188U << 5; /* ID0 = 0x188 */
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filter.FilterIdLow = 0x189U << 5; /* ID1 = 0x189 */
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filter.FilterMaskIdHigh = 0x18AU << 5; /* ID2 = 0x18A */
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filter.FilterMaskIdLow = 0x18BU << 5; /* ID3 = 0x18B (预留) */
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filter.FilterFIFOAssignment = CAN_FILTER_FIFO1;
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filter.FilterBank = 2;
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HAL_CAN_ConfigFilter(&hcan, &filter);
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HAL_CAN_Start(&hcan);
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/* 使能接收 FIFO 中断 + 发送完成中断 */
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HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING
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| CAN_IT_RX_FIFO1_MSG_PENDING
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| CAN_IT_TX_MAILBOX_EMPTY);
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}
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uint8_t hwCanSend(uint32_t id, uint8_t *data, uint8_t dlc)
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{
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#if 1
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CAN_TxHeaderTypeDef tx_header;
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uint32_t tx_mailbox;
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uint32_t wait = 20000;
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/* 无空闲发送邮箱时短超时忙等（不osDelay，避免任务挂起导致积压） */
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/* 500kbps下一帧约130µs，3个邮箱最慢约400µs释放 */
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while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0)
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{
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if (--wait == 0)
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{
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return 0; /* 超时放弃（总线异常） */
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}
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}
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/* 组织发送帧头 */
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tx_header.StdId = id; /* 标准帧ID */
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tx_header.ExtId = 0; /* 扩展帧ID未用 */
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tx_header.IDE = CAN_ID_STD; /* 标准帧 */
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tx_header.RTR = CAN_RTR_DATA;/* 数据帧 */
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tx_header.DLC = dlc; /* 数据长度 0~8 */
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/* 临界区保护HAL_CAN_AddTxMessage，防止RX中断中HAL_CAN_GetRxMessage
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的HAL_LOCK冲突（仅几μs，不影响实时性） */
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taskENTER_CRITICAL();
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HAL_StatusTypeDef status = HAL_CAN_AddTxMessage(&hcan, &tx_header, data, &tx_mailbox);
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taskEXIT_CRITICAL();
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if (status != HAL_OK)
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{
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return 0;
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}
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return 1;
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#else
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uint32_t mailbox;
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/* 选择空闲邮箱(直接读TSR寄存器) */
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if (hcan.Instance->TSR & CAN_TSR_TME0) mailbox = 0;
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else if (hcan.Instance->TSR & CAN_TSR_TME1) mailbox = 1;
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else if (hcan.Instance->TSR & CAN_TSR_TME2) mailbox = 2;
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else return 0; /* 无空闲邮箱 */
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/* 设置ID(标准帧,ID左移21位) */
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hcan.Instance->sTxMailBox[mailbox].TIR = (id << 21) | CAN_RTR_DATA | CAN_ID_STD;
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/* 设置DLC */
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hcan.Instance->sTxMailBox[mailbox].TDTR = dlc;
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/* 设置数据(直接写TDLR/TDHR寄存器,立即拷贝) */
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hcan.Instance->sTxMailBox[mailbox].TDLR = ((uint32_t)data[3]<<24)|((uint32_t)data[2]<<16)|((uint32_t)data[1]<<8)|data[0];
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hcan.Instance->sTxMailBox[mailbox].TDHR = ((uint32_t)data[7]<<24)|((uint32_t)data[6]<<16)|((uint32_t)data[5]<<8)|data[4];
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/* 请求发送 */
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hcan.Instance->sTxMailBox[mailbox].TIR |= CAN_TI0R_TXRQ;
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return 1;
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#endif
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}
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