robot_h743/robot/bspMCU/bsp_CAN.c

/******************************************************************************

                  版权所有 (C), 2018-2099, Radkil

 ******************************************************************************
  文 件 名   : bsp_CAN.c
  版 本 号   : 初稿
  作    者   : radkil
  生成日期   : 2026年5月13日
  最近修改   :
  功能描述   : CAN总线中间层（H7系列使用FDCAN）
  
  修改历史   :
  1.日    期   : 2026年5月13日
    作    者   : radkil
    修改内容   : 创建文件

******************************************************************************/
#include "bsp_can.h"
#ifdef USE_CAN
/*----------------------------------------------*
 * 外部变量说明                                 *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 外部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 内部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 全局变量                                     *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 模块级变量                                   *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 常量定义                                     *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 宏定义                                       *
 *----------------------------------------------*/

TCANUserData *CAN_userdata_init(FDCAN_HandleTypeDef *_fdCAN, uint32_t _Size, int _iIsLoop)
{
    if (NULL == _fdCAN || _Size <= 0) return NULL;

    TCANUserData *ptCANUserData = (TCANUserData *)RD_CALLOC(1, sizeof(TCANUserData));
    FDCAN_RxHeaderTypeDef *ptCANRxHeader = (FDCAN_RxHeaderTypeDef *)RD_CALLOC(1, sizeof(FDCAN_RxHeaderTypeDef));
    FDCAN_TxHeaderTypeDef *ptCANTxHeader = (FDCAN_TxHeaderTypeDef *)RD_CALLOC(1, sizeof(FDCAN_TxHeaderTypeDef));
    uint8_t *pBuffer = (uint8_t *)RD_CALLOC(1, _Size);

    if (NULL == ptCANUserData || NULL == ptCANRxHeader || NULL == ptCANTxHeader || NULL == pBuffer) return NULL;

    ptCANUserData->m_temp_size = _Size;
    ptCANUserData->m_can = _fdCAN;
    ptCANUserData->m_cantx = ptCANTxHeader;
    ptCANUserData->m_canrx = ptCANRxHeader;
    ptCANUserData->m_temp = pBuffer;

    // 这里这个标志位是为0代表使用回环模式
    if (0 == _iIsLoop)
    {
        _fdCAN->Init.Mode = FDCAN_MODE_NORMAL;
    }
    else
    {
        _fdCAN->Init.Mode = FDCAN_MODE_INTERNAL_LOOPBACK;
    }
    if (HAL_FDCAN_Init(_fdCAN) != HAL_OK)
    {
        Error_Handler();
    }
    
    return ptCANUserData;
}

void CAN_IT_init(TComCtrl *_ptComCtrl)
{
    TCANUserData *ptCANUserData = (TCANUserData *)_ptComCtrl->m_pUserData;

    FDCAN_FilterTypeDef filterConfig = {0};

    // ================= 全通模式 =================
    // 作用：接收所有标准帧和扩展帧的数据，专门用于排查“收不到数据”的问题
    filterConfig.IdType = FDCAN_STANDARD_ID;       // 过滤标准ID
    filterConfig.FilterIndex = 0;                  // 使用第0号滤波器
    filterConfig.FilterType = FDCAN_FILTER_MASK;   // 掩码模式
    filterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; // 匹配的数据放入 RXFIFO0
    filterConfig.FilterID1 = 0x000;                // 目标ID设为0
    filterConfig.FilterID2 = 0x000;                // 【关键】掩码设为0，代表不检查任何位，全部放行！
    HAL_FDCAN_ConfigFilter(ptCANUserData->m_can, &filterConfig);

    if (HAL_FDCAN_ActivateNotification(ptCANUserData->m_can, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK)
	{
		Error_Handler();
	}

	if (HAL_FDCAN_ActivateNotification(ptCANUserData->m_can, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
	{
		Error_Handler();
	}

	HAL_FDCAN_Start(ptCANUserData->m_can);
}

void CAN_RX_IRQHandler(TComCtrl *_ptComCtrl)
{
    TCANUserData *ptCANUserData = (TCANUserData *)_ptComCtrl->m_pUserData;
    if (HAL_FDCAN_GetRxMessage(ptCANUserData->m_can, FDCAN_RX_FIFO0, ptCANUserData->m_canrx, ptCANUserData->m_temp) == HAL_OK)
	{
		// FD_CAN_1_Handler.ReceivedFrameID = (uint32_t) CAN_RX_HDR.Identifier;
#if NewCANSendVersion
		uint32_t iRxLen = (uint32_t) ptCANUserData->m_canrx->DataLength;
#else
		uint32_t iRxLen = (uint32_t) ptCANUserData->m_canrx->DataLength>>16;
#endif
        if (iRxLen > 0 && iRxLen <= ptCANUserData->m_temp_size)
        {
            rd_ComRecvProc(_ptComCtrl, (const char*)ptCANUserData->m_temp, iRxLen);                        
        }
	}
}

int CAN_TX_FIFOQ(TComCtrl *_ptComCtrl, uint32_t _iFrameID, char *_pBuffer, uint32_t _iSize)
{
    TCANUserData *ptCANUserData = (TCANUserData *)_ptComCtrl->m_pUserData;
    ptCANUserData->m_cantx->BitRateSwitch = FDCAN_BRS_OFF;

#if NewCANSendVersion
	ptCANUserData->m_cantx->DataLength = (uint32_t) _iSize;
#else
	ptCANUserData->m_cantx->DataLength = (uint32_t) _iSize << 16; //数据长度大于8的话会有错误
#endif
	ptCANUserData->m_cantx->FDFormat = FDCAN_CLASSIC_CAN;
	ptCANUserData->m_cantx->IdType = FDCAN_STANDARD_ID;
	ptCANUserData->m_cantx->Identifier = _iFrameID;
	ptCANUserData->m_cantx->TxFrameType = FDCAN_DATA_FRAME;
	HAL_FDCAN_AddMessageToTxFifoQ(ptCANUserData->m_can, ptCANUserData->m_cantx, (const uint8_t *)_pBuffer);

	return ptCANUserData->m_cantx->DataLength;
}

#endif