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Customer_controller/BSP/bsp_fdcan.c

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增加达妙H7控制电机的例程文件
2024-10-06 21:38:02 +08:00
#include "bsp_fdcan.h"
/**
************************************************************************
* @brief: bsp_can_init(void)
* @param: void
* @retval: void
* @details: CAN 使能
************************************************************************
**/
void bsp_can_init(void)
{
can_filter_init();
HAL_FDCAN_Start(&hfdcan1); //开启FDCAN
完成
2024-10-23 15:47:41 +08:00
// HAL_FDCAN_Start(&hfdcan2);
// HAL_FDCAN_Start(&hfdcan3);
// HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_WATERMARK, 0);
// HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO1_WATERMARK, 0);
// HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_BUFFER_NEW_MESSAGE, 0);
增加达妙H7控制电机的例程文件
2024-10-06 21:38:02 +08:00
HAL_FDCAN_ActivateNotification(&hfdcan1,
0 | FDCAN_IT_RX_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_WATERMARK
| FDCAN_IT_TX_COMPLETE | FDCAN_IT_TX_FIFO_EMPTY | FDCAN_IT_BUS_OFF
| FDCAN_IT_ARB_PROTOCOL_ERROR | FDCAN_IT_DATA_PROTOCOL_ERROR
| FDCAN_IT_ERROR_PASSIVE | FDCAN_IT_ERROR_WARNING,
0x00000F00);
}
/**
************************************************************************
* @brief: can_filter_init(void)
* @param: void
* @retval: void
* @details: CAN滤波器初始化
************************************************************************
**/
void can_filter_init(void)
{
FDCAN_FilterTypeDef fdcan_filter;
fdcan_filter.IdType = FDCAN_STANDARD_ID; //标准ID
fdcan_filter.FilterIndex = 0; //滤波器索引
fdcan_filter.FilterType = FDCAN_FILTER_MASK;
fdcan_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; //过滤器0关联到FIFO0
fdcan_filter.FilterID1 = 0x00;
fdcan_filter.FilterID2 = 0x00;
HAL_FDCAN_ConfigFilter(&hfdcan1,&fdcan_filter); //接收ID2
//拒绝接收匹配不成功的标准ID和扩展ID,不接受远程帧
HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT,FDCAN_REJECT,FDCAN_REJECT_REMOTE,FDCAN_REJECT_REMOTE);
HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO0, 1);
// HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO1, 1);
// HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_TX_COMPLETE, FDCAN_TX_BUFFER0);
}
void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud)
{
uint32_t nom_brp=0, nom_seg1=0, nom_seg2=0, nom_sjw=0;
uint32_t dat_brp=0, dat_seg1=0, dat_seg2=0, dat_sjw=0;
/* nominal_baud = 80M/brp/(1+seg1+seg2)
sample point = (1+seg1)/(1+seg1+seg2)
sjw : 1-128
seg1: 2-256
seg2: 2-128
brp : 1-512 */
if(mode == CAN_CLASS)
{
switch (baud)
{
case CAN_BR_125K: nom_brp=4 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
case CAN_BR_200K: nom_brp=2 ; nom_seg1=174; nom_seg2=25; nom_sjw=25; break; // sample point 87.5%
case CAN_BR_250K: nom_brp=2 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
case CAN_BR_500K: nom_brp=1 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
case CAN_BR_1M: nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; break; // sample point 75%
}
dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; // 数据域默认1M
hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC;
}
/* data_baud = 80M/brp/(1+seg1+seg2)
sample point = (1+seg1)/(1+seg1+seg2)
sjw : 1-16
seg1: 1-32
seg2: 2-16
brp : 1-32 */
if(mode == CAN_FD_BRS)
{
switch (baud)
{
case CAN_BR_2M: dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; break; // sample point 75%
case CAN_BR_2M5: dat_brp=1 ; dat_seg1=25; dat_seg2=6 ; dat_sjw=6 ; break; // sample point 81.25%
case CAN_BR_3M2: dat_brp=1 ; dat_seg1=19; dat_seg2=5 ; dat_sjw=5 ; break; // sample point 80%
case CAN_BR_4M: dat_brp=1 ; dat_seg1=14; dat_seg2=5 ; dat_sjw=5 ; break; // sample point 75%
case CAN_BR_5M: dat_brp=1 ; dat_seg1=13; dat_seg2=2 ; dat_sjw=2 ; break; // sample point 87.5%
}
nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; // 仲裁域默认1M
hfdcan->Init.FrameFormat = FDCAN_FRAME_FD_BRS;
}
HAL_FDCAN_DeInit(hfdcan);
hfdcan->Init.NominalPrescaler = nom_brp;
hfdcan->Init.NominalTimeSeg1 = nom_seg1;
hfdcan->Init.NominalTimeSeg2 = nom_seg2;
hfdcan->Init.NominalSyncJumpWidth = nom_sjw;
hfdcan->Init.DataPrescaler = dat_brp;
hfdcan->Init.DataTimeSeg1 = dat_seg1;
hfdcan->Init.DataTimeSeg2 = dat_seg2;
hfdcan->Init.DataSyncJumpWidth = dat_sjw;
HAL_FDCAN_Init(hfdcan);
}
/**
************************************************************************
* @brief: fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
* @param: hfdcan：FDCAN句柄
* @param: id：CAN设备ID
* @param: data：发送的数据
* @param: len：发送的数据长度
* @retval: void
* @details: 发送数据
************************************************************************
**/
uint8_t fdcanx_send_data(hcan_t *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
{
FDCAN_TxHeaderTypeDef pTxHeader;
pTxHeader.Identifier=id;
pTxHeader.IdType=FDCAN_STANDARD_ID;
pTxHeader.TxFrameType=FDCAN_DATA_FRAME;
if(len<=8)
pTxHeader.DataLength = len;
if(len==12)
pTxHeader.DataLength = FDCAN_DLC_BYTES_12;
if(len==16)
pTxHeader.DataLength = FDCAN_DLC_BYTES_16;
if(len==20)
pTxHeader.DataLength = FDCAN_DLC_BYTES_20;
if(len==24)
pTxHeader.DataLength = FDCAN_DLC_BYTES_24;
if(len==32)
pTxHeader.DataLength = FDCAN_DLC_BYTES_32;
if(len==48)
pTxHeader.DataLength = FDCAN_DLC_BYTES_48;
if(len==64)
pTxHeader.DataLength = FDCAN_DLC_BYTES_64;
pTxHeader.ErrorStateIndicator=FDCAN_ESI_ACTIVE;
pTxHeader.BitRateSwitch=FDCAN_BRS_ON;
pTxHeader.FDFormat=FDCAN_FD_CAN;
pTxHeader.TxEventFifoControl=FDCAN_NO_TX_EVENTS;
pTxHeader.MessageMarker=0;
if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &pTxHeader, data)!=HAL_OK)
return 1;//发送
return 0;
}
/**
************************************************************************
* @brief: fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
* @param: hfdcan：FDCAN句柄
* @param: buf：接收数据缓存
* @retval: 接收的数据长度
* @details: 接收数据
************************************************************************
**/
uint8_t fdcanx_receive(hcan_t *hfdcan, uint16_t *rec_id, uint8_t *buf)
{
FDCAN_RxHeaderTypeDef pRxHeader;
uint8_t len;
if(HAL_FDCAN_GetRxMessage(hfdcan,FDCAN_RX_FIFO0, &pRxHeader, buf)==HAL_OK)
{
*rec_id = pRxHeader.Identifier;
if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_8)
len = pRxHeader.DataLength;
if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_12)
len = 12;
if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_16)
len = 16;
if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_20)
len = 20;
if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_24)
len = 24;
if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_32)
len = 32;
if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_48)
len = 48;
if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_64)
len = 64;
return len;//接收数据
}
return 0;
}
__weak void fdcan1_rx_callback(void)
{
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
if (hfdcan == &hfdcan1)
{
fdcan1_rx_callback();
}
}
void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
{
if(ErrorStatusITs & FDCAN_IR_BO)
{
CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT);
}
if(ErrorStatusITs & FDCAN_IR_EP)
{
MX_FDCAN1_Init();
bsp_can_init();
}
}