#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 // 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); 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(); } }