增加CAN Comm通信功能,接收中断处理尚未编写完毕

.vscode/settings.json

@@ -9,7 +9,9 @@
         "ins_task.h": "c",
         "task.h": "c",
         "user_lib.h": "c",
-        "chassis.h": "c"
+        "chassis.h": "c",
+        "can_comm.h": "c",
+        "string.h": "c"
     },
     "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
     "C_Cpp.intelliSenseEngineFallback": "enabled",

bsp/bsp_can.c

@@ -102,12 +102,17 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
     HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff);
     for (size_t i = 0; i < DEVICE_CAN_CNT; i++)
     {
-        if (_hcan == instance[i]->can_handle && rxconf.StdId == instance[i]->rx_id)
+        if(instance[i]!=NULL)
         {
-            memcpy(instance[i]->rx_buff, can_rx_buff, 8);
+            if (_hcan == instance[i]->can_handle && rxconf.StdId == instance[i]->rx_id)
-            instance[i]->can_module_callback(instance[i]);
+            {
-            break;
+                memcpy(instance[i]->rx_buff, can_rx_buff, 8);
+                instance[i]->can_module_callback(instance[i]);
+                break;
+            }
         }
+        else
+            break;
     }
 }
 

modules/algorithm/controller.c

@@ -14,10 +14,10 @@
 // PID优化环节函数声明
 static void f_Trapezoid_Intergral(PID_t *pid);       // 梯形积分
 static void f_Integral_Limit(PID_t *pid);            // 积分限幅
-static void f_Derivative_On_Measurement(PID_t *pid); // 微分先行(仅使用反馈微分)
+static void f_Derivative_On_Measurement(PID_t *pid); // 微分先行(仅使用反馈值而不计参考输入的微分)
-static void f_Changing_Integration_Rate(PID_t *pid); // 变速积分
+static void f_Changing_Integration_Rate(PID_t *pid); // 变速积分(误差小时积分作用更强)
-static void f_Output_Filter(PID_t *pid);             // 输出滤波
+static void f_Output_Filter(PID_t *pid);             // 输出滤波(平滑输出)
-static void f_Derivative_Filter(PID_t *pid);         // 微分滤波(采集时)
+static void f_Derivative_Filter(PID_t *pid);         // 微分滤波(采集时,滤除高频噪声)
 static void f_Output_Limit(PID_t *pid);              // 输出限幅
 static void f_PID_ErrorHandle(PID_t *pid);           // 堵转保护
 

modules/can_comm/can_comm.c

@@ -0,0 +1,52 @@
+#include "can_comm.h"
+#include "memory.h"
+#include "stdlib.h"
+
+static CANCommInstance *can_comm_instance[MX_CAN_COMM_COUNT] = {NULL};
+static uint8_t idx;
+
+static void CANCommRxCallback(can_instance *_instance)
+{
+    for (size_t i = 0; i < idx; i++)
+    {
+        if (&can_comm_instance[i]->can_ins == _instance)
+        {
+        }
+    }
+}
+
+CANCommInstance *CANCommInit(CANComm_Init_Config_s config)
+{
+    can_comm_instance[idx] = (CANCommInstance *)malloc(sizeof(CANCommInstance));
+    memset(can_comm_instance[idx], 0, sizeof(CANCommInstance));
+    can_comm_instance[idx]->recv_data_len = config.recv_data_len;
+    can_comm_instance[idx]->send_data_len = config.send_data_len;
+    can_comm_instance[idx]->send_buf_len = config.send_data_len + CAN_COMM_OFFSET_BYTES;
+    can_comm_instance[idx]->raw_sendbuf[0] = CAN_COMM_HEADER;
+    can_comm_instance[idx]->raw_sendbuf[1] = config.send_data_len;
+    can_comm_instance[idx]->raw_sendbuf[config.send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;
+
+    config.can_config.can_module_callback = CANCommRxCallback;
+    CANRegister(&can_comm_instance[idx]->can_ins, config.can_config);
+    return can_comm_instance[idx++];
+}
+
+void CANCommSend(CANCommInstance *instance, uint8_t *data)
+{
+    static uint8_t crc8;
+    memcpy(instance->raw_sendbuf + 2, data, instance->send_data_len);
+    crc8 = crc_8(data, instance->send_data_len);
+    instance->raw_sendbuf[2 + instance->send_data_len] = crc8;
+
+    for (size_t i = 0; i < instance->send_buf_len; i += 8)
+    {
+        memcpy(instance->can_ins.tx_buff, instance->raw_sendbuf[i], 8);
+        CANTransmit(&instance->can_ins);
+    }
+}
+
+void *CANCommGet(CANCommInstance *instance)
+{
+    instance->update_flag = 0;
+    return instance->unpacked_recv_data;
+}

modules/can_comm/can_comm.h

@@ -0,0 +1,76 @@
+/**
+ * @file can_comm.h
+ * @author Neo neozng1@hnu.edu.cn
+ * @brief  用于多机CAN通信的收发模块
+ * @version 0.1
+ * @date 2022-11-27
+ * 
+ * @copyright Copyright (c) 2022 HNUYueLu EC all rights reserved
+ * 
+ */
+#ifndef CAN_COMM_H
+#define CAN_COMM_H
+
+
+#include "bsp_can.h"
+#include "crc8.h" 
+
+#define MX_CAN_COMM_COUNT 4 //注意均衡负载,一条总线上不要挂载过多的外设
+
+#define CAN_COMM_MAX_BUFFSIZE 68 // 最大发送/接收字节数
+#define CAN_COMM_HEADER 's'
+#define CAN_COMM_TAIL   'e'
+#define CAN_COMM_OFFSET_BYTES 4 // 's'+datalen+'e'+crc8
+
+typedef struct 
+{
+    can_instance can_ins;
+    /* 发送部分 */
+    uint8_t send_data_len;
+    uint8_t send_buf_len;
+    uint8_t raw_sendbuf[CAN_COMM_MAX_BUFFSIZE+CAN_COMM_OFFSET_BYTES]; //额外4个bytes保存帧头帧尾和校验和
+    /* 接收部分 */
+    uint8_t recv_data_len;
+    uint8_t recv_buf_len;
+    uint8_t raw_recvbuf[CAN_COMM_MAX_BUFFSIZE+CAN_COMM_OFFSET_BYTES]; //额外4个bytes保存帧头帧尾和校验和
+    uint8_t unpacked_recv_data[CAN_COMM_MAX_BUFFSIZE]; 
+    /* 接收和更新标志位*/
+    uint8_t recv_state;
+    uint8_t cur_recv_len;
+    uint8_t update_flag;
+} CANCommInstance;
+
+typedef struct
+{
+    uint8_t send_data_len;
+    uint8_t recv_data_len;
+    can_instance_config_s can_config;
+}CANComm_Init_Config_s;
+
+/**
+ * @brief 
+ * 
+ * @param config 
+ * @return CANCommInstance* 
+ */
+CANCommInstance* CANCommInit(CANComm_Init_Config_s config);
+
+/**
+ * @brief 发送数据
+ * 
+ * @param instance can comm实例
+ * @param data 注意此地址的有效数据长度需要和初始化时传入的datalen相同
+ */
+void CANCommSend(CANCommInstance* instance,uint8_t* data);
+
+/**
+ * @brief 获取CAN COMM接收的数据,需要自己使用强制类型转换将返回的void指针转换成指定类型
+ * 
+ * @return void* 返回的数据指针
+ * @attention 注意如果希望直接通过转换指针访问数据,如果数据是union或struct,要检查是否使用了pack(n)
+ *            CAN COMM接收到的数据可以看作是pack(1)之后的,是连续存放的
+ */
+void* CANCommGet(CANCommInstance* instance);
+
+
+#endif // !CAN_COMM_H