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加快can的报文处理实时性

This commit is contained in:
NeoZng 2023-07-11 16:16:19 +08:00
parent 2404edd4eb
commit df66794bf9
3 changed files with 16 additions and 14 deletions
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2
Src/freertos.c
View File

@ -125,7 +125,7 @@ void StartDefaultTask(void const *argument)
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init(); // 默认usb启动任务的位置
/* USER CODE BEGIN StartDefaultTask */
vTaskDelete(NULL); // 避免空置和切换占用cpu
osThreadTerminate(NULL); // 避免空置和切换占用cpu
/* USER CODE END StartDefaultTask */
}

24
bsp/can/bsp_can.c
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@ -150,19 +150,21 @@ static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
{
static CAN_RxHeaderTypeDef rxconf; // 同上
uint8_t can_rx_buff[8];
HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
for (size_t i = 0; i < idx; ++i)
{ // 两者相等说明这是要找的实例
if (_hcan == can_instance[i]->can_handle && rxconf.StdId == can_instance[i]->rx_id)
{
if (can_instance[i]->can_module_callback != NULL) // 回调函数不为空就调用
while (HAL_CAN_GetRxFifoFillLevel(_hcan, fifox)) // FIFO不为空,有可能在其他中断时有多帧数据进入
{
HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
for (size_t i = 0; i < idx; ++i)
{ // 两者相等说明这是要找的实例
if (_hcan == can_instance[i]->can_handle && rxconf.StdId == can_instance[i]->rx_id)
{
can_instance[i]->rx_len = rxconf.DLC; // 保存接收到的数据长度
memcpy(can_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
can_instance[i]->can_module_callback(can_instance[i]); // 触发回调进行数据解析和处理
if (can_instance[i]->can_module_callback != NULL) // 回调函数不为空就调用
{
can_instance[i]->rx_len = rxconf.DLC; // 保存接收到的数据长度
memcpy(can_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例
can_instance[i]->can_module_callback(can_instance[i]); // 触发回调进行数据解析和处理
}
return;
}
return;
}
}
}

4
modules/referee/rm_referee.c
View File

@ -16,6 +16,7 @@
#include "task.h"
#include "daemon.h"
#include "bsp_log.h"
#include "cmsis_os.h"
#define RE_RX_BUFFER_SIZE 255u // 裁判系统接收缓冲区大小
@ -143,7 +144,6 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
*/
void RefereeSend(uint8_t *send, uint16_t tx_len)
{
static TickType_t xLastWakeTime;
USARTSend(referee_usart_instance, send, tx_len, USART_TRANSFER_DMA);
vTaskDelayUntil(&xLastWakeTime, 120); // 裁判系统接收ui数据和多机通信最大支持频率为10Hz
osDelay(115);
}