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更新IAP状态图，大幅更新CAN外设驱动，以及其他小更新
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@Staok
Staok committed Dec 13, 2020
1 parent 64fd64f commit 3784a1c
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2 changes: 1 addition & 1 deletion STM32F4DSP_HAL_IAP/方案描述文件/IAP状态图.drawio
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2 changes: 1 addition & 1 deletion STM32F4DSP_HAL_IAP/方案描述文件/IAP状态图.svg
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271 changes: 175 additions & 96 deletions STM32F4DSP_HAL_freeRTOS_Framework/CONFIG/PeriphConfig.c
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Expand Up @@ -254,43 +254,87 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
/*_________________________________________以下外设的声明代码均放在了PeriphConfigCore.h的最下面_________________________________________________________*/
#if SYSTEM_CAN1_ENABLE

CAN_HandleTypeDef CAN1_Handler;
CAN_HandleTypeDef CAN1_Handler;

//CAN初始化，默认启用CAN1和FIFO0
//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2:时间段2的时间单元. 范围:CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1:时间段1的时间单元. 范围:CAN_BS1_1tq ~CAN_BS1_16tq
//brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1
//波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
//Fpclk1的时钟在初始化的时候设置为42M
//以下两个例子
// CAN1_Mode_Init(CAN_SJW_1TQ,CAN_BS1_6TQ,CAN_BS2_7TQ,6,CAN_MODE_NORMAL); //42M外设，500Kbps波特率
// CAN1_Mode_Init(CAN_SJW_1TQ,CAN_BS1_7TQ,CAN_BS2_8TQ,21,CAN_MODE_NORMAL); //42M外设，125Kbps波特率
void CAN1_Mode_Init(uint32_t tsjw, uint32_t tbs1, uint32_t tbs2, uint32_t brp, uint32_t mode)
{
CAN_FilterTypeDef CAN_FilterInit_Handler;

CAN1_Handler.Instance = CAN1;
CAN1_Handler.Init.Prescaler = brp; //分频系数，写几就是分频几倍，分频自APB1 42MHZ
CAN1_Handler.Init.Mode = mode; //模式设置

void sys_CAN1_Init(void)
{
CAN1_Handler.Init.SyncJumpWidth = tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1TQ ~ CAN_SJW_4TQ
CAN1_Handler.Init.TimeSeg1 = tbs1; //CAN_BS1_1TQ ~ CAN_BS1_16TQ
CAN1_Handler.Init.TimeSeg2 = tbs2; //CAN_BS2_1TQ ~ CAN_BS2_8TQ

CAN1_Handler.Instance = CAN1;
CAN1_Handler.Init.Prescaler = 6; //1~1024，分频自APB1 42MHZ
CAN1_Handler.Init.Mode = CAN_MODE_NORMAL; //无需动

//在CAN外设频率为42Mhz时，推荐分频系数(brp+1)为6，三段分别为：1tq\7tq\6tq，CAN1工作在 500Kbps
CAN1_Handler.Init.SyncJumpWidth = CAN_SJW_1TQ; //CAN_SJW_1TQ ~ CAN_SJW_4TQ
CAN1_Handler.Init.TimeSeg1 = CAN_BS1_7TQ; //CAN_BS1_1TQ ~ CAN_BS1_16TQ
CAN1_Handler.Init.TimeSeg2 = CAN_BS2_6TQ; //CAN_BS2_1TQ ~ CAN_BS2_8TQ

CAN1_Handler.Init.TimeTriggeredMode = DISABLE; //非时间触发通信模式
CAN1_Handler.Init.AutoBusOff = DISABLE; //软件自动离线管理
CAN1_Handler.Init.AutoWakeUp = DISABLE; //睡眠模式通过软件唤醒
CAN1_Handler.Init.AutoRetransmission = ENABLE; //报文自动传送，不用动
CAN1_Handler.Init.TimeTriggeredMode = DISABLE; //非时间触发通信模式 0=时间触发通讯不使用，保持默认
CAN1_Handler.Init.AutoBusOff = DISABLE; //软件自动离线管理 0=总线断开状态根据软件请求，保持默认
CAN1_Handler.Init.AutoWakeUp = DISABLE; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)，保持默认
CAN1_Handler.Init.AutoRetransmission = ENABLE; //报文自动传送，不用动
//ENABLE：CAN hardware will automatically retransmit the message until it has been successfully transmitted according to the CAN standard.
CAN1_Handler.Init.ReceiveFifoLocked = DISABLE; //报文不锁定,新的覆盖旧的
CAN1_Handler.Init.TransmitFifoPriority = DISABLE;//优先级由报文标识符决定
CAN1_Handler.Init.ReceiveFifoLocked = DISABLE; //报文不锁定,新的覆盖旧的
CAN1_Handler.Init.TransmitFifoPriority = DISABLE; //优先级由报文标识符决定

HAL_CAN_Init(&CAN1_Handler);

}

CAN_FilterInit_Handler.FilterBank = 0; //过滤器0
/*For single CAN instance(14 dedicated filter banks),
this parameter must be a number between Min_Data = 0 and Max_Data = 13.
For dual CAN instances(28 filter banks shared),
this parameter must be a number between Min_Data = 0 and Max_Data = 27.*/
CAN_FilterInit_Handler.FilterMode = CAN_FILTERMODE_IDMASK; //屏蔽位模式
CAN_FilterInit_Handler.FilterScale = CAN_FILTERSCALE_32BIT;
CAN_FilterInit_Handler.FilterIdHigh = 0x0000;
CAN_FilterInit_Handler.FilterIdLow = 0x0000;
CAN_FilterInit_Handler.FilterMaskIdHigh = 0x0000; //32位MASK （都是0表示不关心特定的接收ID，来者都收或者由接收函数再设定）
CAN_FilterInit_Handler.FilterMaskIdLow = 0x0000;
CAN_FilterInit_Handler.FilterFIFOAssignment = CAN_FILTER_FIFO0; //过滤器0关联到FIFO0
CAN_FilterInit_Handler.FilterActivation = CAN_FILTER_ENABLE; //激活过滤器0

HAL_CAN_ConfigFilter(&CAN1_Handler, &CAN_FilterInit_Handler); //滤波器初始化

#if CAN1_RX0_INT_ENABLE
//FIFO 0 message pending Interrupt
HAL_CAN_ActivateNotification(&CAN1_Handler, CAN_IT_RX_FIFO0_MSG_PENDING);
//CAN1 RX0 Interrupt
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
#endif

#if CAN1_TX_INT_ENABLE
//Transmit mailbox empty Interrupt
HAL_CAN_ActivateNotification(&CAN1_Handler, CAN_IT_TX_MAILBOX_EMPTY);
//CAN1 TX Interrupt
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
#endif

//启动CAN1
HAL_CAN_Start(&CAN1_Handler);

void CAN_Config(void);
}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

GPIO_InitTypeDef GPIO_InitStruct = {0};
if(canHandle->Instance==CAN1)
if(canHandle->Instance == CAN1)
{
/* CAN1 clock enable */
__HAL_RCC_CAN1_CLK_ENABLE();

__HAL_RCC_GPIOB_CLK_ENABLE();
/**CAN1 GPIO Configuration
PB8 ------> CAN1_RX
Expand All @@ -309,16 +353,6 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

#if CAN1_RX0_INT_ENABLE
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 2, 0); //默认使用FIFO0，所以启用FIFO0接收中断
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
// HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 2, 0); //默认不启用FIFO1接收中断
// HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
#endif

CAN_Config();
}
}

Expand All @@ -333,7 +367,7 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_CAN_IRQHandler(&CAN1_Handler);
}

//Receive FIFO 0 message pending interrupt
//Receive FIFO 0 message pending interrupt callback
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
if(hcan == (&CAN1_Handler))
Expand All @@ -342,97 +376,138 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_CAN_GetRxMessage(&CAN1_Handler, CAN_RX_FIFO0, &CAN1_IT_RxMessage, CAN1_IT_Rxdata);
}
}


#endif

//void CAN1_RX1_IRQHandler(void)
//{
// HAL_CAN_IRQHandler(&CAN1_Handler);
//}


void CAN_Config(void)
{
CAN_FilterTypeDef sFilterConfig;

/*配置CAN过滤器*/
sFilterConfig.FilterBank = 0; //过滤器0
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; //屏蔽位模式
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000; //32位ID
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000; //32位MASK，都是0表示不关心特定的接收ID
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;//过滤器0关联到FIFO0
sFilterConfig.FilterActivation = ENABLE; //激活滤波器0
sFilterConfig.SlaveStartFilterBank = 14;

//过滤器配置
HAL_CAN_ConfigFilter(&CAN1_Handler, &sFilterConfig);

//启动CAN外围设备
HAL_CAN_Start(&CAN1_Handler);
#if CAN1_TX_INT_ENABLE
CAN_TxHeaderTypeDef CAN1_IT_TxMessage; //CAN1从中断发送数据的结构体
u8 CAN1_IT_TxMessage_flag; //CAN1发送完毕标志位
u8 CAN1_IT_TxMessage_data[8]; //CAN1发送中断的8位数据
u32 CAN1_IT_TxMessage_id; //CAN1发送中断的id

//Transmit mailbox empty Interrupt
void CAN1_TX_IRQHandler(void)
{
HAL_CAN_IRQHandler(&CAN1_Handler);
}

//Transmission Mailbox 0 complete callback
void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
{
if(hcan == (&CAN1_Handler))
{
CAN1_IT_TxMessage_flag = 1;
//关闭发送中断，等待下一次用户填好数据手动开启
HAL_CAN_DeactivateNotification(&CAN1_Handler,CAN_IT_TX_MAILBOX_EMPTY);
}
}

//Transmission Mailbox 1 complete callback
void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
{
if(hcan == (&CAN1_Handler))
{
CAN1_IT_TxMessage_flag = 1;
//关闭发送中断，等待下一次用户填好数据手动开启
HAL_CAN_DeactivateNotification(&CAN1_Handler,CAN_IT_TX_MAILBOX_EMPTY);
}
}

//Transmission Mailbox 2 complete callback
void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
{
if(hcan == (&CAN1_Handler))
{
CAN1_IT_TxMessage_flag = 1;
//关闭发送中断，等待下一次用户填好数据手动开启
HAL_CAN_DeactivateNotification(&CAN1_Handler,CAN_IT_TX_MAILBOX_EMPTY);
}
}

#endif

#if CAN1_RX0_INT_ENABLE
//激活RX通知，即使能中断
HAL_CAN_ActivateNotification(&CAN1_Handler, CAN_IT_RX_FIFO0_MSG_PENDING);
#endif
}

//设置期望接收特定的类型帧和ID的信息
//care：0表示任何ID都接收，1表示只接受与FilterId一致的ID的消息
//FilterNumber：要设置的滤波器编号，It ranges from 0 to 13
//frameType：期望接收帧的类型，0为标准帧（ID为11位），1为扩展帧（ID为29位）
//FilterId：期望接收的ID
//ExceptId：期望接收的ID
//默认消息类型为数据帧
void CAN1_setExceptId(u8 care,u8 frameType,u32 FilterId)
void CAN1_setExceptId(u8 care,u8 FilterNumber,u8 frameType,u32 ExceptId)
{
CAN_FilterTypeDef sFilterConfig; //配置过滤器
if(care == 0)
{
sFilterConfig.FilterBank = 0; //过滤器0
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; //屏蔽位模式
sFilterConfig.FilterBank = FilterNumber; //过滤器编号
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; //屏蔽位模式
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000; //32位ID
sFilterConfig.FilterIdHigh = 0x0000; //32位ID
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000; //32位MASK，都是0表示不关心特定的接收ID
sFilterConfig.FilterMaskIdHigh = 0x0000; //32位MASK，都是0表示不关心特定的接收ID
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;//过滤器0关联到FIFO0
sFilterConfig.FilterActivation = ENABLE; //激活滤波器0
sFilterConfig.SlaveStartFilterBank = 14;
sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; //过滤器0关联到FIFO0
sFilterConfig.FilterActivation = CAN_FILTER_ENABLE; //激活滤波器0
HAL_CAN_ConfigFilter(&CAN1_Handler, &sFilterConfig);

}else
{
if(frameType == CAN_ID_STD) //只接受标准数据帧
{
sFilterConfig.FilterBank=0;
sFilterConfig.FilterBank=FilterNumber;
sFilterConfig.FilterMode=CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale=CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = ((FilterId << 21) & 0xffff0000) >> 16;
sFilterConfig.FilterIdLow = ((FilterId << 21) | CAN_ID_STD | CAN_RTR_DATA) & 0xffff;
sFilterConfig.FilterIdHigh = ((ExceptId << 21) & 0xffff0000) >> 16;
sFilterConfig.FilterIdLow = ((ExceptId << 21) | CAN_ID_STD | CAN_RTR_DATA) & 0xffff;
sFilterConfig.FilterMaskIdHigh = 0xFFFF;
sFilterConfig.FilterMaskIdLow = 0xFFFF;
sFilterConfig.FilterFIFOAssignment=CAN_RX_FIFO0;
sFilterConfig.FilterActivation=ENABLE;
sFilterConfig.FilterFIFOAssignment=CAN_FILTER_FIFO0;
sFilterConfig.FilterActivation=CAN_FILTER_ENABLE;
HAL_CAN_ConfigFilter(&CAN1_Handler, &sFilterConfig);
}else //只接受扩展数据帧
{
sFilterConfig.FilterBank=0;
sFilterConfig.FilterBank=FilterNumber;
sFilterConfig.FilterMode=CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale=CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = ((FilterId << 3) & 0xffff0000) >> 16;
sFilterConfig.FilterIdLow = ((FilterId << 3) | CAN_ID_EXT | CAN_RTR_DATA) & 0xffff;
sFilterConfig.FilterIdHigh = ((ExceptId << 3) & 0xffff0000) >> 16;
sFilterConfig.FilterIdLow = ((ExceptId << 3) | CAN_ID_EXT | CAN_RTR_DATA) & 0xffff;
sFilterConfig.FilterMaskIdHigh = 0xFFFF;
sFilterConfig.FilterMaskIdLow = 0xFFFF;
sFilterConfig.FilterFIFOAssignment=CAN_RX_FIFO0;
sFilterConfig.FilterActivation=ENABLE;
sFilterConfig.FilterFIFOAssignment=CAN_FILTER_FIFO0;
sFilterConfig.FilterActivation=CAN_FILTER_ENABLE;
HAL_CAN_ConfigFilter(&CAN1_Handler, &sFilterConfig);
}

}
}

/*
给 *TxMessage设置内容，不发送
返回：0正确，其他错误
*/
u8 CAN1_Set_Msg(CAN_TxHeaderTypeDef* TxMessage,u8 len,u8 frameType,u32 id)
{
if((len <= 0) || (len > 8) || (TxMessage == NULL))return 1;

if(frameType == CAN_ID_STD)
{
TxMessage->IDE=CAN_ID_STD; // 使用标准标识符
TxMessage->StdId = id; // 设置标准标识符 （11位）
}else{
TxMessage->IDE=CAN_ID_EXT; // 使用扩展标识符
TxMessage->ExtId = id; // 设置扩展标示符 （29位）
}

TxMessage->RTR=CAN_RTR_DATA; // 消息类型为数据帧 （数据帧或者遥控帧：CAN_RTR_Data 或者 CAN_RTR_Remote）
TxMessage->DLC=len; // 发送几字节信息 （小于等于8）

return 0;
}

//can发送一组数据
//无中断模式，can发送一组数据
//msg:数据指针,最大为8个字节
//len:数据长度(最大为8)
//frameType:帧类型，0为标准帧（ID为11位），1为扩展帧（ID为29位）
Expand All @@ -447,7 +522,7 @@ u8 CAN1_Send_Msg(u8* msg,u8 len,u8 frameType,u32 id)
CAN_TxHeaderTypeDef TxHeader; //发送数据结构体
u32 TxMailbox;

if((msg == NULL) || (len == 0) || (len > 8)) return HAL_ERROR;
if((msg == NULL) || (len <= 0) || (len > 8)) return HAL_ERROR;

if(frameType == CAN_ID_STD)
{
Expand All @@ -470,44 +545,48 @@ u8 CAN1_Send_Msg(u8* msg,u8 len,u8 frameType,u32 id)
return HAL_ERROR;
}
i = 0;
while((HAL_CAN_GetTxMailboxesFreeLevel(&CAN1_Handler) != 3)&&(i < 0xffff)) {i++;}

//Check if a transmission request is pending on the selected Tx Mailboxes
while( ( HAL_CAN_IsTxMessagePending(&CAN1_Handler, TxMailbox) ) && ( i < 0xfff ) ) {i++;}
if(i >= 0xfff) return HAL_TIMEOUT;
return HAL_OK;
}

//can口接收数据查询，不使用中断方式时的使用
//buf:数据缓存区,最大为8个字节
//len:数据长度(最大为8)
//无中断模式，can口接收数据查询
//buf:数据缓存区;
//len：数据长度（字节数，8以内）
//frameType:帧类型，0为标准帧（ID为11位），1为扩展帧（ID为29位）
//id:ID标识符，若frameType为0，则为标准标识符，若frameType为其他则为扩展标识符
//返回值:0,有数据被收到;
// 其他,没有接收到数据;
u8 CAN1_Receive_Msg(u8* buf,u8* len,u8* frameType,u32* id)
// 其他,无数据接收到;
u8 CAN1_Receive_Msg(u8* buf,u8* len, u8* frameType,u32* id)
{
CAN_RxHeaderTypeDef RxHeader;
u8 i;
u8 RxData[8];
u8 RxData[8];

//Return Number of messages available in Rx FIFO
if(HAL_CAN_GetRxFifoFillLevel(&CAN1_Handler, CAN_RX_FIFO0) == 0) //没有接收到数据,直接退出
{
return HAL_ERROR;
}

if(HAL_CAN_GetRxMessage(&CAN1_Handler, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
{
return HAL_ERROR;
}

for(i=0;i<RxHeader.DLC;i++)
buf[i]=RxData[i];

*len = RxHeader.DLC;

for(i = 0;i < RxHeader.DLC; i++)
buf[i] = RxData[i];

if(RxHeader.IDE == CAN_ID_STD)
{
*frameType = CAN_ID_STD;
*id = RxHeader.StdId;
}else{
*frameType = 1;
*frameType = CAN_ID_EXT;
*id = RxHeader.ExtId;
}

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