Freego_MC_BOOT/Core/Src/can.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */
#include "UDS.h"

CAN_TxHeaderTypeDef	TxHeader;      //发送
CAN_RxHeaderTypeDef	RxHeader;      //接收

/* USER CODE END 0 */

CAN_HandleTypeDef hcan1;

/* CAN1 init function */
void MX_CAN1_Init(void)
{

  /* USER CODE BEGIN CAN1_Init 0 */

  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
//  hcan1.Init.Prescaler = 12;//250k
  hcan1.Init.Prescaler = 6;//500k
//  hcan1.Init.Prescaler = 3;//1000k
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_11TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = ENABLE;
  hcan1.Init.AutoWakeUp = ENABLE;
  hcan1.Init.AutoRetransmission = ENABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */

  /* USER CODE END CAN1_Init 2 */

}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN1 GPIO Configuration
    PB8     ------> CAN1_RX
    PB9     ------> CAN1_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN1_CLK_DISABLE();

    /**CAN1 GPIO Configuration
    PB8     ------> CAN1_RX
    PB9     ------> CAN1_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */

extern uint8_t app2_crc_flag;//crc校验成功标志位，成功后应答版本号位新的。

uint16_t get_hardware_version(void) {
    return *(volatile uint16_t*)(0x08000188);
}

// 获取版本信息的函数
uint32_t get_software_version(void) {

    if(*(volatile uint32_t*)0x0800C188 == 0xFFFFFFFF)
    {
        return *(volatile uint32_t*)0x08060188;
    }
    else
    {
        return *(volatile uint32_t*)0x0800C188;
    }
}

uint32_t get_publish_data(void) {
    if(*(volatile uint32_t*)(0x0800C188+4) == 0xFFFFFFFF)
    {
        return *(volatile uint32_t*)(0x08060188+4);
    }
    else
    {
        return *(volatile uint32_t*)(0x0800C188+4);
    }
}

void CAN_Filter_config(void)
{
    CAN_FilterTypeDef sFilterConfig;

    /* 配置CAN过滤器 */
    sFilterConfig.FilterBank = 0;                             /* 过滤器0 */
    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    sFilterConfig.FilterIdHigh = 0x0000;                      /* 32位ID */
    sFilterConfig.FilterIdLow = 0x0000;
    sFilterConfig.FilterMaskIdHigh = 0x0000;                  /* 32位MASK */
    sFilterConfig.FilterMaskIdLow = 0x0000;
    sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;    /* 过滤器0关联到FIFO0 */
    sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;       /* 激活滤波器0 */
    sFilterConfig.SlaveStartFilterBank = 14;

    /* 过滤器配置 */
    if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
    {
        Error_Handler();
    }
	HAL_CAN_Start(&hcan1);//开启CAN
	HAL_CAN_ActivateNotification(&hcan1 ,CAN_IT_RX_FIFO0_MSG_PENDING);//开启CAN的中断
}

void CAN_SendData(uint8_t canCom, uint32_t mailbox, uint32_t messageId, uint8_t * data, uint32_t len)
{
	uint32_t start_time = HAL_GetTick();  // 使用系统时间戳，更精确
	uint32_t TxMailbox = CAN_TX_MAILBOX0;

    TxHeader.StdId = messageId;         /* 标准标识符 */
    TxHeader.ExtId = messageId;         /* 扩展标识符(29位) */
    TxHeader.IDE = CAN_ID_EXT;   /* 使用标准帧 or 扩展帧 */
    TxHeader.RTR = CAN_RTR_DATA; /* 数据帧 */
    if(len > 8)
    {
    	len=8;
    }
    TxHeader.DLC = len;

    if (HAL_CAN_AddTxMessage(&hcan1 , &TxHeader, data, &TxMailbox) != HAL_OK) /* 发送消息 */
    {
        //return 1;
    }

    // 超时时间：100ms
	while (HAL_CAN_IsTxMessagePending(&hcan1, TxMailbox))
    {
		if (HAL_GetTick() - start_time > 100)  // 100ms超时
        {
            HAL_CAN_AbortTxRequest(&hcan1, TxMailbox);     /* 超时，直接中止邮箱的发送请求 */
            //return 1;
        }
    }

    //return 0;

}
/*CAN接收中断函数*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan){
	uint8_t RxData[8];
	if(hcan->Instance == CAN1){
		HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxData);
		if (RxHeader.ExtId == 0x701 && RxHeader.IDE == CAN_ID_EXT) {
			can_rx_isr_i(0,RxHeader.ExtId,RxData, RxHeader.DLC);
			//can_rx_isr_i(0,,id,data,len);
		}
		//读取版本号
		if (RxHeader.ExtId == 0x21D && RxHeader.IDE == CAN_ID_EXT) {
		    uint16_t hardware_version = get_hardware_version();
		    uint16_t software_version;
			if(app2_crc_flag == 1)//crc校验成功标志位，成功后应答版本号位新的。
			{
				software_version = *(volatile uint32_t*)0x08060188;
			}
			else
			{
				software_version = *(volatile uint32_t*)0x0800C188;
			}

		    uint32_t publish_data = get_publish_data();

		    uint8_t version[8];
		    version[0] = hardware_version >> 8;
		    version[1] = hardware_version & 0xFF;
		    version[2] = software_version >> 8;
		    version[3] = software_version & 0xFF;
		    version[4] = publish_data >> 24;
		    version[5] = publish_data >> 16;
		    version[6] = publish_data >> 8;
		    version[7] = publish_data & 0xFF;
		    CAN_SendData(1, 2, 0x21D, version,8);
		}
	}
}

/* USER CODE END 1 */