1.0

Core/Inc/stm32f4xx_hal_conf.h

@@ -64,7 +64,7 @@
 /* #define HAL_MMC_MODULE_ENABLED */
 /* #define HAL_SPI_MODULE_ENABLED */
 #define HAL_TIM_MODULE_ENABLED
-/* #define HAL_UART_MODULE_ENABLED */
+#define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */
 /* #define HAL_IRDA_MODULE_ENABLED */
 /* #define HAL_SMARTCARD_MODULE_ENABLED */

Core/Src/can.c

@@ -86,7 +86,7 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     /* CAN1 interrupt Init */
     HAL_NVIC_SetPriority(CAN1_TX_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
-    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 2, 0);
+    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
   /* USER CODE BEGIN CAN1_MspInit 1 */
 

Core/Src/main.c

@@ -3,6 +3,7 @@
 #include "ladrc.h"
 #include "usbd_cdc_if.h" // USB 虚拟串口发送头文件
 #include "f4_can_app.h"
+#include "usart.h"
 /**
   ******************************************************************************
   * @file           : main.c
@@ -24,6 +25,7 @@
 #include "main.h"
 #include "can.h"
 #include "tim.h"
+#include "usart.h"
 #include "usb_device.h"
 #include "gpio.h"
 
@@ -67,20 +69,7 @@ void SystemClock_Config(void);
 extern USBD_HandleTypeDef hUsbDeviceFS; // 引入 USB 状态句柄
 
 int _write(int file, char *ptr, int len) {
-  // 1. 致命拦截：如果电脑压根没连上 USB，直接丢弃数据，坚决不死等！
+  HAL_UART_Transmit(&huart4, (uint8_t*)ptr, len, HAL_MAX_DELAY);
-  if (hUsbDeviceFS.dev_state != USBD_STATE_CONFIGURED) {
-    return len;
-  }
-
-  uint8_t result = CDC_Transmit_FS((uint8_t*)ptr, len);
-  uint32_t timeout = 0;
-
-  // 2. 极短超时：就算 USB 连着但突然卡了，最多循环 5000 次就强行放弃，保命要紧
-  while(result == USBD_BUSY && timeout < 5000) {
-    timeout++;
-    result = CDC_Transmit_FS((uint8_t*)ptr, len);
-  }
-
   return len;
 }
 /* USER CODE END 0 */
@@ -124,6 +113,7 @@ int main(void)
   MX_TIM9_Init();
   MX_TIM6_Init();
   MX_CAN1_Init();
+  MX_UART4_Init();
   /* USER CODE BEGIN 2 */
   // 1. 初始化 bxCAN 过滤器 (全通)
   // 后面的 printf 就能看到了
@@ -231,10 +221,13 @@ void SystemClock_Config(void)
 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 {
   if (hcan->Instance == CAN1) {
-    // 1. 光速把数据从 CAN 硬件 FIFO 里捞出来
+    // 翻转 LED 看看有没有进中断
+    HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_3);
+
     if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) {
-      // 2. 立起标志位，然后火速退出中断，绝不在这里打印！
       can_rx_flag = 1;
+      // 再翻转一次，确认消息取出成功
+      HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_3);
     }
   }
 }

FDR-Core.ioc

@@ -17,8 +17,9 @@ Mcu.IP0=CAN1
 Mcu.IP1=NVIC
 Mcu.IP10=TIM8
 Mcu.IP11=TIM9
-Mcu.IP12=USB_DEVICE
+Mcu.IP12=UART4
-Mcu.IP13=USB_OTG_FS
+Mcu.IP13=USB_DEVICE
+Mcu.IP14=USB_OTG_FS
 Mcu.IP2=RCC
 Mcu.IP3=SYS
 Mcu.IP4=TIM1
@@ -27,7 +28,7 @@ Mcu.IP6=TIM3
 Mcu.IP7=TIM4
 Mcu.IP8=TIM5
 Mcu.IP9=TIM6
-Mcu.IPNb=14
+Mcu.IPNb=15
 Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE5
@@ -48,26 +49,28 @@ Mcu.Pin21=PA11
 Mcu.Pin22=PA12
 Mcu.Pin23=PA13
 Mcu.Pin24=PA14
-Mcu.Pin25=PB8
+Mcu.Pin25=PC10
-Mcu.Pin26=PB9
+Mcu.Pin26=PC11
-Mcu.Pin27=VP_SYS_VS_Systick
+Mcu.Pin27=PB8
-Mcu.Pin28=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin28=PB9
-Mcu.Pin29=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin29=VP_SYS_VS_Systick
 Mcu.Pin3=PC15-OSC32_OUT
+Mcu.Pin30=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin31=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
 Mcu.Pin4=PH0-OSC_IN
 Mcu.Pin5=PH1-OSC_OUT
 Mcu.Pin6=PA0-WKUP
 Mcu.Pin7=PA1
 Mcu.Pin8=PA2
 Mcu.Pin9=PA3
-Mcu.PinsNb=30
+Mcu.PinsNb=32
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
 MxCube.Version=6.15.0
 MxDb.Version=DB.6.0.150
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.CAN1_RX0_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
+NVIC.CAN1_RX0_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
 NVIC.CAN1_TX_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
@@ -115,6 +118,10 @@ PB8.Signal=CAN1_RX
 PB9.Locked=true
 PB9.Mode=CAN_Activate
 PB9.Signal=CAN1_TX
+PC10.Mode=Asynchronous
+PC10.Signal=UART4_TX
+PC11.Mode=Asynchronous
+PC11.Signal=UART4_RX
 PC14-OSC32_IN.Mode=LSE-External-Oscillator
 PC14-OSC32_IN.Signal=RCC_OSC32_IN
 PC15-OSC32_OUT.Mode=LSE-External-Oscillator
@@ -185,7 +192,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_TIM4_Init-TIM4-false-HAL-true,7-MX_TIM5_Init-TIM5-false-HAL-true,8-MX_TIM8_Init-TIM8-false-HAL-true,9-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,10-MX_TIM9_Init-TIM9-false-HAL-true,11-MX_TIM6_Init-TIM6-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_TIM4_Init-TIM4-false-HAL-true,7-MX_TIM5_Init-TIM5-false-HAL-true,8-MX_TIM8_Init-TIM8-false-HAL-true,9-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,10-MX_TIM9_Init-TIM9-false-HAL-true,11-MX_TIM6_Init-TIM6-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART1_UART_Init-USART1-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -286,6 +293,8 @@ TIM9.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM9.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Period,Prescaler
 TIM9.Period=1050 - 1
 TIM9.Prescaler=16 - 1
+UART4.IPParameters=VirtualMode
+UART4.VirtualMode=Asynchronous
 USB_DEVICE.CLASS_NAME_FS=CDC
 USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
 USB_DEVICE.VirtualMode-CDC_FS=Cdc

cmake/stm32cubemx/CMakeLists.txt

@@ -31,6 +31,7 @@ set(MX_Application_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/can.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
@@ -60,6 +61,7 @@ set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
 )
 
 # Drivers Midllewares