Falling_jasmine/FDR-Core
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This commit is contained in:
nitiantuhao
2026-03-13 19:03:44 +08:00
parent 03814aad7c
commit 390850d931
6 changed files with 54 additions and 48 deletions
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38
.mxproject
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File diff suppressed because one or more lines are too long

2
Core/Inc/stm32f4xx_hal_conf.h
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@@ -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 */

2
Core/Src/can.c
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@@ -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 */

25
Core/Src/main.c
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@@ -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！
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);
}
HAL_UART_Transmit(&huart4, (uint8_t*)ptr, len, HAL_MAX_DELAY);
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);
}
}
}

31
FDR-Core.ioc
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@@ -17,8 +17,9 @@ Mcu.IP0=CAN1
Mcu.IP1=NVIC
Mcu.IP10=TIM8
Mcu.IP11=TIM9
Mcu.IP12=USB_DEVICE
Mcu.IP13=USB_OTG_FS
Mcu.IP12=UART4
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.Pin26=PB9
Mcu.Pin27=VP_SYS_VS_Systick
Mcu.Pin28=VP_TIM6_VS_ClockSourceINT
Mcu.Pin29=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin25=PC10
Mcu.Pin26=PC11
Mcu.Pin27=PB8
Mcu.Pin28=PB9
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

2
cmake/stm32cubemx/CMakeLists.txt
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@@ -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