1.0

Core/Inc/stm32f4xx_it.h

@@ -56,6 +56,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void CAN1_TX_IRQHandler(void);
+void CAN1_RX0_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
 void OTG_FS_IRQHandler(void);
 /* USER CODE BEGIN EFP */

Core/Src/can.c

@@ -86,6 +86,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     /* CAN1 interrupt Init */
     HAL_NVIC_SetPriority(CAN1_TX_IRQn, 2, 0);
     HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
+    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 */
@@ -111,6 +113,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
 
     /* CAN1 interrupt Deinit */
     HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
+    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
 
   /* USER CODE END CAN1_MspDeInit 1 */

Core/Src/gpio.c

@@ -42,13 +42,25 @@
 void MX_GPIO_Init(void)
 {
 
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
-  __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PB2 */
+  GPIO_InitStruct.Pin = GPIO_PIN_2;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
 }
 

Core/Src/main.c

@@ -55,7 +55,6 @@ CAN_RxHeaderTypeDef RxHeader;
 uint8_t RxData[8];
 volatile uint8_t can_rx_flag = 0; // 告诉主程序“有数据来了”的标志位
 /* USER CODE END PV */
-/* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
@@ -65,19 +64,23 @@ void SystemClock_Config(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-// 完美解决 USB 忙碌丢包的重定向函数
+extern USBD_HandleTypeDef hUsbDeviceFS; // 引入 USB 状态句柄
-// 完美解决 USB 忙碌丢包，且防中断死锁的重定向函数
-int _write(int file, char *ptr, int len) {
-  uint8_t result = CDC_Transmit_FS((uint8_t*)ptr, len);
 
-  // 使用简单的变量自增来做超时等待，坚决不用 HAL_Delay
+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;
 
-  // 50000 只是一个大概的经验值，纯耗费 CPU 周期
+  // 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 < 50000) {
+  while(result == USBD_BUSY && timeout < 5000) {
     timeout++;
     result = CDC_Transmit_FS((uint8_t*)ptr, len);
   }
+
   return len;
 }
 /* USER CODE END 0 */
@@ -137,20 +140,18 @@ int main(void)
   canFilterConfig.SlaveStartFilterBank = 14;
 
   HAL_StatusTypeDef fs = HAL_CAN_ConfigFilter(&hcan1, &canFilterConfig);
-  printf("Filter: %d\r\n", fs);
-
   HAL_StatusTypeDef ss = HAL_CAN_Start(&hcan1);
-  printf("Start: %d\r\n", ss);
 
+  // 这句开启接收中断的函数极其重要，确认它还在！
   HAL_StatusTypeDef ns = HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
-  printf("Notif: %d\r\n", ns);
 
-  printf("=== CAN Ready ===\r\n");
+  // 💡 修改这里：必须加这一句！给你的电脑 3 秒钟时间去识别 USB 虚拟串口
+  HAL_Delay(3000);
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
-  static uint32_t last_heartbeat = 0;
+
   while (1)
   {
     /* USER CODE END WHILE */
@@ -159,12 +160,6 @@ int main(void)
     // ==========================================
     // 强制打印 1：每隔 1 秒无条件打印一次（心跳包）
     // ==========================================
-    if (HAL_GetTick() - last_heartbeat >= 1000) {
-      last_heartbeat = HAL_GetTick();
-      HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_2);
-      // 只要 USB 串口是好的，你就一定能每秒看到这句话！
-      printf("System Running... Waiting for CAN...\r\n");
-    }
 
     // ==========================================
     // 强制打印 2：原来的 CAN 接收处理逻辑
@@ -172,12 +167,15 @@ int main(void)
     if (can_rx_flag == 1) {
       can_rx_flag = 0; // 赶紧先把标志位清零
 
-      // 加了超级醒目的感叹号，防止看漏
+      // 💡 修改这里：用一个数组把要发的话拼起来，只调用一次 printf！
-      printf("!!! BINGO !!! Got CAN MSG! ID:0x%03lX Data: ", RxHeader.StdId);
+      // 这能彻底防止 168MHz 的 CPU 把 USB 虚拟串口瞬间撑爆死机
-      for(int i = 0; i < RxHeader.DLC; i++) {
+      char usb_buf[100];
-        printf("%02X ", RxData[i]);
+      sprintf(usb_buf, "!!! BINGO !!! Got CAN MSG! ID:0x%03lX Data: %02X %02X %02X %02X %02X %02X %02X %02X\r\n",
-      }
+              RxHeader.StdId,
-      printf("\r\n");
+              RxData[0], RxData[1], RxData[2], RxData[3],
+              RxData[4], RxData[5], RxData[6], RxData[7]);
+
+      printf("%s", usb_buf);
     }
     /* USER CODE END WHILE */
   }

Core/Src/stm32f4xx_it.c

@@ -214,6 +214,20 @@ void CAN1_TX_IRQHandler(void)
   /* USER CODE END CAN1_TX_IRQn 1 */
 }
 
+/**
+  * @brief This function handles CAN1 RX0 interrupts.
+  */
+void CAN1_RX0_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
+
+  /* USER CODE END CAN1_RX0_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
+
+  /* USER CODE END CAN1_RX0_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
   */

FDR-Core.ioc

@@ -34,24 +34,25 @@ Mcu.Pin0=PE5
 Mcu.Pin1=PE6
 Mcu.Pin10=PA6
 Mcu.Pin11=PA7
-Mcu.Pin12=PE9
+Mcu.Pin12=PB2
-Mcu.Pin13=PE11
+Mcu.Pin13=PE9
-Mcu.Pin14=PD12
+Mcu.Pin14=PE11
-Mcu.Pin15=PD13
+Mcu.Pin15=PD12
-Mcu.Pin16=PC6
+Mcu.Pin16=PD13
-Mcu.Pin17=PC7
+Mcu.Pin17=PC6
-Mcu.Pin18=PC8
+Mcu.Pin18=PC7
-Mcu.Pin19=PC9
+Mcu.Pin19=PC8
 Mcu.Pin2=PC14-OSC32_IN
-Mcu.Pin20=PA11
+Mcu.Pin20=PC9
-Mcu.Pin21=PA12
+Mcu.Pin21=PA11
-Mcu.Pin22=PA13
+Mcu.Pin22=PA12
-Mcu.Pin23=PA14
+Mcu.Pin23=PA13
-Mcu.Pin24=PB8
+Mcu.Pin24=PA14
-Mcu.Pin25=PB9
+Mcu.Pin25=PB8
-Mcu.Pin26=VP_SYS_VS_Systick
+Mcu.Pin26=PB9
-Mcu.Pin27=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin27=VP_SYS_VS_Systick
-Mcu.Pin28=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin28=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin29=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
 Mcu.Pin3=PC15-OSC32_OUT
 Mcu.Pin4=PH0-OSC_IN
 Mcu.Pin5=PH1-OSC_OUT
@@ -59,13 +60,14 @@ Mcu.Pin6=PA0-WKUP
 Mcu.Pin7=PA1
 Mcu.Pin8=PA2
 Mcu.Pin9=PA3
-Mcu.PinsNb=29
+Mcu.PinsNb=30
 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\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.CAN1_TX_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
@@ -105,6 +107,8 @@ PA6.Signal=S_TIM3_CH1
 PA7.GPIOParameters=GPIO_Label
 PA7.GPIO_Label=RL_ENC_B
 PA7.Signal=S_TIM3_CH2
+PB2.Locked=true
+PB2.Signal=GPIO_Output
 PB8.Locked=true
 PB8.Mode=CAN_Activate
 PB8.Signal=CAN1_RX