From fea2f059b21b48ec4ace7793c231a15b0e503644 Mon Sep 17 00:00:00 2001 From: nitiantuhao <2062405236@qq.com> Date: Sun, 8 Mar 2026 18:23:37 +0800 Subject: [PATCH] 1.0 --- Core/Src/f4_can_app.c | 148 ------------------------------------------ Core/Src/main.c | 41 +++++++++--- 2 files changed, 32 insertions(+), 157 deletions(-) diff --git a/Core/Src/f4_can_app.c b/Core/Src/f4_can_app.c index 30ce0e6..e69de29 100644 --- a/Core/Src/f4_can_app.c +++ b/Core/Src/f4_can_app.c @@ -1,148 +0,0 @@ -#include "f4_can_app.h" -#include -#include "motor.h" // 引入电机底层，以获取里程计增量 -#include "ladrc.h" // 引入 LADRC 层，以下发控制目标 - -// ---------------- 全局变量定义 ---------------- -volatile uint32_t can_survival_timer = 0; // 存活计时器 (单位：10ms) -volatile F4_SystemState_t f4_fsm_state = F4_STATE_FAULT; // 默认启动为故障保护状态 -RxCtrlPayload_t rx_ctrl_cmd = {0}; // 存放解析后的控制指令 - -static uint32_t timer_10ms_tick = 0; // 10ms 任务节拍器 - -// ---------------- 1. 补充 CubeMX 没做的 CAN 初始化 ---------------- -void F4_CAN_Filter_And_Start(void) -{ - CAN_FilterTypeDef canFilterConfig; - - canFilterConfig.FilterBank = 0; - canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; - canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; - canFilterConfig.FilterIdHigh = 0x0000; - canFilterConfig.FilterIdLow = 0x0000; - canFilterConfig.FilterMaskIdHigh = 0x0000; - canFilterConfig.FilterMaskIdLow = 0x0000; - canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0; - canFilterConfig.FilterActivation = ENABLE; - canFilterConfig.SlaveStartFilterBank = 14; - - HAL_CAN_ConfigFilter(&hcan1, &canFilterConfig); - HAL_CAN_Start(&hcan1); - HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); -} - -// ---------------- 2. CAN 接收中断回调函数 ---------------- -void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) -{ - CAN_RxHeaderTypeDef RxHeader; - uint8_t RxData[8]; - - if (hcan->Instance == CAN1) { - if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) { - - // 【安全机制】：收到 H7 心跳或控制帧，喂狗 [cite: 20] - if (RxHeader.StdId == CAN_ID_HEARTBEAT_H7 || RxHeader.StdId == CAN_ID_RXPDO_CTRL) { - can_survival_timer = 0; - f4_fsm_state = F4_STATE_OPERATIONAL; - } - - // 【业务逻辑】：解析控制下发 (ID: 0x100) [cite: 14] - if (RxHeader.StdId == CAN_ID_RXPDO_CTRL && RxHeader.DLC == 8) { - for(int i = 0; i < 8; i++) { - rx_ctrl_cmd.bytes[i] = RxData[i]; - } - } - } - } -} - -// ---------------- 3. 内部数据发送函数：增量里程计 ---------------- -static void CAN_Send_TxPDO1_Odom_Delta(int16_t d_tick1, int16_t d_tick2, int16_t d_tick3, int16_t d_tick4) -{ - CAN_TxHeaderTypeDef TxHeader; - uint32_t TxMailbox; - uint8_t TxData[8]; - - TxHeader.StdId = CAN_ID_TXPDO1_ODOM; // 0x200 [cite: 14] - TxHeader.ExtId = 0; - TxHeader.IDE = CAN_ID_STD; - TxHeader.RTR = CAN_RTR_DATA; - TxHeader.DLC = 8; - - TxData[0] = (uint8_t)(d_tick1 & 0xFF); - TxData[1] = (uint8_t)((d_tick1 >> 8) & 0xFF); - TxData[2] = (uint8_t)(d_tick2 & 0xFF); - TxData[3] = (uint8_t)((d_tick2 >> 8) & 0xFF); - TxData[4] = (uint8_t)(d_tick3 & 0xFF); - TxData[5] = (uint8_t)((d_tick3 >> 8) & 0xFF); - TxData[6] = (uint8_t)(d_tick4 & 0xFF); - TxData[7] = (uint8_t)((d_tick4 >> 8) & 0xFF); - - // 【防死锁修复】：检查邮箱是否已满。若总线断开导致发送失败，强行清空邮箱防止程序卡死 - if (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0) { - HAL_CAN_AbortTxRequest(&hcan1, CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2); - } - HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox); -} - -// ---------------- 4. 内部数据发送函数：下位机心跳 ---------------- -static void CAN_Send_Heartbeat(void) -{ - CAN_TxHeaderTypeDef TxHeader; - uint32_t TxMailbox; - uint8_t TxData[1]; - - TxHeader.StdId = CAN_ID_HEARTBEAT_F4; // 0x081 [cite: 14] - TxHeader.ExtId = 0; - TxHeader.IDE = CAN_ID_STD; - TxHeader.RTR = CAN_RTR_DATA; - TxHeader.DLC = 1; - - TxData[0] = (uint8_t)f4_fsm_state; - - // 【防死锁修复】 - if (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0) { - HAL_CAN_AbortTxRequest(&hcan1, CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2); - } - HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox); -} - -// ---------------- 5. 核心调度任务 (每10ms由TIM6中断调用一次) ---------------- -void F4_CAN_Task_10ms(void) -{ - timer_10ms_tick++; - can_survival_timer++; - - // ================= 步骤A：急停安全判定 (150ms) ================= - if (can_survival_timer > 15) { // [cite: 21] - f4_fsm_state = F4_STATE_FAULT; - FourWheel_Set_Target_RPM(0.0f, 0.0f, 0.0f, 0.0f); - } - // ================= 步骤B：正常运行逆运动学解析 ================= - else { - // 【防数据撕裂修复】：短暂关闭全局中断，防止读取联合体浮点数时被 CAN 接收中断打断 - __disable_irq(); - float vx = rx_ctrl_cmd.data.target_vx; - float wz = rx_ctrl_cmd.data.target_wz; - __enable_irq(); - - float v_left = vx - wz * (ICR_COEFFICIENT * ROBOT_TRACK_WIDTH_M / 2.0f); - float v_right = vx + wz * (ICR_COEFFICIENT * ROBOT_TRACK_WIDTH_M / 2.0f); - - float rpm_left = (v_left / (2.0f * PI_VALUE * ROBOT_WHEEL_RADIUS_M)) * 60.0f; - float rpm_right = (v_right / (2.0f * PI_VALUE * ROBOT_WHEEL_RADIUS_M)) * 60.0f; - - FourWheel_Set_Target_RPM(rpm_left, rpm_left, rpm_right, rpm_right); - } - - // ================= 步骤C：CAN 数据定期上报 ================= - if (timer_10ms_tick % 2 == 0) { // 20ms [cite: 15] - int16_t d_fl, d_rl, d_fr, d_rr; - Motor_Get_And_Clear_Delta_Ticks(&d_fl, &d_rl, &d_fr, &d_rr); - CAN_Send_TxPDO1_Odom_Delta(d_fl, d_rl, d_fr, d_rr); - } - - if (timer_10ms_tick % 5 == 0) { // 50ms [cite: 14] - CAN_Send_Heartbeat(); - } -} \ No newline at end of file diff --git a/Core/Src/main.c b/Core/Src/main.c index a61d25f..1059732 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -115,12 +115,27 @@ int main(void) MX_TIM6_Init(); MX_CAN1_Init(); /* USER CODE BEGIN 2 */ - FourWheel_LADRC_Init(); + // 1. 初始化 bxCAN 过滤器 (全通) + CAN_FilterTypeDef canFilterConfig; + canFilterConfig.FilterBank = 0; + canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; + canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; + canFilterConfig.FilterIdHigh = 0x0000; + canFilterConfig.FilterIdLow = 0x0000; + canFilterConfig.FilterMaskIdHigh = 0x0000; + canFilterConfig.FilterMaskIdLow = 0x0000; + canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0; + canFilterConfig.FilterActivation = ENABLE; + canFilterConfig.SlaveStartFilterBank = 14; + HAL_CAN_ConfigFilter(&hcan1, &canFilterConfig); - F4_CAN_Filter_And_Start(); // <--- 补充 CubeMX 初始化坑 + // 2. 启动 CAN 外设 + HAL_CAN_Start(&hcan1); - HAL_Delay(1000); - HAL_TIM_Base_Start_IT(&htim6); + // 3. 开启 RX FIFO0 接收中断 + HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); + + printf("=== F4 CAN Receiver Init OK ===\r\n"); /* USER CODE END 2 */ /* Infinite loop */ @@ -182,12 +197,20 @@ void SystemClock_Config(void) } /* USER CODE BEGIN 4 */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) +void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) { - if (htim->Instance == TIM6) - { - FourWheel_LADRC_Control_Loop(); // 先跑闭环 - F4_CAN_Task_10ms(); // 再跑 CAN 任务 + CAN_RxHeaderTypeDef RxHeader; + uint8_t RxData[8]; + + if (hcan->Instance == CAN1) { + if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) { + // 收到数据，原样打印出来 + printf("Got MSG! ID:0x%03lX Data: ", RxHeader.StdId); + for(int i = 0; i < RxHeader.DLC; i++) { + printf("%02X ", RxData[i]); + } + printf("\r\n"); + } } } /* USER CODE END 4 */