273 lines
8.1 KiB
C
273 lines
8.1 KiB
C
/* USER CODE BEGIN Header */
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#include <stdio.h>
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#include "ladrc.h"
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#include "usbd_cdc_if.h" // USB 虚拟串口发送头文件
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#include "f4_can_app.h"
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "can.h"
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#include "tim.h"
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#include "usb_device.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE BEGIN PV */
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CAN_RxHeaderTypeDef RxHeader;
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uint8_t RxData[8];
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volatile uint8_t can_rx_flag = 0; // 告诉主程序“有数据来了”的标志位
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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extern USBD_HandleTypeDef hUsbDeviceFS; // 引入 USB 状态句柄
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int _write(int file, char *ptr, int len) {
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// 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！
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if (hUsbDeviceFS.dev_state != USBD_STATE_CONFIGURED) {
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return len;
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}
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uint8_t result = CDC_Transmit_FS((uint8_t*)ptr, len);
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uint32_t timeout = 0;
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// 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
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while(result == USBD_BUSY && timeout < 5000) {
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timeout++;
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result = CDC_Transmit_FS((uint8_t*)ptr, len);
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}
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return len;
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}
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_TIM1_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_TIM4_Init();
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MX_TIM5_Init();
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MX_TIM8_Init();
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MX_USB_DEVICE_Init();
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MX_TIM9_Init();
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MX_TIM6_Init();
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MX_CAN1_Init();
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/* USER CODE BEGIN 2 */
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// 1. 初始化 bxCAN 过滤器 (全通)
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// 后面的 printf 就能看到了
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CAN_FilterTypeDef canFilterConfig;
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canFilterConfig.FilterBank = 0;
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canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
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canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
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canFilterConfig.FilterIdHigh = 0x0000;
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canFilterConfig.FilterIdLow = 0x0000;
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canFilterConfig.FilterMaskIdHigh = 0x0000;
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canFilterConfig.FilterMaskIdLow = 0x0000;
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canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
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canFilterConfig.FilterActivation = ENABLE;
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canFilterConfig.SlaveStartFilterBank = 14;
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HAL_StatusTypeDef fs = HAL_CAN_ConfigFilter(&hcan1, &canFilterConfig);
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HAL_StatusTypeDef ss = HAL_CAN_Start(&hcan1);
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// 这句开启接收中断的函数极其重要，确认它还在！
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HAL_StatusTypeDef ns = HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
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// 💡 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
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HAL_Delay(3000);
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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// ==========================================
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// 强制打印 1：每隔 1 秒无条件打印一次（心跳包）
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// ==========================================
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// ==========================================
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// 强制打印 2：原来的 CAN 接收处理逻辑
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// ==========================================
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if (can_rx_flag == 1) {
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can_rx_flag = 0; // 赶紧先把标志位清零
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// 💡 修改这里：用一个数组把要发的话拼起来，只调用一次 printf！
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// 这能彻底防止 168MHz 的 CPU 把 USB 虚拟串口瞬间撑爆死机
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char usb_buf[100];
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sprintf(usb_buf, "!!! BINGO !!! Got CAN MSG! ID:0x%03lX Data: %02X %02X %02X %02X %02X %02X %02X %02X\r\n",
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RxHeader.StdId,
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RxData[0], RxData[1], RxData[2], RxData[3],
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RxData[4], RxData[5], RxData[6], RxData[7]);
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printf("%s", usb_buf);
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}
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/* USER CODE END WHILE */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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__HAL_RCC_PWR_CLK_ENABLE();
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 4;
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RCC_OscInitStruct.PLL.PLLN = 168;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 7;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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if (hcan->Instance == CAN1) {
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// 1. 光速把数据从 CAN 硬件 FIFO 里捞出来
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) {
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// 2. 立起标志位，然后火速退出中断，绝不在这里打印！
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can_rx_flag = 1;
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}
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}
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}
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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