diff --git a/bsp/bsp_task.c b/bsp/bsp_task.c
index b00921c..43f4bdb 100644
--- a/bsp/bsp_task.c
+++ b/bsp/bsp_task.c
@@ -99,7 +99,7 @@ KitResult bsp_task_creat(TaskArray* task, uint8_t * name)
{
OS_ERR err;
//CPU_STK *Task2Task_STK = (CPU_STK *)mymalloc(SRAMIN, task->stk_size * sizeof(CPU_STK));
- OSTaskCreate((OS_TCB *)task->task_tcb,
+ OSTaskCreate((OS_TCB *)task->task_tcb,
(CPU_CHAR *)name,
(OS_TASK_PTR )task_template,
(void *)task,
diff --git a/bsp/dsp_can.c b/bsp/dsp_can.c
new file mode 100644
index 0000000..2b69d10
--- /dev/null
+++ b/bsp/dsp_can.c
@@ -0,0 +1,190 @@
+#include "drv_wdog.h"
+#include "bsp_task.h"
+#include "kit_time.h"
+#include "kit_debug.h"
+#include "bsp_malloc.h"
+#include "os.h"
+
+CAN_HandleTypeDef g_canx_handler; /* CANx句柄 */
+CAN_TxHeaderTypeDef g_canx_txheader; /* 发送参数句柄 */
+CAN_RxHeaderTypeDef g_canx_rxheader; /* 接收参数句柄 */
+
+/**
+ * @brief CAN初始化
+ * @param tsjw : 重新同步跳跃时间单元.范围: 1~3;
+ * @param tbs2 : 时间段2的时间单元.范围: 1~8;
+ * @param tbs1 : 时间段1的时间单元.范围: 1~16;
+ * @param brp : 波特率分频器.范围: 1~1024;
+ * @note 以上4个参数, 在函数内部会减1, 所以, 任何一个参数都不能等于0
+ * CAN挂在APB1上面, 其输入时钟频率为 Fpclk1 = PCLK1 = 36Mhz
+ * tq = brp * tpclk1;
+ * 波特率 = Fpclk1 / ((tbs1 + tbs2 + 1) * brp);
+ * 我们设置 can_init(1, 8, 9, 4, 1), 则CAN波特率为:
+ * 36M / ((8 + 9 + 1) * 4) = 500Kbps
+ *
+ * @param mode : CAN_MODE_NORMAL, 正常模式;
+ CAN_MODE_LOOPBACK,回环模式;
+ * @retval 0, 初始化成功; 其他, 初始化失败;
+ */
+ /* can_init(CAN_SJW_1TQ, CAN_BS2_8TQ, CAN_BS1_9TQ, 4, CAN_MODE_LOOPBACK); /* CAN初始化, 回环模式, 波特率500Kbps */
+uint8_t can_init(uint32_t tsjw, uint32_t tbs2, uint32_t tbs1, uint16_t brp, uint32_t mode)
+{
+ g_canx_handler.Instance = CAN1;
+ g_canx_handler.Init.Prescaler = 4; /*brp; */ /* 分频系数(Fdiv)为brp+1 */
+ g_canx_handler.Init.Mode = CAN_MODE_LOOPBACK; /*mode;*/ /* 模式设置 */
+ g_canx_ha`ISABLE; /* 优先级由报文标识符决定 */
+
+ if (HAL_CAN_Init(&g_canx_handler) != HAL_OK)
+ {
+ return 1;
+ }
+
+#if CAN_RX0_INT_ENABLE
+ /* 使用中断接收 */
+ __HAL_CAN_ENABLE_IT(&g_canx_handler, CAN_IT_RX_FIFO0_MSG_PENDING); /* FIFO0消息挂号中断允许 */
+ HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); /* 使能CAN中断 */
+ HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 1, 0); /* 抢占优先级1，子优先级0 */
+#endif
+
+ CAN_FilterTypeDef sFilterConfig;
+
+ /*配置CAN过滤器*/
+ sFilterConfig.FilterBank = 0; /* 过滤器0 */
+ sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; /* 标识符屏蔽位模式 */
+ sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; /* 长度32位位宽*/
+ sFilterConfig.FilterIdHigh = 0x0000; /* 32位ID */
+ sFilterConfig.FilterIdLow = 0x0000;
+ sFilterConfig.FilterMaskIdHigh = 0x0000; /* 32位MASK */
+ sFilterConfig.FilterMaskIdLow = 0x0000;
+ sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; /* 过滤器0关联到FIFO0 */
+ sFilterConfig.FilterActivation = CAN_FILTER_ENABLE; /* 激活滤波器0 */
+ sFilterConfig.SlaveStartFilterBank = 14;
+
+ /* 过滤器配置 */
+ if (HAL_CAN_ConfigFilter(&g_canx_handler, &sFilterConfig) != HAL_OK)
+ {
+ return 2;
+ }
+
+ /* 启动CAN外围设备 */
+ if (HAL_CAN_Start(&g_canx_handler) != HAL_OK)
+ {
+ return 3;
+ }
+
+ return 0;
+}
+
+/**
+ * @brief CAN底层驱动，引脚配置，时钟配置，中断配置
+ 此函数会被HAL_CAN_Init()调用
+ * @param hcan:CAN句柄
+ * @retval 无
+ */
+void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan)
+{
+ if (CAN1 == hcan->Instance)
+ {
+ CAN_RX_GPIO_CLK_ENABLE(); /* CAN_RX脚时钟使能 */
+ CAN_TX_GPIO_CLK_ENABLE(); /* CAN_TX脚时钟使能 */
+ __HAL_RCC_CAN1_CLK_ENABLE(); /* 使能CAN1时钟 */
+
+ GPIO_InitTypeDef gpio_initure;
+
+ gpio_initure.Pin = CAN_TX_GPIO_PIN;
+ gpio_initure.Mode = GPIO_MODE_AF_PP;
+ gpio_initure.Pull = GPIO_PULLUP;
+ gpio_initure.Speed = GPIO_SPEED_FREQ_HIGH;
+ HAL_GPIO_Init(CAN_TX_GPIO_PORT, &gpio_initure); /* CAN_TX脚 模式设置 */
+
+ gpio_initure.Pin = CAN_RX_GPIO_PIN;
+ gpio_initure.Mode = GPIO_MODE_AF_INPUT;
+ HAL_GPIO_Init(CAN_RX_GPIO_PORT, &gpio_initure); /* CAN_RX脚 必须设置成输入模式 */
+ }
+}
+
+#if CAN_RX0_INT_ENABLE /* 使能RX0中断 */
+
+/**
+ * @brief CAN RX0 中断服务函数
+ * @note 处理CAN FIFO0的接收中断
+ * @param 无
+ * @retval 无
+ */
+void USB_LP_CAN1_RX0_IRQHandler(void)
+{
+ uint8_t rxbuf[8];
+ uint32_t id;
+ uint8_t ide, rtr, len;
+
+ can_receive_msg(id, rxbuf);
+ printf("id:%d\r\n", g_canx_rxheader.StdId);
+ printf("ide:%d\r\n", g_canx_rxheader.IDE);
+ printf("rtr:%d\r\n", g_canx_rxheader.RTR);
+ printf("len:%d\r\n", g_canx_rxheader.DLC);
+ printf("rxbuf[0]:%d\r\n", rxbuf[0]);
+ printf("rxbuf[1]:%d\r\n", rxbuf[1]);
+ printf("rxbuf[2]:%d\r\n", rxbuf[2]);
+ printf("rxbuf[3]:%d\r\n", rxbuf[3]);
+ printf("rxbuf[4]:%d\r\n", rxbuf[4]);
+ printf("rxbuf[5]:%d\r\n", rxbuf[5]);
+ printf("rxbuf[6]:%d\r\n", rxbuf[6]);
+ printf("rxbuf[7]:%d\r\n", rxbuf[7]);
+}
+
+#endif
+
+/**
+ * @brief CAN 发送一组数据
+ * @note 发送格式固定为: 标准ID, 数据帧
+ * @param id : 标准ID(11位)
+ * @retval 发送状态 0, 成功; 1, 失败;
+ */
+uint8_t can_send_msg(uint32_t id, uint8_t *msg, uint8_t len)
+{
+ uint32_t TxMailbox = CAN_TX_MAILBOX0;
+
+ g_canx_txheader.StdId = id; /* 标准标识符 */
+ g_canx_txheader.ExtId = id; /* 扩展标识符(29位) 标准标识符情况下，该成员无效*/
+ g_canx_txheader.IDE = CAN_ID_STD; /* 使用标准标识符 */
+ g_canx_txheader.RTR = CAN_RTR_DATA; /* 数据帧 */
+ g_canx_txheader.DLC = len;
+
+ if (HAL_CAN_AddTxMessage(&g_canx_handler, &g_canx_txheader, msg, &TxMailbox) != HAL_OK) /* 发送消息 */
+ {
+ return 1;
+ }
+
+ while (HAL_CAN_GetTxMailboxesFreeLevel(&g_canx_handler) != 3); /* 等待发送完成,所有邮箱(有三个邮箱)为空 */
+
+ return 0;
+}
+
+/**
+ * @brief CAN 接收数据查询
+ * @note 接收数据格式固定为: 标准ID, 数据帧
+ * @param id : 要查询的 标准ID(11位)
+ * @param buf : 数据缓存区
+ * @retval 接收结果
+ * @arg 0 , 无数据被接收到;
+ * @arg 其他, 接收的数据长度
+ */
+uint8_t can_receive_msg(uint32_t id, uint8_t *buf)
+{
+ if (HAL_CAN_GetRxFifoFillLevel(&g_canx_handler, CAN_RX_FIFO0) == 0) /* 没有接收到数据 */
+ {
+ return 0;
+ }
+
+ if (HAL_CAN_GetRxMessage(&g_canx_handler, CAN_RX_FIFO0, &g_canx_rxheader, buf) != HAL_OK) /* 读取数据 */
+ {
+ return 0;
+ }
+
+ if (g_canx_rxheader.StdId!= id || g_canx_rxheader.IDE != CAN_ID_STD || g_canx_rxheader.RTR != CAN_RTR_DATA) /* 接收到的ID不对 / 不是标准帧 / 不是数据帧 */
+ {
+ return 0;
+ }
+
+ return g_canx_rxheader.DLC;
+}
\ No newline at end of file
diff --git a/bsp/dsp_can.h b/bsp/dsp_can.h
new file mode 100644
index 0000000..1620b47
--- /dev/null
+++ b/bsp/dsp_can.h
@@ -0,0 +1,28 @@
+#ifndef __STMFLASH_H
+#define __STMFLASH_H
+
+#include "drv_sys.h"
+
+/******************************************************************************************/
+/* CAN 引脚 定义 */
+
+#define CAN_RX_GPIO_PORT GPIOA
+#define CAN_RX_GPIO_PIN GPIO_PIN_11
+#define CAN_RX_GPIO_CLK_ENABLE() do{ __HAL_RCC_GPIOA_CLK_ENABLE(); }while(0) /* PA口时钟使能 */
+
+#define CAN_TX_GPIO_PORT GPIOA
+#define CAN_TX_GPIO_PIN GPIO_PIN_12
+#define CAN_TX_GPIO_CLK_ENABLE() do{ __HAL_RCC_GPIOA_CLK_ENABLE(); }while(0) /* PA口时钟使能 */
+
+/******************************************************************************************/
+
+/* CAN接收RX0中断使能 */
+#define CAN_RX0_INT_ENABLE 0 /* 0,不使能; 1,使能; */
+
+/* 对外接口函数 */
+uint8_t can_receive_msg(uint32_t id, uint8_t *buf); /* CAN接收数据, 查询 */
+uint8_t can_send_msg(uint32_t id, uint8_t *msg, uint8_t len); /* CAN发送数据 */
+uint8_t can_init(uint32_t tsjw,uint32_t tbs2,uint32_t tbs1,uint16_t brp,uint32_t mode); /* CAN初始化 */
+
+#endif
+
diff --git a/main/main.c b/main/main.c
index 59b1dfd..41e998c 100644
--- a/main/main.c
+++ b/main/main.c
@@ -55,6 +55,14 @@ TASK_STATIC_INIT_CCM(poll_start_task2, 2, 5, 1000, 2000, NULL, poll_start_task2
int main(void)
{
+/* */
+/* can_init(CAN_SJW_1TQ, CAN_BS2_8TQ, CAN_BS1_9TQ, 4, CAN_MODE_LOOPBACK); /* CAN鍒濆鍖, 鍥炵幆妯″紡, 娉㈢壒鐜500Kbps */
+/* */
+/* */
+/* */
+/* */
+/* */
+/* */
OS_ERR err;
// KIT_DEBUG_PRINTF("12323 \r\n");
/* 鍏抽棴鎵鏈変腑鏂 */
diff --git a/prj/MDK-ARM/Objects/HF_BCU_APP.axf b/prj/MDK-ARM/Objects/HF_BCU_APP.axf
deleted file mode 100644
index 8ba2d92..0000000
Binary files a/prj/MDK-ARM/Objects/HF_BCU_APP.axf and /dev/null differ
diff --git a/prj/MDK-ARM/Objects/HF_BCU_APP.build_log.htm b/prj/MDK-ARM/Objects/HF_BCU_APP.build_log.htm
index 04dbd52..7166d94 100644
--- a/prj/MDK-ARM/Objects/HF_BCU_APP.build_log.htm
+++ b/prj/MDK-ARM/Objects/HF_BCU_APP.build_log.htm
@@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.32.0.0
Project:
D:\GitWorkSpace\bs_bcu_app\prj\MDK-ARM\stm32f4xx_app.uvprojx
-Project File Date: 11/11/2024
+Project File Date: 11/12/2024
Output:
*** Using Compiler 'V5.06 update 5 (build 528)', folder: 'D:\keil5\ARM\ARMCC\Bin'
@@ -30,18 +30,32 @@ Build target 'stm32f407'
compiling app_demo.c...
"no source": Error: #5: cannot open source input file "..\..\app\app_demo.c": No such file or directory
..\..\app\app_demo.c: 0 warnings, 1 error
-compiling drv_usart.c...
+compiling dsp_can.c...
+..\..\bsp\dsp_can.c(95): warning: #223-D: function "CAN_RX_GPIO_CLK_ENABLE" declared implicitly
+ CAN_RX_GPIO_CLK_ENABLE(); /* CAN_RX脚时钟使能 */
+..\..\bsp\dsp_can.c(96): warning: #223-D: function "CAN_TX_GPIO_CLK_ENABLE" declared implicitly
+ CAN_TX_GPIO_CLK_ENABLE(); /* CAN_TX脚时钟使能 */
+..\..\bsp\dsp_can.c(101): error: #20: identifier "CAN_TX_GPIO_PIN" is undefined
+ gpio_initure.Pin = CAN_TX_GPIO_PIN;
+..\..\bsp\dsp_can.c(105): error: #20: identifier "CAN_TX_GPIO_PORT" is undefined
+ HAL_GPIO_Init(CAN_TX_GPIO_PORT, &gpio_initure); /* CAN_TX脚 模式设置 */
+..\..\bsp\dsp_can.c(107): error: #20: identifier "CAN_RX_GPIO_PIN" is undefined
+ gpio_initure.Pin = CAN_RX_GPIO_PIN;
+..\..\bsp\dsp_can.c(108): error: #20: identifier "GPIO_MODE_AF_INPUT" is undefined
+ gpio_initure.Mode = GPIO_MODE_AF_INPUT;
+..\..\bsp\dsp_can.c(109): error: #20: identifier "CAN_RX_GPIO_PORT" is undefined
+ HAL_GPIO_Init(CAN_RX_GPIO_PORT, &gpio_initure); /* CAN_RX脚 必须设置成输入模式 */
+..\..\bsp\dsp_can.c(197): warning: #1-D: last line of file ends without a newline
+ }
+..\..\bsp\dsp_can.c: 3 warnings, 5 errors
+compiling bsp_task.c...
compiling main.c...
..\..\main\main.c(43): warning: #223-D: function "task1" declared implicitly
task1(baseTime);
..\..\main\main.c(48): warning: #223-D: function "task2" declared implicitly
task2(baseTime);
..\..\main\main.c: 2 warnings, 0 errors
-linking...
-Program Size: Code=18994 RO-data=962 RW-data=3876 ZI-data=1119436
-FromELF: creating hex file...
-After Build - User command #1: fromelf --m32combined --output=HF_BCU_APP.s19 .\Objects\HF_BCU_APP.axf
-".\Objects\HF_BCU_APP.axf" - 0 Error(s), 2 Warning(s).
+".\Objects\HF_BCU_APP.axf" - 5 Error(s), 5 Warning(s).
Software Packages used:
@@ -55,7 +69,8 @@ Package Vendor: Keil
D:\keil5\ARM\PACK\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
Collection of Component Files used:
-Build Time Elapsed: 00:00:08
+Target not created.
+Build Time Elapsed: 00:00:06