{"id":60888,"date":"2026-01-16T15:25:36","date_gmt":"2026-01-16T07:25:36","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/60888.html"},"modified":"2026-01-16T15:25:36","modified_gmt":"2026-01-16T07:25:36","slug":"stm32-can%e6%80%bb%e7%ba%bf%e6%95%b0%e6%8d%ae%e9%87%87%e9%9b%86%e4%b8%8e%e8%bd%ac%e5%8f%91%e7%b3%bb%e7%bb%9f%e5%ae%8c%e6%95%b4%e4%bb%a3%e7%a0%81","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/60888.html","title":{"rendered":"STM32 CAN\u603b\u7ebf\u6570\u636e\u91c7\u96c6\u4e0e\u8f6c\u53d1\u7cfb\u7edf\u5b8c\u6574\u4ee3\u7801"},"content":{"rendered":"<\/p>\n<h4>STM32 CAN\u603b\u7ebf\u6570\u636e\u91c7\u96c6\u4e0e\u8f6c\u53d1\u7cfb\u7edf<\/h4>\n<ul>\n<li>\u5de5\u7a0b\u7ed3\u6784<\/li>\n<li>1.\u7cfb\u7edf\u914d\u7f6e\u6587\u4ef6 system_config.h<\/li>\n<li>2. CAN\u603b\u7ebf\u914d\u7f6e\u6587\u4ef6 can_config.h<\/li>\n<li>3. \u7f51\u7edc\u914d\u7f6e\u6587\u4ef6 network_config.h<\/li>\n<li>4. CAN\u603b\u7ebf\u9a71\u52a8\u6587\u4ef6 can_bus.h<\/li>\n<li>5. CAN\u603b\u7ebf\u9a71\u52a8\u6587\u4ef6 can_bus.c<\/li>\n<li>6. W5500\u7f51\u7edc\u9a71\u52a8\u6587\u4ef6 w5500_net.h<\/li>\n<li>7. W5500\u7f51\u7edc\u9a71\u52a8\u6587\u4ef6 w5500_net.c<\/li>\n<li>8. SD\u5361\u5b58\u50a8\u9a71\u52a8\u6587\u4ef6 sd_storage.h<\/li>\n<li>9. SD\u5361\u5b58\u50a8\u9a71\u52a8\u6587\u4ef6 sd_storage.c<\/li>\n<li>10. \u6570\u636e\u5904\u7406\u6587\u4ef6 data_processor.h<\/li>\n<li>11. \u770b\u95e8\u72d7\u9a71\u52a8\u6587\u4ef6 watchdog.h<\/li>\n<li>12. FreeRTOS\u4efb\u52a1\u7ba1\u7406\u6587\u4ef6 rtos_tasks.h<\/li>\n<li>13. FreeRTOS\u4efb\u52a1\u7ba1\u7406\u6587\u4ef6 rtos_tasks.c<\/li>\n<li>14. \u4e3b\u51fd\u6570\u6587\u4ef6 main.c<\/li>\n<li>15. \u4f7f\u7528\u8bf4\u660e<\/li>\n<li>\n<ul>\n<li>\u786c\u4ef6\u8fde\u63a5<\/li>\n<li>\u7f16\u8bd1\u548c\u914d\u7f6e<\/li>\n<li>\u7cfb\u7edf\u542f\u52a8\u6d41\u7a0b<\/li>\n<li>\u4efb\u52a1\u529f\u80fd\u8bf4\u660e<\/li>\n<li>\u6570\u636e\u6d41<\/li>\n<li>\u6269\u5c55\u529f\u80fd\u5efa\u8bae<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h2>\u5de5\u7a0b\u7ed3\u6784<\/h2>\n<p>project\/<br \/>\n\u251c\u2500\u2500 Core\/<br \/>\n\u2502   \u251c\u2500\u2500 Inc\/<br \/>\n\u2502   \u2502   \u251c\u2500\u2500 can_config.h<br \/>\n\u2502   \u2502   \u251c\u2500\u2500 network_config.h<br \/>\n\u2502   \u2502   \u251c\u2500\u2500 system_config.h<br \/>\n\u2502   \u2502   \u251c\u2500\u2500 can_bus.h<br \/>\n\u2502   \u2502   \u251c\u2500\u2500 w5500_net.h<br \/>\n\u2502   \u2502   \u251c\u2500\u2500 sd_storage.h<br \/>\n\u2502   \u2502   \u251c\u2500\u2500 data_processor.h<br \/>\n\u2502   \u2502   \u251c\u2500\u2500 watchdog.h<br \/>\n\u2502   \u2502   \u2514\u2500\u2500 rtos_tasks.h<br \/>\n\u2502   \u2514\u2500\u2500 Src\/<br \/>\n\u2502       \u251c\u2500\u2500 main.c<br \/>\n\u2502       \u251c\u2500\u2500 can_bus.c<br \/>\n\u2502       \u251c\u2500\u2500 w5500_net.c<br \/>\n\u2502       \u251c\u2500\u2500 sd_storage.c<br \/>\n\u2502       \u251c\u2500\u2500 data_processor.c<br \/>\n\u2502       \u251c\u2500\u2500 watchdog.c<br \/>\n\u2502       \u2514\u2500\u2500 rtos_tasks.c<br \/>\n\u251c\u2500\u2500 Drivers\/<br \/>\n\u2502   \u2514\u2500\u2500 STM32F4xx_HAL_Driver\/<br \/>\n\u251c\u2500\u2500 Middlewares\/<br \/>\n\u2502   \u251c\u2500\u2500 Third_Party\/<br \/>\n\u2502   \u2502   \u2514\u2500\u2500 FreeRTOS\/<br \/>\n\u2502   \u2514\u2500\u2500 FATFS\/<br \/>\n\u2514\u2500\u2500 config\/<br \/>\n    \u2514\u2500\u2500 FreeRTOSConfig.h<\/p>\n<h2>1.\u7cfb\u7edf\u914d\u7f6e\u6587\u4ef6 system_config.h<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__SYSTEM_CONFIG_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__SYSTEM_CONFIG_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token string\">&#034;C&#034;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;stm32f4xx_hal.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdint.h&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdbool.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u7248\u672c<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">FIRMWARE_VERSION<\/span>            <span class=\"token string\">&#034;V1.0.0&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">HARDWARE_VERSION<\/span>            <span class=\"token string\">&#034;HW-001&#034;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8c03\u8bd5\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">DEBUG_ENABLED<\/span>               <span class=\"token expression\"><span class=\"token number\">1<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">DEBUG_UART<\/span>                  <span class=\"token expression\">USART3<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">DEBUG_BAUDRATE<\/span>              <span class=\"token expression\"><span class=\"token number\">115200<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u65f6\u949f\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SYSTEM_CLOCK_FREQ<\/span>           <span class=\"token expression\"><span class=\"token number\">168000000<\/span>  <\/span><span class=\"token comment\">\/\/ 168 MHz<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">HSE_VALUE<\/span>                   <span class=\"token expression\"><span class=\"token number\">8000000<\/span>    <\/span><span class=\"token comment\">\/\/ 8 MHz \u5916\u90e8\u6676\u632f<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ FreeRTOS\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">RTOS_TICK_RATE_HZ<\/span>           <span class=\"token expression\"><span class=\"token number\">1000<\/span>       <\/span><span class=\"token comment\">\/\/ \u7cfb\u7edf\u8282\u62cd1ms<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">RTOS_HEAP_SIZE<\/span>              <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token number\">30<\/span> <span class=\"token operator\">*<\/span> <span class=\"token number\">1024<\/span><span class=\"token punctuation\">)<\/span> <\/span><span class=\"token comment\">\/\/ \u5806\u5927\u5c0f30KB<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4efb\u52a1\u4f18\u5148\u7ea7<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_PRIORITY_IDLE<\/span>          <span class=\"token expression\"><span class=\"token number\">0<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_PRIORITY_LOW<\/span>           <span class=\"token expression\"><span class=\"token number\">1<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_PRIORITY_BELOW_NORMAL<\/span>  <span class=\"token expression\"><span class=\"token number\">2<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_PRIORITY_NORMAL<\/span>        <span class=\"token expression\"><span class=\"token number\">3<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_PRIORITY_ABOVE_NORMAL<\/span>  <span class=\"token expression\"><span class=\"token number\">4<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_PRIORITY_HIGH<\/span>          <span class=\"token expression\"><span class=\"token number\">5<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_PRIORITY_REALTIME<\/span>      <span class=\"token expression\"><span class=\"token number\">6<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4efb\u52a1\u5806\u6808\u5927\u5c0f<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_STACK_SMALL<\/span>            <span class=\"token expression\"><span class=\"token number\">256<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_STACK_MEDIUM<\/span>           <span class=\"token expression\"><span class=\"token number\">512<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_STACK_LARGE<\/span>            <span class=\"token expression\"><span class=\"token number\">1024<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TASK_STACK_XLARGE<\/span>           <span class=\"token expression\"><span class=\"token number\">2048<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u72b6\u6001\u5b9a\u4e49<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">enum<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    SYS_STATE_INIT <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    SYS_STATE_IDLE<span class=\"token punctuation\">,<\/span><br \/>\n    SYS_STATE_NORMAL<span class=\"token punctuation\">,<\/span><br \/>\n    SYS_STATE_WARNING<span class=\"token punctuation\">,<\/span><br \/>\n    SYS_STATE_ERROR<span class=\"token punctuation\">,<\/span><br \/>\n    SYS_STATE_FATAL<br \/>\n<span class=\"token punctuation\">}<\/span> SystemState_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u9519\u8bef\u4ee3\u7801\u5b9a\u4e49<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">enum<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    ERROR_NONE <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_CAN_INIT_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_CAN_FILTER_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_CAN_TX_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_CAN_RX_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_W5500_INIT_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_W5500_CONFIG_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_W5500_TCP_CONNECT_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_W5500_TCP_SEND_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_SD_INIT_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_SD_MOUNT_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_SD_FILE_OPEN_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_SD_FILE_WRITE_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_SD_FILE_READ_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_SD_FULL<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_DATA_PROCESS_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_WATCHDOG_TIMEOUT<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_RTOS_TASK_CREATE_FAILED<span class=\"token punctuation\">,<\/span><br \/>\n    ERROR_MEMORY_ALLOC_FAILED<br \/>\n<span class=\"token punctuation\">}<\/span> ErrorCode_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u901a\u7528\u6570\u636e\u7ed3\u6784<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> timestamp<span class=\"token punctuation\">;<\/span><br \/>\n    SystemState_t system_state<span class=\"token punctuation\">;<\/span><br \/>\n    ErrorCode_t last_error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> can_rx_count<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> can_tx_count<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> network_tx_count<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> sd_write_count<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> error_count<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> cpu_usage<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> SystemStatus_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8c03\u8bd5\u8f93\u51fa\u5b8f<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">if<\/span> <span class=\"token expression\">DEBUG_ENABLED<\/span><\/span><br \/>\n    <span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name function\">DEBUG_PRINT<\/span><span class=\"token expression\"><span class=\"token punctuation\">(<\/span>fmt<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">.<\/span><span class=\"token punctuation\">.<\/span><span class=\"token punctuation\">.<\/span><span class=\"token punctuation\">)<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n        <span class=\"token expression\"><span class=\"token keyword\">do<\/span> <span class=\"token punctuation\">{<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n            <span class=\"token expression\"><span class=\"token keyword\">char<\/span> debug_buf<span class=\"token punctuation\">[<\/span><span class=\"token number\">256<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n            <span class=\"token expression\"><span class=\"token function\">snprintf<\/span><span class=\"token punctuation\">(<\/span>debug_buf<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>debug_buf<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <\/span><span class=\"token string\">&#034;[%lu] &#034;<\/span> <span class=\"token expression\">fmt <\/span><span class=\"token string\">&#034;\\\\r\\\\n&#034;<\/span><span class=\"token expression\"><span class=\"token punctuation\">,<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <\/span><span class=\"token punctuation\">##<\/span><span class=\"token expression\">__VA_ARGS__<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n            <span class=\"token expression\"><span class=\"token function\">HAL_UART_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>DEBUG_UART<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>debug_buf<span class=\"token punctuation\">,<\/span> <span class=\"token function\">strlen<\/span><span class=\"token punctuation\">(<\/span>debug_buf<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n        <span class=\"token expression\"><span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">while<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">else<\/span><\/span><br \/>\n    <span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name function\">DEBUG_PRINT<\/span><span class=\"token expression\"><span class=\"token punctuation\">(<\/span>fmt<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">.<\/span><span class=\"token punctuation\">.<\/span><span class=\"token punctuation\">.<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u65ad\u8a00\u5b8f<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name function\">SYSTEM_ASSERT<\/span><span class=\"token expression\"><span class=\"token punctuation\">(<\/span>expr<span class=\"token punctuation\">)<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n    <span class=\"token expression\"><span class=\"token keyword\">do<\/span> <span class=\"token punctuation\">{<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n        <span class=\"token expression\"><span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span><span class=\"token punctuation\">(<\/span>expr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n            <span class=\"token expression\"><span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><\/span><span class=\"token string\">&#034;Assert failed: %s, line %d&#034;<\/span><span class=\"token expression\"><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">__FILE__<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">__LINE__<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n            <span class=\"token expression\"><span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n        <span class=\"token expression\"><span class=\"token punctuation\">}<\/span> <\/span><span class=\"token punctuation\">\\\\<\/span><br \/>\n    <span class=\"token expression\"><span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">while<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __SYSTEM_CONFIG_H *\/<\/span><\/span><\/p>\n<h2>2. CAN\u603b\u7ebf\u914d\u7f6e\u6587\u4ef6 can_config.h<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__CAN_CONFIG_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__CAN_CONFIG_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;system_config.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token string\">&#034;C&#034;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u603b\u7ebf\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_INTERFACE<\/span>               <span class=\"token expression\">CAN1<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_BAUDRATE<\/span>                <span class=\"token expression\"><span class=\"token number\">500000<\/span>      <\/span><span class=\"token comment\">\/\/ 500 kbps<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_MODE<\/span>                    <span class=\"token expression\">CAN_MODE_NORMAL<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u8fc7\u6ee4\u5668\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_FILTER_BANK_COUNT<\/span>       <span class=\"token expression\"><span class=\"token number\">14<\/span>          <\/span><span class=\"token comment\">\/\/ STM32F407\u670914\u4e2a\u8fc7\u6ee4\u5668\u7ec4<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_FILTER_MODE<\/span>             <span class=\"token expression\">CAN_FILTERMODE_IDMASK<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_FILTER_SCALE<\/span>            <span class=\"token expression\">CAN_FILTERSCALE_32BIT<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_FILTER_FIFO<\/span>             <span class=\"token expression\">CAN_FILTER_FIFO0<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u6d88\u606fID\u5b9a\u4e49<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">enum<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u6807\u51c6ID (11\u4f4d)<\/span><br \/>\n    CAN_ID_SENSOR_TEMP      <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x100<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_SENSOR_PRESSURE  <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x101<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_SENSOR_FLOW      <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x102<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_SENSOR_LEVEL     <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x103<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_SENSOR_VIBRATION <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x104<\/span><span class=\"token punctuation\">,<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u63a7\u5236\u547d\u4ee4ID<\/span><br \/>\n    CAN_ID_CMD_START        <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x200<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_CMD_STOP         <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x201<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_CMD_RESET        <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x202<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_CMD_CONFIG       <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x203<\/span><span class=\"token punctuation\">,<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7cfb\u7edf\u72b6\u6001ID<\/span><br \/>\n    CAN_ID_SYS_STATUS       <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x300<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_SYS_ERROR        <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x301<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_SYS_HEARTBEAT    <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x302<\/span><span class=\"token punctuation\">,<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6269\u5c55ID (29\u4f4d)<\/span><br \/>\n    CAN_ID_EXT_LOG_DATA     <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x18000000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    CAN_ID_EXT_DEBUG        <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x18000001<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> CanMessageId_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u6d88\u606f\u6570\u636e\u7ed3\u6784<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> id<span class=\"token punctuation\">;<\/span>                    <span class=\"token comment\">\/\/ CAN\u6d88\u606fID<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> data<span class=\"token punctuation\">[<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u6570\u636e\u5b57\u8282<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> length<span class=\"token punctuation\">;<\/span>                <span class=\"token comment\">\/\/ \u6570\u636e\u957f\u5ea6<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> format<span class=\"token punctuation\">;<\/span>                <span class=\"token comment\">\/\/ 0-\u6807\u51c6\u5e27, 1-\u6269\u5c55\u5e27<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> type<span class=\"token punctuation\">;<\/span>                  <span class=\"token comment\">\/\/ 0-\u6570\u636e\u5e27, 1-\u8fdc\u7a0b\u5e27<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> timestamp<span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ \u65f6\u95f4\u6233<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> CanMessage_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4f20\u611f\u5668\u6570\u636e\u7ed3\u6784<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> temperature<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u6e29\u5ea6 (\u00b0C)<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> pressure<span class=\"token punctuation\">;<\/span>                <span class=\"token comment\">\/\/ \u538b\u529b (kPa)<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> flow_rate<span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u6d41\u91cf (m\u00b3\/h)<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> level<span class=\"token punctuation\">;<\/span>                   <span class=\"token comment\">\/\/ \u6db2\u4f4d (%)<\/span><br \/>\n    <span class=\"token keyword\">float<\/span> vibration<span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u632f\u52a8 (mm\/s)<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> sensor_status<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u4f20\u611f\u5668\u72b6\u6001\u5b57<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> timestamp<span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ \u91c7\u96c6\u65f6\u95f4\u6233<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> SensorData_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u8fc7\u6ee4\u5668\u914d\u7f6e\u7ed3\u6784<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> filter_id_high<span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u5668ID\u9ad8\u4f4d<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> filter_id_low<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u5668ID\u4f4e\u4f4d<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> filter_mask_id_high<span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u5668\u63a9\u7801\u9ad8\u4f4d<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> filter_mask_id_low<span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u5668\u63a9\u7801\u4f4e\u4f4d<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> filter_fifo<span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u5668FIFO\u5206\u914d<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> filter_bank<span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u5668\u7ec4\u7f16\u53f7<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> filter_mode<span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u5668\u6a21\u5f0f<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> filter_scale<span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u5668\u5c3a\u5ea6<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> filter_activation<span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u5668\u6fc0\u6d3b\u72b6\u6001<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> CanFilterConfig_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u7edf\u8ba1\u4fe1\u606f<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> rx_total<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u63a5\u6536\u603b\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> tx_total<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u53d1\u9001\u603b\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> rx_error<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u63a5\u6536\u9519\u8bef<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> tx_error<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u53d1\u9001\u9519\u8bef<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> arbitration_lost<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u4ef2\u88c1\u4e22\u5931<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> bus_error<span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ \u603b\u7ebf\u9519\u8bef<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> overflow_error<span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ \u6ea2\u51fa\u9519\u8bef<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_error_code<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u6700\u540e\u9519\u8bef\u4ee3\u7801<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_error_timestamp<span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6700\u540e\u9519\u8bef\u65f6\u95f4\u6233<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> CanStatistics_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u914d\u7f6e\u53c2\u6570<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_RX_QUEUE_SIZE<\/span>          <span class=\"token expression\"><span class=\"token number\">100<\/span>         <\/span><span class=\"token comment\">\/\/ \u63a5\u6536\u961f\u5217\u5927\u5c0f<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_TX_QUEUE_SIZE<\/span>          <span class=\"token expression\"><span class=\"token number\">50<\/span>          <\/span><span class=\"token comment\">\/\/ \u53d1\u9001\u961f\u5217\u5927\u5c0f<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_RX_TIMEOUT_MS<\/span>          <span class=\"token expression\"><span class=\"token number\">10<\/span>          <\/span><span class=\"token comment\">\/\/ \u63a5\u6536\u8d85\u65f6(ms)<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_TX_TIMEOUT_MS<\/span>          <span class=\"token expression\"><span class=\"token number\">100<\/span>         <\/span><span class=\"token comment\">\/\/ \u53d1\u9001\u8d85\u65f6(ms)<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_ERROR_THRESHOLD<\/span>        <span class=\"token expression\"><span class=\"token number\">10<\/span>          <\/span><span class=\"token comment\">\/\/ \u9519\u8bef\u9608\u503c<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">CAN_HEARTBEAT_INTERVAL<\/span>     <span class=\"token expression\"><span class=\"token number\">1000<\/span>        <\/span><span class=\"token comment\">\/\/ \u5fc3\u8df3\u95f4\u9694(ms)<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u51fd\u6570\u58f0\u660e<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_Config_InitFilters<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_Config_SetStandardFilter<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> filter_bank<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> id<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> mask<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_Config_SetExtendedFilter<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> filter_bank<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> id<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> mask<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_Config_Validate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u9ed8\u8ba4\u8fc7\u6ee4\u5668\u914d\u7f6e<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token keyword\">const<\/span> CanFilterConfig_t g_default_filters<span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">uint8_t<\/span> g_default_filter_count<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __CAN_CONFIG_H *\/<\/span><\/span><\/p>\n<h2>3. \u7f51\u7edc\u914d\u7f6e\u6587\u4ef6 network_config.h<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__NETWORK_CONFIG_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__NETWORK_CONFIG_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;system_config.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token string\">&#034;C&#034;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ W5500 SPI\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_SPI<\/span>                  <span class=\"token expression\">SPI2<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_SPI_CS_PIN<\/span>           <span class=\"token expression\">GPIO_PIN_12<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_SPI_CS_PORT<\/span>          <span class=\"token expression\">GPIOB<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_SPI_TIMEOUT<\/span>          <span class=\"token expression\"><span class=\"token number\">1000<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_SPI_CLOCK_SPEED<\/span>      <span class=\"token expression\"><span class=\"token number\">18000000<\/span>   <\/span><span class=\"token comment\">\/\/ 18 MHz<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ W5500\u7f51\u7edc\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_MAC_ADDRESS<\/span>          <span class=\"token expression\"><span class=\"token punctuation\">{<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x08<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0xDC<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x01<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x02<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x03<\/span><span class=\"token punctuation\">}<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_IP_ADDRESS<\/span>           <span class=\"token expression\"><span class=\"token punctuation\">{<\/span><span class=\"token number\">192<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">168<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">}<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_SUBNET_MASK<\/span>          <span class=\"token expression\"><span class=\"token punctuation\">{<\/span><span class=\"token number\">255<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">255<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">255<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_GATEWAY<\/span>              <span class=\"token expression\"><span class=\"token punctuation\">{<\/span><span class=\"token number\">192<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">168<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">}<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_DNS_SERVER<\/span>           <span class=\"token expression\"><span class=\"token punctuation\">{<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">}<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ TCP\u670d\u52a1\u5668\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TCP_SERVER_IP<\/span>              <span class=\"token string\">&#034;192.168.1.50&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TCP_SERVER_PORT<\/span>            <span class=\"token expression\"><span class=\"token number\">5000<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TCP_CLIENT_PORT<\/span>            <span class=\"token expression\"><span class=\"token number\">6000<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TCP_KEEPALIVE_INTERVAL<\/span>     <span class=\"token expression\"><span class=\"token number\">30<\/span>         <\/span><span class=\"token comment\">\/\/ \u4fdd\u6d3b\u95f4\u9694(\u79d2)<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TCP_RECONNECT_INTERVAL<\/span>     <span class=\"token expression\"><span class=\"token number\">5000<\/span>       <\/span><span class=\"token comment\">\/\/ \u91cd\u8fde\u95f4\u9694(ms)<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TCP_SEND_TIMEOUT<\/span>           <span class=\"token expression\"><span class=\"token number\">5000<\/span>       <\/span><span class=\"token comment\">\/\/ \u53d1\u9001\u8d85\u65f6(ms)<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">TCP_RECV_BUFFER_SIZE<\/span>       <span class=\"token expression\"><span class=\"token number\">2048<\/span>       <\/span><span class=\"token comment\">\/\/ \u63a5\u6536\u7f13\u51b2\u533a\u5927\u5c0f<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u5305\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">PACKET_HEADER_SIZE<\/span>         <span class=\"token expression\"><span class=\"token number\">8<\/span>          <\/span><span class=\"token comment\">\/\/ \u5305\u5934\u5927\u5c0f<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">PACKET_MAX_SIZE<\/span>            <span class=\"token expression\"><span class=\"token number\">1024<\/span>       <\/span><span class=\"token comment\">\/\/ \u6700\u5927\u5305\u5927\u5c0f<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">PACKET_QUEUE_SIZE<\/span>          <span class=\"token expression\"><span class=\"token number\">50<\/span>         <\/span><span class=\"token comment\">\/\/ \u6570\u636e\u5305\u961f\u5217\u5927\u5c0f<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7f51\u7edc\u534f\u8bae\u5b9a\u4e49<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">enum<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    PROTOCOL_RAW <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span>              <span class=\"token comment\">\/\/ \u539f\u59cb\u6570\u636e<\/span><br \/>\n    PROTOCOL_JSON<span class=\"token punctuation\">,<\/span>                 <span class=\"token comment\">\/\/ JSON\u683c\u5f0f<\/span><br \/>\n    PROTOCOL_MODBUS_TCP<span class=\"token punctuation\">,<\/span>           <span class=\"token comment\">\/\/ Modbus TCP<\/span><br \/>\n    PROTOCOL_CUSTOM_BINARY         <span class=\"token comment\">\/\/ \u81ea\u5b9a\u4e49\u4e8c\u8fdb\u5236<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> ProtocolType_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u5305\u5934\u7ed3\u6784<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">__attribute__<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>packed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> magic<span class=\"token punctuation\">;<\/span>                <span class=\"token comment\">\/\/ \u9b54\u6570 0x55AA<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> version<span class=\"token punctuation\">;<\/span>              <span class=\"token comment\">\/\/ \u534f\u8bae\u7248\u672c<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> type<span class=\"token punctuation\">;<\/span>                 <span class=\"token comment\">\/\/ \u6570\u636e\u7c7b\u578b<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> length<span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u6570\u636e\u957f\u5ea6<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> timestamp<span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ \u65f6\u95f4\u6233<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> checksum<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u6821\u9a8c\u548c<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> PacketHeader_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7f51\u7edc\u72b6\u6001\u7ed3\u6784<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> mac<span class=\"token punctuation\">[<\/span><span class=\"token number\">6<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>                <span class=\"token comment\">\/\/ MAC\u5730\u5740<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>                 <span class=\"token comment\">\/\/ IP\u5730\u5740<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> subnet<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u5b50\u7f51\u63a9\u7801<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> gateway<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ \u7f51\u5173<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> dns<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>                <span class=\"token comment\">\/\/ DNS\u670d\u52a1\u5668<\/span><br \/>\n    bool dhcp_enabled<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ DHCP\u4f7f\u80fd<\/span><br \/>\n    bool link_status<span class=\"token punctuation\">;<\/span>              <span class=\"token comment\">\/\/ \u94fe\u8def\u72b6\u6001<\/span><br \/>\n    bool tcp_connected<span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ TCP\u8fde\u63a5\u72b6\u6001<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> tx_bytes<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u53d1\u9001\u5b57\u8282\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> rx_bytes<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u63a5\u6536\u5b57\u8282\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> tx_packets<span class=\"token punctuation\">;<\/span>           <span class=\"token comment\">\/\/ \u53d1\u9001\u5305\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> rx_packets<span class=\"token punctuation\">;<\/span>           <span class=\"token comment\">\/\/ \u63a5\u6536\u5305\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> connect_count<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u8fde\u63a5\u6b21\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> disconnect_count<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u65ad\u5f00\u6b21\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_connect_time<span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/ \u6700\u540e\u8fde\u63a5\u65f6\u95f4<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_error_time<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u6700\u540e\u9519\u8bef\u65f6\u95f4<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> NetworkStatus_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7f51\u7edc\u914d\u7f6e\u53c2\u6570<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> mac<span class=\"token punctuation\">[<\/span><span class=\"token number\">6<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> subnet<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> gateway<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> dns<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">char<\/span> server_ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">16<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> server_port<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> client_port<span class=\"token punctuation\">;<\/span><br \/>\n    ProtocolType_t protocol<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> packet_size<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> send_interval<span class=\"token punctuation\">;<\/span><br \/>\n    bool auto_reconnect<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> reconnect_interval<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> NetworkConfig_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u9ed8\u8ba4\u7f51\u7edc\u914d\u7f6e<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token keyword\">const<\/span> NetworkConfig_t g_default_network_config<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u51fd\u6570\u58f0\u660e<\/span><br \/>\nErrorCode_t <span class=\"token function\">Network_Config_Validate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Network_Config_LoadDefaults<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Network_Config_SaveToFlash<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Network_Config_LoadFromFlash<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __NETWORK_CONFIG_H *\/<\/span><\/span><\/p>\n<h2>4. CAN\u603b\u7ebf\u9a71\u52a8\u6587\u4ef6 can_bus.h<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__CAN_BUS_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__CAN_BUS_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;can_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;system_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;cmsis_os.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token string\">&#034;C&#034;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u53e5\u67c4<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> CAN_HandleTypeDef hcan1<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6d88\u606f\u961f\u5217\u53e5\u67c4<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMessageQueueId_t<\/span> can_rx_queue<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMessageQueueId_t<\/span> can_tx_queue<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u51fd\u6570\u58f0\u660e<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_Reset<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_SendMessage<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t <span class=\"token operator\">*<\/span>msg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_ReceiveMessage<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t <span class=\"token operator\">*<\/span>msg<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> timeout<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_ConfigureFilters<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_ProcessRxFifo<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> fifo<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_ErrorCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_RxFifo0MsgPendingCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_RxFifo1MsgPendingCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_TxMailbox0CompleteCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_TxMailbox1CompleteCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_TxMailbox2CompleteCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nCanStatistics_t<span class=\"token operator\">*<\/span> <span class=\"token function\">CAN_GetStatistics<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_ClearStatistics<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nbool <span class=\"token function\">CAN_IsBusOff<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_RecoverFromBusOff<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_SendHeartbeat<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_SendSystemStatus<\/span><span class=\"token punctuation\">(<\/span>SystemStatus_t <span class=\"token operator\">*<\/span>status<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5de5\u5177\u51fd\u6570<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">CAN_CalculateBaudrate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint32_t<\/span> clock_freq<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> baudrate<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">CAN_CalculateCRC16<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nbool <span class=\"token function\">CAN_ValidateMessage<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t <span class=\"token operator\">*<\/span>msg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u4e2d\u65ad\u56de\u8c03<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_RxFifo0MsgPendingCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_RxFifo1MsgPendingCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_TxMailbox0CompleteCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_TxMailbox1CompleteCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_TxMailbox2CompleteCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_ErrorCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __CAN_BUS_H *\/<\/span><\/span><\/p>\n<h2>5. CAN\u603b\u7ebf\u9a71\u52a8\u6587\u4ef6 can_bus.c<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;can_bus.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;string.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5168\u5c40\u53d8\u91cf<\/span><br \/>\nCAN_HandleTypeDef hcan1<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osMessageQueueId_t<\/span> can_rx_queue <span class=\"token operator\">&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osMessageQueueId_t<\/span> can_tx_queue <span class=\"token operator\">&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">static<\/span> CanStatistics_t can_stats <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token class-name\">uint32_t<\/span> last_heartbeat_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u9ed8\u8ba4\u8fc7\u6ee4\u5668\u914d\u7f6e<\/span><br \/>\n<span class=\"token keyword\">const<\/span> CanFilterConfig_t g_default_filters<span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u56680: \u63a5\u6536\u6807\u51c6ID 0x100-0x10F (\u4f20\u611f\u5668\u6570\u636e)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_id_high <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x100<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_id_low <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_mask_id_high <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x10F<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_mask_id_low <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_fifo <span class=\"token operator\">&#061;<\/span> CAN_FILTER_FIFO0<span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_bank <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_mode <span class=\"token operator\">&#061;<\/span> CAN_FILTERMODE_IDMASK<span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_scale <span class=\"token operator\">&#061;<\/span> CAN_FILTERSCALE_32BIT<span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_activation <span class=\"token operator\">&#061;<\/span> ENABLE<br \/>\n    <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u56681: \u63a5\u6536\u6807\u51c6ID 0x200-0x20F (\u63a7\u5236\u547d\u4ee4)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_id_high <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x200<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_id_low <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_mask_id_high <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x20F<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_mask_id_low <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_fifo <span class=\"token operator\">&#061;<\/span> CAN_FILTER_FIFO0<span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_bank <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_mode <span class=\"token operator\">&#061;<\/span> CAN_FILTERMODE_IDMASK<span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_scale <span class=\"token operator\">&#061;<\/span> CAN_FILTERSCALE_32BIT<span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_activation <span class=\"token operator\">&#061;<\/span> ENABLE<br \/>\n    <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u8fc7\u6ee4\u56682: \u63a5\u6536\u6269\u5c55ID 0x18000000-0x1800FFFF (\u65e5\u5fd7\u6570\u636e)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_id_high <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">0x18000000<\/span> <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">13<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFFFF<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_id_low <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x18000000<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFFF8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">|<\/span> <span class=\"token number\">0x04<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_mask_id_high <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">0x1800FFFF<\/span> <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">13<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFFFF<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_mask_id_low <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x1800FFFF<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFFF8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">|<\/span> <span class=\"token number\">0x04<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_fifo <span class=\"token operator\">&#061;<\/span> CAN_FILTER_FIFO1<span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_bank <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_mode <span class=\"token operator\">&#061;<\/span> CAN_FILTERMODE_IDMASK<span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_scale <span class=\"token operator\">&#061;<\/span> CAN_FILTERSCALE_32BIT<span class=\"token punctuation\">,<\/span><br \/>\n        <span class=\"token punctuation\">.<\/span>filter_activation <span class=\"token operator\">&#061;<\/span> ENABLE<br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">const<\/span> <span class=\"token class-name\">uint8_t<\/span> g_default_filter_count <span class=\"token operator\">&#061;<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>g_default_filters<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>g_default_filters<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u521d\u59cb\u5316<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Initializing CAN bus&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521b\u5efa\u6d88\u606f\u961f\u5217<\/span><br \/>\n    can_rx_queue <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osMessageQueueNew<\/span><span class=\"token punctuation\">(<\/span>CAN_RX_QUEUE_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    can_tx_queue <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osMessageQueueNew<\/span><span class=\"token punctuation\">(<\/span>CAN_TX_QUEUE_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>can_rx_queue <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> can_tx_queue <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to create CAN queues&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_RTOS_TASK_CREATE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316CAN\u5916\u8bbe<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> CAN_INTERFACE<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Prescaler <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_CalculateBaudrate<\/span><span class=\"token punctuation\">(<\/span>SYSTEM_CLOCK_FREQ<span class=\"token punctuation\">,<\/span> CAN_BAUDRATE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> CAN_MODE<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>SyncJumpWidth <span class=\"token operator\">&#061;<\/span> CAN_SJW_1TQ<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>TimeSeg1 <span class=\"token operator\">&#061;<\/span> CAN_BS1_13TQ<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>TimeSeg2 <span class=\"token operator\">&#061;<\/span> CAN_BS2_2TQ<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>TimeTriggeredMode <span class=\"token operator\">&#061;<\/span> DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>AutoBusOff <span class=\"token operator\">&#061;<\/span> ENABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>AutoWakeUp <span class=\"token operator\">&#061;<\/span> DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>AutoRetransmission <span class=\"token operator\">&#061;<\/span> DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>ReceiveFifoLocked <span class=\"token operator\">&#061;<\/span> DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hcan1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>TransmitFifoPriority <span class=\"token operator\">&#061;<\/span> DISABLE<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316CAN<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_CAN_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hcan1<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN hardware initialization failed&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_CAN_INIT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u914d\u7f6e\u8fc7\u6ee4\u5668<\/span><br \/>\n    ErrorCode_t filter_error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_ConfigureFilters<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>filter_error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN filter configuration failed&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> filter_error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6e05\u7a7a\u7edf\u8ba1\u4fe1\u606f<\/span><br \/>\n    <span class=\"token function\">CAN_ClearStatistics<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN bus initialized successfully&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u542f\u52a8CAN\u603b\u7ebf<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Starting CAN bus&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u542f\u52a8CAN<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_CAN_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hcan1<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to start CAN bus&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_CAN_INIT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u4f7f\u80fd\u63a5\u6536\u4e2d\u65ad<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_CAN_ActivateNotification<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hcan1<span class=\"token punctuation\">,<\/span><br \/>\n        CAN_IT_RX_FIFO0_MSG_PENDING <span class=\"token operator\">|<\/span><br \/>\n        CAN_IT_RX_FIFO1_MSG_PENDING <span class=\"token operator\">|<\/span><br \/>\n        CAN_IT_TX_MAILBOX_EMPTY <span class=\"token operator\">|<\/span><br \/>\n        CAN_IT_ERROR<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to activate CAN notifications&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_CAN_INIT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN bus started successfully&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u505c\u6b62CAN\u603b\u7ebf<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Stopping CAN bus&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u505c\u6b62CAN<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_CAN_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hcan1<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to stop CAN bus&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_CAN_INIT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7981\u7528\u6240\u6709\u4e2d\u65ad<\/span><br \/>\n    <span class=\"token function\">HAL_CAN_DeactivateNotification<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hcan1<span class=\"token punctuation\">,<\/span> CAN_IT_ALL<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN bus stopped&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u91cd\u7f6eCAN\u603b\u7ebf<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_Reset<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Resetting CAN bus&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u505c\u6b62CAN<\/span><br \/>\n    <span class=\"token function\">CAN_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5ef6\u8fdf<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91cd\u65b0\u521d\u59cb\u5316<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91cd\u65b0\u542f\u52a8<\/span><br \/>\n    error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN bus reset successfully&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u914d\u7f6eCAN\u8fc7\u6ee4\u5668<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_ConfigureFilters<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Configuring CAN filters&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    CAN_FilterTypeDef filter_config<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> g_default_filter_count<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">const<\/span> CanFilterConfig_t <span class=\"token operator\">*<\/span>filter <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&amp;<\/span>g_default_filters<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        filter_config<span class=\"token punctuation\">.<\/span>FilterBank <span class=\"token operator\">&#061;<\/span> filter<span class=\"token operator\">-&gt;<\/span>filter_bank<span class=\"token punctuation\">;<\/span><br \/>\n        filter_config<span class=\"token punctuation\">.<\/span>FilterMode <span class=\"token operator\">&#061;<\/span> filter<span class=\"token operator\">-&gt;<\/span>filter_mode<span class=\"token punctuation\">;<\/span><br \/>\n        filter_config<span class=\"token punctuation\">.<\/span>FilterScale <span class=\"token operator\">&#061;<\/span> filter<span class=\"token operator\">-&gt;<\/span>filter_scale<span class=\"token punctuation\">;<\/span><br \/>\n        filter_config<span class=\"token punctuation\">.<\/span>FilterIdHigh <span class=\"token operator\">&#061;<\/span> filter<span class=\"token operator\">-&gt;<\/span>filter_id_high<span class=\"token punctuation\">;<\/span><br \/>\n        filter_config<span class=\"token punctuation\">.<\/span>FilterIdLow <span class=\"token operator\">&#061;<\/span> filter<span class=\"token operator\">-&gt;<\/span>filter_id_low<span class=\"token punctuation\">;<\/span><br \/>\n        filter_config<span class=\"token punctuation\">.<\/span>FilterMaskIdHigh <span class=\"token operator\">&#061;<\/span> filter<span class=\"token operator\">-&gt;<\/span>filter_mask_id_high<span class=\"token punctuation\">;<\/span><br \/>\n        filter_config<span class=\"token punctuation\">.<\/span>FilterMaskIdLow <span class=\"token operator\">&#061;<\/span> filter<span class=\"token operator\">-&gt;<\/span>filter_mask_id_low<span class=\"token punctuation\">;<\/span><br \/>\n        filter_config<span class=\"token punctuation\">.<\/span>FilterFIFOAssignment <span class=\"token operator\">&#061;<\/span> filter<span class=\"token operator\">-&gt;<\/span>filter_fifo<span class=\"token punctuation\">;<\/span><br \/>\n        filter_config<span class=\"token punctuation\">.<\/span>FilterActivation <span class=\"token operator\">&#061;<\/span> filter<span class=\"token operator\">-&gt;<\/span>filter_activation<span class=\"token punctuation\">;<\/span><br \/>\n        filter_config<span class=\"token punctuation\">.<\/span>SlaveStartFilterBank <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">14<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u4ece\u8fc7\u6ee4\u5668\u7ec414\u5f00\u59cb<\/span><\/p>\n<p>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_CAN_ConfigFilter<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hcan1<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>filter_config<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to configure filter bank %d&#034;<\/span><span class=\"token punctuation\">,<\/span> i<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token keyword\">return<\/span> ERROR_CAN_FILTER_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN filters configured successfully&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u53d1\u9001CAN\u6d88\u606f<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_SendMessage<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t <span class=\"token operator\">*<\/span>msg<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>msg <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> <span class=\"token operator\">!<\/span><span class=\"token function\">CAN_ValidateMessage<\/span><span class=\"token punctuation\">(<\/span>msg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Invalid CAN message&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_CAN_TX_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">CAN_IsBusOff<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN bus is in bus-off state&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_RecoverFromBusOff<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u51c6\u5907CAN Tx\u6d88\u606f<\/span><br \/>\n    CAN_TxHeaderTypeDef tx_header<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> tx_mailbox<span class=\"token punctuation\">;<\/span><\/p>\n<p>    tx_header<span class=\"token punctuation\">.<\/span>StdId <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>msg<span class=\"token operator\">-&gt;<\/span>format <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">?<\/span> msg<span class=\"token operator\">-&gt;<\/span>id <span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    tx_header<span class=\"token punctuation\">.<\/span>ExtId <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>msg<span class=\"token operator\">-&gt;<\/span>format <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">?<\/span> msg<span class=\"token operator\">-&gt;<\/span>id <span class=\"token operator\">:<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    tx_header<span class=\"token punctuation\">.<\/span>IDE <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>msg<span class=\"token operator\">-&gt;<\/span>format <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">?<\/span> CAN_ID_STD <span class=\"token operator\">:<\/span> CAN_ID_EXT<span class=\"token punctuation\">;<\/span><br \/>\n    tx_header<span class=\"token punctuation\">.<\/span>RTR <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>msg<span class=\"token operator\">-&gt;<\/span>type <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">?<\/span> CAN_RTR_DATA <span class=\"token operator\">:<\/span> CAN_RTR_REMOTE<span class=\"token punctuation\">;<\/span><br \/>\n    tx_header<span class=\"token punctuation\">.<\/span>DLC <span class=\"token operator\">&#061;<\/span> msg<span class=\"token operator\">-&gt;<\/span>length<span class=\"token punctuation\">;<\/span><br \/>\n    tx_header<span class=\"token punctuation\">.<\/span>TransmitGlobalTime <span class=\"token operator\">&#061;<\/span> DISABLE<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53d1\u9001\u6d88\u606f<\/span><br \/>\n    HAL_StatusTypeDef status <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_CAN_AddTxMessage<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hcan1<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>tx_header<span class=\"token punctuation\">,<\/span> msg<span class=\"token operator\">-&gt;<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>tx_mailbox<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>status <span class=\"token operator\">&#061;&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>tx_total<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN message sent: ID&#061;0x%08X, Len&#061;%d&#034;<\/span><span class=\"token punctuation\">,<\/span> msg<span class=\"token operator\">-&gt;<\/span>id<span class=\"token punctuation\">,<\/span> msg<span class=\"token operator\">-&gt;<\/span>length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>tx_error<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to send CAN message: status&#061;%d&#034;<\/span><span class=\"token punctuation\">,<\/span> status<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_CAN_TX_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u63a5\u6536CAN\u6d88\u606f&#xff08;\u963b\u585e\u5f0f&#xff09;<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_ReceiveMessage<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t <span class=\"token operator\">*<\/span>msg<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> timeout<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>msg <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_CAN_RX_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u4ece\u961f\u5217\u63a5\u6536\u6d88\u606f<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">osMessageQueueGet<\/span><span class=\"token punctuation\">(<\/span>can_rx_queue<span class=\"token punctuation\">,<\/span> msg<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> timeout<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> osOK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>rx_total<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_CAN_RX_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5904\u7406\u63a5\u6536FIFO<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_ProcessRxFifo<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> fifo<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    CanMessage_t rx_msg<span class=\"token punctuation\">;<\/span><br \/>\n    CAN_RxHeaderTypeDef rx_header<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bfb\u53d6\u6240\u6709\u5f85\u5904\u7406\u6d88\u606f<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_CAN_GetRxFifoFillLevel<\/span><span class=\"token punctuation\">(<\/span>hcan<span class=\"token punctuation\">,<\/span> fifo<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u4eceFIFO\u8bfb\u53d6\u6d88\u606f<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_CAN_GetRxMessage<\/span><span class=\"token punctuation\">(<\/span>hcan<span class=\"token punctuation\">,<\/span> fifo<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>rx_header<span class=\"token punctuation\">,<\/span> rx_msg<span class=\"token punctuation\">.<\/span>data<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u586b\u5145\u6d88\u606f\u7ed3\u6784<\/span><br \/>\n            rx_msg<span class=\"token punctuation\">.<\/span>id <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>rx_header<span class=\"token punctuation\">.<\/span>IDE <span class=\"token operator\">&#061;&#061;<\/span> CAN_ID_STD<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">?<\/span> rx_header<span class=\"token punctuation\">.<\/span>StdId <span class=\"token operator\">:<\/span> rx_header<span class=\"token punctuation\">.<\/span>ExtId<span class=\"token punctuation\">;<\/span><br \/>\n            rx_msg<span class=\"token punctuation\">.<\/span>length <span class=\"token operator\">&#061;<\/span> rx_header<span class=\"token punctuation\">.<\/span>DLC<span class=\"token punctuation\">;<\/span><br \/>\n            rx_msg<span class=\"token punctuation\">.<\/span>format <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>rx_header<span class=\"token punctuation\">.<\/span>IDE <span class=\"token operator\">&#061;&#061;<\/span> CAN_ID_STD<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">?<\/span> <span class=\"token number\">0<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            rx_msg<span class=\"token punctuation\">.<\/span>type <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>rx_header<span class=\"token punctuation\">.<\/span>RTR <span class=\"token operator\">&#061;&#061;<\/span> CAN_RTR_DATA<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">?<\/span> <span class=\"token number\">0<\/span> <span class=\"token operator\">:<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            rx_msg<span class=\"token punctuation\">.<\/span>timestamp <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u6dfb\u52a0\u5230\u63a5\u6536\u961f\u5217<\/span><br \/>\n            <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">osMessageQueuePut<\/span><span class=\"token punctuation\">(<\/span>can_rx_queue<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>rx_msg<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> osOK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token comment\">\/\/ \u961f\u5217\u6ee1&#xff0c;\u4e22\u5f03\u6700\u65e7\u7684\u6d88\u606f<\/span><br \/>\n                CanMessage_t dummy<span class=\"token punctuation\">;<\/span><br \/>\n                <span class=\"token function\">osMessageQueueGet<\/span><span class=\"token punctuation\">(<\/span>can_rx_queue<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>dummy<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n                <span class=\"token function\">osMessageQueuePut<\/span><span class=\"token punctuation\">(<\/span>can_rx_queue<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>rx_msg<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>                <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN RX queue overflow, message dropped&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u9519\u8bef\u56de\u8c03<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_ErrorCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> error_code <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_CAN_GetError<\/span><span class=\"token punctuation\">(<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error_code <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_EWG<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>bus_error<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN error: Error warning&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error_code <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_EPV<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>bus_error<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN error: Error passive&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error_code <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_BOF<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>bus_error<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN error: Bus-off&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error_code <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_STF<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>arbitration_lost<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN error: Stuff error&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error_code <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_FOR<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>bus_error<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN error: Form error&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error_code <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_ACK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>tx_error<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN error: Acknowledgment error&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error_code <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_BR<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>bus_error<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN error: Bit recessive error&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error_code <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_BD<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>bus_error<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN error: Bit dominant error&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error_code <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_CRC<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        can_stats<span class=\"token punctuation\">.<\/span>bus_error<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN error: CRC error&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    can_stats<span class=\"token punctuation\">.<\/span>last_error_code <span class=\"token operator\">&#061;<\/span> error_code<span class=\"token punctuation\">;<\/span><br \/>\n    can_stats<span class=\"token punctuation\">.<\/span>last_error_timestamp <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u83b7\u53d6\u7edf\u8ba1\u4fe1\u606f<\/span><br \/>\nCanStatistics_t<span class=\"token operator\">*<\/span> <span class=\"token function\">CAN_GetStatistics<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token operator\">&amp;<\/span>can_stats<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6e05\u7a7a\u7edf\u8ba1\u4fe1\u606f<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_ClearStatistics<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">memset<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>can_stats<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>CanStatistics_t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u68c0\u67e5\u603b\u7ebf\u662f\u5426\u5173\u95ed<\/span><br \/>\nbool <span class=\"token function\">CAN_IsBusOff<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_CAN_GetError<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hcan1<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> HAL_CAN_ERROR_BOF<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4ece\u603b\u7ebf\u5173\u95ed\u72b6\u6001\u6062\u590d<\/span><br \/>\nErrorCode_t <span class=\"token function\">CAN_RecoverFromBusOff<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Recovering from CAN bus-off state&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u505c\u6b62CAN<\/span><br \/>\n    <span class=\"token function\">HAL_CAN_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hcan1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5ef6\u8fdf<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91cd\u65b0\u521d\u59cb\u5316CAN<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91cd\u65b0\u542f\u52a8CAN<\/span><br \/>\n    error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN bus recovered from bus-off state&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u53d1\u9001\u5fc3\u8df3\u6d88\u606f<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_SendHeartbeat<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> current_time <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>current_time <span class=\"token operator\">&#8211;<\/span> last_heartbeat_time <span class=\"token operator\">&gt;&#061;<\/span> CAN_HEARTBEAT_INTERVAL<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        CanMessage_t heartbeat_msg<span class=\"token punctuation\">;<\/span><\/p>\n<p>        heartbeat_msg<span class=\"token punctuation\">.<\/span>id <span class=\"token operator\">&#061;<\/span> CAN_ID_SYS_HEARTBEAT<span class=\"token punctuation\">;<\/span><br \/>\n        heartbeat_msg<span class=\"token punctuation\">.<\/span>length <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        heartbeat_msg<span class=\"token punctuation\">.<\/span>format <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u6807\u51c6\u5e27<\/span><br \/>\n        heartbeat_msg<span class=\"token punctuation\">.<\/span>type <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/ \u6570\u636e\u5e27<\/span><br \/>\n        heartbeat_msg<span class=\"token punctuation\">.<\/span>timestamp <span class=\"token operator\">&#061;<\/span> current_time<span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u586b\u5145\u5fc3\u8df3\u6570\u636e<\/span><br \/>\n        <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>heartbeat_msg<span class=\"token punctuation\">.<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>current_time<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token function\">CAN_SendMessage<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>heartbeat_msg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        last_heartbeat_time <span class=\"token operator\">&#061;<\/span> current_time<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8ba1\u7b97\u6ce2\u7279\u7387\u9884\u5206\u9891\u503c<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">CAN_CalculateBaudrate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint32_t<\/span> clock_freq<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> baudrate<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ CAN\u65f6\u949f\u9891\u7387 &#061; APB1\u9891\u7387<\/span><br \/>\n    <span class=\"token comment\">\/\/ STM32F407: APB1\u6700\u5927\u9891\u738742MHz<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> time_quanta <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span> <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">13<\/span> <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ 1(SJW) &#043; 13(BS1) &#043; 2(BS2)<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> prescaler <span class=\"token operator\">&#061;<\/span> clock_freq <span class=\"token operator\">\/<\/span> <span class=\"token punctuation\">(<\/span>baudrate <span class=\"token operator\">*<\/span> time_quanta<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> prescaler<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8ba1\u7b97CRC16\u6821\u9a8c<\/span><br \/>\n<span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">CAN_CalculateCRC16<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> crc <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0xFFFF<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> length<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        crc <span class=\"token operator\">^&#061;<\/span> data<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> j <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> j <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">;<\/span> j<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>crc <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0x0001<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                crc <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>crc <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">^<\/span> <span class=\"token number\">0xA001<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                crc <span class=\"token operator\">&gt;&gt;&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> crc<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u9a8c\u8bc1\u6d88\u606f\u6709\u6548\u6027<\/span><br \/>\nbool <span class=\"token function\">CAN_ValidateMessage<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t <span class=\"token operator\">*<\/span>msg<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>msg <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>msg<span class=\"token operator\">-&gt;<\/span>length <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>msg<span class=\"token operator\">-&gt;<\/span>format <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span>  <span class=\"token comment\">\/\/ \u6807\u51c6\u5e27<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>msg<span class=\"token operator\">-&gt;<\/span>id <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0x7FF<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token keyword\">return<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span>  <span class=\"token comment\">\/\/ \u6269\u5c55\u5e27<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>msg<span class=\"token operator\">-&gt;<\/span>id <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0x1FFFFFFF<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token keyword\">return<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> true<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ HAL CAN\u4e2d\u65ad\u56de\u8c03<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_RxFifo0MsgPendingCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">CAN_ProcessRxFifo<\/span><span class=\"token punctuation\">(<\/span>hcan<span class=\"token punctuation\">,<\/span> CAN_RX_FIFO0<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_RxFifo1MsgPendingCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">CAN_ProcessRxFifo<\/span><span class=\"token punctuation\">(<\/span>hcan<span class=\"token punctuation\">,<\/span> CAN_RX_FIFO1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_TxMailbox0CompleteCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u53d1\u9001\u5b8c\u6210\u5904\u7406<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_TxMailbox1CompleteCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u53d1\u9001\u5b8c\u6210\u5904\u7406<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_TxMailbox2CompleteCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u53d1\u9001\u5b8c\u6210\u5904\u7406<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">HAL_CAN_ErrorCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_HandleTypeDef <span class=\"token operator\">*<\/span>hcan<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">CAN_ErrorCallback<\/span><span class=\"token punctuation\">(<\/span>hcan<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h2>6. W5500\u7f51\u7edc\u9a71\u52a8\u6587\u4ef6 w5500_net.h<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__W5500_NET_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__W5500_NET_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;network_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;system_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;cmsis_os.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token string\">&#034;C&#034;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ SPI\u53e5\u67c4<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> SPI_HandleTypeDef hspi2<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7f51\u7edc\u961f\u5217\u53e5\u67c4<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMessageQueueId_t<\/span> net_tx_queue<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMessageQueueId_t<\/span> net_rx_queue<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ W5500\u5bc4\u5b58\u5668\u5730\u5740<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_MR<\/span>                  <span class=\"token expression\"><span class=\"token number\">0x0000<\/span>      <\/span><span class=\"token comment\">\/\/ \u6a21\u5f0f\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_GAR<\/span>                 <span class=\"token expression\"><span class=\"token number\">0x0001<\/span>      <\/span><span class=\"token comment\">\/\/ \u7f51\u5173\u5730\u5740\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_SUBR<\/span>                <span class=\"token expression\"><span class=\"token number\">0x0005<\/span>      <\/span><span class=\"token comment\">\/\/ \u5b50\u7f51\u63a9\u7801\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_SHAR<\/span>                <span class=\"token expression\"><span class=\"token number\">0x0009<\/span>      <\/span><span class=\"token comment\">\/\/ \u6e90\u786c\u4ef6\u5730\u5740\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_SIPR<\/span>                <span class=\"token expression\"><span class=\"token number\">0x000F<\/span>      <\/span><span class=\"token comment\">\/\/ \u6e90IP\u5730\u5740\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_RTR<\/span>                 <span class=\"token expression\"><span class=\"token number\">0x0017<\/span>      <\/span><span class=\"token comment\">\/\/ \u91cd\u8bd5\u65f6\u95f4\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">W5500_RCR<\/span>                 <span class=\"token expression\"><span class=\"token number\">0x0019<\/span>      <\/span><span class=\"token comment\">\/\/ \u91cd\u8bd5\u8ba1\u6570\u5bc4\u5b58\u5668<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ Socket\u5bc4\u5b58\u5668\u504f\u79fb<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_BASE<\/span>               <span class=\"token expression\"><span class=\"token number\">0x0400<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_REG_SIZE<\/span>           <span class=\"token expression\"><span class=\"token number\">0x0100<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_MR<\/span>                 <span class=\"token expression\"><span class=\"token number\">0x0000<\/span>      <\/span><span class=\"token comment\">\/\/ Socket\u6a21\u5f0f\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CR<\/span>                 <span class=\"token expression\"><span class=\"token number\">0x0001<\/span>      <\/span><span class=\"token comment\">\/\/ Socket\u547d\u4ee4\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_IR<\/span>                 <span class=\"token expression\"><span class=\"token number\">0x0002<\/span>      <\/span><span class=\"token comment\">\/\/ Socket\u4e2d\u65ad\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_SR<\/span>                 <span class=\"token expression\"><span class=\"token number\">0x0003<\/span>      <\/span><span class=\"token comment\">\/\/ Socket\u72b6\u6001\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_PORT<\/span>               <span class=\"token expression\"><span class=\"token number\">0x0004<\/span>      <\/span><span class=\"token comment\">\/\/ \u7aef\u53e3\u53f7\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_DHAR<\/span>               <span class=\"token expression\"><span class=\"token number\">0x0006<\/span>      <\/span><span class=\"token comment\">\/\/ \u76ee\u6807\u786c\u4ef6\u5730\u5740\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_DIPR<\/span>               <span class=\"token expression\"><span class=\"token number\">0x000C<\/span>      <\/span><span class=\"token comment\">\/\/ \u76ee\u6807IP\u5730\u5740\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_DPORT<\/span>              <span class=\"token expression\"><span class=\"token number\">0x0010<\/span>      <\/span><span class=\"token comment\">\/\/ \u76ee\u6807\u7aef\u53e3\u5bc4\u5b58\u5668<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_TX_FSR<\/span>             <span class=\"token expression\"><span class=\"token number\">0x0020<\/span>      <\/span><span class=\"token comment\">\/\/ \u53d1\u9001\u7a7a\u95f2\u7a7a\u95f4<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_TX_RD<\/span>              <span class=\"token expression\"><span class=\"token number\">0x0022<\/span>      <\/span><span class=\"token comment\">\/\/ \u53d1\u9001\u8bfb\u6307\u9488<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_TX_WR<\/span>              <span class=\"token expression\"><span class=\"token number\">0x0024<\/span>      <\/span><span class=\"token comment\">\/\/ \u53d1\u9001\u5199\u6307\u9488<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_RX_RSR<\/span>             <span class=\"token expression\"><span class=\"token number\">0x0026<\/span>      <\/span><span class=\"token comment\">\/\/ \u63a5\u6536\u6570\u636e\u5927\u5c0f<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_RX_RD<\/span>              <span class=\"token expression\"><span class=\"token number\">0x0028<\/span>      <\/span><span class=\"token comment\">\/\/ \u63a5\u6536\u8bfb\u6307\u9488<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_RX_WR<\/span>              <span class=\"token expression\"><span class=\"token number\">0x002A<\/span>      <\/span><span class=\"token comment\">\/\/ \u63a5\u6536\u5199\u6307\u9488<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ Socket\u547d\u4ee4<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CMD_OPEN<\/span>           <span class=\"token expression\"><span class=\"token number\">0x01<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CMD_LISTEN<\/span>         <span class=\"token expression\"><span class=\"token number\">0x02<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CMD_CONNECT<\/span>        <span class=\"token expression\"><span class=\"token number\">0x04<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CMD_DISCON<\/span>         <span class=\"token expression\"><span class=\"token number\">0x08<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CMD_CLOSE<\/span>          <span class=\"token expression\"><span class=\"token number\">0x10<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CMD_SEND<\/span>           <span class=\"token expression\"><span class=\"token number\">0x20<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CMD_SEND_MAC<\/span>       <span class=\"token expression\"><span class=\"token number\">0x21<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CMD_SEND_KEEP<\/span>      <span class=\"token expression\"><span class=\"token number\">0x22<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CMD_RECV<\/span>           <span class=\"token expression\"><span class=\"token number\">0x40<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ Socket\u72b6\u6001<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CLOSED<\/span>             <span class=\"token expression\"><span class=\"token number\">0x00<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_INIT<\/span>               <span class=\"token expression\"><span class=\"token number\">0x13<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_LISTEN<\/span>             <span class=\"token expression\"><span class=\"token number\">0x14<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_ESTABLISHED<\/span>        <span class=\"token expression\"><span class=\"token number\">0x17<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_CLOSE_WAIT<\/span>         <span class=\"token expression\"><span class=\"token number\">0x1C<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_UDP<\/span>                <span class=\"token expression\"><span class=\"token number\">0x22<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SOCKET_MACRAW<\/span>             <span class=\"token expression\"><span class=\"token number\">0x42<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u51fd\u6570\u58f0\u660e<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_ConfigureNetwork<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_TCPConnect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_TCPDisconnect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_TCPSend<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_TCPReceive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> <span class=\"token operator\">*<\/span>length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nbool <span class=\"token function\">W5500_IsConnected<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nNetworkStatus_t<span class=\"token operator\">*<\/span> <span class=\"token function\">W5500_GetStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_UpdateStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SendPacket<\/span><span class=\"token punctuation\">(<\/span>PacketHeader_t <span class=\"token operator\">*<\/span>header<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_ProcessTxQueue<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_ProcessRxQueue<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_HandleConnection<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_Reset<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ SPI\u901a\u4fe1\u51fd\u6570<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> data<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">W5500_ReadWord<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_WriteWord<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> data<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_ReadBuffer<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_WriteBuffer<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ Socket\u64cd\u4f5c\u51fd\u6570<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">W5500_GetSocketStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketOpen<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> protocol<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketClose<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketConnect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>ip<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> port<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketSend<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketReceive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> <span class=\"token operator\">*<\/span>length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __W5500_NET_H *\/<\/span><\/span><\/p>\n<h2>7. W5500\u7f51\u7edc\u9a71\u52a8\u6587\u4ef6 w5500_net.c<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;w5500_net.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;string.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5168\u5c40\u53d8\u91cf<\/span><br \/>\nSPI_HandleTypeDef hspi2<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osMessageQueueId_t<\/span> net_tx_queue <span class=\"token operator\">&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osMessageQueueId_t<\/span> net_rx_queue <span class=\"token operator\">&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">static<\/span> NetworkStatus_t net_status <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> NetworkConfig_t net_config<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token class-name\">uint8_t<\/span> socket <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u4f7f\u7528Socket 0<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u9ed8\u8ba4\u7f51\u7edc\u914d\u7f6e<\/span><br \/>\n<span class=\"token keyword\">const<\/span> NetworkConfig_t g_default_network_config <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>mac <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x08<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0xDC<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x01<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x02<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x03<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>ip <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">192<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">168<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>subnet <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">255<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">255<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">255<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>gateway <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">192<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">168<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>dns <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>server_ip <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;192.168.1.50&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>server_port <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">5000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>client_port <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">6000<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>protocol <span class=\"token operator\">&#061;<\/span> PROTOCOL_CUSTOM_BINARY<span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>packet_size <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">256<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>send_interval <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>auto_reconnect <span class=\"token operator\">&#061;<\/span> true<span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>reconnect_interval <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">5000<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ W5500\u521d\u59cb\u5316<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Initializing W5500&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521b\u5efa\u7f51\u7edc\u961f\u5217<\/span><br \/>\n    net_tx_queue <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osMessageQueueNew<\/span><span class=\"token punctuation\">(<\/span>PACKET_QUEUE_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>PacketHeader_t<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span> PACKET_MAX_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    net_rx_queue <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osMessageQueueNew<\/span><span class=\"token punctuation\">(<\/span>PACKET_QUEUE_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>PacketHeader_t<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span> PACKET_MAX_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>net_tx_queue <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> net_rx_queue <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to create network queues&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_RTOS_TASK_CREATE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316SPI<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> SPI2<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> SPI_MODE_MASTER<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Direction <span class=\"token operator\">&#061;<\/span> SPI_DIRECTION_2LINES<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>DataSize <span class=\"token operator\">&#061;<\/span> SPI_DATASIZE_8BIT<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>CLKPolarity <span class=\"token operator\">&#061;<\/span> SPI_POLARITY_LOW<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>CLKPhase <span class=\"token operator\">&#061;<\/span> SPI_PHASE_1EDGE<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>NSS <span class=\"token operator\">&#061;<\/span> SPI_NSS_SOFT<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>BaudRatePrescaler <span class=\"token operator\">&#061;<\/span> SPI_BAUDRATEPRESCALER_8<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>FirstBit <span class=\"token operator\">&#061;<\/span> SPI_FIRSTBIT_MSB<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>TIMode <span class=\"token operator\">&#061;<\/span> SPI_TIMODE_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>CRCCalculation <span class=\"token operator\">&#061;<\/span> SPI_CRCCALCULATION_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hspi2<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>CRCPolynomial <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_SPI_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hspi2<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;SPI initialization failed&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_INIT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u914d\u7f6eCS\u5f15\u811a<\/span><br \/>\n    GPIO_InitTypeDef GPIO_InitStruct <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">__HAL_RCC_GPIOB_CLK_ENABLE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_OUTPUT_PP<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pull <span class=\"token operator\">&#061;<\/span> GPIO_NOPULL<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Speed <span class=\"token operator\">&#061;<\/span> GPIO_SPEED_FREQ_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStruct<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5ef6\u8fdf\u4ee5\u786e\u4fddW5500\u4e0a\u7535\u5b8c\u6210<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6d4b\u8bd5W5500\u901a\u4fe1<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>W5500_MR<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x80<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u8f6f\u4ef6\u590d\u4f4d<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>W5500_MR<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u6e05\u9664\u590d\u4f4d<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bfb\u53d6\u7248\u672c\u5bc4\u5b58\u5668&#xff08;\u5e94\u4e3a0x04&#xff09;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> version <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0x0039<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>version <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0x04<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;W5500 version mismatch: 0x%02X&#034;<\/span><span class=\"token punctuation\">,<\/span> version<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_INIT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u52a0\u8f7d\u9ed8\u8ba4\u914d\u7f6e<\/span><br \/>\n    <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>net_config<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>g_default_network_config<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>NetworkConfig_t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u914d\u7f6e\u7f51\u7edc<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_ConfigureNetwork<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316\u72b6\u6001<\/span><br \/>\n    <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>net_status<span class=\"token punctuation\">.<\/span>mac<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>mac<span class=\"token punctuation\">,<\/span> <span class=\"token number\">6<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>net_status<span class=\"token punctuation\">.<\/span>ip<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>ip<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>net_status<span class=\"token punctuation\">.<\/span>subnet<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>subnet<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>net_status<span class=\"token punctuation\">.<\/span>gateway<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>gateway<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>net_status<span class=\"token punctuation\">.<\/span>dns<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>dns<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    net_status<span class=\"token punctuation\">.<\/span>dhcp_enabled <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n    net_status<span class=\"token punctuation\">.<\/span>link_status <span class=\"token operator\">&#061;<\/span> true<span class=\"token punctuation\">;<\/span><br \/>\n    net_status<span class=\"token punctuation\">.<\/span>tcp_connected <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;W5500 initialized successfully&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;MAC: %02X:%02X:%02X:%02X:%02X:%02X&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                net_config<span class=\"token punctuation\">.<\/span>mac<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>mac<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>mac<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                net_config<span class=\"token punctuation\">.<\/span>mac<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>mac<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>mac<span class=\"token punctuation\">[<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;IP: %d.%d.%d.%d&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                net_config<span class=\"token punctuation\">.<\/span>ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u914d\u7f6e\u7f51\u7edc\u53c2\u6570<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_ConfigureNetwork<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Configuring W5500 network&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6eMAC\u5730\u5740<\/span><br \/>\n    <span class=\"token function\">W5500_WriteBuffer<\/span><span class=\"token punctuation\">(<\/span>W5500_SHAR<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>mac<span class=\"token punctuation\">,<\/span> <span class=\"token number\">6<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6eIP\u5730\u5740<\/span><br \/>\n    <span class=\"token function\">W5500_WriteBuffer<\/span><span class=\"token punctuation\">(<\/span>W5500_SIPR<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>ip<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u5b50\u7f51\u63a9\u7801<\/span><br \/>\n    <span class=\"token function\">W5500_WriteBuffer<\/span><span class=\"token punctuation\">(<\/span>W5500_SUBR<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>subnet<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u7f51\u5173<\/span><br \/>\n    <span class=\"token function\">W5500_WriteBuffer<\/span><span class=\"token punctuation\">(<\/span>W5500_GAR<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>gateway<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u91cd\u8bd5\u53c2\u6570<\/span><br \/>\n    <span class=\"token function\">W5500_WriteWord<\/span><span class=\"token punctuation\">(<\/span>W5500_RTR<span class=\"token punctuation\">,<\/span> <span class=\"token number\">2000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u91cd\u8bd5\u65f6\u95f42000ms<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>W5500_RCR<span class=\"token punctuation\">,<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u91cd\u8bd5\u6b21\u65708\u6b21<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;W5500 network configured&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ TCP\u8fde\u63a5<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_TCPConnect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Establishing TCP connection&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6253\u5f00Socket<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_SocketOpen<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x01<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ TCP\u6a21\u5f0f<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u672c\u5730\u7aef\u53e3<\/span><br \/>\n    <span class=\"token function\">W5500_WriteWord<\/span><span class=\"token punctuation\">(<\/span>SOCKET_BASE <span class=\"token operator\">&#043;<\/span> socket <span class=\"token operator\">*<\/span> SOCKET_REG_SIZE <span class=\"token operator\">&#043;<\/span> SOCKET_PORT<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>client_port<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u89e3\u6790\u670d\u52a1\u5668IP<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> server_ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">sscanf<\/span><span class=\"token punctuation\">(<\/span>net_config<span class=\"token punctuation\">.<\/span>server_ip<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;%hhu.%hhu.%hhu.%hhu&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n               <span class=\"token operator\">&amp;<\/span>server_ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>server_ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>server_ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>server_ip<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Invalid server IP address: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>server_ip<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_TCP_CONNECT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8fde\u63a5\u670d\u52a1\u5668<\/span><br \/>\n    error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_SocketConnect<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">,<\/span> server_ip<span class=\"token punctuation\">,<\/span> net_config<span class=\"token punctuation\">.<\/span>server_port<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7b49\u5f85\u8fde\u63a5\u5efa\u7acb<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> timeout <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">W5500_GetSocketStatus<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> SOCKET_ESTABLISHED<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> timeout <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">5000<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;TCP connection timeout&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">W5500_SocketClose<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token keyword\">return<\/span> ERROR_W5500_TCP_CONNECT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    net_status<span class=\"token punctuation\">.<\/span>tcp_connected <span class=\"token operator\">&#061;<\/span> true<span class=\"token punctuation\">;<\/span><br \/>\n    net_status<span class=\"token punctuation\">.<\/span>connect_count<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    net_status<span class=\"token punctuation\">.<\/span>last_connect_time <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;TCP connection established&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ TCP\u65ad\u5f00\u8fde\u63a5<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_TCPDisconnect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Closing TCP connection&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_SocketClose<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    net_status<span class=\"token punctuation\">.<\/span>tcp_connected <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n    net_status<span class=\"token punctuation\">.<\/span>disconnect_count<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;TCP connection closed&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ TCP\u53d1\u9001\u6570\u636e<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_TCPSend<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>data <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> length <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_TCP_SEND_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span><span class=\"token function\">W5500_IsConnected<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;TCP not connected, cannot send data&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_TCP_SEND_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_SocketSend<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">&#061;&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        net_status<span class=\"token punctuation\">.<\/span>tx_bytes <span class=\"token operator\">&#043;&#061;<\/span> length<span class=\"token punctuation\">;<\/span><br \/>\n        net_status<span class=\"token punctuation\">.<\/span>tx_packets<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        net_status<span class=\"token punctuation\">.<\/span>last_error_time <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ TCP\u63a5\u6536\u6570\u636e<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_TCPReceive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> <span class=\"token operator\">*<\/span>length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>buffer <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> length <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_TCP_SEND_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span><span class=\"token function\">W5500_IsConnected<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token operator\">*<\/span>length <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_TCP_SEND_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_SocketReceive<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">,<\/span> buffer<span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">&#061;&#061;<\/span> ERROR_NONE <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token operator\">*<\/span>length <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        net_status<span class=\"token punctuation\">.<\/span>rx_bytes <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token operator\">*<\/span>length<span class=\"token punctuation\">;<\/span><br \/>\n        net_status<span class=\"token punctuation\">.<\/span>rx_packets<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u68c0\u67e5\u8fde\u63a5\u72b6\u6001<\/span><br \/>\nbool <span class=\"token function\">W5500_IsConnected<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> net_status<span class=\"token punctuation\">.<\/span>tcp_connected <span class=\"token operator\">&amp;&amp;<\/span><br \/>\n           <span class=\"token punctuation\">(<\/span><span class=\"token function\">W5500_GetSocketStatus<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> SOCKET_ESTABLISHED<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u83b7\u53d6\u7f51\u7edc\u72b6\u6001<\/span><br \/>\nNetworkStatus_t<span class=\"token operator\">*<\/span> <span class=\"token function\">W5500_GetStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token operator\">&amp;<\/span>net_status<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u66f4\u65b0\u7f51\u7edc\u72b6\u6001<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_UpdateStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u66f4\u65b0\u94fe\u8def\u72b6\u6001&#xff08;\u7b80\u5316\u7248\u672c&#xff0c;\u5b9e\u9645\u9700\u8981\u68c0\u6d4bPHY&#xff09;<\/span><br \/>\n    net_status<span class=\"token punctuation\">.<\/span>link_status <span class=\"token operator\">&#061;<\/span> true<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u66f4\u65b0TCP\u8fde\u63a5\u72b6\u6001<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>net_status<span class=\"token punctuation\">.<\/span>tcp_connected<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token class-name\">uint8_t<\/span> status <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_GetSocketStatus<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>status <span class=\"token operator\">!&#061;<\/span> SOCKET_ESTABLISHED <span class=\"token operator\">&amp;&amp;<\/span> status <span class=\"token operator\">!&#061;<\/span> SOCKET_CLOSE_WAIT<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            net_status<span class=\"token punctuation\">.<\/span>tcp_connected <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;TCP connection lost, status&#061;0x%02X&#034;<\/span><span class=\"token punctuation\">,<\/span> status<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u53d1\u9001\u6570\u636e\u5305<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SendPacket<\/span><span class=\"token punctuation\">(<\/span>PacketHeader_t <span class=\"token operator\">*<\/span>header<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>header <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_TCP_SEND_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6784\u5efa\u6570\u636e\u5305<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> packet<span class=\"token punctuation\">[<\/span>PACKET_MAX_SIZE<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> packet_size <span class=\"token operator\">&#061;<\/span> PACKET_HEADER_SIZE <span class=\"token operator\">&#043;<\/span> header<span class=\"token operator\">-&gt;<\/span>length<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>packet_size <span class=\"token operator\">&gt;<\/span> PACKET_MAX_SIZE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Packet too large: %d &gt; %d&#034;<\/span><span class=\"token punctuation\">,<\/span> packet_size<span class=\"token punctuation\">,<\/span> PACKET_MAX_SIZE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_TCP_SEND_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u590d\u5236\u5305\u5934<\/span><br \/>\n    <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>packet<span class=\"token punctuation\">,<\/span> header<span class=\"token punctuation\">,<\/span> PACKET_HEADER_SIZE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u590d\u5236\u6570\u636e<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>data <span class=\"token operator\">!&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">&amp;&amp;<\/span> header<span class=\"token operator\">-&gt;<\/span>length <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>packet <span class=\"token operator\">&#043;<\/span> PACKET_HEADER_SIZE<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> header<span class=\"token operator\">-&gt;<\/span>length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8ba1\u7b97\u6821\u9a8c\u548c<\/span><br \/>\n    header<span class=\"token operator\">-&gt;<\/span>checksum <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> packet_size<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        header<span class=\"token operator\">-&gt;<\/span>checksum <span class=\"token operator\">&#043;&#061;<\/span> packet<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u66f4\u65b0\u5305\u5934\u4e2d\u7684\u6821\u9a8c\u548c<\/span><br \/>\n    <span class=\"token function\">memcpy<\/span><span class=\"token punctuation\">(<\/span>packet<span class=\"token punctuation\">,<\/span> header<span class=\"token punctuation\">,<\/span> PACKET_HEADER_SIZE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53d1\u9001\u6570\u636e\u5305<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token function\">W5500_TCPSend<\/span><span class=\"token punctuation\">(<\/span>packet<span class=\"token punctuation\">,<\/span> packet_size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5904\u7406\u53d1\u9001\u961f\u5217<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_ProcessTxQueue<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> packet<span class=\"token punctuation\">[<\/span>PACKET_MAX_SIZE<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5c1d\u8bd5\u4ece\u961f\u5217\u83b7\u53d6\u6570\u636e\u5305<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">osMessageQueueGet<\/span><span class=\"token punctuation\">(<\/span>net_tx_queue<span class=\"token punctuation\">,<\/span> packet<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> osOK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        PacketHeader_t <span class=\"token operator\">*<\/span>header <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>PacketHeader_t <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>packet<span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u53d1\u9001\u6570\u636e\u5305<\/span><br \/>\n        ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_SendPacket<\/span><span class=\"token punctuation\">(<\/span>header<span class=\"token punctuation\">,<\/span> packet <span class=\"token operator\">&#043;<\/span> PACKET_HEADER_SIZE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to send packet from queue&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5904\u7406\u63a5\u6536\u961f\u5217<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_ProcessRxQueue<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> buffer<span class=\"token punctuation\">[<\/span>TCP_RECV_BUFFER_SIZE<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> length <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u63a5\u6536\u6570\u636e<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_TCPReceive<\/span><span class=\"token punctuation\">(<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">&#061;&#061;<\/span> ERROR_NONE <span class=\"token operator\">&amp;&amp;<\/span> length <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u8fd9\u91cc\u53ef\u4ee5\u6dfb\u52a0\u63a5\u6536\u6570\u636e\u5904\u7406\u903b\u8f91<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Received %d bytes from TCP&#034;<\/span><span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u5c06\u63a5\u6536\u5230\u7684\u6570\u636e\u653e\u5165\u63a5\u6536\u961f\u5217<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">osMessageQueuePut<\/span><span class=\"token punctuation\">(<\/span>net_rx_queue<span class=\"token punctuation\">,<\/span> buffer<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> osOK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Net RX queue full, data dropped&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5904\u7406\u8fde\u63a5<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_HandleConnection<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">static<\/span> <span class=\"token class-name\">uint32_t<\/span> last_reconnect_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> current_time <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u66f4\u65b0\u72b6\u6001<\/span><br \/>\n    <span class=\"token function\">W5500_UpdateStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span><span class=\"token function\">W5500_IsConnected<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u5c1d\u8bd5\u91cd\u65b0\u8fde\u63a5<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>net_config<span class=\"token punctuation\">.<\/span>auto_reconnect <span class=\"token operator\">&amp;&amp;<\/span><br \/>\n            <span class=\"token punctuation\">(<\/span>current_time <span class=\"token operator\">&#8211;<\/span> last_reconnect_time <span class=\"token operator\">&gt;&#061;<\/span> net_config<span class=\"token punctuation\">.<\/span>reconnect_interval<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><\/p>\n<p>            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Attempting to reconnect&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_TCPConnect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">&#061;&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Reconnected successfully&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Reconnect failed: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n                last_reconnect_time <span class=\"token operator\">&#061;<\/span> current_time<span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u53d1\u9001\u4fdd\u6d3b\u6570\u636e&#xff08;\u5982\u679c\u9700\u8981&#xff09;<\/span><br \/>\n        <span class=\"token keyword\">static<\/span> <span class=\"token class-name\">uint32_t<\/span> last_keepalive_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>current_time <span class=\"token operator\">&#8211;<\/span> last_keepalive_time <span class=\"token operator\">&gt;&#061;<\/span> TCP_KEEPALIVE_INTERVAL <span class=\"token operator\">*<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u53ef\u4ee5\u53d1\u9001\u5fc3\u8df3\u5305<\/span><br \/>\n            last_keepalive_time <span class=\"token operator\">&#061;<\/span> current_time<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u91cd\u7f6eW5500<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_Reset<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Resetting W5500&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8f6f\u4ef6\u590d\u4f4d<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>W5500_MR<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x80<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>W5500_MR<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91cd\u65b0\u914d\u7f6e\u7f51\u7edc<\/span><br \/>\n    <span class=\"token function\">W5500_ConfigureNetwork<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u91cd\u7f6e\u72b6\u6001<\/span><br \/>\n    net_status<span class=\"token punctuation\">.<\/span>tcp_connected <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;W5500 reset complete&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ SPI\u8bfb\u53d6\u5355\u4e2a\u5b57\u8282<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> control_byte <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>address <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xF8<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5757\u9009\u62e9<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> addr_low <span class=\"token operator\">&#061;<\/span> address <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFF<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> tx_data<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span>control_byte<span class=\"token punctuation\">,<\/span> addr_low<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> rx_data<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_SPI_TransmitReceive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hspi2<span class=\"token punctuation\">,<\/span> tx_data<span class=\"token punctuation\">,<\/span> rx_data<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">,<\/span> W5500_SPI_TIMEOUT<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> rx_data<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ SPI\u5199\u5165\u5355\u4e2a\u5b57\u8282<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> data<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> control_byte <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>address <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xF8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">|<\/span> <span class=\"token number\">0x04<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5757\u9009\u62e9 &#043; \u5199\u547d\u4ee4<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> addr_low <span class=\"token operator\">&#061;<\/span> address <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFF<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> tx_data<span class=\"token punctuation\">[<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span>control_byte<span class=\"token punctuation\">,<\/span> addr_low<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_SPI_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hspi2<span class=\"token punctuation\">,<\/span> tx_data<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">,<\/span> W5500_SPI_TIMEOUT<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8bfb\u53d616\u4f4d\u6570\u636e<\/span><br \/>\n<span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">W5500_ReadWord<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> value <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    value <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span>address<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    value <span class=\"token operator\">|&#061;<\/span> <span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span>address <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> value<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5199\u516516\u4f4d\u6570\u636e<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_WriteWord<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> data<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>address<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span>data <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFF<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>address <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> data <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFF<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8bfb\u53d6\u7f13\u51b2\u533a<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_ReadBuffer<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> control_byte <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>address <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xF8<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5757\u9009\u62e9<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> addr_low <span class=\"token operator\">&#061;<\/span> address <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFF<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> tx_cmd<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span>control_byte<span class=\"token punctuation\">,<\/span> addr_low<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_SPI_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hspi2<span class=\"token punctuation\">,<\/span> tx_cmd<span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span> W5500_SPI_TIMEOUT<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_SPI_Receive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hspi2<span class=\"token punctuation\">,<\/span> buffer<span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">,<\/span> W5500_SPI_TIMEOUT<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5199\u5165\u7f13\u51b2\u533a<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">W5500_WriteBuffer<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> address<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> control_byte <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>address <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xF8<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">|<\/span> <span class=\"token number\">0x04<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5757\u9009\u62e9 &#043; \u5199\u547d\u4ee4<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> addr_low <span class=\"token operator\">&#061;<\/span> address <span class=\"token operator\">&amp;<\/span> <span class=\"token number\">0xFF<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> tx_cmd<span class=\"token punctuation\">[<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span>control_byte<span class=\"token punctuation\">,<\/span> addr_low<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_SPI_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hspi2<span class=\"token punctuation\">,<\/span> tx_cmd<span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">,<\/span> W5500_SPI_TIMEOUT<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_SPI_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hspi2<span class=\"token punctuation\">,<\/span> buffer<span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">,<\/span> W5500_SPI_TIMEOUT<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>W5500_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> W5500_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u83b7\u53d6Socket\u72b6\u6001<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> <span class=\"token function\">W5500_GetSocketStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> reg_addr <span class=\"token operator\">&#061;<\/span> SOCKET_BASE <span class=\"token operator\">&#043;<\/span> socket <span class=\"token operator\">*<\/span> SOCKET_REG_SIZE <span class=\"token operator\">&#043;<\/span> SOCKET_SR<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6253\u5f00Socket<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketOpen<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> protocol<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> reg_addr <span class=\"token operator\">&#061;<\/span> SOCKET_BASE <span class=\"token operator\">&#043;<\/span> socket <span class=\"token operator\">*<\/span> SOCKET_REG_SIZE<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6eSocket\u6a21\u5f0f<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_MR<span class=\"token punctuation\">,<\/span> protocol<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53d1\u9001\u6253\u5f00\u547d\u4ee4<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">,<\/span> SOCKET_CMD_OPEN<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7b49\u5f85\u547d\u4ee4\u5b8c\u6210<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u68c0\u67e5Socket\u72b6\u6001<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> status <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_GetSocketStatus<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>status <span class=\"token operator\">&#061;&#061;<\/span> SOCKET_CLOSED<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to open socket %d&#034;<\/span><span class=\"token punctuation\">,<\/span> socket<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_CONFIG_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5173\u95edSocket<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketClose<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> reg_addr <span class=\"token operator\">&#061;<\/span> SOCKET_BASE <span class=\"token operator\">&#043;<\/span> socket <span class=\"token operator\">*<\/span> SOCKET_REG_SIZE<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53d1\u9001\u5173\u95ed\u547d\u4ee4<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">,<\/span> SOCKET_CMD_CLOSE<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7b49\u5f85\u547d\u4ee4\u5b8c\u6210<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7b49\u5f85Socket\u5173\u95ed<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> timeout <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">W5500_GetSocketStatus<\/span><span class=\"token punctuation\">(<\/span>socket<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> SOCKET_CLOSED<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> timeout <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Socket close timeout&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token keyword\">return<\/span> ERROR_W5500_CONFIG_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ Socket\u8fde\u63a5<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketConnect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>ip<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> port<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> reg_addr <span class=\"token operator\">&#061;<\/span> SOCKET_BASE <span class=\"token operator\">&#043;<\/span> socket <span class=\"token operator\">*<\/span> SOCKET_REG_SIZE<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u76ee\u6807IP\u548c\u7aef\u53e3<\/span><br \/>\n    <span class=\"token function\">W5500_WriteBuffer<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_DIPR<span class=\"token punctuation\">,<\/span> ip<span class=\"token punctuation\">,<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">W5500_WriteWord<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_DPORT<span class=\"token punctuation\">,<\/span> port<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53d1\u9001\u8fde\u63a5\u547d\u4ee4<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">,<\/span> SOCKET_CMD_CONNECT<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7b49\u5f85\u547d\u4ee4\u5b8c\u6210<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ Socket\u53d1\u9001\u6570\u636e<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketSend<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> reg_addr <span class=\"token operator\">&#061;<\/span> SOCKET_BASE <span class=\"token operator\">&#043;<\/span> socket <span class=\"token operator\">*<\/span> SOCKET_REG_SIZE<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u68c0\u67e5\u53d1\u9001\u7f13\u51b2\u533a\u7a7a\u95f4<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> free_size <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_ReadWord<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_TX_FSR<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>free_size <span class=\"token operator\">&lt;<\/span> length<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;TX buffer full: %d &lt; %d&#034;<\/span><span class=\"token punctuation\">,<\/span> free_size<span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_W5500_TCP_SEND_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u83b7\u53d6\u5f53\u524d\u5199\u6307\u9488<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> write_ptr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_ReadWord<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_TX_WR<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5199\u5165\u6570\u636e\u5230TX\u7f13\u51b2\u533a<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> tx_buffer_addr <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0x8000<\/span> <span class=\"token operator\">&#043;<\/span> socket <span class=\"token operator\">*<\/span> <span class=\"token number\">0x0800<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u6bcf\u4e2aSocket 2KB TX\u7f13\u51b2\u533a<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> tx_offset <span class=\"token operator\">&#061;<\/span> write_ptr <span class=\"token operator\">&#043;<\/span> tx_buffer_addr<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">W5500_WriteBuffer<\/span><span class=\"token punctuation\">(<\/span>tx_offset<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> length<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u66f4\u65b0\u5199\u6307\u9488<\/span><br \/>\n    write_ptr <span class=\"token operator\">&#043;&#061;<\/span> length<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">W5500_WriteWord<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_TX_WR<span class=\"token punctuation\">,<\/span> write_ptr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53d1\u9001\u547d\u4ee4<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">,<\/span> SOCKET_CMD_SEND<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7b49\u5f85\u547d\u4ee4\u5b8c\u6210<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ Socket\u63a5\u6536\u6570\u636e<\/span><br \/>\nErrorCode_t <span class=\"token function\">W5500_SocketReceive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> socket<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> <span class=\"token operator\">*<\/span>length<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> reg_addr <span class=\"token operator\">&#061;<\/span> SOCKET_BASE <span class=\"token operator\">&#043;<\/span> socket <span class=\"token operator\">*<\/span> SOCKET_REG_SIZE<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u68c0\u67e5\u63a5\u6536\u6570\u636e\u5927\u5c0f<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> data_size <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_ReadWord<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_RX_RSR<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>data_size <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token operator\">*<\/span>length <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u9650\u5236\u63a5\u6536\u5927\u5c0f<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>data_size <span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">*<\/span>length<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        data_size <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">*<\/span>length<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u83b7\u53d6\u5f53\u524d\u8bfb\u6307\u9488<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> read_ptr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_ReadWord<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_RX_RD<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u4eceRX\u7f13\u51b2\u533a\u8bfb\u53d6\u6570\u636e<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> rx_buffer_addr <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0xC000<\/span> <span class=\"token operator\">&#043;<\/span> socket <span class=\"token operator\">*<\/span> <span class=\"token number\">0x0800<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u6bcf\u4e2aSocket 2KB RX\u7f13\u51b2\u533a<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> rx_offset <span class=\"token operator\">&#061;<\/span> read_ptr <span class=\"token operator\">&#043;<\/span> rx_buffer_addr<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">W5500_ReadBuffer<\/span><span class=\"token punctuation\">(<\/span>rx_offset<span class=\"token punctuation\">,<\/span> buffer<span class=\"token punctuation\">,<\/span> data_size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u66f4\u65b0\u8bfb\u6307\u9488<\/span><br \/>\n    read_ptr <span class=\"token operator\">&#043;&#061;<\/span> data_size<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">W5500_WriteWord<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_RX_RD<span class=\"token punctuation\">,<\/span> read_ptr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53d1\u9001\u63a5\u6536\u5b8c\u6210\u547d\u4ee4<\/span><br \/>\n    <span class=\"token function\">W5500_WriteByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">,<\/span> SOCKET_CMD_RECV<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7b49\u5f85\u547d\u4ee4\u5b8c\u6210<\/span><br \/>\n    <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">W5500_ReadByte<\/span><span class=\"token punctuation\">(<\/span>reg_addr <span class=\"token operator\">&#043;<\/span> SOCKET_CR<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token operator\">*<\/span>length <span class=\"token operator\">&#061;<\/span> data_size<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h2>8. SD\u5361\u5b58\u50a8\u9a71\u52a8\u6587\u4ef6 sd_storage.h<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__SD_STORAGE_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__SD_STORAGE_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;system_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;ff.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;diskio.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;cmsis_os.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token string\">&#034;C&#034;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ SD\u5361\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SD_SPI<\/span>                    <span class=\"token expression\">SPI1<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SD_SPI_CS_PIN<\/span>             <span class=\"token expression\">GPIO_PIN_2<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SD_SPI_CS_PORT<\/span>            <span class=\"token expression\">GPIOC<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SD_SPI_TIMEOUT<\/span>            <span class=\"token expression\"><span class=\"token number\">1000<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SD_CARD_DETECT_PIN<\/span>        <span class=\"token expression\">GPIO_PIN_3<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">SD_CARD_DETECT_PORT<\/span>       <span class=\"token expression\">GPIOC<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6587\u4ef6\u7cfb\u7edf\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">MAX_FILES<\/span>                 <span class=\"token expression\"><span class=\"token number\">10<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">MAX_FILENAME_LENGTH<\/span>       <span class=\"token expression\"><span class=\"token number\">32<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">MAX_PATH_LENGTH<\/span>           <span class=\"token expression\"><span class=\"token number\">128<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">FILE_BUFFER_SIZE<\/span>          <span class=\"token expression\"><span class=\"token number\">512<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">LOG_FILE_SIZE_LIMIT<\/span>       <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span> <span class=\"token operator\">*<\/span> <span class=\"token number\">1024<\/span> <span class=\"token operator\">*<\/span> <span class=\"token number\">1024<\/span><span class=\"token punctuation\">)<\/span>  <\/span><span class=\"token comment\">\/\/ 10MB<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">BACKUP_FILE_COUNT<\/span>         <span class=\"token expression\"><span class=\"token number\">5<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6587\u4ef6\u7c7b\u578b\u5b9a\u4e49<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">enum<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    FILE_TYPE_DATA <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span>            <span class=\"token comment\">\/\/ \u6570\u636e\u6587\u4ef6<\/span><br \/>\n    FILE_TYPE_LOG<span class=\"token punctuation\">,<\/span>                 <span class=\"token comment\">\/\/ \u65e5\u5fd7\u6587\u4ef6<\/span><br \/>\n    FILE_TYPE_CONFIG<span class=\"token punctuation\">,<\/span>              <span class=\"token comment\">\/\/ \u914d\u7f6e\u6587\u4ef6<\/span><br \/>\n    FILE_TYPE_TEMP                 <span class=\"token comment\">\/\/ \u4e34\u65f6\u6587\u4ef6<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> FileType_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6587\u4ef6\u4fe1\u606f\u7ed3\u6784<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">char<\/span> filename<span class=\"token punctuation\">[<\/span>MAX_FILENAME_LENGTH<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    FileType_t type<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> size<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> timestamp<span class=\"token punctuation\">;<\/span><br \/>\n    bool is_open<span class=\"token punctuation\">;<\/span><br \/>\n    FIL file_handle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> FileInfo_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5b58\u50a8\u7edf\u8ba1\u4fe1\u606f<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> total_space<span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u603b\u7a7a\u95f4 (KB)<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> free_space<span class=\"token punctuation\">;<\/span>           <span class=\"token comment\">\/\/ \u5269\u4f59\u7a7a\u95f4 (KB)<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> files_written<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u5199\u5165\u6587\u4ef6\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> bytes_written<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u5199\u5165\u5b57\u8282\u6570<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> write_errors<span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/\/ \u5199\u5165\u9519\u8bef<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_error<span class=\"token punctuation\">;<\/span>           <span class=\"token comment\">\/\/ \u6700\u540e\u9519\u8bef\u4ee3\u7801<\/span><br \/>\n    bool is_mounted<span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u6302\u8f7d\u72b6\u6001<\/span><br \/>\n    bool card_present<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u5361\u5b58\u5728\u72b6\u6001<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> StorageStatus_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u8bb0\u5f55\u7ed3\u6784<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> timestamp<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> data_type<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> data_length<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> data<span class=\"token punctuation\">[<\/span><span class=\"token number\">256<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> DataRecord_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u51fd\u6570\u58f0\u660e<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_Mount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_Unmount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nbool <span class=\"token function\">SD_Storage_IsCardPresent<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nbool <span class=\"token function\">SD_Storage_IsMounted<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nStorageStatus_t<span class=\"token operator\">*<\/span> <span class=\"token function\">SD_Storage_GetStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">SD_Storage_UpdateStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6587\u4ef6\u64cd\u4f5c<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_OpenFile<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>filename<span class=\"token punctuation\">,<\/span> FileType_t type<span class=\"token punctuation\">,<\/span> FileInfo_t <span class=\"token operator\">*<\/span>file_info<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_CloseFile<\/span><span class=\"token punctuation\">(<\/span>FileInfo_t <span class=\"token operator\">*<\/span>file_info<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_WriteData<\/span><span class=\"token punctuation\">(<\/span>FileInfo_t <span class=\"token operator\">*<\/span>file_info<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_ReadData<\/span><span class=\"token punctuation\">(<\/span>FileInfo_t <span class=\"token operator\">*<\/span>file_info<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> size<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span>bytes_read<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_Seek<\/span><span class=\"token punctuation\">(<\/span>FileInfo_t <span class=\"token operator\">*<\/span>file_info<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> offset<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_Truncate<\/span><span class=\"token punctuation\">(<\/span>FileInfo_t <span class=\"token operator\">*<\/span>file_info<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u65e5\u5fd7\u6587\u4ef6\u64cd\u4f5c<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_WriteLog<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>message<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_WriteDataRecord<\/span><span class=\"token punctuation\">(<\/span>DataRecord_t <span class=\"token operator\">*<\/span>record<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_RotateLogs<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u76ee\u5f55\u64cd\u4f5c<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_CreateDirectory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>path<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_ListFiles<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>path<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span><span class=\"token operator\">*<\/span>file_list<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span>count<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_DeleteFile<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>filename<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_Format<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5de5\u5177\u51fd\u6570<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">SD_Storage_GetFreeSpace<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">SD_Storage_GetTotalSpace<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_CheckIntegrity<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">SD_Storage_CleanupOldFiles<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ FATFS\u56de\u8c03\u51fd\u6570<\/span><br \/>\nDSTATUS <span class=\"token function\">disk_initialize<\/span><span class=\"token punctuation\">(<\/span>BYTE pdrv<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nDSTATUS <span class=\"token function\">disk_status<\/span><span class=\"token punctuation\">(<\/span>BYTE pdrv<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nDRESULT <span class=\"token function\">disk_read<\/span><span class=\"token punctuation\">(<\/span>BYTE pdrv<span class=\"token punctuation\">,<\/span> BYTE <span class=\"token operator\">*<\/span>buff<span class=\"token punctuation\">,<\/span> LBA_t sector<span class=\"token punctuation\">,<\/span> UINT count<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nDRESULT <span class=\"token function\">disk_write<\/span><span class=\"token punctuation\">(<\/span>BYTE pdrv<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> BYTE <span class=\"token operator\">*<\/span>buff<span class=\"token punctuation\">,<\/span> LBA_t sector<span class=\"token punctuation\">,<\/span> UINT count<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nDRESULT <span class=\"token function\">disk_ioctl<\/span><span class=\"token punctuation\">(<\/span>BYTE pdrv<span class=\"token punctuation\">,<\/span> BYTE cmd<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>buff<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __SD_STORAGE_H *\/<\/span><\/span><\/p>\n<h2>9. SD\u5361\u5b58\u50a8\u9a71\u52a8\u6587\u4ef6 sd_storage.c<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;sd_storage.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;string.h&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdio.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5168\u5c40\u53d8\u91cf<\/span><br \/>\n<span class=\"token keyword\">static<\/span> FATFS fatfs<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> StorageStatus_t storage_status <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">char<\/span> current_log_file<span class=\"token punctuation\">[<\/span>MAX_PATH_LENGTH<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ SD\u5361\u521d\u59cb\u5316<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Initializing SD card storage&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316SPI<\/span><br \/>\n    SPI_HandleTypeDef hspi1<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> SPI1<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> SPI_MODE_MASTER<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Direction <span class=\"token operator\">&#061;<\/span> SPI_DIRECTION_2LINES<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>DataSize <span class=\"token operator\">&#061;<\/span> SPI_DATASIZE_8BIT<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>CLKPolarity <span class=\"token operator\">&#061;<\/span> SPI_POLARITY_LOW<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>CLKPhase <span class=\"token operator\">&#061;<\/span> SPI_PHASE_1EDGE<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>NSS <span class=\"token operator\">&#061;<\/span> SPI_NSS_SOFT<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>BaudRatePrescaler <span class=\"token operator\">&#061;<\/span> SPI_BAUDRATEPRESCALER_256<span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u4f4e\u901f\u521d\u59cb\u901a\u4fe1<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>FirstBit <span class=\"token operator\">&#061;<\/span> SPI_FIRSTBIT_MSB<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>TIMode <span class=\"token operator\">&#061;<\/span> SPI_TIMODE_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>CRCCalculation <span class=\"token operator\">&#061;<\/span> SPI_CRCCALCULATION_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hspi1<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>CRCPolynomial <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">10<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_SPI_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hspi1<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;SD SPI initialization failed&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_INIT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u914d\u7f6eCS\u5f15\u811a<\/span><br \/>\n    GPIO_InitTypeDef GPIO_InitStruct <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">__HAL_RCC_GPIOC_CLK_ENABLE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> SD_SPI_CS_PIN<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_OUTPUT_PP<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pull <span class=\"token operator\">&#061;<\/span> GPIO_NOPULL<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Speed <span class=\"token operator\">&#061;<\/span> GPIO_SPEED_FREQ_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>SD_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStruct<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>SD_SPI_CS_PORT<span class=\"token punctuation\">,<\/span> SD_SPI_CS_PIN<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u914d\u7f6e\u5361\u68c0\u6d4b\u5f15\u811a<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> SD_CARD_DETECT_PIN<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_INPUT<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pull <span class=\"token operator\">&#061;<\/span> GPIO_PULLUP<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>SD_CARD_DETECT_PORT<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStruct<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316\u5b58\u50a8\u72b6\u6001<\/span><br \/>\n    <span class=\"token function\">memset<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>storage_status<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>StorageStatus_t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    storage_status<span class=\"token punctuation\">.<\/span>card_present <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">SD_Storage_IsCardPresent<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5c1d\u8bd5\u6302\u8f7d\u6587\u4ef6\u7cfb\u7edf<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>storage_status<span class=\"token punctuation\">.<\/span>card_present<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        ErrorCode_t mount_error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">SD_Storage_Mount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>mount_error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;SD card mount failed: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> mount_error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token keyword\">return<\/span> mount_error<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;SD card not present&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_INIT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521b\u5efa\u5fc5\u8981\u7684\u76ee\u5f55<\/span><br \/>\n    <span class=\"token function\">SD_Storage_CreateDirectory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/data&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">SD_Storage_CreateDirectory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/logs&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">SD_Storage_CreateDirectory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\/config&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316\u5f53\u524d\u65e5\u5fd7\u6587\u4ef6<\/span><br \/>\n    <span class=\"token class-name\">time_t<\/span> rawtime<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">tm<\/span> <span class=\"token operator\">*<\/span>timeinfo<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">char<\/span> timestamp<span class=\"token punctuation\">[<\/span><span class=\"token number\">20<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">time<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>rawtime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    timeinfo <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">localtime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>rawtime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">strftime<\/span><span class=\"token punctuation\">(<\/span>timestamp<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>timestamp<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;%Y%m%d_%H%M%S&#034;<\/span><span class=\"token punctuation\">,<\/span> timeinfo<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">snprintf<\/span><span class=\"token punctuation\">(<\/span>current_log_file<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>current_log_file<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;\/logs\/data_%s.csv&#034;<\/span><span class=\"token punctuation\">,<\/span> timestamp<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;SD card storage initialized successfully&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Log file: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> current_log_file<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6302\u8f7d\u6587\u4ef6\u7cfb\u7edf<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_Mount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    FRESULT fr<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6302\u8f7d\u6587\u4ef6\u7cfb\u7edf<\/span><br \/>\n    fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_mount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>fatfs<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u7acb\u5373\u6302\u8f7d<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">!&#061;<\/span> FR_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to mount filesystem: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> fr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        storage_status<span class=\"token punctuation\">.<\/span>is_mounted <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_MOUNT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    storage_status<span class=\"token punctuation\">.<\/span>is_mounted <span class=\"token operator\">&#061;<\/span> true<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u66f4\u65b0\u5b58\u50a8\u7a7a\u95f4\u4fe1\u606f<\/span><br \/>\n    DWORD free_clusters<span class=\"token punctuation\">,<\/span> total_clusters<span class=\"token punctuation\">;<\/span><br \/>\n    FATFS <span class=\"token operator\">*<\/span>fs<span class=\"token punctuation\">;<\/span><\/p>\n<p>    fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_getfree<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>free_clusters<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>fs<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">&#061;&#061;<\/span> FR_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        storage_status<span class=\"token punctuation\">.<\/span>total_space <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>fs<span class=\"token operator\">-&gt;<\/span>csize <span class=\"token operator\">*<\/span> total_clusters<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ KB<\/span><br \/>\n        storage_status<span class=\"token punctuation\">.<\/span>free_space <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>fs<span class=\"token operator\">-&gt;<\/span>csize <span class=\"token operator\">*<\/span> free_clusters<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/ KB<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Filesystem mounted, free space: %lu KB&#034;<\/span><span class=\"token punctuation\">,<\/span> storage_status<span class=\"token punctuation\">.<\/span>free_space<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5378\u8f7d\u6587\u4ef6\u7cfb\u7edf<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_Unmount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    FRESULT fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_mount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5378\u8f7d<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">!&#061;<\/span> FR_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to unmount filesystem: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> fr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_MOUNT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    storage_status<span class=\"token punctuation\">.<\/span>is_mounted <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Filesystem unmounted&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u68c0\u67e5SD\u5361\u662f\u5426\u5b58\u5728<\/span><br \/>\nbool <span class=\"token function\">SD_Storage_IsCardPresent<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u5361\u68c0\u6d4b\u5f15\u811a\u4e3a\u4f4e\u7535\u5e73\u65f6\u8868\u793a\u5361\u5b58\u5728<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_GPIO_ReadPin<\/span><span class=\"token punctuation\">(<\/span>SD_CARD_DETECT_PORT<span class=\"token punctuation\">,<\/span> SD_CARD_DETECT_PIN<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> GPIO_PIN_RESET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u68c0\u67e5\u662f\u5426\u5df2\u6302\u8f7d<\/span><br \/>\nbool <span class=\"token function\">SD_Storage_IsMounted<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> storage_status<span class=\"token punctuation\">.<\/span>is_mounted<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u83b7\u53d6\u5b58\u50a8\u72b6\u6001<\/span><br \/>\nStorageStatus_t<span class=\"token operator\">*<\/span> <span class=\"token function\">SD_Storage_GetStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token operator\">&amp;<\/span>storage_status<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u66f4\u65b0\u5b58\u50a8\u72b6\u6001<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">SD_Storage_UpdateStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u66f4\u65b0\u5361\u5b58\u5728\u72b6\u6001<\/span><br \/>\n    bool card_present <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">SD_Storage_IsCardPresent<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>card_present <span class=\"token operator\">!&#061;<\/span> storage_status<span class=\"token punctuation\">.<\/span>card_present<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        storage_status<span class=\"token punctuation\">.<\/span>card_present <span class=\"token operator\">&#061;<\/span> card_present<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>card_present<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;SD card inserted&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">SD_Storage_Mount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;SD card removed&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">SD_Storage_Unmount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5982\u679c\u5df2\u6302\u8f7d&#xff0c;\u66f4\u65b0\u7a7a\u95f4\u4fe1\u606f<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>storage_status<span class=\"token punctuation\">.<\/span>is_mounted<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        DWORD free_clusters<span class=\"token punctuation\">,<\/span> total_clusters<span class=\"token punctuation\">;<\/span><br \/>\n        FATFS <span class=\"token operator\">*<\/span>fs<span class=\"token punctuation\">;<\/span><\/p>\n<p>        FRESULT fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_getfree<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>free_clusters<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>fs<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">&#061;&#061;<\/span> FR_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            storage_status<span class=\"token punctuation\">.<\/span>total_space <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>fs<span class=\"token operator\">-&gt;<\/span>csize <span class=\"token operator\">*<\/span> total_clusters<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            storage_status<span class=\"token punctuation\">.<\/span>free_space <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>fs<span class=\"token operator\">-&gt;<\/span>csize <span class=\"token operator\">*<\/span> free_clusters<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6253\u5f00\u6587\u4ef6<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_OpenFile<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>filename<span class=\"token punctuation\">,<\/span> FileType_t type<span class=\"token punctuation\">,<\/span> FileInfo_t <span class=\"token operator\">*<\/span>file_info<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>filename <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> file_info <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_OPEN_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span>storage_status<span class=\"token punctuation\">.<\/span>is_mounted<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Filesystem not mounted&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_MOUNT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u6253\u5f00\u6a21\u5f0f<\/span><br \/>\n    BYTE mode <span class=\"token operator\">&#061;<\/span> FA_WRITE <span class=\"token operator\">|<\/span> FA_READ <span class=\"token operator\">|<\/span> FA_OPEN_ALWAYS<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>type <span class=\"token operator\">&#061;&#061;<\/span> FILE_TYPE_LOG <span class=\"token operator\">||<\/span> type <span class=\"token operator\">&#061;&#061;<\/span> FILE_TYPE_DATA<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        mode <span class=\"token operator\">&#061;<\/span> FA_WRITE <span class=\"token operator\">|<\/span> FA_READ <span class=\"token operator\">|<\/span> FA_OPEN_APPEND<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6253\u5f00\u6587\u4ef6<\/span><br \/>\n    FRESULT fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_open<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>file_info<span class=\"token operator\">-&gt;<\/span>file_handle<span class=\"token punctuation\">,<\/span> filename<span class=\"token punctuation\">,<\/span> mode<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">!&#061;<\/span> FR_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to open file %s: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> filename<span class=\"token punctuation\">,<\/span> fr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        storage_status<span class=\"token punctuation\">.<\/span>last_error <span class=\"token operator\">&#061;<\/span> fr<span class=\"token punctuation\">;<\/span><br \/>\n        storage_status<span class=\"token punctuation\">.<\/span>write_errors<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_OPEN_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u586b\u5145\u6587\u4ef6\u4fe1\u606f<\/span><br \/>\n    <span class=\"token function\">strncpy<\/span><span class=\"token punctuation\">(<\/span>file_info<span class=\"token operator\">-&gt;<\/span>filename<span class=\"token punctuation\">,<\/span> filename<span class=\"token punctuation\">,<\/span> MAX_FILENAME_LENGTH <span class=\"token operator\">&#8211;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    file_info<span class=\"token operator\">-&gt;<\/span>type <span class=\"token operator\">&#061;<\/span> type<span class=\"token punctuation\">;<\/span><br \/>\n    file_info<span class=\"token operator\">-&gt;<\/span>is_open <span class=\"token operator\">&#061;<\/span> true<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u83b7\u53d6\u6587\u4ef6\u5927\u5c0f<\/span><br \/>\n    file_info<span class=\"token operator\">-&gt;<\/span>size <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_size<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>file_info<span class=\"token operator\">-&gt;<\/span>file_handle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    file_info<span class=\"token operator\">-&gt;<\/span>timestamp <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;File opened: %s, size: %lu&#034;<\/span><span class=\"token punctuation\">,<\/span> filename<span class=\"token punctuation\">,<\/span> file_info<span class=\"token operator\">-&gt;<\/span>size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5173\u95ed\u6587\u4ef6<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_CloseFile<\/span><span class=\"token punctuation\">(<\/span>FileInfo_t <span class=\"token operator\">*<\/span>file_info<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>file_info <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> <span class=\"token operator\">!<\/span>file_info<span class=\"token operator\">-&gt;<\/span>is_open<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    FRESULT fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_close<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>file_info<span class=\"token operator\">-&gt;<\/span>file_handle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">!&#061;<\/span> FR_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to close file %s: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> file_info<span class=\"token operator\">-&gt;<\/span>filename<span class=\"token punctuation\">,<\/span> fr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        storage_status<span class=\"token punctuation\">.<\/span>last_error <span class=\"token operator\">&#061;<\/span> fr<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_WRITE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    file_info<span class=\"token operator\">-&gt;<\/span>is_open <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;File closed: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> file_info<span class=\"token operator\">-&gt;<\/span>filename<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5199\u5165\u6570\u636e<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_WriteData<\/span><span class=\"token punctuation\">(<\/span>FileInfo_t <span class=\"token operator\">*<\/span>file_info<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> size<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>file_info <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> data <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> size <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_WRITE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span>file_info<span class=\"token operator\">-&gt;<\/span>is_open<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;File not open: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> file_info<span class=\"token operator\">-&gt;<\/span>filename<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_WRITE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u68c0\u67e5\u5269\u4f59\u7a7a\u95f4<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>storage_status<span class=\"token punctuation\">.<\/span>free_space <span class=\"token operator\">*<\/span> <span class=\"token number\">1024<\/span> <span class=\"token operator\">&lt;<\/span> size<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Insufficient disk space: %lu &lt; %lu&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                   storage_status<span class=\"token punctuation\">.<\/span>free_space <span class=\"token operator\">*<\/span> <span class=\"token number\">1024<\/span><span class=\"token punctuation\">,<\/span> size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FULL<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    UINT bytes_written<span class=\"token punctuation\">;<\/span><br \/>\n    FRESULT fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_write<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>file_info<span class=\"token operator\">-&gt;<\/span>file_handle<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> size<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>bytes_written<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">!&#061;<\/span> FR_OK <span class=\"token operator\">||<\/span> bytes_written <span class=\"token operator\">!&#061;<\/span> size<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to write to file %s: %d, written: %u&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                   file_info<span class=\"token operator\">-&gt;<\/span>filename<span class=\"token punctuation\">,<\/span> fr<span class=\"token punctuation\">,<\/span> bytes_written<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        storage_status<span class=\"token punctuation\">.<\/span>last_error <span class=\"token operator\">&#061;<\/span> fr<span class=\"token punctuation\">;<\/span><br \/>\n        storage_status<span class=\"token punctuation\">.<\/span>write_errors<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_WRITE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u66f4\u65b0\u6587\u4ef6\u5927\u5c0f\u548c\u7edf\u8ba1<\/span><br \/>\n    file_info<span class=\"token operator\">-&gt;<\/span>size <span class=\"token operator\">&#043;&#061;<\/span> bytes_written<span class=\"token punctuation\">;<\/span><br \/>\n    storage_status<span class=\"token punctuation\">.<\/span>bytes_written <span class=\"token operator\">&#043;&#061;<\/span> bytes_written<span class=\"token punctuation\">;<\/span><br \/>\n    storage_status<span class=\"token punctuation\">.<\/span>files_written<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u540c\u6b65\u6587\u4ef6&#xff08;\u786e\u4fdd\u6570\u636e\u5199\u5165\u7269\u7406\u4ecb\u8d28&#xff09;<\/span><br \/>\n    fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_sync<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>file_info<span class=\"token operator\">-&gt;<\/span>file_handle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">!&#061;<\/span> FR_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to sync file %s: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> file_info<span class=\"token operator\">-&gt;<\/span>filename<span class=\"token punctuation\">,<\/span> fr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u4e0d\u8fd4\u56de\u9519\u8bef&#xff0c;\u56e0\u4e3a\u6570\u636e\u5df2\u7ecf\u5199\u5165\u7f13\u51b2\u533a<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5199\u5165\u65e5\u5fd7<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_WriteLog<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>message<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>message <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_WRITE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u68c0\u67e5\u662f\u5426\u9700\u8981\u8f6e\u8f6c\u65e5\u5fd7<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">strlen<\/span><span class=\"token punctuation\">(<\/span>current_log_file<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        FILINFO fno<span class=\"token punctuation\">;<\/span><br \/>\n        FRESULT fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_stat<\/span><span class=\"token punctuation\">(<\/span>current_log_file<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>fno<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">&#061;&#061;<\/span> FR_OK <span class=\"token operator\">&amp;&amp;<\/span> fno<span class=\"token punctuation\">.<\/span>fsize <span class=\"token operator\">&gt;<\/span> LOG_FILE_SIZE_LIMIT<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">SD_Storage_RotateLogs<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6253\u5f00\u6216\u521b\u5efa\u65e5\u5fd7\u6587\u4ef6<\/span><br \/>\n    FileInfo_t log_file<span class=\"token punctuation\">;<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">SD_Storage_OpenFile<\/span><span class=\"token punctuation\">(<\/span>current_log_file<span class=\"token punctuation\">,<\/span> FILE_TYPE_LOG<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>log_file<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6dfb\u52a0\u65f6\u95f4\u6233<\/span><br \/>\n    <span class=\"token keyword\">char<\/span> log_entry<span class=\"token punctuation\">[<\/span><span class=\"token number\">256<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> timestamp <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">snprintf<\/span><span class=\"token punctuation\">(<\/span>log_entry<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>log_entry<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;[%lu] %s\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> timestamp<span class=\"token punctuation\">,<\/span> message<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5199\u5165\u65e5\u5fd7<\/span><br \/>\n    error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">SD_Storage_WriteData<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>log_file<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>log_entry<span class=\"token punctuation\">,<\/span> <span class=\"token function\">strlen<\/span><span class=\"token punctuation\">(<\/span>log_entry<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5173\u95ed\u6587\u4ef6<\/span><br \/>\n    <span class=\"token function\">SD_Storage_CloseFile<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>log_file<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5199\u5165\u6570\u636e\u8bb0\u5f55<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_WriteDataRecord<\/span><span class=\"token punctuation\">(<\/span>DataRecord_t <span class=\"token operator\">*<\/span>record<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>record <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> record<span class=\"token operator\">-&gt;<\/span>data_length <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_WRITE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521b\u5efaCSV\u683c\u5f0f\u7684\u6570\u636e\u884c<\/span><br \/>\n    <span class=\"token keyword\">char<\/span> csv_line<span class=\"token punctuation\">[<\/span><span class=\"token number\">512<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">int<\/span> pos <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u65f6\u95f4\u6233<\/span><br \/>\n    pos <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token function\">snprintf<\/span><span class=\"token punctuation\">(<\/span>csv_line <span class=\"token operator\">&#043;<\/span> pos<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>csv_line<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> pos<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;%lu,&#034;<\/span><span class=\"token punctuation\">,<\/span> record<span class=\"token operator\">-&gt;<\/span>timestamp<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6570\u636e\u7c7b\u578b<\/span><br \/>\n    pos <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token function\">snprintf<\/span><span class=\"token punctuation\">(<\/span>csv_line <span class=\"token operator\">&#043;<\/span> pos<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>csv_line<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> pos<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;%u,&#034;<\/span><span class=\"token punctuation\">,<\/span> record<span class=\"token operator\">-&gt;<\/span>data_type<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6570\u636e&#xff08;\u5341\u516d\u8fdb\u5236\u683c\u5f0f&#xff09;<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> record<span class=\"token operator\">-&gt;<\/span>data_length<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        pos <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token function\">snprintf<\/span><span class=\"token punctuation\">(<\/span>csv_line <span class=\"token operator\">&#043;<\/span> pos<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>csv_line<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> pos<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;%02X&#034;<\/span><span class=\"token punctuation\">,<\/span> record<span class=\"token operator\">-&gt;<\/span>data<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6362\u884c<\/span><br \/>\n    pos <span class=\"token operator\">&#043;&#061;<\/span> <span class=\"token function\">snprintf<\/span><span class=\"token punctuation\">(<\/span>csv_line <span class=\"token operator\">&#043;<\/span> pos<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>csv_line<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> pos<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5199\u5165\u65e5\u5fd7\u6587\u4ef6<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token function\">SD_Storage_WriteLog<\/span><span class=\"token punctuation\">(<\/span>csv_line<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8f6e\u8f6c\u65e5\u5fd7\u6587\u4ef6<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_RotateLogs<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Rotating log files&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5173\u95ed\u5f53\u524d\u65e5\u5fd7\u6587\u4ef6<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">strlen<\/span><span class=\"token punctuation\">(<\/span>current_log_file<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u8fd9\u91cc\u5e94\u8be5\u5173\u95ed\u5df2\u6253\u5f00\u7684\u65e5\u5fd7\u6587\u4ef6<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u751f\u6210\u65b0\u7684\u65e5\u5fd7\u6587\u4ef6\u540d<\/span><br \/>\n    <span class=\"token class-name\">time_t<\/span> rawtime<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">tm<\/span> <span class=\"token operator\">*<\/span>timeinfo<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">char<\/span> timestamp<span class=\"token punctuation\">[<\/span><span class=\"token number\">20<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">time<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>rawtime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    timeinfo <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">localtime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>rawtime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">strftime<\/span><span class=\"token punctuation\">(<\/span>timestamp<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>timestamp<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;%Y%m%d_%H%M%S&#034;<\/span><span class=\"token punctuation\">,<\/span> timeinfo<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">snprintf<\/span><span class=\"token punctuation\">(<\/span>current_log_file<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>current_log_file<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;\/logs\/data_%s.csv&#034;<\/span><span class=\"token punctuation\">,<\/span> timestamp<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6e05\u7406\u65e7\u6587\u4ef6<\/span><br \/>\n    <span class=\"token function\">SD_Storage_CleanupOldFiles<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;New log file: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> current_log_file<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u521b\u5efa\u76ee\u5f55<\/span><br \/>\nErrorCode_t <span class=\"token function\">SD_Storage_CreateDirectory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>path<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>path <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_OPEN_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span>storage_status<span class=\"token punctuation\">.<\/span>is_mounted<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_MOUNT_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    FRESULT fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_mkdir<\/span><span class=\"token punctuation\">(<\/span>path<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">!&#061;<\/span> FR_OK <span class=\"token operator\">&amp;&amp;<\/span> fr <span class=\"token operator\">!&#061;<\/span> FR_EXIST<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to create directory %s: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> path<span class=\"token punctuation\">,<\/span> fr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_SD_FILE_OPEN_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u83b7\u53d6\u5269\u4f59\u7a7a\u95f4<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">SD_Storage_GetFreeSpace<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> storage_status<span class=\"token punctuation\">.<\/span>free_space<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6e05\u7406\u65e7\u6587\u4ef6<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">SD_Storage_CleanupOldFiles<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    DIR dir<span class=\"token punctuation\">;<\/span><br \/>\n    FILINFO fno<span class=\"token punctuation\">;<\/span><br \/>\n    FRESULT fr<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6253\u5f00\u65e5\u5fd7\u76ee\u5f55<\/span><br \/>\n    fr <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">f_opendir<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>dir<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;\/logs&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>fr <span class=\"token operator\">!&#061;<\/span> FR_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bfb\u53d6\u6240\u6709\u6587\u4ef6<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> file_count <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>files<span class=\"token punctuation\">[<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">f_readdir<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>dir<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>fno<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> FR_OK <span class=\"token operator\">&amp;&amp;<\/span> fno<span class=\"token punctuation\">.<\/span>fname<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span><span class=\"token punctuation\">(<\/span>fno<span class=\"token punctuation\">.<\/span>fattrib <span class=\"token operator\">&amp;<\/span> AM_DIR<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u7edf\u8ba1\u6587\u4ef6\u6570\u91cf<\/span><br \/>\n            file_count<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u8fd9\u91cc\u53ef\u4ee5\u6dfb\u52a0\u6587\u4ef6\u5220\u9664\u903b\u8f91<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u4f8b\u5982&#xff1a;\u5220\u9664\u8d85\u8fc77\u5929\u7684\u6587\u4ef6\u6216\u4fdd\u7559\u6700\u591a10\u4e2a\u6587\u4ef6<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token function\">f_closedir<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>dir<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5982\u679c\u6587\u4ef6\u592a\u591a&#xff0c;\u5220\u9664\u6700\u65e7\u7684\u6587\u4ef6<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>file_count <span class=\"token operator\">&gt;<\/span> BACKUP_FILE_COUNT<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u8fd9\u91cc\u9700\u8981\u5b9e\u73b0\u6587\u4ef6\u6392\u5e8f\u548c\u5220\u9664\u903b\u8f91<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h2>10. \u6570\u636e\u5904\u7406\u6587\u4ef6 data_processor.h<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__DATA_PROCESSOR_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__DATA_PROCESSOR_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;can_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;network_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;sd_storage.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;cmsis_os.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token string\">&#034;C&#034;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u5904\u7406\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">DATA_QUEUE_SIZE<\/span>           <span class=\"token expression\"><span class=\"token number\">100<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">MAX_PROCESSING_TIME_MS<\/span>    <span class=\"token expression\"><span class=\"token number\">10<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">DATA_COMPRESSION_RATIO<\/span>    <span class=\"token expression\"><span class=\"token number\">0.5f<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">MAX_CACHE_SIZE<\/span>            <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span> <span class=\"token operator\">*<\/span> <span class=\"token number\">1024<\/span><span class=\"token punctuation\">)<\/span>  <\/span><span class=\"token comment\">\/\/ 10KB<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u7c7b\u578b\u5b9a\u4e49<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">enum<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    DATA_TYPE_RAW_CAN <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span>         <span class=\"token comment\">\/\/ \u539f\u59cbCAN\u6570\u636e<\/span><br \/>\n    DATA_TYPE_SENSOR<span class=\"token punctuation\">,<\/span>              <span class=\"token comment\">\/\/ \u4f20\u611f\u5668\u6570\u636e<\/span><br \/>\n    DATA_TYPE_SYSTEM_STATUS<span class=\"token punctuation\">,<\/span>       <span class=\"token comment\">\/\/ \u7cfb\u7edf\u72b6\u6001<\/span><br \/>\n    DATA_TYPE_EVENT_LOG<span class=\"token punctuation\">,<\/span>           <span class=\"token comment\">\/\/ \u4e8b\u4ef6\u65e5\u5fd7<\/span><br \/>\n    DATA_TYPE_CONFIG<span class=\"token punctuation\">,<\/span>              <span class=\"token comment\">\/\/ \u914d\u7f6e\u6570\u636e<\/span><br \/>\n    DATA_TYPE_DIAGNOSTIC           <span class=\"token comment\">\/\/ \u8bca\u65ad\u6570\u636e<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> DataType_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u5904\u7406\u72b6\u6001<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">enum<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    PROCESS_STATE_IDLE <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    PROCESS_STATE_READY<span class=\"token punctuation\">,<\/span><br \/>\n    PROCESS_STATE_PROCESSING<span class=\"token punctuation\">,<\/span><br \/>\n    PROCESS_STATE_COMPRESSING<span class=\"token punctuation\">,<\/span><br \/>\n    PROCESS_STATE_SENDING<span class=\"token punctuation\">,<\/span><br \/>\n    PROCESS_STATE_ERROR<br \/>\n<span class=\"token punctuation\">}<\/span> ProcessState_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u5305\u7f13\u5b58<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> size<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> capacity<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> write_index<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> read_index<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">osMutexId_t<\/span> mutex<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> DataBuffer_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5904\u7406\u5668\u7edf\u8ba1\u4fe1\u606f<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> total_packets<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> processed_packets<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> sent_packets<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> stored_packets<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> dropped_packets<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> compression_saved<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> processing_time_max<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> processing_time_avg<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_error<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> ProcessorStats_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u51fd\u6570\u58f0\u660e<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_ProcessCanMessage<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t <span class=\"token operator\">*<\/span>msg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_ProcessSensorData<\/span><span class=\"token punctuation\">(<\/span>SensorData_t <span class=\"token operator\">*<\/span>sensor_data<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_BatchProcess<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_SendToNetwork<\/span><span class=\"token punctuation\">(<\/span>DataBuffer_t <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_StoreToSD<\/span><span class=\"token punctuation\">(<\/span>DataBuffer_t <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nProcessorStats_t<span class=\"token operator\">*<\/span> <span class=\"token function\">DataProcessor_GetStats<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">DataProcessor_ClearStats<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nProcessState_t <span class=\"token function\">DataProcessor_GetState<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">DataProcessor_GetQueueSize<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u7f13\u51b2\u64cd\u4f5c<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataBuffer_Init<\/span><span class=\"token punctuation\">(<\/span>DataBuffer_t <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> capacity<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataBuffer_Write<\/span><span class=\"token punctuation\">(<\/span>DataBuffer_t <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataBuffer_Read<\/span><span class=\"token punctuation\">(<\/span>DataBuffer_t <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span>size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataBuffer_Clear<\/span><span class=\"token punctuation\">(<\/span>DataBuffer_t <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">DataBuffer_GetFreeSpace<\/span><span class=\"token punctuation\">(<\/span>DataBuffer_t <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">DataBuffer_GetUsedSpace<\/span><span class=\"token punctuation\">(<\/span>DataBuffer_t <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">DataBuffer_Destroy<\/span><span class=\"token punctuation\">(<\/span>DataBuffer_t <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u5904\u7406\u51fd\u6570<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_CompressData<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>input<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> input_size<span class=\"token punctuation\">,<\/span><br \/>\n                                       <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>output<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span>output_size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_FormatToJSON<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span>size<span class=\"token punctuation\">,<\/span> DataType_t type<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_FormatToBinary<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span>size<span class=\"token punctuation\">,<\/span> DataType_t type<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_AddTimestamp<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span>size<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">DataProcessor_CalculateChecksum<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> size<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint16_t<\/span> <span class=\"token operator\">*<\/span>checksum<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __DATA_PROCESSOR_H *\/<\/span><\/span><\/p>\n<h2>11. \u770b\u95e8\u72d7\u9a71\u52a8\u6587\u4ef6 watchdog.h<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__WATCHDOG_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__WATCHDOG_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;system_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;cmsis_os.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token string\">&#034;C&#034;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u770b\u95e8\u72d7\u914d\u7f6e<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">WATCHDOG_TIMEOUT_MS<\/span>        <span class=\"token expression\"><span class=\"token number\">10000<\/span>      <\/span><span class=\"token comment\">\/\/ 10\u79d2\u8d85\u65f6<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">WATCHDOG_REFRESH_INTERVAL<\/span>  <span class=\"token expression\"><span class=\"token number\">1000<\/span>       <\/span><span class=\"token comment\">\/\/ 1\u79d2\u5237\u65b0\u4e00\u6b21<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">WATCHDOG_TASK_COUNT<\/span>        <span class=\"token expression\"><span class=\"token number\">5<\/span>          <\/span><span class=\"token comment\">\/\/ \u76d1\u63a7\u7684\u4efb\u52a1\u6570\u91cf<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4efb\u52a1\u76d1\u63a7\u7ed3\u6784<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">char<\/span> task_name<span class=\"token punctuation\">[<\/span><span class=\"token number\">16<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">osThreadId_t<\/span> task_id<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_alive_time<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> check_interval<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> max_miss_count<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> miss_count<span class=\"token punctuation\">;<\/span><br \/>\n    bool is_enabled<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> TaskMonitor_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u770b\u95e8\u72d7\u72b6\u6001<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">enum<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    WATCHDOG_DISABLED <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    WATCHDOG_ENABLED<span class=\"token punctuation\">,<\/span><br \/>\n    WATCHDOG_TRIGGERED<span class=\"token punctuation\">,<\/span><br \/>\n    WATCHDOG_RECOVERING<br \/>\n<span class=\"token punctuation\">}<\/span> WatchdogState_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u770b\u95e8\u72d7\u7edf\u8ba1<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    WatchdogState_t state<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> reset_count<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_reset_time<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_refresh_time<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> task_timeout_count<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> recovery_count<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> max_recovery_time<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> WatchdogStats_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u51fd\u6570\u58f0\u660e<\/span><br \/>\nErrorCode_t <span class=\"token function\">Watchdog_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">Watchdog_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">Watchdog_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">Watchdog_Refresh<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nWatchdogState_t <span class=\"token function\">Watchdog_GetState<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nWatchdogStats_t<span class=\"token operator\">*<\/span> <span class=\"token function\">Watchdog_GetStats<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4efb\u52a1\u76d1\u63a7<\/span><br \/>\nErrorCode_t <span class=\"token function\">Watchdog_RegisterTask<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>task_name<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">osThreadId_t<\/span> task_id<span class=\"token punctuation\">,<\/span><br \/>\n                                  <span class=\"token class-name\">uint32_t<\/span> check_interval<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint32_t<\/span> max_miss_count<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">Watchdog_UnregisterTask<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>task_name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">Watchdog_TaskAlive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span>task_name<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Watchdog_CheckTasks<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u76d1\u63a7<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Watchdog_MonitorSystemResources<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nbool <span class=\"token function\">Watchdog_CheckSystemHealth<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">Watchdog_RecoverSystem<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Watchdog_SystemReset<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u72ec\u7acb\u770b\u95e8\u72d7(IWDG)\u64cd\u4f5c<\/span><br \/>\nErrorCode_t <span class=\"token function\">IWDG_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint32_t<\/span> timeout_ms<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">IWDG_Refresh<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">IWDG_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">IWDG_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7a97\u53e3\u770b\u95e8\u72d7(WWDG)\u64cd\u4f5c<\/span><br \/>\nErrorCode_t <span class=\"token function\">WWDG_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint32_t<\/span> timeout_ms<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">WWDG_Refresh<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __WATCHDOG_H *\/<\/span><\/span><\/p>\n<h2>12. FreeRTOS\u4efb\u52a1\u7ba1\u7406\u6587\u4ef6 rtos_tasks.h<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifndef<\/span> <span class=\"token expression\">__RTOS_TASKS_H<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">__RTOS_TASKS_H<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;system_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;cmsis_os.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token string\">&#034;C&#034;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4efb\u52a1\u53e5\u67c4\u58f0\u660e<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osThreadId_t<\/span> canRxTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osThreadId_t<\/span> canTxTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osThreadId_t<\/span> dataProcessTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osThreadId_t<\/span> networkTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osThreadId_t<\/span> storageTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osThreadId_t<\/span> watchdogTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osThreadId_t<\/span> systemMonitorTaskHandle<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u961f\u5217\u53e5\u67c4\u58f0\u660e<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMessageQueueId_t<\/span> canDataQueue<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMessageQueueId_t<\/span> processedDataQueue<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMessageQueueId_t<\/span> networkDataQueue<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMessageQueueId_t<\/span> storageDataQueue<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4fe1\u53f7\u91cf\u53e5\u67c4\u58f0\u660e<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osSemaphoreId_t<\/span> canSemaphore<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osSemaphoreId_t<\/span> networkSemaphore<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osSemaphoreId_t<\/span> storageSemaphore<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osSemaphoreId_t<\/span> systemSemaphore<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4e92\u65a5\u9501\u53e5\u67c4\u58f0\u660e<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMutexId_t<\/span> canMutex<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMutexId_t<\/span> networkMutex<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osMutexId_t<\/span> storageMutex<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4e8b\u4ef6\u7ec4\u53e5\u67c4\u58f0\u660e<\/span><br \/>\n<span class=\"token keyword\">extern<\/span> <span class=\"token class-name\">osEventFlagsId_t<\/span> systemEvents<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u4e8b\u4ef6\u5b9a\u4e49<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">EVENT_CAN_DATA_READY<\/span>       <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token number\">1UL<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">EVENT_NETWORK_CONNECTED<\/span>    <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token number\">1UL<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">EVENT_STORAGE_READY<\/span>        <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token number\">1UL<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">EVENT_SYSTEM_ERROR<\/span>         <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token number\">1UL<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">EVENT_SYSTEM_RECOVERY<\/span>      <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token number\">1UL<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">EVENT_CONFIG_CHANGED<\/span>       <span class=\"token expression\"><span class=\"token punctuation\">(<\/span><span class=\"token number\">1UL<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">5<\/span><span class=\"token punctuation\">)<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4efb\u52a1\u51fd\u6570\u58f0\u660e<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_Rx_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_Tx_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Data_Process_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Network_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Storage_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Watchdog_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">System_Monitor_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4efb\u52a1\u7ba1\u7406\u51fd\u6570<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_Tasks_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_Tasks_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_Tasks_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_Tasks_Suspend<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_Tasks_Resume<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">RTOS_Tasks_PrintStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">RTOS_Tasks_GetCpuUsage<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> <span class=\"token function\">RTOS_Tasks_GetStackUsage<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">osThreadId_t<\/span> task_handle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8d44\u6e90\u7ba1\u7406<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_CreateQueues<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_CreateSemaphores<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_CreateMutexes<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_CreateEvents<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">RTOS_CleanupResources<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u8c03\u8bd5\u529f\u80fd<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">RTOS_EnableTrace<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">RTOS_PrintTaskInfo<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">RTOS_PrintQueueInfo<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">RTOS_PrintHeapInfo<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__cplusplus<\/span><\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span> <span class=\"token comment\">\/* __RTOS_TASKS_H *\/<\/span><\/span><\/p>\n<h2>13. FreeRTOS\u4efb\u52a1\u7ba1\u7406\u6587\u4ef6 rtos_tasks.c<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;rtos_tasks.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;can_bus.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;w5500_net.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;sd_storage.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;data_processor.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;watchdog.h&#034;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4efb\u52a1\u53e5\u67c4\u5b9a\u4e49<\/span><br \/>\n<span class=\"token class-name\">osThreadId_t<\/span> canRxTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osThreadId_t<\/span> canTxTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osThreadId_t<\/span> dataProcessTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osThreadId_t<\/span> networkTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osThreadId_t<\/span> storageTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osThreadId_t<\/span> watchdogTaskHandle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osThreadId_t<\/span> systemMonitorTaskHandle<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u961f\u5217\u53e5\u67c4\u5b9a\u4e49<\/span><br \/>\n<span class=\"token class-name\">osMessageQueueId_t<\/span> canDataQueue<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osMessageQueueId_t<\/span> processedDataQueue<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osMessageQueueId_t<\/span> networkDataQueue<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osMessageQueueId_t<\/span> storageDataQueue<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4fe1\u53f7\u91cf\u53e5\u67c4\u5b9a\u4e49<\/span><br \/>\n<span class=\"token class-name\">osSemaphoreId_t<\/span> canSemaphore<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osSemaphoreId_t<\/span> networkSemaphore<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osSemaphoreId_t<\/span> storageSemaphore<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osSemaphoreId_t<\/span> systemSemaphore<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4e92\u65a5\u9501\u53e5\u67c4\u5b9a\u4e49<\/span><br \/>\n<span class=\"token class-name\">osMutexId_t<\/span> canMutex<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osMutexId_t<\/span> networkMutex<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">osMutexId_t<\/span> storageMutex<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4e8b\u4ef6\u7ec4\u53e5\u67c4\u5b9a\u4e49<\/span><br \/>\n<span class=\"token class-name\">osEventFlagsId_t<\/span> systemEvents<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4efb\u52a1\u5c5e\u6027\u5b9a\u4e49<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">osThreadAttr_t<\/span> canRxTask_attributes <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>name <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;CAN_Rx_Task&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>stack_size <span class=\"token operator\">&#061;<\/span> TASK_STACK_MEDIUM<span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>priority <span class=\"token operator\">&#061;<\/span> TASK_PRIORITY_HIGH<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">osThreadAttr_t<\/span> canTxTask_attributes <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>name <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;CAN_Tx_Task&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>stack_size <span class=\"token operator\">&#061;<\/span> TASK_STACK_MEDIUM<span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>priority <span class=\"token operator\">&#061;<\/span> TASK_PRIORITY_NORMAL<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">osThreadAttr_t<\/span> dataProcessTask_attributes <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>name <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;Data_Process_Task&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>stack_size <span class=\"token operator\">&#061;<\/span> TASK_STACK_LARGE<span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>priority <span class=\"token operator\">&#061;<\/span> TASK_PRIORITY_ABOVE_NORMAL<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">osThreadAttr_t<\/span> networkTask_attributes <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>name <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;Network_Task&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>stack_size <span class=\"token operator\">&#061;<\/span> TASK_STACK_LARGE<span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>priority <span class=\"token operator\">&#061;<\/span> TASK_PRIORITY_NORMAL<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">osThreadAttr_t<\/span> storageTask_attributes <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>name <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;Storage_Task&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>stack_size <span class=\"token operator\">&#061;<\/span> TASK_STACK_LARGE<span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>priority <span class=\"token operator\">&#061;<\/span> TASK_PRIORITY_NORMAL<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">osThreadAttr_t<\/span> watchdogTask_attributes <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>name <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;Watchdog_Task&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>stack_size <span class=\"token operator\">&#061;<\/span> TASK_STACK_SMALL<span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>priority <span class=\"token operator\">&#061;<\/span> TASK_PRIORITY_REALTIME<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token class-name\">osThreadAttr_t<\/span> systemMonitorTask_attributes <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>name <span class=\"token operator\">&#061;<\/span> <span class=\"token string\">&#034;System_Monitor_Task&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>stack_size <span class=\"token operator\">&#061;<\/span> TASK_STACK_MEDIUM<span class=\"token punctuation\">,<\/span><br \/>\n    <span class=\"token punctuation\">.<\/span>priority <span class=\"token operator\">&#061;<\/span> TASK_PRIORITY_LOW<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u63a5\u6536\u4efb\u52a1<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_Rx_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN Rx Task started&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    CanMessage_t rx_msg<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_process_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6ce8\u518c\u4efb\u52a1\u5230\u770b\u95e8\u72d7<\/span><br \/>\n    <span class=\"token function\">Watchdog_RegisterTask<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN_Rx&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">osThreadGetId<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u5237\u65b0\u770b\u95e8\u72d7<\/span><br \/>\n        <span class=\"token function\">Watchdog_TaskAlive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN_Rx&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u63a5\u6536CAN\u6d88\u606f<\/span><br \/>\n        ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_ReceiveMessage<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>rx_msg<span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ 100ms\u8d85\u65f6<\/span><\/p>\n<p>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">&#061;&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u5c06\u6d88\u606f\u653e\u5165\u5904\u7406\u961f\u5217<\/span><br \/>\n            <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">osMessageQueuePut<\/span><span class=\"token punctuation\">(<\/span>canDataQueue<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>rx_msg<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> osOK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN data queue full, message dropped&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u6570\u636e\u5c31\u7eea\u4e8b\u4ef6<\/span><br \/>\n            <span class=\"token function\">osEventFlagsSet<\/span><span class=\"token punctuation\">(<\/span>systemEvents<span class=\"token punctuation\">,<\/span> EVENT_CAN_DATA_READY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u5904\u7406\u5176\u4ed6\u4efb\u52a1\u6216\u8fdb\u5165\u4f4e\u529f\u8017\u6a21\u5f0f<\/span><br \/>\n        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ CAN\u53d1\u9001\u4efb\u52a1<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_Tx_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN Tx Task started&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6ce8\u518c\u4efb\u52a1\u5230\u770b\u95e8\u72d7<\/span><br \/>\n    <span class=\"token function\">Watchdog_RegisterTask<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN_Tx&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">osThreadGetId<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2000<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u5237\u65b0\u770b\u95e8\u72d7<\/span><br \/>\n        <span class=\"token function\">Watchdog_TaskAlive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN_Tx&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u53d1\u9001\u5fc3\u8df3\u6d88\u606f<\/span><br \/>\n        <span class=\"token function\">CAN_SendHeartbeat<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u8fd9\u91cc\u53ef\u4ee5\u6dfb\u52a0\u5176\u4ed6\u53d1\u9001\u903b\u8f91<\/span><\/p>\n<p>        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">500<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6570\u636e\u5904\u7406\u4efb\u52a1<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Data_Process_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Data Process Task started&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    CanMessage_t rx_msg<span class=\"token punctuation\">;<\/span><br \/>\n    DataRecord_t data_record<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> process_count <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6ce8\u518c\u4efb\u52a1\u5230\u770b\u95e8\u72d7<\/span><br \/>\n    <span class=\"token function\">Watchdog_RegisterTask<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Data_Process&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">osThreadGetId<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u5237\u65b0\u770b\u95e8\u72d7<\/span><br \/>\n        <span class=\"token function\">Watchdog_TaskAlive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Data_Process&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u4ece\u961f\u5217\u83b7\u53d6CAN\u6570\u636e<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">osMessageQueueGet<\/span><span class=\"token punctuation\">(<\/span>canDataQueue<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>rx_msg<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> osOK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u5904\u7406CAN\u6d88\u606f<\/span><br \/>\n            <span class=\"token function\">DataProcessor_ProcessCanMessage<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>rx_msg<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            process_count<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u6bcf\u5904\u740610\u6761\u6d88\u606f\u8bb0\u5f55\u4e00\u6b21<\/span><br \/>\n            <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>process_count <span class=\"token operator\">%<\/span> <span class=\"token number\">10<\/span> <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Processed %lu CAN messages&#034;<\/span><span class=\"token punctuation\">,<\/span> process_count<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u6279\u91cf\u5904\u7406\u6570\u636e<\/span><br \/>\n        <span class=\"token function\">DataProcessor_BatchProcess<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u77ed\u6682\u5ef6\u65f6&#xff0c;\u8ba9\u5176\u4ed6\u4efb\u52a1\u8fd0\u884c<\/span><br \/>\n        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">5<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7f51\u7edc\u4efb\u52a1<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Network_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Network Task started&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token class-name\">uint32_t<\/span> last_connect_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    bool network_initialized <span class=\"token operator\">&#061;<\/span> false<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6ce8\u518c\u4efb\u52a1\u5230\u770b\u95e8\u72d7<\/span><br \/>\n    <span class=\"token function\">Watchdog_RegisterTask<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Network&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">osThreadGetId<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316\u7f51\u7edc<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Network initialization failed: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">osEventFlagsSet<\/span><span class=\"token punctuation\">(<\/span>systemEvents<span class=\"token punctuation\">,<\/span> EVENT_SYSTEM_ERROR<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        network_initialized <span class=\"token operator\">&#061;<\/span> true<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u5237\u65b0\u770b\u95e8\u72d7<\/span><br \/>\n        <span class=\"token function\">Watchdog_TaskAlive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Network&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>network_initialized<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u5904\u7406\u7f51\u7edc\u8fde\u63a5<\/span><br \/>\n            <span class=\"token function\">W5500_HandleConnection<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u5904\u7406\u53d1\u9001\u961f\u5217<\/span><br \/>\n            <span class=\"token function\">W5500_ProcessTxQueue<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u5904\u7406\u63a5\u6536\u961f\u5217<\/span><br \/>\n            <span class=\"token function\">W5500_ProcessRxQueue<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u66f4\u65b0\u7f51\u7edc\u72b6\u6001<\/span><br \/>\n            <span class=\"token function\">W5500_UpdateStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u5b58\u50a8\u4efb\u52a1<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Storage_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Storage Task started&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    DataRecord_t data_record<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_cleanup_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6ce8\u518c\u4efb\u52a1\u5230\u770b\u95e8\u72d7<\/span><br \/>\n    <span class=\"token function\">Watchdog_RegisterTask<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Storage&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">osThreadGetId<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">2000<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316\u5b58\u50a8<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">SD_Storage_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Storage initialization failed: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">osEventFlagsSet<\/span><span class=\"token punctuation\">(<\/span>systemEvents<span class=\"token punctuation\">,<\/span> EVENT_SYSTEM_ERROR<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">osEventFlagsSet<\/span><span class=\"token punctuation\">(<\/span>systemEvents<span class=\"token punctuation\">,<\/span> EVENT_STORAGE_READY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u5237\u65b0\u770b\u95e8\u72d7<\/span><br \/>\n        <span class=\"token function\">Watchdog_TaskAlive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Storage&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u66f4\u65b0\u5b58\u50a8\u72b6\u6001<\/span><br \/>\n        <span class=\"token function\">SD_Storage_UpdateStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u5b9a\u671f\u6e05\u7406\u65e7\u6587\u4ef6&#xff08;\u6bcf10\u5206\u949f&#xff09;<\/span><br \/>\n        <span class=\"token class-name\">uint32_t<\/span> current_time <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>current_time <span class=\"token operator\">&#8211;<\/span> last_cleanup_time <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">10<\/span> <span class=\"token operator\">*<\/span> <span class=\"token number\">60<\/span> <span class=\"token operator\">*<\/span> <span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">SD_Storage_CleanupOldFiles<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            last_cleanup_time <span class=\"token operator\">&#061;<\/span> current_time<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u68c0\u67e5\u5b58\u50a8\u7a7a\u95f4<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">SD_Storage_GetFreeSpace<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&lt;<\/span> <span class=\"token number\">1024<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span>  <span class=\"token comment\">\/\/ \u5c11\u4e8e1MB<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Low disk space: %lu KB&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">SD_Storage_GetFreeSpace<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">osEventFlagsSet<\/span><span class=\"token punctuation\">(<\/span>systemEvents<span class=\"token punctuation\">,<\/span> EVENT_SYSTEM_ERROR<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u770b\u95e8\u72d7\u4efb\u52a1<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Watchdog_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Watchdog Task started&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316\u770b\u95e8\u72d7<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Watchdog_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Watchdog initialization failed: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u542f\u52a8\u770b\u95e8\u72d7<\/span><br \/>\n    error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Watchdog_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to start watchdog: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u68c0\u67e5\u4efb\u52a1\u72b6\u6001<\/span><br \/>\n        <span class=\"token function\">Watchdog_CheckTasks<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u76d1\u63a7\u7cfb\u7edf\u8d44\u6e90<\/span><br \/>\n        <span class=\"token function\">Watchdog_MonitorSystemResources<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u68c0\u67e5\u7cfb\u7edf\u5065\u5eb7\u72b6\u6001<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span><span class=\"token function\">Watchdog_CheckSystemHealth<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;System health check failed&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">osEventFlagsSet<\/span><span class=\"token punctuation\">(<\/span>systemEvents<span class=\"token punctuation\">,<\/span> EVENT_SYSTEM_ERROR<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u5c1d\u8bd5\u6062\u590d\u7cfb\u7edf<\/span><br \/>\n            error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">Watchdog_RecoverSystem<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;System recovery failed, resetting&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n                <span class=\"token function\">Watchdog_SystemReset<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u5237\u65b0\u770b\u95e8\u72d7<\/span><br \/>\n        <span class=\"token function\">Watchdog_Refresh<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u76d1\u63a7\u4efb\u52a1<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">System_Monitor_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>argument<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;System Monitor Task started&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token class-name\">uint32_t<\/span> last_status_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    SystemStatus_t system_status<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6ce8\u518c\u4efb\u52a1\u5230\u770b\u95e8\u72d7<\/span><br \/>\n    <span class=\"token function\">Watchdog_RegisterTask<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;SysMonitor&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">osThreadGetId<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">5000<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u5237\u65b0\u770b\u95e8\u72d7<\/span><br \/>\n        <span class=\"token function\">Watchdog_TaskAlive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;SysMonitor&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u76d1\u63a7\u7cfb\u7edf\u4e8b\u4ef6<\/span><br \/>\n        <span class=\"token class-name\">uint32_t<\/span> events <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osEventFlagsWait<\/span><span class=\"token punctuation\">(<\/span>systemEvents<span class=\"token punctuation\">,<\/span><br \/>\n                                          EVENT_SYSTEM_ERROR <span class=\"token operator\">|<\/span> EVENT_SYSTEM_RECOVERY<span class=\"token punctuation\">,<\/span><br \/>\n                                          osFlagsWaitAny<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>events <span class=\"token operator\">&amp;<\/span> EVENT_SYSTEM_ERROR<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;System error event detected&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u5904\u7406\u7cfb\u7edf\u9519\u8bef<\/span><br \/>\n            <span class=\"token function\">osEventFlagsClear<\/span><span class=\"token punctuation\">(<\/span>systemEvents<span class=\"token punctuation\">,<\/span> EVENT_SYSTEM_ERROR<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>events <span class=\"token operator\">&amp;<\/span> EVENT_SYSTEM_RECOVERY<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;System recovery event detected&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u5904\u7406\u7cfb\u7edf\u6062\u590d<\/span><br \/>\n            <span class=\"token function\">osEventFlagsClear<\/span><span class=\"token punctuation\">(<\/span>systemEvents<span class=\"token punctuation\">,<\/span> EVENT_SYSTEM_RECOVERY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ \u5b9a\u671f\u6253\u5370\u7cfb\u7edf\u72b6\u6001&#xff08;\u6bcf30\u79d2&#xff09;<\/span><br \/>\n        <span class=\"token class-name\">uint32_t<\/span> current_time <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>current_time <span class=\"token operator\">&#8211;<\/span> last_status_time <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">30000<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">RTOS_Tasks_PrintStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u6253\u5370CAN\u7edf\u8ba1<\/span><br \/>\n            CanStatistics_t <span class=\"token operator\">*<\/span>can_stats <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_GetStatistics<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN Stats: RX&#061;%lu, TX&#061;%lu, Errors&#061;%lu&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                       can_stats<span class=\"token operator\">-&gt;<\/span>rx_total<span class=\"token punctuation\">,<\/span> can_stats<span class=\"token operator\">-&gt;<\/span>tx_total<span class=\"token punctuation\">,<\/span> can_stats<span class=\"token operator\">-&gt;<\/span>bus_error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u6253\u5370\u7f51\u7edc\u72b6\u6001<\/span><br \/>\n            NetworkStatus_t <span class=\"token operator\">*<\/span>net_status <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">W5500_GetStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Network: %s, TX&#061;%lu, RX&#061;%lu&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                       net_status<span class=\"token operator\">-&gt;<\/span>tcp_connected <span class=\"token operator\">?<\/span> <span class=\"token string\">&#034;Connected&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;Disconnected&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                       net_status<span class=\"token operator\">-&gt;<\/span>tx_bytes<span class=\"token punctuation\">,<\/span> net_status<span class=\"token operator\">-&gt;<\/span>rx_bytes<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            <span class=\"token comment\">\/\/ \u6253\u5370\u5b58\u50a8\u72b6\u6001<\/span><br \/>\n            StorageStatus_t <span class=\"token operator\">*<\/span>storage_status <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">SD_Storage_GetStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Storage: %s, Free&#061;%lu KB&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                       storage_status<span class=\"token operator\">-&gt;<\/span>is_mounted <span class=\"token operator\">?<\/span> <span class=\"token string\">&#034;Mounted&#034;<\/span> <span class=\"token operator\">:<\/span> <span class=\"token string\">&#034;Unmounted&#034;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                       storage_status<span class=\"token operator\">-&gt;<\/span>free_space<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>            last_status_time <span class=\"token operator\">&#061;<\/span> current_time<span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token function\">osDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u521d\u59cb\u5316RTOS\u4efb\u52a1<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_Tasks_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Initializing RTOS tasks&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521b\u5efa\u8d44\u6e90<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">RTOS_CreateQueues<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> ERROR_NONE <span class=\"token operator\">||<\/span><br \/>\n        <span class=\"token function\">RTOS_CreateSemaphores<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> ERROR_NONE <span class=\"token operator\">||<\/span><br \/>\n        <span class=\"token function\">RTOS_CreateMutexes<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> ERROR_NONE <span class=\"token operator\">||<\/span><br \/>\n        <span class=\"token function\">RTOS_CreateEvents<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_RTOS_TASK_CREATE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521b\u5efa\u4efb\u52a1<\/span><br \/>\n    canRxTaskHandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osThreadNew<\/span><span class=\"token punctuation\">(<\/span>CAN_Rx_Task<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>canRxTask_attributes<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    canTxTaskHandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osThreadNew<\/span><span class=\"token punctuation\">(<\/span>CAN_Tx_Task<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>canTxTask_attributes<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    dataProcessTaskHandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osThreadNew<\/span><span class=\"token punctuation\">(<\/span>Data_Process_Task<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>dataProcessTask_attributes<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    networkTaskHandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osThreadNew<\/span><span class=\"token punctuation\">(<\/span>Network_Task<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>networkTask_attributes<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    storageTaskHandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osThreadNew<\/span><span class=\"token punctuation\">(<\/span>Storage_Task<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>storageTask_attributes<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    watchdogTaskHandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osThreadNew<\/span><span class=\"token punctuation\">(<\/span>Watchdog_Task<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>watchdogTask_attributes<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    systemMonitorTaskHandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osThreadNew<\/span><span class=\"token punctuation\">(<\/span>System_Monitor_Task<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>systemMonitorTask_attributes<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u68c0\u67e5\u4efb\u52a1\u521b\u5efa\u662f\u5426\u6210\u529f<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>canRxTaskHandle <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> canTxTaskHandle <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span><br \/>\n        dataProcessTaskHandle <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> networkTaskHandle <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span><br \/>\n        storageTaskHandle <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> watchdogTaskHandle <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span><br \/>\n        systemMonitorTaskHandle <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Failed to create one or more RTOS tasks&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_RTOS_TASK_CREATE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;RTOS tasks initialized successfully&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u521b\u5efa\u961f\u5217<\/span><br \/>\nErrorCode_t <span class=\"token function\">RTOS_CreateQueues<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    canDataQueue <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osMessageQueueNew<\/span><span class=\"token punctuation\">(<\/span>DATA_QUEUE_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>CanMessage_t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    processedDataQueue <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osMessageQueueNew<\/span><span class=\"token punctuation\">(<\/span>DATA_QUEUE_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>DataRecord_t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    networkDataQueue <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osMessageQueueNew<\/span><span class=\"token punctuation\">(<\/span>PACKET_QUEUE_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>PacketHeader_t<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span> PACKET_MAX_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    storageDataQueue <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">osMessageQueueNew<\/span><span class=\"token punctuation\">(<\/span>DATA_QUEUE_SIZE<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>DataRecord_t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>canDataQueue <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> processedDataQueue <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span><br \/>\n        networkDataQueue <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span> <span class=\"token operator\">||<\/span> storageDataQueue <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> ERROR_RTOS_TASK_CREATE_FAILED<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> ERROR_NONE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u6253\u5370\u4efb\u52a1\u72b6\u6001<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">RTOS_Tasks_PrintStatus<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061; System Status &#061;&#061;&#061;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Uptime: %lu ms&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">HAL_GetTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CPU Usage: %lu%%&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">RTOS_Tasks_GetCpuUsage<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8fd9\u91cc\u53ef\u4ee5\u6dfb\u52a0\u66f4\u591a\u72b6\u6001\u4fe1\u606f<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h2>14. \u4e3b\u51fd\u6570\u6587\u4ef6 main.c<\/h2>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;main.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;rtos_tasks.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&#034;system_config.h&#034;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdio.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u53e5\u67c4<\/span><br \/>\nRTC_HandleTypeDef hrtc<span class=\"token punctuation\">;<\/span><br \/>\nUART_HandleTypeDef huart3<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u72b6\u6001<\/span><br \/>\n<span class=\"token keyword\">static<\/span> SystemStatus_t system_status<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u9519\u8bef\u5904\u7406\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;!!! FATAL ERROR !!!&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5173\u95ed\u6240\u6709\u5916\u8bbe<\/span><br \/>\n    <span class=\"token function\">CAN_Stop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">W5500_TCPDisconnect<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">SD_Storage_Unmount<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bb0\u5f55\u9519\u8bef<\/span><br \/>\n    system_status<span class=\"token punctuation\">.<\/span>last_error <span class=\"token operator\">&#061;<\/span> ERROR_WATCHDOG_TIMEOUT<span class=\"token punctuation\">;<\/span><br \/>\n    system_status<span class=\"token punctuation\">.<\/span>system_state <span class=\"token operator\">&#061;<\/span> SYS_STATE_FATAL<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8fdb\u5165\u9519\u8bef\u72b6\u6001\u5faa\u73af<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u95ea\u70c1LED\u6307\u793a\u9519\u8bef<\/span><br \/>\n        <span class=\"token function\">HAL_GPIO_TogglePin<\/span><span class=\"token punctuation\">(<\/span>GPIOC<span class=\"token punctuation\">,<\/span> GPIO_PIN_13<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">HAL_Delay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u65f6\u949f\u914d\u7f6e<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">SystemClock_Config<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    RCC_OscInitTypeDef RCC_OscInitStruct <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    RCC_ClkInitTypeDef RCC_ClkInitStruct <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    RCC_PeriphCLKInitTypeDef PeriphClkInitStruct <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u914d\u7f6e\u4e3bPLL<\/span><br \/>\n    RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>OscillatorType <span class=\"token operator\">&#061;<\/span> RCC_OSCILLATORTYPE_HSE<span class=\"token punctuation\">;<\/span><br \/>\n    RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>HSEState <span class=\"token operator\">&#061;<\/span> RCC_HSE_ON<span class=\"token punctuation\">;<\/span><br \/>\n    RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>PLL<span class=\"token punctuation\">.<\/span>PLLState <span class=\"token operator\">&#061;<\/span> RCC_PLL_ON<span class=\"token punctuation\">;<\/span><br \/>\n    RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>PLL<span class=\"token punctuation\">.<\/span>PLLSource <span class=\"token operator\">&#061;<\/span> RCC_PLLSOURCE_HSE<span class=\"token punctuation\">;<\/span><br \/>\n    RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>PLL<span class=\"token punctuation\">.<\/span>PLLM <span class=\"token operator\">&#061;<\/span> HSE_VALUE <span class=\"token operator\">\/<\/span> <span class=\"token number\">1000000<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>PLL<span class=\"token punctuation\">.<\/span>PLLN <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">336<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>PLL<span class=\"token punctuation\">.<\/span>PLLP <span class=\"token operator\">&#061;<\/span> RCC_PLLP_DIV2<span class=\"token punctuation\">;<\/span><br \/>\n    RCC_OscInitStruct<span class=\"token punctuation\">.<\/span>PLL<span class=\"token punctuation\">.<\/span>PLLQ <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">7<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_RCC_OscConfig<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>RCC_OscInitStruct<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u914d\u7f6e\u7cfb\u7edf\u65f6\u949f<\/span><br \/>\n    RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>ClockType <span class=\"token operator\">&#061;<\/span> RCC_CLOCKTYPE_HCLK<span class=\"token operator\">|<\/span>RCC_CLOCKTYPE_SYSCLK<br \/>\n                                  <span class=\"token operator\">|<\/span>RCC_CLOCKTYPE_PCLK1<span class=\"token operator\">|<\/span>RCC_CLOCKTYPE_PCLK2<span class=\"token punctuation\">;<\/span><br \/>\n    RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>SYSCLKSource <span class=\"token operator\">&#061;<\/span> RCC_SYSCLKSOURCE_PLLCLK<span class=\"token punctuation\">;<\/span><br \/>\n    RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>AHBCLKDivider <span class=\"token operator\">&#061;<\/span> RCC_SYSCLK_DIV1<span class=\"token punctuation\">;<\/span><br \/>\n    RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>APB1CLKDivider <span class=\"token operator\">&#061;<\/span> RCC_HCLK_DIV4<span class=\"token punctuation\">;<\/span><br \/>\n    RCC_ClkInitStruct<span class=\"token punctuation\">.<\/span>APB2CLKDivider <span class=\"token operator\">&#061;<\/span> RCC_HCLK_DIV2<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_RCC_ClockConfig<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>RCC_ClkInitStruct<span class=\"token punctuation\">,<\/span> FLASH_LATENCY_5<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u914d\u7f6e\u5916\u8bbe\u65f6\u949f<\/span><br \/>\n    PeriphClkInitStruct<span class=\"token punctuation\">.<\/span>PeriphClockSelection <span class=\"token operator\">&#061;<\/span> RCC_PERIPHCLK_RTC<span class=\"token punctuation\">;<\/span><br \/>\n    PeriphClkInitStruct<span class=\"token punctuation\">.<\/span>RTCClockSelection <span class=\"token operator\">&#061;<\/span> RCC_RTCCLKSOURCE_LSE<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_RCCEx_PeriphCLKConfig<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>PeriphClkInitStruct<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ RTC\u914d\u7f6e<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_RTC_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    RTC_TimeTypeDef sTime <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    RTC_DateTypeDef sDate <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    hrtc<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> RTC<span class=\"token punctuation\">;<\/span><br \/>\n    hrtc<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>HourFormat <span class=\"token operator\">&#061;<\/span> RTC_HOURFORMAT_24<span class=\"token punctuation\">;<\/span><br \/>\n    hrtc<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>AsynchPrediv <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">127<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    hrtc<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>SynchPrediv <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">255<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    hrtc<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>OutPut <span class=\"token operator\">&#061;<\/span> RTC_OUTPUT_DISABLE<span class=\"token punctuation\">;<\/span><br \/>\n    hrtc<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>OutPutPolarity <span class=\"token operator\">&#061;<\/span> RTC_OUTPUT_POLARITY_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n    hrtc<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>OutPutType <span class=\"token operator\">&#061;<\/span> RTC_OUTPUT_TYPE_OPENDRAIN<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_RTC_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hrtc<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u521d\u59cb\u65f6\u95f4<\/span><br \/>\n    sTime<span class=\"token punctuation\">.<\/span>Hours <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    sTime<span class=\"token punctuation\">.<\/span>Minutes <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    sTime<span class=\"token punctuation\">.<\/span>Seconds <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    sTime<span class=\"token punctuation\">.<\/span>DayLightSaving <span class=\"token operator\">&#061;<\/span> RTC_DAYLIGHTSAVING_NONE<span class=\"token punctuation\">;<\/span><br \/>\n    sTime<span class=\"token punctuation\">.<\/span>StoreOperation <span class=\"token operator\">&#061;<\/span> RTC_STOREOPERATION_RESET<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_RTC_SetTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hrtc<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sTime<span class=\"token punctuation\">,<\/span> RTC_FORMAT_BIN<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8bbe\u7f6e\u521d\u59cb\u65e5\u671f<\/span><br \/>\n    sDate<span class=\"token punctuation\">.<\/span>WeekDay <span class=\"token operator\">&#061;<\/span> RTC_WEEKDAY_MONDAY<span class=\"token punctuation\">;<\/span><br \/>\n    sDate<span class=\"token punctuation\">.<\/span>Month <span class=\"token operator\">&#061;<\/span> RTC_MONTH_JANUARY<span class=\"token punctuation\">;<\/span><br \/>\n    sDate<span class=\"token punctuation\">.<\/span>Date <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    sDate<span class=\"token punctuation\">.<\/span>Year <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_RTC_SetDate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>hrtc<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sDate<span class=\"token punctuation\">,<\/span> RTC_FORMAT_BIN<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ UART\u914d\u7f6e<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_USART3_UART_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    huart3<span class=\"token punctuation\">.<\/span>Instance <span class=\"token operator\">&#061;<\/span> USART3<span class=\"token punctuation\">;<\/span><br \/>\n    huart3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>BaudRate <span class=\"token operator\">&#061;<\/span> DEBUG_BAUDRATE<span class=\"token punctuation\">;<\/span><br \/>\n    huart3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>WordLength <span class=\"token operator\">&#061;<\/span> UART_WORDLENGTH_8B<span class=\"token punctuation\">;<\/span><br \/>\n    huart3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>StopBits <span class=\"token operator\">&#061;<\/span> UART_STOPBITS_1<span class=\"token punctuation\">;<\/span><br \/>\n    huart3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Parity <span class=\"token operator\">&#061;<\/span> UART_PARITY_NONE<span class=\"token punctuation\">;<\/span><br \/>\n    huart3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> UART_MODE_TX_RX<span class=\"token punctuation\">;<\/span><br \/>\n    huart3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>HwFlowCtl <span class=\"token operator\">&#061;<\/span> UART_HWCONTROL_NONE<span class=\"token punctuation\">;<\/span><br \/>\n    huart3<span class=\"token punctuation\">.<\/span>Init<span class=\"token punctuation\">.<\/span>OverSampling <span class=\"token operator\">&#061;<\/span> UART_OVERSAMPLING_16<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">HAL_UART_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>huart3<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> HAL_OK<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ GPIO\u914d\u7f6e<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">MX_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    GPIO_InitTypeDef GPIO_InitStruct <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">__HAL_RCC_GPIOC_CLK_ENABLE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">__HAL_RCC_GPIOA_CLK_ENABLE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">__HAL_RCC_GPIOB_CLK_ENABLE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">__HAL_RCC_GPIOD_CLK_ENABLE<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7528\u6237LED (PC13)<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> GPIO_PIN_13<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_OUTPUT_PP<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pull <span class=\"token operator\">&#061;<\/span> GPIO_NOPULL<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Speed <span class=\"token operator\">&#061;<\/span> GPIO_SPEED_FREQ_LOW<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOC<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStruct<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ CAN\u5f15\u811a (PD0, PD1)<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> GPIO_PIN_0<span class=\"token operator\">|<\/span>GPIO_PIN_1<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_AF_PP<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pull <span class=\"token operator\">&#061;<\/span> GPIO_NOPULL<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Speed <span class=\"token operator\">&#061;<\/span> GPIO_SPEED_FREQ_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Alternate <span class=\"token operator\">&#061;<\/span> GPIO_AF9_CAN1<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOD<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStruct<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ SPI1\u5f15\u811a (SD\u5361) &#8211; PA5, PA6, PA7<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> GPIO_PIN_5<span class=\"token operator\">|<\/span>GPIO_PIN_6<span class=\"token operator\">|<\/span>GPIO_PIN_7<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_AF_PP<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pull <span class=\"token operator\">&#061;<\/span> GPIO_NOPULL<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Speed <span class=\"token operator\">&#061;<\/span> GPIO_SPEED_FREQ_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Alternate <span class=\"token operator\">&#061;<\/span> GPIO_AF5_SPI1<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOA<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStruct<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ SPI2\u5f15\u811a (W5500) &#8211; PB13, PB14, PB15<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pin <span class=\"token operator\">&#061;<\/span> GPIO_PIN_13<span class=\"token operator\">|<\/span>GPIO_PIN_14<span class=\"token operator\">|<\/span>GPIO_PIN_15<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Mode <span class=\"token operator\">&#061;<\/span> GPIO_MODE_AF_PP<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Pull <span class=\"token operator\">&#061;<\/span> GPIO_NOPULL<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Speed <span class=\"token operator\">&#061;<\/span> GPIO_SPEED_FREQ_HIGH<span class=\"token punctuation\">;<\/span><br \/>\n    GPIO_InitStruct<span class=\"token punctuation\">.<\/span>Alternate <span class=\"token operator\">&#061;<\/span> GPIO_AF5_SPI2<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span>GPIOB<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>GPIO_InitStruct<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u521d\u59cb\u5316<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">System_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316HAL\u5e93<\/span><br \/>\n    <span class=\"token function\">HAL_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u914d\u7f6e\u7cfb\u7edf\u65f6\u949f<\/span><br \/>\n    <span class=\"token function\">SystemClock_Config<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316\u5916\u8bbe<\/span><br \/>\n    <span class=\"token function\">MX_GPIO_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">MX_RTC_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">MX_USART3_UART_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316\u7cfb\u7edf\u72b6\u6001<\/span><br \/>\n    <span class=\"token function\">memset<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>system_status<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>SystemStatus_t<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    system_status<span class=\"token punctuation\">.<\/span>system_state <span class=\"token operator\">&#061;<\/span> SYS_STATE_INIT<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u70b9\u4eaeLED\u8868\u793a\u7cfb\u7edf\u6b63\u5728\u542f\u52a8<\/span><br \/>\n    <span class=\"token function\">HAL_GPIO_WritePin<\/span><span class=\"token punctuation\">(<\/span>GPIOC<span class=\"token punctuation\">,<\/span> GPIO_PIN_13<span class=\"token punctuation\">,<\/span> GPIO_PIN_SET<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;\\\\r\\\\n&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN Bus Data Acquisition System&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Version: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> FIRMWARE_VERSION<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Hardware: %s&#034;<\/span><span class=\"token punctuation\">,<\/span> HARDWARE_VERSION<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Build: %s %s&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">__DATE__<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">__TIME__<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;System Clock: %lu MHz&#034;<\/span><span class=\"token punctuation\">,<\/span> SYSTEM_CLOCK_FREQ <span class=\"token operator\">\/<\/span> <span class=\"token number\">1000000<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u786c\u4ef6\u521d\u59cb\u5316<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Hardware_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Initializing hardware&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316CAN\u603b\u7ebf<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN initialization failed: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        system_status<span class=\"token punctuation\">.<\/span>last_error <span class=\"token operator\">&#061;<\/span> error<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">CAN_Start<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;CAN start failed: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5176\u4ed6\u786c\u4ef6\u521d\u59cb\u5316\u4f1a\u5728\u5404\u81ea\u7684RTOS\u4efb\u52a1\u4e2d\u8fdb\u884c<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Hardware initialization complete&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u7cfb\u7edf\u4e3b\u5faa\u73af<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">System_Main_Loop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> last_status_time <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Starting system main loop&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316RTOS\u4efb\u52a1<\/span><br \/>\n    ErrorCode_t error <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">RTOS_Tasks_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>error <span class=\"token operator\">!&#061;<\/span> ERROR_NONE<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;RTOS tasks initialization failed: %d&#034;<\/span><span class=\"token punctuation\">,<\/span> error<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u542f\u52a8\u8c03\u5ea6\u5668<\/span><br \/>\n    <span class=\"token function\">DEBUG_PRINT<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;Starting FreeRTOS scheduler&#8230;&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">osKernelStart<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8fd9\u91cc\u4e0d\u4f1a\u6267\u884c&#xff0c;\u56e0\u4e3a\u8c03\u5ea6\u5668\u5df2\u7ecf\u542f\u52a8<\/span><br \/>\n    <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ \u5982\u679c\u8c03\u5ea6\u5668\u505c\u6b62&#xff0c;\u4f1a\u6267\u884c\u5230\u8fd9\u91cc<\/span><br \/>\n        <span class=\"token function\">Error_Handler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u4e3b\u51fd\u6570<\/span><br \/>\n<span class=\"token keyword\">int<\/span> <span class=\"token function\">main<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u7cfb\u7edf\u521d\u59cb\u5316<\/span><br \/>\n    <span class=\"token function\">System_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u786c\u4ef6\u521d\u59cb\u5316<\/span><br \/>\n    <span class=\"token function\">Hardware_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8fdb\u5165\u7cfb\u7edf\u4e3b\u5faa\u73af&#xff08;\u542f\u52a8RTOS&#xff09;<\/span><br \/>\n    <span class=\"token function\">System_Main_Loop<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u6c38\u8fdc\u4e0d\u4f1a\u5230\u8fbe\u8fd9\u91cc<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/\/ \u91cd\u5199fputc\u4ee5\u652f\u6301printf<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">ifdef<\/span> <span class=\"token expression\">__GNUC__<\/span><\/span><br \/>\n    <span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">PUTCHAR_PROTOTYPE<\/span> <span class=\"token expression\"><span class=\"token keyword\">int<\/span> <span class=\"token function\">__io_putchar<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> ch<span class=\"token punctuation\">)<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">else<\/span><\/span><br \/>\n    <span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">PUTCHAR_PROTOTYPE<\/span> <span class=\"token expression\"><span class=\"token keyword\">int<\/span> <span class=\"token function\">fputc<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> ch<span class=\"token punctuation\">,<\/span> FILE <span class=\"token operator\">*<\/span>f<span class=\"token punctuation\">)<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">endif<\/span><\/span><\/p>\n<p>PUTCHAR_PROTOTYPE<br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token function\">HAL_UART_Transmit<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>huart3<span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&amp;<\/span>ch<span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> HAL_MAX_DELAY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> ch<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h2>15. \u4f7f\u7528\u8bf4\u660e<\/h2>\n<h3>\u786c\u4ef6\u8fde\u63a5<\/h3>\n<p>STM32F407\u5f15\u811a\u5206\u914d&#xff1a;<br \/>\n<span class=\"token operator\">&#8211;<\/span> PD0<span class=\"token punctuation\">,<\/span> PD1   <span class=\"token operator\">-&gt;<\/span> <span class=\"token function\">CAN1<\/span> <span class=\"token punctuation\">(<\/span>CAN_H<span class=\"token punctuation\">,<\/span> CAN_L<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token operator\">&#8211;<\/span> PA5<span class=\"token punctuation\">,<\/span> PA6<span class=\"token punctuation\">,<\/span> PA7 <span class=\"token operator\">-&gt;<\/span> <span class=\"token function\">SPI1<\/span> <span class=\"token punctuation\">(<\/span>SD\u5361<span class=\"token operator\">:<\/span> SCK<span class=\"token punctuation\">,<\/span> MISO<span class=\"token punctuation\">,<\/span> MOSI<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token operator\">&#8211;<\/span> PB13<span class=\"token punctuation\">,<\/span> PB14<span class=\"token punctuation\">,<\/span> PB15 <span class=\"token operator\">-&gt;<\/span> <span class=\"token function\">SPI2<\/span> <span class=\"token punctuation\">(<\/span>W5500<span class=\"token operator\">:<\/span> SCK<span class=\"token punctuation\">,<\/span> MISO<span class=\"token punctuation\">,<\/span> MOSI<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token operator\">&#8211;<\/span> PC2        <span class=\"token operator\">-&gt;<\/span> SD\u5361 CS<br \/>\n<span class=\"token operator\">&#8211;<\/span> PB12       <span class=\"token operator\">-&gt;<\/span> W5500 CS<br \/>\n<span class=\"token operator\">&#8211;<\/span> PC3        <span class=\"token operator\">-&gt;<\/span> SD\u5361\u68c0\u6d4b<br \/>\n<span class=\"token operator\">&#8211;<\/span> PC13       <span class=\"token operator\">-&gt;<\/span> \u7528\u6237LED<br \/>\n<span class=\"token operator\">&#8211;<\/span> PA2<span class=\"token punctuation\">,<\/span> PA3   <span class=\"token operator\">-&gt;<\/span> <span class=\"token function\">USART2<\/span> <span class=\"token punctuation\">(<\/span>\u8c03\u8bd5\u4e32\u53e3<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token operator\">&#8211;<\/span> VBAT       <span class=\"token operator\">-&gt;<\/span> <span class=\"token number\">3<\/span>V\u7535\u6c60&#xff08;\u7528\u4e8eRTC&#xff09;<\/p>\n<h3>\u7f16\u8bd1\u548c\u914d\u7f6e<\/h3>\n<li>\u4f7f\u7528STM32CubeMX\u751f\u6210\u57fa\u7840\u5de5\u7a0b<\/li>\n<li>\u6dfb\u52a0FreeRTOS\u548cFATFS\u4e2d\u95f4\u4ef6<\/li>\n<li>\u914d\u7f6e\u6b63\u786e\u7684\u65f6\u949f\u548c\u5f15\u811a<\/li>\n<li>\u5c06\u4e0a\u8ff0\u6587\u4ef6\u6dfb\u52a0\u5230\u5de5\u7a0b\u4e2d<\/li>\n<li>\u914d\u7f6eFreeRTOS\u5806\u5927\u5c0f&#xff08;\u81f3\u5c1130KB&#xff09;<\/li>\n<h3>\u7cfb\u7edf\u542f\u52a8\u6d41\u7a0b<\/h3>\n<li>\u7cfb\u7edf\u521d\u59cb\u5316&#xff08;\u65f6\u949f\u3001GPIO\u3001\u5916\u8bbe&#xff09;<\/li>\n<li>\u786c\u4ef6\u521d\u59cb\u5316&#xff08;CAN\u3001\u7f51\u7edc\u3001\u5b58\u50a8&#xff09;<\/li>\n<li>\u521b\u5efaRTOS\u4efb\u52a1\u548c\u8d44\u6e90<\/li>\n<li>\u542f\u52a8FreeRTOS\u8c03\u5ea6\u5668<\/li>\n<li>\u5404\u4efb\u52a1\u5f00\u59cb\u5e76\u884c\u8fd0\u884c<\/li>\n<h3>\u4efb\u52a1\u529f\u80fd\u8bf4\u660e<\/h3>\n<li>CAN_Rx_Task&#xff1a;\u63a5\u6536CAN\u603b\u7ebf\u6570\u636e&#xff0c;\u653e\u5165\u5904\u7406\u961f\u5217<\/li>\n<li>CAN_Tx_Task&#xff1a;\u53d1\u9001CAN\u6d88\u606f&#xff08;\u5fc3\u8df3\u3001\u547d\u4ee4\u7b49&#xff09;<\/li>\n<li>Data_Process_Task&#xff1a;\u5904\u7406CAN\u6570\u636e&#xff0c;\u683c\u5f0f\u5316\u6253\u5305<\/li>\n<li>Network_Task&#xff1a;\u7ba1\u7406\u7f51\u7edc\u8fde\u63a5&#xff0c;\u53d1\u9001\u63a5\u6536\u6570\u636e<\/li>\n<li>Storage_Task&#xff1a;\u7ba1\u7406SD\u5361\u5b58\u50a8&#xff0c;\u6570\u636e\u8bb0\u5f55<\/li>\n<li>Watchdog_Task&#xff1a;\u76d1\u63a7\u7cfb\u7edf\u5065\u5eb7&#xff0c;\u5904\u7406\u5f02\u5e38<\/li>\n<li>System_Monitor_Task&#xff1a;\u7cfb\u7edf\u72b6\u6001\u76d1\u63a7\u548c\u65e5\u5fd7<\/li>\n<h3>\u6570\u636e\u6d41<\/h3>\n<p>CAN\u603b\u7ebf \u2192 CAN\u63a5\u6536\u4efb\u52a1 \u2192 \u6570\u636e\u5904\u7406\u961f\u5217 \u2192 \u6570\u636e\u5904\u7406\u4efb\u52a1<br \/>\n                                     \u2193<br \/>\n\u7f51\u7edc\u53d1\u9001\u961f\u5217 \u2192 \u7f51\u7edc\u4efb\u52a1 \u2192 TCP\u670d\u52a1\u5668<br \/>\n                                     \u2193<br \/>\n\u5b58\u50a8\u961f\u5217 \u2192 \u5b58\u50a8\u4efb\u52a1 \u2192 SD\u5361\u6587\u4ef6\u7cfb\u7edf<\/p>\n<h3>\u6269\u5c55\u529f\u80fd\u5efa\u8bae<\/h3>\n<li>\u6dfb\u52a0Modbus TCP\u652f\u6301&#xff1a;\u5728W5500\u9a71\u52a8\u4e2d\u6dfb\u52a0Modbus\u534f\u8bae\u6808<\/li>\n<li>\u5b9e\u73b0\u6570\u636e\u52a0\u5bc6&#xff1a;\u5728\u6570\u636e\u5904\u7406\u4e2d\u6dfb\u52a0AES\u52a0\u5bc6<\/li>\n<li>\u6dfb\u52a0Web\u914d\u7f6e\u754c\u9762&#xff1a;\u901a\u8fc7W5500\u5b9e\u73b0HTTP\u670d\u52a1\u5668<\/li>\n<li>\u5b9e\u73b0OTA\u5347\u7ea7&#xff1a;\u901a\u8fc7\u7f51\u7edc\u8fdb\u884c\u56fa\u4ef6\u66f4\u65b0<\/li>\n<li>\u6dfb\u52a0GPS\u6a21\u5757&#xff1a;\u8bb0\u5f55\u5730\u7406\u4f4d\u7f6e\u4fe1\u606f<\/li>\n<li>\u5b9e\u73b0\u6570\u636e\u538b\u7f29&#xff1a;\u5728\u5b58\u50a8\u524d\u538b\u7f29\u6570\u636e\u4ee5\u8282\u7701\u7a7a\u95f4<\/li>\n","protected":false},"excerpt":{"rendered":"<p>STM32 CAN\u603b\u7ebf\u6570\u636e\u91c7\u96c6\u4e0e\u8f6c\u53d1\u7cfb\u7edf\u5de5\u7a0b\u7ed3\u67841.\u7cfb\u7edf\u914d\u7f6e\u6587\u4ef6 system_config.h2. CAN\u603b\u7ebf\u914d\u7f6e\u6587\u4ef6 can_config.h3. \u7f51\u7edc\u914d\u7f6e\u6587\u4ef6 network_config.h4. CAN\u603b\u7ebf\u9a71\u52a8\u6587\u4ef6 can_bus.h5. CAN\u603b\u7ebf\u9a71\u52a8\u6587\u4ef6 can_bus.c6. W5500\u7f51\u7edc\u9a71\u52a8\u6587\u4ef6 w5500_net.h7. W5500\u7f51\u7edc\u9a71\u52a8\u6587\u4ef6 w5500_net.c8. SD\u5361\u5b58\u50a8\u9a71\u52a8\u6587\u4ef6 sd_storage.h9. SD\u5361\u5b58\u50a8\u9a71\u52a8\u6587\u4ef6 sd_stor<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[217,270,269],"topic":[],"class_list":["post-60888","post","type-post","status-publish","format-standard","hentry","category-server","tag-stm32","tag-270","tag-269"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>STM32 CAN\u603b\u7ebf\u6570\u636e\u91c7\u96c6\u4e0e\u8f6c\u53d1\u7cfb\u7edf\u5b8c\u6574\u4ee3\u7801 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/60888.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"STM32 CAN\u603b\u7ebf\u6570\u636e\u91c7\u96c6\u4e0e\u8f6c\u53d1\u7cfb\u7edf\u5b8c\u6574\u4ee3\u7801 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"STM32 CAN\u603b\u7ebf\u6570\u636e\u91c7\u96c6\u4e0e\u8f6c\u53d1\u7cfb\u7edf\u5de5\u7a0b\u7ed3\u67841.\u7cfb\u7edf\u914d\u7f6e\u6587\u4ef6 system_config.h2. 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