370 lines
7.9 KiB
C++
370 lines
7.9 KiB
C++
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#include "interface/if_can.h"
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#include <QDebug>
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#include "QTimer"
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#include "base/crc.h"
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#include <QtEndian>
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#include "QThread"
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#include "base/mycfg.h"
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#define QT_NO_DEBUG_OUTPUT
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typedef struct
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{
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uint32_t Reserve1 : 3;
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uint32_t srcMACID : 5;
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uint32_t Reserve0 : 2;
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uint32_t destMACID : 5;
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uint32_t ACK : 1;
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uint32_t FunClass : 6;
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uint32_t SegFlag : 2;
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uint32_t SegNum : 8;
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} YeCanID_st_old;
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typedef struct
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{
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uint32_t SegNum : 8;
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uint32_t Reserve0 : 2;
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uint32_t ACK : 1;
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uint32_t FunClass : 6;
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uint32_t SegFlag : 2;
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uint32_t destMACID : 5;
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uint32_t srcMACID : 5;
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uint32_t Reserve1 : 3;
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} YeCanID_st;
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typedef union
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{
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uint32_t Exide;
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YeCanID_st yecanid;
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YeCanID_st_old yecanid_old;
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} YeCanID_un;
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can_slave::can_slave()
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{
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addr = 0;
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recv_pack_num = 0;
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}
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// 定义带参的沟道函数，供QList调用
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can_slave::can_slave(const can_slave &b) : QObject()
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{
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this->addr = b.addr;
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this->recv_data = b.recv_data;
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this->recv_pack_num = b.recv_pack_num;
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}
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can_slave::~can_slave()
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{
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}
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can_slave &can_slave::operator=(const can_slave &b)
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{
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this->addr = b.addr;
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this->recv_data = b.recv_data;
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this->recv_pack_num = b.recv_pack_num;
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return *this;
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}
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void can_slave::append(QByteArray data)
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{
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recv_data.append(data);
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recv_pack_num++;
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}
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QByteArray can_slave::get_data()
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{
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return recv_data;
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}
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int can_slave::get_pack_num()
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{
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return recv_pack_num;
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}
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void can_slave::clear()
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{
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recv_data.clear();
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recv_pack_num = 0;
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}
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can_host::can_host(int bitrate)
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{
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this->bitrate = bitrate;
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this->can_ = nullptr;
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timer_ = nullptr;
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recv_cb_fun=nullptr;
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}
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can_host::~can_host()
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{
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if(can_ !=nullptr){
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delete can_;
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}
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if(timer_ !=nullptr){
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delete timer_;
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}
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}
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// 用于返回指定地址的从机对象
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can_slave &can_host::get_slave_by_addr(uint8_t addr)
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{
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for (int i = 0; i < slaves.size(); i++)
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{
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if (slaves[i].addr == addr)
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return slaves[i];
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}
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// 如果没有对应地址的从机，则添加一个
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can_slave c;
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c.addr = addr;
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slaves.append(c);
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return slaves[slaves.size() - 1];
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}
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void can_host::init()
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{
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QTimer::singleShot(0, this, &can_host::init_cb);
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}
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void can_host::init_cb()
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{
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if (nullptr == can_)
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{
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/* 先关闭can0 */
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system("ifconfig can0 down");
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QString cmd = tr("ip link set up can0 type can bitrate %1 restart-ms 100").arg(bitrate);
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/* 使用系统指令以设置的比特率初始化CAN */
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// qDebug()<< "can cmd:"<<cmd<<endl;
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system(cmd.toStdString().c_str());
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system("echo 4096 > /sys/class/net/can0/tx_queue_len");
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QString errorString;
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can_ = QCanBus::instance()->createDevice("socketcan", "can0", &errorString);
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if (!can_)
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{
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qWarning() << "Error creating device can0,reson:" << errorString;
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return;
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}
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/* 连接CAN */
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if (!can_->connectDevice())
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{
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qWarning() << "device can0 Connection error:" << can_->errorString();
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delete can_;
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can_ = nullptr;
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return;
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}
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// 连接收到数据信号和错误信号
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connect(can_, SIGNAL(framesReceived()), this, SLOT(recv_data_cb()));
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}
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}
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// 发送完成回调
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void can_host::freams_sent_cb(qint64 count)
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{
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Q_UNUSED(count);
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qDebug() << "freams sent.count=" << count;
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if (!send_packets.isEmpty())
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{
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QCanBusFrame f = send_packets.at(0);
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if (can_->writeFrame(f) == true)
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send_packets.removeAt(0);
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}
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}
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// 收到can数据的回调
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void can_host::recv_data_cb()
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{
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YeCanID_un frame_id;
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while (can_->framesAvailable()){
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const QCanBusFrame frame = can_->readFrame();
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frame_id.Exide = frame.frameId();
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if (frame_id.Exide == 0x000000)
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return;
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QByteArray payload = frame.payload();
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uint8_t slave_addr;
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uint8_t dst_addr;
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uint8_t seg_flag;
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int seg_num;
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if(frame_id.yecanid.Reserve0==0){
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slave_addr = frame_id.yecanid_old.srcMACID;
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dst_addr = frame_id.yecanid_old.destMACID;
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seg_flag = frame_id.yecanid_old.SegFlag;
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seg_num = frame_id.yecanid_old.SegNum;
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}else{
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slave_addr = frame_id.yecanid.srcMACID;
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dst_addr = frame_id.yecanid.destMACID;
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seg_flag = frame_id.yecanid.SegFlag;
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seg_num = frame_id.yecanid.SegNum;
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}
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can_slave &slave = get_slave_by_addr(slave_addr);
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if (seg_flag == 0x00){
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// 不分段
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slave.clear();
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slave.append(payload);
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// qDebug()<<"can recv from:"<<slave_addr<<slave.get_data().toHex(' ');
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if (dst_addr == 0){
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if (irq_fun){
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irq_fun(myarray(slave.get_data()));
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}
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if(recv_cb_fun){
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recv_cb_fun(slave_addr,myarray(slave.get_data()));
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}
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emit recv_data_signal(slave_addr,slave.get_data());
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}
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}
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else if (seg_flag == 0x01){
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// 首段
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slave.clear();
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slave.append(payload);
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}
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else if (seg_flag == 0x02){
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// 中段
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slave.append(payload);
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}
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else if (seg_flag == 0x03){
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// 尾段
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slave.append(payload);
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if (slave.get_pack_num() - 1 == seg_num){
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// qDebug()<<"can recv from:"<<slave_addr<<slave.get_data().toHex(' ');
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if (dst_addr == 0){
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if (irq_fun){
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irq_fun(myarray(slave.get_data()));
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}
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if(recv_cb_fun){
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recv_cb_fun(slave_addr,myarray(slave.get_data()));
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}
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emit recv_data_signal(slave_addr,slave.get_data());
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}
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}
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else{
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qDebug() << "can data from: " << slave_addr << "recv error";
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}
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}
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}
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}
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int can_host::write(int dst,myarray data)
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{
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// qDebug()<<"can send to:"<<dst<<data.toHex(' ');
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append(dst, 1, data);
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// qDebug("can send end.");
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return data.size();
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}
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// 群发消息
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void can_host::send_data_mul_slot(QList<int> addrs, QByteArray data)
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{
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for (int i = 0; i < addrs.size(); i++)
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append(addrs[i], 1, data);
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}
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void can_host::append(uint8_t addr, uint8_t fun_class, QByteArray data)
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{
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YeCanID_un frameId;
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frameId.Exide = 0;
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frameId.yecanid_old.destMACID = addr;
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frameId.yecanid_old.srcMACID = 0;
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frameId.yecanid_old.FunClass = fun_class;
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frameId.yecanid_old.SegFlag = 0;
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frameId.yecanid_old.SegNum = 0;
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// frameId.yecanid.Reserve0=1;// 使用新协议
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// 单包发送
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if (data.size() <= 8)
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{
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frameId.yecanid_old.SegFlag = 0x0;
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frameId.yecanid_old.SegNum = 0;
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QCanBusFrame frame = QCanBusFrame(frameId.Exide, data.left(8));
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while (can_->writeFrame(frame) != true)
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{
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can_->waitForFramesWritten(1000);
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}
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}
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else
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{
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// 按8字节分包发送
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for (int i = 0; !data.isEmpty(); i++)
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{
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if (i == 0)
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{
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frameId.yecanid_old.SegFlag = 0x1;
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}
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else if (data.size() > 8)
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{
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frameId.yecanid_old.SegFlag = 0x2;
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}
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else
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{
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frameId.yecanid_old.SegFlag = 0x3;
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}
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frameId.yecanid_old.SegNum = (uint8_t)i;
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QCanBusFrame frame = QCanBusFrame(frameId.Exide, data.left(8));
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while (can_->writeFrame(frame) != true)
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{
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// qDebug("wait for written.");
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can_->waitForFramesWritten(1000);
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}
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data.remove(0, 8);
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}
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}
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}
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void can_host::on_error_cb(QCanBusDevice::CanBusError err)
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{
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switch (err)
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{
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case QCanBusDevice::ReadError:
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qWarning() << "ReadError" << can_->errorString();
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break;
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case QCanBusDevice::WriteError:
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qWarning() << "WriteError" << can_->errorString();
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break;
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case QCanBusDevice::ConnectionError:
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qWarning() << "ConnectionError" << can_->errorString();
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break;
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case QCanBusDevice::ConfigurationError:
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qWarning() << "ConfigurationError" << can_->errorString();
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break;
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case QCanBusDevice::UnknownError:
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qWarning() << "UnknowError" << can_->errorString();
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break;
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default:
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break;
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}
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}
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InterFace *if_can_get()
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{
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static InterFace *if_ = nullptr;
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if (if_ == nullptr)
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{
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int bsp=200000;
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if(syscfg()->can_bitrate!=0){
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bsp=syscfg()->can_bitrate;
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}
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if_ = new can_host(bsp);
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QTimer::singleShot(0, if_, &InterFace::init);
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}
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return if_;
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}
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if_export(can, if_can_get);
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