436 lines
10 KiB
C
436 lines
10 KiB
C
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#include "if_can.h"
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#include "rtthread.h"
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#include "rthw.h"
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#include "elec_det.h"
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#include "board.h"
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CanRxMsg receive_message;
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static YeCanRxFrame_st canrx_st;
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static uint8_t Can_Device_ID = 0;
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static uint32_t GetCanFilter(YeCanID_un yeid);
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uint32_t ul_exid,ul_can_mask;
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rt_mutex_t can_tx_mutex;
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volatile uint8_t CAN0_TX_BUSY_Flag = 0;
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/*
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@brief CAN通讯初始化， 包括CANgpio 过滤器
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*/
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void YeCanInit(void)
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{
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uint32_t ul_filter,ul_mask;
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CAN_InitTypeDef CAN_InitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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YeCanID_un yeid_un;
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CAN_FilterInitTypeDef CAN_FilterInitStructure;
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
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//CAN GPIO 初始化
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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CAN_DeInit(CAN1);
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CAN_StructInit(&CAN_InitStructure);
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CAN_InitStructure.CAN_TTCM = DISABLE;
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CAN_InitStructure.CAN_ABOM = DISABLE;
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CAN_InitStructure.CAN_AWUM = DISABLE;
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CAN_InitStructure.CAN_NART = DISABLE;
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CAN_InitStructure.CAN_RFLM = DISABLE;
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CAN_InitStructure.CAN_TXFP = ENABLE;
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CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
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CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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CAN_InitStructure.CAN_Prescaler = 30;
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CAN_Init(CAN1, &CAN_InitStructure);
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Can_Device_ID = elec_local_addr();
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yeid_un.Exide = 0;
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yeid_un.yecanid.ACK = 0;
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yeid_un.yecanid.FunClass = 0;
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yeid_un.yecanid.Reserve1 = 0;
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yeid_un.yecanid.Reserve0 = 0;
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yeid_un.yecanid.SegFlag = 0;
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yeid_un.yecanid.SegNum = 0;
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yeid_un.yecanid.srcMACID = 0x00;
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yeid_un.yecanid.destMACID = 0x1F;
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ul_mask = GetCanFilter(yeid_un);
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ul_can_mask =ul_mask;
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yeid_un.yecanid.destMACID = Can_Device_ID;
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ul_filter = GetCanFilter(yeid_un);
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CAN_FilterInitStructure.CAN_FilterNumber = 0;
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CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
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CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
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CAN_FilterInitStructure.CAN_FilterIdHigh = (ul_filter >> 16) & 0x0FFFF;;
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CAN_FilterInitStructure.CAN_FilterIdLow = ul_filter & 0x0FFFF;;
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CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (ul_mask >> 16) & 0x0FFFF;;
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CAN_FilterInitStructure.CAN_FilterMaskIdLow = ul_mask & 0x0FFFF; ;
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CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
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CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
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CAN_FilterInit(&CAN_FilterInitStructure);
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yeid_un.yecanid.destMACID = 0x1E;
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ul_filter = GetCanFilter(yeid_un);
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CAN_FilterInitStructure.CAN_FilterNumber = 1;
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CAN_FilterInitStructure.CAN_FilterIdHigh = (ul_filter >> 16) & 0x0FFFF;;
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CAN_FilterInitStructure.CAN_FilterIdLow = ul_filter & 0x0FFFF;;
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CAN_FilterInit(&CAN_FilterInitStructure);
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yeid_un.yecanid.destMACID = 0x1F;
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ul_filter = GetCanFilter(yeid_un);
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CAN_FilterInitStructure.CAN_FilterNumber = 2;
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CAN_FilterInitStructure.CAN_FilterIdHigh = (ul_filter >> 16) & 0x0FFFF;;
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CAN_FilterInitStructure.CAN_FilterIdLow = ul_filter & 0x0FFFF;;
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CAN_FilterInit(&CAN_FilterInitStructure);
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CAN_OperatingModeRequest(CAN1,CAN_OperatingMode_Normal);
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 4;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
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CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
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can_tx_mutex = rt_mutex_create ("can0_tx_mutex",RT_IPC_FLAG_PRIO);
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}
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/*
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@brief 根据设置CAN 的ID协议，获取帧过滤值
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*/
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static uint32_t GetCanFilter(YeCanID_un yeid)
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{
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uint32_t filter = 0;
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filter = yeid.Exide << 3;
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filter |= 0x04;//只接收扩展帧
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filter &= ~((uint32_t)0x003);//不限定帧类型
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return filter;
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}
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/*
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@brief CAN发送通讯帧
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@param 源地址
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@param 主机地址
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@param 发送数据缓存
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@param 发送数据长度
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@rtv 0 成功 1 失败
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*/
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uint8_t YeCan_SendFrame(uint8_t srcaddr,uint8_t dstaddr,const uint8_t* txdata, uint16_t len)
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{
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CanTxMsg transmit_message;
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uint8_t mailbox_number;
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YeCanID_un yeid_un;
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uint32_t time_out = 0;
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uint8_t uc_rtv = 0;
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//can_transmission_stop(CAN1,0);
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/* initialize transmit message */
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transmit_message.ExtId = 0x00;
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transmit_message.StdId = 0x00;
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transmit_message.RTR = CAN_RTR_DATA;
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transmit_message.IDE = CAN_ID_EXT;
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yeid_un.Exide = 0;
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yeid_un.yecanid.srcMACID = srcaddr;
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yeid_un.yecanid.destMACID = dstaddr;
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yeid_un.yecanid.ACK = 0;
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yeid_un.yecanid.FunClass = 1;
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yeid_un.yecanid.SegFlag = 0;
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yeid_un.yecanid.SegNum = 0;
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if(srcaddr == 0x00 || srcaddr == 0x1f)
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{
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time_out = 0;
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while(time_out < 5)
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{
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elec_led1_power(0);
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rt_thread_mdelay(50);
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elec_led1_power(1);
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rt_thread_mdelay(50);
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time_out++;
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}
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}
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if(can_tx_mutex != RT_NULL)
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{
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if(RT_EOK != rt_mutex_take (can_tx_mutex,500))
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{
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return 1;
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}
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}
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if(len <= 8)
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{
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transmit_message.DLC = len;
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transmit_message.ExtId = yeid_un.Exide;
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memcpy(transmit_message.Data,txdata,8);
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mailbox_number = CAN_Transmit(CAN1, &transmit_message);
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time_out = 5000;
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while( CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number) && time_out > 0)
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{
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time_out --;
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rt_hw_us_delay(20);
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}
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if(time_out == 0)
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{
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uc_rtv = 1;
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goto can0_tx_end;
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}
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goto can0_tx_end;
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}
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while(len > 8)
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{
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memcpy(transmit_message.Data,txdata,8);
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len -= 8;
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txdata += 8;
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if(yeid_un.yecanid.SegNum == 0)
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{
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yeid_un.yecanid.SegFlag = 0x01;
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}else
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{
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yeid_un.yecanid.SegFlag = 0x02;
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}
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transmit_message.ExtId = yeid_un.Exide;
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transmit_message.DLC = 8;
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mailbox_number = CAN_Transmit(CAN1, &transmit_message);
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time_out = 5000;
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while( CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number) && time_out > 0)
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{
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time_out --;
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rt_hw_us_delay(20);
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}
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if(time_out == 0)
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{
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uc_rtv = 1;
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goto can0_tx_end;
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}
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yeid_un.yecanid.SegNum ++;
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}
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yeid_un.yecanid.SegFlag = 0x3;
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memcpy(transmit_message.Data,txdata,len);
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transmit_message.DLC = len;
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transmit_message.ExtId = yeid_un.Exide;
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mailbox_number = CAN_Transmit(CAN1, &transmit_message);
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time_out = 5000;
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while(CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number) && time_out > 0)
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{
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time_out --;
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rt_hw_us_delay(20);
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}
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if(time_out == 0)
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{
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uc_rtv = 1;
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}
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can0_tx_end:
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CAN0_TX_BUSY_Flag = 0;
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rt_mutex_release(can_tx_mutex);
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return uc_rtv;
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}
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typedef struct{
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void (*end_irq)(void *t,uint32_t len);
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void *t;
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uint32_t rx_buff_size;
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}self_def;
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static self_def g_self;
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static void save_data(void)
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{
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YeCanID_un yeid_un;
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if(receive_message.DLC > 0)
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{
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yeid_un.Exide = receive_message.ExtId;
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ul_exid = yeid_un.Exide << 3;
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ul_exid &= ul_can_mask;
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if(yeid_un.yecanid.SegFlag == 00)
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{
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memcpy(canrx_st.rx_databuf,receive_message.Data,receive_message.DLC);
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canrx_st.rx_index = receive_message.DLC;
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g_self.end_irq(g_self.t,canrx_st.rx_index);
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}
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else if(yeid_un.yecanid.SegFlag == 0x01)
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{
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canrx_st.seg_num = 0;
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memcpy(canrx_st.rx_databuf,receive_message.Data,receive_message.DLC);
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canrx_st.rx_index = receive_message.DLC;
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}else if(yeid_un.yecanid.SegFlag == 0x02)
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{
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if((canrx_st.seg_num+1) == yeid_un.yecanid.SegNum )
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{
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canrx_st.seg_num++;
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memcpy(canrx_st.rx_databuf+canrx_st.rx_index,receive_message.Data,receive_message.DLC);
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canrx_st.rx_index += receive_message.DLC;
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}else{
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//error
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}
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}else if(yeid_un.yecanid.SegFlag == 0x03)
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{
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memcpy(canrx_st.rx_databuf+canrx_st.rx_index,receive_message.Data,receive_message.DLC);
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canrx_st.rx_index += receive_message.DLC;
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g_self.end_irq(g_self.t,canrx_st.rx_index);
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}
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}
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}
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void USB_LP_CAN1_RX0_IRQHandler(void)
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{
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rt_interrupt_enter();
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CAN_Receive(CAN1, CAN_FIFO0, &receive_message);
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if(g_self.end_irq&&canrx_st.rx_databuf){
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save_data();
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}
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CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
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rt_interrupt_leave();
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}
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static int init(uart_def *u,int bsp)
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{
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YeCanInit();
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return 0;
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}
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static int deinit(uart_def *u)
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{
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return 0;
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}
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static int set_irq(uart_def *u,void (*irq)(void *t,uint8_t d),void *t)
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{
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return 0;
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}
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static int set_end_irq(uart_def *u,uint8_t *rx_buff,int rx_buff_size,
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void (*irq)(void *t,uint32_t len),void *t)
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{
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irq_disable();
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g_self.end_irq=irq;
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canrx_st.rx_databuf=rx_buff;
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g_self.rx_buff_size=rx_buff_size;
|
|||
|
|
g_self.t=t;
|
|||
|
|
irq_enable();
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
static int read(uart_def *u,uint8_t *b,int len)
|
|||
|
|
{
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
static int write(uart_def *u,const uint8_t *b,int len)
|
|||
|
|
{
|
|||
|
|
uint8_t src=b[4];
|
|||
|
|
uint8_t dst=b[5];
|
|||
|
|
uint8_t ret;
|
|||
|
|
ret=YeCan_SendFrame(src,dst,b,len);
|
|||
|
|
if(ret==0) return len;
|
|||
|
|
else return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
uart_init_export(can,init,deinit,set_irq,set_end_irq,read,write,0)
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
typedef struct{
|
|||
|
|
uart_def *dev[2];
|
|||
|
|
int dev_index;
|
|||
|
|
int inited;
|
|||
|
|
void (*end_irq)(void *t,uint32_t len);
|
|||
|
|
void *t;
|
|||
|
|
}h_self_def;
|
|||
|
|
|
|||
|
|
static h_self_def g_hself;
|
|||
|
|
|
|||
|
|
static int h_init(uart_def *u,int bsp)
|
|||
|
|
{
|
|||
|
|
h_self_def *h=&g_hself;
|
|||
|
|
if(h->inited) return 0;
|
|||
|
|
h->dev[0]=dev_get("uart1");
|
|||
|
|
h->dev[1]=dev_get("can");
|
|||
|
|
h->dev[0]->init(h->dev[0],0);
|
|||
|
|
h->dev[1]->init(h->dev[1],0);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
static int h_deinit(uart_def *u)
|
|||
|
|
{
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
static int h_set_irq(uart_def *u,void (*irq)(void *t,uint8_t d),void *t)
|
|||
|
|
{
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
static void h_end_irq0(void *t,uint32_t len)
|
|||
|
|
{
|
|||
|
|
h_self_def *h=&g_hself;
|
|||
|
|
h->dev_index=0;
|
|||
|
|
if(h->end_irq)
|
|||
|
|
{
|
|||
|
|
h->end_irq(h->t,len);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
static void h_end_irq1(void *t,uint32_t len)
|
|||
|
|
{
|
|||
|
|
h_self_def *h=&g_hself;
|
|||
|
|
h->dev_index=1;
|
|||
|
|
if(h->end_irq)
|
|||
|
|
{
|
|||
|
|
h->end_irq(h->t,len);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
static int h_set_end_irq(uart_def *u,uint8_t *rx_buff,int rx_buff_size,
|
|||
|
|
void (*irq)(void *t,uint32_t len),void *t)
|
|||
|
|
{
|
|||
|
|
h_self_def *h=&g_hself;
|
|||
|
|
irq_disable();
|
|||
|
|
h->end_irq=irq;
|
|||
|
|
h->t=t;
|
|||
|
|
irq_enable();
|
|||
|
|
h->dev[0]->set_end_irq(h->dev[0],rx_buff,rx_buff_size,h_end_irq0,h);
|
|||
|
|
h->dev[1]->set_end_irq(h->dev[1],rx_buff,rx_buff_size,h_end_irq1,h);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
static int h_read(uart_def *u,uint8_t *b,int len)
|
|||
|
|
{
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
static int h_write(uart_def *u,const uint8_t *b,int len)
|
|||
|
|
{
|
|||
|
|
h_self_def *h=&g_hself;
|
|||
|
|
uart_def *s=h->dev[h->dev_index];
|
|||
|
|
return s->write(s,b,len);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
uart_init_export(host,h_init,h_deinit,h_set_irq,h_set_end_irq,h_read,h_write,0)
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|