From b9224f22932fcdc4e270931bc3a2607ff8b637ab Mon Sep 17 00:00:00 2001 From: ranchuan Date: Sat, 6 Jan 2024 09:54:54 +0800 Subject: [PATCH] =?UTF-8?q?=E6=94=B6=E5=88=B0=E5=B9=BF=E6=92=AD=E5=91=BD?= =?UTF-8?q?=E4=BB=A4=E6=97=B6=E9=87=8D=E6=96=B0=E5=88=9D=E5=A7=8B=E5=8C=96?= =?UTF-8?q?=E5=AE=9A=E6=97=B6=E5=99=A8=EF=BC=8Ccan=E6=80=BB=E7=BA=BF?= =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=8F=91=E9=80=81=E6=97=B6=E9=95=BF=E8=B6=85?= =?UTF-8?q?=E6=97=B6=E5=88=A4=E6=96=AD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- checher_slave.uvoptx | 4 +-- source/ReadMe.txt | 2 ++ source/codec/codec.c | 3 ++- source/interface/if_can.c | 50 ++++++++++++++++--------------------- source/interface/if_can.h | 2 +- source/interface/if_timer.c | 16 +++++++++--- source/interface/if_uart.c | 4 +-- source/main/compiler_info.h | 2 +- source/main/main.c | 2 -- source/rt_thread/board.h | 2 +- source/task/prot_uc.c | 32 ++++++++++++++++++------ 11 files changed, 70 insertions(+), 49 deletions(-) diff --git a/checher_slave.uvoptx b/checher_slave.uvoptx index 356c77d..78a5865 100644 --- a/checher_slave.uvoptx +++ b/checher_slave.uvoptx @@ -813,7 +813,7 @@ stm32lib - 0 + 1 0 0 0 @@ -2097,7 +2097,7 @@ coder - 1 + 0 0 0 0 diff --git a/source/ReadMe.txt b/source/ReadMe.txt index 7a24781..4efa6b0 100644 --- a/source/ReadMe.txt +++ b/source/ReadMe.txt @@ -324,3 +324,5 @@ V2.11 读流水号时如果目标值为0则不报错 2021.01.04 V2.12 sn为0时如果未写流水号则报错 +2024.01.05 + 收到广播命令时重新初始化定时器，can总线添加发送时长超时判断，超时后自动重发 diff --git a/source/codec/codec.c b/source/codec/codec.c index 5c03450..2113327 100644 --- a/source/codec/codec.c +++ b/source/codec/codec.c @@ -265,7 +265,8 @@ array_def *protm_decode(protu_def *p,array_def *data) int dst_addrs=arr_get(r,0)|(arr_get(r,1)<<8)|(arr_get(r,2)<<16); if((dst_addrs&(1<<(self_addr-1)))!=0){ p->silent=1; - p->timer->write(p->timer,0); + // p->timer->write(p->timer,0); + p->timer->init(p->timer); p->rank=calc_bit_num(dst_addrs,self_addr-1); p->num=calc_bit_num(dst_addrs,32); arr_remove(r,0,3); diff --git a/source/interface/if_can.c b/source/interface/if_can.c index ed1eb02..853354e 100644 --- a/source/interface/if_can.c +++ b/source/interface/if_can.c @@ -135,13 +135,20 @@ static uint32_t GetCanFilter(YeCanID_un yeid) @param 发送数据长度 @rtv 0 成功 1 失败 */ -uint8_t YeCan_SendFrame(uint8_t srcaddr,uint8_t dstaddr,const uint8_t* txdata, uint16_t len) +timer_def *timer=0; +uint8_t YeCan_SendFrame(uint8_t srcaddr,uint8_t dstaddr,const uint8_t* txdata, uint16_t len,int delay_ms) { CanTxMsg transmit_message; uint8_t mailbox_number; YeCanID_un yeid_un; - uint32_t time_out = 0; + int time_out = delay_ms*1000; uint8_t uc_rtv = 0; + uint32_t tick_start=0; + if(timer==0){ + timer=dev_get("timer"); + } + tick_start=timer->read(timer); + //can_transmission_stop(CAN1,0); /* initialize transmit message */ transmit_message.ExtId = 0x00; @@ -155,19 +162,6 @@ uint8_t YeCan_SendFrame(uint8_t srcaddr,uint8_t dstaddr,const uint8_t* txdata, u yeid_un.yecanid.FunClass = 1; yeid_un.yecanid.SegFlag = 0; yeid_un.yecanid.SegNum = 0; - if(srcaddr == 0x00 || srcaddr == 0x1f) - { - time_out = 0; - while(time_out < 5) - { - elec_led1_power(0); - rt_thread_mdelay(50); - elec_led1_power(1); - rt_thread_mdelay(50); - time_out++; - - } - } if(can_tx_mutex != RT_NULL) { if(RT_EOK != rt_mutex_take (can_tx_mutex,500)) @@ -182,13 +176,13 @@ uint8_t YeCan_SendFrame(uint8_t srcaddr,uint8_t dstaddr,const uint8_t* txdata, u memcpy(transmit_message.Data,txdata,8); mailbox_number = CAN_Transmit(CAN1, &transmit_message); - time_out = 5000; while( CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number) && time_out > 0) { - time_out --; + time_out -=20; rt_hw_us_delay(20); } - if(time_out == 0) + // if(time_out <= 0) + if((timer->read(timer)-tick_start)>=delay_ms) { uc_rtv = 1; goto can0_tx_end; @@ -214,10 +208,11 @@ uint8_t YeCan_SendFrame(uint8_t srcaddr,uint8_t dstaddr,const uint8_t* txdata, u time_out = 5000; while( CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number) && time_out > 0) { - time_out --; + time_out -=20; rt_hw_us_delay(20); } - if(time_out == 0) + // if(time_out <= 0) + if((timer->read(timer)-tick_start)>=delay_ms) { uc_rtv = 1; goto can0_tx_end; @@ -229,16 +224,15 @@ uint8_t YeCan_SendFrame(uint8_t srcaddr,uint8_t dstaddr,const uint8_t* txdata, u transmit_message.DLC = len; transmit_message.ExtId = yeid_un.Exide; mailbox_number = CAN_Transmit(CAN1, &transmit_message); - time_out = 5000; while(CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number) && time_out > 0) { - time_out --; + time_out -=20; rt_hw_us_delay(20); } - if(time_out == 0) + // if(time_out <= 0) + if((timer->read(timer)-tick_start)>=delay_ms) { - uc_rtv = 1; } @@ -345,12 +339,12 @@ 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) +static int write(uart_def *u,const uint8_t *b,int len,int timeout_ms) { uint8_t src=elec_local_addr(); uint8_t dst=0; uint8_t ret; - ret=YeCan_SendFrame(src,dst,b,len); + ret=YeCan_SendFrame(src,dst,b,len,timeout_ms); if(ret==0) return len; else return 0; } @@ -427,11 +421,11 @@ 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) +static int h_write(uart_def *u,const uint8_t *b,int len,int timeout_ms) { h_self_def *h=&g_hself; uart_def *s=h->dev[h->dev_index]; - return s->write(s,b,len); + return s->write(s,b,len,timeout_ms); } diff --git a/source/interface/if_can.h b/source/interface/if_can.h index eab95da..a5b7ebc 100644 --- a/source/interface/if_can.h +++ b/source/interface/if_can.h @@ -45,6 +45,6 @@ void YeCanInit(void); @param 发送数据长度 @rtv 0 成功 1 失败 */ -uint8_t YeCan_SendFrame(uint8_t srcaddr,uint8_t dstaddr,const uint8_t* txdata, uint16_t len); +uint8_t YeCan_SendFrame(uint8_t srcaddr,uint8_t dstaddr,const uint8_t* txdata, uint16_t len,int delay_ms); #endif diff --git a/source/interface/if_timer.c b/source/interface/if_timer.c index b0da7c1..32bfb16 100644 --- a/source/interface/if_timer.c +++ b/source/interface/if_timer.c @@ -8,7 +8,7 @@ static int init(timer_def *t){ static int inited=0; - if(inited!=0) return 0; + // if(inited!=0) return 0; inited=1; TIM_TimeBaseInitTypeDef timer; @@ -58,10 +58,20 @@ static uint32_t read(timer_def *t) } static int write(timer_def *t,const uint32_t value) { + uint32_t v; TIM_Cmd(TIM4,DISABLE); - TIM_SetCounter(TIM4,(value%1000)*10); - TIM_SetCounter(TIM5,value/1000); + TIM_Cmd(TIM5,DISABLE); + + v=(value%1000)*10; + TIM4->CNT = v; + TIM4->EGR |= TIM_EventSource_Update; + + v=value/1000; + TIM5->CNT = v; + TIM5->EGR |= TIM_EventSource_Update; + TIM_Cmd(TIM4,ENABLE); + TIM_Cmd(TIM5,ENABLE); return 0; } diff --git a/source/interface/if_uart.c b/source/interface/if_uart.c index da616b1..c9d38fb 100644 --- a/source/interface/if_uart.c +++ b/source/interface/if_uart.c @@ -361,7 +361,7 @@ static int dma_tx_reset(self_data *self,uint8_t *tx_buff,uint32_t tx_buff_size) // dma后台发送需要保证数据在发送期间有效 -static int write(uart_def *u,const uint8_t *b,int len) +static int write(uart_def *u,const uint8_t *b,int len,int timeout_ms) { param_check(u); param_check(u->private_data); @@ -380,7 +380,7 @@ static int write(uart_def *u,const uint8_t *b,int len) } // 阻塞发送，此函数结束即可释放内存 -static int write_block(uart_def *u,const uint8_t *b,int len) +static int write_block(uart_def *u,const uint8_t *b,int len,int timeout_ms) { param_check(u); param_check(u->private_data); diff --git a/source/main/compiler_info.h b/source/main/compiler_info.h index fca8e2a..520f238 100644 --- a/source/main/compiler_info.h +++ b/source/main/compiler_info.h @@ -6,7 +6,7 @@ -#define BUILD_DATE "2024-01-04 14:39:32" +#define BUILD_DATE "2024-01-05 18:59:06" #define SOFT_VERSION "2.12" diff --git a/source/main/main.c b/source/main/main.c index 1de180b..1869505 100644 --- a/source/main/main.c +++ b/source/main/main.c @@ -58,8 +58,6 @@ int main() connect(protu2,protu_recv_signal,0,cmd,cmd_recv_slot); connect(cmd,cmd_reply_signal,0,protu2,protu_send_call); - timer_def *timer=dev_get("timer"); - timer->init(timer); // rt_thread_mdelay(5000); // timer->write(timer,0); while(1) diff --git a/source/rt_thread/board.h b/source/rt_thread/board.h index 9afbb73..feba108 100644 --- a/source/rt_thread/board.h +++ b/source/rt_thread/board.h @@ -22,7 +22,7 @@ typedef struct __uart_def{ int (*set_end_irq)(struct __uart_def *u,uint8_t *rx_buff,int rx_buff_size, void (*irq)(void *t,uint32_t len),void *t); int (*read)(struct __uart_def *u,uint8_t *b,int len); - int (*write)(struct __uart_def *u,const uint8_t *b,int len); + int (*write)(struct __uart_def *u,const uint8_t *b,int len,int timeout_ms); void *private_data; }uart_def; diff --git a/source/task/prot_uc.c b/source/task/prot_uc.c index f7c35b1..c7a0276 100644 --- a/source/task/prot_uc.c +++ b/source/task/prot_uc.c @@ -270,10 +270,10 @@ protu_def *protu_creat(uart_def *uart) -int protu_send(protu_def *p,array_def *data) +int protu_send(protu_def *p,array_def *data,int timeout_ms) { //DBG_LOG("send:%s",str_temp(arr_string(data))); - return p->uart->write(p->uart,arr_data(data),arr_length(data)); + return p->uart->write(p->uart,arr_data(data),arr_length(data),timeout_ms); } @@ -287,7 +287,7 @@ array_def *t; static void protu_send_later(void *ptr) { send_pkt_def *s=ptr; - protu_send(s->p,s->t); + protu_send(s->p,s->t,50); arr_delete(s->t); } @@ -296,12 +296,16 @@ static send_pkt_def g_send_pkt; // 在指定时间间隙中发送 -static void protu_send_ontime(protu_def *p,send_pkt_def *s) +// 返回0失败 +static int protu_send_ontime(protu_def *p,send_pkt_def *s) { uint32_t tick=p->timer->read(p->timer); // 根据返回的数据长度计算发送需要的时间,添加1ms的余量 // 根据协议,每个指令从机的返回数据长度等长,所以需要的时间窗口也相等 - int wnd_tick=((arr_length(s->t)+12)/13+2); + // 253字节需要23ms + // 每ms传输的字节数为253/23=11, + // 考虑can总线自动重传保留1/3的余量 + int wnd_tick=((arr_length(s->t)+4)/5+2); int delay=tick%(wnd_tick*(p->num)); int gap=p->rank*wnd_tick; if(delay<=gap){ @@ -313,14 +317,26 @@ static void protu_send_ontime(protu_def *p,send_pkt_def *s) // 广播命令在指定时间窗口发送 //later_execute(protu_send_later,s,delay); while(p->timer->read(p->timer)<(tick+delay)); - protu_send_later(s); + // protu_send_later(s); + return protu_send(s->p,s->t,wnd_tick-2); + }else{ // 单播命令直接发送 protu_send_later(s); + return arr_length(s->t); } } +static int protu_send_ontime_loop(protu_def *p,send_pkt_def *s) +{ + while(protu_send_ontime(p,s)==0); + return 0; +} + + + + // 槽函数，回复上位机 void protu_reply_call(protu_def *p,array_def *data) { @@ -332,7 +348,7 @@ void protu_reply_call(protu_def *p,array_def *data) if(t){ g_send_pkt.p=p; g_send_pkt.t=t; - protu_send_ontime(p,&g_send_pkt); + protu_send_ontime_loop(p,&g_send_pkt); } } @@ -355,7 +371,7 @@ void protu_send_call(protu_def *p,uint8_t cmd,array_def *data) if(t){ g_send_pkt.p=p; g_send_pkt.t=t; - protu_send_ontime(p,&g_send_pkt); + protu_send_ontime_loop(p,&g_send_pkt); } }