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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

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This commit is contained in:
ranchuan
2024-01-06 09:54:54 +08:00
parent 78e0ebd0c2
commit b9224f2293
11 changed files with 70 additions and 49 deletions
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50
source/interface/if_can.c
View File

@@ -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);
}

2
source/interface/if_can.h
View File

@@ -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

16
source/interface/if_timer.c
View File

@@ -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;
}

4
source/interface/if_uart.c
View File

@@ -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);