andy/checker_slave
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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);
}