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

checher_slave.uvoptx

@@ -813,7 +813,7 @@
 
   <Group>
     <GroupName>stm32lib</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -2097,7 +2097,7 @@
 
   <Group>
     <GroupName>coder</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

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

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);

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);
 }
 
 

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

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_Cmd(TIM5,DISABLE);
-  TIM_SetCounter(TIM5,value/1000);
+  
+  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;
 }
 

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);

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"
 
 

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)

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;
 

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);
   }
 }