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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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4
checher_slave.uvoptx
View File

@@ -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>

2
source/ReadMe.txt
View File

@@ -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

3
source/codec/codec.c
View File

@@ -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);

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);

2
source/main/compiler_info.h
View File

@@ -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"

2
source/main/main.c
View File

@@ -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)

2
source/rt_thread/board.h
View File

@@ -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;

32
source/task/prot_uc.c
View File

@@ -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);
}
}