From bcbd02a72cbe1b37eb700d618bc189d6d7d2eed0 Mon Sep 17 00:00:00 2001 From: ranchuan Date: Mon, 8 Jan 2024 18:04:05 +0800 Subject: [PATCH] =?UTF-8?q?=20=20=20=20V2.13=20=E4=BD=BF=E7=94=A8=E6=96=B0?= =?UTF-8?q?=E7=9A=84can=E5=B8=A7=E5=9B=9E=E5=A4=8D=E6=95=B0=E6=8D=AE=20=20?= =?UTF-8?q?=20=20=20=E8=A7=A3=E5=86=B3ew=E8=87=AA=E6=A3=80=E6=A8=A1?= =?UTF-8?q?=E5=BC=8F=208=E5=AF=BC=E8=87=B4=E5=B0=8F=E6=9D=BF=E6=AD=BB?= =?UTF-8?q?=E6=9C=BA=E7=9A=84bug=EF=BC=8C=E8=87=AA=E6=A3=80=E8=BF=94?= =?UTF-8?q?=E5=9B=9E=E5=80=BC=E9=99=A4=E4=BB=A5400=EF=BC=8C=E5=8D=95?= =?UTF-8?q?=E4=BD=8D0.1ms?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1 + checher_slave.uvoptx | 35 +++-- doc/__csmzm_app.bin | Bin 11264 -> 11264 bytes source/ReadMe.txt | 5 + source/codec/codec.c | 4 +- source/dev/dev_flash.c | 2 + source/elec_det/interface/EWChecker.c | 6 +- source/interface/if_can.c | 190 ++++++++++++-------------- source/interface/if_can.h | 17 +++ source/main/compiler_info.h | 4 +- source/prebuild.py | 2 +- source/rt_thread/core_delay.c | 22 +++ source/rt_thread/core_delay.h | 2 + source/soft/debug.c | 2 +- source/task/prot_uc.c | 36 +++-- source/task/tran_for_slave.c | 2 +- 16 files changed, 203 insertions(+), 127 deletions(-) diff --git a/.gitignore b/.gitignore index d2fe1a1..226621e 100644 --- a/.gitignore +++ b/.gitignore @@ -20,3 +20,4 @@ quest_info.txt bootcode.txt *.uvoptx build/ +doc/*.bin diff --git a/checher_slave.uvoptx b/checher_slave.uvoptx index 78a5865..50dd3ff 100644 --- a/checher_slave.uvoptx +++ b/checher_slave.uvoptx @@ -377,7 +377,24 @@ - + + + 0 + 0 + 185 + 1 +
134234652
+ 0 + 0 + 0 + 0 + 0 + 1 + .\source\rt_thread\libcpu\arm\cortex-m3\context_rvds.S + + \\checker_slave_app\source/rt_thread/libcpu/arm/cortex-m3/context_rvds.S\185 + + 0 @@ -388,16 +405,16 @@ 1 - 0 - 0x0803b800 + 1 + 0x20002CE0 0 2 - 1 - 0x200028C8 + 8 + 0x20007088 0 @@ -605,18 +622,18 @@ 0 0 - 108 + 185 1 -
134339522
+
134234652
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if((dst_addrs&(1<<(self_addr-1)))!=0){ p->silent=1; - // p->timer->write(p->timer,0); - p->timer->init(p->timer); + 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/dev/dev_flash.c b/source/dev/dev_flash.c index ef20de6..0bda2a5 100644 --- a/source/dev/dev_flash.c +++ b/source/dev/dev_flash.c @@ -304,6 +304,8 @@ int flash_write(uint8_t *addr,const uint8_t *data,int len) { DBG_WARN("addr=%08x write/read data not equate.",addr); ret=3; + }else{ + ret=0; } rt_mutex_release(s->mutex); return ret; diff --git a/source/elec_det/interface/EWChecker.c b/source/elec_det/interface/EWChecker.c index c6e7041..1b2d8a4 100644 --- a/source/elec_det/interface/EWChecker.c +++ b/source/elec_det/interface/EWChecker.c @@ -438,7 +438,7 @@ void EW_Test_VerifyThreedCode(void) @brief 自检 @param 自检模式 @param1 自检时间ms -@rtv 自检模式0x08的回读数据 +@rtv 自检模式0x08的回读数据（0.1ms） */ void EW_Test_CheckSelf() { @@ -447,8 +447,10 @@ void EW_Test_CheckSelf() uint8_t uc_mode = checker_runcfg.params[0]; uc_rtv = EW_ChecSelf(checker_runcfg.netid,uc_mode,(uint8_t*)&ul_temp); delay_ms(checker_runcfg.params[1]); + // 250ns 除以400 单位0.1ms + ul_temp/=400; Checker_MaskResult(uc_rtv,checker_runcfg.task_info.runindex); - Checker_SetRtv((uint16_t*)ul_temp,checker_runcfg.rtv_count); + Checker_SetRtv((uint16_t*)&ul_temp,checker_runcfg.rtv_count); } /* diff --git a/source/interface/if_can.c b/source/interface/if_can.c index 853354e..3729c21 100644 --- a/source/interface/if_can.c +++ b/source/interface/if_can.c @@ -4,6 +4,8 @@ #include "rthw.h" #include "elec_det.h" #include "board.h" +#include "core_delay.h" + CanRxMsg receive_message; static YeCanRxFrame_st canrx_st; static uint8_t Can_Device_ID = 0; @@ -61,18 +63,18 @@ void YeCanInit(void) Can_Device_ID = elec_local_addr(); yeid_un.Exide = 0; - yeid_un.yecanid.ACK = 0; - yeid_un.yecanid.FunClass = 0; - yeid_un.yecanid.Reserve1 = 0; - yeid_un.yecanid.Reserve0 = 0; - yeid_un.yecanid.SegFlag = 0; - yeid_un.yecanid.SegNum = 0; - yeid_un.yecanid.srcMACID = 0x00; + yeid_un.yecanid_old.ACK = 0; + yeid_un.yecanid_old.FunClass = 0; + yeid_un.yecanid_old.Reserve1 = 0; + yeid_un.yecanid_old.Reserve0 = 0; + yeid_un.yecanid_old.SegFlag = 0; + yeid_un.yecanid_old.SegNum = 0; + yeid_un.yecanid_old.srcMACID = 0x00; - yeid_un.yecanid.destMACID = 0x1F; + yeid_un.yecanid_old.destMACID = 0x1F; ul_mask = GetCanFilter(yeid_un); ul_can_mask =ul_mask; - yeid_un.yecanid.destMACID = Can_Device_ID; + yeid_un.yecanid_old.destMACID = Can_Device_ID; ul_filter = GetCanFilter(yeid_un); CAN_FilterInitStructure.CAN_FilterNumber = 0; @@ -86,14 +88,14 @@ void YeCanInit(void) CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; CAN_FilterInit(&CAN_FilterInitStructure); - yeid_un.yecanid.destMACID = 0x1E; - ul_filter = GetCanFilter(yeid_un); - CAN_FilterInitStructure.CAN_FilterNumber = 1; - CAN_FilterInitStructure.CAN_FilterIdHigh = (ul_filter >> 16) & 0x0FFFF;; - CAN_FilterInitStructure.CAN_FilterIdLow = ul_filter & 0x0FFFF;; - CAN_FilterInit(&CAN_FilterInitStructure); +// yeid_un.yecanid_old.destMACID = 0x1E; +// ul_filter = GetCanFilter(yeid_un); +// CAN_FilterInitStructure.CAN_FilterNumber = 1; +// CAN_FilterInitStructure.CAN_FilterIdHigh = (ul_filter >> 16) & 0x0FFFF;; +// CAN_FilterInitStructure.CAN_FilterIdLow = ul_filter & 0x0FFFF;; +// CAN_FilterInit(&CAN_FilterInitStructure); - yeid_un.yecanid.destMACID = 0x1F; + yeid_un.yecanid_old.destMACID = 0x1F; ul_filter = GetCanFilter(yeid_un); CAN_FilterInitStructure.CAN_FilterNumber = 2; CAN_FilterInitStructure.CAN_FilterIdHigh = (ul_filter >> 16) & 0x0FFFF;; @@ -135,22 +137,18 @@ static uint32_t GetCanFilter(YeCanID_un yeid) @param 发送数据长度 @rtv 0 成功 1 失败 */ -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; - int time_out = delay_ms*1000; + uint32_t 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); + uint8_t pack_len; + tick_start=delay_get_us(); - //can_transmission_stop(CAN1,0); - /* initialize transmit message */ transmit_message.ExtId = 0x00; transmit_message.StdId = 0x00; transmit_message.RTR = CAN_RTR_DATA; @@ -162,87 +160,66 @@ 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(can_tx_mutex != RT_NULL) - { - if(RT_EOK != rt_mutex_take (can_tx_mutex,500)) - { - return 1; - } - } + yeid_un.yecanid.Reserve0=1;// 使用新协议 + if(len <= 8) { transmit_message.DLC = len; transmit_message.ExtId = yeid_un.Exide; memcpy(transmit_message.Data,txdata,8); - mailbox_number = CAN_Transmit(CAN1, &transmit_message); - while( CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number) && time_out > 0) - { - time_out -=20; - rt_hw_us_delay(20); - } - // if(time_out <= 0) - if((timer->read(timer)-tick_start)>=delay_ms) - { - uc_rtv = 1; - goto can0_tx_end; - } - goto can0_tx_end; - } - while(len > 8) - { - memcpy(transmit_message.Data,txdata,8); - len -= 8; - txdata += 8; - - if(yeid_un.yecanid.SegNum == 0) - { - yeid_un.yecanid.SegFlag = 0x01; - }else - { - yeid_un.yecanid.SegFlag = 0x02; - } - transmit_message.ExtId = yeid_un.Exide; - transmit_message.DLC = 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 -=20; - rt_hw_us_delay(20); - } - // if(time_out <= 0) - if((timer->read(timer)-tick_start)>=delay_ms) - { - uc_rtv = 1; - goto can0_tx_end; - } - yeid_un.yecanid.SegNum ++; - } - yeid_un.yecanid.SegFlag = 0x3; - memcpy(transmit_message.Data,txdata,len); - transmit_message.DLC = len; - transmit_message.ExtId = yeid_un.Exide; - mailbox_number = CAN_Transmit(CAN1, &transmit_message); - while(CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number) && time_out > 0) - { - - time_out -=20; - rt_hw_us_delay(20); - } - // if(time_out <= 0) - if((timer->read(timer)-tick_start)>=delay_ms) - { - uc_rtv = 1; - } + }else{ + while(len > 0) + { + pack_len=8; + if(len8){ + yeid_un.yecanid.SegFlag = 0x02; + }else{ + yeid_un.yecanid.SegFlag = 0x03; + } + len -= pack_len; + txdata += pack_len; + transmit_message.DLC = pack_len; + transmit_message.ExtId = yeid_un.Exide; + while(mailbox_number = CAN_Transmit(CAN1, &transmit_message),mailbox_number==CAN_TxStatus_NoMailBox) + //while( CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number)) + { + rt_hw_us_delay(20); + if(delay_check(tick_start,time_out)) + { + uc_rtv = 1; + goto can0_tx_end; + } + } + yeid_un.yecanid.SegNum ++; + } + } can0_tx_end: CAN0_TX_BUSY_Flag = 0; - rt_mutex_release(can_tx_mutex); return uc_rtv; } + + + + + + + + + + + + + typedef struct{ void (*end_irq)(void *t,uint32_t len); void *t; @@ -257,25 +234,38 @@ static self_def g_self; static void save_data(void) { YeCanID_un yeid_un; + uint8_t seg,seg_num,dstaddr; + yeid_un.Exide = receive_message.ExtId; + ul_exid = yeid_un.Exide << 3; + ul_exid &= ul_can_mask; + if(yeid_un.yecanid.Reserve0==0){ + seg=yeid_un.yecanid_old.SegFlag; + seg_num=yeid_un.yecanid_old.SegNum; + dstaddr=yeid_un.yecanid_old.destMACID; + }else{ + seg=yeid_un.yecanid.SegFlag; + seg_num=yeid_un.yecanid.SegNum; + dstaddr=yeid_un.yecanid.destMACID; + } + if((dstaddr!=elec_local_addr())&&(dstaddr!=0x1f)){ + return; + } if(receive_message.DLC > 0) { - yeid_un.Exide = receive_message.ExtId; - ul_exid = yeid_un.Exide << 3; - ul_exid &= ul_can_mask; - if(yeid_un.yecanid.SegFlag == 00) + if(seg == 00) { memcpy(canrx_st.rx_databuf,receive_message.Data,receive_message.DLC); canrx_st.rx_index = receive_message.DLC; g_self.end_irq(g_self.t,canrx_st.rx_index); } - else if(yeid_un.yecanid.SegFlag == 0x01) + else if(seg == 0x01) { canrx_st.seg_num = 0; memcpy(canrx_st.rx_databuf,receive_message.Data,receive_message.DLC); canrx_st.rx_index = receive_message.DLC; - }else if(yeid_un.yecanid.SegFlag == 0x02) + }else if(seg == 0x02) { - if((canrx_st.seg_num+1) == yeid_un.yecanid.SegNum ) + if((canrx_st.seg_num+1) == seg_num ) { canrx_st.seg_num++; memcpy(canrx_st.rx_databuf+canrx_st.rx_index,receive_message.Data,receive_message.DLC); @@ -284,7 +274,7 @@ static void save_data(void) }else{ //error } - }else if(yeid_un.yecanid.SegFlag == 0x03) + }else if(seg == 0x03) { memcpy(canrx_st.rx_databuf+canrx_st.rx_index,receive_message.Data,receive_message.DLC); canrx_st.rx_index += receive_message.DLC; diff --git a/source/interface/if_can.h b/source/interface/if_can.h index a5b7ebc..06023ca 100644 --- a/source/interface/if_can.h +++ b/source/interface/if_can.h @@ -4,6 +4,8 @@ //#include "define.h" #include "stm32f10x_can.h" + + typedef struct{ uint32_t Reserve1 :3; uint32_t srcMACID :5; @@ -14,11 +16,26 @@ typedef struct{ uint32_t SegFlag :2; uint32_t SegNum :8; +}YeCanID_st_old; + + + +typedef struct{ + uint32_t SegNum :8; + uint32_t Reserve0 :2; + uint32_t ACK :1; + uint32_t FunClass :6; + uint32_t SegFlag :2; + uint32_t destMACID :5; + uint32_t srcMACID :5; + uint32_t Reserve1 :3; + }YeCanID_st; typedef union{ uint32_t Exide; YeCanID_st yecanid; + YeCanID_st_old yecanid_old; }YeCanID_un; diff --git a/source/main/compiler_info.h b/source/main/compiler_info.h index 520f238..cc15846 100644 --- a/source/main/compiler_info.h +++ b/source/main/compiler_info.h @@ -6,8 +6,8 @@ -#define BUILD_DATE "2024-01-05 18:59:06" -#define SOFT_VERSION "2.12" +#define BUILD_DATE "2024-01-08 16:28:07" +#define SOFT_VERSION "2.13" diff --git a/source/prebuild.py b/source/prebuild.py index 8ea4956..e474221 100644 --- a/source/prebuild.py +++ b/source/prebuild.py @@ -7,7 +7,7 @@ import mycopy # 定义软件版本号 -SOFT_VERION = "2.12" +SOFT_VERION = "2.13" diff --git a/source/rt_thread/core_delay.c b/source/rt_thread/core_delay.c index f981743..462afe7 100644 --- a/source/rt_thread/core_delay.c +++ b/source/rt_thread/core_delay.c @@ -46,7 +46,29 @@ static uint32_t delay_get_tick(void) } +// 获取当前微妙数 +uint32_t delay_get_us(void) +{ + return ((uint32_t)DWT_CYCCNT/(get_sys_clocks_freq()/1000000)); +} +// 判断延时是否到,返回1已到，0未到 +int delay_check(uint32_t old,uint32_t wnd) +{ + uint32_t now=delay_get_us(); + if(now>=old){ + if((now-old)>=wnd){ + return 1; + } + }else{ + if((UINT32_MAX - old + now)>=wnd){ + return 1; + } + } + return 0; +} + +// 最长可以延时59s // 低于1ms的精确延时 void delay_us(uint32_t us) { diff --git a/source/rt_thread/core_delay.h b/source/rt_thread/core_delay.h index 7363b82..587f033 100644 --- a/source/rt_thread/core_delay.h +++ b/source/rt_thread/core_delay.h @@ -12,7 +12,9 @@ int delay_init(void); void delay_us(uint32_t us); +uint32_t delay_get_us(void); +int delay_check(uint32_t old,uint32_t wnd); diff --git a/source/soft/debug.c b/source/soft/debug.c index bc761f5..295419d 100644 --- a/source/soft/debug.c +++ b/source/soft/debug.c @@ -28,7 +28,7 @@ #define DBG_DEV_WRITE(d,len)\ {\ if(g_data.uart){\ - g_data.uart->write(g_data.uart,d,len);\ + g_data.uart->write(g_data.uart,d,len,1000);\ }\ } diff --git a/source/task/prot_uc.c b/source/task/prot_uc.c index c7a0276..9a2f0fe 100644 --- a/source/task/prot_uc.c +++ b/source/task/prot_uc.c @@ -13,6 +13,7 @@ #include "dev_flash.h" #include "mymisc.h" #include "elec_det.h" +#include "commend.h" @@ -251,7 +252,7 @@ protu_def *protu_creat(uart_def *uart) p->cmd=0xff;// 命令字不可能是0xff protu_set_endecode_fun(p); sprintf(name,"protu_t#%d",count); - rt_thread_t rt_t=rt_thread_create(name,protu_run,p,1024,5,20); + rt_thread_t rt_t=rt_thread_create(name,protu_run,p,1024,6,20); rt_thread_startup(rt_t); int bsp=sys_param()->uartbsp; if(bsp==9600) @@ -287,8 +288,8 @@ array_def *t; static void protu_send_later(void *ptr) { send_pkt_def *s=ptr; - protu_send(s->p,s->t,50); - arr_delete(s->t); + protu_send(s->p,s->t,1000); + // arr_delete(s->t); } static send_pkt_def g_send_pkt; @@ -318,7 +319,7 @@ static int protu_send_ontime(protu_def *p,send_pkt_def *s) //later_execute(protu_send_later,s,delay); while(p->timer->read(p->timer)<(tick+delay)); // protu_send_later(s); - return protu_send(s->p,s->t,wnd_tick-2); + return protu_send(s->p,s->t,wnd_tick-1); }else{ // 单播命令直接发送 @@ -327,12 +328,29 @@ static int protu_send_ontime(protu_def *p,send_pkt_def *s) } } - -static int protu_send_ontime_loop(protu_def *p,send_pkt_def *s) +static int g_send_failed_times; +static int protu_send_ontime_loop(protu_def *p,send_pkt_def *s,int retry) { - while(protu_send_ontime(p,s)==0); + // g_send_failed_times=0; + for(int i=0;it); return 0; } +static int send_failed(list_def *argv) +{ + cmd_print("send failed times=%d",g_send_failed_times); + return 0; +} + +commend_export(send_failed,send_failed,"print send_failed times") + @@ -348,7 +366,7 @@ 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_loop(p,&g_send_pkt); + protu_send_ontime_loop(p,&g_send_pkt,3); } } @@ -371,7 +389,7 @@ 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_loop(p,&g_send_pkt); + protu_send_ontime_loop(p,&g_send_pkt,3); } } diff --git a/source/task/tran_for_slave.c b/source/task/tran_for_slave.c index 31cfc1b..e68faed 100644 --- a/source/task/tran_for_slave.c +++ b/source/task/tran_for_slave.c @@ -392,7 +392,7 @@ static int write_data_dolater(ucport_def *u,uint8_t cmd,array_def *data,char *er addr=g_updata.flash_addr+offset; ret=flash_write((uint8_t *)addr,&arr_data(data)[4],len); array_def *r=arr_creat(); - arr_append(r,(ret!=0)); + arr_append(r,ret); emit tran_reply_signal(u->p,arr_temp(r)); return 0; }