V2.13 使用新的can帧回复数据

解决ew自检模式 8导致小板死机的bug，自检返回值除以400，单位0.1ms

.gitignore

@@ -20,3 +20,4 @@ quest_info.txt
 bootcode.txt
 *.uvoptx
 build/
+doc/*.bin

checher_slave.uvoptx

@@ -377,7 +377,24 @@
           <Name></Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>185</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134234652</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>.\source\rt_thread\libcpu\arm\cortex-m3\context_rvds.S</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\checker_slave_app\source/rt_thread/libcpu/arm/cortex-m3/context_rvds.S\185</Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -388,16 +405,16 @@
       <MemoryWindow1>
         <Mm>
           <WinNumber>1</WinNumber>
-          <SubType>0</SubType>
+          <SubType>1</SubType>
-          <ItemText>0x0803b800</ItemText>
+          <ItemText>0x20002CE0</ItemText>
           <AccSizeX>0</AccSizeX>
         </Mm>
       </MemoryWindow1>
       <MemoryWindow2>
         <Mm>
           <WinNumber>2</WinNumber>
-          <SubType>1</SubType>
+          <SubType>8</SubType>
-          <ItemText>0x200028C8</ItemText>
+          <ItemText>0x20007088</ItemText>
           <AccSizeX>0</AccSizeX>
         </Mm>
       </MemoryWindow2>
@@ -605,18 +622,18 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>108</LineNumber>
+          <LineNumber>185</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134339522</Address>
+          <Address>134234652</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>D:\work\SVN\鍐夊窛\mcu_program\checker_slave\source\rt_thread\board.c</Filename>
+          <Filename>.\source\rt_thread\libcpu\arm\cortex-m3\context_rvds.S</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\checker_slave_app\source/rt_thread/board.c\108</Expression>
+          <Expression>\\checker_slave_app\source/rt_thread/libcpu/arm/cortex-m3/context_rvds.S\185</Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>

source/ReadMe.txt

@@ -326,3 +326,8 @@
     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
+2024.1.8
+    V2.13 使用新的can帧回复数据
+    解决ew自检模式 8导致小板死机的bug，自检返回值除以400，单位0.1ms
+    
+    

source/codec/codec.c

@@ -265,8 +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->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/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;

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);	
 }
 
 /*

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_old.ACK = 0;
-	yeid_un.yecanid.FunClass = 0;
+	yeid_un.yecanid_old.FunClass = 0;
-	yeid_un.yecanid.Reserve1 = 0;
+	yeid_un.yecanid_old.Reserve1 = 0;
-	yeid_un.yecanid.Reserve0 = 0;
+	yeid_un.yecanid_old.Reserve0 = 0;
-	yeid_un.yecanid.SegFlag = 0;
+	yeid_un.yecanid_old.SegFlag = 0;
-	yeid_un.yecanid.SegNum = 0;
+	yeid_un.yecanid_old.SegNum = 0;
-	yeid_un.yecanid.srcMACID = 0x00;
+	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;
+//	yeid_un.yecanid_old.destMACID = 0x1E;
-	ul_filter = GetCanFilter(yeid_un);
+//	ul_filter = GetCanFilter(yeid_un);
-	CAN_FilterInitStructure.CAN_FilterNumber = 1;
+//	CAN_FilterInitStructure.CAN_FilterNumber = 1;
-	CAN_FilterInitStructure.CAN_FilterIdHigh = (ul_filter >> 16) & 0x0FFFF;;
+//	CAN_FilterInitStructure.CAN_FilterIdHigh = (ul_filter >> 16) & 0x0FFFF;;
-	CAN_FilterInitStructure.CAN_FilterIdLow = ul_filter  & 0x0FFFF;;
+//	CAN_FilterInitStructure.CAN_FilterIdLow = ul_filter  & 0x0FFFF;;
-	CAN_FilterInit(&CAN_FilterInitStructure);
+//	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){
+  uint8_t pack_len;
-    timer=dev_get("timer");
+  tick_start=delay_get_us();
-  }
-  tick_start=timer->read(timer);
   
-	//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)
+  yeid_un.yecanid.Reserve0=1;// 使用新协议
-	{
+
-		if(RT_EOK != rt_mutex_take (can_tx_mutex,500))
-		{
-			return 1;
-		}
-	}
 	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)
+	}else{
-		{
+    while(len > 0)
-			time_out -=20;
+    {
-			rt_hw_us_delay(20);
+      pack_len=8;
-		}
+      if(len<pack_len){
-		// if(time_out <= 0)
+        pack_len=len;
-    if((timer->read(timer)-tick_start)>=delay_ms)
+      }
-		{
+      memcpy(transmit_message.Data,txdata,pack_len);
-			uc_rtv = 1;
+      if(yeid_un.yecanid.SegNum == 0){
-			goto can0_tx_end;
+        yeid_un.yecanid.SegFlag = 0x01;
-		}
+      }else if(len>8){
-		goto can0_tx_end;
+        yeid_un.yecanid.SegFlag = 0x02;
-	}
+      }else{
-	while(len > 8)
+        yeid_un.yecanid.SegFlag = 0x03;
-	{
+      }
-		memcpy(transmit_message.Data,txdata,8);
+      len -= pack_len;
-		len -= 8;
+      txdata += pack_len;
-		txdata += 8;
+      transmit_message.DLC = pack_len;
-		
+      transmit_message.ExtId = yeid_un.Exide;
-		if(yeid_un.yecanid.SegNum == 0)
+      while(mailbox_number = CAN_Transmit(CAN1, &transmit_message),mailbox_number==CAN_TxStatus_NoMailBox)
-		{
+      //while( CAN_TxStatus_Ok != CAN_TransmitStatus(CAN1,mailbox_number))
-			yeid_un.yecanid.SegFlag = 0x01;
+      {
-		}else 
+        rt_hw_us_delay(20);
-		{
+        if(delay_check(tick_start,time_out))
-			yeid_un.yecanid.SegFlag = 0x02;
+        {
-		}
+          uc_rtv = 1;
-		transmit_message.ExtId = yeid_un.Exide;
+          goto can0_tx_end;
-		transmit_message.DLC = 8;
+        }
-		mailbox_number = CAN_Transmit(CAN1, &transmit_message);
+      }
-		time_out = 5000;
+      yeid_un.yecanid.SegNum ++;
-		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;
-	}
 	
 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;
+		if(seg == 00)
-		ul_exid = 	yeid_un.Exide << 3;
-		ul_exid &= ul_can_mask;
-		if(yeid_un.yecanid.SegFlag == 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;

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;
 
 

source/main/compiler_info.h

@@ -6,8 +6,8 @@
 
 
 
-#define BUILD_DATE  "2024-01-05 18:59:06"
+#define BUILD_DATE  "2024-01-08 16:28:07"
-#define SOFT_VERSION  "2.12"
+#define SOFT_VERSION  "2.13"
 
 
 

source/prebuild.py

@@ -7,7 +7,7 @@ import mycopy
 
 
 # 定义软件版本号
-SOFT_VERION = "2.12"
+SOFT_VERION = "2.13"
 
 
 

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)
 {

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);
 
 
 

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);\
     }\
   }
 

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);
+  protu_send(s->p,s->t,1000);
-  arr_delete(s->t);
+  // 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 g_send_failed_times;
-static int protu_send_ontime_loop(protu_def *p,send_pkt_def *s)
+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;i<retry;i++)
+  {
+    if(protu_send_ontime(p,s)!=0){
+      break;
+    }else{
+      g_send_failed_times++;
+    }
+  }
+  arr_delete(s->t);
   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);
   }
 }
 

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;
 }