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This commit is contained in:
sunbeam 2025-06-21 17:19:31 +08:00
parent c1e852263b
commit eefa3d51b1
12 changed files with 463 additions and 13 deletions
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20
.vscode/c_cpp_properties.json vendored Normal file
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@ -0,0 +1,20 @@
{
"configurations": [
{
"name": "Win32",
"includePath": [
"${workspaceFolder}/**"
],
"defines": [
"_DEBUG",
"UNICODE",
"_UNICODE"
],
"configurationProvider": "ms-vscode.cmake-tools",
"compileCommands": [
"${workspaceFolder}/build/Debug/compile_commands.json"
]
}
],
"version": 4
}

8
.vscode/settings.json vendored Normal file
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@ -0,0 +1,8 @@
{
"commentTranslate.source": "naomi233.comment-translate-transmart-transmart",
"files.associations": {
"candrv.h": "c",
"stm32l4xx_hal.h": "c",
"uart2candiagapp.h": "c"
}
}

17
.vscode/tasks.json vendored Normal file
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@ -0,0 +1,17 @@
{
"version": "2.0.0",
"tasks": [
{
"type": "cmake",
"label": "build",
"command": "build",
"targets": [
"all"
],
"preset": "${command:cmake.activeBuildPresetName}",
"group": "build",
"problemMatcher": [],
"detail": "CMake 模板 生成 任务"
}
]
}

92
ASW/UartDiagApp/Uart2CanDiag/CanDrv.c Normal file
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@ -0,0 +1,92 @@
/*******************************************************************************
* the includes
******************************************************************************/
#include "CanDrv.h"
#include <stdio.h>
/*******************************************************************************
* the defines
******************************************************************************/
#define TEST_ID 0x222
/*******************************************************************************
* the typedefs
******************************************************************************/
/*******************************************************************************
* the globals
******************************************************************************/
extern CAN_HandleTypeDef hcan1;
static CAN_TxHeaderTypeDef txhead;
static uint32_t TxMailbox = CAN_TX_MAILBOX0;
/*******************************************************************************
* the const
******************************************************************************/
/*******************************************************************************
* the functions
******************************************************************************/
uint8_t CanDrv_Init(void)
{
txhead.StdId = TEST_ID;
txhead.IDE = CAN_ID_STD;
txhead.RTR = CAN_RTR_DATA;
txhead.TransmitGlobalTime = DISABLE;
txhead.DLC = 8;
HAL_CAN_Start(&hcan1);
CAN_FilterTypeDef filter;
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterIdHigh = 0x7B2 << 5; // 注意：标准 ID 要左移 5 位
filter.FilterMaskIdHigh = 0x7FF << 5;
filter.FilterFIFOAssignment = CAN_RX_FIFO0;
filter.FilterBank = 0;
filter.FilterScale = CAN_FILTERSCALE_32BIT;
filter.FilterActivation = CAN_FILTER_ENABLE;
HAL_CAN_ConfigFilter(&hcan1,&filter);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
return 0;
}
uint8_t CanDrv_Txmsg(uint16_t id,uint8_t * data)
{
txhead.StdId = id;
HAL_StatusTypeDef ret = HAL_CAN_AddTxMessage(&hcan1,&txhead,data,&TxMailbox);
//printf("ret=%d",ret);
return ret;
}
uint8_t txtestdata[8] = {1,2,3,4,5,6,7,8};
void CanDrv_Test()
{
CanDrv_Txmsg(TEST_ID,txtestdata);
}
uint8_t CanDrv_GetCANTxEmpty(void)
{
uint32_t ret = HAL_CAN_IsTxMessagePending(&hcan1,CAN_TX_MAILBOX0|CAN_TX_MAILBOX1|CAN_TX_MAILBOX2);
if (ret == 0)
{ //空闲
return 1;
}
return 0;
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rxmsg;
uint8_t data[8];
HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&rxmsg,data);
if (rxmsg.StdId >= 0x600)
{
printf("get id:0x%03x",rxmsg.StdId);
}
}

37
ASW/UartDiagApp/Uart2CanDiag/CanDrv.h Normal file
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@ -0,0 +1,37 @@
#ifndef __CANDRV_H__
#define __CANDRV_H__
/*******************************************************************************
* the includes
******************************************************************************/
#include "stm32l4xx_hal.h"
/*******************************************************************************
* the defines
******************************************************************************/
/*******************************************************************************
* the typedefs
******************************************************************************/
/*******************************************************************************
* the globals
******************************************************************************/
/*******************************************************************************
* the functions
******************************************************************************/
uint8_t CanDrv_Init(void);
uint8_t CanDrv_Txmsg(uint16_t id,uint8_t * data);
void CanDrv_Test(void);
uint8_t CanDrv_GetCANTxEmpty(void);
#endif

228
ASW/UartDiagApp/Uart2CanDiag/Uart2CanDiagApp.c
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@ -0,0 +1,228 @@
/*******************************************************************************
* the includes
******************************************************************************/
#include "Uart2CanDiagApp.h"
#include <string.h>
#include <stdio.h>
#include "CanDrv.h"
/*******************************************************************************
* the defines
******************************************************************************/
#define TX_BUF_SIZE 2050
#define N_Bs 150
#define N_As 70
#define P2_SERVER 50
/*******************************************************************************
* the typedefs
******************************************************************************/
typedef enum
{
U2CD_TASK_idle=0,
U2CD_TASK_WaitFC,//流控
U2CD_TASK_TxCF,
U2CD_TASK_WaitResp,
U2CD_TASK_NUM
}U2CD_TASK_STATE;
/*******************************************************************************
* the globals
******************************************************************************/
static uint16_t U2CD_pid;
static uint16_t U2CD_fid;
static uint16_t U2CD_rid;
static uint8_t U2CD_stmin;
static uint8_t U2CD_fill;
static uint8_t U2CD_cfgFlag;
static uint8_t U2CD_TTFlag;
static uint16_t U2CD_TTLen;
static uint8_t U2CD_Txbuf[TX_BUF_SIZE];
static uint16_t U2CD_TxCnt;//发送数据指针
static uint8_t U2CD_TxSN;
static uint8_t U2CD_TxTimeCounter;
static uint8_t U2CD_FCFlag = 0;
static uint8_t U2CD_Framebuf[8];
static U2CD_TASK_STATE task_state;
/*******************************************************************************
* the const
******************************************************************************/
/*******************************************************************************
* the functions
******************************************************************************/
static void U2CD_TxSF(uint16_t id,uint8_t* data,uint16_t len);
static void U2CD_TxFF(uint16_t id,uint8_t* data,uint16_t len);
static void U2CD_TxCF(uint16_t id,uint8_t* data,uint16_t len);
void U2CD_Init(void)
{
U2CD_cfgFlag = 0;
U2CD_TTFlag = 0;
task_state = U2CD_TASK_idle;
}
//pid,fid,rid,stmin,fill
void U2CD_cfg(uint16_t pid,uint16_t fid,uint16_t rid,uint8_t stmin,uint8_t fill)
{
if (pid<0x7ff&&fid<0x7ff&&rid<0x7ff)
{
U2CD_pid = pid;
U2CD_fid = fid;
U2CD_rid = rid;
U2CD_stmin = stmin;
U2CD_fill = fill;
U2CD_cfgFlag = 1;
}
else
{
U2CD_cfgFlag = 0;
printf("err:配置错误\n");
}
}
void U2CD_TickTask(void)
{
U2CD_TxTimeCounter++;
}
void U2CD_Task(void)
{
switch (task_state)
{
case U2CD_TASK_idle:
if (U2CD_TTFlag == 1)
{
if (U2CD_TTLen <= 7)
{
U2CD_TxSF(U2CD_pid,U2CD_Txbuf,U2CD_TTLen);
task_state = U2CD_TASK_WaitResp;
U2CD_TxTimeCounter = 0;
}
else
{
U2CD_TxFF(U2CD_pid,U2CD_Txbuf,U2CD_TTLen);
task_state = U2CD_TASK_WaitFC;
U2CD_TxTimeCounter = 0;
U2CD_FCFlag = 0;
}
}
break;
case U2CD_TASK_WaitFC:
if (U2CD_TxTimeCounter > N_Bs)
{
printf("err:N_Bs timeout\n");
task_state = U2CD_TASK_idle;
}
if (U2CD_FCFlag == 1)
{
U2CD_TxTimeCounter = 0;
task_state = U2CD_TASK_TxCF;
}
break;
case U2CD_TASK_TxCF:
if (U2CD_TxTimeCounter > U2CD_stmin)
{
if (CanDrv_GetCANTxEmpty() == 1)
{
U2CD_TxTimeCounter = 0;
if (U2CD_TxCnt+6 < U2CD_TTLen)
{
U2CD_TxCF(U2CD_pid,&U2CD_Txbuf[U2CD_TxCnt],6);
U2CD_TxCnt += 6;
}
else
{
//最后一帧
U2CD_TxCF(U2CD_pid,&U2CD_Txbuf[U2CD_TxCnt],(U2CD_TTLen-U2CD_TxCnt));
task_state = U2CD_TASK_WaitResp;
}
}
}
if (U2CD_TxTimeCounter>N_As)
{
printf("err:N_As timeout\n");
task_state = U2CD_TASK_idle;
}
break;
case U2CD_TASK_WaitResp:
if (U2CD_TxTimeCounter>P2_SERVER)
{
printf("err:P2_SERVER timeout\n");
task_state = U2CD_TASK_idle;
}
break;
default:
break;
}
}
void U2CD_TTreq(uint8_t* data,uint16_t len)
{
if (len > TX_BUF_SIZE)
{
printf("err:len too long");
return;
}
if (U2CD_cfgFlag == 0)
{
printf("err:no cfg");
return;
}
if (task_state != U2CD_TASK_idle)
{
printf("err:busy");
return;
}
memcpy(U2CD_Txbuf,data,len);
U2CD_TTLen = len;
U2CD_TTFlag = 1;
}
static void U2CD_TxSF(uint16_t id,uint8_t* data,uint16_t len)
{
U2CD_Framebuf[0] = len;
memcpy(&U2CD_Framebuf[1],data,len);
if (len < 7)
{
for (uint8_t i = (len+1); i < 8; i++)
{
U2CD_Framebuf[i] = U2CD_fill;
}
}
CanDrv_Txmsg(id,U2CD_Framebuf);
}
static void U2CD_TxFF(uint16_t id,uint8_t* data,uint16_t len)
{
U2CD_Framebuf[0] = 0x10 + (len>>8);
U2CD_Framebuf[1] = len&0xff;
memcpy(&U2CD_Framebuf[2],data,6);
CanDrv_Txmsg(id,U2CD_Framebuf);
U2CD_TxCnt+=6;
U2CD_TxSN = 1;
}
static void U2CD_TxCF(uint16_t id,uint8_t* data,uint16_t len)
{
U2CD_Framebuf[0] = 0x20 + (U2CD_TxSN&0x0f);
memcpy(&U2CD_Framebuf[1],data,len);
if (len < 7)
{
for (uint8_t i = (len+1); i < 8; i++)
{
U2CD_Framebuf[i] = U2CD_fill;
}
}
CanDrv_Txmsg(id,U2CD_Framebuf);
U2CD_TxSN++;
}

6
ASW/UartDiagApp/Uart2CanDiag/Uart2CanDiagApp.h
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@ -27,8 +27,10 @@
/*******************************************************************************
* the functions
******************************************************************************/
void U2CD_Init(void);
void U2CD_cfg(uint16_t pid,uint16_t fid,uint16_t rid,uint8_t stmin,uint8_t fill);
void U2CD_Task(void);
void U2CD_TickTask(void);

43
ASW/UartDiagApp/ud_66.c
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@ -2,7 +2,7 @@
* the includes
******************************************************************************/
#include "ud_66.h"
#include "Uart2CanDiagApp.h"
/*******************************************************************************
* the defines
@ -15,8 +15,8 @@
******************************************************************************/
typedef enum
{
CMD66_CFG,//配置P
CMD66_CFG,//配置pid,fid,rid,stmin
CMD66_TTreq,//TT – Transparent Transmission透明传输
CMD66_NUM,
} CMD66_type;
@ -35,7 +35,44 @@ typedef enum
/*******************************************************************************
* the functions
******************************************************************************/
static void ud66_cfg(uint8_t* data, uint16_t len);
void uartapp_cmd66(uint8_t* data, uint16_t len)
{
if (len < 1)
{
return;
}
CMD66_type subid = data[0];
switch (subid)
{
case CMD66_CFG:
ud66_cfg(data+1,len-1);
break;
default:
break;
}
}
static void ud66_cfg(uint8_t* data, uint16_t len)
{
//pid,fid,rid,stmin,fill
//2+2+2+1+rev1
if (len == 8)
{
uint16_t pid = (data[0]<<8) + data[1];
uint16_t fid = (data[2]<<8) + data[3];
uint16_t rid = (data[4]<<8) + data[5];
uint8_t stmin = data[6];
uint8_t fill = data[7];
U2CD_cfg(pid,fid,rid,stmin,fill);
}
}

2
ASW/UartDiagApp/ud_66.h
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@ -27,7 +27,7 @@
/*******************************************************************************
* the functions
******************************************************************************/
void uartapp_cmd66(uint8_t* data, uint16_t len);

12
ASW/appTask.c
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@ -31,12 +31,14 @@
/*---------------------------------------------------------------------------
- I N C L U D E F I L E S
----------------------------------------------------------------------------*/
#include <stdint.h>
#include "appTask.h"
#include "hardware.h"
#include "stdio.h"
#include "uartapp.h"
#include "projcfg.h"
#include <stdint.h>
#include "CanDrv.h"
#include "Uart2CanDiagApp.h"
/*---------------------------------------------------------------------------
- D E F I N E S / M A C R O S
----------------------------------------------------------------------------*/
@ -87,7 +89,8 @@ void apptask_init(void)
timebase_event = 0;
CanDrv_Init();
U2CD_Init();
projcfg_init();
printf("app:apptask_init finashed\n");
ENABLE_INT();
@ -104,7 +107,7 @@ void apptask_maintask(void)
//1mstsk
uartapp_maintask();
U2CD_TickTask();
if (timebase_counter >= 1000000)
{
timebase_counter = 0;
@ -114,6 +117,7 @@ void apptask_maintask(void)
if (timebase_counter % 100 == 0)
{
//toggle_led();
//CanDrv_Test();
}
if (timebase_counter %1000 == 0)
@ -124,7 +128,7 @@ void apptask_maintask(void)
}
}
U2CD_Task();//fast speed
}
/* [] END OF FILE */

10
ASW/uartapp.c
View File

@ -37,10 +37,11 @@
#include <stdint.h>
#include "ud_31.h"
#include "ud_10.h"
#include "ud_66.h"
/*---------------------------------------------------------------------------
- D E F I N E S / M A C R O S
----------------------------------------------------------------------------*/
#define RX_BUF_SIZE 5000
/*---------------------------------------------------------------------------
- T Y P E D E F I N I T I O N S
----------------------------------------------------------------------------*/
@ -59,7 +60,7 @@ typedef enum
static uartapp_mainstate_type task_state;
static uint8_t rxCpltFlag = 0;
static uint8_t rxbuf[512];
static uint8_t rxbuf[RX_BUF_SIZE];
static uint16_t rxsize = 0, timeout_count = 0;
@ -111,7 +112,7 @@ void uartapp_init(void)
static void maintask_gotoidle(void)
{
task_state = UARTAPP_IDLE;
HAL_UARTEx_ReceiveToIdle_DMA(&huart1, rxbuf, 512);
HAL_UARTEx_ReceiveToIdle_DMA(&huart1, rxbuf, RX_BUF_SIZE);
rxCpltFlag = 0;
rxsize = 0;
timeout_count = 0;
@ -182,6 +183,9 @@ static void uartapp_cmdpro(uint8_t* data, uint16_t len)
case 0x10:
uartapp_cmd10(data + 1, len - 1);
break;
case 0x66:
uartapp_cmd66(data + 1, len - 1);
break;
default:
break;
}

1
CMakeLists.txt
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@ -75,6 +75,7 @@ target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined include paths
${PROJECT_SOURCE_DIR}/asw/
${PROJECT_SOURCE_DIR}/asw/UartDiagApp/
${PROJECT_SOURCE_DIR}/asw/UartDiagApp/Uart2CanDiag
)
# Add project symbols (macros)