455 lines
10 KiB
C
455 lines
10 KiB
C
/** ##########################################################################
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** Filename :
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** Project :
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** Module :
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** Processor :
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** Version :
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** Compiler :
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** Date/Time :
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** Abstract :
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** Contents :
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** Note :
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**
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** (c) Copyright dmdz Co.,Ltd
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** --------------------------------------------------------------------------
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** R E V I S I O N H I S T O R Y
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** --------------------------------------------------------------------------
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** Date Ver Author Description
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** -20230602- --V1.0-- --mingyea--- --修改--
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** #########################################################################*/
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/*---------------------------------------------------------------------------
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- I N C L U D E F I L E S
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----------------------------------------------------------------------------*/
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#include "common_types.h"
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#include "Cpu.h"
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#include "common_memory.h"
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#include "Ls_Nm.h"
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#if 0
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#include "CanIf_Type.h"
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#include "CanTrcv.h"
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#include "CanIf.h"
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#include "Com.h"
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#include "wdog.h"
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#include "Demm.h"
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#include "can.h"
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#include "Com.h"
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#include "flexcan_hw_access.h"
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#include "Demm.h"
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#endif
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#include "bl_can.h"
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#include "bl_can_transceiver.h"
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#include "bl_can_if.h"
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#define CAN_LS_EN //临时用
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/*---------------------------------------------------------------------------
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- D E F I N E S / M A C R O S
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----------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------
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- T Y P E D E F I N I T I O N S
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----------------------------------------------------------------------------*/
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/*busoff*/
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typedef struct
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{
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u8 flag_busoff;
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nm_busoff_recovery_state_e state; //主状态--未busoff，快恢复，慢恢复
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u16 timecount;
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u16 try_count;
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}can_nm_busoff_s;
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/**/
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typedef struct
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{
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can_nm_busoff_s busoff[CAN_ID_TOTAL];
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#ifdef LS_NM_DEBUG_EN
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u8 test_buf[15];
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#endif
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}can_nm_s;
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static can_nm_s g_ls_nm;
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//static u8 g_nm_test1[10] ;
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/*---------------------------------------------------------------------------
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- S T A T I C V A R I A B L E S
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----------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------
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* G L O B A L V A R I A B L E S
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----------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------
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- C O N S T A N T S
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----------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------
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- F U N C T I O N P R O T O T Y P E
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----------------------------------------------------------------------------*/
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static void can_nm_phy_busoff_trig(u8 phy_id);
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static void can_nm_busoff_recovery_task(u8 phy_id);
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static void can_nm_busoff_recovery_successful(u8 phy_id);
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static void can_nm_phy_busoff_pre_trig(u8 phy_id);
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static void can_nm_busoff_recovery_op(u8 phy_id);
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/*---------------------------------------------------------------------------
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|Prototype :
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|Called by :
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|Preconditions :
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|Input parameters :
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|Output parameters :
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|Return value :
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|Description :
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----------------------------------------------------------------------------*/
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static void can_nm_phy_busoff_pre_trig(u8 phy_id)
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{
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//u8 i;
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if(phy_id == CAN_ID_0)
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{
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#ifdef CAN_ID_0_EN
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//for(i=0;i<CAN_ID_0_TX_MAILBOX_ID_MAX;i++)
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{
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//CAN_AbortTransmission(CAN0,CAN_TRANSMIT_SECONDARY); //mingyea
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FL_CAN_DisableIT_TXOK(CAN);
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}
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#endif
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}
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else if(phy_id == CAN_ID_1)
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{
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#ifdef CAN_ID_1_EN
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//for(i=0;i<CAN_ID_1_TX_MAILBOX_ID_MAX;i++)
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{
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//CAN_AbortTransmission(CAN1,CAN_TRANSMIT_SECONDARY);
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}
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#endif
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}
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#ifdef LS_NM_DEBUG_EN
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g_ls_nm.test_buf[7]++;
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#endif
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}
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/*---------------------------------------------------------------------------
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|Prototype :
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|Preconditions :
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|Input parameters :
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|Output parameters :
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|Return value :
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|Description :
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----------------------------------------------------------------------------*/
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static void can_nm_phy_busoff_trig(u8 phy_id)
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{
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if(phy_id>=CAN_ID_TOTAL)
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{
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return;
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}
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g_ls_nm.busoff[phy_id].flag_busoff=1u;
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}
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/*---------------------------------------------------------------------------
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|Prototype :
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|Called by :
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|Preconditions : -
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|Input parameters : None
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|Output parameters : None
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|Return value : None
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|Description : 在busoff时重试
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----------------------------------------------------------------------------*/
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static void can_nm_busoff_recovery_op(u8 phy_id)
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{
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u8 l_logic_id;
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#ifdef CAN_LS_EN
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l_logic_id = can_drive_get_logic_id(phy_id);
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#else
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l_logic_id = CAN_ID_0;
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#endif
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//wdog_task();
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//__disable_irq();
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LS_NM_TEST_IO_ON();
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CanTrcv_Init();
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//can_de_init();
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//can_init();
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Can_Deinit();
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Can_Init();
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LS_NM_TEST_IO_OFF();
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//__enable_irq();
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}
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#if 0 //用来测试主动发
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void can_nm_test_tx(void)
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{
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bl_u8_t i;
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bl_u8_t l_buf[8u];
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for(i=0;i<8;i++)
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{
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l_buf[i] = 0x11u;
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}
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//for(i=8;i<ADPT_UDS_MAX_CAN_FRAME_SIZE;i++)
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{
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//l_buf[i] = CANTP_FRAME_PADDING_VALUE;
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}
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(void)Canif_Write(0u, 8, l_buf); //ADPT_UDS_TX_HANDLE=0u
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}
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#endif
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/*---------------------------------------------------------------------------
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|Prototype :
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|Called by :
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|Preconditions :
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|Input parameters :
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|Output parameters :
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|Return value :
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|Description :
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----------------------------------------------------------------------------*/
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static void can_nm_busoff_recovery_task(u8 phy_id)
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{
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u8 l_logic_id = CAN_ID_NULL;
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//CAN_Type * const l_flexcanBasePtr[] = CAN_BASE_PTRS;
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#ifdef CAN_LS_EN
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l_logic_id = can_drive_get_logic_id(phy_id);
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#else
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l_logic_id = CAN_ID_0;
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#endif
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if((phy_id>=CAN_ID_TOTAL) || (l_logic_id==CAN_ID_NULL) )
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{
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return;
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}
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if(g_ls_nm.busoff[phy_id].state == NM_BUSOFF_RECOVERY_STATE_NULL)
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{
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g_ls_nm.busoff[phy_id].timecount=0u;
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g_ls_nm.busoff[phy_id].try_count=0u;
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}
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else
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{
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g_ls_nm.busoff[phy_id].timecount++;
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if(g_ls_nm.busoff[phy_id].timecount >=NM_MAIN_BUSOFF_FAST_H)
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{
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g_ls_nm.busoff[phy_id].timecount=0u;
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#ifdef LS_NM_DEBUG_EN
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g_ls_nm.test_buf[2]++;
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#endif
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//g_ls_nm.busoff.sub_state=1u;
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can_nm_busoff_recovery_op(phy_id);
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}
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}
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}
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/*---------------------------------------------------------------------------
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|Prototype :
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|Preconditions :
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|Input parameters :
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|Output parameters :
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|Return value :
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|Description :
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----------------------------------------------------------------------------*/
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static void can_nm_busoff_recovery_successful(u8 phy_id)
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{
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if(phy_id>=CAN_ID_TOTAL)
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{
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return;
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}
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if(g_ls_nm.busoff[phy_id].state != NM_BUSOFF_RECOVERY_STATE_NULL)
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{
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g_ls_nm.busoff[phy_id].timecount =0;
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g_ls_nm.busoff[phy_id].try_count =0;
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g_ls_nm.busoff[phy_id].state =NM_BUSOFF_RECOVERY_STATE_NULL;
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#ifdef LS_NM_DEBUG_EN
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g_ls_nm.test_buf[10]++;
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#endif
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}
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}
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/*---------------------------------------------------------------------------
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|Prototype :
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|Description :
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----------------------------------------------------------------------------*/
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void ls_nm_Init(void)
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{
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common_memory_clear((u8*)&g_ls_nm,sizeof(g_ls_nm));
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#ifdef CAN_LS_EN
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CanTrcv_Init();
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#endif
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}
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/*---------------------------------------------------------------------------
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|Prototype :
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|Description :
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----------------------------------------------------------------------------*/
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void ls_nm_task(void)
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{
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NM_CPU_SR_ALLOC();
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NM_ENTER_CRITICAL();
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//can_nm_test_tx();
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if(g_ls_nm.busoff[CAN_ID_0].flag_busoff == 1u)
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{
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g_ls_nm.busoff[CAN_ID_0].flag_busoff=0u;
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//
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if(g_ls_nm.busoff[CAN_ID_0].state == NM_BUSOFF_RECOVERY_STATE_NULL)
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{
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//g_ls_nm.busoff[CAN_ID_0].timecount=0u;
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g_ls_nm.busoff[CAN_ID_0].state = NM_BUSOFF_RECOVERY_STATE_QUICK;
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}
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}
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#ifdef CAN_ID_0_EN
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can_nm_busoff_recovery_task(CAN_ID_0);
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#endif
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NM_EXIT_CRITICAL();
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}
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/*---------------------------------------------------------------------------
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|Prototype :
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|Input parameters :
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|Output parameters :
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|Return value :
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|Description :
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----------------------------------------------------------------------------*/
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u8 CanNm_PhysErrorInd(u8 phy_id,nm_erro_source_e erro)
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{
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u8 retValue;
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NM_CPU_SR_ALLOC();
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//g_nm_test1[1]++;
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if( erro == NM_DLL_BUS_OFF)
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{
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//g_nm_test1[2]++;
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NM_ENTER_CRITICAL();
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can_nm_phy_busoff_trig(phy_id);
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NM_EXIT_CRITICAL();
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}
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else if( erro == NM_DLL_ERROR_PASSIVE)
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{
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//g_nm_test1[3]++;
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}
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else if( erro == NM_DLL_ERROR_ACTIVE)
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{
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//g_nm_test1[4]++;
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}
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else if( erro == NM_DLL_BUS_OFF_PRE)
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{
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can_nm_phy_busoff_pre_trig(phy_id);
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}
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return retValue;
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}
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/*---------------------------------------------------------------------------
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|Prototype :
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|Output parameters :
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|Return value :
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|Description :
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----------------------------------------------------------------------------*/
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u8 CanNm_is_busoff(void)
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{
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u8 l_result = LS_NM_IS_NOT_BUSOFF;
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NM_CPU_SR_ALLOC();
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NM_ENTER_CRITICAL();
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#if 1
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if( g_ls_nm.busoff[CAN_ID_0].state == NM_BUSOFF_RECOVERY_STATE_NULL
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)
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{
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l_result = LS_NM_IS_NOT_BUSOFF;
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}
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else
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{
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l_result = LS_NM_IS_BUSOFF;
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}
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#else
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if( (g_ls_nm.state == NM_MAIN_STATE_ACTIVE) \
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&& (g_ls_nm.sub_state != NM_SUB_STATE_ACTIVE_BUSOFF) \
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&& (g_ls_nm.busoff[CAN_ID_0].state == NM_BUSOFF_RECOVERY_STATE_NULL)
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//&& (g_ls_nm.busoff[CAN_ID_1].state == NM_BUSOFF_RECOVERY_STATE_NULL)
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)
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{
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l_result = LS_NM_IS_NOT_BUSOFF;
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}
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else
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{
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l_result = LS_NM_IS_BUSOFF;
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}
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#endif
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NM_EXIT_CRITICAL();
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return l_result;
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}
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/*---------------------------------------------------------------------------
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|Prototype :
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|Return value :
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|Description :
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----------------------------------------------------------------------------*/
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void CanNm_TxConfirmation_com(PduIdType canNmPduId,u8 phy_id)
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{
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NM_CPU_SR_ALLOC();
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(void)canNmPduId;
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{
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//g_nm_test1[8]++;
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NM_ENTER_CRITICAL();
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can_nm_busoff_recovery_successful(phy_id);
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NM_EXIT_CRITICAL();
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}
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}
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