1063 lines
28 KiB
C
1063 lines
28 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 : 1.0
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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 "common_memory.h"
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#include "queue_entity.h"
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#include "can.h"
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#include "nvic.h"
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#ifdef CAN_LS_NM
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#include "Ls_Nm.h"
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#endif
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#ifdef CAN_AUTOSAR_EN
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#include "can_drive.h"
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#include "CanIf.h"
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#endif
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#include "bl_can.h"
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static void can_tx_task(void);
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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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/*---------------------------------------------------------------------------
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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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#ifdef CAN_DRIVE_QUEUE_ENABLE
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static sequential_queue_s can_tx_queue;
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static can_queue_elem_s can_tx_qbuf[CAN_ID_0_TX_QUEUE_DEPTH]; /* 隊列 */
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static sequential_queue_s can_rx_queue;
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static can_queue_elem_s can_rx_qbuf[CAN_ID_0_RX_QUEUE_DEPTH]; /* 隊列 */
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#else
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#endif
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static can_s g_can[CAN_ID_TOTAL] = {0};
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//#define CAN_TXMASK(hth) ((bl_u8_t)(0x01<<(hth)))
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#define CAN_TXMASK(hth) ((bl_u8_t)(0x02))
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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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/*---------------------------------------------------------------------------
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|Prototype :
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|Called by :
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|Preconditions :
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|Input parameters : BaudRate CAN总线波特率，单位为bps
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|Output parameters :
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|Return value :
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|Description : 通过波特率的值获取波特率参数表索引值
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----------------------------------------------------------------------------*/
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uint32_t CAN_GetBaudRateNum(uint32_t BaudRate)
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{
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switch (BaudRate)
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{
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case 1000000 :
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return 0;
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case 900000 :
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return 1;
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case 800000 :
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return 2;
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case 666000 :
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return 3;
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case 600000 :
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return 4;
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case 500000 :
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return 5;
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case 400000 :
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return 6;
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case 300000 :
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return 7;
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case 250000 :
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return 8;
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case 225000:
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return 9;
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case 200000 :
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return 10;
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case 160000:
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return 11;
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case 150000 :
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return 12;
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case 144000:
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return 13;
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case 125000 :
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return 14;
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case 120000:
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return 15;
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case 100000 :
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return 16;
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case 90000 :
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return 17;
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case 80000 :
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return 18;
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case 75000:
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return 19;
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case 60000 :
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return 20;
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case 50000 :
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return 21;
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case 40000 :
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return 22;
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case 30000 :
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return 23;
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case 20000 :
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return 24;
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default:
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return 0;
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}
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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 :
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|Output parameters :
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|Return value :
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|Description : CAN中断服务函数
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----------------------------------------------------------------------------*/
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void CAN_IRQHandler(void)
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{
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u8 l_buf_index = 0xffu;
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u8 buffIdx =0u;
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static uint8_t last_ESTAT = 5;
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CanRxMsg tempCanRxMsg = {0u};
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can_queue_elem_s l_rx;
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uint32_t data1, data2;
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#if 0
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if ((FL_ENABLE == FL_CAN_IsEnabledIT_RXOK(CAN))
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&& (FL_SET == FL_CAN_IsActiveFlag_RXOK(CAN)))
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#else //改成 判断非空，更合理
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if((FL_ENABLE == FL_CAN_IsEnabledIT_RXNotEmpty(CAN))
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&& (FL_SET == FL_CAN_IsActiveFlag_RXNotEmpty(CAN)))
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#endif
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{
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while(FL_CAN_IsActiveFlag_RXNotEmpty(CAN) == FL_SET)
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{
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tempCanRxMsg.ID = FL_CAN_ReadRXMessageID(CAN);
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tempCanRxMsg.DLC = FL_CAN_ReadRXMessageLength(CAN);
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data1 = FL_CAN_ReadRXMessageWord1(CAN);
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data2 = FL_CAN_ReadRXMessageWord2(CAN);
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tempCanRxMsg.Data[0] = (uint8_t)data1 & 0xff;
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tempCanRxMsg.Data[1] = (uint8_t)(data1 >> 8) & 0xff;
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tempCanRxMsg.Data[2] = (uint8_t)(data1 >> 16) & 0xff;
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tempCanRxMsg.Data[3] = (uint8_t)(data1 >> 24) & 0xff;
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tempCanRxMsg.Data[4] = (uint8_t)data2 & 0xff;
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tempCanRxMsg.Data[5] = (uint8_t)(data2 >> 8) & 0xff;
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tempCanRxMsg.Data[6] = (uint8_t)(data2 >> 16) & 0xff;
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tempCanRxMsg.Data[7] = (uint8_t)(data2 >> 24) & 0xff;
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].canid = tempCanRxMsg.ID;
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if( (tempCanRxMsg.ID != CANIF_PHY_RX_CANID) && (tempCanRxMsg.ID != CANIF_FUN_RX_CANID) )
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{
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g_can[CAN_ID_0].test[4]++;
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}
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else
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{
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g_can[CAN_ID_0].test[5]++;
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}
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#endif
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].test[0]++;
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#endif
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/* 拆分ID */
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if (tempCanRxMsg.ID & (1 << 12))
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{
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].test[1]++;
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#endif
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/* 扩展ID */
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tempCanRxMsg.IDE = CAN_ID_EXT;
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tempCanRxMsg.ID = ((tempCanRxMsg.ID & 0x7FF) << 18) + ((tempCanRxMsg.ID >> 13) & 0x3FFFF);
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if (tempCanRxMsg.ID & 0x80000000)
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{
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/* 扩展远程帧 */
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tempCanRxMsg.RTR = CAN_RTR_REMOTE;
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}
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else
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{
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/* 扩展数据帧 */
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tempCanRxMsg.RTR = CAN_RTR_Data;
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}
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}
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else
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{
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].test[2]++;
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#endif
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/* 标准ID */
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tempCanRxMsg.IDE = CAN_ID_STD;
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if (tempCanRxMsg.ID & (1 << 11))
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{
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/* 标准远程帧 */
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tempCanRxMsg.RTR = CAN_RTR_REMOTE;
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}
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else
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{
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/* 标准数据帧 */
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tempCanRxMsg.RTR = CAN_RTR_Data;
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}
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tempCanRxMsg.ID = tempCanRxMsg.ID & 0x7FF;
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}
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/* 默认只有一个FIFO */
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tempCanRxMsg.FMI = 0;
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//加入队列
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common_memory_copys((u8*)&l_rx.msg,(u8*)&tempCanRxMsg,sizeof(CAN_MsgInfoType));
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common_memory_copys((u8*)&l_rx.buf[0],(u8*)&tempCanRxMsg.Data[0],CAN_FRAME_MAX_DLC);
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//转成协议栈
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if(l_rx.msg.IDE == CAN_ID_EXT)
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{
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l_rx.msg.IDE = EXTENDED_CAN;
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}
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l_rx.phy_id =INST_CANCOM0;
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l_rx.mailbox_id =0u;
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l_rx.msg.DLC = tempCanRxMsg.DLC;//can_sw_dlc_to_len(l_rx.msg.DLC);
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#ifdef CAN_DRIVE_QUEUE_ENABLE
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(void)queue_add_element(&can_rx_queue,(const sequential_queue_elem*)&l_rx);//NOLINT
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#endif
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l_rx.msg_id = l_rx.msg.ID;
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l_rx.len = l_rx.msg.DLC;
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l_rx.type = l_rx.msg.IDE;
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//#ifdef CAN_AUTOSAR_EN
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can_id_phy_rx_irq_task(CAN_ID_0,&l_rx);
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//#endif
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#if 0 //def CAN_LS_NM
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if(CanNm_is_busoff() == TRUE)
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{
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#ifdef CAN_LS_NM
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//Can_SetTxStatus_finish(CAN_ID_0);
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CanNm_TxConfirmation_com(0,CAN_ID_0);
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#endif
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}
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#endif
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FL_CAN_ClearFlag_RXNotEmpty(CAN);
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}
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//FL_CAN_ClearFlag_RXOK(CAN);
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//FL_CAN_ClearFlag_RXNotEmpty(CAN);
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}
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#if 1 //把溢出判断也监控
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if((FL_CAN_IsActiveFlag_RXOverflow(CAN)==FL_SET)&&(FL_CAN_IsEnabledIT_RXOverflow(CAN)==FL_ENABLE))
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{
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FL_CAN_ClearFlag_RXOverflow(CAN);
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//g_can_test[1]++;
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}
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#endif
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if( (FL_ENABLE == FL_CAN_IsEnabledIT_TXOK(CAN) ) && (FL_SET == FL_CAN_IsActiveFlag_TXOK(CAN) ) )
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{
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].test[3]++;
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#endif
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#ifdef CAN_AUTOSAR_EN
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l_buf_index= g_can[CAN_ID_0].mailbox_id;
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buffIdx =0u;
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can_id_phy_tx_irq_task(CAN_ID_0,l_buf_index,buffIdx);
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#else
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#ifdef CAN_LS_NM
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if(0 != (CAN->ISR & CAN_TXMASK(phyhth)))
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{
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#ifdef CAN_ENABLE_HIGH_TX
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if(buf_index==2u)
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{
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FL_CAN_DisableIT_TXHighPriorBuffFull(CAN);
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}
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else
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#endif
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{
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FL_CAN_DisableIT_TXOK(CAN);
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}
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}
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Can_SetTxStatus_finish(CAN_ID_0);
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CanNm_TxConfirmation_com(0,CAN_ID_0);
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#endif
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#endif
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FL_CAN_ClearFlag_TXOK(CAN);
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}
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#ifdef CAN_ENABLE_HIGH_TX
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if( (FL_ENABLE == FL_CAN_IsEnabledIT_TXHighPriorBuffFull(CAN)) && (FL_SET == FL_CAN_IsActiveFlag_TXOK(CAN) ) )
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{
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].test[4]++;
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#endif
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#ifdef CAN_AUTOSAR_EN
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l_buf_index= g_can[CAN_ID_0].mailbox_id;
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buffIdx =0u;
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can_id_phy_tx_irq_task(CAN_ID_0,l_buf_index,buffIdx);
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#else
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#ifdef CAN_LS_NM
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Can_SetTxStatus_finish(CAN_ID_0);
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CanNm_TxConfirmation_com(0,CAN_ID_0);
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#endif
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#endif
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FL_CAN_ClearFlag_TXOK(CAN);
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FL_CAN_ClearFlag_TXHighPriorBuffFull(CAN);
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}
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else
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{
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if( (FL_ENABLE == FL_CAN_IsEnabledIT_TXHighPriorBuffFull(CAN)) && (FL_CAN_IsActiveFlag_TXHighPriorBuffFull(CAN)) )
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{
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FL_CAN_ClearFlag_TXHighPriorBuffFull(CAN);
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].test[5]++;
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#endif
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}
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}
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#endif
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#if 0
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if(FL_CAN_IsActiveFlag_TXBuffFull(CAN) != FL_RESET)
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{
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FL_CAN_ClearFlag_TXBuffFull(CAN);
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}
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#endif
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if (CAN->ISR & CAN_ISR_ERROR_Msk)
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{
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#if 0
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/* 错误中断 */
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/* 主动错误转换为被动错误时刻检测 */
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if (last_ESTAT == 1)
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{
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if (((CAN->SR & (3 << 7)) >> 7) == 3)
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{
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;
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}
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}
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last_ESTAT = ((CAN->SR & (3 << 7)) >> 7);
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#endif
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#ifdef CAN_LS_NM
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//CanNm_PhysErrorInd(CAN_ID_0,NM_DLL_BUS_OFF_PRE);
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#endif
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].test[6]++;
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#endif
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FL_CAN_ClearFlag_Error(CAN);
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}
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//if (CAN->ISR & CAN_ISR_BSOFF_Msk)
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if( (FL_CAN_IsActiveFlag_BusOff(CAN)==TRUE) && (FL_CAN_IsEnabledIT_BusOff(CAN)==TRUE) )
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{
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/* busoff中断 */
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/* CEN禁止后再使能即可清除can busoff的状态，在CAN模块稳定后可以立即发送数据 */
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//CAN->CR = 0;
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//CAN->CR = 1;
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FL_CAN_SetSoftwareReset(CAN,FL_CAN_SOFTWARE_RESET);
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//CAN->ICR = CAN_ICR_CBSOFF_Msk;
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#if 1
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#ifdef CAN_LS_NM
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CanNm_PhysErrorInd(CAN_ID_0,NM_DLL_BUS_OFF);
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#endif
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#endif
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].test[7]++;
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#endif
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FL_CAN_ClearFlag_BusOff(CAN);
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}
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#ifdef CAN_LOGIC_DEBUG
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g_can[CAN_ID_0].test[8]++;
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#endif
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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 :
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|Output parameters :
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|Return value :
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|Description : CAN接收中断配置
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----------------------------------------------------------------------------*/
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void CAN_NVIC_Configuration(void)
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{
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FL_CAN_ClearFlag_RXOK(CAN);
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// FL_CAN_EnableIT_RXOK(CAN);
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/* NVIC中断配置 */
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NVIC_ClearPendingIRQ(CAN_IRQn);
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NVIC_DisableIRQ(CAN_IRQn);
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NVIC_SetPriority(CAN_IRQn, NVIC_PRIORITY_CAN);
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NVIC_EnableIRQ(CAN_IRQn);
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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 : FilterNumber 过滤器号 ReceiveMsgId 接收数据的ID ReceiveMsgIdType 接收数据的ID类型，0-标准帧，1-扩展帧
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|Output parameters :
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|Return value :
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|Description : 配置CAN接收滤波器
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----------------------------------------------------------------------------*/
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void CAN_ConfigFilter(uint8_t FilterNumber, uint32_t ReceiveMsgId, uint8_t ReceiveMsgIdType)
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{
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FL_CAN_FilterInitTypeDef CAN_FilterInitStructure = {0};
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if (FilterNumber > FL_CAN_FILTER4)
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{
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return;
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}
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if (ReceiveMsgIdType == CAN_Id_Standard)
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{
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/* 标准帧 */
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CAN_FilterInitStructure.filterIdStandard = ReceiveMsgId; /* 标准ID */
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CAN_FilterInitStructure.filterIdSRR = 0;
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CAN_FilterInitStructure.filterIdIDE = 0;
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CAN_FilterInitStructure.filterIdRTR = 0;
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CAN_FilterInitStructure.filterMaskIdHigh = 0X7FF;
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CAN_FilterInitStructure.filterMaskIdSRR = 0x01;
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CAN_FilterInitStructure.filterMaskIdIDE = 0x01; /* 滤波器掩码，1，该位参与滤波器比较，0，不参与 */
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CAN_FilterInitStructure.filterMaskIdRTR = 0x01;
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CAN_FilterInitStructure.filterEn = FL_ENABLE;
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FL_CAN_FilterInit(CAN, &CAN_FilterInitStructure, FilterNumber);
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}
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else
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{
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CAN_FilterInitStructure.filterIdExtend = ReceiveMsgId; /* 扩展ID */
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CAN_FilterInitStructure.filterIdSRR = 0X01;
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CAN_FilterInitStructure.filterIdIDE = 0X01;
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CAN_FilterInitStructure.filterIdRTR = 0X00;
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CAN_FilterInitStructure.filterMaskIdHigh = 0X7FF;
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CAN_FilterInitStructure.filterMaskIdLow = 0X3FFFF;
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CAN_FilterInitStructure.filterMaskIdSRR = 0X01;
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CAN_FilterInitStructure.filterMaskIdIDE = 0X01; /* 滤波器掩码，1，该位参与滤波器比较，0，不参与 */
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CAN_FilterInitStructure.filterMaskIdRTR = 0x01;
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CAN_FilterInitStructure.filterEn = FL_ENABLE;
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FL_CAN_FilterInit(CAN, &CAN_FilterInitStructure, FilterNumber);
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}
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}
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description : 初始化---當使用autosar時，不調用該初始化，一般用於測試時。
|
||
----------------------------------------------------------------------------*/
|
||
void can_init(void)
|
||
{
|
||
#ifdef CAN_ID_0_EN
|
||
can0_init();
|
||
#endif
|
||
#ifdef CAN_ID_1_EN
|
||
can1_init();
|
||
#endif
|
||
}
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description :
|
||
----------------------------------------------------------------------------*/
|
||
void can_de_init(void)
|
||
{
|
||
#ifdef CAN_ID_0_EN
|
||
can0_de_init();
|
||
#endif
|
||
#ifdef CAN_ID_1_EN
|
||
can1_de_init();
|
||
#endif
|
||
}
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description :
|
||
----------------------------------------------------------------------------*/
|
||
void can_task(void)
|
||
{
|
||
can_tx_task();
|
||
}
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description :
|
||
----------------------------------------------------------------------------*/
|
||
void can_phy_drive_init(can_id_e phy_id)
|
||
{
|
||
switch(phy_id)
|
||
{
|
||
case CAN_ID_0:
|
||
#ifdef CAN_ID_0_EN
|
||
can0_init();
|
||
#endif
|
||
break;
|
||
case CAN_ID_1:
|
||
#ifdef CAN_ID_1_EN
|
||
can1_init();
|
||
#endif
|
||
break;
|
||
|
||
default:
|
||
|
||
break;
|
||
}
|
||
|
||
}
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters : BaudRate CAN总线波特率
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description : 初始化CAN
|
||
----------------------------------------------------------------------------*/
|
||
void CAN_Configuration(uint32_t BaudRate)
|
||
{
|
||
FL_CAN_InitTypeDef CAN_InitStructure = {0};
|
||
/* CAN register init */
|
||
//CAN_NVIC_Configuration();
|
||
//CAN_GPIO_Configuration();
|
||
/* CAN cell init */
|
||
#if 0
|
||
CAN_InitStructure.TS1 = CAN_BaudRateInitTab[CAN_GetBaudRateNum(BaudRate)].BS1;
|
||
CAN_InitStructure.TS2 = CAN_BaudRateInitTab[CAN_GetBaudRateNum(BaudRate)].BS2; /* 位时序设置 */
|
||
CAN_InitStructure.SJW = CAN_BaudRateInitTab[CAN_GetBaudRateNum(BaudRate)].SJW;
|
||
CAN_InitStructure.BRP = CAN_BaudRateInitTab[CAN_GetBaudRateNum(BaudRate)].PreScale; /* 波特率预分频 */
|
||
#else
|
||
#if 1 //75 %
|
||
CAN_InitStructure.TS1 = CAN_BS1_11tq;
|
||
CAN_InitStructure.TS2 = CAN_BS2_4tq; /* 位时序设置 */
|
||
CAN_InitStructure.SJW = CAN_SJW_3tq;
|
||
CAN_InitStructure.BRP = 0u; /* 波特率预分频 */
|
||
#else //81
|
||
CAN_InitStructure.TS1 = CAN_BS1_12tq;
|
||
CAN_InitStructure.TS2 = CAN_BS2_3tq; /* 位时序设置 */
|
||
CAN_InitStructure.SJW = CAN_SJW_2tq;
|
||
CAN_InitStructure.BRP = 0u; /* 波特率预分频 */
|
||
#endif
|
||
#endif
|
||
CAN_InitStructure.mode = FL_CAN_MODE_NORMAL; /* 工作模式设置 */
|
||
CAN_InitStructure.clockSource = FL_CMU_CAN_CLK_SOURCE_XTHF; /* 时钟源设置 */
|
||
FL_CAN_Init(CAN, &CAN_InitStructure);
|
||
|
||
}
|
||
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description :
|
||
----------------------------------------------------------------------------*/
|
||
void can0_de_init(void)
|
||
{
|
||
#if 1
|
||
|
||
//CanTrcv_Disable();
|
||
//FL_CAN_Disable(CAN);
|
||
//FL_CMU_DisableGroup1BusClock(FL_CMU_GROUP1_BUSCLK_PAD);
|
||
//FL_CMU_DisableGroup4BusClock(FL_CMU_GROUP4_BUSCLK_ATIM);
|
||
//FL_CMU_DisableGroup3OperationClock(FL_CMU_GROUP3_OPCLK_ATIM);
|
||
//FL_CMU_DisableGroup3BusClock(FL_CMU_GROUP3_BUSCLK_CAN);
|
||
//FL_CMU_DisableGroup3OperationClock(FL_CMU_GROUP3_OPCLK_CAN);
|
||
|
||
FL_CAN_ClearFlag_RXOverflow(CAN);
|
||
FL_CAN_ClearFlag_TXOK(CAN);
|
||
FL_CAN_ClearFlag_TXHighPriorBuffFull(CAN);
|
||
FL_CAN_ClearFlag_Error(CAN);
|
||
FL_CAN_DisableIT_TXOK(CAN);
|
||
FL_CAN_Disable(CAN);
|
||
NVIC_ClearPendingIRQ(CAN_IRQn);
|
||
NVIC_DisableIRQ(CAN_IRQn);
|
||
|
||
#else
|
||
|
||
/* NVIC DeInit */
|
||
NVIC_DisableIRQ(CAN_IRQn);
|
||
NVIC_ClearPendingIRQ(CAN_IRQn);
|
||
|
||
/* Enable Peripheral Reset */
|
||
FL_RMU_EnablePeripheralReset(RMU);
|
||
FL_RMU_EnableResetAPBPeripheral(RMU, FL_RMU_RSTAPB_CAN);
|
||
FL_RMU_DisableResetAPBPeripheral(RMU, FL_RMU_RSTAPB_CAN);
|
||
FL_RMU_EnableResetAPBPeripheral(RMU, FL_RMU_RSTAPB_CAN);
|
||
FL_RMU_DisableResetAPBPeripheral(RMU, FL_RMU_RSTAPB_CAN);
|
||
FL_RMU_DisablePeripheralReset(RMU);
|
||
|
||
/* Close CANBUS Clock */
|
||
FL_CMU_DisableGroup3BusClock(FL_CMU_GROUP3_BUSCLK_CAN);
|
||
FL_CMU_DisableGroup3OperationClock(FL_CMU_GROUP3_OPCLK_CAN);
|
||
|
||
/* GPIO DeInit */
|
||
//FL_GPIO_DeInit(GPIOA,FL_GPIO_PIN_6 | FL_GPIO_PIN_7);
|
||
//FL_GPIO_DeInit(GPIOC,FL_GPIO_PIN_6);
|
||
|
||
#endif
|
||
}
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description :
|
||
----------------------------------------------------------------------------*/
|
||
void can0_init(void)
|
||
{
|
||
#ifdef CAN_DRIVE_QUEUE_ENABLE
|
||
queue_init(&can_tx_queue,(sequential_queue_elem*)&can_tx_qbuf,CAN_ID_0_TX_QUEUE_DEPTH,sizeof(can_queue_elem_s));
|
||
queue_init(&can_rx_queue,(sequential_queue_elem*)&can_rx_qbuf,CAN_ID_0_RX_QUEUE_DEPTH,sizeof(can_queue_elem_s));
|
||
#endif
|
||
|
||
//CAN->CR = 0u; //为了重新初始化，相当于反初始化
|
||
|
||
CAN_Configuration(g_can0_baudrate);
|
||
|
||
|
||
/* 设置CAN接收滤波器 */
|
||
CAN_ConfigFilter(0, CANIF_PHY_RX_CANID, MSG_ID_TYPE);
|
||
CAN_ConfigFilter(1, CANIF_FUN_RX_CANID, MSG_ID_TYPE);
|
||
#if 1 //改成判断非空更合理
|
||
FL_CAN_ClearFlag_RXNotEmpty(CAN);
|
||
FL_CAN_EnableIT_RXNotEmpty(CAN); /* 接收中断使能 */
|
||
#else
|
||
/* 使能接收中断 */
|
||
FL_CAN_ClearFlag_RXOK(CAN);
|
||
FL_CAN_EnableIT_RXOK(CAN); //接收中断使能
|
||
#endif
|
||
//FL_CAN_ClearFlag_Error(CAN);
|
||
//FL_CAN_EnableIT_Error(CAN); //错误中断使能
|
||
|
||
FL_CAN_ClearFlag_RXOverflow(CAN);//接收溢出中断标志位清除
|
||
FL_CAN_EnableIT_RXOverflow(CAN);//接收溢出中断使能
|
||
|
||
FL_CAN_ClearFlag_BusOff(CAN); //BusOff中断使能
|
||
FL_CAN_EnableIT_BusOff(CAN);
|
||
|
||
//FL_CAN_ClearFlag_TXOK(CAN);
|
||
//FL_CAN_EnableIT_TXOK(CAN); //发送完成中断使能
|
||
|
||
g_can[CAN_ID_0].state_tx = CAN_TX_STATE_IDLE;
|
||
|
||
CAN_NVIC_Configuration(); //调用顺序，会引起busoff不能恢复
|
||
|
||
}
|
||
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description : 通过TX FIFO发送数据
|
||
----------------------------------------------------------------------------*/
|
||
void FL_CAN_FIFO_Write(u8 mailbox_id,uint32_t id, uint32_t len, uint32_t data1, uint32_t data2)
|
||
{
|
||
#if 0
|
||
uint32_t i = 5;
|
||
|
||
while ((FL_CAN_IsActiveFlag_TXBuffFull(CAN) != FL_RESET)&i)
|
||
{
|
||
i--;
|
||
FL_DelayMs(1);
|
||
}
|
||
#endif
|
||
|
||
if(FL_CAN_IsActiveFlag_TXBuffFullSignal(CAN)==FL_RESET)
|
||
|
||
{
|
||
g_can[CAN_ID_0].mailbox_id = mailbox_id;
|
||
#ifdef CAN_ENABLE_HIGH_TX
|
||
if(mailbox_id == 2u)
|
||
{
|
||
FL_CAN_ClearFlag_TXHighPriorBuffFull(CAN);
|
||
FL_CAN_WriteHighPriorTXMessageID(CAN, id);
|
||
FL_CAN_WriteHighPriorMessageLength(CAN, len);
|
||
FL_CAN_WriteHighPriorMessageWord1(CAN, data1);
|
||
FL_CAN_WriteHighPriorMessageWord2(CAN, data2);
|
||
FL_CAN_EnableIT_TXHighPriorBuffFull(CAN);
|
||
}
|
||
else
|
||
#endif
|
||
{
|
||
FL_CAN_ClearFlag_TXOK(CAN);
|
||
FL_CAN_ClearFlag_TXBuffFull(CAN);
|
||
FL_CAN_WriteTXMessageID(CAN, id);
|
||
FL_CAN_WriteTXMessageLength(CAN, len);
|
||
FL_CAN_WriteTXMessageWord1(CAN, data1);
|
||
FL_CAN_WriteTXMessageWord2(CAN, data2);
|
||
FL_CAN_EnableIT_TXOK(CAN);
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters : CANx CAN通道号 TxMessage CAN消息指针
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description : 发送一帧CAN数据
|
||
----------------------------------------------------------------------------*/
|
||
uint8_t CAN_WriteData(u8 mailbox_id,CanTxMsg *TxMessage)
|
||
{
|
||
uint32_t id = 0;
|
||
uint32_t len = 0;
|
||
uint32_t data1 = 0;
|
||
uint32_t data2 = 0;
|
||
|
||
if (TxMessage->IDE)
|
||
{
|
||
/* 扩展 */
|
||
if (TxMessage->RTR)
|
||
{
|
||
/* 远程帧 */
|
||
id = ((TxMessage->ID & 0x3ffff) << 13) | ((uint32_t)1 << 12) | ((uint32_t)1 << 31) | ((TxMessage->ID & 0x1ffc0000) >> 18);
|
||
}
|
||
else
|
||
{
|
||
/* 数据帧 */
|
||
id = ((TxMessage->ID & 0x3ffff) << 13) | ((uint32_t)1 << 12) | ((uint32_t)1 << 11) | ((TxMessage->ID & 0x1ffc0000) >> 18);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
/* 标准 */
|
||
if (TxMessage->RTR)
|
||
{
|
||
/* 远程帧 */
|
||
id = (TxMessage->ID & 0x7ff) | (1 << 11);
|
||
}
|
||
else
|
||
{
|
||
/* 数据帧 */
|
||
id = TxMessage->ID & 0x7ff;
|
||
}
|
||
}
|
||
len = TxMessage->DLC;
|
||
data1 = (((uint32_t)TxMessage->Data[3] << 24) |
|
||
((uint32_t)TxMessage->Data[2] << 16) |
|
||
((uint32_t)TxMessage->Data[1] << 8) |
|
||
((uint32_t)TxMessage->Data[0]));
|
||
data2 = (((uint32_t)TxMessage->Data[7] << 24) |
|
||
((uint32_t)TxMessage->Data[6] << 16) |
|
||
((uint32_t)TxMessage->Data[5] << 8) |
|
||
((uint32_t)TxMessage->Data[4]));
|
||
|
||
FL_CAN_FIFO_Write(mailbox_id,id, len, data1, data2);
|
||
return 0;
|
||
}
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description :
|
||
----------------------------------------------------------------------------*/
|
||
static void can_tx_task(void)
|
||
{
|
||
//考虙這里加隊列發送；
|
||
#ifdef CAN_DRIVE_QUEUE_ENABLE
|
||
//u8 l_buf_index;
|
||
can_queue_elem_s l_rx;
|
||
can_queue_elem_s l_tx;
|
||
//CAN_Type *p_can;
|
||
//u8 i;
|
||
/*PCLINT_ERROS*/ /*lint --e(928) */ /* 928 11.4（建議）： 不應在某類型對像指針和其他不同類型對像指針之間進行強制轉換。*/
|
||
if( queue_get_head(&can_tx_queue,(sequential_queue_elem*)&l_tx) == QUEUE_OK)
|
||
{
|
||
/*PCLINT_ERROS*/ /*lint --e(926) */ /* */
|
||
/*PCLINT_ERROS*/ /*lint --e(641) --e(960) --e(923) */
|
||
queue_del_element(&can_tx_queue,(sequential_queue_elem*)&l_tx);
|
||
|
||
if(l_tx.phy_id == INST_CANCOM0)
|
||
{
|
||
//p_can = CAN0;
|
||
//common_memory_copys((u8*)&g_can[INST_CANCOM0].tx,(u8*)&l_tx.msg,sizeof(CAN_MsgInfoType)); //
|
||
//common_memory_copys((u8*)&g_can[INST_CANCOM0].tx_buf[0],(u8*)&l_tx.buf[0],CAN_FRAME_MAX_DLC);
|
||
//g_can[INST_CANCOM0].tx.DATA = &g_can[INST_CANCOM0].tx_buf[0];
|
||
//把dlc转换成寄存器能识别的长度；
|
||
//g_can[INST_CANCOM0].tx.DLC = can_sw_len_to_dlc(g_can[INST_CANCOM0].tx.DLC);
|
||
CAN_WriteData(l_tx.mailbox_id,&l_tx.msg);//发送数据
|
||
}
|
||
}
|
||
|
||
/*PCLINT_ERROS*/ /*lint --e(928) */ /* 928 11.4（建議）： 不應在某類型對像指針和其他不同類型對像指針之間進行強制轉換。*/
|
||
if( queue_get_head(&can_rx_queue,(sequential_queue_elem*)&l_rx) == QUEUE_OK)
|
||
{
|
||
/*PCLINT_ERROS*/ /*lint --e(926) */ /* */
|
||
/*PCLINT_ERROS*/ /*lint --e(641) --e(960) --e(923) */
|
||
queue_del_element(&can_rx_queue,(sequential_queue_elem*)&l_rx);
|
||
//
|
||
#ifdef CAN_LOGIC_DEBUG
|
||
g_can[CAN_ID_0].test[9]++;
|
||
#endif
|
||
}
|
||
#endif
|
||
}
|
||
|
||
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description :
|
||
----------------------------------------------------------------------------*/
|
||
void can_op_tx_task(void)
|
||
{
|
||
#if 1
|
||
static u8 g_cc=0;
|
||
#ifdef CAN_DRIVE_QUEUE_ENABLE
|
||
can_queue_elem_s l_tx;
|
||
u8 i;
|
||
g_can[CAN_ID_0].count++;
|
||
l_tx.phy_id = INST_CANCOM0;
|
||
//l_tx.mailbox_id = g_can_id_0_cfg_tx_table[0].mb_fifo_id;
|
||
l_tx.msg.ID = 0x228; //
|
||
l_tx.msg.IDE = CAN_MSG_ID_STD; //
|
||
l_tx.msg.DLC = CAN_FRAME_DLC;
|
||
#ifdef CAN_ID_0_FD_EN
|
||
l_tx.msg.FDF = CAN_MSG_TYPE_FD;
|
||
l_tx.msg.BRS = CAN_MSG_BRS_FAST;
|
||
#else
|
||
l_tx.msg.FDF = CAN_MSG_TYPE_NORMAL;
|
||
l_tx.msg.BRS = CAN_MSG_BRS_NORMAL_LOW;
|
||
#endif
|
||
l_tx.msg.RTR = CAN_MSG_RTR_DATA;
|
||
//l_tx.msg_id = g_can_id_0_cfg_tx_table[0].can_id;
|
||
g_cc++;
|
||
for(i=0;i<CAN_FRAME_DLC;i++)
|
||
{
|
||
l_tx.buf[i] = 0x11u+i+g_cc;
|
||
}
|
||
common_memory_copys((u8*)&l_tx.msg.Data[0],(u8*)&l_tx.buf[0],CAN_FRAME_MAX_DLC); //
|
||
//if(g_can[CAN_ID_0].count & 0x01)
|
||
{
|
||
(void)queue_add_element(&can_tx_queue,(const sequential_queue_elem*)&l_tx);//NOLINT
|
||
}
|
||
|
||
l_tx.phy_id = INST_CANCOM0;
|
||
//l_tx.mailbox_id = g_can_id_0_cfg_tx_table[0].mb_fifo_id;
|
||
l_tx.msg.ID = 0x7654229; //
|
||
l_tx.msg.IDE = CAN_MSG_ID_EXT; //
|
||
l_tx.msg.DLC = CAN_FRAME_DLC;
|
||
#ifdef CAN_ID_0_FD_EN
|
||
l_tx.msg.FDF = CAN_MSG_TYPE_FD;
|
||
l_tx.msg.BRS = CAN_MSG_BRS_FAST;
|
||
#else
|
||
l_tx.msg.FDF = CAN_MSG_TYPE_NORMAL;
|
||
l_tx.msg.BRS = CAN_MSG_BRS_NORMAL_LOW;
|
||
#endif
|
||
l_tx.msg.RTR = CAN_MSG_RTR_DATA;
|
||
//l_tx.msg_id = g_can_id_0_cfg_tx_table[0].can_id;
|
||
for(i=0;i<CAN_FRAME_DLC;i++)
|
||
{
|
||
l_tx.buf[i] = 0x22u+i+g_cc;
|
||
}
|
||
common_memory_copys((u8*)&l_tx.msg.Data[0],(u8*)&l_tx.buf[0],CAN_FRAME_MAX_DLC); //
|
||
//if(g_can[CAN_ID_0].count & 0x01)
|
||
{
|
||
(void)queue_add_element(&can_tx_queue,(const sequential_queue_elem*)&l_tx);//NOLINT
|
||
}
|
||
#else
|
||
|
||
#endif
|
||
#endif
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
/*---------------------------------------------------------------------------
|
||
|Prototype :
|
||
|Called by :
|
||
|Preconditions :
|
||
|Input parameters :
|
||
|Output parameters :
|
||
|Return value :
|
||
|Description :
|
||
----------------------------------------------------------------------------*/
|
||
void can_tx_start(const can_queue_elem_s *p_tx)
|
||
{
|
||
u8 i;
|
||
can_queue_elem_s l_tx;
|
||
//CAN_Type* p_can;
|
||
/*
|
||
l_tx.phy_id = INST_CANCOM0;
|
||
//l_tx.mailbox_id = g_can_id_0_cfg_tx_table[0].mb_fifo_id;
|
||
l_tx.msg.ID = 0x228; //
|
||
l_tx.msg.IDE = CAN_MSG_ID_EXT; //
|
||
l_tx.msg.DLC = CAN_FRAME_DLC;
|
||
#ifdef CAN_ID_0_FD_EN
|
||
l_tx.msg.FDF = CAN_MSG_TYPE_FD;
|
||
l_tx.msg.BRS = CAN_MSG_BRS_FAST;
|
||
#else
|
||
l_tx.msg.FDF = CAN_MSG_TYPE_NORMAL;
|
||
l_tx.msg.BRS = CAN_MSG_BRS_NORMAL_LOW;
|
||
#endif
|
||
l_tx.msg.RTR = CAN_MSG_RTR_DATA;
|
||
//l_tx.msg_id = g_can_id_0_cfg_tx_table[0].can_id;
|
||
l_tx.msg.DATA = &l_tx.buf[0];
|
||
g_cc++;
|
||
for(i=0;i<CAN_FRAME_DLC;i++)
|
||
{
|
||
l_tx.buf[i] = 0x11u+i+g_cc;
|
||
}
|
||
*/
|
||
|
||
//p_can = CAN0;
|
||
if(p_tx->type == CAN_MSG_ID_STD)
|
||
{
|
||
l_tx.msg.IDE = CAN_ID_STD; //
|
||
}
|
||
else
|
||
{
|
||
l_tx.msg.IDE = CAN_ID_EXT; //
|
||
}
|
||
//p_tx->phy_id
|
||
//mailbox_id
|
||
l_tx.msg.ID = p_tx->msg_id;
|
||
l_tx.msg.DLC = p_tx->len;
|
||
#ifdef CAN_ID_0_FD_EN
|
||
#if 0
|
||
if(p_tx->fd_enable == 0u)
|
||
{
|
||
l_tx.msg.FDF = CAN_MSG_TYPE_NORMAL; //
|
||
l_tx.msg.BRS = CAN_MSG_BRS_NORMAL_LOW;
|
||
}
|
||
else
|
||
{
|
||
l_tx.msg.FDF = CAN_MSG_TYPE_FD; //
|
||
l_tx.msg.BRS = CAN_MSG_BRS_FAST;
|
||
}
|
||
#else
|
||
l_tx.msg.FDF = p_tx->fd_enable; //
|
||
l_tx.msg.BRS = p_tx->enable_brs;
|
||
#endif
|
||
#else
|
||
l_tx.msg.FDF = CAN_MSG_TYPE_NORMAL; //
|
||
l_tx.msg.BRS = CAN_MSG_BRS_NORMAL_LOW;
|
||
#endif
|
||
l_tx.msg.RTR = CAN_MSG_RTR_DATA;
|
||
l_tx.msg.ESI = 1u;
|
||
l_tx.msg.RTS = 1u;
|
||
l_tx.mailbox_id = p_tx->mailbox_id;
|
||
#if 1
|
||
//l_tx.msg.DATA = &l_tx.buf[0];
|
||
for(i=0;i<CAN_FRAME_DLC;i++)
|
||
{
|
||
l_tx.buf[i] = p_tx->buf[i];
|
||
l_tx.msg.Data[i] = p_tx->buf[i];
|
||
}
|
||
#endif
|
||
#if 0
|
||
common_memory_copys((u8*)&g_can[INST_CANCOM0].tx,(u8*)&l_tx.msg,sizeof(CAN_MsgInfoType)); //
|
||
common_memory_copys((u8*)&g_can[INST_CANCOM0].tx_buf[0],(u8*)&p_tx->buf[0],CAN_FRAME_MAX_DLC);
|
||
g_can[INST_CANCOM0].tx.DATA = &g_can[INST_CANCOM0].tx_buf[0];
|
||
//把dlc转换成寄存器能识别的长度；
|
||
g_can[INST_CANCOM0].tx.DLC = can_sw_len_to_dlc(g_can[INST_CANCOM0].tx.DLC);
|
||
#if 1
|
||
if(l_tx.mailbox_id==2)
|
||
{
|
||
CAN_TransmitMessage(p_can, &g_can[INST_CANCOM0].tx, CAN_TRANSMIT_PRIMARY);//发送数据
|
||
}
|
||
else
|
||
{
|
||
CAN_TransmitMessage(p_can, &g_can[INST_CANCOM0].tx, CAN_TRANSMIT_SECONDARY);//发送数据
|
||
}
|
||
#else
|
||
CAN_TransmitMessage(p_can, &g_can[INST_CANCOM0].tx, CAN_TRANSMIT_SECONDARY);//发送数据
|
||
#endif
|
||
#else
|
||
CAN_WriteData(l_tx.mailbox_id,&l_tx.msg);//发送数据
|
||
#endif
|
||
}
|
||
|
||
|