165 lines
5.4 KiB
C
165 lines
5.4 KiB
C
/*
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* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
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* All rights reserved.
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*
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* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
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* exclusively with CVA's microcontroller products. This file can be freely
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* distributed within development tools that are supporting such microcontroller
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* products.
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*
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* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
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* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
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* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
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* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
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* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
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*/
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/*******************************************************************************
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* the includes
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******************************************************************************/
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#include "dbc_comm.h"
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/*******************************************************************************
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* the defines
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******************************************************************************/
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/*******************************************************************************
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* the typedefs
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******************************************************************************/
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/*******************************************************************************
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* the globals
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******************************************************************************/
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/*******************************************************************************
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* the functions
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******************************************************************************/
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void DbcComm_Init(DbcCommType *obj, const DbcComm_ParamsType *pParams)
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{
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uint8_t node = 0;
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for(node = 0; node < DBCCOMM_NODE_NUM; ++node)
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{
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obj->enableNodeTx[node] = false;
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obj->enableNodeRx[node] = false;
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}
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obj->sendCanMsg = pParams->sendCanMsg;
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uint16_t i = 0;
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/* Process send message */
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for(i = 0; i < obj->txMsgNum; ++i)
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{
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obj->txMsgArray[i].periodCntMax = (uint32_t)(pParams->runFreq_kHz * obj->txMsgArray[i].pInfo->period_ms);
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obj->txMsgArray[i].periodCnt = i; /* Stagger the start timing */
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}
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/* Process received message */
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for(i = 0; i < obj->rxMsgNum; ++i)
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{
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obj->rxMsgArray[i].timeoutCntMax = (uint32_t)(pParams->runFreq_kHz * obj->rxMsgArray[i].pInfo->timeout_ms);
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obj->rxMsgArray[i].timeoutCnt = 0;
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obj->rxMsgArray[i].isTimeout = false;
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}
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}
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void DbcComm_Run(DbcCommType *obj)
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{
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uint16_t i = 0;
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/* Process send message */
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for(i = 0; i < obj->txMsgNum; ++i)
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{
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DbcComm_CanNodeType node = obj->txMsgArray[i].pInfo->node;
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if(obj->enableNodeTx[node])
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{
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if(obj->txMsgArray[i].periodCntMax > 0)
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{
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obj->txMsgArray[i].periodCnt++;
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if(obj->txMsgArray[i].periodCnt >= obj->txMsgArray[i].periodCntMax)
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{
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obj->txMsgArray[i].periodCnt = 0;
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/* Pack message and send it */
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DbcComm_CanMsgType msg = CAN_MSG_DEFAULT;
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obj->txMsgArray[i].pInfo->packMsg(obj, &msg);
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obj->sendCanMsg(node, &msg);
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}
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}
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}
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}
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/* Process received message */
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for(i = 0; i < obj->rxMsgNum; ++i)
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{
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DbcComm_CanNodeType node = obj->rxMsgArray[i].pInfo->node;
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if(obj->enableNodeRx[node])
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{
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if(obj->rxMsgArray[i].timeoutCntMax > 0 && false == obj->rxMsgArray[i].isTimeout)
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{
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obj->rxMsgArray[i].timeoutCnt++;
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if(obj->rxMsgArray[i].timeoutCnt >= obj->rxMsgArray[i].timeoutCntMax)
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{
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obj->rxMsgArray[i].timeoutCnt = 0;
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obj->rxMsgArray[i].isTimeout = true;
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}
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}
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}
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}
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}
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void DbcComm_ReceiveCanMsg(DbcCommType *obj, DbcComm_CanNodeType node, const DbcComm_CanMsgType *pMsg)
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{
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uint16_t i = 0;
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for(i = 0; i < obj->rxMsgNum; ++i)
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{
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if(pMsg->id == obj->rxMsgArray[i].pInfo->id && node == obj->rxMsgArray[i].pInfo->node)
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{
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obj->rxMsgArray[i].timeoutCnt = 0;
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obj->rxMsgArray[i].isTimeout = false;
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obj->rxMsgArray[i].pInfo->unpackMsg(obj, pMsg);
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break;
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}
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}
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}
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void DbcComm_EnableRx(DbcCommType *obj, DbcComm_CanNodeType node, bool enable)
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{
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if(obj->enableNodeRx[node] != enable)
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{
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/* Change the enable status */
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uint16_t i = 0;
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for(i = 0; i < obj->rxMsgNum; ++i)
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{
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if(obj->rxMsgArray[i].pInfo->node == node)
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{
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if(obj->rxMsgArray[i].timeoutCntMax > 0)
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{
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obj->rxMsgArray[i].timeoutCnt = 0;
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obj->rxMsgArray[i].isTimeout = false;
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}
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}
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}
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obj->enableNodeRx[node] = enable;
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}
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}
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void DbcComm_EnableTx(DbcCommType *obj, DbcComm_CanNodeType node, bool enable)
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{
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if(obj->enableNodeTx[node] != enable)
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{
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/* Change the enable status */
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uint16_t i = 0;
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for(i = 0; i < obj->txMsgNum; ++i)
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{
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if(obj->txMsgArray[i].pInfo->node == node)
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{
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if(obj->txMsgArray[i].periodCntMax > 0)
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{
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obj->txMsgArray[i].periodCnt = obj->txMsgArray[i].periodCntMax;
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}
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}
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}
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obj->enableNodeTx[node] = enable;
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}
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}
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