Ruikang
1 month ago
commit
b41306e360
331 changed files with 126486 additions and 0 deletions
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/******************************************************************************
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* File anodebug.c |
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* Organization 江苏钮玮动力科技有限公司 |
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* Version V1.00 |
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* Date 22-November-2024 |
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* Brief ANO debug function |
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******************************************************************************/ |
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/******************************************************************************
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Version Record |
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***************************************************************************** |
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Time 22-November-2024 |
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Version V1.00 |
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Author 邱瑞康 |
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Description |
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*First version created(move from DC_Inverter_Shunt_Sample.c) |
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******************************************************************************/ |
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#include "parameter.h" |
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#include "usart.h" |
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#include "anodebug.h" |
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/*------Ano数组--------帧头----------------数据长度--数据1-----数据2-----数据3-----数据4-----帧尾校验-*/ |
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uint8_t AnoData[16] = {0xAB,0xFE,0x05,0xF1,0x08,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; |
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void ANO_Debug_Run(void) |
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{ |
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uint16_t flen = AnoData[4] + AnoData[5]*256; |
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uint8_t sumcheck = 0; |
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uint8_t addcheck = 0; |
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for(uint16_t i=0;i<(flen+6);i++) |
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{ |
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sumcheck+=AnoData[i]; |
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addcheck+=sumcheck; |
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} |
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AnoData[flen+6]=(uint8_t)sumcheck; |
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AnoData[flen+7]=(uint8_t)addcheck; |
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} |
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/*********** (C) COPYRIGHT 2024 江苏钮玮动力科技有限公司 ******** END OF FILE ********/ |
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/**
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****************************************************************************** |
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* @file AssistMode.h |
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* @author |
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* @version V1.0.0 |
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* @date 2024-9-29 |
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* @brief hand.c模块头文件 |
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****************************************************************************** |
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* @attention |
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* |
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* <h2><center>©江苏金丰机电有限公司</center></h2> |
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* |
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* 许可： |
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* 版权所有单位只赋予被许可单位或个人产品使用权。被许可和未被许可的单位或个人 |
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* 不得逆向、复制、扩散、修改此产品包含的软件。 |
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****************************************************************************** |
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*/ |
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/* 定义防止递归包含 ----------------------------------------------------------*/ |
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#ifndef __ASSISTMODE_H |
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#define __ASSISTMODE_H |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/******************************************************************************/ |
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/* 包含 ----------------------------------------------------------------------*/ |
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#include "stm32f10x.h" |
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#include "stm32f10x_conf.h" |
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#include "qmathLib.h" |
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#include "info.h" |
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/* 公有 types ----------------------------------------------------------------*/ |
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/* 公有 define ---------------------------------------------------------------*/ |
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typedef struct |
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{ |
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/* 私有 */ |
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uint16_t time; /* 变量: 时间 */ |
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uint8_t AssistFlag; /* Tcs标志*/ |
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}USEASSIST_DataDef; |
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typedef USEASSIST_DataDef *USEASSISTHandle; |
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extern USEASSIST_DataDef U_assist; |
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/* 公有 macro ----------------------------------------------------------------*/ |
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/* 公有 constants ------------------------------------------------------------*/ |
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/* 公有 variables ------------------------------------------------------------*/ |
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/* 公有 functions ----------------------------------------------------------- */ |
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extern u8 AssistModeDisp(u8 DASH_AsscReq,u8 MCU_RunStatus); |
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/******************************************************************************/ |
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#ifdef __cplusplus |
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} |
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#endif /* extern "C" */ |
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#endif /* __HAND_H */ |
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/**************************** (C) 深圳市摩特康 ********************************/ |
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/********************************END OF FILE***********************************/ |
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/********************************* Copyright ************************************
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* (C) Copyright 2024,Zhang Kai,China,Genfo. |
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* All Rights Reserved |
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* |
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* By(Zhang Kai) |
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* |
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* 文件名称 : cruise.h |
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* 版 本 : V1.0 |
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* 日 期 : 2024-09-29 |
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* 文件说明 : (空) |
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* 修改记录 : (空) |
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********************************************************************************/ |
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#ifndef __CRUISE_H_ |
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#define __CRUISE_H_ |
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/**********************************参数及宏定义*********************************/ |
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#define SPEED_HOLD_TIME_CNT 3000 //速度保持时间计数值（根据调用周期设置）
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#define CRS_MAX_ALLOWABLE_SPEED 55 //巡航最大允许的速度，单位km/h
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typedef enum |
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{ |
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Invalid = 0, //无效
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valid , //有效
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}CrsBtnSts_e; |
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typedef enum |
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{ |
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AutoHold = 0, |
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Alarmed , |
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Park, |
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Ready, |
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Run, |
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Cruise, //定速巡航
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LowPowerFront, //推车助力
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LowPowerRear, //倒车助力
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}RunStatus_e; |
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typedef struct |
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{ |
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unsigned char ButtonStatus; //定速巡航按钮状态 @ref CrsBtnSts_e 0x0:Invalid 无效 0x1:valid 有效
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unsigned int SpeedHoldTimeCnt; //速度保持时间计数值
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unsigned char RunStatus; /*运行状态
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0x0：autohold |
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0x1：alarmed |
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0x2：Park |
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0x3：ready |
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0x4：run |
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0x5：cruise(定速巡航) |
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0x6：low-power-front（推车助力） |
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0x7：low-power-rear（倒车助力） |
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*/ |
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unsigned char HbarRange; //当前手把开度0-100%
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unsigned char CurrentSpeed; //当前车速 单位：千米/时
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unsigned char KmhLimit; //巡航最高车速限速千米/时
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unsigned char IncSpeed; //增加巡航速度
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unsigned char ReduceSpeed; //减少巡航速度
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unsigned char BrakeEn; //制动使能标志 1：制动使能 0：未制动
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unsigned char PullBackHbar; //回拉转把
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unsigned char McuFault; //MCU故障
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unsigned char SideBraceFallsDown; //边撑落下
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unsigned char MaxAllowableSpeed; //系统被允许的最高测速
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unsigned char AutoStatus; //自动巡航状态 0:未进入 1：已进入
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unsigned char AutoEnSet; //自动巡航使能开启 0:未开启 1：已开启
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} Cruise_t; |
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/*******************************外部参数及函数声明******************************/ |
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extern Cruise_t Cruise_M1; |
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void app_cruise (Cruise_t *p); |
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#endif |
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/********************************* Copyright ************************************
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* (C) Copyright 2024,Zhang Kai,China,Genfo. |
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* All Rights Reserved |
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* |
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* By(Zhang Kai) |
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* |
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* 文件名称 : low_battery_life.h |
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* 版 本 : V1.0 |
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* 日 期 : 2024-09-29 |
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* 文件说明 : (空) |
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* 修改记录 : (空) |
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********************************************************************************/ |
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#ifndef __LOW_BATTERY_LIFE_H_ |
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#define __LOW_BATTERY_LIFE_H_ |
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/**********************************参数及宏定义*********************************/ |
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#define LBF_MAX_ALLOWABLE_SPEED 55 //低电量续航最大允许的速度，单位km/h
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typedef enum |
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{ |
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NoRequest = 0, |
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Off , |
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On, |
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Reserved, |
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}LowBatLife_e; |
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typedef struct |
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{ |
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unsigned char EnSet; //功能使能标志 0x0：No Request 0x1：OFF 0x2： ON 0x3：reserved
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unsigned char Status; //低电量长续航模式状态 0x0：OFF 0x1： ON
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unsigned char SocValue; //电池SOC 0--100
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unsigned char KmhLimit; //限速千米/时
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} LowBatLife_t; |
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/*******************************外部参数及函数声明******************************/ |
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extern LowBatLife_t LowBatLife_M1; |
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void app_low_battery_life (LowBatLife_t *p); |
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#endif |
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#include "CanCycleSend_app.h" |
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#include "CanApp.h" |
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#include "user.h" |
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#include "eeprom_app.h" |
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#include "mode_key.h" |
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//INT16U Can1MsgTxCyclicCounter[12];
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//qiuadd
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INT16U Can1MsgTxCyclicCounter[26]; |
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//INT16U Can1MsgTxTimer[12];
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//qiuadd
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INT16U Can1MsgTxTimer[26]; |
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void Can1_CommunicationInit(void) |
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{ |
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for(int i=0;i<26;i++) |
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{ |
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Can1MsgTxCyclicCounter[i] = 0; |
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Can1MsgTxTimer[i] = FOREMOST_TIME; |
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} |
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for(int i=0;i<26;i++) |
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{ |
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Can1MsgTxCyclicCounter[i] = CycleTime_22NID[i]; |
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} |
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CAN_AppUpdata_time = FOREMOST_TIME; |
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UserCanRxSignal.CycleSendEnable_flg =1; |
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ModeKey_Init(); |
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} |
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CanTxMsg TxMsg; |
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//extern uint8_t one_cycle_pedal_flag;
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u8 errorstate; |
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u8 ID230cnt; |
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u8 ID231cnt; |
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u8 ID232cnt; |
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u8 ID233cnt; |
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void Can1_CommunicationTask(void) |
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{ |
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INT32U Can_ID; |
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ModeKey_Task(); |
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for(int i=0;i<26;i++) |
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{ |
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if(Can1MsgTxCyclicCounter[i] != CycleTime_22NID[i]) |
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{ |
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Can1MsgTxCyclicCounter[i] = CycleTime_22NID[i]; |
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Can1MsgTxTimer[i] = FOREMOST_TIME; |
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} |
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} |
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if(UserCanRxSignal.CycleSendEnable_flg==1) |
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{ |
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MC_Broadcast_Update(); |
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if (Get1MsTickInterval(Can1MsgTxTimer[0]) >= Can1MsgTxCyclicCounter[0]) |
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{ |
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Can1MsgTxTimer[0] = Get1MsTickVal(); |
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Can_ID = 0x18ff0200; |
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write(h_can1, DateTxBroadcast.ID00, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[1]) >= Can1MsgTxCyclicCounter[1]) |
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{ |
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Can1MsgTxTimer[1] = Get1MsTickVal(); |
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Can_ID = 0x18ff0201; |
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write(h_can1, DateTxBroadcast.ID01, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[2]) >= Can1MsgTxCyclicCounter[2]) |
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{ |
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Can1MsgTxTimer[2] = Get1MsTickVal(); |
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Can_ID = 0x18ff0202; |
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write(h_can1, DateTxBroadcast.ID02, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[3]) >= Can1MsgTxCyclicCounter[3]) |
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{ |
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Can1MsgTxTimer[3] = Get1MsTickVal(); |
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Can_ID = 0x18ff0203; |
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write(h_can1, DateTxBroadcast.ID03, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[4]) >= Can1MsgTxCyclicCounter[4]) |
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{ |
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Can1MsgTxTimer[4] = Get1MsTickVal(); |
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Can_ID = 0x18ff0204; |
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write(h_can1, DateTxBroadcast.ID04, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[5]) >= Can1MsgTxCyclicCounter[5]) |
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{ |
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Can1MsgTxTimer[5] = Get1MsTickVal(); |
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Can_ID = 0x18ff0205; |
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write(h_can1, DateTxBroadcast.ID05, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[6]) >= Can1MsgTxCyclicCounter[6]&&ID230cnt<5) |
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{ |
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Can1MsgTxTimer[6] = Get1MsTickVal(); |
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ID230cnt++; |
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if(ID230cnt>5) |
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ID230cnt=5; |
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Can_ID = 0x18ff0230; |
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write(h_can1, DateTxBroadcast.ID06, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[7]) >= Can1MsgTxCyclicCounter[7]&&ID231cnt<5) |
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{ |
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Can1MsgTxTimer[7] = Get1MsTickVal(); |
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ID231cnt++; |
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if(ID231cnt>5) |
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ID231cnt=5; |
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Can_ID = 0x18ff0231; |
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write(h_can1, DateTxBroadcast.ID07, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[8]) >= Can1MsgTxCyclicCounter[8]&&ID232cnt<5) |
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{ |
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Can1MsgTxTimer[8] = Get1MsTickVal(); |
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ID232cnt++; |
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if(ID232cnt>5) |
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ID232cnt=5; |
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Can_ID = 0x18ff0232; |
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write(h_can1, DateTxBroadcast.ID08, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[9]) >= Can1MsgTxCyclicCounter[9]&&ID233cnt<5) |
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{ |
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Can1MsgTxTimer[9] = Get1MsTickVal(); |
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ID233cnt++; |
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if(ID233cnt>5) |
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ID233cnt=5; |
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Can_ID = 0x18ff0233; |
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write(h_can1, DateTxBroadcast.ID09, 8, &Can_ID); |
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} |
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// if (Get1MsTickInterval(Can1MsgTxTimer[10]) >= Can1MsgTxCyclicCounter[10])
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// {
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// Can1MsgTxTimer[10] = Get1MsTickVal();
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// Can_ID = 0x18ff0240;
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// write(h_can1, DateTxBroadcast.ID10, 8, &Can_ID);
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// }
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//
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// if (Get1MsTickInterval(Can1MsgTxTimer[11]) >= Can1MsgTxCyclicCounter[11])
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// {
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// Can1MsgTxTimer[11] = Get1MsTickVal();
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// Can_ID = 0x18ff0241;
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// write(h_can1, DateTxBroadcast.ID11, 8, &Can_ID);
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// }
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//
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// if (Get1MsTickInterval(Can1MsgTxTimer[12]) >= Can1MsgTxCyclicCounter[12])
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// {
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// Can1MsgTxTimer[12] = Get1MsTickVal();
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// Can_ID = 0x18ff0242;
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// write(h_can1, DateTxBroadcast.ID12, 8, &Can_ID);
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// }
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//
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// if (Get1MsTickInterval(Can1MsgTxTimer[13]) >= Can1MsgTxCyclicCounter[13])
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// {
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// Can1MsgTxTimer[13] = Get1MsTickVal();
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// Can_ID = 0x18ff0243;
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// write(h_can1, DateTxBroadcast.ID13, 8, &Can_ID);
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// }
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// 0x18FF0101、0x18FF0108~0x18FF010C 为VCU接收触发帧，不再周期发送。
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if (Get1MsTickInterval(Can1MsgTxTimer[20]) >= Can1MsgTxCyclicCounter[20]) |
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{ |
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Can1MsgTxTimer[20] = Get1MsTickVal(); |
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Can_ID = 0x18ff0600; |
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write(h_can1, DateTxBroadcast.ID20, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[21]) >= Can1MsgTxCyclicCounter[21]) |
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{ |
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Can1MsgTxTimer[21] = Get1MsTickVal(); |
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Can_ID = 0x18ff0601; |
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write(h_can1, DateTxBroadcast.ID21, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[22]) >= Can1MsgTxCyclicCounter[22]) |
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{ |
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Can1MsgTxTimer[22] = Get1MsTickVal(); |
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Can_ID = 0x18ff0250; |
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write(h_can1, DateTxBroadcast.ID22, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[23]) >= Can1MsgTxCyclicCounter[23]) |
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{ |
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Can1MsgTxTimer[23] = Get1MsTickVal(); |
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Can_ID = 0x18ff0260; |
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write(h_can1, DateTxBroadcast.ID23, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[24]) >= Can1MsgTxCyclicCounter[24]) |
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{ |
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Can1MsgTxTimer[24] = Get1MsTickVal(); |
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Can_ID = 0x18ff0261; |
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write(h_can1, DateTxBroadcast.ID24, 8, &Can_ID); |
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} |
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if (Get1MsTickInterval(Can1MsgTxTimer[25]) >= Can1MsgTxCyclicCounter[25]) |
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{ |
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Can1MsgTxTimer[25] = Get1MsTickVal(); |
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Can_ID = 0x18ff0262; |
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write(h_can1, DateTxBroadcast.ID25, 8, &Can_ID); |
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} |
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uint8_t error_code = CAN_GetLastErrorCode(CAN1); |
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if (error_code != CAN_ErrorCode_NoErr) { |
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// 有错误，查看错误码
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errorstate=error_code; |
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} |
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} |
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else |
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{ |
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for(int i=0;i<26;i++) |
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{ |
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Can1MsgTxTimer[i] = FOREMOST_TIME; |
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} |
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} |
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} |
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#ifndef __CAN_APP_H |
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#define __CAN_APP_H |
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#include "common.h" |
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extern u16 CAN_AppUpdata_time; |
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void Can1_CommunicationInit(void); |
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void Can1_CommunicationTask(void); |
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//qiuadd
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typedef struct { |
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uint8_t motorMcu1ProgState : 1; // Startbit=0, Length=1: 电机MCU1程序状态
|
|||
uint8_t motorMcu2ProgState : 1; // Startbit=1, Length=1: 电机MCU2程序状态
|
|||
uint8_t motorAssistMode : 2; // Startbit=2, Length=2: 电机的助力模式（0：无助力 1：踩踏助力 2：转把助力 ）
|
|||
uint8_t motorState : 4; // Startbit=4, Length=4: 电机状态（Min=0, Max=15）
|
|||
uint8_t motorMaxFaultLevel : 2; // Startbit=8, Length=2: 电机最高故障等级（Min=0, Max=3）
|
|||
uint8_t pedalAssistRatio : 8; // Startbit=10, Length=8: 踩踏助力比例（Unit=%，Min=0, Max=255 → 0~255%）
|
|||
uint8_t motorAssistRatio : 8; // Startbit=18, Length=8: 踩踏助力比例（同上面表格可能重复，按实际调整） // 若表格是“踩踏助力比例”重复，这里需确认；假设是新字段：
|
|||
uint16_t systemAssistTorque : 14; // Startbit=26, Length=14: 系统助力扭矩（Unit=NM，Min=0, Max=1638.3 → 0~16383/10）
|
|||
int16_t motorBusVoltage : 12; // Startbit=40, Length=12: 电机母线电压（Unit=V，Factor=0.1 → 实际值=raw*0.1，Min=-200, Max=200）// 有符号，因 Min=-200
|
|||
int16_t motorBusCurrent : 12; // Startbit=52, Length=12: 电机母线电流（Unit=A，Factor=0.1 → 实际值=raw*0.1）
|
|||
}MCUCanSend01; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend01 Part01; |
|||
} MCUCanUnion01; |
|||
|
|||
typedef struct { |
|||
uint8_t mosUpperShortFault : 1; // 0：MOS 上管击穿故障
|
|||
uint8_t mosLowerShortFault : 1; // 1：MOS 下管击穿故障
|
|||
uint8_t hardwareOverCurrent : 1; // 2：硬件过流故障
|
|||
uint8_t opAmpFault : 1; // 3：运放故障
|
|||
uint8_t hallFault : 1; // 4：霍尔故障
|
|||
uint8_t motorPhaseLoss : 1; // 5：电机缺相故障
|
|||
uint8_t opAmpSeriousFault : 1; // 6：运放严重故障
|
|||
uint8_t brakeFault : 1; // 7：刹车故障
|
|||
|
|||
uint8_t motorEncoderCommFault : 1; // 8：电机编码器通信故障
|
|||
uint8_t motorEncoderLearnFault : 1; // 9：电机编码器强拉学习故障
|
|||
uint8_t throttleFault : 1; // 10：转把故障
|
|||
uint8_t hallAngleBigFault : 1; // 11：霍尔角度偏大故障
|
|||
uint8_t powerDownFault : 1; // 12：掉电故障
|
|||
uint8_t seriousUnderVoltage : 1; // 13：严重欠压故障
|
|||
uint8_t headLightFault : 1; // 14：大灯故障
|
|||
uint8_t turnSignalLightFault : 1; // 15：转向灯故障
|
|||
|
|||
uint8_t chipLowVoltage : 1; // 16：芯片低压故障
|
|||
uint8_t clockSlowFault : 1; // 17：时钟频率慢故障
|
|||
uint8_t clockFastFault : 1; // 18：时钟频率快故障
|
|||
uint8_t clockAbnormalFault : 1; // 19：时钟异常故障
|
|||
uint8_t stackAbnormalFault : 1; // 20：堆栈异常故障
|
|||
uint8_t ramAbnormalFault : 1; // 21：RAM 异常故障
|
|||
uint8_t flashAbnormal : 1; // 22: Flash 异常故障
|
|||
uint8_t watchdogReset : 1; // 23: 看门狗复位故障
|
|||
|
|||
uint8_t cpuAbnormal : 1; // 24: CPU 异常故障
|
|||
uint8_t driverSelfCheck : 1; // 25: 驱动 IC 使能口回检故障
|
|||
uint8_t tailLampFault : 1; // 26: 尾灯故障
|
|||
uint8_t ntcShort : 1; // 27: NTC 短路故障
|
|||
uint8_t ntcOpen : 1; // 28: NTC 断路故障
|
|||
uint8_t crankAngleComTimeOut : 1; // 29: 曲柄角度编码通信超时异常故障
|
|||
uint8_t crankAngleFieldErr : 1; // 30: 曲柄角度编码磁场强度异常故障
|
|||
uint8_t motorAngleComOverTimeOut : 1; // 31: 电机角度编码通信超时异常故障
|
|||
|
|||
uint8_t motorAngleFieldErr : 1; // 32: 电机角度编码磁场强度异常故障
|
|||
uint8_t torqueComTimeOut : 1; // 33: 扭矩传感器通信超时故障
|
|||
uint8_t torqueRangeErr : 1; // 34: 扭矩传感器超范围故障
|
|||
uint8_t torqueDataErr : 1; // 35: 扭矩传感器数据有效性故障
|
|||
uint8_t torqueDataNoChange : 1; // 36: 扭矩传感器数据不变故障
|
|||
uint8_t torqueInitErr : 1; // 37: 扭矩传感器初始化故障
|
|||
uint8_t wheelSpeedFault : 1; // 38: 轮速传感器故障
|
|||
uint8_t CenElecCrolSpiHardErr : 1; // 39: 中控与电控 SPI 硬件故障
|
|||
|
|||
uint8_t CenElecCtrlSpiOverTimeOut : 1; // 40: 中控与电控 SPI 通信超时故障
|
|||
uint8_t CenElecCtrlSpiCrcErr : 1; // 41: 中控与电控 SPI CRC 故障
|
|||
uint8_t threePhaseZeroErr : 1; // 42: 三相零点故障
|
|||
uint8_t busCurrentZeroErr : 1; // 43: 母线电流零点故障
|
|||
uint8_t driverFault : 1; // 44: 驱动 IC 故障
|
|||
uint8_t softwareOverCurrent : 1; // 45: 软件过流故障
|
|||
uint8_t busUnderVolt : 1; // 46: 母线欠压故障
|
|||
uint8_t busOverVolt : 1; // 47: 母线过压故障
|
|||
|
|||
uint8_t ElecCtrlLightOverTemp : 1; // 48: 电控一般过温故障
|
|||
uint8_t ElecCtrlSeriousOverTemp : 1; // 49: 电控严重过温故障
|
|||
uint8_t motorStallFault : 1; // 50: 电机堵转故障
|
|||
uint8_t eepromFault : 1; // 51: EEPROM 故障
|
|||
uint8_t dialKeyShort : 1; // 52: 指拨按键短路故障
|
|||
uint8_t threePhaseUnbalance : 1; // 53: 三相不平衡故障
|
|||
uint8_t batteryComTimeOut : 1; // 54: 电池通信超时故障
|
|||
uint8_t batteryCrcErr : 1; // 55: 电池通信 CRC 故障
|
|||
|
|||
uint8_t reserved : 2; // 56: 预留
|
|||
uint8_t dialComTimeOut : 1; // 58: 指拨通信超时故障
|
|||
} MCUCanSend02; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend02 Part02; |
|||
} MCUCanUnion02; |
|||
|
|||
typedef struct { |
|||
uint8_t motorGeneralOverload : 1; // 0: 电机一般过载故障
|
|||
uint8_t motorSeriousOverload : 1; // 1: 电机严重过载故障
|
|||
uint8_t batteryPlugGeneral : 1; // 2: 电池接插件电流一般过载故障
|
|||
uint8_t batteryPlugSerious : 1; // 3: 电池接插件电流严重过载故障
|
|||
uint8_t crankAngleValidErr : 1; // 4: 曲柄角度编码数据有效性故障
|
|||
uint8_t crankSpeedOverRange : 1; // 5: 曲柄速度超范围故障
|
|||
uint8_t motorAngleValidErr : 1; // 6: 电机角度编码数据有效性故障
|
|||
uint8_t currentSensorErr : 1; // 7: 电流传感器故障
|
|||
|
|||
uint8_t power5VGood : 1; // 8: 5VPowerGood
|
|||
uint8_t power12VGood : 1; // 9: 12VPowerGood
|
|||
uint32_t warnCode : 16; // 32~47: 警告码（示例行 10 对应值 4194303）
|
|||
uint32_t faultCode : 16; // 48~63: 故障码（示例行 32、48 对应值 65535）
|
|||
} MCUCanSend03; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend03 Part03; |
|||
} MCUCanUnion03; |
|||
|
|||
typedef struct { |
|||
uint16_t pedalSpeed;//踏频转速
|
|||
uint16_t motorSpeed;//电机转速
|
|||
uint16_t wheelSpeed;//轮速
|
|||
uint16_t vehicleSpeed;//瞬时车速
|
|||
} MCUCanSend04; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend04 Part04; |
|||
} MCUCanUnion04; |
|||
|
|||
typedef struct { |
|||
uint16_t averageSpeed;//平均车速
|
|||
uint16_t maxSpeed;//最大车速
|
|||
uint16_t wheelDiameter;//周长
|
|||
} MCUCanSend05; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend05 Part05; |
|||
} MCUCanUnion05; |
|||
|
|||
typedef struct { |
|||
uint8_t gear1Ratio;//1档比例
|
|||
uint8_t gear2Ratio;//2档比例
|
|||
uint8_t gear3Ratio;//3档比例
|
|||
uint8_t gear4Ratio;//4档比例
|
|||
uint8_t gear5Ratio;//5档比例
|
|||
uint8_t gear6Ratio;//6档比例
|
|||
uint16_t reserved;//预留
|
|||
} MCUCanSend06; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend06 Part06; |
|||
} MCUCanUnion06; |
|||
|
|||
typedef struct { |
|||
uint16_t gear1RemainMile;//1档比例剩余里程
|
|||
uint16_t gear2RemainMile;//2档比例剩余里程
|
|||
uint16_t gear3RemainMile;//3档比例剩余里程
|
|||
uint16_t gear4RemainMile;//4档比例剩余里程
|
|||
uint16_t gear5RemainMile;//5档比例剩余里程
|
|||
uint16_t gear6RemainMile;//6档比例剩余里程
|
|||
uint16_t reserved;//预留
|
|||
} MCUCanSend07; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend07 Part07; |
|||
} MCUCanUnion07; |
|||
|
|||
typedef struct { |
|||
uint32_t pedalTurnAll;//踩踏总圈数
|
|||
uint32_t wheelTurnAll;//轮圈总群数
|
|||
} MCUCanSend08; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend08 Part08; |
|||
} MCUCanUnion08; |
|||
|
|||
typedef struct { |
|||
uint32_t ridingSingleTime;//骑行单词时间
|
|||
uint32_t ridingAllTime;//骑行总时间
|
|||
} MCUCanSend09; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend09 Part09; |
|||
} MCUCanUnion09; |
|||
|
|||
typedef struct { |
|||
uint32_t ridingSingleMile;//骑行单词里程
|
|||
uint32_t ridingAllMile;//骑行总里程
|
|||
} MCUCanSend0A; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend0A Part0A; |
|||
} MCUCanUnion0A; |
|||
|
|||
typedef struct { |
|||
uint16_t pedalTorqueFilter;//踏板滤波扭矩
|
|||
uint16_t motorTorque;//电机输出扭矩
|
|||
uint16_t torqueZeroFst;//扭矩零点1
|
|||
uint16_t torqueZeroSed;//扭矩零点2
|
|||
} MCUCanSend0B; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend0B Part0B; |
|||
} MCUCanUnion0B; |
|||
|
|||
typedef struct { |
|||
uint8_t blindingFlag;//仪表连接成功标志
|
|||
uint8_t authenticationFlag;//鉴权成功标志
|
|||
uint32_t bootTime;//开机次数
|
|||
uint16_t duNTC;//三合一NTC
|
|||
} MCUCanSend0C; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend0C Part0C; |
|||
} MCUCanUnion0C; |
|||
|
|||
typedef struct { |
|||
uint8_t gearMaxLevel;//档位配置最大扭矩
|
|||
uint8_t gearAuxiliaryLevel;//档位配置辅助等级
|
|||
uint8_t gearRoadCondition;//档位路况识别灵敏度
|
|||
uint8_t gearStartupSensitivity;//档位配置启动响应
|
|||
} MCUCanSend0D; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend0D Part0D; |
|||
} MCUCanUnion0D; |
|||
|
|||
typedef struct { |
|||
uint16_t motorTemperature;//电机温度
|
|||
uint16_t mcuTemperature;//控制器温度
|
|||
uint16_t rotorAngleZero;//转子零位角度
|
|||
uint16_t rotorAngle;//转子实时角度
|
|||
} MCUCanSend0E; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend0E Part0E; |
|||
} MCUCanUnion0E; |
|||
|
|||
typedef struct { |
|||
uint16_t leftPedalAD;//左踏板原始AD值
|
|||
uint16_t rightPedalAD;//右踏板原始AD值
|
|||
uint16_t torqueSeorTemperature1;//扭矩传感器温度数据1
|
|||
uint16_t torqueSeorTemperature2;//扭矩传感器温度数据2
|
|||
} MCUCanSend0F; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend0F Part0F; |
|||
} MCUCanUnion0F; |
|||
|
|||
typedef struct { |
|||
uint16_t pedalAngle;//曲柄角度
|
|||
uint16_t motorMaxTorque;//电机最大允许扭矩
|
|||
uint16_t faultLimit;//故障允许输出
|
|||
uint16_t gearRatio;//齿轮变速比
|
|||
} MCUCanSend10; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend10 Part10; |
|||
} MCUCanUnion10; |
|||
|
|||
typedef struct { |
|||
uint32_t sysClock;//系统运行时钟
|
|||
} MCUCanSend11; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend11 Part11; |
|||
} MCUCanUnion11; |
|||
|
|||
typedef struct { |
|||
uint16_t gear1Range :12;//档位1自学习剩余续航里程
|
|||
uint16_t gear2Range :12;//档位2自学习剩余续航里程
|
|||
uint16_t gear3Range :12;//档位3自学习剩余续航里程
|
|||
uint16_t gear4Range :12;//档位4自学习剩余续航里程
|
|||
uint16_t gear5Range :12;//Autio自学习剩余续航里程
|
|||
} MCUCanSend13; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend13 Part13; |
|||
} MCUCanUnion13; |
|||
|
|||
typedef struct { |
|||
uint8_t funcCode;//功能码
|
|||
uint16_t regsAddr;//寄存器地址
|
|||
uint8_t regsNum;//返回数据个数
|
|||
uint16_t regs1Data;//数据1
|
|||
uint16_t regs2Data;//数据2
|
|||
} MCUCanSend4F; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend4F Part4F; |
|||
} MCUCanUnion4F; |
|||
|
|||
typedef struct { |
|||
uint8_t idle :2; //是否空闲 0：工作 1：空闲
|
|||
uint32_t heartbeatCnt :32;//心跳
|
|||
uint32_t reserved :28;//保留
|
|||
} MCUCanSend25; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend25 Part25; |
|||
} MCUCanUnion25; |
|||
|
|||
typedef struct { |
|||
uint8_t resetAck :8; //恢复出厂设置应答
|
|||
} MCUCanSend2A; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend2A Part2A; |
|||
} MCUCanUnion2A; |
|||
|
|||
typedef struct { |
|||
uint32_t singleCalorie :32; //单次卡路里
|
|||
uint32_t totalCalorie :32; //总卡路里
|
|||
} MCUCanSend15; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend15 Part15; |
|||
} MCUCanUnion15; |
|||
|
|||
typedef struct { |
|||
uint8_t bikeCode[4]; //车型编码
|
|||
uint16_t perimeter; //轮胎周长
|
|||
uint16_t diskTorque; //牙盘扭矩
|
|||
} MCUCanSend16; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend16 Part16; |
|||
} MCUCanUnion16; |
|||
|
|||
typedef struct { |
|||
uint16_t crankRealTimeTorque; //曲柄实时力矩
|
|||
uint16_t loopAverTorque; //圈平均力矩
|
|||
uint16_t realTimeSpeed; //实时速度
|
|||
uint8_t crankRealTimeAngle; //曲柄实时角度
|
|||
uint8_t pedalSpeed; //踏频
|
|||
} MCUCanSend17; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend17 Part17; |
|||
} MCUCanUnion17; |
|||
|
|||
typedef struct { |
|||
uint16_t pulseRechgCurr :16; //回馈电流
|
|||
uint8_t shifterGear :8; //后变速器档位
|
|||
uint8_t throttle :2; //是否存在转把
|
|||
uint16_t throttleVolt :14; //是否存在转把
|
|||
uint8_t halfSlopeStartSens :4; //半坡起步灵敏度
|
|||
uint8_t sensorMode :2; //助力模式状态
|
|||
} MCUCanSend18; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend18 Part18; |
|||
} MCUCanUnion18; |
|||
|
|||
typedef struct { |
|||
uint8_t autoYorN :1; //是否支持auto模式
|
|||
uint8_t holdYorN :1; //是否支持hold模式
|
|||
uint8_t rearGearShiftYorN :1; //是否支持后变速档位
|
|||
uint8_t sellAreaYorN :1; //是否支持销售区域配置
|
|||
uint8_t halfSlopeStart :1; //是否支持半坡起步功能
|
|||
uint8_t boostYorN :1; //是否支持Boost模式
|
|||
uint8_t sensorMode :1; //是否支持助理传感器模式切换
|
|||
uint8_t cruiseControl :1; //是否支持定速巡航功能
|
|||
} MCUCanSend19; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend19 Part19; |
|||
} MCUCanUnion19; |
|||
|
|||
typedef struct { |
|||
uint16_t areaSitua :16; //销售地区状态
|
|||
} MCUCanSend1A; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend1A Part1A; |
|||
} MCUCanUnion1A; |
|||
|
|||
typedef struct { |
|||
uint8_t boostAllow :1; //当前是否允许进入Boost模式，会动态变化
|
|||
uint16_t boostLeftTime :11; //当前boost模式的剩余时间，单位：秒，给以后动态显示倒记时用。
|
|||
uint16_t boostNextAllowTime :12; //距离下次允许Boost的时间
|
|||
uint8_t cruiseControlFlag :1; //是否处于定速巡航状态
|
|||
uint8_t cruiseControlOutCase :4; //定速巡航退出原因
|
|||
uint16_t cruiseControlSpeed :16; //定速巡航速度
|
|||
} MCUCanSend1B; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend1B Part1B; |
|||
} MCUCanUnion1B; |
|||
|
|||
typedef struct { |
|||
uint16_t handLearnRemainMile :12; //转把自学习剩余续航里程
|
|||
} MCUCanSend1C; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend1C Part1C; |
|||
} MCUCanUnion1C; |
|||
|
|||
typedef struct { |
|||
uint16_t motor_torque_red :16; //电机输出经减速器后的扭矩
|
|||
uint16_t motor_speed_red :16; //电机输出经减速器后的转速
|
|||
uint32_t reserved :32; //踏频AB脉冲
|
|||
} MCUCanSend1D; |
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend1D Part1D; |
|||
} MCUCanUnion1D; |
|||
|
|||
typedef struct { |
|||
uint8_t number :8; |
|||
uint8_t gear :8; |
|||
uint8_t total_gears :8; |
|||
} MCUCanSendS40; //s2a_shifter_status
|
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSendS40 PartS40; |
|||
} MCUCanUnionS40; |
|||
|
|||
typedef struct { |
|||
uint8_t pedal_pulse_param :8; //踏板转一圈时的脉冲个数(属于配置项，随硬件变化，A+B相单边沿触发方式)
|
|||
uint8_t wheel_pulse_param :8; //轮子转一圈时的脉冲个数(属于配置项，随硬件变化，A+B相单边沿触发方式)
|
|||
uint8_t wheel_pulse_delta :8; //踏板脉冲数达到一圈时的轮子脉冲数增量（比如踏板单圈36个脉冲，当踏板脉冲数达到36个时记录当前轮子脉冲个数，然后计算上一次踏板脉冲达到36个时记录的轮子脉冲个数的差值，并上报此帧）
|
|||
} MCUCanSend6B; //新增时间帧：踏频满一圈后触发
|
|||
|
|||
typedef union |
|||
{ |
|||
MCUCanSend6B Part6B; |
|||
} MCUCanUnion6B; |
|||
|
|||
typedef struct { |
|||
MCUCanUnion01 CanUnion01; |
|||
MCUCanUnion02 CanUnion02; |
|||
MCUCanUnion03 CanUnion03; |
|||
MCUCanUnion04 CanUnion04; |
|||
MCUCanUnion05 CanUnion05; |
|||
MCUCanUnion06 CanUnion06; |
|||
MCUCanUnion07 CanUnion07; |
|||
MCUCanUnion08 CanUnion08; |
|||
MCUCanUnion09 CanUnion09; |
|||
MCUCanUnion0A CanUnion0A; |
|||
MCUCanUnion0B CanUnion0B; |
|||
MCUCanUnion0C CanUnion0C; |
|||
MCUCanUnion0D CanUnion0D; |
|||
MCUCanUnion0E CanUnion0E; |
|||
MCUCanUnion0F CanUnion0F; |
|||
MCUCanUnion10 CanUnion10; |
|||
MCUCanUnion11 CanUnion11; |
|||
MCUCanUnion13 CanUnion13; |
|||
MCUCanUnion4F CanUnion4F; |
|||
MCUCanUnion25 CanUnion25; |
|||
MCUCanUnion2A CanUnion2A; |
|||
MCUCanUnion15 CanUnion15; |
|||
MCUCanUnion16 CanUnion16; |
|||
MCUCanUnion17 CanUnion17; |
|||
MCUCanUnion18 CanUnion18; |
|||
MCUCanUnion19 CanUnion19; |
|||
MCUCanUnion1A CanUnion1A; |
|||
MCUCanUnion1B CanUnion1B; |
|||
MCUCanUnion1C CanUnion1C; |
|||
MCUCanUnion1D CanUnion1D; |
|||
|
|||
MCUCanUnionS40 CanUnionS40; |
|||
MCUCanUnion6B CanUnion6B; |
|||
} MCUCanSend_DataDef; |
|||
|
|||
/*********以下为MCU多包内容********/ |
|||
typedef struct |
|||
{ |
|||
u32 vehicle_name[128]; |
|||
u32 tire_specification[128]; |
|||
u32 battery_voltage; |
|||
u32 motor_power; |
|||
u32 battery_capacity; |
|||
u32 vehiclemodel_code; |
|||
u16 tire_circumference; |
|||
u8 support_password; |
|||
u16 sales_territory; |
|||
} MULECUtoMCU_ConfigInfo_DataDef; |
|||
|
|||
typedef struct { |
|||
uint16_t part_code_char1 : 16; // Startbit=0, Length=16: 部件编码第1个字符
|
|||
uint16_t part_code_char2 : 16; // Startbit=16, Length=16: 部件编码第2个字符
|
|||
uint16_t part_code_char3 : 16; // Startbit=32, Length=16: 部件编码第3个字符
|
|||
uint16_t software_version : 16; // Startbit=48, Length=16: 软件版本
|
|||
uint16_t protocol_version : 16; // Startbit=64, Length=16: 协议版本
|
|||
uint16_t timestampL : 16; |
|||
uint16_t timestampH : 16; |
|||
// uint32_t timestamp : 32; // Startbit=80, Length=32: 时间戳
|
|||
uint8_t assembly_code[14]; // Startbit=112, Length=112: 三合一总成编码 112/8=14
|
|||
}MULMCUCanSend01; |
|||
typedef union |
|||
{ |
|||
MULMCUCanSend01 Part01; |
|||
} MULMCUCanUnion01; |
|||
|
|||
// 定义 mcu_fault_snapshot 结构体
|
|||
typedef struct { |
|||
uint16_t software_version; // 软件版本号 (16位)
|
|||
uint16_t device_address; // 设备地址 (16位)
|
|||
uint8_t packets_per_block; // 每块数据包数 (8位)
|
|||
uint8_t block_position; // 块位置 (8位)
|
|||
uint8_t packet_count; // 数据包数 (8位)
|
|||
uint8_t packet_size; // 数据包大小 (8位)
|
|||
uint16_t total_fault_count; // 保存的故障总次数 (16位)
|
|||
uint8_t reserved[6]; // 预留 (48位 = 6字节)
|
|||
uint16_t bus_voltage; // 母线电压 (16位)
|
|||
uint16_t bus_current; // 母线电流 (16位)
|
|||
uint16_t bus_current_zero; // 母线电流零点 (16位)
|
|||
uint16_t phase_a_current; // A相电流 (16位)
|
|||
uint16_t phase_b_current; // B相电流 (16位)
|
|||
uint16_t phase_c_current; // C相电流 (16位)
|
|||
uint16_t phase_a_current_zero;// A相电流零点 (16位)
|
|||
uint16_t phase_b_current_zero;// B相电流零点 (16位)
|
|||
uint16_t phase_c_current_zero;// C相电流零点 (16位)
|
|||
uint16_t ntc_temperature; // 电控板NTC温度 (16位)
|
|||
uint16_t ad_reserved; // AD口预留 (16位)
|
|||
uint16_t vq_command; // Vq给定值 (16位)
|
|||
uint16_t vq_feedback; // Vq反馈值 (16位)
|
|||
uint16_t iq_command; // Iq给定值 (16位)
|
|||
uint16_t iq_feedback; // Iq反馈值 (16位)
|
|||
uint16_t id_command; // Id给定值 (16位)
|
|||
uint16_t id_feedback; // Id反馈值 (16位)
|
|||
uint16_t vd_feedback; // Vd反馈值 (16位)
|
|||
uint16_t motor_speed; // 电机转速 (16位)
|
|||
uint16_t max_phase_current; // 上电出现过的最大相电流 (16位)
|
|||
uint16_t fault_code1; // 电控故障码1 (16位)
|
|||
uint16_t fault_code2; // 电控故障码2 (16位)
|
|||
uint16_t fault_code3; // 电控故障码3 (16位)
|
|||
uint16_t fault_code4; // 电控故障码4 (16位)
|
|||
uint16_t fault_code5; // 电控故障码5 (16位)
|
|||
uint16_t system_time; // 系统时间 (16位)
|
|||
uint16_t torque_data1; // 扭矩数据1 (16位)
|
|||
uint16_t torque_data2; // 扭矩数据2 (16位)
|
|||
uint16_t crankshaft_speed; // 曲柄转速 (16位)
|
|||
uint16_t vehicle_speed; // 车速 (16位) - 注意：单位是0.1 km/h
|
|||
} MULMCUCanSend02;; |
|||
typedef union |
|||
{ |
|||
MULMCUCanSend02 Part02; |
|||
} MULMCUCanUnion02; |
|||
// 定义 Riding_gear1_cfg 结构体
|
|||
typedef struct { |
|||
// 完整范围配置
|
|||
uint8_t full_range_assist_level_min; // 完整范围-辅助等级最小值 (8位)
|
|||
uint8_t full_range_assist_level_max; // 完整范围-辅助等级最大值 (8位)
|
|||
uint8_t full_range_max_torque_min; // 完整范围-最大扭矩最小值 (8位)
|
|||
uint8_t full_range_max_torque_max; // 完整范围-最大扭矩最大值 (8位)
|
|||
uint8_t full_range_start_response_min; // 完整范围-启动响应最小值 (8位)
|
|||
uint8_t full_range_start_response_max; // 完整范围-启动响应最大值 (8位)
|
|||
// 档位控制
|
|||
uint8_t gear_count; // 档位数量 (8位)
|
|||
uint8_t current_gear_setting; // 设置/读取档位 (8位)
|
|||
// 档位1 详细配置
|
|||
uint8_t gear1_assist_level_min; // 档位1-辅助等级可配置范围最小值 (8位)
|
|||
uint8_t gear1_assist_level_max; // 档位1-辅助等级可配置范围最大值 (8位)
|
|||
uint8_t gear1_assist_level_step; // 档位1-辅助等级配置步长 (8位)
|
|||
uint8_t gear1_assist_level_default; // 档位1-辅助等级默认值 (8位)
|
|||
uint8_t gear1_assist_level_current; // 档位1-辅助等级当前值 (8位)
|
|||
uint8_t gear1_max_torque_min; // 档位1-最大扭矩可配置范围最小值 (8位)
|
|||
uint8_t gear1_max_torque_max; // 档位1-最大扭矩可配置范围最大值 (8位)
|
|||
uint8_t gear1_max_torque_step; // 档位1-最大扭矩配置步长 (8位)
|
|||
uint8_t gear1_max_torque_default; // 档位1-最大扭矩默认值 (8位)
|
|||
uint8_t gear1_max_torque_current; // 档位1-最大扭矩当前值 (8位)
|
|||
uint8_t gear1_start_response_min; // 档位1-启动响应可配置范围最小值 (8位)
|
|||
uint8_t gear1_start_response_max; // 档位1-启动响应可配置范围最大值 (8位)
|
|||
uint8_t gear1_start_response_step; // 档位1-启动响应配置步长 (8位)
|
|||
uint8_t gear1_start_response_default; // 档位1-启动响应默认值 (8位)
|
|||
uint8_t gear1_start_response_current; // 档位1-启动响应当前值 (8位)
|
|||
} MULMCUCanSend03; |
|||
typedef union |
|||
{ |
|||
MULMCUCanSend03 Part03; |
|||
} MULMCUCanUnion03; |
|||
|
|||
// 定义 Riding_gear2_cfg 结构体
|
|||
typedef struct { |
|||
// 完整范围配置
|
|||
uint8_t full_range_assist_level_min; // 完整范围-辅助等级最小值 (8位)
|
|||
uint8_t full_range_assist_level_max; // 完整范围-辅助等级最大值 (8位)
|
|||
uint8_t full_range_max_torque_min; // 完整范围-最大扭矩最小值 (8位)
|
|||
uint8_t full_range_max_torque_max; // 完整范围-最大扭矩最大值 (8位)
|
|||
uint8_t full_range_start_response_min; // 完整范围-启动响应最小值 (8位)
|
|||
uint8_t full_range_start_response_max; // 完整范围-启动响应最大值 (8位)
|
|||
// 档位控制
|
|||
uint8_t gear_count; // 档位数量 (8位)
|
|||
uint8_t current_gear_setting; // 设置/读取档位 (8位)
|
|||
// 档位2 详细配置
|
|||
uint8_t gear2_assist_level_min; // 档位2-辅助等级可配置范围最小值 (8位)
|
|||
uint8_t gear2_assist_level_max; // 档位2-辅助等级可配置范围最大值 (8位)
|
|||
uint8_t gear2_assist_level_step; // 档位2-辅助等级配置步长 (8位)
|
|||
uint8_t gear2_assist_level_default; // 档位2-辅助等级默认值 (8位)
|
|||
uint8_t gear2_assist_level_current; // 档位2-辅助等级当前值 (8位)
|
|||
uint8_t gear2_max_torque_min; // 档位2-最大扭矩可配置范围最小值 (8位)
|
|||
uint8_t gear2_max_torque_max; // 档位2-最大扭矩可配置范围最大值 (8位)
|
|||
uint8_t gear2_max_torque_step; // 档位2-最大扭矩配置步长 (8位)
|
|||
uint8_t gear2_max_torque_default; // 档位2-最大扭矩默认值 (8位)
|
|||
uint8_t gear2_max_torque_current; // 档位2-最大扭矩当前值 (8位)
|
|||
uint8_t gear2_start_response_min; // 档位2-启动响应可配置范围最小值 (8位)
|
|||
uint8_t gear2_start_response_max; // 档位2-启动响应可配置范围最大值 (8位)
|
|||
uint8_t gear2_start_response_step; // 档位2-启动响应配置步长 (8位)
|
|||
uint8_t gear2_start_response_default; // 档位2-启动响应默认值 (8位)
|
|||
uint8_t gear2_start_response_current; // 档位2-启动响应当前值 (8位)
|
|||
} MULMCUCanSend04; |
|||
typedef union |
|||
{ |
|||
MULMCUCanSend04 Part04; |
|||
} MULMCUCanUnion04; |
|||
// 定义 Riding_gear3_cfg 结构体
|
|||
typedef struct { |
|||
// 完整范围配置
|
|||
uint8_t full_range_assist_level_min; // 完整范围-辅助等级最小值 (8位)
|
|||
uint8_t full_range_assist_level_max; // 完整范围-辅助等级最大值 (8位)
|
|||
uint8_t full_range_max_torque_min; // 完整范围-最大扭矩最小值 (8位)
|
|||
uint8_t full_range_max_torque_max; // 完整范围-最大扭矩最大值 (8位)
|
|||
uint8_t full_range_start_response_min; // 完整范围-启动响应最小值 (8位)
|
|||
uint8_t full_range_start_response_max; // 完整范围-启动响应最大值 (8位)
|
|||
// 档位控制
|
|||
uint8_t gear_count; // 档位数量 (8位)
|
|||
uint8_t current_gear_setting; // 设置/读取档位 (8位)
|
|||
// 档位3 详细配置
|
|||
uint8_t gear3_assist_level_min; // 档位3-辅助等级可配置范围最小值 (8位)
|
|||
uint8_t gear3_assist_level_max; // 档位3-辅助等级可配置范围最大值 (8位)
|
|||
uint8_t gear3_assist_level_step; // 档位3-辅助等级配置步长 (8位)
|
|||
uint8_t gear3_assist_level_default; // 档位3-辅助等级默认值 (8位)
|
|||
uint8_t gear3_assist_level_current; // 档位3-辅助等级当前值 (8位)
|
|||
uint8_t gear3_max_torque_min; // 档位3-最大扭矩可配置范围最小值 (8位)
|
|||
uint8_t gear3_max_torque_max; // 档位3-最大扭矩可配置范围最大值 (8位)
|
|||
uint8_t gear3_max_torque_step; // 档位3-最大扭矩配置步长 (8位)
|
|||
uint8_t gear3_max_torque_default; // 档位3-最大扭矩默认值 (8位)
|
|||
uint8_t gear3_max_torque_current; // 档位3-最大扭矩当前值 (8位)
|
|||
uint8_t gear3_start_response_min; // 档位3-启动响应可配置范围最小值 (8位)
|
|||
uint8_t gear3_start_response_max; // 档位3-启动响应可配置范围最大值 (8位)
|
|||
uint8_t gear3_start_response_step; // 档位3-启动响应配置步长 (8位)
|
|||
uint8_t gear3_start_response_default; // 档位3-启动响应默认值 (8位)
|
|||
uint8_t gear3_start_response_current; // 档位3-启动响应当前值 (8位)
|
|||
} MULMCUCanSend05; |
|||
typedef union |
|||
{ |
|||
MULMCUCanSend05 Part05; |
|||
} MULMCUCanUnion05; |
|||
|
|||
// 定义 Riding_gear4_cfg 结构体
|
|||
typedef struct { |
|||
// 完整范围配置
|
|||
uint8_t full_range_assist_level_min; // 完整范围-辅助等级最小值 (8位)
|
|||
uint8_t full_range_assist_level_max; // 完整范围-辅助等级最大值 (8位)
|
|||
uint8_t full_range_max_torque_min; // 完整范围-最大扭矩最小值 (8位)
|
|||
uint8_t full_range_max_torque_max; // 完整范围-最大扭矩最大值 (8位)
|
|||
uint8_t full_range_start_response_min; // 完整范围-启动响应最小值 (8位)
|
|||
uint8_t full_range_start_response_max; // 完整范围-启动响应最大值 (8位)
|
|||
// 档位控制
|
|||
uint8_t gear_count; // 档位数量 (8位)
|
|||
uint8_t current_gear_setting; // 设置/读取档位 (8位)
|
|||
// 档位4 详细配置
|
|||
uint8_t gear4_assist_level_min; // 档位4-辅助等级可配置范围最小值 (8位)
|
|||
uint8_t gear4_assist_level_max; // 档位4-辅助等级可配置范围最大值 (8位)
|
|||
uint8_t gear4_assist_level_step; // 档位4-辅助等级配置步长 (8位)
|
|||
uint8_t gear4_assist_level_default; // 档位4-辅助等级默认值 (8位)
|
|||
uint8_t gear4_assist_level_current; // 档位4-辅助等级当前值 (8位)
|
|||
uint8_t gear4_max_torque_min; // 档位4-最大扭矩可配置范围最小值 (8位)
|
|||
uint8_t gear4_max_torque_max; // 档位4-最大扭矩可配置范围最大值 (8位)
|
|||
uint8_t gear4_max_torque_step; // 档位4-最大扭矩配置步长 (8位)
|
|||
uint8_t gear4_max_torque_default; // 档位4-最大扭矩默认值 (8位)
|
|||
uint8_t gear4_max_torque_current; // 档位4-最大扭矩当前值 (8位)
|
|||
uint8_t gear4_start_response_min; // 档位4-启动响应可配置范围最小值 (8位)
|
|||
uint8_t gear4_start_response_max; // 档位4-启动响应可配置范围最大值 (8位)
|
|||
uint8_t gear4_start_response_step; // 档位4-启动响应配置步长 (8位)
|
|||
uint8_t gear4_start_response_default; // 档位4-启动响应默认值 (8位)
|
|||
uint8_t gear4_start_response_current; // 档位4-启动响应当前值 (8位)
|
|||
} MULMCUCanSend06; |
|||
typedef union |
|||
{ |
|||
MULMCUCanSend06 Part06; |
|||
} MULMCUCanUnion06; |
|||
|
|||
// 定义 apack_sn 结构体
|
|||
typedef struct { |
|||
uint8_t sn_length; // 嘉宏SN码长度，不包含结束符 (8位)
|
|||
char JHEK0005_SN[33]; |
|||
// char sn_part_material[13]; //物料编码
|
|||
// char sn_separator_1[1]; //分隔符1
|
|||
// char sn_part_reserve[2]; //预留
|
|||
// char sn_part_prod_date[8]; //生产年月日
|
|||
// char sn_separator_2[1]; //分隔符2
|
|||
// char sn_part_batch[2]; //生产批次
|
|||
// char sn_part_seq[6]; //六位编码
|
|||
char padding[30]; // 补0字段：30字节（使总长度=64）
|
|||
} MULMCUCanSend07; |
|||
|
|||
typedef union |
|||
{ |
|||
MULMCUCanSend07 Part07; |
|||
} MULMCUCanUnion07; |
|||
|
|||
// 定义 frame_info 结构体
|
|||
typedef struct { |
|||
uint8_t frame_code[16]; // 车架码，字符串形式 (128位 = 16字节)
|
|||
} MULMCUCanSend08; |
|||
typedef union |
|||
{ |
|||
MULMCUCanSend08 Part08; |
|||
} MULMCUCanUnion08; |
|||
typedef struct { |
|||
MULMCUCanUnion01 CanUnion01; |
|||
MULMCUCanUnion02 CanUnion02; |
|||
MULMCUCanUnion03 CanUnion03; |
|||
MULMCUCanUnion04 CanUnion04; |
|||
MULMCUCanUnion05 CanUnion05; |
|||
MULMCUCanUnion06 CanUnion06; |
|||
MULMCUCanUnion07 CanUnion07; |
|||
MULMCUCanUnion08 CanUnion08; |
|||
} MulPcksMCUCanSend_DataDef; |
|||
|
|||
|
|||
|
|||
extern MCUCanSend_DataDef MCUCanSend; |
|||
extern MulPcksMCUCanSend_DataDef MULMCUCanSend; |
|||
extern MULECUtoMCU_ConfigInfo_DataDef mulecutomcu; |
|||
|
|||
extern MULMCUCanSend01 mcu_prj_info; |
|||
extern MULMCUCanSend02 mcu_fault_snapshot; |
|||
extern MULMCUCanSend03 riding_gear1_cfg; |
|||
extern MULMCUCanSend04 riding_gear2_cfg; |
|||
extern MULMCUCanSend05 riding_gear3_cfg; |
|||
extern MULMCUCanSend06 riding_gear4_cfg; |
|||
extern MULMCUCanSend07 apack_sn; |
|||
extern MULMCUCanSend08 frame_info; |
|||
|
|||
typedef struct { |
|||
uint8_t vehicle_name[16]; // 车辆名称（16字节字符串）
|
|||
uint8_t tire_spec[16]; // 轮胎规格（16字节字符串）
|
|||
uint8_t battery_voltage[8]; // 电池电压（8字节无符号64位整数）
|
|||
uint8_t motor_power[8]; // 电机功率（8字节无符号64位整数）
|
|||
uint8_t battery_capacity[10]; // 电池容量（10字节数组）
|
|||
uint8_t model_code[10]; // 车型编码（10字节数组）
|
|||
uint16_t tire_circumference; // 轮胎周长（2字节无符号16位整数）
|
|||
uint8_t support_password; // 是否支持密码（1字节无符号8位整数）
|
|||
uint16_t sales_area; // 销售区域（2字节无符号16位整数）
|
|||
} MULMCUCanReceive61; |
|||
|
|||
extern MULMCUCanReceive61 config_info; |
|||
|
|||
typedef struct { |
|||
uint8_t vin[16]; // 车辆名称（16字节字符串）
|
|||
} MULMCUCanReceive62; |
|||
|
|||
extern MULMCUCanReceive62 frame_info_rx; |
|||
|
|||
#endif |
|||
@ -0,0 +1,88 @@ |
|||
#ifndef __COMMON_H |
|||
#define __COMMON_H |
|||
|
|||
#include <string.h> |
|||
#include <stdio.h> |
|||
#include "stdint.h" |
|||
#include <stdlib.h> |
|||
#include "stdbool.h" |
|||
#include "usart.h" |
|||
#include "stm32f10x.h" |
|||
#include "Common_Type.h" |
|||
#include "kernel.h" |
|||
#include "time.h" |
|||
|
|||
#include "misc.h" |
|||
|
|||
#pragma anon_unions |
|||
|
|||
#define GPIO_Type GPIO_TypeDef |
|||
|
|||
#undef NULL |
|||
#define NULL ((void *)0) |
|||
|
|||
//#define TRUE 1
|
|||
//#define FALSE 0
|
|||
|
|||
//CAN
|
|||
#define IOCTL_CMD_CAN_FILTER_ADD 1 //添加过滤器
|
|||
#define IOCTL_CMD_CAN_FILTER_MASK_ADD 2 //添加过滤器掩码
|
|||
#define IOCTL_CMD_CAN_FILTER_INIT 3 //初始化过滤器
|
|||
#define IOCTL_CAN_SET_FILTER_ALL 4 //全接收模式
|
|||
#define IOCTL_CAN_CLEAR_RXBUFF 5 //清除缓冲区
|
|||
#define IOCTL_CAN_GET_NEXTMAILID 6 //获取下一封邮箱的CAN ID
|
|||
|
|||
|
|||
#define TASK_LOCK \ |
|||
{ \ |
|||
__disable_irq(); |
|||
#define TASK_UNLOCK \ |
|||
__enable_irq(); \ |
|||
} |
|||
|
|||
|
|||
#define DISABLE_IRQ(IRQChannel) NVIC->ICER[IRQChannel >> 0x05] = (uint32_t)0x01 << (IRQChannel & (uint8_t)0x1F) |
|||
|
|||
#define ENABLE_IRQ(IRQChannel) NVIC->ISER[IRQChannel >> 0x05] = (uint32_t)0x01 << (IRQChannel & (uint8_t)0x1F) |
|||
|
|||
|
|||
extern unsigned short int Get1MsTickVal(void); |
|||
#define clock() Get1MsTickVal() |
|||
|
|||
extern void Delay_ms(uint16_t ms); |
|||
#define sleep(ms) Delay_ms(ms) |
|||
|
|||
typedef enum |
|||
{ |
|||
INSTANCE_CAN1 = 0, |
|||
INSTANCE_CAN2 |
|||
} can_instance; |
|||
|
|||
|
|||
typedef struct |
|||
{ |
|||
INT16U SlowRecoverCounter; /* 慢恢复时间, 单位1ms */ |
|||
INT16U FastRecoverCounter; /* 快恢复时间, 单位1ms */ |
|||
INT16U Threshold; /* 快恢复转到慢恢复阈值 */ |
|||
INT16U DtcOccurCnt; /* 连续多少次产生Busoff DTC */ |
|||
INT16U BusOffRecoverTime; /* Message received AND message sent on CAN successfully 连续时间 */ |
|||
} tCanBusOffConfigTyp; |
|||
|
|||
|
|||
typedef enum |
|||
{ |
|||
st_BusNormal, |
|||
st_BusOff |
|||
} eBusOffStateType; |
|||
|
|||
typedef struct |
|||
{ |
|||
INT8U Can1_BusOff_Flag; |
|||
INT8U Can2_BusOff_Flag; |
|||
} BusOff_t; |
|||
|
|||
extern BusOff_t x_BusOff; |
|||
|
|||
extern int h_can1; |
|||
|
|||
#endif |
|||
@ -0,0 +1,845 @@ |
|||
#include "stm32f10x_can.h" |
|||
#include "common.h" |
|||
#include "kernel.h" |
|||
#include "CanApp.h" |
|||
|
|||
|
|||
int h_can1 = -1; |
|||
|
|||
KERNEL_DEVICE_INIT("dev_can1") |
|||
|
|||
extern void user_process_can1_send_interface(INT32U msg_id); |
|||
extern void user_process_can1_error_interface(void); |
|||
|
|||
#define USER_CAN_MODE CAN_Mode_Normal; |
|||
#define BUSY 0x55 |
|||
#define IDLE 0x00 |
|||
#define CAN_MAIL_BUFF_SIZE 64 |
|||
|
|||
// 定义为扩展帧类型
|
|||
#define CAN_FRAME_TYPE CAN_FRAME_EXT |
|||
#define CAN_FRAME_STD 0 |
|||
#define CAN_FRAME_EXT 1 |
|||
|
|||
KERNEL_TYPE unsigned char CanEvent = 0; |
|||
|
|||
//每封CAN邮件基本格式
|
|||
typedef struct |
|||
{ |
|||
unsigned int MailID; // 扩展帧使??9位ID
|
|||
unsigned short int MailLenth; |
|||
unsigned char MailBuffer[8]; |
|||
} CANMAILMESSAGE; |
|||
|
|||
//定义每个存储的循环缓冲大??
|
|||
typedef struct |
|||
{ |
|||
unsigned int Head; |
|||
unsigned int Tail; |
|||
CANMAILMESSAGE MailBuffer[CAN_MAIL_BUFF_SIZE]; |
|||
} CAN_FIFO; |
|||
|
|||
KERNEL_TYPE CAN_FIFO can_rx; |
|||
KERNEL_TYPE CAN_FIFO can_tx; |
|||
|
|||
KERNEL_TYPE void CAN_RCC_Configuration(void) |
|||
{ |
|||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); |
|||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); |
|||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); |
|||
} |
|||
|
|||
KERNEL_TYPE void CAN_GPIO_Configuration(void) |
|||
{ |
|||
GPIO_InitTypeDef GPIO_InitStruct; |
|||
// 如需重映射CAN引脚可启??
|
|||
GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE); |
|||
// CAN_RX - PA11
|
|||
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_8; |
|||
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; |
|||
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN_FLOATING; |
|||
GPIO_Init(GPIOB, &GPIO_InitStruct); |
|||
// CAN_TX - PA12
|
|||
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_9; //TX
|
|||
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; |
|||
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; |
|||
GPIO_Init(GPIOB, &GPIO_InitStruct); |
|||
} |
|||
|
|||
KERNEL_TYPE void CAN_NVIC_Configuration(void) |
|||
{ |
|||
NVIC_InitTypeDef NVIC_InitStructure; |
|||
// 接收中断
|
|||
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; |
|||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; |
|||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; |
|||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; |
|||
NVIC_Init(&NVIC_InitStructure); |
|||
// 发送中??
|
|||
NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn; |
|||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; |
|||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; |
|||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; |
|||
NVIC_Init(&NVIC_InitStructure); |
|||
// 错误中断 - 最高优先级
|
|||
NVIC_InitStructure.NVIC_IRQChannel = CAN1_SCE_IRQn; |
|||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; |
|||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; |
|||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; |
|||
NVIC_Init(&NVIC_InitStructure); |
|||
} |
|||
|
|||
typedef struct |
|||
{ |
|||
unsigned short int BPS; |
|||
unsigned char SJW; |
|||
unsigned char BS1; |
|||
unsigned char BS2; |
|||
unsigned short int Prescaler; |
|||
} CAN_BAUD_Struct_t; |
|||
|
|||
KERNEL_TYPE CAN_BAUD_Struct_t CAN_BaudTab[] = |
|||
{ //采样点：%81.25
|
|||
/*0*/ {125, CAN_SJW_1tq, CAN_BS1_14tq, CAN_BS2_3tq, 16}, |
|||
/*1*/ {250, CAN_SJW_1tq, CAN_BS1_14tq, CAN_BS2_3tq, 8}, |
|||
// /*2*/ {500, CAN_SJW_2tq, CAN_BS1_13tq, CAN_BS2_4tq, 4}, //SysClock 72MHz
|
|||
/*2*/ {500, CAN_SJW_2tq, CAN_BS1_14tq, CAN_BS2_3tq, 6}, //SysClock 108MHz
|
|||
/*3*/ {1000, CAN_SJW_1tq, CAN_BS1_14tq, CAN_BS2_3tq, 2} |
|||
}; |
|||
|
|||
KERNEL_TYPE int CAN_Configuration(void) |
|||
{ |
|||
unsigned char can_baud_index; |
|||
|
|||
CAN_InitTypeDef CAN_InitStructure; |
|||
|
|||
CAN_StructInit(&CAN_InitStructure); |
|||
|
|||
//关闭时间触发模式
|
|||
CAN_InitStructure.CAN_TTCM = DISABLE; |
|||
//关闭自动离线管理
|
|||
CAN_InitStructure.CAN_ABOM = DISABLE; |
|||
//关闭自动唤醒模式
|
|||
CAN_InitStructure.CAN_AWUM = DISABLE; |
|||
//禁止报文自动重传
|
|||
CAN_InitStructure.CAN_NART = ENABLE; //只发送一??
|
|||
//FIFO 溢出时报文覆盖源文件
|
|||
CAN_InitStructure.CAN_RFLM = DISABLE; |
|||
//报文发送优先级取决于请求顺??
|
|||
CAN_InitStructure.CAN_TXFP = ENABLE; |
|||
//正常的工作模??
|
|||
CAN_InitStructure.CAN_Mode = USER_CAN_MODE; |
|||
|
|||
can_baud_index = 2;// 使用500kbps波特??
|
|||
CAN_InitStructure.CAN_SJW = CAN_BaudTab[can_baud_index].SJW; |
|||
CAN_InitStructure.CAN_BS1 = CAN_BaudTab[can_baud_index].BS1; |
|||
CAN_InitStructure.CAN_BS2 = CAN_BaudTab[can_baud_index].BS2; |
|||
CAN_InitStructure.CAN_Prescaler = CAN_BaudTab[can_baud_index].Prescaler; |
|||
|
|||
//初始化CAN
|
|||
CAN_Init(CAN1, &CAN_InitStructure); |
|||
|
|||
//使能接收中断
|
|||
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); |
|||
|
|||
//发送中??
|
|||
CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE); //邮箱空中断使??
|
|||
|
|||
CAN_ClearFlag(CAN1, CAN_FLAG_EPV); |
|||
CAN_ClearFlag(CAN1, CAN_FLAG_BOF); |
|||
CAN_ClearFlag(CAN1, CAN_FLAG_LEC); |
|||
CAN_ClearFlag(CAN1, CAN_FLAG_EWG); |
|||
|
|||
//CAN_ITConfig(CAN1, CAN_IT_ERR | CAN_IT_LEC | CAN_IT_BOF | CAN_IT_EPV, ENABLE);
|
|||
|
|||
CAN_ITConfig(CAN1, CAN_IT_ERR | CAN_IT_BOF , ENABLE); |
|||
|
|||
return 0; |
|||
} |
|||
|
|||
#define CAN_LIST_SZIE 32 |
|||
|
|||
unsigned int CAN_FilterList[CAN_LIST_SZIE]; |
|||
unsigned int CAN_FilterList_Mask[CAN_LIST_SZIE]; |
|||
|
|||
KERNEL_TYPE int CAN_FilterCount = 0; |
|||
KERNEL_TYPE int CAN_FilterMaskCount = 0; |
|||
|
|||
KERNEL_TYPE int CAN_FilterAdd(int filterID) //添加后不生效
|
|||
{ |
|||
// 扩展帧ID范围检??
|
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
if (filterID < 0 || filterID > 0x7FF) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
#else |
|||
if (filterID < 0 || filterID > 0x1FFFFFFF) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
#endif |
|||
|
|||
if (CAN_FilterCount >= CAN_LIST_SZIE) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
|
|||
CAN_FilterList[CAN_FilterCount++] = filterID; |
|||
|
|||
return K_SUCCESS; |
|||
} |
|||
|
|||
KERNEL_TYPE int CAN_FilterMaskAdd(int filterMask) //添加后不生效
|
|||
{ |
|||
// 扩展帧掩码范围检??
|
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
if (filterMask < 0 || filterMask > 0x7FF) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
#else |
|||
if (filterMask < 0 || filterMask > 0x1FFFFFFF) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
#endif |
|||
|
|||
if (CAN_FilterMaskCount >= CAN_LIST_SZIE) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
|
|||
CAN_FilterList_Mask[CAN_FilterMaskCount++] = filterMask; |
|||
|
|||
return K_SUCCESS; |
|||
} |
|||
|
|||
KERNEL_TYPE int CAN_FilterEnable(void) |
|||
{ |
|||
CAN_FilterInitTypeDef CAN_FilterInitStructure; |
|||
|
|||
int FilterNumber = 0; |
|||
int num = 0; |
|||
int index = 0; |
|||
int mask_index = 0; |
|||
|
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
|
|||
FilterNumber = CAN_FilterCount / 4; |
|||
|
|||
//屏蔽模式
|
|||
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList; |
|||
//16位寄存器
|
|||
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit; |
|||
//过滤??0 关联??FIFO0
|
|||
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; |
|||
//使能过滤??
|
|||
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; |
|||
|
|||
for (num = 0; num < FilterNumber; num++) |
|||
{ |
|||
CAN_FilterInitStructure.CAN_FilterNumber = num; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdHigh = CAN_FilterList[index++] << 5; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdLow = CAN_FilterList[index++] << 5; |
|||
//屏蔽位高16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = CAN_FilterList[index++] << 5; |
|||
//屏蔽位低16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdLow = CAN_FilterList[index++] << 5; |
|||
//初始化过滤器
|
|||
CAN_FilterInit(&CAN_FilterInitStructure); |
|||
} |
|||
|
|||
if (CAN_FilterCount % 4) |
|||
{ |
|||
CAN_FilterInitStructure.CAN_FilterNumber = num; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdHigh = CAN_FilterList[index] << 5; |
|||
//??6??
|
|||
if (index < CAN_FilterCount) |
|||
{ |
|||
index++; |
|||
CAN_FilterInitStructure.CAN_FilterIdLow = CAN_FilterList[index] << 5; |
|||
} |
|||
|
|||
//屏蔽位高16??
|
|||
if (index < CAN_FilterCount) |
|||
{ |
|||
index++; |
|||
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = CAN_FilterList[index] << 5; |
|||
} |
|||
|
|||
//屏蔽位低16??
|
|||
if (index < CAN_FilterCount) |
|||
{ |
|||
index++; |
|||
CAN_FilterInitStructure.CAN_FilterMaskIdLow = CAN_FilterList[index] << 5; |
|||
} |
|||
|
|||
//初始化过滤器
|
|||
CAN_FilterInit(&CAN_FilterInitStructure); |
|||
} |
|||
|
|||
#else |
|||
|
|||
//屏蔽模式
|
|||
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; |
|||
//32位寄存器- 扩展帧必须使??2位模??
|
|||
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; |
|||
//过滤??0 关联??FIFO0
|
|||
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; |
|||
//使能过滤??
|
|||
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; |
|||
|
|||
if(CAN_FilterInitStructure.CAN_FilterMode == CAN_FilterMode_IdList) |
|||
{ |
|||
FilterNumber = CAN_FilterCount / 2; |
|||
|
|||
for (num = 0; num < FilterNumber; num++) |
|||
{ |
|||
CAN_FilterInitStructure.CAN_FilterNumber = num; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdHigh = CAN_FilterList[index] >> 13; |
|||
//??6位，包含IDE??0x0004表示扩展??
|
|||
CAN_FilterInitStructure.CAN_FilterIdLow = (CAN_FilterList[index++] << 3) | 0x0004; |
|||
//屏蔽位高16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = CAN_FilterList[index] >> 13; |
|||
//屏蔽位低16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdLow = (CAN_FilterList[index++] << 3) | 0x0004; |
|||
//初始化过滤器
|
|||
CAN_FilterInit(&CAN_FilterInitStructure); |
|||
} |
|||
|
|||
if (CAN_FilterCount % 2) |
|||
{ |
|||
CAN_FilterInitStructure.CAN_FilterNumber = num; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdHigh = CAN_FilterList[index] >> 13; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdLow = (CAN_FilterList[index] << 3) | 0x0004; |
|||
|
|||
//初始化过滤器
|
|||
CAN_FilterInit(&CAN_FilterInitStructure); |
|||
} |
|||
} |
|||
|
|||
if(CAN_FilterInitStructure.CAN_FilterMode == CAN_FilterMode_IdMask) |
|||
{ |
|||
FilterNumber = CAN_FilterCount; |
|||
|
|||
for (num = 0; num < FilterNumber; num++) |
|||
{ |
|||
CAN_FilterInitStructure.CAN_FilterNumber = num; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdHigh = CAN_FilterList[index] >> 13; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdLow = (CAN_FilterList[index++] << 3) | 0x0004; |
|||
//屏蔽位高16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = CAN_FilterList_Mask[mask_index] >> 13; |
|||
//屏蔽位低16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdLow = (CAN_FilterList_Mask[mask_index++] << 3) | 0x0004; |
|||
//初始化过滤器
|
|||
CAN_FilterInit(&CAN_FilterInitStructure); |
|||
} |
|||
} |
|||
|
|||
#endif |
|||
|
|||
return K_SUCCESS; |
|||
} |
|||
|
|||
KERNEL_TYPE int CAN_FilterMaskEnable(void) |
|||
{ |
|||
CAN_FilterInitTypeDef CAN_FilterInitStructure; |
|||
|
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
//屏蔽模式
|
|||
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; |
|||
//32位寄存器
|
|||
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdHigh = 0; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdLow = 0; |
|||
//屏蔽位高16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0; |
|||
//屏蔽位低16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0; |
|||
#else |
|||
//屏蔽模式
|
|||
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; |
|||
//32位寄存器
|
|||
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdHigh = 0; |
|||
//??6??
|
|||
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0004; |
|||
//屏蔽位高16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0; |
|||
//屏蔽位低16??
|
|||
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0004; |
|||
#endif |
|||
//过滤??0 关联??FIFO0
|
|||
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; |
|||
//使能过滤??
|
|||
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; |
|||
|
|||
CAN_FilterInitStructure.CAN_FilterNumber = 0; |
|||
|
|||
//初始化过滤器
|
|||
CAN_FilterInit(&CAN_FilterInitStructure); |
|||
|
|||
return K_SUCCESS; |
|||
} |
|||
|
|||
#define CAN_TSR_TMEx_MASK (0x07 << 26) |
|||
#define CAN_TSR_TMEx_isEmpty (CAN1->TSR & CAN_TSR_TMEx_MASK) //空闲邮箱状??
|
|||
#define CAN_FIFO_0_FMP0_MASK 0x03 |
|||
#define CAN_FIFO_0_NUM (CAN1->RF0R & CAN_FIFO_0_FMP0_MASK) //FIFO 0 接收到的报文数目
|
|||
|
|||
CanTxMsg TxMessage; |
|||
//启动发??
|
|||
KERNEL_TYPE void CAN_send_mail(void) |
|||
{ |
|||
if (CAN_TSR_TMEx_isEmpty) |
|||
{ |
|||
if (can_tx.Head != can_tx.Tail) |
|||
{ |
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
TxMessage.StdId = can_tx.MailBuffer[can_tx.Tail].MailID; |
|||
#else |
|||
TxMessage.ExtId = can_tx.MailBuffer[can_tx.Tail].MailID; |
|||
#endif |
|||
TxMessage.DLC = can_tx.MailBuffer[can_tx.Tail].MailLenth; |
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
TxMessage.IDE = CAN_ID_STD; |
|||
#else |
|||
TxMessage.IDE = CAN_ID_EXT; |
|||
#endif |
|||
TxMessage.RTR = CAN_RTR_DATA; |
|||
memcpy(TxMessage.Data, can_tx.MailBuffer[can_tx.Tail].MailBuffer, TxMessage.DLC); |
|||
TASK_LOCK; |
|||
can_tx.Tail++; |
|||
if (can_tx.Tail >= CAN_MAIL_BUFF_SIZE) can_tx.Tail = 0; |
|||
TASK_UNLOCK; |
|||
CAN_Transmit(CAN1, &TxMessage); |
|||
} |
|||
} |
|||
} |
|||
|
|||
/*
|
|||
KERNEL_TYPE void CAN_read_fifo(void) |
|||
{ |
|||
CanRxMsg rx_message; |
|||
|
|||
unsigned short int lTimer = 0; |
|||
lTimer = clock(); |
|||
while (1) //等待缓冲区空出空??
|
|||
{ |
|||
if (((can_rx.Head + 1) == can_rx.Tail) || (can_rx.Tail == 0 && ((can_rx.Head + 1) == CAN_MAIL_BUFF_SIZE))) |
|||
{ |
|||
if ((Get1MsTickInterval(lTimer)) >= 10) //10ms 等待超时
|
|||
{ |
|||
return; |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
break; |
|||
} |
|||
} |
|||
|
|||
CAN_Receive(CAN1, CAN_FIFO0, &rx_message); |
|||
|
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
can_rx.MailBuffer[can_rx.Head].MailID = rx_message.StdId; |
|||
#else |
|||
can_rx.MailBuffer[can_rx.Head].MailID = rx_message.ExtId; |
|||
#endif |
|||
can_rx.MailBuffer[can_rx.Head].MailLenth = rx_message.DLC; |
|||
memcpy(can_rx.MailBuffer[can_rx.Head].MailBuffer, rx_message.Data, rx_message.DLC); |
|||
TASK_LOCK; |
|||
can_rx.Head++; |
|||
if (can_rx.Head >= CAN_MAIL_BUFF_SIZE) can_rx.Head = 0; |
|||
TASK_UNLOCK; |
|||
} |
|||
*/ |
|||
////CAN邮箱数据接收中断
|
|||
//void USB_LP_CAN1_RX0_IRQHandler(void)
|
|||
//{
|
|||
// //CAN接收
|
|||
// CAN_read_fifo();
|
|||
//}
|
|||
|
|||
extern u8 ReceiveOTA_flg; |
|||
//CAN邮箱存在空中??
|
|||
void USB_HP_CAN1_TX_IRQHandler(void) |
|||
{ |
|||
if (CAN1->TSR & (1 << 26)) |
|||
{ |
|||
CAN_ClearFlag(CAN1, CAN_FLAG_RQCP0); |
|||
} |
|||
|
|||
if (CAN1->TSR & (1 << 27)) |
|||
{ |
|||
CAN_ClearFlag(CAN1, CAN_FLAG_RQCP1); |
|||
} |
|||
|
|||
if (CAN1->TSR & (1 << 28)) |
|||
{ |
|||
CAN_ClearFlag(CAN1, CAN_FLAG_RQCP2); |
|||
} |
|||
|
|||
if((UpgradeRequest)||(UserCanRxSignal.JumpToBOOT_flg==1)) |
|||
{ |
|||
UserCanRxSignal.JumpToBOOT_flg =1; |
|||
UpgradeRequest = 0; |
|||
NVIC_SystemReset(); |
|||
} |
|||
|
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
//user_process_can1_send_interface(TxMessage.StdId);
|
|||
#else |
|||
//user_process_can1_send_interface(TxMessage.ExtId);
|
|||
#endif |
|||
|
|||
CAN_send_mail(); |
|||
|
|||
if (CAN_TSR_TMEx_isEmpty == CAN_TSR_TMEx_MASK) //全为空才是闲
|
|||
{ |
|||
CanEvent = IDLE; |
|||
} |
|||
else if (CAN_TSR_TMEx_isEmpty == 0) |
|||
{ |
|||
CanEvent = BUSY; |
|||
} |
|||
} |
|||
|
|||
////CAN1 错误终端入口
|
|||
//void CAN1_SCE_IRQHandler(void)
|
|||
//{
|
|||
// CAN_ClearFlag(CAN1, CAN_FLAG_EPV);
|
|||
// CAN_ClearFlag(CAN1, CAN_FLAG_BOF);
|
|||
// CAN_ClearFlag(CAN1, CAN_FLAG_LEC);
|
|||
//
|
|||
// //user_process_can1_error_interface();
|
|||
//}
|
|||
|
|||
KERNEL_TYPE int WriteOneMessage(CanTxMsg *TxMessage) |
|||
{ |
|||
unsigned short int lTimer = 0; |
|||
lTimer = clock(); |
|||
while (1) //等待缓冲区空出空??
|
|||
{ |
|||
if (((can_tx.Head + 1) == can_tx.Tail) || (can_tx.Tail == 0 && ((can_tx.Head + 1) == CAN_MAIL_BUFF_SIZE))) |
|||
{ |
|||
if ((Get1MsTickInterval(lTimer)) >= 10) |
|||
{ |
|||
close(h_can1); |
|||
h_can1 = open("dev_can1", 0); |
|||
return K_FAIL; |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
break; |
|||
} |
|||
} |
|||
|
|||
memcpy(can_tx.MailBuffer[can_tx.Head].MailBuffer, TxMessage->Data, TxMessage->DLC); |
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
can_tx.MailBuffer[can_tx.Head].MailID = TxMessage->StdId; |
|||
#else |
|||
can_tx.MailBuffer[can_tx.Head].MailID = TxMessage->ExtId; |
|||
#endif |
|||
can_tx.MailBuffer[can_tx.Head].MailLenth = TxMessage->DLC; |
|||
|
|||
//关闭中断
|
|||
TASK_LOCK; |
|||
can_tx.Head++; |
|||
if (can_tx.Head >= CAN_MAIL_BUFF_SIZE) |
|||
{ |
|||
can_tx.Head = 0; |
|||
} |
|||
TASK_UNLOCK; |
|||
if (CanEvent == IDLE) |
|||
{ |
|||
//启动发??
|
|||
CanEvent = BUSY; |
|||
CAN_send_mail(); |
|||
} |
|||
|
|||
return K_SUCCESS; |
|||
} |
|||
|
|||
|
|||
KERNEL_TYPE int GetNextMailID(void) |
|||
{ |
|||
if (can_rx.Head == can_rx.Tail) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
return can_rx.MailBuffer[can_rx.Tail].MailID; |
|||
} |
|||
|
|||
KERNEL_TYPE int GetOneMessage(CanRxMsg *message) |
|||
{ |
|||
if (can_rx.Head == can_rx.Tail) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
|
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
message->StdId = can_rx.MailBuffer[can_rx.Tail].MailID; |
|||
#else |
|||
message->ExtId = can_rx.MailBuffer[can_rx.Tail].MailID; |
|||
#endif |
|||
|
|||
message->DLC = can_rx.MailBuffer[can_rx.Tail].MailLenth & 0x0F; |
|||
|
|||
//qiuadd
|
|||
message->IDE = CAN_ID_EXT; |
|||
|
|||
memcpy(message->Data, can_rx.MailBuffer[can_rx.Tail].MailBuffer, message->DLC); |
|||
|
|||
TASK_LOCK; |
|||
can_rx.Tail++; |
|||
if (can_rx.Tail >= CAN_MAIL_BUFF_SIZE) |
|||
{ |
|||
can_rx.Tail = 0; |
|||
} |
|||
TASK_UNLOCK; |
|||
|
|||
if (message->DLC == 0) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
|
|||
return K_SUCCESS; |
|||
} |
|||
|
|||
//
|
|||
|
|||
//设备接口实现
|
|||
|
|||
//
|
|||
KERNEL_TYPE int device_ioctl(unsigned int cmd, unsigned long arg); |
|||
KERNEL_TYPE int device_open(int flags) |
|||
{ |
|||
if (kernel_device_status == TRUE) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
|
|||
CAN_DeInit(CAN1); |
|||
CAN_RCC_Configuration(); |
|||
CAN_GPIO_Configuration(); |
|||
CAN_NVIC_Configuration(); |
|||
|
|||
// device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x02);
|
|||
// device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x03);
|
|||
// device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x7DF);
|
|||
// device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x200);
|
|||
// device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x202);
|
|||
// device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x20C);
|
|||
//qiuadd
|
|||
device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x1840FF20);//变速器当前档位
|
|||
device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x1843FF20);//变速器总档??
|
|||
device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x1844FF20);//变速成功与否的报文
|
|||
device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x1845FF20);//变速器发送的故障报文
|
|||
device_ioctl(IOCTL_CMD_CAN_FILTER_ADD, 0x1825FF20);//变速器心跳
|
|||
|
|||
device_ioctl(IOCTL_CMD_CAN_FILTER_INIT, 0); |
|||
|
|||
// device_ioctl(IOCTL_CAN_SET_FILTER_ALL, 0);
|
|||
|
|||
CAN_Configuration(); |
|||
|
|||
can_tx.Head = 0; |
|||
can_tx.Tail = 0; |
|||
|
|||
can_rx.Head = 0; |
|||
can_rx.Tail = 0; |
|||
CanEvent = IDLE; |
|||
|
|||
kernel_device_status = TRUE; |
|||
|
|||
return K_SUCCESS; |
|||
} |
|||
|
|||
//param 第三个参数作??CAN_ID
|
|||
KERNEL_TYPE int device_write(unsigned char *buff, unsigned int len, void *param) |
|||
{ |
|||
int i = 0, pack_count = 0, less = 0; |
|||
CanTxMsg TxMessage; |
|||
KERNEL_CHECK_OPEN; |
|||
|
|||
if (param == NULL) |
|||
{ |
|||
return K_FAIL; //ID参数传入??
|
|||
} |
|||
|
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
TxMessage.StdId = *((int *)param); |
|||
|
|||
if (TxMessage.StdId > 0x7FF) |
|||
{ |
|||
return K_FAIL; //ID不合??
|
|||
} |
|||
#else |
|||
TxMessage.ExtId = *((int *)param); |
|||
|
|||
if (TxMessage.ExtId > 0x1FFFFFFF) |
|||
{ |
|||
return K_FAIL; //ID不合??
|
|||
} |
|||
#endif |
|||
|
|||
pack_count = len / 8; |
|||
less = len % 8; |
|||
|
|||
for (i = 0; i < pack_count; i++) |
|||
{ |
|||
TxMessage.DLC = 8; |
|||
TxMessage.IDE = CAN_ID_EXT; // 设置为扩展帧
|
|||
TxMessage.RTR = CAN_RTR_DATA; |
|||
|
|||
memcpy(TxMessage.Data, &(buff[i * 8]), 8); |
|||
|
|||
WriteOneMessage(&TxMessage); |
|||
} |
|||
|
|||
if (less) |
|||
{ |
|||
TxMessage.DLC = less; |
|||
TxMessage.IDE = CAN_ID_EXT; // 设置为扩展帧
|
|||
TxMessage.RTR = CAN_RTR_DATA; |
|||
|
|||
memcpy(TxMessage.Data, &(buff[i * 8]), less); |
|||
|
|||
WriteOneMessage(&TxMessage); |
|||
} |
|||
|
|||
return K_SUCCESS; |
|||
} |
|||
|
|||
|
|||
KERNEL_TYPE int device_read(unsigned char *buff, unsigned int len, void *param) |
|||
{ |
|||
CanRxMsg message; |
|||
int last_id = 0; |
|||
int next_id = 0; |
|||
int r_len = 0; |
|||
KERNEL_CHECK_OPEN; |
|||
|
|||
if (param == NULL) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
|
|||
if (GetOneMessage(&message) == K_FAIL) |
|||
{ |
|||
return 0; |
|||
} |
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
last_id = message.StdId; |
|||
#else |
|||
last_id = message.ExtId; |
|||
#endif |
|||
memcpy(buff, message.Data, message.DLC); |
|||
r_len += message.DLC; |
|||
*(int *)param = last_id; |
|||
|
|||
while (r_len < len) |
|||
{ |
|||
next_id = GetNextMailID(); |
|||
if (next_id == K_FAIL) |
|||
{ |
|||
return r_len; |
|||
} |
|||
if (next_id != last_id) |
|||
{ |
|||
return r_len; |
|||
} |
|||
GetOneMessage(&message); |
|||
|
|||
#if (CAN_FRAME_TYPE == CAN_FRAME_STD) |
|||
if (last_id != message.StdId) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
#else |
|||
if (last_id != message.ExtId) |
|||
{ |
|||
return K_FAIL; |
|||
} |
|||
#endif |
|||
memcpy(&buff[r_len], message.Data, message.DLC); |
|||
r_len += message.DLC; |
|||
} |
|||
|
|||
return r_len; |
|||
} |
|||
|
|||
KERNEL_TYPE int device_ioctl(unsigned int cmd, unsigned long arg) |
|||
{ |
|||
int Status = K_SUCCESS; |
|||
|
|||
switch (cmd) |
|||
{ |
|||
case IOCTL_CMD_CAN_FILTER_ADD: |
|||
Status = CAN_FilterAdd(arg); |
|||
break; |
|||
|
|||
case IOCTL_CMD_CAN_FILTER_MASK_ADD: |
|||
Status = CAN_FilterMaskAdd(arg); |
|||
break; |
|||
|
|||
case IOCTL_CMD_CAN_FILTER_INIT: |
|||
CAN_FilterEnable(); |
|||
break; |
|||
|
|||
case IOCTL_CAN_SET_FILTER_ALL: |
|||
CAN_FilterMaskEnable(); |
|||
break; |
|||
|
|||
case IOCTL_CAN_GET_NEXTMAILID: |
|||
return GetNextMailID(); |
|||
break; |
|||
|
|||
default: |
|||
return K_FAIL; |
|||
} |
|||
|
|||
return Status; |
|||
} |
|||
|
|||
KERNEL_TYPE int device_clsoe(void) |
|||
{ |
|||
KERNEL_CHECK_OPEN; |
|||
|
|||
kernel_device_status = FALSE; |
|||
|
|||
CAN_DeInit(CAN1); |
|||
can_tx.Head = 0; |
|||
can_tx.Tail = 0; |
|||
|
|||
can_rx.Head = 0; |
|||
can_rx.Tail = 0; |
|||
CanEvent = 0; |
|||
|
|||
return K_SUCCESS; |
|||
} |
|||
|
|||
KERNEL_TYPE const file_operations ops = { |
|||
/*open*/ device_open, |
|||
/*write*/ device_write, |
|||
/*read*/ device_read, |
|||
/*ioctl*/ device_ioctl, |
|||
/*close*/ device_clsoe, |
|||
}; |
|||
|
|||
|
|||
register_driver(ops) |
|||
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@ -0,0 +1,117 @@ |
|||
#include "kernel.h" |
|||
|
|||
#undef __FILENAME__ |
|||
#define __FILENAME__ "kernel.c" |
|||
|
|||
// 设备内核
|
|||
extern const unsigned char Image$$KERNEL_ROM$$Base; |
|||
extern char Image$$KERNEL_ROM$$Length[]; |
|||
|
|||
#define KERNEL_DEVICE_COUNT (((int)Image$$KERNEL_ROM$$Length) >> 2) |
|||
|
|||
static int *kernel_map = (int *)(&Image$$KERNEL_ROM$$Base); |
|||
|
|||
#define kernel_list(x) ((KENERAL_NODE *)(kernel_map[x])) |
|||
|
|||
int open(char *filename, int flags) |
|||
{ |
|||
int i = 0; |
|||
int status = K_FAIL; |
|||
|
|||
for (i = 0; i < KERNEL_DEVICE_COUNT; i++) |
|||
{ |
|||
if (strcmp(filename, kernel_list(i)->filename) == 0) |
|||
{ |
|||
if (kernel_list(i)->ops->f_open == NULL) |
|||
{ |
|||
return K_OPS_NULL; |
|||
} |
|||
status = kernel_list(i)->ops->f_open(flags); |
|||
if (status == K_SUCCESS) |
|||
{ |
|||
return i; |
|||
} |
|||
else |
|||
{ |
|||
return k_OPEN_FAIL; |
|||
} |
|||
} |
|||
} |
|||
return K_NOFOUND; |
|||
} |
|||
|
|||
int write(int handle, unsigned char *buff, unsigned int len, void *param) |
|||
{ |
|||
int status = K_FAIL; |
|||
if ((handle < KERNEL_DEVICE_COUNT) && (handle >= 0)) |
|||
{ |
|||
if (kernel_list(handle)->ops->f_write == NULL) |
|||
{ |
|||
return K_OPS_NULL; |
|||
} |
|||
status = kernel_list(handle)->ops->f_write(buff, len, param); |
|||
return status; |
|||
} |
|||
return K_FAIL; |
|||
} |
|||
|
|||
int read(int handle, unsigned char *buff, unsigned int len, void *param) |
|||
{ |
|||
int status = K_FAIL; |
|||
if ((handle < KERNEL_DEVICE_COUNT) && (handle >= 0)) |
|||
{ |
|||
if (kernel_list(handle)->ops->f_read == NULL) |
|||
{ |
|||
return K_OPS_NULL; |
|||
} |
|||
status = kernel_list(handle)->ops->f_read(buff, len, param); |
|||
return status; |
|||
} |
|||
return K_FAIL; |
|||
} |
|||
|
|||
int ioctl(int handle, unsigned int cmd, unsigned long arg) |
|||
{ |
|||
int status = K_FAIL; |
|||
if ((handle < KERNEL_DEVICE_COUNT) && (handle >= 0)) |
|||
{ |
|||
if (kernel_list(handle)->ops->f_ioctl == NULL) |
|||
{ |
|||
return K_OPS_NULL; |
|||
} |
|||
status = kernel_list(handle)->ops->f_ioctl(cmd, arg); |
|||
return status; |
|||
} |
|||
return K_FAIL; |
|||
} |
|||
|
|||
int close(int handle) |
|||
{ |
|||
int status = K_FAIL; |
|||
if ((handle < KERNEL_DEVICE_COUNT) && (handle >= 0)) |
|||
{ |
|||
if (kernel_list(handle)->ops->f_close == NULL) |
|||
{ |
|||
return K_OPS_NULL; |
|||
} |
|||
status = kernel_list(handle)->ops->f_close(); |
|||
return status; |
|||
} |
|||
return K_FAIL; |
|||
} |
|||
|
|||
int isopen(int handle) |
|||
{ |
|||
int status = K_FAIL; |
|||
if ((handle < KERNEL_DEVICE_COUNT) && (handle >= 0)) |
|||
{ |
|||
if (kernel_list(handle)->ops->f_isopen == NULL) |
|||
{ |
|||
return K_OPS_NULL; |
|||
} |
|||
status = kernel_list(handle)->ops->f_isopen(); |
|||
return status; |
|||
} |
|||
return K_FAIL; |
|||
} |
|||
|
|||
@ -0,0 +1,70 @@ |
|||
#ifndef __KERNEL_h |
|||
#define __KERNEL_h |
|||
|
|||
|
|||
#include "common.h" |
|||
|
|||
#define kernel_section_name "kernel_xjm" |
|||
|
|||
#define KERNEL_TYPE static |
|||
|
|||
#define K_SUCCESS 0 |
|||
#define K_FAIL -1 //执行错误
|
|||
#define K_NOFOUND -2 //未找到
|
|||
|
|||
#define k_OPEN_FAIL -3 //设备存在，但打开失败
|
|||
#define K_PARAM_ERR -4 //输入参数错误
|
|||
#define K_UNOPEN -5 //设备未打开
|
|||
#define K_OPS_NULL -6 //设备接口未实现
|
|||
|
|||
#define K_TIMEOUT -7 //执行超时
|
|||
|
|||
#define KERNEL_DEVICE_INIT(device_name) \ |
|||
KERNEL_TYPE const char kernel_device_name[] = device_name; \ |
|||
KERNEL_TYPE int kernel_device_status = FALSE; |
|||
|
|||
#define KERNEL_CHECK_OPEN \ |
|||
if (kernel_device_status == FALSE) return K_UNOPEN; \ |
|||
|
|||
//内核框架
|
|||
typedef struct |
|||
{ |
|||
int (*f_open)(int flags); |
|||
|
|||
int (*f_write)(unsigned char *buff, unsigned int len, void *param); |
|||
|
|||
int (*f_read)(unsigned char *buff, unsigned int len, void *param); |
|||
|
|||
int (*f_ioctl)(unsigned int cmd, unsigned long arg); |
|||
|
|||
int (*f_close)(void); |
|||
|
|||
int (*f_isopen)(void); |
|||
} file_operations; |
|||
|
|||
typedef struct |
|||
{ |
|||
char *filename; |
|||
file_operations *ops; |
|||
} KENERAL_NODE; |
|||
|
|||
|
|||
#define register_driver(ops) \ |
|||
static const KENERAL_NODE kernel_node = {(char *)kernel_device_name, (file_operations *)&ops}; \ |
|||
static const int kernel_mem_node __attribute__((used, section(kernel_section_name))) = (int)&kernel_node; |
|||
|
|||
|
|||
int open(char *filename, int flags); |
|||
|
|||
int write(int handle, unsigned char *buff, unsigned int len, void *param); |
|||
|
|||
int read(int handle, unsigned char *buff, unsigned int len, void *param); |
|||
|
|||
int ioctl(int handle, unsigned int cmd, unsigned long arg); |
|||
|
|||
int close(int handle); |
|||
|
|||
int isopen(int handle); |
|||
|
|||
|
|||
#endif |
|||
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|||
#ifndef __MODE_KEY_H |
|||
#define __MODE_KEY_H |
|||
|
|||
#include "common.h" |
|||
|
|||
void ModeKey_Init(void); |
|||
void ModeKey_Task(void); |
|||
|
|||
#endif |
|||
@ -0,0 +1,64 @@ |
|||
|
|||
#include "time.h" |
|||
#include "stm32f10x_tim.h" |
|||
#include "Parameter.h" |
|||
|
|||
#define SysTickReLoadValue (SYSTEM_FREQUENCY / 1000) |
|||
uint16_t w1MsTickCnt = 0; |
|||
|
|||
void SYSTICK_INIT(void) |
|||
{ |
|||
SysTick->LOAD = SysTickReLoadValue - 1; |
|||
SysTick->VAL = SysTickReLoadValue - 1; |
|||
SysTick->CTRL = 0x00; |
|||
SysTick->CTRL |= 0x07; |
|||
} |
|||
|
|||
void SysTick_Handler(void) |
|||
{ |
|||
w1MsTickCnt++; |
|||
|
|||
if (w1MsTickCnt >= MAX_TICK_VALUE) |
|||
{ |
|||
w1MsTickCnt = 0; |
|||
} |
|||
} |
|||
|
|||
uint16_t Get1MsTickVal(void) |
|||
{ |
|||
return w1MsTickCnt; |
|||
} |
|||
|
|||
uint16_t Get1MsTickInterval(uint16_t wLastTickVal) |
|||
{ |
|||
uint16_t wCurTickVal; |
|||
uint16_t wTickInterval; |
|||
|
|||
if (FOREMOST_TIME == wLastTickVal) |
|||
{ |
|||
return MAX_INTERVAL; |
|||
} |
|||
if (LATTERMOST_TIME == wLastTickVal) |
|||
{ |
|||
return MIN_INTERVAL; |
|||
} |
|||
|
|||
wCurTickVal = w1MsTickCnt; |
|||
|
|||
if (wCurTickVal >= wLastTickVal) |
|||
{ |
|||
wTickInterval = wCurTickVal - wLastTickVal; |
|||
} |
|||
else |
|||
{ |
|||
wTickInterval = (MAX_TICK_VALUE - wLastTickVal) + wCurTickVal; |
|||
} |
|||
|
|||
return wTickInterval; |
|||
} |
|||
|
|||
void Delay_ms(uint16_t ms) |
|||
{ |
|||
uint16_t time = Get1MsTickVal(); |
|||
while (Get1MsTickInterval(time) < ms); |
|||
} |
|||
@ -0,0 +1,21 @@ |
|||
#ifndef __TIME_H |
|||
#define __TIME_H |
|||
|
|||
#include "common.h" |
|||
|
|||
#define MAX_TICK_VALUE 0xfeff |
|||
#define FOREMOST_TIME 0xff00 |
|||
#define LATTERMOST_TIME 0xff01 |
|||
|
|||
#define MIN_INTERVAL 0 |
|||
#define MAX_INTERVAL MAX_TICK_VALUE |
|||
|
|||
void SYSTICK_INIT(void); |
|||
|
|||
uint16_t Get1MsTickVal(void); |
|||
|
|||
uint16_t Get1MsTickInterval(uint16_t wLastTickVal); |
|||
|
|||
void Delay_ms(uint16_t ms); |
|||
|
|||
#endif |
|||
@ -0,0 +1,9 @@ |
|||
#ifndef __USER_H |
|||
#define __USER_H |
|||
|
|||
|
|||
#include "common.h" |
|||
|
|||
#include "CanCycleSend_app.h" |
|||
|
|||
#endif |
|||
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Reference in new issue