skymotor_t10c/CanCommunication/CanCycleSend_app.c

#include "CanCycleSend_app.h"
#include "CanApp.h"
#include "user.h"
#include "eeprom_app.h"
#include "mode_key.h"

//INT16U Can1MsgTxCyclicCounter[12];
//qiuadd
INT16U Can1MsgTxCyclicCounter[26];

//INT16U Can1MsgTxTimer[12];
//qiuadd
INT16U Can1MsgTxTimer[26];
void Can1_CommunicationInit(void)
{
	for(int i=0;i<26;i++)
	{
		Can1MsgTxCyclicCounter[i] = 0;
		Can1MsgTxTimer[i] = FOREMOST_TIME;
	}
	for(int i=0;i<26;i++)
	{
		Can1MsgTxCyclicCounter[i] = CycleTime_22NID[i];
	}
	CAN_AppUpdata_time = FOREMOST_TIME;
	UserCanRxSignal.CycleSendEnable_flg =1;
	ModeKey_Init();
}
CanTxMsg TxMsg;

//extern uint8_t one_cycle_pedal_flag; 
u8 errorstate;
u8 ID230cnt;
u8 ID231cnt;
u8 ID232cnt;
u8 ID233cnt;
void Can1_CommunicationTask(void)
{
	INT32U Can_ID;

	ModeKey_Task();
	
	for(int i=0;i<26;i++)
	{
		if(Can1MsgTxCyclicCounter[i] != CycleTime_22NID[i])
		{
			Can1MsgTxCyclicCounter[i] = CycleTime_22NID[i];
			Can1MsgTxTimer[i] = FOREMOST_TIME;
		}
	}
	
	if(UserCanRxSignal.CycleSendEnable_flg==1)
	{
		MC_Broadcast_Update();
		if (Get1MsTickInterval(Can1MsgTxTimer[0]) >= Can1MsgTxCyclicCounter[0])
		{
			Can1MsgTxTimer[0] = Get1MsTickVal();
			Can_ID = 0x18ff0200;
			write(h_can1, DateTxBroadcast.ID00, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[1]) >= Can1MsgTxCyclicCounter[1])
		{
			Can1MsgTxTimer[1] = Get1MsTickVal();
			Can_ID = 0x18ff0201;
			write(h_can1, DateTxBroadcast.ID01, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[2]) >= Can1MsgTxCyclicCounter[2])
		{
			Can1MsgTxTimer[2] = Get1MsTickVal();
			Can_ID = 0x18ff0202;
			write(h_can1, DateTxBroadcast.ID02, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[3]) >= Can1MsgTxCyclicCounter[3])
		{
			Can1MsgTxTimer[3] = Get1MsTickVal();
			Can_ID = 0x18ff0203;
			write(h_can1, DateTxBroadcast.ID03, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[4]) >= Can1MsgTxCyclicCounter[4])
		{
			Can1MsgTxTimer[4] = Get1MsTickVal();
			Can_ID = 0x18ff0204;
			write(h_can1, DateTxBroadcast.ID04, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[5]) >= Can1MsgTxCyclicCounter[5])
		{
			Can1MsgTxTimer[5] = Get1MsTickVal();
			Can_ID = 0x18ff0205;
			write(h_can1, DateTxBroadcast.ID05, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[6]) >= Can1MsgTxCyclicCounter[6]&&ID230cnt<5)
		{
			Can1MsgTxTimer[6] = Get1MsTickVal();
			ID230cnt++;
			if(ID230cnt>5)
			ID230cnt=5;
			Can_ID = 0x18ff0230;
			write(h_can1, DateTxBroadcast.ID06, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[7]) >= Can1MsgTxCyclicCounter[7]&&ID231cnt<5)
		{
			Can1MsgTxTimer[7] = Get1MsTickVal();
			ID231cnt++;
			if(ID231cnt>5)
			ID231cnt=5;
			Can_ID = 0x18ff0231;
			write(h_can1, DateTxBroadcast.ID07, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[8]) >= Can1MsgTxCyclicCounter[8]&&ID232cnt<5)
		{
			Can1MsgTxTimer[8] = Get1MsTickVal();
			ID232cnt++;
			if(ID232cnt>5)
			ID232cnt=5;
			Can_ID = 0x18ff0232;
			write(h_can1, DateTxBroadcast.ID08, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[9]) >= Can1MsgTxCyclicCounter[9]&&ID233cnt<5)
		{
			Can1MsgTxTimer[9] = Get1MsTickVal();
			ID233cnt++;
			if(ID233cnt>5)
			ID233cnt=5;
			Can_ID = 0x18ff0233;
			write(h_can1, DateTxBroadcast.ID09, 8, &Can_ID);
		}
		
//		if (Get1MsTickInterval(Can1MsgTxTimer[10]) >= Can1MsgTxCyclicCounter[10])
//		{
//			Can1MsgTxTimer[10] = Get1MsTickVal();
//			Can_ID = 0x18ff0240;
//			write(h_can1, DateTxBroadcast.ID10, 8, &Can_ID);
//		}
//		
//		if (Get1MsTickInterval(Can1MsgTxTimer[11]) >= Can1MsgTxCyclicCounter[11])
//		{
//			Can1MsgTxTimer[11] = Get1MsTickVal();
//			Can_ID = 0x18ff0241;
//			write(h_can1, DateTxBroadcast.ID11, 8, &Can_ID);
//		}
//		
//		if (Get1MsTickInterval(Can1MsgTxTimer[12]) >= Can1MsgTxCyclicCounter[12])
//		{
//			Can1MsgTxTimer[12] = Get1MsTickVal();
//			Can_ID = 0x18ff0242;
//			write(h_can1, DateTxBroadcast.ID12, 8, &Can_ID);
//		}
//		
//		if (Get1MsTickInterval(Can1MsgTxTimer[13]) >= Can1MsgTxCyclicCounter[13])
//		{
//			Can1MsgTxTimer[13] = Get1MsTickVal();
//			Can_ID = 0x18ff0243;
//			write(h_can1, DateTxBroadcast.ID13, 8, &Can_ID);
//		}
		
		// 0x18FF0101��0x18FF0108~0x18FF010C ΪVCU���մ���֡���������ڷ��͡�
		if (Get1MsTickInterval(Can1MsgTxTimer[20]) >= Can1MsgTxCyclicCounter[20])
		{
			Can1MsgTxTimer[20] = Get1MsTickVal();
			Can_ID = 0x18ff0600;
			write(h_can1, DateTxBroadcast.ID20, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[21]) >= Can1MsgTxCyclicCounter[21])
		{
			Can1MsgTxTimer[21] = Get1MsTickVal();
			Can_ID = 0x18ff0601;
			write(h_can1, DateTxBroadcast.ID21, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[22]) >= Can1MsgTxCyclicCounter[22])
		{
			Can1MsgTxTimer[22] = Get1MsTickVal();
			Can_ID = 0x18ff0250;
			write(h_can1, DateTxBroadcast.ID22, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[23]) >= Can1MsgTxCyclicCounter[23])
		{
			Can1MsgTxTimer[23] = Get1MsTickVal();
			Can_ID = 0x18ff0260;
			write(h_can1, DateTxBroadcast.ID23, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[24]) >= Can1MsgTxCyclicCounter[24])
		{
			Can1MsgTxTimer[24] = Get1MsTickVal();
			Can_ID = 0x18ff0261;
			write(h_can1, DateTxBroadcast.ID24, 8, &Can_ID);
		}
		
		if (Get1MsTickInterval(Can1MsgTxTimer[25]) >= Can1MsgTxCyclicCounter[25])
		{
			Can1MsgTxTimer[25] = Get1MsTickVal();
			Can_ID = 0x18ff0262;
			write(h_can1, DateTxBroadcast.ID25, 8, &Can_ID);
		}
		
		uint8_t error_code = CAN_GetLastErrorCode(CAN1);
		if (error_code != CAN_ErrorCode_NoErr) {
				// �д��󣬲鿴������
			errorstate=error_code;
		}
		
	}
	else
	{
		for(int i=0;i<26;i++)
		{
			Can1MsgTxTimer[i] = FOREMOST_TIME;
		}
	}
}