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#include "CAN_Communication_Matrix.h"
#include "CAN_Lib.h"
#include "COM_CAN.h"
#include "RTE_CAN_NM.h"
#include "RTE_CAN.h"
#include "System_Monitor.h"
uint8_t BusOffEvent;
uint8_t BUS_OFF_FLAG;
#pragma alignvar(8)
static uint32_t pTXBuff[CAN_TX_MSG_Block*ID_SEND_TOTAL];
#pragma alignvar(8)
static uint32_t pRXBuff[CAN_RX_MSG_Block*ID_TOTAL_MAX];
void COM_CAN_Init(void)
{
/*CAN APP BUFFER INIT*/
Can_TX_BuffInit((uint8_t *)pTXBuff,st_CANSendAttr,ID_SEND_TOTAL,Can_Write);
Can_RX_BuffInit((uint8_t *)pRXBuff,CAN_MSG_CONST_ARRAY,ID_TOTAL_MAX);
CAN_RX_SetEnable(0u);
CAN_TX_SetEnable(CAN_APP_TX_ENABLE);
/*NM INIT & BSP INIT*/
RTE_CAN_NM_Init();
}
void COM_RX_Process(void)
{
CanMSg_XMS_Analysis(5U);
}
void COM_TX_Process(void)
{
Can_Write_Fun(50UL);
}
void COM_NM_Process(void)
{
RTE_CAN_NM_Process();
}
/*
request nm
release nm
high voltage
low voltage
2ms
*/
void COM_NM_ACT(void)
{
if ( SYS_OPR_STAT_RUN_NM )
{
if (SYS_OPR_STAT_IGN_ON_NM)
{
RTE_CAN_NM_Request(1u);
}
else
{
RTE_CAN_NM_Release(1u);
}
}
else
{
}
}
uint8_t COM_CAN_BUS(void)
{
uint8_t Ret = 0u;
Ret = RTE_CAN_GetBusStatus();
return Ret;
}
uint8_t CrcCheckSum(uint8_t data[], uint8_t len)
{
uint8_t crc = 0xffu;
uint8_t CRC_POLY = 0x2fu;
uint8_t crcxor = 0xffu;
uint8_t bit_index = 0u;
uint8_t byte_index = 0u;
uint8_t temp = 0u;
for (byte_index = 0u; byte_index < len; ++byte_index )
{
crc ^= data[byte_index];
for (bit_index = 0u; bit_index < 8u; ++bit_index)
{
if ((crc & 0x80u) != 0u)
{
temp = crc << 1u;
crc = temp ^ CRC_POLY;
}
else
{
crc = (crc << 1u);
}
}
}
crc = crc ^ crcxor;
return crc;
}
void CAN_QuickTimer_Init ( void )
{
uint8_t i = 0u;
for ( i = 0u; i < ID_SEND_TOTAL; i++)
{
// CanMsg[i].u32Timer = st_CANSendAttribute[i].u32MsgCycleOffset;
// CanMsg[i].u32MsgCycle = st_CANSendAttribute[i].u32MsgCycle;
// CanMsg[i].u32SendCnt = st_CANSendAttribute[i].u32InitSendCnt;
}
}
void Can_BusOff_Fun(void)
{
}
void Can_BusOffRecover(void)
{
}
/**
*获取busoff状态
*@return busoff状态 0正常,1异常
*/
uint8_t getBUS_OFF_Status(void)
{
return BusOffEvent;
}
/**
*获取busoff标志
*@return busoff状态 0正常,1异常
*/
uint8_t getBUS_OFF_FLAG(void)
{
uint8_t FLAG = BUS_OFF_FLAG;
if (!getBUS_OFF_Status())
{
BUS_OFF_FLAG = 0u;
}
return FLAG;
}