Can_User.c 8.24 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
#include "Can_User.h"
#include <string.h>
#include "can.h"
#include "RTE.h"
#include  "CAN_CH0_CAN_Communication_Matrix.h"


__align(4)
uint32_t pRXBuff[CAN_RX_MSG_Block * CAN_CH0_ID_TOTAL_MAX];
uint32_t pTXBuff[CAN_TX_MSG_Block * CAN_CH0_ID_SEND_TOTAL];
static RSCAN0BusoffMonitorStruct RSCAN0Busoff;

void Can_Init(void)
{
    can_config_st_t Can_Config;
    Can_Config.ch = CAN_CH_0;
    Can_Config.freq = CAN_500Kbps;
18 19
    Can_Config.MASK[0] = 0x1fffffffU;
    Can_Config.MASK[1] = 0x1fffffffU;
20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
    Can_Config.MASK[2] = 0x1fffffffU;
    Can_Config.MASK[3] = 0x1fffffffU;
    Can_Config.rx_callback = Can_Rx_Cak;
    COM_CAN_Init();
    rte_can_init(&Can_Config);

    Can_Tx_Apply_Buff();
    Can_RX_Apply_Buff();

    RTE_GPIO_Set_Level(RTE_GPIO_PORT05_PIN02,RTE_GPIO_LEVEL_LOW);

}

/**
 * @brief 用于申请RXBUFF CAN0MSG00~CAN0MSG07
 *
 */
void Can_RX_Apply_Buff(void)
{
    CAN_RecvMsg.Id = 0x101;
    CAN_RecvMsg.IDE = CAN_Id_Standard;
    CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
    CAN_RecvMsg.RTR = CAN_RTR_Data;
    CAN_RecvMsg.Interrupt = ENABLE;
    CAN_MessageCache_DeInit(CAN0MSG01);
    CAN_MessageCache_Init(CAN0MSG01, &CAN_RecvMsg);
    CAN_MessageCache_OverWriteConfig(CAN0MSG01, ENABLE);

时昊's avatar
时昊 committed
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101
    CAN_RecvMsg.Id = 0x111;
    CAN_RecvMsg.IDE = CAN_Id_Standard;
    CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
    CAN_RecvMsg.RTR = CAN_RTR_Data;
    CAN_RecvMsg.Interrupt = ENABLE;
    CAN_MessageCache_DeInit(CAN0MSG02);
    CAN_MessageCache_Init(CAN0MSG02, &CAN_RecvMsg);
    CAN_MessageCache_OverWriteConfig(CAN0MSG02, ENABLE);

    CAN_RecvMsg.Id = 0x401;
    CAN_RecvMsg.IDE = CAN_Id_Standard;
    CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
    CAN_RecvMsg.RTR = CAN_RTR_Data;
    CAN_RecvMsg.Interrupt = ENABLE;
    CAN_MessageCache_DeInit(CAN0MSG03);
    CAN_MessageCache_Init(CAN0MSG03, &CAN_RecvMsg);
    CAN_MessageCache_OverWriteConfig(CAN0MSG03, ENABLE);

    CAN_RecvMsg.Id = 0x402;
    CAN_RecvMsg.IDE = CAN_Id_Standard;
    CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
    CAN_RecvMsg.RTR = CAN_RTR_Data;
    CAN_RecvMsg.Interrupt = ENABLE;
    CAN_MessageCache_DeInit(CAN0MSG04);
    CAN_MessageCache_Init(CAN0MSG04, &CAN_RecvMsg);
    CAN_MessageCache_OverWriteConfig(CAN0MSG04, ENABLE);

    CAN_RecvMsg.Id = 0x12B;
    CAN_RecvMsg.IDE = CAN_Id_Standard;
    CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
    CAN_RecvMsg.RTR = CAN_RTR_Data;
    CAN_RecvMsg.Interrupt = ENABLE;
    CAN_MessageCache_DeInit(CAN0MSG05);
    CAN_MessageCache_Init(CAN0MSG05, &CAN_RecvMsg);
    CAN_MessageCache_OverWriteConfig(CAN0MSG05, ENABLE);

    CAN_RecvMsg.Id = 0x450;
    CAN_RecvMsg.IDE = CAN_Id_Standard;
    CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
    CAN_RecvMsg.RTR = CAN_RTR_Data;
    CAN_RecvMsg.Interrupt = ENABLE;
    CAN_MessageCache_DeInit(CAN0MSG06);
    CAN_MessageCache_Init(CAN0MSG06, &CAN_RecvMsg);
    CAN_MessageCache_OverWriteConfig(CAN0MSG06, ENABLE);

    CAN_RecvMsg.Id = 0x37B;
    CAN_RecvMsg.IDE = CAN_Id_Standard;
    CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
    CAN_RecvMsg.RTR = CAN_RTR_Data;
    CAN_RecvMsg.Interrupt = ENABLE;
    CAN_MessageCache_DeInit(CAN0MSG07);
    CAN_MessageCache_Init(CAN0MSG07, &CAN_RecvMsg);
    CAN_MessageCache_OverWriteConfig(CAN0MSG07, ENABLE);

102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127

    // CAN_RecvMsg.Id = DIAG_ID_Rx_PHY;
    // CAN_RecvMsg.IDE = CAN_Id_Standard;
    // CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
    // CAN_RecvMsg.RTR = CAN_RTR_Data;
    // CAN_RecvMsg.Interrupt = ENABLE;
    // CAN_MessageCache_DeInit(CAN0MSG03);
    // CAN_MessageCache_Init(CAN0MSG03, &CAN_RecvMsg);
    // CAN_MessageCache_OverWriteConfig(CAN0MSG03, ENABLE);

    // CAN_RecvMsg.Id = DIAG_ID_Rx_FUN;
    // CAN_RecvMsg.IDE = CAN_Id_Standard;
    // CAN_RecvMsg.CacheType = CAN_CacheType_Rx_NoMask;
    // CAN_RecvMsg.RTR = CAN_RTR_Data;
    // CAN_RecvMsg.Interrupt = ENABLE;
    // CAN_MessageCache_DeInit(CAN0MSG04);
    // CAN_MessageCache_Init(CAN0MSG04, &CAN_RecvMsg);
    // CAN_MessageCache_OverWriteConfig(CAN0MSG04, ENABLE);
}

/**
 * @brief 用于申请TXBUFF
 *
 */
void Can_Tx_Apply_Buff(void)
{
时昊's avatar
时昊 committed
128 129 130 131 132 133 134 135 136 137 138 139
    // CanTxRxMsg CAN_SendMsg;
    // CanTxRxMsg CAN_SendMsg_Diag_Tx;
	// CAN_SendMsg.Id = 0x500;
	// CAN_SendMsg.IDE = CAN_Id_Standard;
	// CAN_SendMsg.CacheType = CAN_CacheType_Tx;
	// CAN_SendMsg.RTR = CAN_RTR_Data;
	// CAN_RecvMsg.Interrupt = DISABLE;
	// CAN_SendMsg.DLC = 8;
    // for (uint8_t i = 0; i < CAN_SendMsg.DLC; i++)
    // {
    //     CAN_SendMsg.Data[i] = 0;
    // }
140

时昊's avatar
时昊 committed
141 142
    // CAN_MessageCache_DeInit(CAN0MSG08);
    // CAN_MessageCache_Init(CAN0MSG08, &CAN_SendMsg);
143 144

    
145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185
	// CAN_SendMsg_Diag_Tx.Id = DIAG_ID_Tx;
	// CAN_SendMsg_Diag_Tx.IDE = CAN_Id_Standard;
	// CAN_SendMsg_Diag_Tx.CacheType = CAN_CacheType_Tx;
	// CAN_SendMsg_Diag_Tx.RTR = CAN_RTR_Data;
	// CAN_SendMsg_Diag_Tx.Interrupt = DISABLE;
	// CAN_SendMsg_Diag_Tx.DLC = 8;
    // for (uint8_t i = 0; i < CAN_SendMsg_Diag_Tx.DLC; i++)
    // {
    //     CAN_SendMsg_Diag_Tx.Data[i] = 0;
    // }

    // CAN_MessageCache_DeInit(CAN0MSG09);
    // CAN_MessageCache_Init(CAN0MSG09, &CAN_SendMsg_Diag_Tx);
}
/**
 * @brief 用于接收回调函数
 * @code
 */
void Can_Rx_Cak(CanTxRxMsg *Msg)
{
    Co_Can_Buff_Set(&CAN_CH0_CanMsgOp, Co_Can_ConvertSubID_CAN_CH0(Msg->Id), Msg->DLC, Msg->Data);

    // if ((Msg->Id == DIAG_ID_Rx_FUN) || (Msg->Id == DIAG_ID_Rx_PHY))
    // {
    //   DoCAN_L_Data_Indication(Msg->Id, Msg->DLC, Msg->Data);
    // }
}
/**
 * @brief CAN库初始化TX/RX
 *
 */
void COM_CAN_Init(void)
{
    memset(pRXBuff, 0, sizeof(pRXBuff));
    CAN_CH0_CanMsgOp.CAN_MSG_Analysis = (st_CANMsgStruct *)pRXBuff;
    CAN_CH0_CanMsgOp.pAttrubute = CAN_CH0_CAN_MSG_CONST_ARRAY;
    CAN_CH0_CanMsgOp.Total_Msg = CAN_CH0_ID_TOTAL_MAX;
    CAN_CH0_CanMsgOp.u8CAN_RX_ENABLE = CAN_N_RX_Enable;
    Can_RX_BuffInit(&CAN_CH0_CanMsgOp, CAN_CH0_CAN_MSG_CONST_ARRAY, CAN_CH0_ID_TOTAL_MAX);
    CAN_RX_SetEnable(&CAN_CH0_CanMsgOp, CAN_N_RX_Enable);

时昊's avatar
时昊 committed
186 187 188 189
    // memset(pTXBuff, 0, sizeof(pTXBuff));
    // CAN_CH0_CanMsgTxOp.CanMsg = (st_CAN_SendOperation *)pTXBuff;
    // Can_TX_BuffInit(&CAN_CH0_CanMsgTxOp, CAN_CH0_CANSendAttr, CAN_CH0_ID_SEND_TOTAL, COM_APP_Process);
    // CAN_TX_SetEnable(&CAN_CH0_CanMsgTxOp, CAN_N_TX_Enable);
190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239
}


/**
 * @brief Buff恢复函数
 * @param deltaTime 调用时间 单位ms 10MS调用
 */
void Can_BusOff_Recover(uint8_t deltaTime)
{
    if (get_can_busoff(CAN_CH_0) == 2)
    {
        if (RSCAN0Busoff.Status == RSCAN0_BUS_STABLE)
        {
            RSCAN0Busoff.Status = RSCAN0_BUS_OFF_LV1;
        }

        if (RSCAN0Busoff.Status == RSCAN0_BUS_OFF_LV1)
        {
            RSCAN0Busoff.Timer++;
            if (RSCAN0Busoff.Timer >= RSCAN0_BUS_OFF_LV1_RECOVERY_TIME / deltaTime)
            {
                RSCAN0Busoff.Timer = 0U;

                RSCAN0Busoff.Cnt++;
                if (RSCAN0Busoff.Cnt >= 10U)
                {

                    RSCAN0Busoff.Cnt = 0U;

                    RSCAN0Busoff.Status = RSCAN0_BUS_OFF_LV2;
                }
                reset_busoff(CAN_CH_0);
            }
        }
        else if (RSCAN0Busoff.Status == RSCAN0_BUS_OFF_LV2)
        {
            RSCAN0Busoff.Timer++;

            if (RSCAN0Busoff.Timer >= RSCAN0_BUS_OFF_LV2_RECOVERY_TIME / deltaTime)
            {
                RSCAN0Busoff.Timer = 0U;
                reset_busoff(CAN_CH_0);
            }
        }
        else
        {
        }
    }
    else /* 总线正常,没有Bus-off发生*/
    {
240
        
241 242 243 244 245 246 247 248 249 250 251 252 253 254
    }
}

/**
 * @brief 获取busoff状态
 * @return 0 没有busoff
 *         1 错误的操作
 *         2 busoff
 */
uint8_t Get_Busoff_Status(void)
{
    return get_can_busoff(CAN_CH_0);
}

时昊's avatar
时昊 committed
255 256 257 258 259
// uint8_t COM_APP_Process(st_CAN_Msg *Msg)
// {
//     Can_Write((st_CAN_Msg *)Msg);
//     return 0;
// }
260

时昊's avatar
时昊 committed
261 262 263 264
// void Can_Write(st_CAN_Msg *Msg)
// {
//     uint32_t i = 0;
//     CanTxRxMsg CAN_SendMsg;
265

时昊's avatar
时昊 committed
266 267 268 269 270
//     CAN_SendMsg.Id = Msg->MsgID;       /* ID */
//     CAN_SendMsg.DLC = Msg->MsgDLC;     /* Len */
//     CAN_SendMsg.RTR = Msg->MsgRTR;     /* Default 0 */
//     CAN_SendMsg.IDE = CAN_Id_Standard; /* Stand 0 Ext 1 */
//     CAN_SendMsg.CacheType = CAN_CacheType_Tx;
271

时昊's avatar
时昊 committed
272 273 274 275
//     for (i = 0; i < CAN_SendMsg.DLC; i++) /* 获取数据 */
//     {
//         CAN_SendMsg.Data[i] = Msg->Msg[i];
//     }
276

时昊's avatar
时昊 committed
277 278 279 280 281
//     switch (CAN_SendMsg.Id)
//     {
//     case 0x500:
//         CAN_Transmit(CAN0MSG08, &CAN_SendMsg);
//         break;
282

时昊's avatar
时昊 committed
283 284 285 286
//     default:
//         break;
//     }
// }