#include "COM_CAN.h" #include "TYW_stdint.h" #include "CANFD_CH0_CANFD_Communication_Matrix.h" #include "RTE_CAN.h" #include "Signal_Remap.h" #include "RTE_WDT.h" #include #include uint32_t Check_Infordata_CRC_32(uint8_t p [], uint32_t len ,uint32_t Crc); #pragma alignvar(8) uint32_t pRXBuff[CAN_RX_MSG_Block * CANFD_CH0_ID_TOTAL_MAX]; #pragma alignvar(8) static uint32_t pTXBuff[CAN_TX_MSG_Block * 100]; #pragma alignvar(8) static st_CANFD_SendAttribute Load_Attr[100] = {0}; st_CANFD_MsgBuff Load_AttrBuff[100] = {0}; typedef struct { uint32_t Subaddr; uint32_t SubStep; } st_AutoCheckAttr; typedef union _word_split { uint32_t word; uint8_t byte [ 4 ]; } WORD_SPLIT_u; typedef struct { uint32_t crc_result; //上位机计算的CRC数值 uint32_t crc_Len; //CRC计算的长度 WORD_SPLIT_u total_msg_begin; //报文列表首地址 WORD_SPLIT_u total_msg; //报文列表中包含多少条报文 WORD_SPLIT_u total_step_begin; //步骤列表首地址 WORD_SPLIT_u total_step; //共执行多少步骤 } st_CheckMessage; typedef struct { uint16_t u16ID; //CAN列表 报文ID uint16_t u16Cycle; //CAN列表 周期单位um uint8_t u8COM; //CAN列表 uint8_t u8Len; //CAN列表 uint8_t u8Mode; //CAN列表 uint8_t u8MsgSTD_EXT; //CAN列表 } st_CAN_list; typedef struct { uint32_t u32Subaddr_CAN; //CAN数据首地址 uint32_t u32SubStep_CAN; //CAN操作数 uint32_t u32Subaddr_IO; //IO数据首地址 uint32_t u32SubStep_IO; //IO操作数 uint32_t u32Subaddr_PWM; //PWM数据首地址 uint32_t u32SubStep_PWM; //PWM操作数 uint32_t u32res1; //保留占位 uint32_t u32res2; //保留占位 } st_step_list; typedef struct { uint32_t nuber; //CAN ID索引 uint8_t msg[64]; //CAN 报文数据 } st_CAN; typedef struct { uint8_t pin; //IO通道 uint8_t level; //IO电平 uint8_t IN_OUT; //IO方向 uint8_t res1; //保留占位 } st_IO; typedef struct { uint8_t pin; //PWM通道 uint8_t IN_OUT; //PWM方向 uint16_t duty; //PWM占空比 uint16_t freq; //PWM频率 uint8_t res1; //保留占位 uint8_t res2; //保留占位 } st_PWM; st_CAN_list *Total_Msg_addr;//CAN索引列表，实际使用时 Total_Msg_addr[索引ID-1].xxx; st_step_list *step_list; //步骤索引列表，实际使用时 step[步骤ID-1].xxxx: //step_list[i].u32Subaddr_CAN //第 i 步骤CAN数据首地址 //step_list[i].u32SubStep_CAN //第 i 步骤CAN操作数 //step_list[i].u32Subaddr_IO //第 i 步骤IO数据首地址 //step_list[i].u32SubStep_IO //第 i 步骤IO操作数 //step_list[i].u32Subaddr_PWM //第 i 步骤PWM数据首地址 //step_list[i].u32SubStep_PWM //第 i 步骤PWM操作数 st_CheckMessage *PreLoad_Info; #define FIX_LOAD_ADDRESS 0x50000 st_AutoCheckAttr Sub_Attr [ 200 ] = {0}; uint32_t g_Verify_Result; #define MAKE_U32(high, mid1, mid0, low) ((( uint8_t )(low)) | ((( uint8_t )(mid0)) << 8) | ((( uint8_t )(mid1)) << 16) | ((( uint8_t )(high)) << 24)) void Execute_Specify_Step(uint32_t step); float double0; float double1; float double2; float double3; void COM_CAN_Init(void) { /*CAN APP BUFFER INIT*/ memset(pRXBuff, 0, sizeof(pRXBuff)); memset(pTXBuff, 0, sizeof(pTXBuff)); memset(Load_AttrBuff, 0, sizeof(Load_AttrBuff)); memset(Load_Attr, 0, sizeof(Load_Attr)); g_Verify_Result = 0; // Msg_Load_Init( ); CANFD_CH0_CanFDMsgOp.CAN_MSG_Analysis = (st_CANFDMsgStruct *)pRXBuff; CANFD_CH0_CanFDMsgTxOp.CanMsg = (st_CANFD_SendOperation *)pTXBuff; CanFD_RX_BuffInit(&CANFD_CH0_CanFDMsgOp, CANFD_CH0_CAN_MSG_CONST_ARRAY, CANFD_CH0_ID_TOTAL_MAX); if ( g_Verify_Result == 1U ) { CanFD_TX_BuffInit(&CANFD_CH0_CanFDMsgTxOp, Load_Attr, PreLoad_Info->total_msg.word, Can_Write_FIFO); } CANFD_RX_SetEnable(&CANFD_CH0_CanFDMsgOp, 0x00); if ( g_Verify_Result == 1U ) { CANFD_TX_SetEnable(&CANFD_CH0_CanFDMsgTxOp, 0x55); Execute_Specify_Step(0); } } void COM_RX_Process(void) { CanFDMSg_XMS_Analysis(&CANFD_CH0_CanFDMsgOp, 5u); } void COM_TX_Process(void) { WDT_Clear(); CanFD_Write_Fun(&CANFD_CH0_CanFDMsgTxOp, 2u); } // void Msg_Load_Init(void) // { // uint32_t i = 0u; // uint32_t *addr; // uint32_t Total_Msg; // uint32_t Total_Msg_addr; // PreLoad_Info = ( uint32_t *)FIX_LOAD_ADDRESS; // g_Verify_Result = Check_Infordata_CRC_32(&PreLoad_Info->total_msg, 28); // if ( g_Verify_Result == 1U ) // { // Total_Msg = PreLoad_Info->total_msg.word; // Total_Msg_addr = PreLoad_Info->total_msg_begin.word; // addr = ( uint32_t *)Total_Msg_addr; // for ( i = 0; i < Total_Msg; i++ ) // { // Load_Attr [ i ].u32MsgID = (*(addr + i * 4)); // convert_0; // Load_Attr [ i ].u32MsgCycle = (*(addr + 1 + i * 4)); // convert_1; // Load_Attr [ i ].u8MsgPro = (*(addr + 2 + i * 4)); // convert_2;//通道 // Load_Attr [ i ].u8MsgDLC = (*(addr + 3 + i * 4)); // convert_3; // } // addr = ( uint32_t * )PreLoad_Info->sub_step_addr.word; // for ( i = 0; i < PreLoad_Info->total_step.word; i++ ) // { // Sub_Attr [ i ].Subaddr = (*(addr + 0 + i * 2)); // Sub_Attr [ i ].SubStep = (*(addr + 1 + i * 2)); // } // } // } void Msg_Load_Init(void) { uint32_t i = 0u; uint32_t j = 0u; uint32_t k = 0u; uint32_t *addr; st_CAN *can_list; st_IO *io_list; st_PWM *pwm_list; PreLoad_Info = ( uint32_t *)FIX_LOAD_ADDRESS; g_Verify_Result = Check_Infordata_CRC_32(&PreLoad_Info->total_msg_begin, PreLoad_Info->crc_Len ,PreLoad_Info->crc_result); if ( g_Verify_Result == 1U ) { Total_Msg_addr = (st_CAN_list*)PreLoad_Info->total_msg_begin.word; //addr = ( uint32_t *)Total_Msg_addr; for ( i = 0; i < PreLoad_Info->total_msg.word; i++ ) { Load_Attr [ i ].u32MsgID = Total_Msg_addr[i].u16ID; //(*(addr + i * 4)); // convert_0; Load_Attr [ i ].u32MsgCycle = Total_Msg_addr[i].u16Cycle; //(*(addr + 1 + i * 4)); // convert_1; Load_Attr [ i ].u8MsgPro = Total_Msg_addr[i].u8COM; //(*(addr + 2 + i * 4)); // convert_2; Load_Attr [ i ].u8MsgDLC = Total_Msg_addr[i].u8Len; //(*(addr + 3 + i * 4)); // convert_3; //Total_Msg_addr[CAN_addr[i].nuber].u16ID; //Total_Msg_addr[CAN_addr[i].nuber].u16Cycle; //Total_Msg_addr[CAN_addr[i].nuber].u8COM; //Total_Msg_addr[CAN_addr[i].nuber].u8Len; // Total_Msg_addr[i].u8Mode; // Total_Msg_addr[i].u8MsgSTD_EXT; //printf("%04x %04X %02X %02X %02X %02X \r\n",Total_Msg_addr[i].u16ID // ,Total_Msg_addr[i].u16Cycle // ,Total_Msg_addr[i].u8COM // ,Total_Msg_addr[i].u8Len // ,Total_Msg_addr[i].u8Mode // ,Total_Msg_addr[i].u8MsgSTD_EXT); } //printf("\r\n"); step_list = (st_step_list*)PreLoad_Info->total_step_begin.word; //for ( i = 0; i < PreLoad_Info->total_step.word; i++ ) //{ // printf("%08x %08X %08X %08X %08X %08X \r\n" ,step_list[i].u32Subaddr_CAN // ,step_list[i].u32SubStep_CAN // ,step_list[i].u32Subaddr_IO // ,step_list[i].u32SubStep_IO // ,step_list[i].u32Subaddr_PWM // ,step_list[i].u32SubStep_PWM); //} //for ( k = 0; k < PreLoad_Info->total_step.word; k++ ) //{ // can_list = (st_CAN *)step_list[k].u32Subaddr_CAN; // io_list = (st_IO *)step_list[k].u32Subaddr_IO; // pwm_list = (st_PWM *)step_list[k].u32Subaddr_PWM; // printf("\r\nNo.%d :\r\n CAN:\r\n",(k+1)); // for ( i = 0; i < step_list[k].u32SubStep_CAN; i++ ) // { // printf("%08x :\r\n",can_list[i].nuber); // for ( j = 0; j < 64; j++ ) // { // printf("%02x",can_list[i].msg[j]); // } // printf("\r\n"); // } // printf("\r\nIO:\r\n"); // for ( i = 0; i < step_list[k].u32SubStep_IO; i++ ) // { // printf("%02X %02X %02X \r\n",io_list[i].pin // ,io_list[i].level // ,io_list[i].IN_OUT); // } // // printf("\r\nPWM:\r\n"); // for ( i = 0; i < step_list[k].u32SubStep_PWM; i++ ) // { // printf("%02x %02x %04x %04x\r\n",pwm_list[i].pin // ,pwm_list[i].IN_OUT // ,pwm_list[i].duty // ,pwm_list[i].freq); // } //} } } void Execute_Specify_Step(uint32_t step) { uint32_t i = 0u; uint32_t j = 0u; static st_IO *IO_addr; static st_CAN *CAN_addr; uint32_t buff_idx; uint32_t buff_id; uint8_t *pbuff; if ( g_Verify_Result == 1U ) { if ( step < PreLoad_Info->total_step.word ) { CAN_addr = (st_CAN *)step_list[step].u32Subaddr_CAN; for ( i = 0; i < step_list[step].u32SubStep_CAN; i++ ) { // pbuff = ( void *)(CAN_addr[i].msg); for ( j = 0; j < /*CAN0_FD_DLC_ChangeTo_Register(Load_Attr [ i ].u8MsgDLC)*/64; j++ ) { Load_AttrBuff [ CAN_addr[ i ].nuber - 1 ].sig.Msg [ j ] = CAN_addr[i].msg[ j ]; } CanFD_Msg_TX_SetMsgBuffer(&CANFD_CH0_CanFDMsgTxOp, CAN_addr[ i ].nuber , \ CAN0_FD_DLC_ChangeTo_Register(Load_Attr [ i ].u8MsgDLC),\ Load_AttrBuff [ CAN_addr[ i ].nuber -1 ].sig.Msg); } IO_addr = (st_IO *)step_list[step].u32Subaddr_IO; for ( i = 0; i < step_list[step].u32SubStep_IO; i++ ) { F1KM_16843_Port_IO_P [IO_addr[i].pin].Set_Output(IO_addr[i].level); } } } } const uint32_t CRC32_Table [ 256 ] = { 0x00000000ul, 0x77073096ul, 0xEE0E612Cul, 0x990951BAul, 0x076DC419ul, 0x706AF48Ful, 0xE963A535ul, 0x9E6495A3ul, 0x0EDB8832ul, 0x79DCB8A4ul, 0xE0D5E91Eul, 0x97D2D988ul, 0x09B64C2Bul, 0x7EB17CBDul, 0xE7B82D07ul, 0x90BF1D91ul, 0x1DB71064ul, 0x6AB020F2ul, 0xF3B97148ul, 0x84BE41DEul, 0x1ADAD47Dul, 0x6DDDE4EBul, 0xF4D4B551ul, 0x83D385C7ul, 0x136C9856ul, 0x646BA8C0ul, 0xFD62F97Aul, 0x8A65C9ECul, 0x14015C4Ful, 0x63066CD9ul, 0xFA0F3D63ul, 0x8D080DF5ul, 0x3B6E20C8ul, 0x4C69105Eul, 0xD56041E4ul, 0xA2677172ul, 0x3C03E4D1ul, 0x4B04D447ul, 0xD20D85FDul, 0xA50AB56Bul, 0x35B5A8FAul, 0x42B2986Cul, 0xDBBBC9D6ul, 0xACBCF940ul, 0x32D86CE3ul, 0x45DF5C75ul, 0xDCD60DCFul, 0xABD13D59ul, 0x26D930ACul, 0x51DE003Aul, 0xC8D75180ul, 0xBFD06116ul, 0x21B4F4B5ul, 0x56B3C423ul, 0xCFBA9599ul, 0xB8BDA50Ful, 0x2802B89Eul, 0x5F058808ul, 0xC60CD9B2ul, 0xB10BE924ul, 0x2F6F7C87ul, 0x58684C11ul, 0xC1611DABul, 0xB6662D3Dul, 0x76DC4190ul, 0x01DB7106ul, 0x98D220BCul, 0xEFD5102Aul, 0x71B18589ul, 0x06B6B51Ful, 0x9FBFE4A5ul, 0xE8B8D433ul, 0x7807C9A2ul, 0x0F00F934ul, 0x9609A88Eul, 0xE10E9818ul, 0x7F6A0DBBul, 0x086D3D2Dul, 0x91646C97ul, 0xE6635C01ul, 0x6B6B51F4ul, 0x1C6C6162ul, 0x856530D8ul, 0xF262004Eul, 0x6C0695EDul, 0x1B01A57Bul, 0x8208F4C1ul, 0xF50FC457ul, 0x65B0D9C6ul, 0x12B7E950ul, 0x8BBEB8EAul, 0xFCB9887Cul, 0x62DD1DDFul, 0x15DA2D49ul, 0x8CD37CF3ul, 0xFBD44C65ul, 0x4DB26158ul, 0x3AB551CEul, 0xA3BC0074ul, 0xD4BB30E2ul, 0x4ADFA541ul, 0x3DD895D7ul, 0xA4D1C46Dul, 0xD3D6F4FBul, 0x4369E96Aul, 0x346ED9FCul, 0xAD678846ul, 0xDA60B8D0ul, 0x44042D73ul, 0x33031DE5ul, 0xAA0A4C5Ful, 0xDD0D7CC9ul, 0x5005713Cul, 0x270241AAul, 0xBE0B1010ul, 0xC90C2086ul, 0x5768B525ul, 0x206F85B3ul, 0xB966D409ul, 0xCE61E49Ful, 0x5EDEF90Eul, 0x29D9C998ul, 0xB0D09822ul, 0xC7D7A8B4ul, 0x59B33D17ul, 0x2EB40D81ul, 0xB7BD5C3Bul, 0xC0BA6CADul, 0xEDB88320ul, 0x9ABFB3B6ul, 0x03B6E20Cul, 0x74B1D29Aul, 0xEAD54739ul, 0x9DD277AFul, 0x04DB2615ul, 0x73DC1683ul, 0xE3630B12ul, 0x94643B84ul, 0x0D6D6A3Eul, 0x7A6A5AA8ul, 0xE40ECF0Bul, 0x9309FF9Dul, 0x0A00AE27ul, 0x7D079EB1ul, 0xF00F9344ul, 0x8708A3D2ul, 0x1E01F268ul, 0x6906C2FEul, 0xF762575Dul, 0x806567CBul, 0x196C3671ul, 0x6E6B06E7ul, 0xFED41B76ul, 0x89D32BE0ul, 0x10DA7A5Aul, 0x67DD4ACCul, 0xF9B9DF6Ful, 0x8EBEEFF9ul, 0x17B7BE43ul, 0x60B08ED5ul, 0xD6D6A3E8ul, 0xA1D1937Eul, 0x38D8C2C4ul, 0x4FDFF252ul, 0xD1BB67F1ul, 0xA6BC5767ul, 0x3FB506DDul, 0x48B2364Bul, 0xD80D2BDAul, 0xAF0A1B4Cul, 0x36034AF6ul, 0x41047A60ul, 0xDF60EFC3ul, 0xA867DF55ul, 0x316E8EEFul, 0x4669BE79ul, 0xCB61B38Cul, 0xBC66831Aul, 0x256FD2A0ul, 0x5268E236ul, 0xCC0C7795ul, 0xBB0B4703ul, 0x220216B9ul, 0x5505262Ful, 0xC5BA3BBEul, 0xB2BD0B28ul, 0x2BB45A92ul, 0x5CB36A04ul, 0xC2D7FFA7ul, 0xB5D0CF31ul, 0x2CD99E8Bul, 0x5BDEAE1Dul, 0x9B64C2B0ul, 0xEC63F226ul, 0x756AA39Cul, 0x026D930Aul, 0x9C0906A9ul, 0xEB0E363Ful, 0x72076785ul, 0x05005713ul, 0x95BF4A82ul, 0xE2B87A14ul, 0x7BB12BAEul, 0x0CB61B38ul, 0x92D28E9Bul, 0xE5D5BE0Dul, 0x7CDCEFB7ul, 0x0BDBDF21ul, 0x86D3D2D4ul, 0xF1D4E242ul, 0x68DDB3F8ul, 0x1FDA836Eul, 0x81BE16CDul, 0xF6B9265Bul, 0x6FB077E1ul, 0x18B74777ul, 0x88085AE6ul, 0xFF0F6A70ul, 0x66063BCAul, 0x11010B5Cul, 0x8F659EFFul, 0xF862AE69ul, 0x616BFFD3ul, 0x166CCF45ul, 0xA00AE278ul, 0xD70DD2EEul, 0x4E048354ul, 0x3903B3C2ul, 0xA7672661ul, 0xD06016F7ul, 0x4969474Dul, 0x3E6E77DBul, 0xAED16A4Aul, 0xD9D65ADCul, 0x40DF0B66ul, 0x37D83BF0ul, 0xA9BCAE53ul, 0xDEBB9EC5ul, 0x47B2CF7Ful, 0x30B5FFE9ul, 0xBDBDF21Cul, 0xCABAC28Aul, 0x53B39330ul, 0x24B4A3A6ul, 0xBAD03605ul, 0xCDD70693ul, 0x54DE5729ul, 0x23D967BFul, 0xB3667A2Eul, 0xC4614AB8ul, 0x5D681B02ul, 0x2A6F2B94ul, 0xB40BBE37ul, 0xC30C8EA1ul, 0x5A05DF1Bul, 0x2D02EF8Dul}; uint32_t Check_Infordata_CRC_32(uint8_t p [], uint32_t len ,uint32_t Crc) { uint32_t i; uint32_t m32 = 0u; uint32_t FlashCrcValue = 0xFFFFFFFF; uint32_t result = 0; // if ( len < 0xff ) { for ( i = 0; i < len; i++ ) { FlashCrcValue = CRC32_Table [ (FlashCrcValue ^ p [ i ]) & 0xFF ] ^ ((FlashCrcValue >> 8) & 0x00ffffff); } FlashCrcValue ^= 0xffffffff; } m32 = Crc;//((( uint32_t )p [ i + 3 ] << 24) & 0xff000000) | ((( uint32_t )p [ i + 2 ] << 16) & 0x00ff0000) | ((( uint32_t )p [ i + 1 ] << 8) & 0x0000ff00) | ((( uint32_t )p [ i ]) & 0xff0000ff); if ( (m32 == FlashCrcValue) && (FlashCrcValue != 0xFFFFFFFF) ) { result = 1; } return result; } uint32_t Get_Total_CheckStep(void) { uint32_t ret = 0; if ( g_Verify_Result == 1U ) { ret = PreLoad_Info->total_step.word; } else { ret = 0; } return ret; }