177 lines
6.5 KiB
C
177 lines
6.5 KiB
C
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#ifndef _INTERFACE_CAN_H_
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#define _INTERFACE_CAN_H_
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#include "regs_base.h"
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#include "irq_num.h"
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#include <sdrv_flexcan.h>
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#define CAN_INDEX_0 FLEXCAN7
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#define CAN_INDEX_1 FLEXCAN21
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#define CAN_INDEX_2 FLEXCAN16
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#define CAN_INDEX_3 FLEXCAN3
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#define CAN_INDEX_4 FLEXCAN23
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#define CAN_INDEX_5 FLEXCAN5
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#define CAN_INDEX_6 FLEXCAN6
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#define CAN_INDEX_7 FLEXCAN4
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#define TX_MB_INDEX (USED_MB_FOR_FIFO)
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#define MOTOR_INPUT_ID_1 0x189
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#define MOTOR_INPUT_ID_2 0x18A
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#define MOTOR_INPUT_ID_3 0x103
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#define MOTOR_INPUT_ID_4 0x104
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//#define MOTOR_INPUT_ID_1 0x15000003//采集模块
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//#define MOTOR_INPUT_ID_2 0x10F92708//右前
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//#define MOTOR_INPUT_ID_3 0x15000003//采集模块
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//#define MOTOR_INPUT_ID_4 0x10F94708//右后
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//
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//
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//#define MOTOR_INPUT_ID_1 0x10F81708//左前 档位
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//#define MOTOR_INPUT_ID_2 0x10F82708//右前
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//#define MOTOR_INPUT_ID_3 0x10F83708//左后
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#define MOTOR_INPUT_ID_8 0x10F84708//右后
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#define BMS_INPUT_ID1 0x100
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#define BMS_INPUT_ID2 0x101
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#define REMOTE_ID 0x12000023
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#define REMOTE_ID_1 0x12000024
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#define TEMP_MODULE_INPUT_ID_1 0x15000003
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#define CAN_FIFO_SIZE 8
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//#define TEMP_MODULE_INPUT_ID_2 0x302
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// 故障信息
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typedef struct _StrCanFault
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{
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uint8_t navigator_count; //导航仪计数器
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uint8_t motor1_count; //手动数据计数器
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uint8_t motor2_count; //手动数据计数器
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uint8_t bms_count; //bms计数器
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uint8_t temperature_count; //温度计数器
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uint8_t remote_count; //遥控计数器
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uint8_t navigator_state; //导航数据状态
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uint8_t motor1_state; //电机1数据状态
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uint8_t motor2_state; //电机2数据状态
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uint8_t bms_state; //bms状态
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uint8_t temperature_state; //温度计数器
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uint8_t remote_state; //遥控状态
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} StrCanFault;
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typedef union _UnCanFault
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{
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StrCanFault bit_data; // 使用定义的结构体变量名
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uint8_t arr[sizeof(StrCanFault)]; // 通过结构体类型确定大小
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} UnCanFault;
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// can缓存节点
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typedef struct _StrCanBuffer
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{
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uint32_t id; //**< CAN Frame Identifier. */
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uint8_t dataBuffer[8]; //数据缓存
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unsigned int length : 7; //**< CAN frame payload length in bytes(Range: 0~8). */
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unsigned int type : 1; //**< CAN Frame Type(DATA or REMOTE). */
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unsigned int format : 1; //**< CAN Frame Identifier(STD or EXT format). */
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}StrCanBuffer;
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typedef struct Fifo_Queue_Tag
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{
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StrCanBuffer Data[CAN_FIFO_SIZE];//缓存
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uint8_t front;//头指针
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uint8_t rear;//尾指针
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}StrCanFifoQueue;
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#define ON 1
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#define OFF 0
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#define left_motor_fan(Value) un_inf_can_kgf_output1.bit_data.KGF01 = Value;//电机控制器风扇左
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#define right_motor_fan(Value) un_inf_can_kgf_output1.bit_data.KGF03 = Value;//电机控制器风扇右
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#define pre_charge_relay(Value) un_inf_can_kgf_output1.bit_data.KGF04 = Value;//预充
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#define high_voltage_relay(Value) un_inf_can_kgf_output1.bit_data.KGF07 = Value;un_inf_can_kgf_output1.bit_data.KGF08 = Value//高压继电器
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#define low_voltage_relay(Value) un_inf_can_kgf_output1.bit_data.KGF11 = Value;un_inf_can_kgf_output1.bit_data.KGF12 = Value//低压继电器
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#define yellow_light(Value) un_inf_can_kgf_output1.bit_data.KGF06 = Value;//黄灯
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#define red_light(Value) un_inf_can_kgf_output1.bit_data.KGF09 = Value;//红灯
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#define left_vehicle_fan(Value) un_inf_can_kgf_output1.bit_data.KGF14 = Value;//车左风扇
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#define right_vehicle_fan(Value) un_inf_can_kgf_output2.bit_data.KGF03 = Value;//车右风扇
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#define computer(Value) un_inf_can_kgf_output2.bit_data.KGF01 = Value;un_inf_can_kgf_output2.bit_data.KGF02 = Value//自主计算机
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#define network_switch(Value) un_inf_can_kgf_output2.bit_data.KGF05 = Value;un_inf_can_kgf_output2.bit_data.KGF06 = Value//网络交换机含路由器
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//H桥
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#define brake_motor_forward un_h_bridge_output.bit_data.channel_01 = ON ;un_h_bridge_output.bit_data.channel_04 = ON ;un_h_bridge_output.bit_data.channel_02 = OFF;un_h_bridge_output.bit_data.channel_03 = OFF;un_h_bridge_output.bit_data.sleep_01 = ON ;un_h_bridge_output.bit_data.sleep_02 = ON//正转
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#define brake_motor_reversal un_h_bridge_output.bit_data.channel_01 = OFF;un_h_bridge_output.bit_data.channel_04 = OFF;un_h_bridge_output.bit_data.channel_02 = ON ;un_h_bridge_output.bit_data.channel_03 = ON ;un_h_bridge_output.bit_data.sleep_01 = ON ;un_h_bridge_output.bit_data.sleep_02 = ON//反转
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#define brake_motor_off un_h_bridge_output.bit_data.channel_01 = OFF;un_h_bridge_output.bit_data.channel_04 = OFF;un_h_bridge_output.bit_data.channel_02 = OFF;un_h_bridge_output.bit_data.channel_03 = OFF;un_h_bridge_output.bit_data.sleep_01 = OFF;un_h_bridge_output.bit_data.sleep_02 = OFF//关闭
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//外部函数
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void flexcan_transfer_callback(flexcan_handle_t *handle,flexcan_status_e status, uint32_t result,void *userData);
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uint8_t flexcan_config_rx_fifo(flexcan_handle_t *handle,flexcan_rx_fifo_config_t *config);
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uint8_t CAN_Send_Msg( flexcan_handle_t *handle, uint32_t ID, flexcan_frame_format_e ide, flexcan_frame_type_e rtr, uint8_t *msg, uint8_t len, uint8_t tx_index);
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void flexcan_Busoff_Recovery(void);
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void initialization_All_Flexcan(void);
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//外部变量
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extern flexcan_handle_t g_flexcan_handle;
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extern bool busoff_occur_flag;//标志量
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extern bool WDTReFresh_flag;//更新标志
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extern flexcan_handle_t g_flexcan_handle;
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extern uint16_t FrameHeader;//帧头
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extern flexcan_handle_t can_handle_0;//can初始化结构体
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extern flexcan_handle_t can_handle_1;
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extern flexcan_handle_t can_handle_2;
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extern flexcan_handle_t can_handle_3;
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extern flexcan_handle_t can_handle_4;
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extern flexcan_handle_t can_handle_5;
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extern flexcan_handle_t can_handle_6;
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extern flexcan_handle_t can_handle_7;
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extern UnCanFault can_fault_info;
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extern uint32_t time_elapsed;
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extern uint32_t time_elapsed1;
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//外部函数
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void canInterfaceInit(void);
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#endif /* INTERFACE_CAN_H */ |