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liumin
2025-10-21 19:14:21 +08:00
parent 2acba0caf0
commit 5a84d13ae4
23 changed files with 2510 additions and 2079 deletions
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403
interface_can.c
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@@ -3,14 +3,16 @@
#include "debug.h"
#include "interface_config.h"
#include "app/app_config.h"
#define TX_PADDING_VAL (0xA5)
#include "sdrv_vic.h"
#include "intrinsics.h"
#include "app/app_differential_drive.h"
#include "app/app_param_manage.h"
#include "app/app_ultrasonic.h"
#include "app/app_turntable.h"
#include "drive_rs04.h"
#define TX_PADDING_VAL (0xA5)
uint32_t OTA_CANTxID = 0x02;//Ĭ<>Ϸ<EFBFBD><CFB7><EFBFBD>IDΪ0x02
uint32_t OTA_CANRxID = 0x01;//Ĭ<>Ͻ<EFBFBD><CFBD><EFBFBD>IDΪ0x01
@@ -296,45 +298,15 @@ void flexcan_Receive_callback_1(flexcan_handle_t *handle,
break;
case FLEXCAN_RX_FIFO_IDLE:
if(LEFT_FRONT_MOTOR_INPUT1 == (buf->id))
{
can_fault_info.bit_data.motor1_count ++;
for(i = 0; i < (buf->length); i++)
{
un_motor_input1.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_motor_input1, 1);
}
else if( LEFT_FRONT_MOTOR_INPUT2 == (buf->id) )
if( FRONT_LEFT_MOTOR_RxCANID == ( (buf->id) & MOTOR_RxCAN_Mask) )
{
un_motor_input1.rx_can_id.raw = (buf->id);
for(i = 0; i < (buf->length); i++)
{
un_motor_temp1.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_motor_temp1, 1);//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
}
else if( LEFT_REAR_MOTOR2_INPUT1 == (buf->id) )//
{
can_fault_info.bit_data.motor3_count ++;
for(i = 0; i < (buf->length); i++)
{
un_motor_input3.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
// publishMessage(&un_motor_input3, 1); //<2F>޸<EFBFBD>Ϊ
}
else if( LEFT_REAR_MOTOR2_INPUT2 == (buf->id) )
{
for(i = 0; i < (buf->length); i++)
{
un_motor_temp3.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_motor_temp3, 1);//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
}
else{}
un_motor_input1.rx_can_data.arr[i] = buf->dataBuffer[i];
}
}
break;
case FLEXCAN_TX_IDLE:
@@ -380,45 +352,16 @@ void flexcan_Receive_callback_2(flexcan_handle_t *handle,
break;
case FLEXCAN_RX_FIFO_IDLE:
if(RIGHT_FRONT_MOTOR_INPUT1 == (buf->id))
{
can_fault_info.bit_data.motor2_count ++;
for(i = 0; i < (buf->length); i++)
{
un_motor_input2.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_motor_input2, 1);
}
else if( RIGHT_FRONT_MOTOR_INPUT2 == (buf->id) )
if( FRONT_RIGHT_MOTOR_RxCANID == ( (buf->id) & MOTOR_RxCAN_Mask) )
{
un_motor_input2.rx_can_id.raw = (buf->id);
for(i = 0; i < (buf->length); i++)
{
un_motor_temp2.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_motor_temp2, 1);//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
}
else if( RIGHT_REAR_MOTOR_INPUT1 == (buf->id) )//
{
can_fault_info.bit_data.motor4_count ++;
for(i = 0; i < (buf->length); i++)
{
un_motor_input4.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_motor_input4, 1);
}
else if( RIGHT_REAR_MOTOR_INPUT2 == (buf->id) )
{
for(i = 0; i < (buf->length); i++)
{
un_motor_temp4.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_motor_temp4, 1);//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
}
else{}
un_motor_input2.rx_can_data.arr[i] = buf->dataBuffer[i];
}
}
else{}
break;
case FLEXCAN_TX_IDLE:
@@ -464,26 +407,17 @@ void flexcan_Receive_callback_3(flexcan_handle_t *handle,
break;
case FLEXCAN_RX_FIFO_IDLE:
if(BMS_INPUT_ID1 == (buf->id))//BMS
{
can_fault_info.bit_data.bms_count ++;
if( REAR_LEFT_MOTOR_RxCANID == ( (buf->id) & MOTOR_RxCAN_Mask) )
{
un_motor_input3.rx_can_id.raw = (buf->id);
for(i = 0; i < (buf->length); i++)
{
un_bms_input.arr[i] = buf->dataBuffer[i];
}
publishMessage(&un_bms_input, 1);
}
else if(BMS_INPUT_ID2 == (buf->id))//BMS
{
for(i = 0; i < (buf->length); i++)
{
un_bms_input.arr[i+8] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_bms_input, 1);
}
else{}
un_motor_input3.rx_can_data.arr[i] = buf->dataBuffer[i];
}
}
else{}
break;
@@ -520,13 +454,25 @@ void flexcan_Receive_callback_4(flexcan_handle_t *handle,
void *userData)
{
//--------------------------------------------------------------
flexcan_frame_t *buf = (flexcan_frame_t *)userData;
uint8_t i = 0;
switch (status)
{
case FLEXCAN_RX_IDLE:
break;
case FLEXCAN_RX_FIFO_IDLE:
if( REAR_RIGHT_MOTOR_RxCANID == ( (buf->id) & MOTOR_RxCAN_Mask) )
{
un_motor_input4.rx_can_id.raw = (buf->id);
for(i = 0; i < (buf->length); i++)
{
un_motor_input4.rx_can_data.arr[i] = buf->dataBuffer[i];
}
}
else{}
break;
case FLEXCAN_TX_IDLE:
@@ -561,6 +507,8 @@ void flexcan_Receive_callback_5(flexcan_handle_t *handle,
flexcan_status_e status, uint32_t result,
void *userData)
{
flexcan_frame_t *buf = (flexcan_frame_t *)userData;
uint8_t i = 0;
//--------------------------------------------------------------
switch (status)
{
@@ -568,7 +516,12 @@ void flexcan_Receive_callback_5(flexcan_handle_t *handle,
break;
case FLEXCAN_RX_FIFO_IDLE:
for(i = 0; i < (buf->length); i++)
{
un_bms_input.arr[i] = buf->dataBuffer[i];
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_bms_input, 1);
break;
case FLEXCAN_TX_IDLE:
@@ -633,6 +586,24 @@ void flexcan_Receive_callback_6(flexcan_handle_t *handle,
}
publishMessage(&un_ultrasonic_input1, 1);
}
else if( RIGHT_MOTOR_RxCANID == ( (buf->id) & MOTOR_RxCAN_Mask) )
{
un_right_intput.rx_can_id.raw = (buf->id);
for(i = 0; i < (buf->length); i++)
{
un_right_intput.rx_can_data.arr[i] = buf->dataBuffer[i];
}
// publishMessage(&un_right_intput, 1);
}
else if( PITCH_MOTOR_RxCANID == ( (buf->id) & MOTOR_RxCAN_Mask) )
{
un_pitch_intput.rx_can_id.raw = (buf->id);
for(i = 0; i < (buf->length); i++)
{
un_pitch_intput.rx_can_data.arr[i] = buf->dataBuffer[i];
}
// publishMessage(&un_pitch_intput, 1);
}
else{}
break;
@@ -689,9 +660,14 @@ void flexcan_Receive_callback_7(flexcan_handle_t *handle,
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
publishMessage(&un_remote_control_input, 1);
// printf("ori_remote_stop: %d\n", un_remote_control_input.bit_data.switch_b);
}
else if(REMOTE_ID_1 == (buf->id))
{
for(i = 0; i < (buf->length); i++)
{
un_remote_control_input.arr[i+8] = buf->dataBuffer[i];
}
}
else
{
}
@@ -898,11 +874,11 @@ void initialization_All_Flexcan(void)
{
sdrv_gpio_set_pin_output_level(GPIO_H12, 0); //CANʹ<4E><CAB9>
initialization_Flexcan(CAN_INDEX_0, &can_0_config, &can_0_fifo_config, flexcan_Receive_callback_0);//250k
initialization_Flexcan(CAN_INDEX_0, &can_0_config, &can_0_fifo_config, flexcan_Receive_callback_0);//1M
initialization_Flexcan(CAN_INDEX_1, &can_1_config, &can_1_fifo_config, flexcan_Receive_callback_1);//250k
initialization_Flexcan(CAN_INDEX_1, &can_1_config, &can_1_fifo_config, flexcan_Receive_callback_1);//1M
initialization_Flexcan(CAN_INDEX_2, &can_2_config, &can_2_fifo_config, flexcan_Receive_callback_2);//250k
initialization_Flexcan(CAN_INDEX_2, &can_2_config, &can_2_fifo_config, flexcan_Receive_callback_2);//1M
initialization_Flexcan(CAN_INDEX_3, &can_3_config, &can_3_fifo_config, flexcan_Receive_callback_3);//1M
@@ -1041,85 +1017,112 @@ void canTimerProcess(void *signal_id)
}
}
//static void processSdoOutput1(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x601, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output1, 8, 15);//
//}
//
//static void processSdoOutput2(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x601, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output2, 8, 16);
//}
//
//static void processSdoOutput3(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x601, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output3, 8, 17);
//}
//
//static void processSdoOutput4(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x601, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output4, 8, 18);
//}
//
//static void processSdoOutput5(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x601, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output5, 8, 19);
//}
//
//
//static void processSdoOutput7(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x601, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output7, 8, 20);
//}
static void processMotorOutput1(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_1, LEFT_FRONT_MOTOR_OUTPUT1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output1, 8, 15);//<2F><><EFBFBD><EFBFBD>1Ť<31>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_1, LEFT_REAR_MOTOR_OUTPUT1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output3, 8, 16);//<2F><><EFBFBD><EFBFBD>1Ť<31>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_1, un_motor_output1.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output1.tx_can_data.arr[0], 8, 15);//<2F><><EFBFBD><EFBFBD>1Ť<31>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_3, un_motor_output3.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output3.tx_can_data.arr[0], 8, 16);//<2F><><EFBFBD><EFBFBD>1Ť<31>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
static void processMotorOutput2(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_2, RIGHT_FRONT_MOTOR_OUTPUT1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output2, 8, 15);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_2, RIGHT_REAR_MOTOR_OUTPUT1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output4, 8, 16);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_2, un_motor_output2.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output2.tx_can_data.arr[0], 8, 15);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_4, un_motor_output4.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output4.tx_can_data.arr[0], 8, 16);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
static void processMotorOutput3(void *signal_id)
static void processSdoOutput1(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_1, LEFT_FRONT_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output1.arr[8], 8, 17);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_1, LEFT_REAR_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output3.arr[8], 8, 18);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, un_sdo_output1.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output1.tx_can_data.arr[0], 8, 15);//<2F><><EFBFBD><EFBFBD>1Ť<31>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, un_sdo_output4.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output4.tx_can_data.arr[0], 8, 16);//<2F><><EFBFBD><EFBFBD>1Ť<EFBFBD>غ<EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
static void processMotorOutput4(void *signal_id)
static void processmotorOutput5(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_2, RIGHT_FRONT_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output2.arr[8], 8, 17);//<2F><><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_2, RIGHT_REAR_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output4.arr[8], 8, 18);//<2F><><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, un_sdo_output5.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output5.tx_can_data.arr[0], 8, 19);//<2F><><EFBFBD><EFBFBD>2Ť<EFBFBD>غ<EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
static void processSdoOutput2(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, un_sdo_output2.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output2.tx_can_data.arr[0], 8, 17);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
static void processSdoOutput3(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
switch(un_sdo_output3.tx_can_id.raw)
{
case RIGHT_MOTOR_CANID:
CAN_Send_Msg(&can_handle_6, un_sdo_output3.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output3.tx_can_data.arr[0], 8, 18);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
break;
case PITCH_MOTOR_CANID:
CAN_Send_Msg(&can_handle_6, un_sdo_output3.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_sdo_output3.tx_can_data.arr[0], 8, 18);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
break;
default:;
}
}
static void processSdoOutput5(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_1, un_motor_output5.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output5.tx_can_data.arr[0], 8, 17);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
static void processSdoOutput6(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_2, un_motor_output6.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output6.tx_can_data.arr[0], 8, 17);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
static void processSdoOutput7(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_3, un_motor_output7.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output7.tx_can_data.arr[0], 8, 17);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
static void processSdoOutput8(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_4, un_motor_output8.tx_can_id.raw, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output8.tx_can_data.arr[0], 8, 17);//<2F><><EFBFBD><EFBFBD>2Ť<32>غ<EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
//static void processMotorOutput3(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//
//// CAN_Send_Msg(&can_handle_1, LEFT_FRONT_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output1.arr[8], 8, 17);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//// CAN_Send_Msg(&can_handle_1, LEFT_REAR_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output3.arr[8], 8, 18);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//
//}
//
//static void processMotorOutput4(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//// CAN_Send_Msg(&can_handle_2, RIGHT_FRONT_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output2.arr[8], 8, 17);//<2F><><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//// CAN_Send_Msg(&can_handle_2, RIGHT_REAR_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output4.arr[8], 8, 18);//<2F><><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//}
static void processKgfOutput1(void *signal_id)
{
(void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(1 == ecu_online)//20250318 <20>޸<EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>߲<EFBFBD><DFB2>ܷ<EFBFBD><DCB7>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD>E3ͬʱ<CDAC><CAB1><EFBFBD><EFBFBD>
{
// if(1 == ecu_online)//20250318 <20>޸<EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>߲<EFBFBD><DFB2>ܷ<EFBFBD><DCB7>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD>E3ͬʱ<CDAC><CAB1><EFBFBD><EFBFBD>
// {
un_inf_can_kgf_output1.bit_data.can_rx5 = 0xE3;
CAN_Send_Msg(&can_handle_0, 0x11000002, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_inf_can_kgf_output1, 8, 15);//KGF1
}
// }
}
static void processKgfOutput2(void *signal_id)
@@ -1133,16 +1136,6 @@ static void processKgfOutput2(void *signal_id)
}
//static void processKgfOutput2(void *signal_id)
//{
// (void)signal_id; // <20><><EFBFBD>DZ<EFBFBD><C7B1><EFBFBD>Ϊ<EFBFBD><CEAA>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// if(1 == ecu_online)//20250318 <20>޸<EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>߲<EFBFBD><DFB2>ܷ<EFBFBD><DCB7>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD>E3ͬʱ<CDAC><CAB1><EFBFBD><EFBFBD>
// {
// un_inf_can_kgf_output2.bit_data.can_rx5 = 0xE3;
// CAN_Send_Msg(&can_handle_0, 0x14000002, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_inf_can_kgf_output2, 8, 16);//KGF2
// }
//
//}
@@ -1161,7 +1154,7 @@ static void processWheelSpeedOutput(void *signal_id)
un_wheel_wpeed_output.bit_data.right_front = (uint16_t)((int16_t)(CANPressSpeedTemp));//ת<><D7AA>*1.8*60*100/1000/ ת/<2F><><EFBFBD>ӡ<EFBFBD><D3A1><EFBFBD><EFBFBD><EFBFBD>km/h һȦ1.8<EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>100<30><30><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>Ϊ0.01<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>Ϊ<EFBFBD>޷<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD> 20240629 <20><><EFBFBD>ٱȲ<D9B1><C8B2><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD>Ѿ<EFBFBD>
un_wheel_wpeed_output.bit_data.right_rear = (uint16_t)((int16_t)(CANPressSpeedTemp));//<2F><>ת<EFBFBD><D7AA>Ϊint<6E><74><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD>޷<EFBFBD><DEB7><EFBFBD>
CAN_Send_Msg(&can_handle_4, 0x98, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_wheel_wpeed_output, 8, 15);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_7, 0x98, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_wheel_wpeed_output, 8, 15);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
static void processHBridgeOutput(void *signal_id)
@@ -1205,11 +1198,11 @@ static void processUltrasonicOutput(void *signal_id)
void canSendAll(void *signal_id)
{
static uint16_t wheel_speed_cnt = 0;
// static uint8_t kgf_cnt = 0;
static uint16_t kgf_cnt = 0;
static uint16_t bms_cnt1 = 0;
static uint16_t bms_cnt2 = 0;
// static uint16_t bms_cnt2 = 0;
// static uint16_t motor_speed_cnt = 0;
static uint16_t motor_power_cnt = 0;
// static uint16_t motor_power_cnt = 0;
// static uint8_t h_bridge_cnt = 0;
uint8_t CanData[8] = {0,0,0,0,0,0,0,0};
//-------------------------------------------------------------------------
@@ -1222,27 +1215,18 @@ void canSendAll(void *signal_id)
CanData[0] = 0x5A;
CAN_Send_Msg(&can_handle_3, 0x100, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 1, 15);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_5, BMS_REQUEST_ID, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 1, 15);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
bms_cnt2 ++;
if(bms_cnt2 >= 1100)//1s
{
bms_cnt2 = 0;
CanData[0] = 0x5A;
CAN_Send_Msg(&can_handle_3, 0x101, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 1, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
motor_power_cnt ++;
if(motor_power_cnt >= 1000)//1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
{
motor_power_cnt = 0;
processMotorOutput3(CanData);
processMotorOutput4(CanData);
}
// motor_power_cnt ++;
// if(motor_power_cnt >= 1000)//1s<31><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
// {
// motor_power_cnt = 0;
// processMotorOutput3(CanData);
// processMotorOutput4(CanData);
// }
// motor_power_cnt ++;
// if(motor_power_cnt >= 10)//<2F><>ȡת<C8A1><D7AA> 20ms<6D><73><EFBFBD><EFBFBD>
@@ -1258,14 +1242,14 @@ void canSendAll(void *signal_id)
// processMotorOutput4(CanData);
// }
// kgf_cnt ++;
// if(kgf_cnt >= 5)//20210312 <20><><EFBFBD><EFBFBD>CANͨѶģ<D1B6><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 20210710<31>޸<EFBFBD>Ϊ50ms<6D><73><EFBFBD><EFBFBD>
// {
// kgf_cnt = 0;
//
// processKgfOutput1(CanData);
kgf_cnt ++;
if(kgf_cnt >= 1000)//20210312 <20><><EFBFBD><EFBFBD>CANͨѶģ<D1B6><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 20210710<31>޸<EFBFBD>Ϊ50ms<6D><73><EFBFBD><EFBFBD>
{
kgf_cnt = 0;
processKgfOutput1(CanData);
// processKgfOutput2(CanData);
// }
}
//
//<2F><><EFBFBD>ٷ<EFBFBD><D9B7><EFBFBD>
wheel_speed_cnt ++;
@@ -1275,14 +1259,14 @@ void canSendAll(void *signal_id)
processWheelSpeedOutput(CanData);
CAN_Send_Msg(&can_handle_0, 0x120, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_1, 0x121, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 17);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_2, 0x122, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 17);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_3, 0x123, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_4, 0x124, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_5, 0x125, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_6, 0x126, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_can_debug_output.arr[0], 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_Send_Msg(&can_handle_7, 0x127, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_0, 0x120, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_1, 0x121, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 17);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_2, 0x122, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 17);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_3, 0x123, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_4, 0x124, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_5, 0x125, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_6, 0x126, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_can_debug_output.arr[0], 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// CAN_Send_Msg(&can_handle_7, 0x127, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS<4D><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
//
@@ -1394,6 +1378,19 @@ void canInterfaceInit(void)
subscribe(&un_motor_output1, processMotorOutput1);
subscribe(&un_motor_output2, processMotorOutput2);
subscribe(&un_sdo_output1, processSdoOutput1);
subscribe(&un_sdo_output2, processSdoOutput2);
subscribe(&un_sdo_output3, processSdoOutput3);
subscribe(&un_sdo_output5, processmotorOutput5);
subscribe(&un_motor_output5, processSdoOutput5);
subscribe(&un_motor_output6, processSdoOutput6);
subscribe(&un_motor_output7, processSdoOutput7);
subscribe(&un_motor_output8, processSdoOutput8);
subscribe(&un_inf_can_kgf_output1, processKgfOutput1);
subscribe(&un_inf_can_kgf_output2, processKgfOutput2);
subscribe(&un_wheel_wpeed_output, processWheelSpeedOutput);
@@ -1404,8 +1401,8 @@ void canInterfaceInit(void)