568 lines
17 KiB
C
568 lines
17 KiB
C
#include "MAIN.H"
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#include "user.H"
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//can信息
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UnInfCan UnInfCan_1 _at_ 0xF5E8;
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UnSwSample UnSwSample_1 = {0};
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UnSwOut UnSwOut_1 = {0};
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//CAN发送周期
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uword CntCan_1 = 0;
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bit FlgCan_1 = 0;
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//第一次采集到有效数据指示
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bit FlgOneTime = 0;
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uword RgCanPerid = 1000;
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//PWM 20181227
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ubyte PwmH[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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uword adc_result = 0;
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//RAM重启保存标志
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ubyte RestartDataFlg1 _at_ 0xF5E7;
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ubyte RestartDataFlg2 _at_ 0xF600;
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//KGF保存数据
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uword RestartDataKGF _at_ 0xF5E5;
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MotorDirection motor_dir;
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MotorState motor_sta;
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ubyte can_error_cnt = 0;
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ubyte can_error_flg = 0;
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//-----------------------------------------------------------------------
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//RTC定时器
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//-----------------------------------------------------------------------
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void RTCProcess(void)
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{
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//************************************************************************
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//////CAN发送周期
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if(FlgCan_1){CntCan_1++;if(CntCan_1 >= RgCanPerid){FlgCan_1=0; CntCan_1=0;}}else{CntCan_1=0;}
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//************************************************************************
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}
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//初始化完成发送CAN帧 20210706
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//ubyte *pStt, 发送数据，只发送两个字节
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void InitCanTransmit(ubyte InitCanTransmit1,ubyte InitCanTransmit2)
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{
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ubyte InitCanTransmitbuf[8] = {0,0,0,0,0,0,0,0};
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//----------------------------------------------------------------
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InitCanTransmitbuf[0] = 0;
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InitCanTransmitbuf[1] = 0;
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InitCanTransmitbuf[2] = InitCanTransmit1;
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InitCanTransmitbuf[3] = InitCanTransmit2;
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InitCanTransmitbuf[4] = 0;
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InitCanTransmitbuf[5] = 0;
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InitCanTransmitbuf[6] = 0;
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InitCanTransmitbuf[7] = 0;
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// CAN_waitTransmit(DF_SwTx);//不需要等待上一帧发送完成，因为这是第一次发送
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//// Password();
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CAN_vLoadData(DF_SwTxInit, (ulong *)(InitCanTransmitbuf)); // 装载数据
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CAN_vTransmit(DF_SwTxInit);
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}
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//输出PWM 20181227
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/*
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ubyte *pStt, 状态机变量
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bit Cmd, 状态机输入，1，根据PwmH的值来决定输出，0，输出0
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bit Out, 状态机输出
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ubyte *pCnt, 定时计数器
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ubyte *pPwmH 状态机参数，PWM的高电平时间
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*/
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bit funcPwmOut(ubyte *pStt,bit Cmd,ubyte *pCnt,ubyte *pPwmH)
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{
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ubyte PwmL = 0;
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bit Out = 0;
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//------------------------------------------------------------------------------------------------
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if((*pPwmH) > dfPwmH)(*pPwmH) = dfPwmH; //限制最大值
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PwmL = dfPwmH - (*pPwmH);//计算PWM低电平
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if((1 == Cmd) )
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{
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if(0 == (*pPwmH)) //高电平为0，表示PWM无效，由Cmd来控制，Cmd为1输出1，Cmd为0，输出0
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{
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Out = 1;
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(*pStt) = 0;
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}
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else
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{
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switch((*pStt))
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{
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case 0:
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(*pCnt) = 0;
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(*pStt) = 1;
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Out = 1;
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break;
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case 1:
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if((*pCnt) >= (*pPwmH))
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{
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(*pCnt) = 0;
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(*pStt) = 2;
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Out = 0;
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}
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else
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{
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(*pCnt)++;
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(*pStt) = 1;
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Out = 1;
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}
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break;
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case 2:
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if((*pCnt) >= PwmL)
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{
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(*pCnt) = 0;
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(*pStt) = 1;
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Out = 1;
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}
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else
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{
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(*pCnt)++;
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(*pStt) = 2;
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Out = 0;
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}
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break;
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//-----------------------------------------------------
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default:;
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}//switch
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}//else
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}//if
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else
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{
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Out = 0;
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(*pStt) = 0;
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}
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return Out;
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}
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//根据接收的CAN缓冲区数据驱动相应ＬＥＤ指示灯。
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void LedDr(void)
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{
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static ubyte RgSTT[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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static ubyte CntTime[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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ubyte i = 0;
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//------------------------------------------------------------------------------------------------
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dfOut_01 = funcPwmOut(&RgSTT[0 ],dfCmd_01,&CntTime[0 ],&PwmH[0 ]);
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dfOut_02 = funcPwmOut(&RgSTT[1 ],dfCmd_02,&CntTime[1 ],&PwmH[1 ]);
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dfOut_03 = funcPwmOut(&RgSTT[2 ],dfCmd_03,&CntTime[2 ],&PwmH[2 ]);
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dfOut_04 = funcPwmOut(&RgSTT[3 ],dfCmd_04,&CntTime[3 ],&PwmH[3 ]);
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dfOut_05 = funcPwmOut(&RgSTT[4 ],dfCmd_05,&CntTime[4 ],&PwmH[4 ]);
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dfOut_06 = funcPwmOut(&RgSTT[5 ],dfCmd_06,&CntTime[5 ],&PwmH[5 ]);
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dfOut_07 = funcPwmOut(&RgSTT[6 ],dfCmd_07,&CntTime[6 ],&PwmH[6 ]);
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dfOut_08 = funcPwmOut(&RgSTT[7 ],dfCmd_08,&CntTime[7 ],&PwmH[7 ]);
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dfOut_09 = funcPwmOut(&RgSTT[8 ],dfCmd_09,&CntTime[8 ],&PwmH[8 ]);
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dfOut_10 = funcPwmOut(&RgSTT[9 ],dfCmd_10,&CntTime[9 ],&PwmH[9 ]);
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dfOut_11 = funcPwmOut(&RgSTT[10],dfCmd_11,&CntTime[10],&PwmH[10]);
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dfOut_12 = funcPwmOut(&RgSTT[11],dfCmd_12,&CntTime[11],&PwmH[11]);
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dfOut_13 = funcPwmOut(&RgSTT[12],dfCmd_13,&CntTime[12],&PwmH[12]);
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dfOut_14 = funcPwmOut(&RgSTT[13],dfCmd_14,&CntTime[13],&PwmH[13]);
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dfOut_15 = funcPwmOut(&RgSTT[14],dfCmd_15,&CntTime[14],&PwmH[14]);
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dfOut_16 = funcPwmOut(&RgSTT[15],dfCmd_16,&CntTime[15],&PwmH[15]);
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i = dfOut_02; //20210906保存IO口状态 解决KGF重启指示灯闪烁问题
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RestartDataKGF = dfOut_01;
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RestartDataKGF = RestartDataKGF + (i<<1);
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i = dfOut_03;
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RestartDataKGF = RestartDataKGF + (i<<2);
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i = dfOut_04;
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RestartDataKGF = RestartDataKGF + (i<<3);
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i = dfOut_05;
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RestartDataKGF = RestartDataKGF + (i<<4);
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i = dfOut_06;
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RestartDataKGF = RestartDataKGF + (i<<5);
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i = dfOut_07;
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RestartDataKGF = RestartDataKGF + (i<<6);
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i = dfOut_08;
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RestartDataKGF = RestartDataKGF + (i<<7);
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i = dfOut_09;
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RestartDataKGF = RestartDataKGF + (i<<8);
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i = dfOut_10;
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RestartDataKGF = RestartDataKGF + (i<<9);
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i = dfOut_11;
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RestartDataKGF = RestartDataKGF + (i<<10);
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i = dfOut_12;
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RestartDataKGF = RestartDataKGF + (i<<11);
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i = dfOut_13;
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RestartDataKGF = RestartDataKGF + (i<<12);
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i = dfOut_14;
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RestartDataKGF = RestartDataKGF + (i<<13);
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i = dfOut_15;
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RestartDataKGF = RestartDataKGF + (i<<14);
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i = dfOut_16;
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RestartDataKGF = RestartDataKGF + (i<<15);
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}
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//can错误处理
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void CanErrorProcess(void)
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{
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ubyte ubNSRL = 0;
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ubyte ubNSRH = 0;
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ubyte ubResetLEC = 0x3F;
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//-------------------------------------------
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EA = 0;
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CAN_pushAMRegs(); // push the CAN Access Mediator Registers
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SFR_PAGE(_su0, SST0); // switch to page 0
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CAN_vWriteCANAddress(CAN_NSR0);
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CAN_vReadEN();
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ubNSRL = CAN_DATA0;
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ubNSRH = CAN_DATA1;
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if (ubNSRL & 0x20) // if ALERT
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{
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CAN_vInit();
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}
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if (ubNSRL & 0x07) // if LEC
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{
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ubResetLEC = 0x38;
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}
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//// Reset LEC, TXOK, RXOK, ALERT, EWRN, BOFF, LLE, LOE (if set)
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CAN_vWriteCANAddress(CAN_NSR0); // Addressing CAN_NSR0
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CAN_DATA0 = ~(ubNSRL & ubResetLEC); // load CAN_NSR0 status register[7-0]
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CAN_DATA1 = ~(ubNSRH); // load CAN_NSR0 status register[15-8]
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CAN_vWriteEN(D0_VALID+D1_VALID); // Data0 and Data1 are Valid for
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SFR_PAGE(_su0, RST0); // restore the old SCU page
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CAN_popAMRegs(); // restore the CAN Access Mediator Registers
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EA = 1;
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}
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////效验算法
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//void Password(void)
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//{
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// ubyte i;
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////---------------------------------
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// for(i=0;i<5;i++)
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// {
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// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][3];//CAN 第0个字节
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// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][2];//CAN 第1个字节
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// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][1];//CAN 第2个字节
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// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][0];//CAN 第3个字节
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// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][7];//CAN 第4个字节
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// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][6];//CAN 第5个字节
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// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][5];//CAN 第6个字节
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// }
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//}
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void CanTransmit(void)
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{
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// ulong i;
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//----------------- --------
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CAN_waitTransmit(DF_SwTx);//发送前等待上一帧发送完毕，这样不会丢帧
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// Password();
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CAN_vLoadData(DF_SwTx, (ulong *)(&UnInfCan_1.ArrData.Arr[0][0])); // 装载数据
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CAN_vTransmit(DF_SwTx);
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}
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//CAN发送一帧
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void CanTX(void)
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{
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//-----------------------------------
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// if(1 == SwOut09)UnInfCan_1.ArrData.Arr[0][3] |= 0x01;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x01); //KGF1 //20200303修改为与接收到的数据一致，反馈与接收到时数据为一致
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// if(1 == SwOut10)UnInfCan_1.ArrData.Arr[0][3] |= 0x02;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x02); //KGF2
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// if(1 == SwOut04)UnInfCan_1.ArrData.Arr[0][3] |= 0x04;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x04); //KGF3
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// if(1 == SwOut03)UnInfCan_1.ArrData.Arr[0][3] |= 0x08;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x08); //KGF4
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// if(1 == SwOut06)UnInfCan_1.ArrData.Arr[0][3] |= 0x10;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x10); //KGF5
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// if(1 == SwOut05)UnInfCan_1.ArrData.Arr[0][3] |= 0x20;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x20); //KGF6
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// if(1 == SwOut15)UnInfCan_1.ArrData.Arr[0][3] |= 0x40;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x40); //KGF7
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// if(1 == SwOut16)UnInfCan_1.ArrData.Arr[0][3] |= 0x80;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x80); //KGF8
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// if(1 == SwOut13)UnInfCan_1.ArrData.Arr[0][2] |= 0x01;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x01); //KGF9
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// if(1 == SwOut14)UnInfCan_1.ArrData.Arr[0][2] |= 0x02;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x02); //KGF10
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// if(1 == SwOut08)UnInfCan_1.ArrData.Arr[0][2] |= 0x04;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x04); //KGF11
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// if(1 == SwOut07)UnInfCan_1.ArrData.Arr[0][2] |= 0x08;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x08); //KGF12
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// if(1 == SwOut02)UnInfCan_1.ArrData.Arr[0][2] |= 0x10;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x10); //KGF13
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// if(1 == SwOut01)UnInfCan_1.ArrData.Arr[0][2] |= 0x20;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x20); //KGF14
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// if(1 == SwOut11)UnInfCan_1.ArrData.Arr[0][2] |= 0x40;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x40); //KGF15
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// if(1 == SwOut12)UnInfCan_1.ArrData.Arr[0][2] |= 0x80;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x80); //KGF16
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// if(1 == SwIn01 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x01);else UnInfCan_1.ArrData.Arr[0][1] |= 0x01; //Dia01 20200225修改为0数据变为1,1数据变为0，这样大CPU方便处理
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// if(1 == SwIn02 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x02);else UnInfCan_1.ArrData.Arr[0][1] |= 0x02; //Dia02
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// if(1 == SwIn03 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x04);else UnInfCan_1.ArrData.Arr[0][1] |= 0x04; //Dia03
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// if(1 == SwIn04 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x08);else UnInfCan_1.ArrData.Arr[0][1] |= 0x08; //Dia04
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// if(1 == SwIn05 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x10);else UnInfCan_1.ArrData.Arr[0][1] |= 0x10; //Dia05
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// if(1 == SwIn06 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x20);else UnInfCan_1.ArrData.Arr[0][1] |= 0x20; //Dia06
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// if(1 == SwIn07 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x40);else UnInfCan_1.ArrData.Arr[0][1] |= 0x40; //Dia07
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// if(1 == SwIn08 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x80);else UnInfCan_1.ArrData.Arr[0][1] |= 0x80; //Dia08
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UnInfCan_1.ArrData.Arr[0][3] = UnInfCan_1.ArrData.ArrRX[0][0];
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UnInfCan_1.ArrData.Arr[0][2] = UnInfCan_1.ArrData.ArrRX[0][1];
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UnInfCan_1.ArrData.Arr[0][1] = motor_sta;
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UnInfCan_1.ArrData.Arr[0][0] = can_error_flg;
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UnInfCan_1.ArrData.Arr[0][7] = 0;
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UnInfCan_1.ArrData.Arr[0][6] = 0;
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UnInfCan_1.ArrData.Arr[0][5] = (ubyte)(adc_result>>8);
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UnInfCan_1.ArrData.Arr[0][4] = (ubyte)(adc_result);
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CanTransmit();
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}
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/*-------- 电机控制函数 --------*/
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// 电机正转（通道0工作）
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void motorForward(void)
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{
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CC6_vLoadChannelShadowRegister_CC6_CHANNEL_0(0x0960*1/255);//这个是50us UnInfCan_1.ArrData.ArrRX[0][1]
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CC6_vLoadChannelShadowRegister_CC6_CHANNEL_1(0x0960);//这个是50us
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CC6_vEnableShadowTransfer_CC6_TIMER_12();
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CC6_vEnableShadowTransfer_CC6_TIMER_13();
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}
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// 电机反转（通道1工作）
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void motorReverse(void)
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{
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CC6_vLoadChannelShadowRegister_CC6_CHANNEL_0(0x0960);//这个是50us
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CC6_vLoadChannelShadowRegister_CC6_CHANNEL_1(0x0960*1/255);//这个是50us
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CC6_vEnableShadowTransfer_CC6_TIMER_12();
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CC6_vEnableShadowTransfer_CC6_TIMER_13();
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}
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// 电机停止（所有通道关闭）
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void motorStop(void)
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{
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CC6_vLoadChannelShadowRegister_CC6_CHANNEL_0(0x0960);//这个是50us
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CC6_vLoadChannelShadowRegister_CC6_CHANNEL_1(0x0960);//这个是50us
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CC6_vEnableShadowTransfer_CC6_TIMER_12();
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CC6_vEnableShadowTransfer_CC6_TIMER_13();
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}
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// 电机停止（所有通道关闭）
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void motorStop1(void)
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{
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CC6_vLoadChannelShadowRegister_CC6_CHANNEL_0(0x0960*UnInfCan_1.ArrData.ArrRX[0][1]/255);//这个是50us UnInfCan_1.ArrData.ArrRX[0][1]
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CC6_vLoadChannelShadowRegister_CC6_CHANNEL_1(0x0960*UnInfCan_1.ArrData.ArrRX[0][1]/255);//这个是50us
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CC6_vEnableShadowTransfer_CC6_TIMER_12();
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CC6_vEnableShadowTransfer_CC6_TIMER_13();
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}
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// 电机状态机函数
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// 电机状态机函数
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void motorStateMachine(MotorState *current_state,
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MotorDirection direction_cmd,
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bool over_current)
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{
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switch (*current_state)
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{
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// 停止状态
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case MOTOR_STOPPED:
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if (over_current) {
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*current_state = MOTOR_FAULT;
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motorStop();
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}
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else if (direction_cmd == DIR_FORWARD) {
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*current_state = MOTOR_FORWARD;
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motorForward();
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}
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||
else if (direction_cmd == DIR_REVERSE) {
|
||
*current_state = MOTOR_REVERSE;
|
||
motorReverse();
|
||
}
|
||
else {
|
||
motorStop(); // 确保停止（处理其他无效值）
|
||
}
|
||
break;
|
||
|
||
// 正转状态
|
||
case MOTOR_FORWARD:
|
||
if (over_current) {
|
||
*current_state = MOTOR_FAULT;
|
||
motorStop();
|
||
}
|
||
else if (direction_cmd != DIR_FORWARD) {
|
||
*current_state = MOTOR_STOPPED;
|
||
motorStop();
|
||
}
|
||
// 否则保持正转状态
|
||
break;
|
||
|
||
// 反转状态
|
||
case MOTOR_REVERSE:
|
||
if (over_current) {
|
||
*current_state = MOTOR_FAULT;
|
||
motorStop();
|
||
}
|
||
else if (direction_cmd != DIR_REVERSE) {
|
||
*current_state = MOTOR_STOPPED;
|
||
motorStop();
|
||
}
|
||
// 否则保持反转状态
|
||
break;
|
||
|
||
// 故障状态（过流保护）
|
||
case MOTOR_FAULT:
|
||
// 只有在停止命令时才能退出故障状态
|
||
if (direction_cmd == DIR_STOP) {
|
||
*current_state = MOTOR_STOPPED;
|
||
}
|
||
// 否则保持故障状态，电机保持停止
|
||
motorStop();
|
||
break;
|
||
|
||
default:
|
||
// 异常处理
|
||
*current_state = MOTOR_STOPPED;
|
||
motorStop();
|
||
break;
|
||
}
|
||
}
|
||
|
||
|
||
//CAN发送接收
|
||
void CanRXTX(void)
|
||
{
|
||
stCAN_SWObj StrCanRx = {0};
|
||
uword tmp = 0;
|
||
ubyte i = 0,j = 0;
|
||
static ubyte first_sta = 0;
|
||
bool over_current1 = 0;
|
||
|
||
|
||
//------------------------------------
|
||
|
||
if(0 == first_sta)
|
||
{
|
||
first_sta = 1;
|
||
// 启动并行ADC请求（假设通道0x80对应实际物理通道）
|
||
ADC_vStartParReqChNum(0x80);
|
||
// 设置加载事件（需确认函数参数）
|
||
ADC_vSetLoadEvent();
|
||
}
|
||
|
||
// 等待转换完成（需明确仲裁槽号）
|
||
if(0 == ADC_ubBusy())
|
||
{
|
||
UnInfCan_1.ArrData.Arr[0][3] ++;
|
||
// 获取结果
|
||
adc_result = ADC_uwGetResultData0();
|
||
|
||
// 启动并行ADC请求（假设通道0x80对应实际物理通道）
|
||
ADC_vStartParReqChNum(0x80);
|
||
// 设置加载事件（需确认函数参数）
|
||
ADC_vSetLoadEvent();
|
||
}
|
||
|
||
if(CAN_ubNewData(DF_SwRx))
|
||
{
|
||
CAN_vGetMsgObj(DF_SwRx, &StrCanRx);
|
||
|
||
UnInfCan_1.ArrData.ArrRX[0][3] = StrCanRx.ulDATAL.ubDB[0];
|
||
UnInfCan_1.ArrData.ArrRX[0][2] = StrCanRx.ulDATAL.ubDB[1];
|
||
UnInfCan_1.ArrData.ArrRX[0][1] = StrCanRx.ulDATAL.ubDB[2];
|
||
UnInfCan_1.ArrData.ArrRX[0][0] = StrCanRx.ulDATAL.ubDB[3];
|
||
UnInfCan_1.ArrData.ArrRX[0][7] = StrCanRx.ulDATAH.ubDB[0];
|
||
UnInfCan_1.ArrData.ArrRX[0][6] = StrCanRx.ulDATAH.ubDB[1];
|
||
UnInfCan_1.ArrData.ArrRX[0][5] = StrCanRx.ulDATAH.ubDB[2];
|
||
UnInfCan_1.ArrData.ArrRX[0][4] = StrCanRx.ulDATAH.ubDB[3];
|
||
|
||
CAN_vReleaseObj(DF_SwRx);
|
||
|
||
//CAN发送周期 50-5000ms
|
||
tmp = (uword)UnInfCan_1.ArrData.ArrRX[0][6];
|
||
tmp = (tmp << 8);
|
||
tmp |= ((uword)UnInfCan_1.ArrData.ArrRX[0][7]);
|
||
if(tmp >= 50)RgCanPerid = tmp;
|
||
if(tmp >= 5000)RgCanPerid = 5000;
|
||
|
||
}
|
||
|
||
// 读取方向控制信号（根据您的硬件接口）
|
||
if (1 == UnInfCan_1.BitData.D21 && 0 == UnInfCan_1.BitData.D22)
|
||
{
|
||
motor_dir = DIR_FORWARD;
|
||
}
|
||
else if (0 == UnInfCan_1.BitData.D21 && 1 == UnInfCan_1.BitData.D22)
|
||
{
|
||
motor_dir = DIR_REVERSE;
|
||
}
|
||
else
|
||
{
|
||
motor_dir = DIR_STOP;
|
||
}
|
||
|
||
if(adc_result < OVRE_CURRENT_MAX)//过流状态采集到的是低电平，正常是高电平。
|
||
{
|
||
over_current1 = 1;
|
||
}
|
||
else
|
||
{
|
||
over_current1 = 0;
|
||
}
|
||
|
||
motorStateMachine(&motor_sta, motor_dir, over_current1); //处理电机
|
||
|
||
if(CAN_ubNewData(DF_SwRxPwm))
|
||
{
|
||
CAN_vGetMsgObj(DF_SwRxPwm, &StrCanRx);
|
||
|
||
UnInfCan_1.ArrData.ArrRX[1][2] = StrCanRx.ulDATAL.ubDB[0];
|
||
UnInfCan_1.ArrData.ArrRX[1][3] = StrCanRx.ulDATAL.ubDB[1];
|
||
UnInfCan_1.ArrData.ArrRX[1][0] = StrCanRx.ulDATAL.ubDB[2];
|
||
UnInfCan_1.ArrData.ArrRX[1][1] = StrCanRx.ulDATAL.ubDB[3];
|
||
UnInfCan_1.ArrData.ArrRX[1][6] = StrCanRx.ulDATAH.ubDB[0];
|
||
UnInfCan_1.ArrData.ArrRX[1][7] = StrCanRx.ulDATAH.ubDB[1];
|
||
UnInfCan_1.ArrData.ArrRX[1][4] = StrCanRx.ulDATAH.ubDB[2];
|
||
UnInfCan_1.ArrData.ArrRX[1][5] = StrCanRx.ulDATAH.ubDB[3];
|
||
|
||
CAN_vReleaseObj(DF_SwRxPwm);
|
||
//接收的数据保存到PWM数据结构中20181227
|
||
PwmH[0 ] = (ubyte)UnInfCan_1.BitData.Pwm_01;
|
||
PwmH[1 ] = (ubyte)UnInfCan_1.BitData.Pwm_02;
|
||
PwmH[2 ] = (ubyte)UnInfCan_1.BitData.Pwm_03;
|
||
PwmH[3 ] = (ubyte)UnInfCan_1.BitData.Pwm_04;
|
||
PwmH[4 ] = (ubyte)UnInfCan_1.BitData.Pwm_05;
|
||
PwmH[5 ] = (ubyte)UnInfCan_1.BitData.Pwm_06;
|
||
PwmH[6 ] = (ubyte)UnInfCan_1.BitData.Pwm_07;
|
||
PwmH[7 ] = (ubyte)UnInfCan_1.BitData.Pwm_08;
|
||
PwmH[8 ] = (ubyte)UnInfCan_1.BitData.Pwm_09;
|
||
PwmH[9 ] = (ubyte)UnInfCan_1.BitData.Pwm_10;
|
||
PwmH[10] = (ubyte)UnInfCan_1.BitData.Pwm_11;
|
||
PwmH[11] = (ubyte)UnInfCan_1.BitData.Pwm_12;
|
||
PwmH[12] = (ubyte)UnInfCan_1.BitData.Pwm_13;
|
||
PwmH[13] = (ubyte)UnInfCan_1.BitData.Pwm_14;
|
||
PwmH[14] = (ubyte)UnInfCan_1.BitData.Pwm_15;
|
||
PwmH[15] = (ubyte)UnInfCan_1.BitData.Pwm_16;
|
||
|
||
|
||
// UnInfCan_1.ArrData.Arr[0][3] = UnInfCan_1.ArrData.ArrRX[1][0];
|
||
// UnInfCan_1.ArrData.Arr[0][2] = UnInfCan_1.ArrData.ArrRX[1][1];
|
||
// UnInfCan_1.ArrData.Arr[0][1] = UnInfCan_1.ArrData.ArrRX[1][2]; 20200225注释不更新诊断数据
|
||
// UnInfCan_1.ArrData.Arr[0][0] = UnInfCan_1.ArrData.ArrRX[1][3];
|
||
// UnInfCan_1.ArrData.Arr[0][7] = UnInfCan_1.ArrData.ArrRX[1][4];
|
||
// UnInfCan_1.ArrData.Arr[0][6] = UnInfCan_1.ArrData.ArrRX[1][5];
|
||
// UnInfCan_1.ArrData.Arr[0][5] = UnInfCan_1.ArrData.ArrRX[1][6];
|
||
// UnInfCan_1.ArrData.Arr[0][4] = UnInfCan_1.ArrData.ArrRX[1][7];
|
||
// CanTransmit();
|
||
|
||
}
|
||
//接收一帧，调用一次点灯程序。
|
||
// LedDr();
|
||
|
||
//100ms发送一帧
|
||
if(!FlgCan_1)
|
||
{
|
||
FlgCan_1 = 1;
|
||
CanTX();
|
||
}
|
||
|
||
|
||
if( (0x40 == can_error_cnt) || (0x80 == can_error_cnt) )//20250625判断是否出现总线错误
|
||
{
|
||
can_error_flg = can_error_cnt;
|
||
CAN_vInit();
|
||
can_error_cnt = 0;
|
||
}
|
||
|
||
|
||
}
|