408 lines
12 KiB
C
408 lines
12 KiB
C
#include "MAIN.H"-
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#include "RTC.H"
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#include "temperature.H"
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#include <string.h>
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//can信息
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UnInfCan UnInfCan_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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UnTimeOutput sleeptime = {0};
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UnTimeOutput waketime = {0};
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UnTimeOutput currenttime = {0};
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UnTimeOutput inittime = {00,1,1,0,0,0,0,0};// 默认设置 2000年，1月1日 周日，0：0：00
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UnTimeOutput un_time_output1 = {0};//接收设定时间
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UnInfCanKGFOutput un_inf_can_kgf_output2 = {0};//kgf输出
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UnInfCanKGFOutput un_inf_can_kgf_output1 = {0};//kgf输出
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UnTimeOutput waketimelast = {0};
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UnTimeOutput wake_time_10min = {0};
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SystemState sleepstate = STATE_INIT;
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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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ubyte powerstate = 0;//电源状态
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ubyte vcu_can_cnt = 0; // 帧累加器
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ubyte vcu_can_last = 0; // 帧累加器过去值
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bool flg_wake_ecu = 0; //控制器唤醒标志
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bool flg_KGF = 0;//KGF唤醒标志
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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 890-=
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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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//can错误处理
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void CanErrorProcess(void)
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{
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ubyte ubNSRL;
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ubyte ubNSRH;
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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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void CanTransmit(void)
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{
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//----------------- --------
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// 装载数据
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if(1 == flg_KGF)//等待KGF唤醒后再发送数据
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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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CAN_vLoadData(DF_SwTx, (ulong *)(&UnInfCan_1.ArrData.Arr[0][0]));
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CAN_vTransmit(DF_SwTx);
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}
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}
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void canSendTo(ubyte index,ubyte *buf)
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{
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ubyte CanTransmitbuf[8] = {0,0,0,0,0,0,0,0};
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//----------------- --------
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CanTransmitbuf[2] = buf[0];
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CanTransmitbuf[3] = buf[1];
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CanTransmitbuf[0] = buf[2];
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CanTransmitbuf[1] = buf[3];
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CanTransmitbuf[6] = buf[4];
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CanTransmitbuf[7] = buf[5];
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CanTransmitbuf[4] = buf[6];
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CanTransmitbuf[5] = buf[7];
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CAN_waitTransmit(index);//发送前等待上一帧发送完毕，这样不会丢帧
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CAN_vLoadData(index, (ulong *)CanTransmitbuf);// 装载数据
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CAN_vTransmit(index);
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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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UnInfCan_1.ArrData.Arr[0][3] = currenttime.bit_data.year;
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UnInfCan_1.ArrData.Arr[0][2] = currenttime.bit_data.month;
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UnInfCan_1.ArrData.Arr[0][1] = currenttime.bit_data.day;
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UnInfCan_1.ArrData.Arr[0][0] = currenttime.bit_data.hour;
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UnInfCan_1.ArrData.Arr[0][7] = currenttime.bit_data.week;
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UnInfCan_1.ArrData.Arr[0][6] = currenttime.bit_data.minute;
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UnInfCan_1.ArrData.Arr[0][5] = currenttime.bit_data.second;
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UnInfCan_1.ArrData.Arr[0][4] = waketime.bit_data.day;
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CanTransmit();
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}
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//休眠处理函数
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//------------------------------------------------------------------
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void SystemStateMachine(SystemState *RgSTT)
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{
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//----------------------------------------------
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switch (*RgSTT)
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{
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//-------------------------------------------
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case STATE_INIT:
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if(NORMAL == flg_wake_ecu)//控制器唤醒
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{
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bm8563SetAlarm(&waketime); //设置唤醒时间
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memcpy(&waketimelast,&waketime,sizeof(UnTimeOutput));
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*RgSTT = STATE_ON;
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}
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else
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{
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*RgSTT = STATE_INIT;
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}
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break;
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case STATE_ON:
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if(bm8563CheckAlarmFlag())//唤醒时间到以及高压开关关闭
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{
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bm8563SetTime(&inittime);//20250802 初始化时间 解决因为时间不对导致无法休眠问题
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bm8563SetAlarm(&sleeptime);//设置休眠时间
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KGF_PIN = 0; //KGF休眠
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CAN_PIN = 1; //can芯片休眠
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BATTERY_PIN = 0;//电池休眠
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*RgSTT = STATE_INIT; // 初始化状态
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PS_vSetPowerDown();//休眠
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}
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else if(0 != memcmp(&waketimelast,&waketime,sizeof(UnTimeOutput)))//比较值是否一样，不一样的话立马更新
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{
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memcpy(&waketimelast,&waketime,sizeof(UnTimeOutput));
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bm8563SetAlarm(&waketime);
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*RgSTT = STATE_ON; // 保持状态（唤醒后由中断处理）
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}
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else if( (POWER_WORKING == powerstate) || (POWER_EMERGENCY == powerstate) )//等于工作状态
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{
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*RgSTT = STATE_ON2; // 进入STATE_ON2
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}
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else
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{
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*RgSTT = STATE_ON; // 保持
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}
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break;
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case STATE_ON2:
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if( POWER_STANDBY == powerstate )//总开关关闭或者进入standy
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{
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bm8563SetTime(&inittime);//20250802 初始化时间 解决因为时间不对导致无法休眠问题
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bm8563SetAlarm(&sleeptime);
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KGF_PIN = 0; //KGF休眠
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CAN_PIN = 1; //can芯片休眠
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BATTERY_PIN = 0;//电池休眠
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*RgSTT = STATE_INIT; // 保持状态（唤醒后由中断处理）
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PS_vSetPowerDown();//休眠
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}
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else
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{
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*RgSTT = STATE_ON2; // 保持
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}
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break;
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default:;
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}
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}
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//CAN发送接收
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void CanRXTX(void)
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{
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stCAN_SWObj StrCanRx = {0};
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uword tmp = 0;
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ubyte i = 0,j = 0;
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uword TimeTemp = 0;
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uword HoursTemp = 0;
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uword DaysTemp = 0;
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//------------------------------------
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if(CAN_ubNewData(DF_RXTIME))
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{
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CAN_vGetMsgObj(DF_RXTIME, &StrCanRx);
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un_time_output1.arr[3] = StrCanRx.ulDATAL.ubDB[0];
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un_time_output1.arr[2] = StrCanRx.ulDATAL.ubDB[1];
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un_time_output1.arr[1] = StrCanRx.ulDATAL.ubDB[2];
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un_time_output1.arr[0] = StrCanRx.ulDATAL.ubDB[3];
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un_time_output1.arr[7] = StrCanRx.ulDATAH.ubDB[0];
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un_time_output1.arr[6] = StrCanRx.ulDATAH.ubDB[1];
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un_time_output1.arr[5] = StrCanRx.ulDATAH.ubDB[2];
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un_time_output1.arr[4] = StrCanRx.ulDATAH.ubDB[3];
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CAN_vReleaseObj(DF_RXTIME);
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bm8563SetTime(&un_time_output1);
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}
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if(CAN_ubNewData(DF_SwRxKGF2))//等待KGF唤醒
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{
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CAN_vGetMsgObj(DF_SwRxKGF2, &StrCanRx);
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CAN_vReleaseObj(DF_SwRxKGF2);
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flg_KGF = 1;
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}
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//----------------------------------------------------------
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if(CAN_ubNewData(DF_SwRx))
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{
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CAN_vGetMsgObj(DF_SwRx, &StrCanRx);
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UnInfCan_1.ArrData.ArrRX[0][3] = StrCanRx.ulDATAL.ubDB[0];
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UnInfCan_1.ArrData.ArrRX[0][2] = StrCanRx.ulDATAL.ubDB[1];
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UnInfCan_1.ArrData.ArrRX[0][1] = StrCanRx.ulDATAL.ubDB[2];
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UnInfCan_1.ArrData.ArrRX[0][0] = StrCanRx.ulDATAL.ubDB[3];
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UnInfCan_1.ArrData.ArrRX[0][7] = StrCanRx.ulDATAH.ubDB[0];
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UnInfCan_1.ArrData.ArrRX[0][6] = StrCanRx.ulDATAH.ubDB[1];
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UnInfCan_1.ArrData.ArrRX[0][5] = StrCanRx.ulDATAH.ubDB[2];
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UnInfCan_1.ArrData.ArrRX[0][4] = StrCanRx.ulDATAH.ubDB[3];
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CAN_vReleaseObj(DF_SwRx);
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vcu_can_cnt ++;//节点在线检测累加
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powerstate = UnInfCan_1.ArrData.ArrRX[0][4];//整车电源状态
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//设定休眠时间
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TimeTemp = UnInfCan_1.ArrData.ArrRX[0][0] + ((ulong)UnInfCan_1.ArrData.ArrRX[0][1] << 8) ;//唤醒时间
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if(TimeTemp >= MAX_TIME)//最大限制值，30天
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{
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TimeTemp = MAX_TIME;
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}
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// 分钟 → 小时
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HoursTemp = TimeTemp / 60;
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sleeptime.bit_data.minute = TimeTemp % 60;
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// 小时 → 天
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DaysTemp = HoursTemp / 24;
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sleeptime.bit_data.hour = HoursTemp % 24;
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if(DaysTemp >= 30)//日超过范围
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{
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sleeptime.bit_data.day = 30;
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}
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else
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{
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sleeptime.bit_data.day = DaysTemp;
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}
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//设定唤醒时间
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TimeTemp = UnInfCan_1.ArrData.ArrRX[0][2] + ((ulong)UnInfCan_1.ArrData.ArrRX[0][3] << 8);//唤醒时间
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if(TimeTemp > MAX_TIME)//最大限制值，30天
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{
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TimeTemp = MAX_TIME;
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}
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// 分钟 → 小时
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HoursTemp = TimeTemp / 60;
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waketime.bit_data.minute = TimeTemp % 60;
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// 小时 → 天
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DaysTemp = HoursTemp / 24;
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waketime.bit_data.hour = HoursTemp % 24;
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if(DaysTemp >= 30)//日超过范围
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{
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waketime.bit_data.day = 30;
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}
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else
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{
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waketime.bit_data.day = DaysTemp;
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}
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}
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//休眠处理
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// SystemStateMachine(&sleepstate); 不需要休眠处理，上电直接都上电。
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//1000ms发送一帧
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if(!FlgCan_1)
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{
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FlgCan_1 = 1;
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bm8563GetTime(¤ttime);//1s更新一次时钟
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// 读取分钟（地址0x03）
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UnSwSample_1.arr[4] = (BM8563_ReadReg(BM8563_ALARM_MIN));
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// 读取小时（地址0x04）
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UnSwSample_1.arr[2] = (BM8563_ReadReg(BM8563_ALARM_HOUR)); // 24小时制需屏蔽Bit6-7
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// 读取日（地址0x05）
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UnSwSample_1.arr[1] = (BM8563_ReadReg(BM8563_ALARM_DAY)); // 屏蔽控制位
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// 读取日（地址0x05）
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UnSwSample_1.arr[5] = (BM8563_ReadReg(BM8563_ALARM_DAY)); // 屏蔽控制位
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// 读取周（地址0x06，BM8563周值为0x01-0x07，无需BCD转换）
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UnSwSample_1.arr[3] = BM8563_ReadReg(BM8563_ALARM_WEEK); // 仅保留低3位
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CanTX();
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if(vcu_can_cnt == vcu_can_last)//数据一样表示故障
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{
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flg_wake_ecu = FAULT;
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// un_inf_can_kgf_output2.bit_data.KGF01 = 0x01;// 计算机
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// un_inf_can_kgf_output2.bit_data.KGF02 = 0x01;// 计算机
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// un_inf_can_kgf_output2.bit_data.KGF15 = 0x01;// 计算机
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// un_inf_can_kgf_output2.bit_data.KGF16 = 0x01;// 计算机
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// un_inf_can_kgf_output2.bit_data.KGF03 = 0x01;// 遥控器
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// un_inf_can_kgf_output2.bit_data.KGF05 = 0x01;// 网络交换机
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// un_inf_can_kgf_output2.bit_data.KGF06 = 0x01;// 网络交换机
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// un_inf_can_kgf_output2.bit_data.KGF04 = 0x01;//KGF20接的主控
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un_inf_can_kgf_output1.bit_data.KGF01 = 0x01; // E3
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un_inf_can_kgf_output1.bit_data.KGF02 = 0x01; // 导航仪
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un_inf_can_kgf_output1.bit_data.KGF03 = 0 ; // 导航仪
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un_inf_can_kgf_output1.bit_data.KGF05 = 0x01; // 交换机、路由器
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un_inf_can_kgf_output1.bit_data.KGF06 = 0x01; // 交换机、路由器
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un_inf_can_kgf_output1.bit_data.KGF07 = 0x01; // 计算机
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un_inf_can_kgf_output1.bit_data.KGF08 = 0x01; // 计算机
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un_inf_can_kgf_output1.bit_data.KGF09 = 0x01; // 上装
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un_inf_can_kgf_output1.bit_data.KGF11 = 0x01; // 上装
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un_inf_can_kgf_output1.bit_data.KGF12 = 0x01; // 待定
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un_inf_can_kgf_output1.bit_data.KGF15 = 0x01; // 网络摄像头
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un_inf_can_kgf_output1.bit_data.KGF16 = 0x01; // 遥控器
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if(1 == flg_KGF)//等待KGF唤醒后再发送数据
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{
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// canSendTo(DF_SwTxKGF2,(ubyte *)&un_inf_can_kgf_output2.arr[0]);
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canSendTo(DF_SwTxKGF1,(ubyte *)&un_inf_can_kgf_output1.arr[0]);
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}
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}
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else
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{
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flg_wake_ecu = NORMAL;
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vcu_can_last = vcu_can_cnt;//数据更新
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}
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GetTemp();//1s采集一次温度
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UnSwSample_1.bit_data.emergency_stop_switch = 0;
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UnSwSample_1.bit_data.High_voltage_switch = 1;
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UnSwSample_1.bit_data.CH03 = flg_wake_ecu;
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if(1 == flg_KGF)//等待KGF唤醒后再发送数据
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{
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canSendTo(DF_SwTxTemp,(ubyte *)&UnSwSample_1.arr[0]); //不需要发送 小车不需要采集
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}
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}
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if( (0x40 == can_error_cnt) || (0x80 == can_error_cnt) )//20250625判断是否出现总线错误
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{
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can_error_flg = can_error_cnt;
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CAN_vInit();
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can_error_cnt = 0;
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}
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}
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