331 lines
12 KiB
C
331 lines
12 KiB
C
#include "MAIN.H"
|
||
//can信息
|
||
UnInfCan UnInfCan_1 = {0};
|
||
UnSwSample UnSwSample_1 = {0};
|
||
UnSwOut UnSwOut_1 = {0};
|
||
|
||
//CAN发送周期
|
||
uword CntCan_1 = 0;
|
||
bit FlgCan_1 = 0;
|
||
//第一次采集到有效数据指示
|
||
bit FlgOneTime = 0;
|
||
|
||
uword RgCanPerid = 1000;
|
||
|
||
//PWM 20181227
|
||
ubyte PwmH[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
|
||
//-----------------------------------------------------------------------
|
||
//RTC定时器
|
||
//-----------------------------------------------------------------------
|
||
void RTCProcess(void)
|
||
{
|
||
//************************************************************************
|
||
//////CAN发送周期
|
||
if(FlgCan_1){CntCan_1++;if(CntCan_1 >= RgCanPerid){FlgCan_1=0; CntCan_1=0;}}else{CntCan_1=0;}
|
||
|
||
//************************************************************************
|
||
}
|
||
|
||
//输出PWM 20181227
|
||
/*
|
||
ubyte *pStt, 状态机变量
|
||
bit Cmd, 状态机输入，1，根据PwmH的值来决定输出，0，输出0
|
||
bit Out, 状态机输出
|
||
ubyte *pCnt, 定时计数器
|
||
ubyte *pPwmH 状态机参数，PWM的高电平时间
|
||
*/
|
||
bit funcPwmOut(ubyte *pStt,bit Cmd,ubyte *pCnt,ubyte *pPwmH)
|
||
{
|
||
ubyte PwmL = 0;
|
||
bit Out = 0;
|
||
//------------------------------------------------------------------------------------------------
|
||
if((*pPwmH) > dfPwmH)(*pPwmH) = dfPwmH; //限制最大值
|
||
PwmL = dfPwmH - (*pPwmH);//计算PWM低电平
|
||
|
||
if((1 == Cmd) )
|
||
{
|
||
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
|
||
{
|
||
Out = 1;
|
||
(*pStt) = 0;
|
||
}
|
||
else
|
||
{
|
||
switch((*pStt))
|
||
{
|
||
case 0:
|
||
(*pCnt) = 0;
|
||
(*pStt) = 1;
|
||
Out = 1;
|
||
break;
|
||
case 1:
|
||
if((*pCnt) >= (*pPwmH))
|
||
{
|
||
(*pCnt) = 0;
|
||
(*pStt) = 2;
|
||
Out = 0;
|
||
}
|
||
else
|
||
{
|
||
(*pCnt)++;
|
||
(*pStt) = 1;
|
||
Out = 1;
|
||
}
|
||
break;
|
||
case 2:
|
||
if((*pCnt) >= PwmL)
|
||
{
|
||
(*pCnt) = 0;
|
||
(*pStt) = 1;
|
||
Out = 1;
|
||
}
|
||
else
|
||
{
|
||
(*pCnt)++;
|
||
(*pStt) = 2;
|
||
Out = 0;
|
||
}
|
||
break;
|
||
//-----------------------------------------------------
|
||
default:;
|
||
}//switch
|
||
}//else
|
||
}//if
|
||
else
|
||
{
|
||
Out = 0;
|
||
(*pStt) = 0;
|
||
}
|
||
return Out;
|
||
}
|
||
|
||
|
||
//根据接收的CAN缓冲区数据驱动相应ＬＥＤ指示灯。
|
||
void LedDr(void)
|
||
{
|
||
static ubyte RgSTT[16] = {0};
|
||
static ubyte CntTime[16] = {0};
|
||
//------------------------------------------------------------------------------------------------
|
||
|
||
dfOut_01 = funcPwmOut(&RgSTT[0 ],dfCmd_01,&CntTime[0 ],&PwmH[0 ]);
|
||
dfOut_02 = funcPwmOut(&RgSTT[1 ],dfCmd_02,&CntTime[1 ],&PwmH[1 ]);
|
||
dfOut_03 = funcPwmOut(&RgSTT[2 ],dfCmd_03,&CntTime[2 ],&PwmH[2 ]);
|
||
dfOut_04 = funcPwmOut(&RgSTT[3 ],dfCmd_04,&CntTime[3 ],&PwmH[3 ]);
|
||
dfOut_05 = funcPwmOut(&RgSTT[4 ],dfCmd_05,&CntTime[4 ],&PwmH[4 ]);
|
||
dfOut_06 = funcPwmOut(&RgSTT[5 ],dfCmd_06,&CntTime[5 ],&PwmH[5 ]);
|
||
dfOut_07 = funcPwmOut(&RgSTT[6 ],dfCmd_07,&CntTime[6 ],&PwmH[6 ]);
|
||
dfOut_08 = funcPwmOut(&RgSTT[7 ],dfCmd_08,&CntTime[7 ],&PwmH[7 ]);
|
||
dfOut_09 = funcPwmOut(&RgSTT[8 ],dfCmd_09,&CntTime[8 ],&PwmH[8 ]);
|
||
dfOut_10 = funcPwmOut(&RgSTT[9 ],dfCmd_10,&CntTime[9 ],&PwmH[9 ]);
|
||
dfOut_11 = funcPwmOut(&RgSTT[10],dfCmd_11,&CntTime[10],&PwmH[10]);
|
||
dfOut_12 = funcPwmOut(&RgSTT[11],dfCmd_12,&CntTime[11],&PwmH[11]);
|
||
dfOut_13 = funcPwmOut(&RgSTT[12],dfCmd_13,&CntTime[12],&PwmH[12]);
|
||
dfOut_14 = funcPwmOut(&RgSTT[13],dfCmd_14,&CntTime[13],&PwmH[13]);
|
||
dfOut_15 = funcPwmOut(&RgSTT[14],dfCmd_15,&CntTime[14],&PwmH[14]);
|
||
dfOut_16 = funcPwmOut(&RgSTT[15],dfCmd_16,&CntTime[15],&PwmH[15]);
|
||
|
||
}
|
||
|
||
|
||
//can错误处理
|
||
void CanErrorProcess(void)
|
||
{
|
||
ubyte ubNSRL;
|
||
ubyte ubNSRH;
|
||
ubyte ubResetLEC = 0x3F;
|
||
//-------------------------------------------
|
||
EA = 0;
|
||
|
||
CAN_pushAMRegs(); // push the CAN Access Mediator Registers
|
||
SFR_PAGE(_su0, SST0); // switch to page 0
|
||
|
||
CAN_vWriteCANAddress(CAN_NSR0);
|
||
CAN_vReadEN();
|
||
ubNSRL = CAN_DATA0;
|
||
ubNSRH = CAN_DATA1;
|
||
if (ubNSRL & 0x20) // if ALERT
|
||
{
|
||
CAN_vInit();
|
||
}
|
||
if (ubNSRL & 0x07) // if LEC
|
||
{
|
||
ubResetLEC = 0x38;
|
||
}
|
||
//// Reset LEC, TXOK, RXOK, ALERT, EWRN, BOFF, LLE, LOE (if set)
|
||
CAN_vWriteCANAddress(CAN_NSR0); // Addressing CAN_NSR0
|
||
CAN_DATA0 = ~(ubNSRL & ubResetLEC); // load CAN_NSR0 status register[7-0]
|
||
CAN_DATA1 = ~(ubNSRH); // load CAN_NSR0 status register[15-8]
|
||
CAN_vWriteEN(D0_VALID+D1_VALID); // Data0 and Data1 are Valid for
|
||
|
||
SFR_PAGE(_su0, RST0); // restore the old SCU page
|
||
CAN_popAMRegs(); // restore the CAN Access Mediator Registers
|
||
|
||
EA = 1;
|
||
}
|
||
|
||
|
||
////效验算法
|
||
//void Password(void)
|
||
//{
|
||
// ubyte i;
|
||
////---------------------------------
|
||
// for(i=0;i<5;i++)
|
||
// {
|
||
// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][3];//CAN 第0个字节
|
||
// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][2];//CAN 第1个字节
|
||
// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][1];//CAN 第2个字节
|
||
// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][0];//CAN 第3个字节
|
||
// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][7];//CAN 第4个字节
|
||
// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][6];//CAN 第5个字节
|
||
// UnInfCan_1.ArrData.Arr[0][4] ^= UnInfCan_1.ArrData.Arr[0][5];//CAN 第6个字节
|
||
// }
|
||
//}
|
||
|
||
|
||
void CanTransmit(void)
|
||
{
|
||
// ulong i;
|
||
//----------------- --------
|
||
CAN_waitTransmit(DF_SwTx);//发送前等待上一帧发送完毕，这样不会丢帧
|
||
// Password();
|
||
|
||
CAN_vLoadData(DF_SwTx, (ulong *)(&UnInfCan_1.ArrData.Arr[0][0])); // 装载数据
|
||
CAN_vTransmit(DF_SwTx);
|
||
}
|
||
|
||
|
||
//CAN发送一帧
|
||
void CanTX(void)
|
||
{
|
||
//-----------------------------------
|
||
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
|
||
if(1 == SwOut10)UnInfCan_1.ArrData.Arr[0][3] |= (~0x02);else UnInfCan_1.ArrData.Arr[0][3] &= 0x02; //KGF2
|
||
if(1 == SwOut04)UnInfCan_1.ArrData.Arr[0][3] |= (~0x04);else UnInfCan_1.ArrData.Arr[0][3] &= 0x04; //KGF3
|
||
if(1 == SwOut03)UnInfCan_1.ArrData.Arr[0][3] |= (~0x08);else UnInfCan_1.ArrData.Arr[0][3] &= 0x08; //KGF4
|
||
if(1 == SwOut06)UnInfCan_1.ArrData.Arr[0][3] |= (~0x10);else UnInfCan_1.ArrData.Arr[0][3] &= 0x10; //KGF5
|
||
if(1 == SwOut05)UnInfCan_1.ArrData.Arr[0][3] |= (~0x20);else UnInfCan_1.ArrData.Arr[0][3] &= 0x20; //KGF6
|
||
if(1 == SwOut15)UnInfCan_1.ArrData.Arr[0][3] |= (~0x40);else UnInfCan_1.ArrData.Arr[0][3] &= 0x40; //KGF7
|
||
if(1 == SwOut16)UnInfCan_1.ArrData.Arr[0][3] |= (~0x80);else UnInfCan_1.ArrData.Arr[0][3] &= 0x80; //KGF8
|
||
if(1 == SwOut13)UnInfCan_1.ArrData.Arr[0][2] |= (~0x01);else UnInfCan_1.ArrData.Arr[0][2] &= 0x01; //KGF9
|
||
if(1 == SwOut14)UnInfCan_1.ArrData.Arr[0][2] |= (~0x02);else UnInfCan_1.ArrData.Arr[0][2] &= 0x02; //KGF10
|
||
if(1 == SwOut08)UnInfCan_1.ArrData.Arr[0][2] |= (~0x04);else UnInfCan_1.ArrData.Arr[0][2] &= 0x04; //KGF11
|
||
if(1 == SwOut07)UnInfCan_1.ArrData.Arr[0][2] |= (~0x08);else UnInfCan_1.ArrData.Arr[0][2] &= 0x08; //KGF12
|
||
if(1 == SwOut02)UnInfCan_1.ArrData.Arr[0][2] |= (~0x10);else UnInfCan_1.ArrData.Arr[0][2] &= 0x10; //KGF13
|
||
if(1 == SwOut01)UnInfCan_1.ArrData.Arr[0][2] |= (~0x20);else UnInfCan_1.ArrData.Arr[0][2] &= 0x20; //KGF14
|
||
if(1 == SwOut11)UnInfCan_1.ArrData.Arr[0][2] |= (~0x40);else UnInfCan_1.ArrData.Arr[0][2] &= 0x40; //KGF15
|
||
if(1 == SwOut12)UnInfCan_1.ArrData.Arr[0][2] |= (~0x80);else UnInfCan_1.ArrData.Arr[0][2] &= 0x80; //KGF16
|
||
|
||
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
|
||
if(1 == SwIn02 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x02);else UnInfCan_1.ArrData.Arr[0][1] |= 0x02; //Dia02
|
||
if(1 == SwIn03 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x04);else UnInfCan_1.ArrData.Arr[0][1] |= 0x04; //Dia03
|
||
if(1 == SwIn04 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x08);else UnInfCan_1.ArrData.Arr[0][1] |= 0x08; //Dia04
|
||
if(1 == SwIn05 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x10);else UnInfCan_1.ArrData.Arr[0][1] |= 0x10; //Dia05
|
||
if(1 == SwIn06 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x20);else UnInfCan_1.ArrData.Arr[0][1] |= 0x20; //Dia06
|
||
if(1 == SwIn07 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x40);else UnInfCan_1.ArrData.Arr[0][1] |= 0x40; //Dia07
|
||
if(1 == SwIn08 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x80);else UnInfCan_1.ArrData.Arr[0][1] |= 0x80; //Dia08
|
||
|
||
UnInfCan_1.ArrData.Arr[0][0] = 0;
|
||
UnInfCan_1.ArrData.Arr[0][7] = 0;
|
||
UnInfCan_1.ArrData.Arr[0][6] = 0;
|
||
UnInfCan_1.ArrData.Arr[0][5] = (ubyte)(RgCanPerid>>8);
|
||
UnInfCan_1.ArrData.Arr[0][4] = (ubyte)(RgCanPerid);
|
||
|
||
CanTransmit();
|
||
}
|
||
|
||
//CAN发送接收
|
||
void CanRXTX(void)
|
||
{
|
||
stCAN_SWObj StrCanRx = {0};
|
||
uword tmp = 0;
|
||
ubyte i = 0,j = 0;
|
||
//------------------------------------
|
||
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;
|
||
|
||
// UnInfCan_1.ArrData.Arr[0][3] = UnInfCan_1.ArrData.ArrRX[0][0];
|
||
// UnInfCan_1.ArrData.Arr[0][2] = UnInfCan_1.ArrData.ArrRX[0][1];
|
||
// UnInfCan_1.ArrData.Arr[0][1] = UnInfCan_1.ArrData.ArrRX[0][2]; 20200225注释不更新诊断数据
|
||
// UnInfCan_1.ArrData.Arr[0][0] = UnInfCan_1.ArrData.ArrRX[0][3];
|
||
// UnInfCan_1.ArrData.Arr[0][7] = UnInfCan_1.ArrData.ArrRX[0][4];
|
||
// UnInfCan_1.ArrData.Arr[0][6] = UnInfCan_1.ArrData.ArrRX[0][5];
|
||
// UnInfCan_1.ArrData.Arr[0][5] = (ubyte)(RgCanPerid>>8);
|
||
// UnInfCan_1.ArrData.Arr[0][4] = (ubyte)(RgCanPerid);
|
||
// CanTransmit(); 20200730不发送干扰数据运行
|
||
}
|
||
|
||
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();
|
||
}
|
||
|
||
}
|