206 lines
7.5 KiB
C
206 lines
7.5 KiB
C
#include <types.h>
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#include "board.h"
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#include "debug.h"
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#include "regs_base.h"
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#include "irq_num.h"
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#include "clock_cfg.h"
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#include "reset_cfg.h"
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#include "pinmux_cfg.h"
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#include "eth_cfg.h"
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#include "lwip/err.h"
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#include "lwip/inet.h"
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#include "lwip/tcp.h"
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#include "lwip/timeouts.h"
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#include <string.h>
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#include "sdrv_eth.h"
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#include "lwip/udp.h"
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#include "flexcan_cfg.h"
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#include "interface_config.h"
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//app包含
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#include "app/app_config.h"
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#define IP_ADDR0 10
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#define IP_ADDR1 18
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#define IP_ADDR2 252
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#define IP_ADDR3 34
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extern int btm_init(void);
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extern struct tcp_pcb *netdemo_connect_server(char *ip, int port);
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extern bool netdemo_tcp_connected(void);
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extern bool netdemo_tcp_send_done(void);
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extern void netdemo_clear_tcp_send_done(void);
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static bool g_eth1_rx_pkt;
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static void eth_dma_rx_int_cb(struct net_driver_s *dev)
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{
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if (dev == &g_eth1_dev)
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g_eth1_rx_pkt = true;
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}
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uint8_t mainCnt = 0;
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uint8_t mainCntarr[8] = {0x56,0x88,0x98,0x79,0x23};
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uint8_t desIp[4] = {192,168,17,3};
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uint8_t test_app[26] = {0};
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//uint8_t key_state = 0;
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int main(void)
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{
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bool eth_pool_rx = false;
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// ip4_addr_t Desaddr;
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// struct pbuf *DesPuff = NULL;
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// char *g_lwip_demo_sendbuf = "ALIENTEK DATA\r\n";
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uint8_t BOOT_Arr[2] = {0x01,0x02};
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// struct udp_pcb *udpcb_2;
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//------------------------------------------------------------------------------
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// 释放MCU各模块reset信号
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board_reset_init();
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// 配置时钟
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int ret = sdrv_ckgen_init(&g_clock_config);
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ASSERT(ret == 0);
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// VIC初始化
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irq_initialize(VIC1_BASE, IRQ_MAX_INTR_NUM);
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// 配置pinmux
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sdrv_pinctrl_init(NUM_OF_CONFIGURED_PINS, g_pin_init_config);
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feedWatchdog();//喂狗
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// Timer初始化，用于提供LWIP sys_now接口获取当前时间
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btm_init();
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// 使能打印
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board_debug_console_init();
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//遥控串口初始化
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// uart_Initialize();
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//初始化所有can
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initialization_All_Flexcan();
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// ETH初始化
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board_eth_init();
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feedWatchdog();//喂狗
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if (!eth_pool_rx) {
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// 使能DMA Rx中断。Tx未使用中断，因为ETH速率很高，
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// Tx中断处理耗时反而可能拖慢发送速度。
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dwc_eth_enable_dma_rx_int(&g_eth1_dev, eth_dma_rx_int_cb);
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}
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// UDP_Echo_Init();//读取
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//以太网端口初始化
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UDP_Echo_Init(UDPCB_1, udp_Callback_1, COMMUNICATION_PORT);
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UDP_Echo_Init(UDPCB_2, udp_Callback_2, UPPER_PORT);
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UDP_Echo_Init(UDPCB_3, udp_Callback_3, PARAM_PORT);
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// IP4_ADDR(&Desaddr,IP_ADDR0,IP_ADDR1,IP_ADDR2,IP_ADDR3);
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// wdt_init(WDT_OUTms);
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//读取标志
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g_systemDataRecord.canBootloaderUpgrade = rdbyte_24c02(0x00);
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CAN_Send_Msg(&can_handle_6,OTA_CANTxID, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, BOOT_Arr,2, TX_MB_INDEX);//app 帧
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ssdk_printf(SSDK_NOTICE, "SSDK E3 V1.68\r\n");
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// brakeAppInit();
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// 初始化框架
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initFramework();
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testAppInit();
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paramAppInit();
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ethernetAppInit();
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for (;;)
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{
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// 处理信号
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processMessages();
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// 接收ETH帧，并传递给LWIP协议栈
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// 如果使能接收中断，因为ISR里会disable接收中断，因此，这里对于
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// 中断接收标志(g_eth1_rx_pkt)的处理过程中不会有
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// 新的接收中断被响应，所以，这里不存在原子性问题。
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if ((!eth_pool_rx && g_eth1_rx_pkt) || eth_pool_rx)
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{
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g_eth1_rx_pkt = false;
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dwc_eth_rx(&g_eth1_dev, eth_pool_rx);
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}
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// LWIP协议栈接口，用于做LWIP超时检测
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sys_check_timeouts();
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if(1 == Btm10ms)//10ms到
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{
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Btm10ms = 0;
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bootmian();//boot和喂狗处理
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mainCnt ++;
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if(mainCnt>=10)
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{
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mainCnt = 0;
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// CAN_Send_Msg(&can_handle_0, 0x400, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
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// CAN_Send_Msg(&can_handle_1, 0x401, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
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// CAN_Send_Msg(&can_handle_2, 0x402, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
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// CAN_Send_Msg(&can_handle_3, 0x403, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
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// CAN_Send_Msg(&can_handle_4, 0x404, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
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// CAN_Send_Msg(&can_handle_5, 0x405, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
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CAN_Send_Msg(&can_handle_6, 0x453, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_temp_module_input.ArrData.arr[0][0], 8, 15);
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// CAN_Send_Msg(&can_handle_6, 0x454, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_temp_module_input.ArrData.arr[1][0], 8, 16);
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CAN_Send_Msg(&can_handle_6, 0x455, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_temp_module_input.ArrData.arr[1][0], 8, 17);
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CAN_Send_Msg(&can_handle_6, 0x456, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_bms_input.ArrData.arr[0][0] , 8, 18);
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CAN_Send_Msg(&can_handle_6, 0x457, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_bms_input.ArrData.arr[1][0] , 8, 19);
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CAN_Send_Msg(&can_handle_6, 0x458, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_motor_input2.ArrData.arr[0][0], 8, 20);
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CAN_Send_Msg(&can_handle_6, 0x459, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_motor_input1.ArrData.arr[0][0], 8, 14);
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mainCntarr[0] = can_fault_info.navigator_state;//状态发送出去
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mainCntarr[1] = can_fault_info.motor1_state;
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mainCntarr[2] = can_fault_info.motor2_state;
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mainCntarr[3] = can_fault_info.bms_state;
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mainCntarr[4] = can_fault_info.temperature_state;
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mainCntarr[5] = can_fault_info.remote_state;
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CAN_Send_Msg(&can_handle_6, 0x461, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, mainCntarr, 8, 15);
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gpioTimerProcess(mainCntarr);
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CAN_Send_Msg(&can_handle_6, 0x12000023, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, &un_remote_control_input.ArrData.arr[0][0], 8, 16);
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CAN_Send_Msg(&can_handle_6, 0x462, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_sw_sample.ArrData.arr[0][0], 6, 15);
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powerOn();
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ethernetTimerProcess();
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canTimerProcess();
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flexcan_Busoff_Recovery();
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// ssdk_printf(SSDK_NOTICE, "SSDK E3 run!\r\n");
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// UdpSendToData(UDPCB_1,test_app, 25, desIp, 8011);
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// UdpSendToData(UDPCB_2,(uint8_t *)g_lwip_demo_sendbuf, 12, desIp, 8011);
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}
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}
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}
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}
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