1431 lines
51 KiB
C
1431 lines
51 KiB
C
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#include <flexcan_cfg.h>
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#include "debug.h"
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#include "interface_config.h"
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#include "app/app_config.h"
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#define TX_PADDING_VAL (0xA5)
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#include "sdrv_vic.h"
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#include "intrinsics.h"
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#include "app/app_differential_drive.h"
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#include "app/app_param_manage.h"
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#include "app/app_ultrasonic.h"
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uint32_t OTA_CANTxID = 0x02;//默认发送ID为0x02
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uint32_t OTA_CANRxID = 0x01;//默认接收ID为0x01
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uint32_t WDT_CANRxID = 0x03;//默认接收ID为0x03
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Timer can_timer_interface1;
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Timer can_timer_interface2;
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bool ecu_online = 0;//0掉线，1在线
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UnCanFault can_fault_info = {
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.bit_data.navigator_count = 0, //导航仪计数器
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.bit_data.motor1_count = 0, //手动数据计数器
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.bit_data.motor2_count = 0, //手动数据计数器
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.bit_data.bms_count = 0, //手动数据计数器
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.bit_data.temperature_count = 0, //温度计数器
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.bit_data.remote_count = 0, //遥控计数器
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.bit_data.navigator_state = 0, //自动数据计数器
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.bit_data.motor1_state = 0, //手动数据计数器
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.bit_data.motor2_state = 0, //手动数据计数器
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.bit_data.bms_state = 0, //手动数据计数器
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.bit_data.temperature_state = 0, //温度状态
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.bit_data.remote_state = 0, //遥控状态
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};
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//
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//StrCanFifoQueue can0_Queue;//8帧can缓存，发送队列
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//StrCanFifoQueue can1_Queue;
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//StrCanFifoQueue can2_Queue;
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//StrCanFifoQueue can3_Queue;
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//StrCanFifoQueue can4_Queue;
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//StrCanFifoQueue can5_Queue;
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//StrCanFifoQueue can6_Queue;
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//StrCanFifoQueue can7_Queue;
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//bool busoff_occur_flag = false;//busoff标志
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bool can_0_busoff_flag = false;//busoff标志
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bool can_1_busoff_flag = false;//busoff标志
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bool can_2_busoff_flag = false;//busoff标志
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bool can_3_busoff_flag = false;//busoff标志
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bool can_4_busoff_flag = false;//busoff标志
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bool can_5_busoff_flag = false;//busoff标志
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bool can_6_busoff_flag = false;//busoff标志
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bool can_7_busoff_flag = false;//busoff标志
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flexcan_handle_t can_handle_0;//can初始化结构体
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flexcan_handle_t can_handle_1;
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flexcan_handle_t can_handle_2;
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flexcan_handle_t can_handle_3;
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flexcan_handle_t can_handle_4;
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flexcan_handle_t can_handle_5;
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flexcan_handle_t can_handle_6;
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flexcan_handle_t can_handle_7;
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static uint8_t fifo_Data_0[8];
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static flexcan_frame_t fifo_Buf_0;
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static uint8_t fifo_Data_1[8];
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static flexcan_frame_t fifo_Buf_1;
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static uint8_t fifo_Data_2[8];
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static flexcan_frame_t fifo_Buf_2;
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static uint8_t fifo_Data_3[8];
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static flexcan_frame_t fifo_Buf_3;
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static uint8_t fifo_Data_4[8];
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static flexcan_frame_t fifo_Buf_4;
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static uint8_t fifo_Data_5[8];
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static flexcan_frame_t fifo_Buf_5;
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static uint8_t fifo_Data_6[8];
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static flexcan_frame_t fifo_Buf_6;
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static uint8_t fifo_Data_7[8];
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static flexcan_frame_t fifo_Buf_7;
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uint8_t flexcan_config_rx_fifo(flexcan_handle_t *handle,
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flexcan_rx_fifo_config_t *config)
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{
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flexcan_frame_t *rx_fifo_frame;
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//------------------------------------------------------------------------------
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if(CAN_INDEX_0 == (handle->controller_id))//根据索引选择不同的中断号以及基地址
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{
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rx_fifo_frame = &fifo_Buf_0;
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rx_fifo_frame->dataBuffer = &fifo_Data_0[0];
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}
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else if(CAN_INDEX_1 == (handle->controller_id))
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{
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rx_fifo_frame = &fifo_Buf_1;
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rx_fifo_frame->dataBuffer = &fifo_Data_1[0];
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}
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else if(CAN_INDEX_2 == (handle->controller_id))
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{
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rx_fifo_frame = &fifo_Buf_2;
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rx_fifo_frame->dataBuffer = &fifo_Data_2[0];
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}
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else if(CAN_INDEX_3 == (handle->controller_id))
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{
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rx_fifo_frame = &fifo_Buf_3;
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rx_fifo_frame->dataBuffer = &fifo_Data_3[0];
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}
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else if(CAN_INDEX_4 == (handle->controller_id))
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{
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rx_fifo_frame = &fifo_Buf_4;
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rx_fifo_frame->dataBuffer = &fifo_Data_4[0];
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}
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else if(CAN_INDEX_5 == (handle->controller_id))
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{
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rx_fifo_frame = &fifo_Buf_5;
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rx_fifo_frame->dataBuffer = &fifo_Data_5[0];
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}
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else if(CAN_INDEX_6 == (handle->controller_id))
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{
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rx_fifo_frame = &fifo_Buf_6;
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rx_fifo_frame->dataBuffer = &fifo_Data_6[0];
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}
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else if(CAN_INDEX_7 == (handle->controller_id))
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{
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rx_fifo_frame = &fifo_Buf_7;
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rx_fifo_frame->dataBuffer = &fifo_Data_7[0];
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}
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else
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{
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return 0;
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}
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flexcan_set_rx_fifo_config(handle, config);//配置fifo接收
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for (uint8_t i = 0; i < USED_MB_FOR_FIFO;
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i++) {
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flexcan_set_rx_individual_mask(handle, i, config->filter_tab[i].filter_mask);
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}
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/* rx by interrupt */
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flexcan_fifo_transfer_t Xfer = {rx_fifo_frame};
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flexcan_receive_fifo_nonblocking(handle, &Xfer);
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return 1;
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}
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/*********************************************************************
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* @fn CAN_Send_Msg
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*
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* @brief CAN Transmit function.
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*
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* @param CANx- CAN1 or CAN2
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* ID - Message ID
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* IDE - CAN_Id_Standard or CAN_Id_Extended
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* RTR - CAN_RTR_Data or CAN_RTR_Remote
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* msg - Transmit data buffer.
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* len - Data length.
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*
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* @return 0 - Send successful.
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* 1 - Send failed.
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*/
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uint8_t CAN_Send_Msg( flexcan_handle_t *handle, uint32_t ID, flexcan_frame_format_e ide, flexcan_frame_type_e rtr, uint8_t *msg, uint8_t len, uint8_t tx_index)
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{
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uint16_t i = 0;
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//------------------------------------------------------------------------------
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flexcan_frame_t frame = {.id = ID,
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.length = len,
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.type = rtr,
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.format = ide,
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.dataBuffer = msg};
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flexcan_mb_transfer_t xfer = {&frame, tx_index};
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while( ( flexcan_get_mb_state(handle, tx_index) != FLEXCAN_StateIdle ) && (i < 0xFFF) )
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{
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i++;
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}
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if( i == 0xFFF )
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{
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return 1;
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}
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else
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{
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flexcan_send_nonblocking(handle, &xfer, TX_PADDING_VAL);
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return 0;
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}
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}
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/*********************************************************************
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* @fn flexcan_Receive_callback
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*
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* @brief erase Data-Flash block, minimal block is 256B
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*
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* @param Page_Address - the address of the page being erased.
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* Length - Erased data length
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*
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* @return none
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*/
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void flexcan_Receive_callback_0(flexcan_handle_t *handle,
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flexcan_status_e status, uint32_t result,
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void *userData)
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{
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flexcan_frame_t *buf = (flexcan_frame_t *)userData;
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uint8_t i = 0;
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//--------------------------------------------------------------
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switch (status)
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{
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case FLEXCAN_RX_IDLE:
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break;
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case FLEXCAN_RX_FIFO_IDLE:
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if(TEMP_MODULE_INPUT_ID_1 == (buf->id))//温度
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{
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for(i = 0; i < (buf->length); i++)
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{
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un_sw_sample.arr[i] = buf->dataBuffer[i];
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}
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//发射信号
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publishMessage(&un_sw_sample, 1);//发射信号
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}
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break;
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case FLEXCAN_TX_IDLE:
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break;
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case FLEXCAN_WAKEUP_TIMEOUT:
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break;
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case FLEXCAN_WAKEUP_MATCH:
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break;
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case FLEXCAN_ERROR_STATUS:
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can_0_busoff_flag = true;
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break;
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default:
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break;
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}
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}
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/*********************************************************************
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* @fn flexcan_Receive_callback
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*
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* @brief erase Data-Flash block, minimal block is 256B
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*
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* @param Page_Address - the address of the page being erased.
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* Length - Erased data length
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*
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* @return none
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*/
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//uint32_t time_elapsed = 0;
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//uint32_t time_elapsed1 = 0;
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void flexcan_Receive_callback_1(flexcan_handle_t *handle,
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flexcan_status_e status, uint32_t result,
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void *userData)
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{
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flexcan_frame_t *buf = (flexcan_frame_t *)userData;
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uint8_t i = 0;
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//--------------------------------------------------------------
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switch (status)
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{
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case FLEXCAN_RX_IDLE:
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break;
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case FLEXCAN_RX_FIFO_IDLE:
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if(LEFT_FRONT_MOTOR_INPUT1 == (buf->id))
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{
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can_fault_info.bit_data.motor1_count ++;
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for(i = 0; i < (buf->length); i++)
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{
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un_motor_input1.arr[i] = buf->dataBuffer[i];
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}
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//发射信号
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publishMessage(&un_motor_input1, 1);
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}
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else if( LEFT_FRONT_MOTOR_INPUT2 == (buf->id) )
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{
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for(i = 0; i < (buf->length); i++)
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{
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un_motor_temp1.arr[i] = buf->dataBuffer[i];
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}
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//发射信号
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publishMessage(&un_motor_temp1, 1);//发射信号
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}
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else if( LEFT_REAR_MOTOR2_INPUT1 == (buf->id) )//
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{
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can_fault_info.bit_data.motor3_count ++;
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for(i = 0; i < (buf->length); i++)
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{
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un_motor_input3.arr[i] = buf->dataBuffer[i];
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}
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//发射信号
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// publishMessage(&un_motor_input3, 1); //修改为
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}
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else if( LEFT_REAR_MOTOR2_INPUT2 == (buf->id) )
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{
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for(i = 0; i < (buf->length); i++)
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{
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un_motor_temp3.arr[i] = buf->dataBuffer[i];
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}
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//发射信号
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publishMessage(&un_motor_temp3, 1);//发射信号
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}
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else{}
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break;
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case FLEXCAN_TX_IDLE:
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break;
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case FLEXCAN_WAKEUP_TIMEOUT:
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break;
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case FLEXCAN_WAKEUP_MATCH:
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break;
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case FLEXCAN_ERROR_STATUS:
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can_1_busoff_flag = true;
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break;
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default:
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break;
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}
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}
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/*********************************************************************
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* @fn flexcan_Receive_callback
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*
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* @brief erase Data-Flash block, minimal block is 256B
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*
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* @param Page_Address - the address of the page being erased.
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* Length - Erased data length
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*
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* @return none
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*/
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void flexcan_Receive_callback_2(flexcan_handle_t *handle,
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flexcan_status_e status, uint32_t result,
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void *userData)
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{
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flexcan_frame_t *buf = (flexcan_frame_t *)userData;
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uint8_t i = 0;
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//--------------------------------------------------------------
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switch (status)
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{
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case FLEXCAN_RX_IDLE:
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break;
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case FLEXCAN_RX_FIFO_IDLE:
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if(RIGHT_FRONT_MOTOR_INPUT1 == (buf->id))
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{
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can_fault_info.bit_data.motor2_count ++;
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for(i = 0; i < (buf->length); i++)
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{
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un_motor_input2.arr[i] = buf->dataBuffer[i];
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}
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//发射信号
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publishMessage(&un_motor_input2, 1);
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}
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else if( RIGHT_FRONT_MOTOR_INPUT2 == (buf->id) )
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{
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for(i = 0; i < (buf->length); i++)
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{
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un_motor_temp2.arr[i] = buf->dataBuffer[i];
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}
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//发射信号
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publishMessage(&un_motor_temp2, 1);//发射信号
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}
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else if( RIGHT_REAR_MOTOR_INPUT1 == (buf->id) )//
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{
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can_fault_info.bit_data.motor4_count ++;
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for(i = 0; i < (buf->length); i++)
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{
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un_motor_input4.arr[i] = buf->dataBuffer[i];
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}
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//发射信号
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publishMessage(&un_motor_input4, 1);
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}
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else if( RIGHT_REAR_MOTOR_INPUT2 == (buf->id) )
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{
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for(i = 0; i < (buf->length); i++)
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{
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un_motor_temp4.arr[i] = buf->dataBuffer[i];
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}
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//发射信号
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publishMessage(&un_motor_temp4, 1);//发射信号
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}
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else{}
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break;
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case FLEXCAN_TX_IDLE:
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break;
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case FLEXCAN_WAKEUP_TIMEOUT:
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break;
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case FLEXCAN_WAKEUP_MATCH:
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break;
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case FLEXCAN_ERROR_STATUS:
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can_2_busoff_flag = true;
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break;
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default:
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break;
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}
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}
|
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|
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|
||
|
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/*********************************************************************
|
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* @fn flexcan_Receive_callback
|
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*
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* @brief erase Data-Flash block, minimal block is 256B
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*
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* @param Page_Address - the address of the page being erased.
|
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* Length - Erased data length
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*
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* @return none
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*/
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void flexcan_Receive_callback_3(flexcan_handle_t *handle,
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flexcan_status_e status, uint32_t result,
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void *userData)
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{
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flexcan_frame_t *buf = (flexcan_frame_t *)userData;
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uint8_t i = 0;
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//--------------------------------------------------------------
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switch (status)
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{
|
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case FLEXCAN_RX_IDLE:
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break;
|
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case FLEXCAN_RX_FIFO_IDLE:
|
||
|
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if(BMS_INPUT_ID1 == (buf->id))//BMS
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{
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can_fault_info.bit_data.bms_count ++;
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for(i = 0; i < (buf->length); i++)
|
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{
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un_bms_input.arr[i] = buf->dataBuffer[i];
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}
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publishMessage(&un_bms_input, 1);
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}
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else if(BMS_INPUT_ID2 == (buf->id))//BMS
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{
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for(i = 0; i < (buf->length); i++)
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{
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un_bms_input.arr[i+8] = buf->dataBuffer[i];
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}
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//发射信号
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publishMessage(&un_bms_input, 1);
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}
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else{}
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break;
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case FLEXCAN_TX_IDLE:
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break;
|
||
|
||
case FLEXCAN_WAKEUP_TIMEOUT:
|
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break;
|
||
|
||
case FLEXCAN_WAKEUP_MATCH:
|
||
break;
|
||
|
||
case FLEXCAN_ERROR_STATUS:
|
||
can_3_busoff_flag = true;
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
/*********************************************************************
|
||
* @fn flexcan_Receive_callback
|
||
*
|
||
* @brief erase Data-Flash block, minimal block is 256B
|
||
*
|
||
* @param Page_Address - the address of the page being erased.
|
||
* Length - Erased data length
|
||
*
|
||
* @return none
|
||
*/
|
||
void flexcan_Receive_callback_4(flexcan_handle_t *handle,
|
||
flexcan_status_e status, uint32_t result,
|
||
void *userData)
|
||
{
|
||
//--------------------------------------------------------------
|
||
switch (status)
|
||
{
|
||
case FLEXCAN_RX_IDLE:
|
||
break;
|
||
|
||
case FLEXCAN_RX_FIFO_IDLE:
|
||
|
||
break;
|
||
|
||
case FLEXCAN_TX_IDLE:
|
||
break;
|
||
|
||
case FLEXCAN_WAKEUP_TIMEOUT:
|
||
break;
|
||
|
||
case FLEXCAN_WAKEUP_MATCH:
|
||
break;
|
||
|
||
case FLEXCAN_ERROR_STATUS:
|
||
can_4_busoff_flag = true;
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
/*********************************************************************
|
||
* @fn flexcan_Receive_callback
|
||
*
|
||
* @brief erase Data-Flash block, minimal block is 256B
|
||
*
|
||
* @param Page_Address - the address of the page being erased.
|
||
* Length - Erased data length
|
||
*
|
||
* @return none
|
||
*/
|
||
void flexcan_Receive_callback_5(flexcan_handle_t *handle,
|
||
flexcan_status_e status, uint32_t result,
|
||
void *userData)
|
||
{
|
||
//--------------------------------------------------------------
|
||
switch (status)
|
||
{
|
||
case FLEXCAN_RX_IDLE:
|
||
break;
|
||
|
||
case FLEXCAN_RX_FIFO_IDLE:
|
||
|
||
break;
|
||
|
||
case FLEXCAN_TX_IDLE:
|
||
break;
|
||
|
||
case FLEXCAN_WAKEUP_TIMEOUT:
|
||
break;
|
||
|
||
case FLEXCAN_WAKEUP_MATCH:
|
||
break;
|
||
|
||
case FLEXCAN_ERROR_STATUS:
|
||
can_5_busoff_flag = true;
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
/*********************************************************************
|
||
* @fn flexcan_Receive_callback
|
||
*
|
||
* @brief erase Data-Flash block, minimal block is 256B
|
||
*
|
||
* @param Page_Address - the address of the page being erased.
|
||
* Length - Erased data length
|
||
*
|
||
* @return none
|
||
*/
|
||
void flexcan_Receive_callback_6(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)
|
||
{
|
||
case FLEXCAN_RX_IDLE:
|
||
break;
|
||
|
||
case FLEXCAN_RX_FIFO_IDLE:
|
||
if(OTA_CANRxID == (buf->id))//ID为1， boot下载配置
|
||
{
|
||
boot_can_flag = true;
|
||
FrameHeader = ( (buf->dataBuffer[0] << 8) | (buf->dataBuffer[1]) );
|
||
}
|
||
else if(WDT_CANRxID == (buf->id))//接收到喂狗ID
|
||
{
|
||
if(FEEDDOG_HEADER == ( (buf->dataBuffer[0] << 8) | (buf->dataBuffer[1]) ))
|
||
{
|
||
WDTReFresh_flag = true;//更新喂狗标志
|
||
printf("Feed dog flag received %d\n",getCurrentTime());
|
||
}
|
||
}
|
||
else if(ULTRASONIC_ID_1 == (buf->id))
|
||
{
|
||
for(i = 0; i < (buf->length); i++)
|
||
{
|
||
un_ultrasonic_input1.arr[i] = buf->dataBuffer[i];
|
||
}
|
||
publishMessage(&un_ultrasonic_input1, 1);
|
||
}
|
||
else{}
|
||
break;
|
||
|
||
case FLEXCAN_TX_IDLE:
|
||
break;
|
||
|
||
case FLEXCAN_WAKEUP_TIMEOUT:
|
||
break;
|
||
|
||
case FLEXCAN_WAKEUP_MATCH:
|
||
break;
|
||
|
||
case FLEXCAN_ERROR_STATUS:
|
||
can_6_busoff_flag = true;
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
/*********************************************************************
|
||
* @fn flexcan_Receive_callback
|
||
*
|
||
* @brief erase Data-Flash block, minimal block is 256B
|
||
*
|
||
* @param Page_Address - the address of the page being erased.
|
||
* Length - Erased data length
|
||
*
|
||
* @return none
|
||
*/
|
||
void flexcan_Receive_callback_7(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;
|
||
//uintptr_t
|
||
//--------------------------------------------------------------
|
||
switch (status)
|
||
{
|
||
case FLEXCAN_RX_IDLE:
|
||
break;
|
||
|
||
case FLEXCAN_RX_FIFO_IDLE:
|
||
if(REMOTE_ID == (buf->id))//遥控器CAN
|
||
{
|
||
can_fault_info.bit_data.remote_count ++;
|
||
for(i = 0; i < (buf->length); i++)
|
||
{
|
||
un_remote_control_input.arr[i] = buf->dataBuffer[i];
|
||
}
|
||
//发射信号
|
||
publishMessage(&un_remote_control_input, 1);
|
||
|
||
// printf("ori_remote_stop: %d\n", un_remote_control_input.bit_data.switch_b);
|
||
}
|
||
else
|
||
{
|
||
}
|
||
break;
|
||
|
||
case FLEXCAN_TX_IDLE:
|
||
break;
|
||
|
||
case FLEXCAN_WAKEUP_TIMEOUT:
|
||
break;
|
||
|
||
case FLEXCAN_WAKEUP_MATCH:
|
||
break;
|
||
|
||
case FLEXCAN_ERROR_STATUS:
|
||
can_7_busoff_flag = true;
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
|
||
//fifo_config 滤波设置
|
||
//can_config 波特率以及其他设置
|
||
//call_back 中断回调函数
|
||
uint8_t initialization_Flexcan(uint8_t can_index, const flexcan_config_t *can_config, flexcan_rx_fifo_config_t *fifo_config, flexcan_transfer_callback_t call_back)
|
||
{
|
||
flexcan_handle_t *handle;
|
||
uint8_t can_irq_num = 0;
|
||
uint32_t can_reg_base = 0;
|
||
//------------------------------------------------------------------
|
||
if(FLEXCAN7 == can_index)//根据索引选择不同的中断号以及基地址
|
||
{
|
||
handle = &can_handle_0;
|
||
can_irq_num = CANFD7_CANFD_INTR_NUM;
|
||
can_reg_base = APB_CANFD7_BASE;
|
||
}
|
||
else if(FLEXCAN21 == can_index)
|
||
{
|
||
handle = &can_handle_1;
|
||
can_irq_num = CANFD21_CANFD_INTR_NUM;
|
||
can_reg_base = APB_CANFD21_BASE;
|
||
}
|
||
else if(FLEXCAN16 == can_index)
|
||
{
|
||
handle = &can_handle_2;
|
||
can_irq_num = CANFD16_CANFD_INTR_NUM;
|
||
can_reg_base = APB_CANFD16_BASE;
|
||
}
|
||
else if(FLEXCAN3 == can_index)
|
||
{
|
||
handle = &can_handle_3;
|
||
can_irq_num = CANFD3_CANFD_INTR_NUM;
|
||
can_reg_base = APB_CANFD3_BASE;
|
||
}
|
||
else if(FLEXCAN23 == can_index)
|
||
{
|
||
handle = &can_handle_4;
|
||
can_irq_num = CANFD23_CANFD_INTR_NUM;
|
||
can_reg_base = APB_CANFD23_BASE;
|
||
}
|
||
else if(FLEXCAN5 == can_index)
|
||
{
|
||
handle = &can_handle_5;
|
||
can_irq_num = CANFD5_CANFD_INTR_NUM;
|
||
can_reg_base = APB_CANFD5_BASE;
|
||
}
|
||
else if(FLEXCAN6 == can_index)
|
||
{
|
||
handle = &can_handle_6;
|
||
can_irq_num = CANFD6_CANFD_INTR_NUM;
|
||
can_reg_base = APB_CANFD6_BASE;
|
||
}
|
||
else if(FLEXCAN4 == can_index)
|
||
{
|
||
handle = &can_handle_7;
|
||
can_irq_num = CANFD4_CANFD_INTR_NUM;
|
||
can_reg_base = APB_CANFD4_BASE;
|
||
}
|
||
else
|
||
{
|
||
return 0;
|
||
}
|
||
|
||
//initialize the FlexCAN handle
|
||
flexcan_create_handle(handle, can_index, (void *)can_reg_base, can_irq_num, call_back, NULL);
|
||
|
||
/* initialize flexCAN. */
|
||
flexcan_init(handle, can_config);
|
||
|
||
/* unfreeze the flexCAN by demo. */
|
||
flexcan_freeze(handle, false);
|
||
|
||
/* enable busoff interrupt. */
|
||
flexcan_enable_interrupts(handle, FLEXCAN_BusOffInterruptEnable);//
|
||
|
||
/* enable irq. */
|
||
irq_attach(handle->irq_num, flexcan_irq_handler, handle);
|
||
irq_enable(handle->irq_num);
|
||
|
||
/* assign fifo only for rx. */
|
||
flexcan_config_rx_fifo(handle, fifo_config);
|
||
|
||
/* assign mailbox14-20 for tx. */
|
||
for (uint8_t i = TX_MB_INDEX; i < (TX_MB_INDEX + TX_MAILBOX_NUM); i++)
|
||
{
|
||
flexcan_set_tx_mb_config(handle, i, true);
|
||
}
|
||
|
||
return 1;
|
||
}
|
||
|
||
/* reinitialize the controller. */
|
||
void flexcan_Busoff_Recovery(void)
|
||
{
|
||
//----------------------------------------------------------
|
||
if (can_0_busoff_flag == true) //busoff
|
||
{
|
||
printf("can0 busoff !\n");
|
||
flexcan_deinit(&can_handle_0);
|
||
|
||
initialization_Flexcan(CAN_INDEX_0, &can_0_config, &can_0_fifo_config, flexcan_Receive_callback_0);
|
||
|
||
can_0_busoff_flag = false;
|
||
}
|
||
|
||
if (can_1_busoff_flag == true) //busoff
|
||
{
|
||
printf("can1 busoff !\n");
|
||
flexcan_deinit(&can_handle_1);
|
||
|
||
initialization_Flexcan(CAN_INDEX_1, &can_1_config, &can_1_fifo_config, flexcan_Receive_callback_1);
|
||
|
||
can_1_busoff_flag = false;
|
||
}
|
||
|
||
if (can_2_busoff_flag == true) //busoff
|
||
{
|
||
printf("can2 busoff !\n");
|
||
flexcan_deinit(&can_handle_2);
|
||
|
||
initialization_Flexcan(CAN_INDEX_2, &can_2_config, &can_2_fifo_config, flexcan_Receive_callback_2);
|
||
|
||
can_2_busoff_flag = false;
|
||
}
|
||
|
||
if (can_3_busoff_flag == true) //busoff
|
||
{
|
||
printf("can3 busoff !\n");
|
||
flexcan_deinit(&can_handle_3);
|
||
|
||
initialization_Flexcan(CAN_INDEX_3, &can_3_config, &can_3_fifo_config, flexcan_Receive_callback_3);
|
||
|
||
can_3_busoff_flag = false;
|
||
}
|
||
|
||
if (can_4_busoff_flag == true) //busoff
|
||
{
|
||
printf("can4 busoff !\n");
|
||
flexcan_deinit(&can_handle_4);
|
||
|
||
initialization_Flexcan(CAN_INDEX_4, &can_4_config, &can_4_fifo_config, flexcan_Receive_callback_4);
|
||
|
||
can_4_busoff_flag = false;
|
||
}
|
||
|
||
if (can_5_busoff_flag == true) //busoff
|
||
{
|
||
printf("can5 busoff !\n");
|
||
flexcan_deinit(&can_handle_5);
|
||
|
||
initialization_Flexcan(CAN_INDEX_5, &can_5_config, &can_5_fifo_config, flexcan_Receive_callback_5);
|
||
|
||
can_5_busoff_flag = false;
|
||
}
|
||
|
||
if (can_6_busoff_flag == true) //busoff
|
||
{
|
||
printf("can6 busoff !\n");
|
||
flexcan_deinit(&can_handle_6);
|
||
|
||
initialization_Flexcan(CAN_INDEX_6, &can_6_config, &can_6_fifo_config, flexcan_Receive_callback_6);
|
||
|
||
can_6_busoff_flag = false;
|
||
}
|
||
|
||
if (can_7_busoff_flag == true) //busoff
|
||
{
|
||
printf("can7 busoff !\n");
|
||
flexcan_deinit(&can_handle_7);
|
||
|
||
initialization_Flexcan(CAN_INDEX_7, &can_7_config, &can_7_fifo_config, flexcan_Receive_callback_7);
|
||
|
||
can_7_busoff_flag = false;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
/* initialization_all_flexcan. */
|
||
void initialization_All_Flexcan(void)
|
||
{
|
||
sdrv_gpio_set_pin_output_level(GPIO_H12, 0); //CAN使能
|
||
|
||
initialization_Flexcan(CAN_INDEX_0, &can_0_config, &can_0_fifo_config, flexcan_Receive_callback_0);//250k
|
||
|
||
initialization_Flexcan(CAN_INDEX_1, &can_1_config, &can_1_fifo_config, flexcan_Receive_callback_1);//250k
|
||
|
||
initialization_Flexcan(CAN_INDEX_2, &can_2_config, &can_2_fifo_config, flexcan_Receive_callback_2);//250k
|
||
|
||
initialization_Flexcan(CAN_INDEX_3, &can_3_config, &can_3_fifo_config, flexcan_Receive_callback_3);//1M
|
||
|
||
initialization_Flexcan(CAN_INDEX_4, &can_4_config, &can_4_fifo_config, flexcan_Receive_callback_4);//250k
|
||
|
||
initialization_Flexcan(CAN_INDEX_5, &can_5_config, &can_5_fifo_config, flexcan_Receive_callback_5);//250k
|
||
|
||
initialization_Flexcan(CAN_INDEX_6, &can_6_config, &can_6_fifo_config, flexcan_Receive_callback_6);//1M
|
||
|
||
initialization_Flexcan(CAN_INDEX_7, &can_7_config, &can_7_fifo_config, flexcan_Receive_callback_7);//250k
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
//100ms 调用一次
|
||
void canTimerProcess(void *signal_id)
|
||
{
|
||
static uint8_t can_timer[5] = {0,0,0,0,0};
|
||
static uint8_t can_temp[10] = {0,0,0,0,0,0,0,0,0,0};//中间判断值
|
||
uint8_t temp = 0;
|
||
|
||
can_timer[0] ++;
|
||
if(can_timer[0] >= 1)//100ms判断一次
|
||
{
|
||
can_timer[0] = 0;
|
||
|
||
if(can_fault_info.bit_data.motor1_count == can_temp[0])//数据一样表示故障
|
||
{
|
||
can_fault_info.bit_data.motor1_state = FAULT;
|
||
}
|
||
else
|
||
{
|
||
can_fault_info.bit_data.motor1_state = NORMAL;
|
||
can_temp[0] = can_fault_info.bit_data.motor1_count;//数据更新
|
||
}
|
||
|
||
if(can_fault_info.bit_data.motor1_state != can_temp[1])
|
||
{
|
||
can_temp[1] = can_fault_info.bit_data.motor1_state;
|
||
temp ++;
|
||
}
|
||
|
||
|
||
if(can_fault_info.bit_data.motor2_count == can_temp[2])//数据一样表示故障
|
||
{
|
||
can_fault_info.bit_data.motor2_state = FAULT;
|
||
}
|
||
else
|
||
{
|
||
can_fault_info.bit_data.motor2_state = NORMAL;
|
||
can_temp[2] = can_fault_info.bit_data.motor2_count;//数据更新
|
||
}
|
||
|
||
if(can_fault_info.bit_data.motor2_state != can_temp[3])
|
||
{
|
||
can_temp[3] = can_fault_info.bit_data.motor2_state;
|
||
temp ++;
|
||
}
|
||
}
|
||
|
||
can_timer[1] ++;//BMS判断
|
||
if(can_timer[1] >= 20)//2s判断一次
|
||
{
|
||
can_timer[1] = 0;
|
||
//BMS
|
||
if(can_fault_info.bit_data.bms_count == can_temp[4])//数据一样表示故障
|
||
{
|
||
can_fault_info.bit_data.bms_state = FAULT;
|
||
}
|
||
else
|
||
{
|
||
can_fault_info.bit_data.bms_state = NORMAL;
|
||
can_temp[4] = can_fault_info.bit_data.bms_count;//数据更新
|
||
}
|
||
if(can_fault_info.bit_data.bms_state != can_temp[5])
|
||
{
|
||
can_temp[5] = can_fault_info.bit_data.bms_state;
|
||
temp ++;
|
||
}
|
||
|
||
//温度模块
|
||
if(can_fault_info.bit_data.temperature_count == can_temp[6])//数据一样表示故障
|
||
{
|
||
can_fault_info.bit_data.temperature_state = FAULT;
|
||
}
|
||
else
|
||
{
|
||
can_fault_info.bit_data.temperature_state = NORMAL;
|
||
can_temp[6] = can_fault_info.bit_data.temperature_count;//数据更新
|
||
}
|
||
if(can_fault_info.bit_data.temperature_state != can_temp[7])
|
||
{
|
||
can_temp[7] = can_fault_info.bit_data.temperature_state;
|
||
temp ++;
|
||
}
|
||
}
|
||
|
||
can_timer[2] ++;//遥控器判断
|
||
if(can_timer[2] >= 5)//500ms判断一次
|
||
{
|
||
can_timer[2] = 0;
|
||
//遥控器
|
||
if(can_fault_info.bit_data.remote_count == can_temp[8])//数据一样表示故障
|
||
{
|
||
can_fault_info.bit_data.remote_state = FAULT;
|
||
}
|
||
else
|
||
{
|
||
can_fault_info.bit_data.remote_state = NORMAL;
|
||
can_temp[8] = can_fault_info.bit_data.remote_count;//数据更新
|
||
}
|
||
if(can_fault_info.bit_data.remote_state != can_temp[9])
|
||
{
|
||
can_temp[9] = can_fault_info.bit_data.remote_state;
|
||
temp ++;
|
||
}
|
||
}
|
||
|
||
can_timer[4] ++;//故障周期发送信号
|
||
if( (0 != temp) || (can_timer[4] >= 5) )//故障周期500发送信号，发生变化立马发送
|
||
{
|
||
can_timer[4] = 0;
|
||
publishMessage(&can_fault_info, 1);//
|
||
}
|
||
|
||
//busoff判断
|
||
can_timer[3] ++;
|
||
if(can_timer[3] >= 10)//100*100*10 = 1s处理一次
|
||
{
|
||
can_timer[3] = 0;
|
||
|
||
flexcan_Busoff_Recovery();//BUSS OFF处理
|
||
}
|
||
}
|
||
|
||
|
||
//static void processSdoOutput1(void *signal_id)
|
||
//{
|
||
// (void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
// 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; // 标记变量为已使用，避免编译器警告
|
||
// 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; // 标记变量为已使用，避免编译器警告
|
||
// 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; // 标记变量为已使用，避免编译器警告
|
||
// 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; // 标记变量为已使用，避免编译器警告
|
||
// 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; // 标记变量为已使用，避免编译器警告
|
||
// 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; // 标记变量为已使用，避免编译器警告
|
||
CAN_Send_Msg(&can_handle_1, LEFT_FRONT_MOTOR_OUTPUT1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output1, 8, 15);//电机1扭矩和转速输出
|
||
CAN_Send_Msg(&can_handle_1, LEFT_REAR_MOTOR_OUTPUT1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output3, 8, 16);//电机1扭矩和转速输出
|
||
}
|
||
|
||
static void processMotorOutput2(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
CAN_Send_Msg(&can_handle_2, RIGHT_FRONT_MOTOR_OUTPUT1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output2, 8, 15);//电机2扭矩和转速输出
|
||
CAN_Send_Msg(&can_handle_2, RIGHT_REAR_MOTOR_OUTPUT1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output4, 8, 16);//电机2扭矩和转速输出
|
||
}
|
||
|
||
static void processMotorOutput3(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
|
||
CAN_Send_Msg(&can_handle_1, LEFT_FRONT_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output1.arr[8], 8, 17);//电机1功率输出
|
||
CAN_Send_Msg(&can_handle_1, LEFT_REAR_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output3.arr[8], 8, 18);//电机1功率输出
|
||
|
||
}
|
||
|
||
static void processMotorOutput4(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
CAN_Send_Msg(&can_handle_2, RIGHT_FRONT_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output2.arr[8], 8, 17);//电机2功率输出
|
||
CAN_Send_Msg(&can_handle_2, RIGHT_REAR_MOTOR_OUTPUT2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_motor_output4.arr[8], 8, 18);//电机2功率输出
|
||
}
|
||
|
||
static void processKgfOutput1(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
|
||
if(1 == ecu_online)//20250318 修改为在线才能发送，避免采集模块和E3同时发送
|
||
{
|
||
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)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
if(1 == ecu_online)//20250318 修改为在线才能发送，避免采集模块和E3同时发送
|
||
{
|
||
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
|
||
}
|
||
|
||
}
|
||
|
||
//static void processKgfOutput2(void *signal_id)
|
||
//{
|
||
// (void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
// if(1 == ecu_online)//20250318 修改为在线才能发送，避免采集模块和E3同时发送
|
||
// {
|
||
// 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
|
||
// }
|
||
//
|
||
//}
|
||
|
||
|
||
|
||
static void processWheelSpeedOutput(void *signal_id)
|
||
{
|
||
float CANPressSpeedTemp = 0.0;//速度计算中间值
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
|
||
CANPressSpeedTemp = (diff_data.left_motor_speed*(float)getParam("whl_dia") * M_PI*60)/1000.0/(float)getParam("gRatio");// 转/分钟——》km/h 一圈1.8米 20241016 除以减速比
|
||
CANPressSpeedTemp = CANPressSpeedTemp*100;//,最后需要扩大100倍 ,系数0.01
|
||
un_wheel_wpeed_output.bit_data.left_front = (uint16_t)((int16_t)(CANPressSpeedTemp));//转速*1.8*60*100/1000/ 转/分钟——》km/h 一圈1.8米,最后需要扩大100倍，系数为0.01最后转换为无符号型， 20240629 减速比不需要考虑已经
|
||
un_wheel_wpeed_output.bit_data.left_rear = (uint16_t)((int16_t)(CANPressSpeedTemp));//先转换为int，再转换为无符号
|
||
|
||
CANPressSpeedTemp = (diff_data.right_motor_speed*(float)getParam("whl_dia") * M_PI*60)/1000.0/(float)getParam("gRatio");// 转/分钟——》km/h 一圈1.8米
|
||
CANPressSpeedTemp = CANPressSpeedTemp*100;//,最后需要扩大100倍 ,系数0.01
|
||
un_wheel_wpeed_output.bit_data.right_front = (uint16_t)((int16_t)(CANPressSpeedTemp));//转速*1.8*60*100/1000/ 转/分钟——》km/h 一圈1.8米,最后需要扩大100倍，系数为0.01最后转换为无符号型， 20240629 减速比不需要考虑已经
|
||
un_wheel_wpeed_output.bit_data.right_rear = (uint16_t)((int16_t)(CANPressSpeedTemp));//先转换为int，再转换为无符号
|
||
|
||
CAN_Send_Msg(&can_handle_4, 0x98, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_wheel_wpeed_output, 8, 15);//导航仪
|
||
}
|
||
|
||
static void processHBridgeOutput(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
CAN_Send_Msg(&can_handle_5, 0x7F2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_h_bridge_output, 8, 17);//H桥输出
|
||
CAN_Send_Msg(&can_handle_5, 0x722, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_h_bridge_output1, 8, 19);//H桥输出
|
||
}
|
||
|
||
static void processUnGatherOutput(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
CAN_Send_Msg(&can_handle_0, 0x15000002, FLEXCAN_EXTEND_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_gather_output, 8, 18);//采集输出
|
||
}
|
||
|
||
|
||
|
||
static void processUltrasonicOutput(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
CAN_Send_Msg(&can_handle_6, ULTRASONIC_ID_1, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_ultrasonic_output1, 8, 15);//超声波输出
|
||
}
|
||
|
||
//static void processHBridgeOutput2(void *signal_id)
|
||
//{
|
||
// (void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
// CAN_Send_Msg(&can_handle_5, 0x722, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_h_bridge_output2, 8, 16);//H桥输出
|
||
//}
|
||
|
||
|
||
//static void processLifterOutput(void *signal_id)
|
||
//{
|
||
// (void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
// CAN_Send_Msg(&can_handle_5, 0x6F2, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, (uint8_t *)&un_lifter_output, 8, 17);//推杆输出
|
||
//}
|
||
|
||
|
||
|
||
|
||
//can 发送 100ms调用一次
|
||
void canSendAll(void *signal_id)
|
||
{
|
||
static uint16_t wheel_speed_cnt = 0;
|
||
// static uint8_t kgf_cnt = 0;
|
||
static uint16_t bms_cnt1 = 0;
|
||
static uint16_t bms_cnt2 = 0;
|
||
// static uint16_t motor_speed_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};
|
||
//-------------------------------------------------------------------------
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
|
||
bms_cnt1 ++;
|
||
if(bms_cnt1 >= 1000)//1s
|
||
{
|
||
bms_cnt1 = 0;
|
||
|
||
CanData[0] = 0x5A;
|
||
|
||
CAN_Send_Msg(&can_handle_3, 0x100, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 1, 15);//BMS请求数据
|
||
}
|
||
|
||
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请求数据
|
||
}
|
||
|
||
|
||
motor_power_cnt ++;
|
||
if(motor_power_cnt >= 1000)//1s发送一次
|
||
{
|
||
motor_power_cnt = 0;
|
||
processMotorOutput3(CanData);
|
||
processMotorOutput4(CanData);
|
||
}
|
||
|
||
// motor_power_cnt ++;
|
||
// if(motor_power_cnt >= 10)//读取转速 20ms发送
|
||
// {
|
||
// motor_power_cnt = 0;
|
||
//
|
||
// un_motor_output1.bit_data.MotCon_1Signal6 = 0x84;
|
||
// un_motor_output1.bit_data.MotCon_1Signal7 = 0x02;
|
||
// un_motor_output2.bit_data.MotCon_1Signal6 = 0x84;
|
||
// un_motor_output2.bit_data.MotCon_1Signal7 = 0x02;
|
||
//
|
||
// processMotorOutput3(CanData);
|
||
// processMotorOutput4(CanData);
|
||
// }
|
||
|
||
// kgf_cnt ++;
|
||
// if(kgf_cnt >= 5)//20210312 控制CAN通讯模块输出 20210710修改为50ms发送
|
||
// {
|
||
// kgf_cnt = 0;
|
||
//
|
||
// processKgfOutput1(CanData);
|
||
// processKgfOutput2(CanData);
|
||
// }
|
||
//
|
||
//轮速发送
|
||
wheel_speed_cnt ++;
|
||
if(wheel_speed_cnt >= 100)
|
||
{
|
||
wheel_speed_cnt = 0;
|
||
|
||
processWheelSpeedOutput(CanData);
|
||
|
||
// CAN_Send_Msg(&can_handle_0, 0x120, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS请求数据
|
||
// CAN_Send_Msg(&can_handle_1, 0x121, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 17);//BMS请求数据
|
||
// CAN_Send_Msg(&can_handle_2, 0x122, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 17);//BMS请求数据
|
||
// CAN_Send_Msg(&can_handle_3, 0x123, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS请求数据
|
||
// CAN_Send_Msg(&can_handle_4, 0x124, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS请求数据
|
||
// CAN_Send_Msg(&can_handle_5, 0x125, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS请求数据
|
||
CAN_Send_Msg(&can_handle_6, 0x126, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, &un_can_debug_output.arr[0], 8, 16);//BMS请求数据
|
||
// CAN_Send_Msg(&can_handle_7, 0x127, FLEXCAN_STANDARD_FRAME, FLEXCAN_FrameTypeData, CanData, 8, 16);//BMS请求数据
|
||
}
|
||
//
|
||
|
||
//H桥数据发送
|
||
// h_bridge_cnt ++;
|
||
// if(h_bridge_cnt >= 5)
|
||
// {
|
||
// h_bridge_cnt = 0;
|
||
//
|
||
// processHBridgeOutput(CanData);
|
||
// }
|
||
|
||
timerStart(&can_timer_interface1,1,1);//1ms调用一次
|
||
}
|
||
|
||
|
||
|
||
|
||
// can定时器信号处理函数
|
||
static void canInterfaceTimerProcess(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
// uint32_t time_boot = getCurrentTime();//记录当前时间
|
||
|
||
canTimerProcess(signal_id);
|
||
|
||
// printf("motor1 interval:%d,motor2 interval:%d\n",time_elapsed,time_elapsed1);//打印电机控制器1，2接收间隔
|
||
|
||
timerStart(&can_timer_interface2,100,1);//100ms调用一次
|
||
|
||
// printf("canInterface spend time:%d\n",getCurrentTime() - time_boot);//检查app用了多长时间
|
||
}
|
||
|
||
static void canInterfaceInput(void *signal_id)
|
||
{
|
||
if (signal_id == &un_sw_sample)
|
||
{
|
||
ecu_online = un_sw_sample.bit_data.flg_wake_ecu;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
// APP模块的初始化
|
||
void canInterfaceInit(void)
|
||
{
|
||
memset(&un_motor_input1, 0, sizeof(UnMotorInput));
|
||
memset(&un_motor_input2, 0, sizeof(UnMotorInput));
|
||
memset(&un_bms_input , 0, sizeof(UnBmsInput));
|
||
memset(&un_temp_module_input, 0, sizeof(UnTempModuleInput));
|
||
|
||
memset(&un_motor_output1, 0, sizeof(UnMotorOutput));
|
||
memset(&un_motor_output2, 0, sizeof(UnMotorOutput));
|
||
|
||
// un_motor_output1.bit_data.mode = 0x05;
|
||
// un_motor_output1.bit_data.gear = 0x01;
|
||
// un_motor_output1.bit_data.can_gear = 0x01;
|
||
// un_motor_output1.bit_data.motor_direction = 0x01;
|
||
// un_motor_output1.bit_data.control_data1 = 0x0;
|
||
// un_motor_output1.bit_data.control_data2 = 0x0;
|
||
//
|
||
// un_motor_output2.bit_data.mode = 0x05;
|
||
// un_motor_output2.bit_data.gear = 0x01;
|
||
// un_motor_output2.bit_data.can_gear = 0x01;
|
||
// un_motor_output2.bit_data.motor_direction = 0x00;
|
||
// un_motor_output2.bit_data.control_data1 = 0x0;
|
||
// un_motor_output2.bit_data.control_data2 = 0x0;
|
||
//
|
||
// un_motor_output3.bit_data.mode = 0x05;
|
||
// un_motor_output3.bit_data.gear = 0x01;
|
||
// un_motor_output3.bit_data.can_gear = 0x01;
|
||
// un_motor_output3.bit_data.motor_direction = 0x01;
|
||
// un_motor_output3.bit_data.control_data1 = 0x0;
|
||
// un_motor_output3.bit_data.control_data2 = 0x0;
|
||
//
|
||
// un_motor_output4.bit_data.mode = 0x05;
|
||
// un_motor_output4.bit_data.gear = 0x01;
|
||
// un_motor_output4.bit_data.can_gear = 0x01;
|
||
// un_motor_output4.bit_data.motor_direction = 0x00;
|
||
// un_motor_output4.bit_data.control_data1 = 0x0;
|
||
// un_motor_output4.bit_data.control_data2 = 0x0;
|
||
|
||
|
||
|
||
// un_motor_output1.bit_data.set_torque = 30000;//按照偏移量初始化
|
||
// un_motor_output1.bit_data.set_rotation_speed = 30000;
|
||
// un_motor_output1.bit_data.mode = 0;
|
||
// un_motor_output2.bit_data.set_torque = 30000;
|
||
// un_motor_output2.bit_data.set_rotation_speed = 30000;
|
||
// un_motor_output2.bit_data.mode = 0;
|
||
// can_fault_info.bit_data.navigator_state = 1;
|
||
|
||
memset(&un_inf_can_kgf_output1, 0, sizeof(UnInfCanKGFOutput));
|
||
memset(&un_inf_can_kgf_output2, 0, sizeof(UnInfCanKGFOutput));
|
||
memset(&un_h_bridge_output, 0, sizeof(UnHBridgeOutput));
|
||
memset(&un_wheel_wpeed_output, 0, sizeof(UnWheelSpeedOutput));
|
||
memset(&un_remote_control_input, 0, sizeof(UnRemoteControlInput));
|
||
|
||
un_inf_can_kgf_output2.bit_data.KGF04 = 1;//不能自杀，这个是控制自己上电的通道
|
||
|
||
|
||
// 初始化定时器，使用 brake_timer 的地址作为信号ID
|
||
timerInit(&can_timer_interface1);
|
||
timerInit(&can_timer_interface2);
|
||
|
||
subscribe(&can_timer_interface1, canSendAll);
|
||
subscribe(&can_timer_interface2, canInterfaceTimerProcess);
|
||
|
||
subscribe(&un_motor_output1, processMotorOutput1);
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||
subscribe(&un_motor_output2, processMotorOutput2);
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subscribe(&un_inf_can_kgf_output1, processKgfOutput1);
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subscribe(&un_inf_can_kgf_output2, processKgfOutput2);
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||
subscribe(&un_wheel_wpeed_output, processWheelSpeedOutput);
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subscribe(&un_h_bridge_output, processHBridgeOutput);
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subscribe(&un_gather_output, processUnGatherOutput);
|
||
subscribe(&un_sw_sample, canInterfaceInput); // 急停开关、高压开关 ，唤醒标志
|
||
subscribe(&un_ultrasonic_output1, processUltrasonicOutput); // 输出超声波传感器
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
// subscribe(&un_h_bridge_output2, processHBridgeOutput2);
|
||
// subscribe(&un_lifter_output, processLifterOutput);
|
||
|
||
// subscribe(&un_sdo_output1, processSdoOutput1);
|
||
// subscribe(&un_sdo_output2, processSdoOutput2);
|
||
// subscribe(&un_sdo_output3, processSdoOutput3);
|
||
// subscribe(&un_sdo_output4, processSdoOutput4);
|
||
// subscribe(&un_sdo_output5, processSdoOutput5);
|
||
// subscribe(&un_sdo_output7, processSdoOutput7);
|
||
|
||
timerStart(&can_timer_interface1,1,1);//1ms调用一次
|
||
|
||
timerStart(&can_timer_interface2,100,1);//100ms调用一次
|
||
|
||
printf( "canInterface: initial OK %d\n",getCurrentTime());
|
||
}
|
||
|
||
|
||
|