512 lines
12 KiB
C
512 lines
12 KiB
C
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/******************** (C) COPYRIGHT 2011 嵌入式开发工作室 ********************
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* 文件名 ：can_app.c
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* 描述 ：
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*
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* 版本 ：V1.0
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**********************************************************************************/
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#include "Sys.h"
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#include "adc.h"
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#include "can.h"
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#include "CanBusDrv.h"
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#include "candrvctrl.h"
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static st_cl candrv_if[2];
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/*****************************************************************************
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* 记录每一个CAN ID的发送时间
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****************************************************************************/
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static struct
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{
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unsigned int frame_id; /* ID */
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unsigned int period; /* 发送周期 */
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unsigned int send_tick; /* 发送TICK */
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unsigned int sent_tick; /* 发送成功TICK */
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} CAN_ID_SENT_TICK_MAP[] =
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{
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{CANBMS65CINFOID_WULING, 1000, 0, 0},
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{CANBMS38AINFOID_WULING, 100, 0, 0},
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{CANBMS38BINFOID_WULING, 100, 0, 0},
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{CANBMS38CINFOID_WULING, 100, 0, 0},
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{CANBMS38DINFOID_WULING, 100, 0, 0},
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{CANBMS38EINFOID_WULING, 100, 0, 0},
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{CANBMS598INFOID_WULING, 1000, 0, 0},
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{CANBMS599INFOID_WULING, 1000, 0, 0},
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{CANBMS59AINFOID_WULING, 1000, 0, 0},
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};
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void can2_bus_error_cb(e_link_sts err);
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/****************************************************************************
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* @brief: 检测can ID的实际发送时间是否超过指定时间
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*
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* @param frame_id: 要检测的CAN ID,
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* @param outtime: 超时时间，单位ms
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*
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* @return: bool
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* true: 周期超时
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* false: 未达到超时时间
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*/
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bool can_sent_cycle_timeout(unsigned int frame_id)
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{
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unsigned short i;
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for (i=0; i < (sizeof(CAN_ID_SENT_TICK_MAP)/sizeof(CAN_ID_SENT_TICK_MAP[0])); i++)
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{
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if (CAN_ID_SENT_TICK_MAP[i].frame_id == frame_id)
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{
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if ( CAN_ID_SENT_TICK_MAP[i].sent_tick == 0)
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{
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return true;
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}
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// if (CAN_ID_SENT_TICK_MAP[i].send_tick == 0 || CAN_ID_SENT_TICK_MAP[i].sent_tick == 0)
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// {
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// return true;
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// }
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#if 0
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else if (abs(CAN_ID_SENT_TICK_MAP[i].sent_tick - CAN_ID_SENT_TICK_MAP[i].send_tick) < 5)
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{
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/* 发送时间和发送成功时间相近，则表示肯定上一次发送成功了，用发送时间进行对比 */
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if (TickOut(&CAN_ID_SENT_TICK_MAP[i].send_tick, CAN_ID_SENT_TICK_MAP[i].period))
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{
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return true;
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}
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else
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{
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return false;
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}
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}
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#endif
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else if (TickOut(&CAN_ID_SENT_TICK_MAP[i].sent_tick, CAN_ID_SENT_TICK_MAP[i].period - 3))
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{
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/* 发送时间和发送成功时间不相近，则表示肯定上一次发送失败了，用上一次发送成功时间进行对比 */
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return true;
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}
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else
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{
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return false;
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}
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}
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}
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return true;
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}
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/****************************************************************************
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* @brief: 记录每一个CANid的发送成功的时间
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*
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* @param frame_id: 发送成功CAN ID
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*
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* @return: void
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*/
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static __inline void can_sent_tick_update(unsigned int frame_id)
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{
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unsigned short i;
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for (i=0; i < (sizeof(CAN_ID_SENT_TICK_MAP)/sizeof(CAN_ID_SENT_TICK_MAP[0])); i++)
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{
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if (CAN_ID_SENT_TICK_MAP[i].frame_id == frame_id)
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{
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TickOut(&CAN_ID_SENT_TICK_MAP[i].sent_tick, 0);
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}
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}
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}
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/****************************************************************************
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* @brief: 记录每一个CANid的发送的时间
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*
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* @param frame_id: 发送成功CAN ID
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*
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* @return: void
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*/
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static __inline void can_send_tick_update(unsigned int frame_id)
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{
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unsigned short i;
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for (i=0; i < (sizeof(CAN_ID_SENT_TICK_MAP)/sizeof(CAN_ID_SENT_TICK_MAP[0])); i++)
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{
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if (CAN_ID_SENT_TICK_MAP[i].frame_id == frame_id)
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{
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TickOut(&CAN_ID_SENT_TICK_MAP[i].send_tick, 0);
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}
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}
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}
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/*can 包 发送*/
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int8_t can_write( CanTxMsg *TxMessage)
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{
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u16 time_up = 0;
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if (candrv_if[0].SEND != NULL)
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{
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return candrv_if[0].SEND(0, (TxMessage->IDE == CAN_ID_EXT)?TxMessage->ExtId:TxMessage->StdId, \
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TxMessage->Data, (TxMessage->RTR == CAN_RTR_DATA)?TxMessage->DLC:0, \
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(TxMessage->IDE == CAN_ID_EXT)?TxMessage->ExtId:TxMessage->StdId,NULL);
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}
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return 0;
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}
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int8_t can_write2( CanTxMsg *TxMessage)
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{
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u16 time_up = 0;
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uint8_t TransmitMailbox;
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static u16 sendpoweronflag = 0;
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static u8 sendlowvoltflag = 0;
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static u8 sendhighvoltflag = 0;
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#if 1
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if(sendpoweronflag++ < 12) //刚上电不判断输入电压
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{
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}
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else
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{
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if(sendpoweronflag > 100)sendpoweronflag =100;
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if(sendlowvoltflag == 0)
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{
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if (Sample_DataS.VIN_Input_Voltage < 5.90) {
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sendlowvoltflag = 1;
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return 1;
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}
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}
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else
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{
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if (Sample_DataS.VIN_Input_Voltage < 6.40) {
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return 1;
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}
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else
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{
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sendlowvoltflag = 0;
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}
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}
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if(sendhighvoltflag == 0)
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{
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if (Sample_DataS.VIN_Input_Voltage > 18.1) {
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sendhighvoltflag = 1;
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return 1;
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}
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}
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else
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{
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if (Sample_DataS.VIN_Input_Voltage > 17.6) {
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return 1;
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}
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else
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{
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sendhighvoltflag = 0;
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}
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}
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}
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#endif
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//UDS禁止发送
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if (!UdsApi_Is_UdsEnableNCMTx()) {
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return 1;
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}
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if (candrv_if[1].SEND != NULL)
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{
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if (candrv_if[1].SEND(1, (TxMessage->IDE == CAN_ID_EXT)?TxMessage->ExtId:TxMessage->StdId, \
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TxMessage->Data, (TxMessage->RTR == CAN_RTR_DATA)?TxMessage->DLC:0, \
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(TxMessage->IDE == CAN_ID_EXT)?TxMessage->ExtId:TxMessage->StdId, NULL))
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{
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/* 暂时不需要更新 */
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//can_send_tick_update((TxMessage->IDE == CAN_ID_EXT)?TxMessage->ExtId:TxMessage->StdId);
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return 0;
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}
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}
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return 0;
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}
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/************************************************************************************************************
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* 总线异常BUSSOFF的处理
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***********************************************************************************************************/
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typedef enum
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{
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E_BUS_NORMAL = 0,
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E_BUS_BUSOFF,
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E_BUS_RECOVERY_ACK,
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} bus_recovery_step_e;
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typedef struct
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{
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unsigned char step; /* 0 - 正常 1 - bus off 延时 2-bus off recovery 确认 */
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unsigned int bus_off_tick; /* 触发bus off的时间 */
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unsigned int recovery_tick; /* recovery的时间 */
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unsigned short recovery_times; /* 连续recovey次数 */
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unsigned char first_frm;
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} bus_off_recovery_t;
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static const unsigned short BUS_OFF_TIME_MS[] = {30, 198, 198, 198, 198, 198};
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static bus_off_recovery_t canbus[BSP_CAN_CHANNEL_NUM];
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/**
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* @brief: 处理bus off的recovery操作
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*
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* @param : void
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*
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* @return: void
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*
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* @remark: 自动恢复总线，可放在定时器或在循环内，其被执行的间隔不能超过10ms。
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*/
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#include "led.h"
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extern void WULING_DCDCSendBms2_force(void);
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extern u8 EntSlpFlag ;
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void can_bus_off_recovery(void)
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{
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unsigned char i;
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unsigned int timeout;
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unsigned char buffer[8]={0};
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for (i = 0; i < BSP_CAN_CHANNEL_NUM; i++)
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{
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// if ((canbus[i].step == E_BUS_BUSOFF) && (EntSlpFlag==0)/* && 非休眠条件*/)
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if ((canbus[i].step == E_BUS_BUSOFF)/* && 非休眠条件*/)
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{
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if (canbus[i].recovery_times < (sizeof(BUS_OFF_TIME_MS)/sizeof(BUS_OFF_TIME_MS[0])))
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{
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timeout = BUS_OFF_TIME_MS[canbus[i].recovery_times];
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}
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else
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{
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/* reopen 超过指定次数则使用设定的最后一个间隔 */
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timeout = BUS_OFF_TIME_MS[(sizeof(BUS_OFF_TIME_MS)/sizeof(BUS_OFF_TIME_MS[0]))-1];
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}
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if (TickOut(&canbus[i].bus_off_tick, timeout))
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{
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SYS_ENTER_CRITICAL();
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canbus[i].recovery_times++;
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if (candrv_if[i].ConfigBus != NULL) candrv_if[i].ConfigBus(i, 0,0,0);
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canbus[i].step = E_BUS_RECOVERY_ACK;
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// /* 模拟发送网络管理数据包 */
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// if(ChkPwrManageAccoff()!=0 )
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// {
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buffer[0]=1;
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// }
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if (candrv_if[i].SEND!= NULL) candrv_if[i].SEND(i, CANBMS65CINFOID_WULING, buffer, 8, CANBMS65CINFOID_WULING, NULL);
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SYS_EXIT_CRITICAL();
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TickOut(&canbus[i].recovery_tick, 0);
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canbus[i].first_frm = 1;
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}
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}
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else if (canbus[i].step == E_BUS_RECOVERY_ACK)
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{
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if (TickOut(&canbus[i].recovery_tick, 103))
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{
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WULING_DCDCSendBms2_force();
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canbus[i].recovery_times = 0;
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canbus[i].step = E_BUS_NORMAL;
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}
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}
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}
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}
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/**
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* @brief: 打印 can 总线状态
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*/
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void can_bus_off_status_printf(void)
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{
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printf("can 1: step(%d), recorvery(%d), last bus off tick(%d), last recovery tick(%d)!\n", \
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canbus[0].step, canbus[0].recovery_times, canbus[0].bus_off_tick, canbus[0].recovery_tick);
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printf("can 2: step(%d), recorvery(%d), last bus off tick(%d) last recovery tick(%d)!\n", \
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canbus[1].step, canbus[1].recovery_times, canbus[1].bus_off_tick, canbus[1].recovery_tick);
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}
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/***********************************************************************************************
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* 以下是应用层针对总线底层的接口
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**********************************************************************************************/
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void can2_bus_error_cb(e_link_sts err)
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{
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if (err != e_err_bussoff)
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{
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/* 不是BUSS OFF暂时不处理 */
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return;
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}
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if (canbus[1].step != E_BUS_BUSOFF)
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{
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if (candrv_if[1].CloseLink != NULL) candrv_if[1].CloseLink(1);
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canbus[1].step = E_BUS_BUSOFF;
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TickOut(&canbus[1].bus_off_tick, 0);
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}
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}
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static void can2_comm_sent_cb(unsigned int canid, unsigned int result)
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{
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/* 发送回调 */
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if (result == _SUCCESS)
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{
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/* 发送成功 */
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can_sent_tick_update(canid);
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if (canbus[1].first_frm > 0 && canbus[1].step == E_BUS_RECOVERY_ACK)
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{
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canbus[1].first_frm = 0;
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TickOut(&canbus[1].recovery_tick, 0);
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}
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}
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else if (result == _ABANDON)
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{
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/* 因为异常恢复 */
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}
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else
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{
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/* 发送失败 */
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}
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}
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static st_pl can2_protocol =
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{
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"整车协议",
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0,
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3,
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10,
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NULL,
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can2_bus_error_cb,
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can2_comm_sent_cb
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};
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#if 0
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static void can1_bus_error_cb(e_link_sts err)
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{
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}
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static void can1_comm_sent_cb(unsigned int canid, unsigned int result)
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{
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/* 发送回调 */
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}
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#endif
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static st_pl can1_protocol =
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{
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"整车协议",
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0,
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3,
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10,
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NULL,
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NULL,
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NULL
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};
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void InitCanDrvCtrlMode(void);
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void InitCanifToCanDrvCtrl(void);
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bool InstallProtocalToIF(unsigned char chan, st_pl* ppl, st_cl * pcl);
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/**
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* @brief: 初始化can 协议的基础功能
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*/
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void can_porting_init(void);
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/**
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* @brief: 初始化can 协议的基础功能的调度
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*/
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void can_porting_schedule(void);
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void app_can_handle(void)
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{
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static uint8_t bms_rev_busy_flag = 0;
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static CanRxMsg MutliBMSCAN1Msg;
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CanRxMsg rec_message;
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unsigned int id;
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unsigned char data[8], len;
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can_porting_schedule();
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while (candrv_if[0].REC != NULL && candrv_if[0].REC(0,&id, data, &len) == true)
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{
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/* 数据接收 */
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CAN_FRAME_INIT((CanTxMsg *)(&rec_message), id, data, len);
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rec_message.FMI = 0;
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bms_rev_busy_flag = 1;
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if(bms_RcvCanSingleDataProc(rec_message) == 1)
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{
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MutliBMSCAN1Msg = rec_message;
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bms_RcvCanMutliData(MutliBMSCAN1Msg,0,&bms_rev_busy_flag);
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}
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IWDG_Feed();
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}
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while (candrv_if[1].REC != NULL && candrv_if[1].REC(1,&id, data, &len) == true)
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{
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/* 数据接收 */
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CAN_FRAME_INIT((CanTxMsg *)(&rec_message), id, data, len);
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rec_message.FMI = 0;
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//UDS允许接收
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if (UdsApi_Is_UdsEnableNCMRx()) {
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bms_RcvCan2DataProc(rec_message);
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}
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UdsApi_MsgQueueIn(rec_message);
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memset(&rec_message,0,sizeof(rec_message));
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// bms_RcvCan2DataProc(rec_message);
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IWDG_Feed();
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}
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can_bus_off_recovery();
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}
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void app_can_init(void)
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{
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memset(&canbus[0], 0x00, sizeof(canbus));
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memset(&candrv_if[0], 0x00, sizeof(candrv_if));
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can_porting_init();
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InitCanDrvCtrlMode();
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InitCanifToCanDrvCtrl();
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if(InstallProtocalToIF(0,&can1_protocol,&candrv_if[0]) == true)
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{
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printf("can1 协议初始化成功\r\n");
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}
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if(InstallProtocalToIF(1,&can2_protocol,&candrv_if[1]) == true)
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{
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printf("can2 协议初始化成功\r\n");
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}
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if (candrv_if[0].ConfigBus != NULL)
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{
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candrv_if[0].ConfigBus(0, 0, 0, 0);
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}
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if (candrv_if[1].ConfigBus != NULL)
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{
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candrv_if[1].ConfigBus(1, 0, 0, 0);
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}
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}
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