893 lines
22 KiB
C
893 lines
22 KiB
C
#include <stdio.h>
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#include <stddef.h>
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#include <string.h>
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#include "FreeRTOS.h"
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#include "chip.h"
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#include "gpio_protocol.h"
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#include "moto_config.h"
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#if DEVICE_MXC_A58
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// #define CAN_USE_TX_DEMO
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#elif DEVICE_MXC_A59
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// #define CAN_USE_TX_DEMO
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#else
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#ifdef UI_VIEW_QUICKLY_ARRANGE
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#define CAN_USE_TX_DEMO
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#endif
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#endif
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#define CAN_RX_BUF_NUM 32
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#define CAN_TX_BUF_NUM 32
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CanMsg canRxMsg[CAN_NUM][CAN_RX_BUF_NUM] = {0};
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ListItem_t canRxListItem[CAN_NUM][CAN_RX_BUF_NUM];
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CanMsg canTxMsg[CAN_NUM][CAN_TX_BUF_NUM] = {0};
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ListItem_t canTxListItem[CAN_NUM][CAN_TX_BUF_NUM];
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static CanPort_t *pxCanPort[CAN_NUM] = {NULL};
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static uint32_t ulCanBase[CAN_NUM] = {REGS_CAN0_BASE, REGS_CAN1_BASE};
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static CAN_InitTypeDef CanInitValue[CAN_NUM];
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static CAN_FilterInitTypeDef CanFilterInitValue[CAN_NUM];
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static int nCanFilterEnable[CAN_NUM];
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unsigned char can_set_reset_mode(CAN_TypeDef* CANx)
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{
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unsigned char status;
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int i;
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/*检查复位标志*/
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status = CANx->MOD;
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/* 关闭中断 */
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CANx->IER = 0x00;
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for (i = 0; i < 100; i++)
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{
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if((status & CAN_Mode_RM) == CAN_Mode_RM)
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return CAN_InitStatus_Success;
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/* 设置复位*/
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CANx->MOD |= ((unsigned char)CAN_Mode_RM);
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/*延时*/
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udelay(10);
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/*检查复位标志*/
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status = CANx->MOD;
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}
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printf("Setting can into reset mode failed!\n");
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return CAN_InitStatus_Failed;
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}
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static unsigned char set_normal_mode(CAN_TypeDef* CANx)
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{
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unsigned char status;
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int i;
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/*检查复位标志*/
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status = CANx->MOD;
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for (i = 0; i < 100; i++)
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{
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if((status & CAN_Mode_RM) != CAN_Mode_RM)
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{
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/*开所有中断 （总线错误中断不开）*/
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CANx->IER |= (~(unsigned char)CAN_IR_BEI);
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return CAN_InitStatus_Success;
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}
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/* 设置正常工作模式*/
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CANx->MOD &= (~(unsigned char) CAN_Mode_RM);
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/*延时*/
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udelay(10);
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status = CANx->MOD;
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}
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printf("Setting can into normal mode failed!\n");
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return CAN_InitStatus_Failed;
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}
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unsigned char can_set_start(CAN_TypeDef* CANx)
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{
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/*复位TX错误计数器*/
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CANx->TXERR = 0;
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/*复位RX错误计数器*/
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CANx->RXERR = 0;
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/*时钟分频寄存器: PeliCAN模式; CBP=1,中止输入比较器, RX0激活*/
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CANx->CDR = 0xC0;
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return set_normal_mode(CANx);
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}
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unsigned char CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
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{
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unsigned char InitStatus = CAN_InitStatus_Failed;
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unsigned char status;
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status = CANx->MOD;
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if( status == 0xFF)
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{
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printf("Probe can failed \n");
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return CAN_InitStatus_Failed;
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}
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/* 进入复位模式 */
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InitStatus = can_set_reset_mode(CANx);
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/* set acceptance filter (accept all) */
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CANx->IDE_RTR_DLC = 0x0;
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CANx->ID[0] = 0x0;
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CANx->ID[1] = 0x0;
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CANx->ID[2] = 0x0;
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CANx->ID[3] = 0xFF;
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CANx->BUF[0] = 0xFF;
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CANx->BUF[1] = 0xFF;
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CANx->BUF[2] = 0xFF;
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if((CAN_InitStruct->CAN_Mode & CAN_Mode_SM) == CAN_Mode_SM)
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{
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/* 睡眠模式 1: 睡眠 0: 唤醒*/
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CANx->MOD|= (unsigned char)CAN_Mode_SM;
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}
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else
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{
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CANx->MOD&=~ (unsigned char)CAN_Mode_SM;
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}
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if((CAN_InitStruct->CAN_Mode & CAN_Mode_LOM) == CAN_Mode_LOM)
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{
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/*只听模式 1:只听 0:正常 */
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CANx->MOD|= (unsigned char)CAN_Mode_LOM;
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}
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else
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{
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CANx->MOD&=~ (unsigned char)CAN_Mode_LOM;
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}
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if((CAN_InitStruct->CAN_Mode & CAN_Mode_AFM) == CAN_Mode_AFM)
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{
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/*单滤波模式 1:单 0: 双*/
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CANx->MOD |= (unsigned char)CAN_Mode_AFM;
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}
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else
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{
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CANx->MOD&=~ (unsigned char)CAN_Mode_AFM;
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}
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if((CAN_InitStruct->CAN_Mode & CAN_Mode_STM) == CAN_Mode_STM)
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{
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/*自检测模式 1:自检测 0:正常 */
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CANx->MOD |= (unsigned char)CAN_Mode_STM;
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}
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else
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{
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CANx->MOD&=~ (unsigned char)CAN_Mode_STM;
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}
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/* 配置时钟频率 */
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CANx->BTR0 = (( unsigned char )( unsigned char )CAN_InitStruct->CAN_Prescaler -1) | \
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(unsigned char)CAN_InitStruct->CAN_SJW << 6;
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CANx->BTR1 = ((unsigned char)CAN_InitStruct->CAN_BS1) | \
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((unsigned char)CAN_InitStruct->CAN_BS2 << 4);
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/* 接收发送错误阈值，错误超过该值会产生错误中断
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* 默认值是96，有需要可以设置不同的值 */
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//CANx->EWLR = 96;
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/* 进入工作模式 */
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can_set_start(CANx);
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/* 返回初始化结果 */
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return InitStatus;
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}
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void CAN_Transmit(CAN_TypeDef* CANx, CanMsg* TxMessage)
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{
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int i;
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if (TxMessage->IDE == CAN_Id_Extended)
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{
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CANx->ID[0]= TxMessage ->ExtId>> 21;
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CANx->ID[1]= TxMessage ->ExtId>> 13;
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CANx->ID[2]= TxMessage ->ExtId>> 5;
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CANx->ID[3]= TxMessage ->ExtId<<3;
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CANx->IDE_RTR_DLC= (TxMessage ->IDE & 0x01) << 7 |\
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(TxMessage ->RTR & 0x01) << 6 |\
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(TxMessage ->DLC & 0x0F);
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for( i=0;i<TxMessage ->DLC; i++)
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{
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CANx->BUF[i]= TxMessage->Data[i];
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}
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}
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else if (TxMessage->IDE ==CAN_Id_Standard)
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{
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CANx->ID[0]= TxMessage ->StdId>> 3;
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CANx->ID[1]= TxMessage ->StdId<< 5;
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CANx->IDE_RTR_DLC= (TxMessage ->IDE & 0x01) << 7 |\
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(TxMessage ->RTR & 0x01) << 6 |\
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(TxMessage ->DLC & 0x0F);
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CANx->ID[2]= TxMessage ->Data[0];
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CANx->ID[3]= TxMessage ->Data[1];
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for( i=0;i<TxMessage ->DLC-2; i++)
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{
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CANx->BUF[i]= TxMessage->Data[i+2];
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}
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}
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CANx->CMR = CAN_CMR_TR ;
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}
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void CAN_Receive(CAN_TypeDef* CANx, CanMsg* RxMessage)
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{
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/* 获取 IDE */
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RxMessage->IDE = (CANx->IDE_RTR_DLC & 0x80)>>7;
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/* 获取 RTR */
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RxMessage->RTR = (CANx->IDE_RTR_DLC & 0x40)>>4;
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/* 获取 DLC */
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RxMessage->DLC= (CANx->IDE_RTR_DLC & 0x0F);
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if (RxMessage->IDE == CAN_Id_Standard)
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{
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RxMessage->StdId = CANx->ID[0]<<3 |CANx->ID[1]>>5 ;
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/* 获取数据 */
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RxMessage->Data[0] = (unsigned char)CANx->ID[2];
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RxMessage->Data[1] = (unsigned char)CANx->ID[3];
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RxMessage->Data[2] = (unsigned char)CANx->BUF[0];
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RxMessage->Data[3] = (unsigned char)CANx->BUF[1];
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RxMessage->Data[4] = (unsigned char)CANx->BUF[2];
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RxMessage->Data[5] = (unsigned char)CANx->BUF[3];
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RxMessage->Data[6] = (unsigned char)CANx->BUF[4];
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RxMessage->Data[7] = (unsigned char)CANx->BUF[5];
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}
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else if (RxMessage->IDE == CAN_Id_Extended)
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{
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RxMessage->ExtId= CANx->ID[0]<<21 |CANx->ID[1]<<13|CANx->ID[2]<<5|CANx->ID[3]>>3 ;
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/* 获取数据 */
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RxMessage->Data[0] = (unsigned char)CANx->BUF[0];
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RxMessage->Data[1] = (unsigned char)CANx->BUF[1];
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RxMessage->Data[2] = (unsigned char)CANx->BUF[2];
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RxMessage->Data[3] = (unsigned char)CANx->BUF[3];
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RxMessage->Data[4] = (unsigned char)CANx->BUF[4];
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RxMessage->Data[5] = (unsigned char)CANx->BUF[5];
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RxMessage->Data[6] = (unsigned char)CANx->BUF[6];
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RxMessage->Data[7] = (unsigned char)CANx->BUF[7];
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}
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}
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static void can_reinit(CanPort_t *cap)
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{
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if (cap->id == CAN_ID0)
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sys_soft_reset_from_isr(softreset_can0);
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else if (cap->id == CAN_ID1)
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sys_soft_reset_from_isr(softreset_can1);
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CAN_Init(cap->pcan, &CanInitValue[cap->id]);
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if (nCanFilterEnable[cap->id]) {
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vCanSetFilter(cap, &CanFilterInitValue[cap->id]);
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}
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}
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static void vCanIntHandler(void *param)
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{
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CanPort_t *cap = param;
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CAN_TypeDef* CANx = cap->pcan;
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CanMsg RxMessage;
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unsigned char status;
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/*读寄存器清除中断*/
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status = CANx->IR;
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/*接收中断*/
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if (status & CAN_IR_RI)
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{
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/*清除RI 中断*/
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CAN_Receive(CANx, &RxMessage);
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CANx->CMR |= CAN_CMR_RRB;
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CANx->CMR |= CAN_CMR_CDO;
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//rt_hw_can_isr(&bxcan0, RT_CAN_EVENT_RX_IND);
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//printf("Can0 int RX happened!\n");
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if (!listLIST_IS_EMPTY(&cap->rxFreeList)) {
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ListItem_t *item = listGET_HEAD_ENTRY(&cap->rxFreeList);
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memcpy((void*)listGET_LIST_ITEM_VALUE(item), &RxMessage, sizeof(CanMsg));
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uxListRemove(item);
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vListInsertEnd(&cap->rxRevList, item);
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xSemaphoreGiveFromISR(cap->xRev, 0);
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} else {
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/* can数据吞吐量大的时候中断处理函数添加打印会很容易造成数据接收溢出 */
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;//printf("can rx buf is full, drop a message.\n");
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}
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}
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/*发送中断*/
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if (status & CAN_IR_TI)
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{
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//printf("Can0 int TX happened!\n");
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xQueueSendFromISR(cap->tx_done, NULL, 0);
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}
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/*数据溢出中断*/
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if (status & CAN_IR_DOI)
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{
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printf("Can%d int RX OF happened!\n", cap->id);
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can_reinit(cap);
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}
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/*错误中断*/
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if (status & CAN_IR_EI)
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{
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printf("Can%d int ERROR happened!\n", cap->id);
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if (CANx->SR & CAN_SR_ES) {
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/* 接收或者发送错误超过设置的阈值 */
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can_reinit(cap);
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} else if (CANx->SR & CAN_SR_BS) {
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/* bus off错误，退出reset模式，控制器会在检测到128次11个连续的隐性位
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* 后恢复到bus on状态 */
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set_normal_mode(CANx);
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}
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}
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}
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static void can_transmit_thread(void *param)
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{
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CanPort_t *cap = param;
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ListItem_t *item;
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CanMsg *msgs;
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for (;;) {
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xSemaphoreTake(cap->xSend, portMAX_DELAY);
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portENTER_CRITICAL();
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if(!listLIST_IS_EMPTY(&cap->txSendList)) {
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item = listGET_HEAD_ENTRY(&cap->txSendList);
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msgs = (CanMsg *)listGET_LIST_ITEM_VALUE(item);
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uxListRemove(item);
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vListInsertEnd(&cap->txFreeList, item);
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portEXIT_CRITICAL();
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xQueueReset(cap->tx_done);
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CAN_Transmit(cap->pcan, msgs);
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if (xQueueReceive(cap->tx_done, NULL, pdMS_TO_TICKS(1000)) != pdTRUE) {
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/* transmit timeout, reset can */
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can_reinit(cap);
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}
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} else {
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portEXIT_CRITICAL();
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}
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}
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}
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CanPort_t *xCanOpen(uint32_t id)
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{
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int i;
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if (id >= CAN_NUM) {
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TRACE_INFO("Wrong input can id.\n");
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return NULL;
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}
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if (pxCanPort[id] != NULL) {
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TRACE_ERROR("Can %d is already in use.\n", id);
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return NULL;
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}
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CanPort_t *cap = (CanPort_t *)pvPortMalloc(sizeof(CanPort_t));
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if (cap == NULL) {
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TRACE_ERROR("Out of memory for can%d.\n", id);
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return NULL;
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}
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memset(cap, 0, sizeof(*cap));
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cap->xRxMutex = xSemaphoreCreateMutex();
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configASSERT(cap->xRxMutex);
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cap->xRev = xSemaphoreCreateCounting(CAN_RX_BUF_NUM, 0);
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configASSERT(cap->xRev);
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cap->xSend = xSemaphoreCreateCounting(CAN_TX_BUF_NUM, 0);
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configASSERT(cap->xSend);
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cap->xTxMutex = xSemaphoreCreateMutex();
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configASSERT(cap->xTxMutex);
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cap->tx_done = xQueueCreate(1, 0);
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configASSERT(cap->tx_done);
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cap->id = id;
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vListInitialise(&cap->rxRevList);
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vListInitialise(&cap->rxFreeList);
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for (i = 0; i < CAN_RX_BUF_NUM; i++) {
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vListInitialiseItem(&canRxListItem[cap->id][i]);
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listSET_LIST_ITEM_VALUE(&canRxListItem[cap->id][i], (uint32_t)&canRxMsg[cap->id][i]);
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vListInsertEnd(&cap->rxFreeList, &canRxListItem[cap->id][i]);
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}
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vListInitialise(&cap->txSendList);
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vListInitialise(&cap->txFreeList);
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for (i = 0; i < CAN_TX_BUF_NUM; i++) {
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vListInitialiseItem(&canTxListItem[cap->id][i]);
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listSET_LIST_ITEM_VALUE(&canTxListItem[cap->id][i], (uint32_t)&canTxMsg[cap->id][i]);
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vListInsertEnd(&cap->txFreeList, &canTxListItem[cap->id][i]);
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}
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cap->pcan = (CAN_TypeDef *)ulCanBase[id];
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cap->irq = CAN0_IRQn + id;
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request_irq(cap->irq, 0, vCanIntHandler, cap);
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/* Create a task to transmit can msg */
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if (xTaskCreate(can_transmit_thread, "cantrm", configMINIMAL_STACK_SIZE, cap,
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configMAX_PRIORITIES / 3 + 2, &cap->xTxThread) != pdPASS) {
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printf("create can transmit task fail.\n");
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vCanClose(cap);
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return NULL;
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}
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return pxCanPort[id] = cap;
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};
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void vCanInit(CanPort_t *cap, CanBPS_t baud, CanMode_t mode)
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{
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CAN_InitTypeDef CAN_InitStructure;
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switch (mode)
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{
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case CAN_MODE_NORMAL:
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CAN_InitStructure.CAN_Mode = 0x00;
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break;
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case CAN_MODE_LISEN:
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CAN_InitStructure.CAN_Mode = CAN_Mode_LOM;
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break;
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case CAN_MODE_LOOPBACK:
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CAN_InitStructure.CAN_Mode = CAN_Mode_STM;
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break;
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case CAN_MODE_LOOPBACKANLISEN:
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CAN_InitStructure.CAN_Mode = CAN_Mode_STM|CAN_Mode_LOM;
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break;
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}
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CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
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switch (baud)
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{
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case CAN1MBaud:
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CAN_InitStructure.CAN_Prescaler = 11;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case CAN800kBaud:
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CAN_InitStructure.CAN_Prescaler = 11;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case CAN500kBaud:
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CAN_InitStructure.CAN_Prescaler = 22;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case CAN250kBaud:
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CAN_InitStructure.CAN_Prescaler = 44;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case CAN125kBaud:
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CAN_InitStructure.CAN_Prescaler = 44;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_14tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
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break;
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|
||
default: //250K
|
||
CAN_InitStructure.CAN_Prescaler = 40;
|
||
CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
|
||
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
|
||
break;
|
||
}
|
||
|
||
CanInitValue[cap->id] = CAN_InitStructure;
|
||
|
||
CAN_Init(cap->pcan, &CAN_InitStructure);
|
||
}
|
||
|
||
void vCanClose(CanPort_t *cap)
|
||
{
|
||
if (cap == NULL) return;
|
||
|
||
if (cap->xTxThread)
|
||
vTaskDelete(cap->xTxThread);
|
||
|
||
can_set_reset_mode(cap->pcan);
|
||
|
||
vQueueDelete(cap->tx_done);
|
||
vSemaphoreDelete(cap->xRev);
|
||
vSemaphoreDelete(cap->xSend);
|
||
vSemaphoreDelete(cap->xRxMutex);
|
||
vSemaphoreDelete(cap->xTxMutex);
|
||
free_irq(cap->irq);
|
||
vPortFree(cap);
|
||
pxCanPort[cap->id] = NULL;
|
||
}
|
||
|
||
void vCanSetFilter(CanPort_t *cap, CAN_FilterInitTypeDef * CAN_FilterInitStruct)
|
||
{
|
||
unsigned long rtr;
|
||
unsigned long fcase;
|
||
unsigned long ide;
|
||
unsigned long thisid, thisid1, thisid2;
|
||
unsigned long thismask, thismask1, thismask2;
|
||
unsigned long firstdata;
|
||
unsigned long datamask;
|
||
unsigned char CAN_FilterId0, CAN_FilterId1, CAN_FilterId2, CAN_FilterId3 ;
|
||
unsigned char CAN_FilterMaskId0, CAN_FilterMaskId1, CAN_FilterMaskId2, CAN_FilterMaskId3;
|
||
CAN_TypeDef* CANx = cap->pcan;
|
||
|
||
thisid = CAN_FilterInitStruct->ID;
|
||
thismask = CAN_FilterInitStruct->IDMASK;
|
||
thisid1 = (CAN_FilterInitStruct->ID & 0xFFFF0000 )>>16;
|
||
thismask1 = (CAN_FilterInitStruct->IDMASK & 0xFFFF0000 )>>16;
|
||
thisid2 = (CAN_FilterInitStruct->ID & 0x0000FFFF );
|
||
thismask2 = ( CAN_FilterInitStruct->IDMASK& 0x0000FFFF );
|
||
rtr = CAN_FilterInitStruct->RTR;
|
||
ide = CAN_FilterInitStruct->IDE;
|
||
firstdata = CAN_FilterInitStruct->First_Data;
|
||
datamask = CAN_FilterInitStruct->Data_Mask;
|
||
fcase = CAN_FilterInitStruct->MODE;
|
||
|
||
if(ide == 0)//标准帧
|
||
{
|
||
if(fcase == 0)// 0- 双滤波器模式
|
||
{
|
||
CAN_FilterId0 = thisid1>>3;
|
||
CAN_FilterMaskId0 = thismask1>>3;
|
||
CAN_FilterId1 = thisid1<<5 | firstdata>>4| rtr<<4;
|
||
CAN_FilterMaskId1 = thismask1<<4 | datamask>>4 ;
|
||
CAN_FilterId2 = thisid2 >> 3;
|
||
CAN_FilterMaskId2 = thismask2 >>3;
|
||
CAN_FilterId3 = firstdata & 0x0F | thisid2 <<5 | rtr<<4;
|
||
CAN_FilterMaskId3 = datamask <<4 ;
|
||
}
|
||
else if(fcase == 1)// 1-单滤波器模式
|
||
{
|
||
CAN_FilterId0 = thisid>>3;
|
||
CAN_FilterMaskId0 = thismask>>3;
|
||
CAN_FilterId1 = thisid<<5 | rtr<<4;
|
||
CAN_FilterMaskId1 = thismask<<5 ;
|
||
CAN_FilterMaskId1 |= 0x0F ;
|
||
CAN_FilterId2 = 0x00;
|
||
CAN_FilterMaskId2 = 0xFF;
|
||
CAN_FilterId3 = 0x00;
|
||
CAN_FilterMaskId3 = 0xFF ;
|
||
}
|
||
}
|
||
else if(ide == 1)//扩展帧
|
||
{
|
||
if(fcase == 0)// 0- 双滤波器模式
|
||
{
|
||
CAN_FilterId0 = thisid1>>8;
|
||
CAN_FilterMaskId0 = thismask1>>8;
|
||
CAN_FilterId1 = thisid1 ;
|
||
CAN_FilterMaskId1 = thismask1 ;
|
||
CAN_FilterId2 = thisid2>>8;
|
||
CAN_FilterMaskId2 = thismask2>>8;
|
||
CAN_FilterId3 = thisid2 ;
|
||
CAN_FilterMaskId3 = thismask2 ;
|
||
}
|
||
else if(fcase == 1)// 1-单滤波器模式
|
||
{
|
||
CAN_FilterId0 = thisid>>21;
|
||
CAN_FilterMaskId0 = thismask>>21;
|
||
CAN_FilterId1 = thisid>>13 ;
|
||
CAN_FilterMaskId1 = thismask>>13 ;
|
||
CAN_FilterId2 = thisid>>5;
|
||
CAN_FilterMaskId2 = thismask>>5;
|
||
CAN_FilterId3 = thisid<<3 | rtr<<2;
|
||
CAN_FilterMaskId3 = thismask<<3;
|
||
CAN_FilterMaskId3 |= 0x03;
|
||
}
|
||
}
|
||
|
||
/* 进入复位模式 */
|
||
can_set_reset_mode(CANx);
|
||
|
||
if(fcase == 1)// 1-单滤波器模式
|
||
{
|
||
/*单滤波模式 */
|
||
CANx->MOD |= (unsigned char)CAN_Mode_AFM;
|
||
}
|
||
else if(fcase == 0)// 0- 双滤波器模式
|
||
{
|
||
/*双滤波模式 */
|
||
CANx->MOD &=(~ (unsigned char) CAN_Mode_AFM);
|
||
}
|
||
|
||
CANx->IDE_RTR_DLC = CAN_FilterId0;
|
||
CANx->ID[0] = CAN_FilterId1;
|
||
CANx->ID[1] = CAN_FilterId2;
|
||
CANx->ID[2] = CAN_FilterId3;
|
||
CANx->ID[3] = CAN_FilterMaskId0;
|
||
CANx->BUF[0] = CAN_FilterMaskId1;
|
||
CANx->BUF[1] = CAN_FilterMaskId2;
|
||
CANx->BUF[2] = CAN_FilterMaskId3;
|
||
|
||
CanFilterInitValue[cap->id] = *CAN_FilterInitStruct;
|
||
nCanFilterEnable[cap->id] = 1;
|
||
|
||
/* 进入工作模式 */
|
||
can_set_start(CANx);
|
||
}
|
||
|
||
|
||
int iCanWrite(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime)
|
||
{
|
||
TickType_t starttime = xTaskGetTickCount();
|
||
CanMsg *msgs = messages;
|
||
int count = 0;
|
||
|
||
xSemaphoreTake(cap->xTxMutex, portMAX_DELAY);
|
||
|
||
while (nmsgs) {
|
||
portENTER_CRITICAL();
|
||
if(!listLIST_IS_EMPTY(&cap->txFreeList)) {
|
||
ListItem_t *item = listGET_HEAD_ENTRY(&cap->txFreeList);
|
||
memcpy((void*)listGET_LIST_ITEM_VALUE(item), msgs, sizeof(CanMsg));
|
||
uxListRemove(item);
|
||
vListInsertEnd(&cap->txSendList, item);
|
||
portEXIT_CRITICAL();
|
||
msgs++;
|
||
count++;
|
||
nmsgs--;
|
||
xSemaphoreGive(cap->xSend);
|
||
} else {
|
||
portEXIT_CRITICAL();
|
||
if (xBlockTime && xTaskGetTickCount() - starttime > xBlockTime)
|
||
break;
|
||
vTaskDelay(1);
|
||
}
|
||
|
||
if (xBlockTime && xTaskGetTickCount() - starttime > xBlockTime)
|
||
break;
|
||
}
|
||
|
||
xSemaphoreGive(cap->xTxMutex);
|
||
|
||
return count;
|
||
}
|
||
|
||
int iCanRead(CanPort_t *cap, CanMsg* messages, int nmsgs, TickType_t xBlockTime)
|
||
{
|
||
TickType_t starttime = xTaskGetTickCount();
|
||
CanMsg *msgs = messages;
|
||
int count = 0;
|
||
|
||
xSemaphoreTake(cap->xRxMutex, portMAX_DELAY);
|
||
while (nmsgs) {
|
||
ListItem_t *item;
|
||
|
||
xSemaphoreTake(cap->xRev, pdMS_TO_TICKS(10));
|
||
|
||
portENTER_CRITICAL();
|
||
if(!listLIST_IS_EMPTY(&cap->rxRevList)) {
|
||
item = listGET_HEAD_ENTRY(&cap->rxRevList);
|
||
memcpy(msgs, (void*)listGET_LIST_ITEM_VALUE(item), sizeof(CanMsg));
|
||
uxListRemove(item);
|
||
vListInsertEnd(&cap->rxFreeList, item);
|
||
msgs++;
|
||
count++;
|
||
nmsgs--;
|
||
}
|
||
portEXIT_CRITICAL();
|
||
|
||
if (xBlockTime && xTaskGetTickCount() - starttime > xBlockTime)
|
||
break;
|
||
}
|
||
xSemaphoreGive(cap->xRxMutex);
|
||
|
||
return count;
|
||
|
||
}
|
||
|
||
int iCanGetReceiveErrorCount(CanPort_t *cap)
|
||
{
|
||
if (cap && cap->pcan)
|
||
return cap->pcan->RXERR;
|
||
|
||
return 0;
|
||
}
|
||
|
||
int iCanGetTransmitErrorCount(CanPort_t *cap)
|
||
{
|
||
if (cap && cap->pcan)
|
||
return cap->pcan->TXERR;
|
||
|
||
return 0;
|
||
}
|
||
|
||
#ifdef CAN_USE_TX_DEMO
|
||
int cantx_count = 0;
|
||
static void can_txdemo_thread(void *param)
|
||
{
|
||
CanPort_t *cap = param;
|
||
uint8_t checksum = 0;
|
||
CanMsg txmsg = {0};
|
||
txmsg.StdId = 0x213;
|
||
//txmsg.ExtId = 0x400;
|
||
txmsg.IDE = CAN_Id_Standard;
|
||
txmsg.DLC = 8;
|
||
txmsg.Data[0] = Get_sys_quickly_arrange()?0x0:0x10;
|
||
if(Get_sys_grade() >= 7)
|
||
txmsg.Data[1] = 0xFF;//档位
|
||
else
|
||
txmsg.Data[1] = Get_sys_grade();//档位
|
||
txmsg.Data[2] = Get_sys_velocity();//速度
|
||
txmsg.Data[3] = 0x00;
|
||
txmsg.Data[4] = 0x00;
|
||
txmsg.Data[5] = 0x00;
|
||
txmsg.Data[6] = 0x00;
|
||
txmsg.Data[7] = 0x00;
|
||
for (;;) {
|
||
if(Get_sys_power_on_self_test() == 100){
|
||
txmsg.Data[0] = Get_sys_quickly_arrange()?0x0:0x10;
|
||
if(Get_sys_grade() >= 7)
|
||
txmsg.Data[1] = 0xFF;//档位
|
||
else
|
||
txmsg.Data[1] = Get_sys_grade();
|
||
txmsg.Data[2] = Get_sys_velocity();
|
||
iCanWrite(cap, &txmsg, 1, 0);
|
||
}
|
||
vTaskDelay(pdMS_TO_TICKS(10));
|
||
}
|
||
}
|
||
#endif
|
||
uint8_t can101_flag = 0;
|
||
uint8_t can_flag = 0;
|
||
extern uint8_t speed_flag;
|
||
extern uint8_t abs_speed_flag;
|
||
|
||
uint8_t mile_flag = 0;
|
||
|
||
static void can_rxdemo_thread(void *param)
|
||
{
|
||
CanPort_t *cap = param;
|
||
int tlv_data_value[8] = {0};
|
||
|
||
for (;;) {
|
||
CanMsg rxmsg[8] = {0};
|
||
int revlen;
|
||
int i, j;
|
||
|
||
if ((revlen = iCanRead(cap, rxmsg, 8, pdMS_TO_TICKS(10))) > 0 && (Get_sys_power_on_self_test() == 100)) {
|
||
for (i = 0; i < revlen; i++) {
|
||
for (j = 0; j < rxmsg[i].DLC; j++){
|
||
tlv_data_value[j] = rxmsg[i].Data[j];
|
||
}
|
||
// printf("can>> Id = %03x",rxmsg[i].StdId);
|
||
#if DEVICE_MXC_A58
|
||
switch(rxmsg[i].StdId){
|
||
case 0x37B:
|
||
if(can_flag != 10)
|
||
can_flag = 10;
|
||
tcsworking_event_handing(tlv_data_value);//TCS
|
||
break;
|
||
case 0x12B:
|
||
if(can_flag != 10)
|
||
can_flag = 10;
|
||
tcsswitch_event_handing(tlv_data_value);//tcs开关
|
||
break;
|
||
case 0x401:
|
||
break;
|
||
case 0x402://ECU故障码
|
||
break;
|
||
case 0xA5://ABS故障码
|
||
if(can_flag != 10)
|
||
can_flag = 10;
|
||
abs_dtc_event_handing(tlv_data_value);
|
||
break;
|
||
case 0xA3://ABS数据
|
||
break;
|
||
case 0x101://发送机数据
|
||
if(can101_flag != 10)
|
||
can101_flag = 10;
|
||
if(can_flag != 10)
|
||
can_flag = 10;
|
||
speed_event_handing(tlv_data_value);
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
#elif DEVICE_MXC_A59
|
||
|
||
switch(rxmsg[i].StdId){
|
||
case 0x402://ECU故障码
|
||
if(can_flag != 10)
|
||
can_flag = 10;
|
||
A59_dtc_event_handing(tlv_data_value);
|
||
break;
|
||
// case 0x101://发送机数据
|
||
// if(can101_flag != 10)
|
||
// can101_flag = 10;
|
||
// if(can_flag != 10)
|
||
// can_flag = 10;
|
||
// speed_event_handing(tlv_data_value);
|
||
// break;
|
||
default:
|
||
break;
|
||
}
|
||
#else
|
||
|
||
switch(rxmsg[i].StdId){
|
||
// #ifdef UI_VIEW_QUICKLY_ARRANGE
|
||
// case 0x100:
|
||
// if(abs_speed_flag != 10)
|
||
// abs_speed_flag = 10;
|
||
// ASB_speed_event_handing(tlv_data_value);
|
||
// break;
|
||
// #endif
|
||
case 0x141:
|
||
if(abs_speed_flag != 10)
|
||
abs_speed_flag = 10;
|
||
ASB_141_speed_event_handing(tlv_data_value);
|
||
break;
|
||
case 0x101:
|
||
if(speed_flag != 10)
|
||
speed_flag = 10;
|
||
speed_event_handing(tlv_data_value);
|
||
break;
|
||
case 0x400:
|
||
kp_control_event_handing(tlv_data_value);//引擎开关
|
||
break;
|
||
case 0x401:
|
||
if(mile_flag != 10)
|
||
mile_flag = 10;
|
||
mil_control_event_handing(tlv_data_value);//引擎开关
|
||
break;
|
||
case 0x402:
|
||
defect_code_event_handing(tlv_data_value);
|
||
break;
|
||
default:break;
|
||
}
|
||
#endif
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
int can_demo(void)
|
||
{
|
||
CanPort_t *cap = xCanOpen(CAN_ID0);
|
||
|
||
if (!cap) {
|
||
printf("open can %d fail.\n", CAN_ID0);
|
||
vTaskDelete(NULL);
|
||
return -1;
|
||
}
|
||
|
||
vCanInit(cap, CAN500kBaud, CAN_MODE_NORMAL);
|
||
#if 1
|
||
CAN_FilterInitTypeDef canfilter = {0};
|
||
/* 只接收ID的第0位为1的帧 */
|
||
canfilter.MODE = 1; /* 单滤波器模式 */
|
||
// canfilter.ID = 0x37B;
|
||
// canfilter.IDMASK = 0x7ff;
|
||
canfilter.ID = 0x402;
|
||
canfilter.IDMASK = 0X543;
|
||
vCanSetFilter(cap, &canfilter);
|
||
#endif
|
||
|
||
/* Create a task to test read can msg */
|
||
if (xTaskCreate(can_rxdemo_thread, "canrx", configMINIMAL_STACK_SIZE, cap,
|
||
configMAX_PRIORITIES / 3, NULL) != pdPASS) {
|
||
printf("create can rxdemo task fail.\n");
|
||
return -1;
|
||
}
|
||
|
||
#ifdef CAN_USE_TX_DEMO
|
||
/* Create a task to test write can msg */
|
||
if (xTaskCreate(can_txdemo_thread, "cantx", configMINIMAL_STACK_SIZE, cap,
|
||
configMAX_PRIORITIES / 3 + 1, NULL) != pdPASS) {
|
||
printf("create can txdemo task fail.\n");
|
||
return -1;
|
||
}
|
||
#endif
|
||
|
||
return 0;
|
||
}
|
||
|