optical/SEW-EXA1/Users/Func/canwork.c

//-------------------------------------------------------------------------------
// File Name:	canwork.c
// Brief:
// Version:		1.0.0
// Create Date: 2024/10/17
// Create by: 	W.X
// Copyright:
//				TIANJIN GETONAGAIN TECHNOLOGY CO., LIMITED
//				All rights reserved.
//
// Modify by:	W.X
// Modify Date:	2024/10/17
//-------------------------------------------------------------------------------

#include "canwork.h"

#if (CONTROL_BUS == COMM_CAN)

void ExA1CanFilter(u8 fifo);

void InitCAN(void)
{
	// CAN <20>ڵ<EFBFBD>
	g_workCtrl.hostId = 1;

	g_workCtrl.device = BN_DEVICE_EXA1;
	g_workCtrl.nodeId = CUR_EXA1_NODE_ID;

	g_workCtrl.workSta = 2;

	printf("g_workCtrl.nodeId is %d\r\n",g_workCtrl.nodeId);

	RegistFilter(ExA1CanFilter);

	InitCanCtrl();
	InitSewHeadControl(&g_workCtrl.curBdCtrl);
}


void ExA1CanFilter(u8 fifo)
{
	CAN_FilterTypeDef CAN_FilterInitStructure;

	// <20><><EFBFBD>󱾽ڵ<F3B1BEBD>״̬<D7B4>仯<EFBFBD><E4BBAF>Զ<EFBFBD><D4B6>֡<EFBFBD>Ϳ<EFBFBD><CDBF>Ʊ<EFBFBD><C6B1>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡
	CAN_FilterInitStructure.FilterBank = 0;												// <20><><EFBFBD>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD>ΧΪ0~13
	CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDLIST;								// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0Ϊ<30><CEAA>ʶ<EFBFBD><CAB6><EFBFBD>б<EFBFBD>ģʽ
	CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT;							// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0λ<30><CEBB>Ϊ32λ
	CAN_FilterInitStructure.FilterIdHigh = HIWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, BN_CMD_EXSTA), CAN_RTR_REMOTE));	// <20>趨<EFBFBD><E8B6A8>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16λ
	CAN_FilterInitStructure.FilterIdLow = LOWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, BN_CMD_EXSTA), CAN_RTR_REMOTE));	// <20>趨<EFBFBD><E8B6A8>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16λ
	CAN_FilterInitStructure.FilterMaskIdHigh = HIWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, BN_CMD_EXSTA), CAN_RTR_DATA));	// <20>趨<EFBFBD>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16λ
	CAN_FilterInitStructure.FilterMaskIdLow = LOWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, BN_CMD_EXSTA), CAN_RTR_DATA));	// <20>趨<EFBFBD>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16λ
	CAN_FilterInitStructure.FilterFIFOAssignment = fifo;							// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>FIFO
	CAN_FilterInitStructure.FilterActivation = ENABLE;								// ʹ<>ܹ<EFBFBD><DCB9><EFBFBD><EFBFBD><EFBFBD>
	HAL_CAN_ConfigFilter(&HCAN,&CAN_FilterInitStructure);											// д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

	// <20>㲥<EFBFBD><E3B2A5><EFBFBD>Զ<EEA3AC><D4B6>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡
	CAN_FilterInitStructure.FilterBank = 1;												// <20><><EFBFBD>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD>ΧΪ0~13
	CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDLIST;								// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1Ϊ<31><CEAA>ʶ<EFBFBD><CAB6><EFBFBD>б<EFBFBD>ģʽ
	CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT;							// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1λ<31><CEBB>Ϊ32λ
	CAN_FilterInitStructure.FilterIdHigh = HIWORD(MAKE_FILTER(BROADCAST_EXID, CAN_RTR_REMOTE));		// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16λ
	CAN_FilterInitStructure.FilterIdLow = LOWORD(MAKE_FILTER(BROADCAST_EXID, CAN_RTR_REMOTE));		// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16λ
	CAN_FilterInitStructure.FilterMaskIdHigh = HIWORD(MAKE_FILTER(BNMASK_PRT, CAN_RTR_DATA));	// <20>趨<EFBFBD><E8B6A8><EFBFBD>ĸ<EFBFBD><C4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16λ
	CAN_FilterInitStructure.FilterMaskIdLow = LOWORD(MAKE_FILTER(BNMASK_PRT, CAN_RTR_DATA));	// <20>趨<EFBFBD><E8B6A8><EFBFBD>ĸ<EFBFBD><C4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16λ
	CAN_FilterInitStructure.FilterFIFOAssignment = fifo;							// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>FIFO
	CAN_FilterInitStructure.FilterActivation = ENABLE;								// ʹ<>ܹ<EFBFBD><DCB9><EFBFBD><EFBFBD><EFBFBD>
	HAL_CAN_ConfigFilter(&HCAN,&CAN_FilterInitStructure);											// д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

	// <20><><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID<49>Ĺ㲥<C4B9><E3B2A5>Զ<EFBFBD><D4B6>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡
	CAN_FilterInitStructure.FilterBank = 2;							// <20><><EFBFBD>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD>ΧΪ0~13
	CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDLIST;			// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2Ϊ<32><CEAA>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λģʽ
	CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT;		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>Ϊ1<CEAA><31>32λ<32><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	CAN_FilterInitStructure.FilterIdHigh = HIWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, BN_ID_BROADCAST, 0, 0), 0));		// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>32λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA><EFBFBD>߶<EFBFBD>λ<EFBFBD><CEBB>16λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
	CAN_FilterInitStructure.FilterIdLow = LOWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, BN_ID_BROADCAST, 0, 0), 0));		// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>32λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA><EFBFBD>Ͷ<EFBFBD>λ<EFBFBD><CEBB>16λλ<CEBB><CEBB>ʱΪ<CAB1>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD>
	CAN_FilterInitStructure.FilterMaskIdHigh = HIWORD(MAKE_FILTER(BNMASK_PRT|BNMASK_TID, 0));							// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>α<EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD><EFBFBD>߹<EFBFBD><DFB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>32λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA><EFBFBD>߶<EFBFBD>λ<EFBFBD><CEBB>16λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
	CAN_FilterInitStructure.FilterMaskIdLow = LOWORD(MAKE_FILTER(BNMASK_PRT|BNMASK_TID, 0));								// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>α<EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD><EFBFBD>߹<EFBFBD><DFB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>32λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA><EFBFBD>Ͷ<EFBFBD>λ<EFBFBD><CEBB>16λλ<CEBB><CEBB>ʱΪ<CAB1>ڶ<EFBFBD><DAB6><EFBFBD>)
	CAN_FilterInitStructure.FilterFIFOAssignment = fifo;				// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>FIFO
	CAN_FilterInitStructure.FilterActivation = ENABLE;					// ʹ<>ܹ<EFBFBD><DCB9><EFBFBD><EFBFBD><EFBFBD>
	HAL_CAN_ConfigFilter(&HCAN,&CAN_FilterInitStructure);								// д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

	// <20><><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD>豸<EFBFBD>ı<EFBFBD><C4B1>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD>Ƶ<EFBFBD>Զ<EFBFBD><D4B6>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡
	CAN_FilterInitStructure.FilterBank = 3;							// <20><><EFBFBD>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD>ΧΪ0~13
	CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDLIST;			// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2Ϊ<32><CEAA>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λģʽ
	CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT;		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>Ϊ1<CEAA><31>32λ<32><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	CAN_FilterInitStructure.FilterIdHigh = HIWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, 0), 0));		// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>32λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA><EFBFBD>߶<EFBFBD>λ<EFBFBD><CEBB>16λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
	CAN_FilterInitStructure.FilterIdLow = LOWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, 0), 0));		// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>32λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA><EFBFBD>Ͷ<EFBFBD>λ<EFBFBD><CEBB>16λλ<CEBB><CEBB>ʱΪ<CAB1>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD>
	CAN_FilterInitStructure.FilterMaskIdHigh = HIWORD(MAKE_FILTER(BNMASK_PRT|BNMASK_TID, 0));							// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>α<EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD><EFBFBD>߹<EFBFBD><DFB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>32λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA><EFBFBD>߶<EFBFBD>λ<EFBFBD><CEBB>16λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
	CAN_FilterInitStructure.FilterMaskIdLow = LOWORD(MAKE_FILTER(BNMASK_PRT|BNMASK_TID, 0));								// <20>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>α<EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD><EFBFBD>߹<EFBFBD><DFB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>32λλ<CEBB><CEBB>ʱΪ<CAB1><CEAA><EFBFBD>Ͷ<EFBFBD>λ<EFBFBD><CEBB>16λλ<CEBB><CEBB>ʱΪ<CAB1>ڶ<EFBFBD><DAB6><EFBFBD>)
	CAN_FilterInitStructure.FilterFIFOAssignment = fifo;				// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>FIFO
	CAN_FilterInitStructure.FilterActivation = ENABLE;					// ʹ<>ܹ<EFBFBD><DCB9><EFBFBD><EFBFBD><EFBFBD>
	HAL_CAN_ConfigFilter(&HCAN,&CAN_FilterInitStructure);
}

//-------------------------------------------------------------------------------

void CanBusTask(void)
{
	int rslt;
	int sendflag;
	CanRxMsg rxMsg;
	CanTxMsg txMsg;
	int dev, tid, sid, cmd;

	sendflag = 0;

	// <20><><EFBFBD><EFBFBD>CAN<41><4E><EFBFBD><EFBFBD>
	rslt = GetACanDataPacket(&rxMsg);
	if (rslt == 0)
	{
		dev = GET_PRT_FROM_EXID(rxMsg.canRxhead.ExtId);
		tid = GET_TID_FROM_EXID(rxMsg.canRxhead.ExtId);
		sid = GET_SID_FROM_EXID(rxMsg.canRxhead.ExtId);
		cmd = GET_CMD_FROM_EXID(rxMsg.canRxhead.ExtId);

		if (rxMsg.canRxhead.RTR == CAN_RTR_REMOTE)	// Զ<><D4B6>֡
		{
			if ((dev == BN_PROTOCOL_ALL || dev == g_workCtrl.device) && 		// ȫ<><C8AB><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD>豸
				(tid == BN_ID_BROADCAST || tid == g_workCtrl.nodeId)	)	// ȫ<><C8AB>ID<49>򱾰<EFBFBD>
			{
				if (cmd == BN_CMD_EXSTA)		// ״̬<D7B4><CCAC><EFBFBD><EFBFBD>
				{
					sendflag = 1;		// <20><><EFBFBD><EFBFBD>״̬
					printf("receive sta request packet\r\n");
				}
				else
				{
					printf("other Remote cmd, cmd=0x%x\r\n", cmd);
				}
			}
			else
			{
				printf("other Remote packet, exid=0x%x\r\n", (int)rxMsg.canRxhead.ExtId);
			}
		}
		else // if (rxMsg.canRxhead.RTR == CAN_RTR_DATA)		// <20><><EFBFBD><EFBFBD>֡
		{
			if ((dev == BN_PROTOCOL_ALL ||dev == g_workCtrl.device) && 	// exa1
				(tid == BN_ID_BROADCAST || tid == g_workCtrl.nodeId)	)	// ȫ<><C8AB>ID<49>򱾰<EFBFBD>
			{
				if (cmd == BN_CMD_EXCTRL ||		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
					cmd == BN_CMD_TRAVERSE ||	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
					0	)
				{
					g_workCtrl.curBdCtrl.ctrlCmd.cancomm.exId.id = rxMsg.canRxhead.ExtId;
					memcpy(g_workCtrl.curBdCtrl.ctrlCmd.cancomm.data.buff, rxMsg.data, CAN_DATA_LEN);	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD>
					g_workCtrl.curBdCtrl.cmdFlag = 1;		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־
				//	printf("get ex ctrl cmd\r\n");
				}
				else
				{
					printf("get other data cmd=0x%x\r\n", cmd);
				}
			}
			else
			{
				printf("other data packet, dev=0x%x, tid=%d, exid=0x%x\r\n", dev, (int)tid, (int)rxMsg.canRxhead.ExtId);
			}
		}
	}

	if (sendflag == 0)
	{
		sid = g_workCtrl.hostId;
	}

	// <20><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>Ϣ
	if (g_workCtrl.curBdCtrl.staFlag != 0)
	{
		g_workCtrl.curBdCtrl.staFlag = 0;
		sendflag = 1;		// <20><><EFBFBD><EFBFBD>״̬
	}

	if (sendflag == 1)
	{
		if(g_workCtrl.workSta == 1)
		{
			txMsg.canTxhead.ExtId = MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, sid, BN_CMD_TRAVERSE);	// ״̬<D7B4><CCAC><EFBFBD><EFBFBD>
		}
		else
		{
			txMsg.canTxhead.ExtId = MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, sid, BN_CMD_EXSTA);	// ״̬<D7B4><CCAC><EFBFBD><EFBFBD>
		}
		txMsg.canTxhead.RTR = CAN_RTR_DATA;				// <20><><EFBFBD><EFBFBD>֡
		txMsg.canTxhead.IDE = CAN_ID_EXT;					// <20><>չ֡
		txMsg.canTxhead.DLC = CAN_DATA_LEN;				// <20><><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD><EFBFBD><EFBFBD>
		memcpy(txMsg.data, g_workCtrl.curBdCtrl.exbSta.cancomm.data.buff, CAN_DATA_LEN);	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD>
		rslt = SendACANDataPacket(&txMsg);

		//printf("send sta data by can, exid=0x%x\r\n", (int)txMsg.ExtId);
	}
}

#endif