197 lines
8.1 KiB
C
197 lines
8.1 KiB
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 节点
|
||
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;
|
||
|
||
// 请求本节点状态变化的远程帧和控制本节点命令的数据帧
|
||
CAN_FilterInitStructure.FilterBank = 0; // 设置过滤器组0，范围为0~13
|
||
CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDLIST; // 过滤器组0为标识符列表模式
|
||
CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT; // 过滤器组0位宽为32位
|
||
CAN_FilterInitStructure.FilterIdHigh = HIWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, BN_CMD_EXSTA), CAN_RTR_REMOTE)); // 设定第一个过滤器高16位
|
||
CAN_FilterInitStructure.FilterIdLow = LOWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, BN_CMD_EXSTA), CAN_RTR_REMOTE)); // 设定第一个过滤器低16位
|
||
CAN_FilterInitStructure.FilterMaskIdHigh = HIWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, BN_CMD_EXSTA), CAN_RTR_DATA)); // 设定第二个过滤器高16位
|
||
CAN_FilterInitStructure.FilterMaskIdLow = LOWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, BN_CMD_EXSTA), CAN_RTR_DATA)); // 设定第二个过滤器低16位
|
||
CAN_FilterInitStructure.FilterFIFOAssignment = fifo; // 关联到接收FIFO
|
||
CAN_FilterInitStructure.FilterActivation = ENABLE; // 使能过滤器
|
||
HAL_CAN_ConfigFilter(&HCAN,&CAN_FilterInitStructure); // 写入设置
|
||
|
||
// 广播命令，远程帧和数据帧
|
||
CAN_FilterInitStructure.FilterBank = 1; // 设置过滤器组1，范围为0~13
|
||
CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDLIST; // 过滤器组1为标识符列表模式
|
||
CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT; // 过滤器组1位宽为32位
|
||
CAN_FilterInitStructure.FilterIdHigh = HIWORD(MAKE_FILTER(BROADCAST_EXID, CAN_RTR_REMOTE)); // 设定第三个过滤器高16位
|
||
CAN_FilterInitStructure.FilterIdLow = LOWORD(MAKE_FILTER(BROADCAST_EXID, CAN_RTR_REMOTE)); // 设定第三个过滤器低16位
|
||
CAN_FilterInitStructure.FilterMaskIdHigh = HIWORD(MAKE_FILTER(BNMASK_PRT, CAN_RTR_DATA)); // 设定第四个过滤器高16位
|
||
CAN_FilterInitStructure.FilterMaskIdLow = LOWORD(MAKE_FILTER(BNMASK_PRT, CAN_RTR_DATA)); // 设定第四个过滤器低16位
|
||
CAN_FilterInitStructure.FilterFIFOAssignment = fifo; // 关联到接收FIFO
|
||
CAN_FilterInitStructure.FilterActivation = ENABLE; // 使能过滤器
|
||
HAL_CAN_ConfigFilter(&HCAN,&CAN_FilterInitStructure); // 写入设置
|
||
|
||
// 针对本类设备的所有ID的广播的远程帧和数据帧
|
||
CAN_FilterInitStructure.FilterBank = 2; // 设置过滤器组2，范围为0~13
|
||
CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDLIST; // 过滤器组2为标识符屏蔽位模式
|
||
CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT; // 过滤器位宽为1个32位过滤器
|
||
CAN_FilterInitStructure.FilterIdHigh = HIWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, BN_ID_BROADCAST, 0, 0), 0)); // 设定过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个）
|
||
CAN_FilterInitStructure.FilterIdLow = LOWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, BN_ID_BROADCAST, 0, 0), 0)); // 设定过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个）
|
||
CAN_FilterInitStructure.FilterMaskIdHigh = HIWORD(MAKE_FILTER(BNMASK_PRT|BNMASK_TID, 0)); // 设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个）
|
||
CAN_FilterInitStructure.FilterMaskIdLow = LOWORD(MAKE_FILTER(BNMASK_PRT|BNMASK_TID, 0)); // 设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个)
|
||
CAN_FilterInitStructure.FilterFIFOAssignment = fifo; // 关联到接收FIFO
|
||
CAN_FilterInitStructure.FilterActivation = ENABLE; // 使能过滤器
|
||
HAL_CAN_ConfigFilter(&HCAN,&CAN_FilterInitStructure); // 写入设置
|
||
|
||
// 针对本类设备的本节点控制的远程帧和数据帧
|
||
CAN_FilterInitStructure.FilterBank = 3; // 设置过滤器组2，范围为0~13
|
||
CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDLIST; // 过滤器组2为标识符屏蔽位模式
|
||
CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT; // 过滤器位宽为1个32位过滤器
|
||
CAN_FilterInitStructure.FilterIdHigh = HIWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, 0), 0)); // 设定过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个）
|
||
CAN_FilterInitStructure.FilterIdLow = LOWORD(MAKE_FILTER(MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, 0, 0), 0)); // 设定过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个）
|
||
CAN_FilterInitStructure.FilterMaskIdHigh = HIWORD(MAKE_FILTER(BNMASK_PRT|BNMASK_TID, 0)); // 设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个）
|
||
CAN_FilterInitStructure.FilterMaskIdLow = LOWORD(MAKE_FILTER(BNMASK_PRT|BNMASK_TID, 0)); // 设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个)
|
||
CAN_FilterInitStructure.FilterFIFOAssignment = fifo; // 关联到接收FIFO
|
||
CAN_FilterInitStructure.FilterActivation = ENABLE; // 使能过滤器
|
||
HAL_CAN_ConfigFilter(&HCAN,&CAN_FilterInitStructure);
|
||
}
|
||
|
||
//-------------------------------------------------------------------------------
|
||
|
||
void CanBusTask(void)
|
||
{
|
||
int rslt;
|
||
int sendflag;
|
||
CanRxMsg rxMsg;
|
||
CanTxMsg txMsg;
|
||
int dev, tid, sid, cmd;
|
||
|
||
sendflag = 0;
|
||
|
||
// 检查CAN数据
|
||
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) // 远程帧
|
||
{
|
||
if ((dev == BN_PROTOCOL_ALL || dev == g_workCtrl.device) && // 全部设备或本设备
|
||
(tid == BN_ID_BROADCAST || tid == g_workCtrl.nodeId) ) // 全部ID或本板
|
||
{
|
||
if (cmd == BN_CMD_EXSTA) // 状态命令
|
||
{
|
||
sendflag = 1; // 发送状态
|
||
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) // 数据帧
|
||
{
|
||
if ((dev == BN_PROTOCOL_ALL ||dev == g_workCtrl.device) && // exa1
|
||
(tid == BN_ID_BROADCAST || tid == g_workCtrl.nodeId) ) // 全部ID或本板
|
||
{
|
||
if (cmd == BN_CMD_EXCTRL || // 控制命令
|
||
cmd == BN_CMD_TRAVERSE || // 遍历命令
|
||
0 )
|
||
{
|
||
g_workCtrl.curBdCtrl.ctrlCmd.cancomm.exId.id = rxMsg.canRxhead.ExtId;
|
||
memcpy(g_workCtrl.curBdCtrl.ctrlCmd.cancomm.data.buff, rxMsg.data, CAN_DATA_LEN); // 填充数据场
|
||
g_workCtrl.curBdCtrl.cmdFlag = 1; // 新命令标志
|
||
// 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;
|
||
}
|
||
|
||
// 发送状态信息
|
||
if (g_workCtrl.curBdCtrl.staFlag != 0)
|
||
{
|
||
g_workCtrl.curBdCtrl.staFlag = 0;
|
||
sendflag = 1; // 发送状态
|
||
}
|
||
|
||
if (sendflag == 1)
|
||
{
|
||
if(g_workCtrl.workSta == 1)
|
||
{
|
||
txMsg.canTxhead.ExtId = MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, sid, BN_CMD_TRAVERSE); // 状态命令
|
||
}
|
||
else
|
||
{
|
||
txMsg.canTxhead.ExtId = MAKE_EXID(g_workCtrl.device, g_workCtrl.nodeId, sid, BN_CMD_EXSTA); // 状态命令
|
||
}
|
||
txMsg.canTxhead.RTR = CAN_RTR_DATA; // 数据帧
|
||
txMsg.canTxhead.IDE = CAN_ID_EXT; // 扩展帧
|
||
txMsg.canTxhead.DLC = CAN_DATA_LEN; // 数据场长度
|
||
memcpy(txMsg.data, g_workCtrl.curBdCtrl.exbSta.cancomm.data.buff, CAN_DATA_LEN); // 填充数据场
|
||
rslt = SendACANDataPacket(&txMsg);
|
||
|
||
//printf("send sta data by can, exid=0x%x\r\n", (int)txMsg.ExtId);
|
||
}
|
||
}
|
||
|
||
#endif
|
||
|
||
|
||
|
||
|