CN300/Src_app/can_process.c

#include "can_process.h"
#include "usart.h"
/**********局部函数定义**********/
uint8_t cd_ReadChar(CAN_Buf_TypeDef * ptCANRx, uint8_t ucNum)	 
{	
	uint8_t ucData;
	uint16_t  i;
	i = ucNum;
	if ((*ptCANRx).ucBufCnt >= ucNum)
	 {
		i += (*ptCANRx).ucBufRdInde;
		if (i >= (*ptCANRx).ucBufSize)
		{	
			i -=((*ptCANRx).ucBufSize);
		}
	 }
	else
	 {
	  i=0;
	 }
	ucData = *((*ptCANRx).pcBufAddr + i);
	return ucData;
}

void cd_DelChar(CAN_Buf_TypeDef * ptCANRx, uint8_t ucNum)	 
{	
	uint16_t i;
	if ((*ptCANRx).ucBufCnt >= ucNum)	
	{	
		__HAL_CAN_DISABLE_IT(&hcan, CAN_IT_FMP0);//关接收中断
		(*ptCANRx).ucBufCnt -= ucNum;	
		__HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断
		i = ucNum;
		i += (*ptCANRx).ucBufRdInde;
		if (i >= (*ptCANRx).ucBufSize)
		{
		  i -= (*ptCANRx).ucBufSize;
		}
		(*ptCANRx).ucBufRdInde = i;
	}
	else
	{  
		__HAL_CAN_DISABLE_IT(&hcan, CAN_IT_FMP0);//关接收中断
   	    i = (*ptCANRx).ucBufCnt;
        (*ptCANRx).ucBufCnt = 0;
		__HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断
        i += (*ptCANRx).ucBufRdInde;
		if (i >= (*ptCANRx).ucBufSize)
		{
		  i -= (*ptCANRx).ucBufSize;
		}
		(*ptCANRx).ucBufRdInde = i;
	 }
}

//数据解析处理
void DataProcess(uint16_t ID, uint8_t Mode, uint16_t Cmd, uint8_t* Data)
{
  uint8_t DataLength;
	
	DataLength = (uint8_t)(Cmd &0x00FF);
	
	switch(ID)
	{
		//处理MC发送的指令
		case ID_MC_BC:
		case ID_MC_TO_PBU:
		{
		  PowerOn_flag=1;
			MC_Online_Flag=1;
			MC_Online_TimeCnt=SysTime_5ms;
			switch(Cmd)
			{
				//MC广播的指令
				case 0x1020://MC广播运行信息
				{
					memcpy((uint8_t*)&MC_RunInfo.BikeSpeed, Data, sizeof(MC_RunInfo_Struct_t));
					break;
				}
				case 0x1104://MC广播故障码
				{
					MC_error_cnt=0;
					memcpy((uint8_t*)&MC_ErrorCode.Code, Data, sizeof(MC_ErrorCode_Struct_t));
					break;
				}
				case 0x1305://MC关机就绪
				{
				  if(strncmp("READY", (char*)Data, DataLength) == 0)
					{
					  PBU_PowerOff_Process.Ready_Status.Status_Bit.MC = 1;
					}					
					break;
				}
				case 0x1808://MC关机指令
				{
				  if(strncmp("SHUTDOWN", (char*)Data, DataLength) == 0)
					{
					  //...处理存储关键信息
						EEPROM_DataUpdate();
						SendData(ID_PBU_BC, MODE_REPORT, 0x1405, (uint8_t*)"READY");
						PBU_RunMode = PBU_RunMode_PowerOff;
					}				
					break;
				}
				//MC发送给PBU的指令
				case 0x5009://在线检测
				{
				  if(strncmp("HANDSHAKE", (char*)Data, DataLength) == 0)
					{
					  SendData(ID_PBU_TO_MC, MODE_REPORT, 0x3105, (uint8_t*)"READY");
					}
					break;
				}
				case 0x5100://查询物理ID
				{
				  SendData(ID_PBU_BC, MODE_REPORT, 0x120C, (uint8_t*)PBU_CheckInfo.MAC_ID);
					break;
				}
				case 0x5200://查询校验码
				{
				  SendData(ID_PBU_BC, MODE_REPORT, 0x130C, (uint8_t*)PBU_CheckInfo.CheckCode);
					break;
				}
				case 0x5303://用户参数配置反馈
				{
				  if(strncmp("ACK", (char*)Data, DataLength) == 0)
					{
					  PBU_MC_Cfg.MC_ACK_Flag = TRUE;
					}
					break;
				}
				default:break;
			}
			break;
		}
		//处理BMS发送的指令
		case ID_BMS_BC: 
		case ID_BMS_TO_PBU:
		{
			BMS_Online_Flag = 1;
			BMS_Online_TimeCnt=SysTime_5ms;
			switch(Cmd)			
			{
		  	//BMS广播的指令
				case 0x1010://BMS广播运行信息
				{
				  memcpy((uint8_t*)&BMS_RunInfo.Voltage, Data, sizeof(BMS_RunInfo_Struct_t));
					if(BMS_RunInfo.Status.Status_Bit.Charge == 0x01) //电池连续发送7次进入充电状态，按键才进入充电状态
					{
					  BMS_Charging_count++;	
						if(BMS_Charging_count>6) 
						{	
							BMS_Charging_count=0;
						  BMS_ChargingFlag = TRUE;
						}
					}
					else
					{
						BMS_Charging_count=0;
						BMS_ChargingFlag = FALSE;
					}
					break;
				}
				case 0x1204://BMS广播故障码
				{
				  memcpy((uint8_t*)&BMS_ErrorCode.Code, Data, sizeof(BMS_ErrorCode_Struct_t));
					break;
				}
				case 0x1308://BMS广播关机指令
				{
				  if(strncmp("SHUTDOWN", (char*)Data, DataLength) == 0)
					{
					  //...处理存储关键信息
						EEPROM_DataUpdate();
						SendData(ID_PBU_BC, MODE_REPORT, 0x1405, (uint8_t*)"READY");
						PBU_RunMode = PBU_RunMode_PowerOff;
					}					
					break;
				}
			}
			
			break;
		}
		//处理HMI发送的指令
		case ID_HMI_BC:
		case ID_HMI_TO_PBU:
		//处理CDL发送的指令
		case ID_CDL_BC:
		case ID_CDL_TO_PBU:
		{
		  switch(Cmd)
			{
			  case 0x5000://查询PBU物理ID
				{
				  SendData(ID_PBU_BC, MODE_REPORT, 0x120C, (uint8_t*)(PBU_CheckInfo.MAC_ID));
					break;
				}
				case 0x5100://查询校验码
				{
				  SendData(ID_PBU_BC, MODE_REPORT, 0x130C, (uint8_t*)PBU_CheckInfo.CheckCode);
					break;
				}
				case 0x520C://写入校验码
				{
				  if(strncmp((char*)PBU_CheckInfo.CheckCode, (char*)Data, DataLength) != 0)
					{
					  memcpy(PBU_CheckInfo.CheckCode, Data, 12);
					  EEPROM_DataUpdate();						
					}
					SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					break;
				}
				case 0x5300://查询PBU生产信息
				{
				  SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9420, (uint8_t*)PBU_MacInfo.Manufacturer);
					break;
				}
				case 0x5400://查询PBU版本信息
				{
				  SendData(ID_PBU_BC, MODE_REPORT, 0x1140, (uint8_t*)PBU_VerInfo.Mode);
					break;
				}
				case 0x5504://进入按键测试模式
				{
				  if(strncmp("STAR", (char*)Data, DataLength) == 0)
					{
					  PBU_RunMode = PBU_RunMode_CDL_KeyTest;
						SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					}
					else if(strncmp("STOP", (char*)Data, DataLength) == 0)
					{
					  PBU_RunMode = PBU_RunMode_MC_AssisitCtrl;
						SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					}
					break;
				}
				case 0x5600://查询PBU历史信息
				{
				  SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9310, (uint8_t*)&PBU_RunLog.RunTime);
					break;
				}
				case 0x5700://查询PBU出厂参数
				{
				  SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9210, &PBU_ConfigParam.RatedVoltage);
					break;
				}
				case 0x5810://写入PBU出厂参数
				{
//				  if(strncmp((char*)&PBU_ConfigParam.RatedVoltage, (char*)Data, DataLength) != 0)
					{
					  memcpy(&PBU_ConfigParam.RatedVoltage, Data, 16);
					  EEPROM_DataUpdate();				
					}		
					SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					break;
				}
				case 0x5900://查询自定义字符串1
				{
				  SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9510, (uint8_t*)UserString1);
					break;
				}
				case 0x5A10://写入自定义字符串1
				{
				  if(strncmp((char*)UserString1, (char*)Data, DataLength) != 0)
					{
					  memcpy(UserString1, Data, 16);
					  EEPROM_DataUpdate();						
					}
					SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					break;
				}
				case 0x5B00://查询自定义字符串2
				{
				  SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9610, (uint8_t*)UserString2);
					break;
				}
				case 0x5C10://写入自定义字符串2
				{
				  if(strncmp((char*)UserString2, (char*)Data, DataLength) != 0)
					{
					  memcpy(UserString2, Data, 16);
					  EEPROM_DataUpdate();					
					}
					SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					break;
				}
				case 0x5D00://查询自定义字符串3
				{
				  SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9710, (uint8_t*)UserString3);
					break;
				}
				case 0x5E10://写入自定义字符串3
				{
				  if(strncmp((char*)UserString3, (char*)Data, DataLength) != 0)
					{
					  memcpy(UserString3, Data, 16);
					  EEPROM_DataUpdate();					
					}
					SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					break;
				}
				case 0x5F20://写入生产信息
				{
				  if(strncmp((char*)PBU_MacInfo.Manufacturer, (char*)Data, DataLength) != 0)
					{
					  memcpy(PBU_MacInfo.Manufacturer, Data, 32);
					  EEPROM_DataUpdate();						
					}
					SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					break;
				}
				case 0x6010://写入Mode
				{
					if(strncmp((char*)PBU_VerInfo.Mode, (char*)Data, DataLength) != 0)
					{
				 	  memcpy(PBU_VerInfo.Mode, Data, 16);
				  	EEPROM_DataUpdate();					
					}
					SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					break;
				}
				case 0x6110://写入SN
				{
				  if(strncmp((char*)PBU_VerInfo.SN_Num, (char*)Data, DataLength) != 0)
					{
				 	  memcpy(PBU_VerInfo.SN_Num, Data, 16);
				  	EEPROM_DataUpdate();					
					}
					SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
					break;
				}
				case 0x6205://复位指令
        {
          if(strncmp("RESET", (char*)Data, DataLength) == 0)
          {
            SendData(ID_PBU_TO_CDL, MODE_REPORT, 0x9003, (uint8_t*)"ACK");
            HAL_Delay(200);
            __set_FAULTMASK(1);//关闭所有中断
            HAL_NVIC_SystemReset();
          }
          break;
        }				
			}
			break;
		}
    case ID_CDL_TO_PBU_TE://0x653
    {
      switch(Cmd)
      {
        case 0x6205://复位指令
        case 0xA10B://升级指令
              PBU_TE_Status = UPDATE_ING;
							PBU_RunMode   = PBU_RunMode_Updating;
              break;
        default:
              break;
      }
      SendUartDataToTE(ID_CDL_TO_PBU_TE,Mode, Cmd, Data);
      break;
    }
		default:
			break;
	}
}
/*********************End*******************/

/************全局函数定义*******************/
void CAN_RxData_Process(CAN_Buf_TypeDef* ptCANRx, uint16_t TimeOutCnt)
{
  uint8_t Mode, CmdLength, DataLength, Data[150], CRC_Buf[150];
  uint16_t Cmd, i;
  uint32_t CrcResult, CrcData;
  uint8_t FrameBegin1, FrameBegin2;
  
  if(ptCANRx->ucBufCnt >= 11)
  {
    //读取帧头
    FrameBegin1 = cd_ReadChar(ptCANRx, 0);
    CRC_Buf[0] = FrameBegin1;
    FrameBegin2 = cd_ReadChar(ptCANRx, 1);
    CRC_Buf[1] = FrameBegin2;
    if((FrameBegin1 == FRAME_BEGIN1) && (FrameBegin2 == FRAME_BEGIN2))
    {
      CRC_Buf[2] = (uint8_t)((ptCANRx->ucBufID >> 8) & 0xFF);
      CRC_Buf[3] = (uint8_t)(ptCANRx->ucBufID & 0xFF);
      //读取帧模式
      Mode = cd_ReadChar(ptCANRx, 2);
      CRC_Buf[4] = Mode;
      if((Mode == MODE_READ) || (Mode == MODE_WRITE) || (Mode == MODE_REPORT))
      {
        //读取命令段长度和命令字
        CmdLength = cd_ReadChar(ptCANRx, 3);
        CRC_Buf[5] = CmdLength;
        Cmd = (cd_ReadChar(ptCANRx, 4) << 8) + cd_ReadChar(ptCANRx, 5);
        CRC_Buf[6] = (uint8_t)((Cmd >> 8) & 0xFF);
        CRC_Buf[7] = (uint8_t)(Cmd & 0xFF);
        DataLength = cd_ReadChar(ptCANRx, 5);
        if((CmdLength - DataLength) == 2)
        {
          if(ptCANRx->ucBufCnt < (CmdLength + 9))//帧头2bytes  + 模式1byte + 命令段长度1byte + 校验位4bytes + 帧尾1byte
          {
            if(ptCANRx->IsWaitRX_Flag == FALSE)
            {
              ptCANRx->DelayTimeCnt = HAL_GetTick();
              ptCANRx->IsWaitRX_Flag = TRUE;
            }
            if((HAL_GetTick() - ptCANRx->DelayTimeCnt) > TimeOutCnt)//超时，单位ms
            {
              cd_DelChar(ptCANRx, ptCANRx->ucBufCnt);
              ptCANRx->IsWaitRX_Flag = FALSE;
            }
            return;
          }
          else
          {            
            ptCANRx->IsWaitRX_Flag = FALSE;
            //接收到完整正确数据包
            for(i=0; i<DataLength; i++)//读取数据段
            {
              Data[i] = cd_ReadChar(ptCANRx, 6 + i);
              CRC_Buf[8 + i] = Data[i];
            }
            CrcData = (cd_ReadChar(ptCANRx, 6 + DataLength) << 24) + \
                      (cd_ReadChar(ptCANRx, 7 + DataLength) << 16) + \
                      (cd_ReadChar(ptCANRx, 8 + DataLength) << 8) + \
                      cd_ReadChar(ptCANRx, 9 + DataLength);
            CrcResult = CRC32_Calculate(CRC_Buf, 8 + DataLength);
            if((CrcData - CrcResult) == 0) // 比较校验
            {
              //数据处理
              DataProcess(ptCANRx->ucBufID, Mode, Cmd, Data);//Mode为帧模式，Cmd为命令字，Data为数据段
              cd_DelChar(ptCANRx, CmdLength + 9);
              return;
            }
            cd_DelChar(ptCANRx, 1);
          }
        }
        else
        {
          cd_DelChar(ptCANRx, 1);
        }
      }
      else
      {
        cd_DelChar(ptCANRx, 1);
      }
    }
    else
    {
      cd_DelChar(ptCANRx, 1);
    }
  }
}

//数据解析，忽略命令字表示的数据长度
void CAN_RxData_Process_Temp(CAN_Buf_TypeDef* ptCANRx, uint16_t TimeOutCnt)
{
  uint8_t Mode, CmdLength, DataLength, Data[150], CRC_Buf[150];
  uint16_t Cmd, i;
  uint32_t CrcResult, CrcData;
  uint8_t FrameBegin1, FrameBegin2;
  
  if(ptCANRx->ucBufCnt >= 11)
  {
    //读取帧头
    FrameBegin1 = cd_ReadChar(ptCANRx, 0);
    CRC_Buf[0] = FrameBegin1;
    FrameBegin2 = cd_ReadChar(ptCANRx, 1);
    CRC_Buf[1] = FrameBegin2;
    if((FrameBegin1 == FRAME_BEGIN1) && (FrameBegin2 == FRAME_BEGIN2))
    {
      CRC_Buf[2] = (uint8_t)((ptCANRx->ucBufID >> 8) & 0xFF);
      CRC_Buf[3] = (uint8_t)(ptCANRx->ucBufID & 0xFF);
      //读取帧模式
      Mode = cd_ReadChar(ptCANRx, 2);
      CRC_Buf[4] = Mode;
      if((Mode == MODE_READ) || (Mode == MODE_WRITE) || (Mode == MODE_REPORT))
      {
        //读取命令段长度和命令字
        CmdLength = cd_ReadChar(ptCANRx, 3);
        CRC_Buf[5] = CmdLength;
        Cmd = (cd_ReadChar(ptCANRx, 4) << 8) + cd_ReadChar(ptCANRx, 5);
        CRC_Buf[6] = (uint8_t)((Cmd >> 8) & 0xFF);
        CRC_Buf[7] = (uint8_t)(Cmd & 0xFF);
        DataLength = CmdLength - 2;
        if(ptCANRx->ucBufCnt < (CmdLength + 9))//帧头2bytes  + 模式1byte + 命令段长度1byte + 校验位4bytes + 帧尾1byte
        {
          if(ptCANRx->IsWaitRX_Flag == FALSE)
          {
            ptCANRx->DelayTimeCnt = HAL_GetTick();
            ptCANRx->IsWaitRX_Flag = TRUE;
          }
          if((HAL_GetTick() - ptCANRx->DelayTimeCnt) > TimeOutCnt)//超时，单位ms
          {
            cd_DelChar(ptCANRx, ptCANRx->ucBufCnt);
            ptCANRx->IsWaitRX_Flag = FALSE;
          }
          return;
        }
        else
        {            
          ptCANRx->IsWaitRX_Flag = FALSE;
          //接收到完整正确数据包
          for(i=0; i<DataLength; i++)//读取数据段
          {
            Data[i] = cd_ReadChar(ptCANRx, 6 + i);
            CRC_Buf[8 + i] = Data[i];
          }
          CrcData = (cd_ReadChar(ptCANRx, 6 + DataLength) << 24) + \
                    (cd_ReadChar(ptCANRx, 7 + DataLength) << 16) + \
                    (cd_ReadChar(ptCANRx, 8 + DataLength) << 8) + \
                    cd_ReadChar(ptCANRx, 9 + DataLength);
          CrcResult = CRC32_Calculate(CRC_Buf, 8 + DataLength);
          if((CrcData - CrcResult) == 0) // 比较校验
          {
            //数据处理
            DataProcess(ptCANRx->ucBufID, Mode, Cmd, Data);//Mode为帧模式，Cmd为命令字，Data为数据段
            cd_DelChar(ptCANRx, CmdLength + 9);
            return;
          }
          cd_DelChar(ptCANRx, 1);
        }
      }
      else
      {
        cd_DelChar(ptCANRx, 1);
      }
    }
    else
    {
      cd_DelChar(ptCANRx, 1);
    }
  }  
}

void SendData(uint16_t ID, uint8_t Mode, uint16_t Command, uint8_t* Data)
{
  uint8_t SendBuf[150] = {0};
	uint8_t CRC_Buf[150] = {0};
	uint32_t CRC_Result = 0x00000000;
	uint8_t i;
	uint8_t DataLength;
	
	DataLength = (uint8_t)(Command & 0xFF);
	SendBuf[0] = FRAME_BEGIN1;
	CRC_Buf[0] = SendBuf[0];
	SendBuf[1] = FRAME_BEGIN2;
	CRC_Buf[1] = SendBuf[1];
	CRC_Buf[2] = (uint8_t)((ID >> 8) & 0xFF);
	CRC_Buf[3] = (uint8_t)(ID & 0xFF);	
	SendBuf[2] = Mode;
	CRC_Buf[4] = SendBuf[2];
	SendBuf[3] = DataLength + 2;
	CRC_Buf[5] = SendBuf[3];
	SendBuf[4] = (uint8_t)((Command >> 8) & 0xFF);
	CRC_Buf[6] = SendBuf[4];
	SendBuf[5] = DataLength;
	CRC_Buf[7] = SendBuf[5];
	
	for(i = 0;i< DataLength;i++)
	{
	  SendBuf[6 + i] = Data[i];
		CRC_Buf[8 + i] = SendBuf[6 + i];
	}
	
	CRC_Result = CRC32_Calculate(CRC_Buf, DataLength + 8);//帧头 2bytes + ID 2bytes + 模式 1byte + 命令段长度 1byte + 命令字 2bytes
	
	SendBuf[6 + DataLength] = (uint8_t)((CRC_Result >> 24) & 0xFF);
	SendBuf[7 + DataLength] = (uint8_t)((CRC_Result >> 16) & 0xFF);
	SendBuf[8 + DataLength] = (uint8_t)((CRC_Result >> 8) & 0xFF);
	SendBuf[9 + DataLength] = (uint8_t)(CRC_Result & 0xFF);
	
	SendBuf[10 + DataLength] = FRAME_END;
	
	CAN_SendData(ID, SendBuf, DataLength + 11);
}

/********************End********************/