cdl_tool/MOTINOVA_CDL_App/Src/can_process.c

#include "can_process.h"
#include "uart_process.h"
#include "crc_cal.h"
#include "stdlib.h"
#include "stdio.h"
#include "string.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)
{

}
/*********************End*******************/

/************全局函数定义*******************/
//CAN数据解析，严格按照协议格式
void CAN_RxData_Process(CAN_Buf_TypeDef* ptCANRx, uint16_t TimeOutCnt)
{
  uint8_t Mode, CmdLength, DataLength;
	static uint8_t Data[255], CRC_Buf[255];
	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
							//数据转发UART3
							CRC_Buf[8 + DataLength] = cd_ReadChar(ptCANRx, 6 + DataLength);
							CRC_Buf[9 + DataLength] = cd_ReadChar(ptCANRx, 7 + DataLength);
							CRC_Buf[10 + DataLength] = cd_ReadChar(ptCANRx, 8 + DataLength);
							CRC_Buf[11 + DataLength] = cd_ReadChar(ptCANRx, 9 + DataLength);
							CRC_Buf[12 + DataLength] = FRAME_END;
							UART_SendData(&UART_TxBuff_Struct3, CRC_Buf, DataLength + 13);
							//清除缓存
							cd_DelChar(ptCANRx, CmdLength + 9);
							//通信指示
							HAL_GPIO_TogglePin(LED_Display_GPIO_Port, LED_Display_Pin);
							return;
						}
						cd_DelChar(ptCANRx, 1);
					}
				}
				else
				{
				  cd_DelChar(ptCANRx, 1);
				}
			}
			else
			{
			  cd_DelChar(ptCANRx, 1);
			}
		}
		else
		{
		  cd_DelChar(ptCANRx, 1);
		}
	}
}

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