motor_bootloader/can_driver.c

/**
  ******************************************************************************
  * @file    eeprom.c
  * @author  Vincent
  * @version V1.0.0
  * @date    23-12-2015
  * @brief   AT24C02 eeprom read and write function.
  ******************************************************************************
  *
  * COPYRIGHT(c) 2015 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "can_driver.h"

//const uint32_t Crc32Table[256] __attribute((section("MyCRC_TABLE")))= {
const uint32_t Crc32Table[256] = {
    0x00000000, 0x04C11DB7, 0x09823B6E, 0x0D4326D9, 0x130476DC, 0x17C56B6B, 0x1A864DB2, 0x1E475005, 0x2608EDB8, 0x22C9F00F, 0x2F8AD6D6, 0x2B4BCB61,
    0x350C9B64, 0x31CD86D3, 0x3C8EA00A, 0x384FBDBD, 0x4C11DB70, 0x48D0C6C7, 0x4593E01E, 0x4152FDA9, 0x5F15ADAC, 0x5BD4B01B, 0x569796C2, 0x52568B75,
    0x6A1936C8, 0x6ED82B7F, 0x639B0DA6, 0x675A1011, 0x791D4014, 0x7DDC5DA3, 0x709F7B7A, 0x745E66CD, 0x9823B6E0, 0x9CE2AB57, 0x91A18D8E, 0x95609039,
    0x8B27C03C, 0x8FE6DD8B, 0x82A5FB52, 0x8664E6E5, 0xBE2B5B58, 0xBAEA46EF, 0xB7A96036, 0xB3687D81, 0xAD2F2D84, 0xA9EE3033, 0xA4AD16EA, 0xA06C0B5D,
    0xD4326D90, 0xD0F37027, 0xDDB056FE, 0xD9714B49, 0xC7361B4C, 0xC3F706FB, 0xCEB42022, 0xCA753D95, 0xF23A8028, 0xF6FB9D9F, 0xFBB8BB46, 0xFF79A6F1,
    0xE13EF6F4, 0xE5FFEB43, 0xE8BCCD9A, 0xEC7DD02D, 0x34867077, 0x30476DC0, 0x3D044B19, 0x39C556AE, 0x278206AB, 0x23431B1C, 0x2E003DC5, 0x2AC12072,
    0x128E9DCF, 0x164F8078, 0x1B0CA6A1, 0x1FCDBB16, 0x018AEB13, 0x054BF6A4, 0x0808D07D, 0x0CC9CDCA, 0x7897AB07, 0x7C56B6B0, 0x71159069, 0x75D48DDE,
    0x6B93DDDB, 0x6F52C06C, 0x6211E6B5, 0x66D0FB02, 0x5E9F46BF, 0x5A5E5B08, 0x571D7DD1, 0x53DC6066, 0x4D9B3063, 0x495A2DD4, 0x44190B0D, 0x40D816BA,
    0xACA5C697, 0xA864DB20, 0xA527FDF9, 0xA1E6E04E, 0xBFA1B04B, 0xBB60ADFC, 0xB6238B25, 0xB2E29692, 0x8AAD2B2F, 0x8E6C3698, 0x832F1041, 0x87EE0DF6,
    0x99A95DF3, 0x9D684044, 0x902B669D, 0x94EA7B2A, 0xE0B41DE7, 0xE4750050, 0xE9362689, 0xEDF73B3E, 0xF3B06B3B, 0xF771768C, 0xFA325055, 0xFEF34DE2,
    0xC6BCF05F, 0xC27DEDE8, 0xCF3ECB31, 0xCBFFD686, 0xD5B88683, 0xD1799B34, 0xDC3ABDED, 0xD8FBA05A, 0x690CE0EE, 0x6DCDFD59, 0x608EDB80, 0x644FC637,
    0x7A089632, 0x7EC98B85, 0x738AAD5C, 0x774BB0EB, 0x4F040D56, 0x4BC510E1, 0x46863638, 0x42472B8F, 0x5C007B8A, 0x58C1663D, 0x558240E4, 0x51435D53,
    0x251D3B9E, 0x21DC2629, 0x2C9F00F0, 0x285E1D47, 0x36194D42, 0x32D850F5, 0x3F9B762C, 0x3B5A6B9B, 0x0315D626, 0x07D4CB91, 0x0A97ED48, 0x0E56F0FF,
    0x1011A0FA, 0x14D0BD4D, 0x19939B94, 0x1D528623, 0xF12F560E, 0xF5EE4BB9, 0xF8AD6D60, 0xFC6C70D7, 0xE22B20D2, 0xE6EA3D65, 0xEBA91BBC, 0xEF68060B,
    0xD727BBB6, 0xD3E6A601, 0xDEA580D8, 0xDA649D6F, 0xC423CD6A, 0xC0E2D0DD, 0xCDA1F604, 0xC960EBB3, 0xBD3E8D7E, 0xB9FF90C9, 0xB4BCB610, 0xB07DABA7,
    0xAE3AFBA2, 0xAAFBE615, 0xA7B8C0CC, 0xA379DD7B, 0x9B3660C6, 0x9FF77D71, 0x92B45BA8, 0x9675461F, 0x8832161A, 0x8CF30BAD, 0x81B02D74, 0x857130C3,
    0x5D8A9099, 0x594B8D2E, 0x5408ABF7, 0x50C9B640, 0x4E8EE645, 0x4A4FFBF2, 0x470CDD2B, 0x43CDC09C, 0x7B827D21, 0x7F436096, 0x7200464F, 0x76C15BF8,
    0x68860BFD, 0x6C47164A, 0x61043093, 0x65C52D24, 0x119B4BE9, 0x155A565E, 0x18197087, 0x1CD86D30, 0x029F3D35, 0x065E2082, 0x0B1D065B, 0x0FDC1BEC,
    0x3793A651, 0x3352BBE6, 0x3E119D3F, 0x3AD08088, 0x2497D08D, 0x2056CD3A, 0x2D15EBE3, 0x29D4F654, 0xC5A92679, 0xC1683BCE, 0xCC2B1D17, 0xC8EA00A0,
    0xD6AD50A5, 0xD26C4D12, 0xDF2F6BCB, 0xDBEE767C, 0xE3A1CBC1, 0xE760D676, 0xEA23F0AF, 0xEEE2ED18, 0xF0A5BD1D, 0xF464A0AA, 0xF9278673, 0xFDE69BC4,
    0x89B8FD09, 0x8D79E0BE, 0x803AC667, 0x84FBDBD0, 0x9ABC8BD5, 0x9E7D9662, 0x933EB0BB, 0x97FFAD0C, 0xAFB010B1, 0xAB710D06, 0xA6322BDF, 0xA2F33668,
    0xBCB4666D, 0xB8757BDA, 0xB5365D03, 0xB1F740B4};

/* Private variables ---------------接收缓存区------------------------------------------*/

#if CAN_RxBufSize1 != 0
	CD_UINT8 CAN_RxBuf1[CAN_RxBufSize1];
	CAN_Buf_TypeDef CAN_RxBuf_Struct1={0x0715,CAN_RxBufSize1,0,0,0,0,CAN_RxBuf1};
#endif

/* Private variables ---------------------------------------------------------*/

DL_MCAN_RxBufElement stRxMessage1;
DL_MCAN_RxBufElement *pRxMsg = &stRxMessage1;
DL_MCAN_TxBufElement  stTxMessage1;
DL_MCAN_TxBufElement *pTxMsg = &stTxMessage1;
uint8_t           can_ubMbox;
/* Private function prototypes -----------------------------------------------*/
static void CAN_Rx_ISR(CAN_Buf_TypeDef* ptCANRx,CD_UINT8 ucLength);

uint16_t LastPacketLen, PacketNum;

//从队列读取一个字节
CD_UINT8 cd_ReadChar(CAN_Buf_TypeDef *ptCANRx, CD_UINT16 ucNum)
{
    CD_UINT8  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;
}

//从队列删除一个字节

void cd_DelChar(CAN_Buf_TypeDef *ptCANRx, CD_UINT16 ucNum)
{
    uint16_t i;
    if (ptCANRx->ucBufCnt >= ucNum)
    {
        //        __HAL_CAN_DISABLE_IT(&hcan, CAN_IT_FMP0);//关接收中断
      
        DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 0U);
//        CAN_ITConfig(CAN1, CAN_IT_FMP0, DISABLE);
        
        ptCANRx->ucBufCnt -= ucNum;
        //        __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断
        
        DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 1U);
//        CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
        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
      
        DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 0U);
//        CAN_ITConfig(CAN1, CAN_IT_FMP0, DISABLE);
        
        i = ptCANRx->ucBufCnt;
        ptCANRx->ucBufCnt = 0;
        //        __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);//开接收中断
        
        DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 1U);
//        CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
        i += ptCANRx->ucBufRdInde;
        if (i >= ptCANRx->ucBufSize)
        {
            i -= ptCANRx->ucBufSize;
        }
        ptCANRx->ucBufRdInde = i;
    }
}

uint32_t CRC32_Calculate(uint8_t *pData, uint16_t Length)
{
    uint32_t nReg;
    uint32_t nTemp = 0;
    uint16_t i, n;

    nReg = 0xFFFFFFFF;
    for (n = 0; n < Length; n++)
    {
        nReg ^= (uint32_t)pData[n];
        for (i = 0; i < 4; i++)
        {
            nTemp = Crc32Table[(uint8_t)((nReg >> 24) & 0xFF)];
            nReg <<= 8;
            nReg ^= nTemp;
        }
    }
    return nReg;
}

int cd_SentMsg(DL_MCAN_TxBufElement * pCANTxMsg, uint8_t num)
{  
  
    uint32_t OVtim = 0;

    /* Write Tx Message to the Message RAM. */
    DL_MCAN_writeMsgRam(MCAN0_INST, DL_MCAN_MEM_TYPE_BUF, num, pCANTxMsg);

    /* Add request for transmission. */
    DL_MCAN_TXBufAddReq(MCAN0_INST, num);

    while(((DL_MCAN_getTxBufTransmissionStatus(MCAN0_INST) & (1<<num)) == 0) && (OVtim < 0xFFFF))
    {
        OVtim++;
    } //等待发送结束

    if (OVtim >= 0xFFFF)
    {
        //hw_voInitCAN();
        return 0;
    }

    return 1;
}

//中断服务函数
void CAN_Rx_ISR(CAN_Buf_TypeDef *ptCANRx, uint8_t ucLength)
{
    for (uint8_t i = 0; i < ucLength; i++)
    {
         *(ptCANRx->pcBufAddr + ptCANRx->ucBufWrInde) = pRxMsg->data[i];
        if (++ptCANRx->ucBufWrInde >= ptCANRx->ucBufSize)
        {
            ptCANRx->ucBufWrInde = 0;
        }
        if (++ptCANRx->ucBufCnt > ptCANRx->ucBufSize)
        {
            ptCANRx->ucBufCnt = ptCANRx->ucBufSize;
            ptCANRx->ucBufOvf = 1;
        }
    }
}

uint32_t id = 0;
void MCAN0_INST_IRQHandler(void)
{
    volatile uint32_t gInterruptLine1Status = 0;
    DL_MCAN_RxFIFOStatus rxFS;

    switch (DL_MCAN_getPendingInterrupt(MCAN0_INST)) {
            case DL_MCAN_IIDX_LINE1:
                /* Check MCAN interrupts fired during TX/RX of CAN package */
                gInterruptLine1Status |= DL_MCAN_getIntrStatus(MCAN0_INST);
                DL_MCAN_clearIntrStatus(MCAN0_INST, gInterruptLine1Status,DL_MCAN_INTR_SRC_MCAN_LINE_1);

                if ((gInterruptLine1Status & MCAN_IR_RF0N_MASK) == MCAN_IR_RF0N_MASK)
                {
                    rxFS.fillLvl = 0;
                    rxFS.num = DL_MCAN_RX_FIFO_NUM_0;
                    while ((rxFS.fillLvl) == 0)
                    {
                        DL_MCAN_getRxFIFOStatus(MCAN0_INST, &rxFS);
                    }

                    DL_MCAN_readMsgRam(MCAN0_INST, DL_MCAN_MEM_TYPE_FIFO, 0U, rxFS.num, pRxMsg);

                    DL_MCAN_writeRxFIFOAck(MCAN0_INST, rxFS.num, rxFS.getIdx);

                    if(pRxMsg->xtd == 0)
                    {
                        id = ((pRxMsg->id) & 0x1FFC0000)>>18;
                    }
                    else
                    {
                        id = pRxMsg->id & 0x1FFFFFFF;
                    }

                    if(pRxMsg->xtd == 0)    //standard identifier
                    {
                        //11-bit standard identifier
                        switch (id)
                        {
                            case 0x751:
                            {
                                CAN_Rx_ISR(&CAN_RxBuf_Struct1, pRxMsg->dlc);
                                break;
                            }
                            default:
                                break;
                        }
                    }
                    else
                    {
                        //29-bit extended identifier
                    }

                    gInterruptLine1Status &= ~(MCAN_IR_RF0N_MASK);
                }
                break;
            default:
                break;
        }
}

/************************ (C) END OF FILE *********************************/