motor_bootloader/can_app.c

/**
  ******************************************************************************
  * @file    can_app.c
  * @author  Vincent
  * @version V1.0.0
  * @date    23-12-2015
  * @brief   
  ******************************************************************************
  *
  * 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_app.h"
#include "uart_app.h"
#include "RefreshMenu.h"
#include "protocol.h"
#include "string.h"
#include "flash_if.h"
#include "bin_check.h"
/* Private variables ---------------------------------------------------------*/

/*******************************************************************************
* Function: void CAN_RxData_Process(CAN_Buf_TypeDef*ptCANRx)
* Discrible:
* Input:
* Output: 
* Return: 
* Others: 
*    date    version	  author        record
* -----------------------------------------------
* 20151107     V1.0     VINCENT       Create
*********************************************************************************/
void CAN_RxData_Process(CAN_Buf_TypeDef* ptCANRx)
{
    CD_UINT8  ucHeadHighByte,ucHeadLowByte,ucFrameMode; 	
//CD_UINT8  file_headTail[PACKET_128B_SIZE]={0},file_body[PACKET_1K_SIZE]={0};
    CD_UINT16 i ;
    
    CD_UINT8 ucFrameLength,ucTrail;
    CD_UINT16 ucKeyCmd;
    CD_UINT32 ucCRCSum,CrcTemp;
    
    CD_UINT8 frameCrcBuff[FRAME_DATA_SIZE+2];

    if((*ptCANRx).ucBufCnt >  10)
    {
        /*清除超时标志*/
       // update.TimeCounter_Update = 0;
        
        ucHeadHighByte = cd_ReadChar(ptCANRx,0);    //帧头1
        ucHeadLowByte = cd_ReadChar(ptCANRx,1);     //帧头2
        
        
        if((PRO_HEAD1 == ucHeadHighByte)&&(PRO_HEAD2 == ucHeadLowByte))
        {
                
            ucFrameMode = cd_ReadChar(ptCANRx,2);         
            ucFrameLength = cd_ReadChar(ptCANRx,3);
            ucKeyCmd = ((CD_UINT16)cd_ReadChar(ptCANRx,4) << 8 ) + ((CD_UINT16)cd_ReadChar(ptCANRx,5));
            
            if( FRAME_MODE_WRITE !=  ucFrameMode) 
            {
                cd_DelChar(ptCANRx,1);
                return;
            }
            
            if((*ptCANRx).ucBufCnt <(ucFrameLength  + 4 + 5 )) return;
            
            frameCrcBuff[0] =  FRAME_HEAD1;
            frameCrcBuff[1] =  FRAME_HEAD2;
            frameCrcBuff[2] =  0x07;
            frameCrcBuff[3] =  0x51;
            
            ucTrail = cd_ReadChar(ptCANRx,ucFrameLength  + 4 + 4 );
            
            if(PRO_TAIL !=  ucTrail)
            {
                /*帧尾错误*/
                cd_DelChar(ptCANRx, 1);	
                update.AckEnable =  ENABLE;
                downLoad.userCmd = CMD_ACK_ERR;
                downLoad.step = 0xf0;
                return ; 
            }
            
            ucCRCSum = (cd_ReadChar(ptCANRx,ucFrameLength  + 4 ) << 24) + \
                                                     (cd_ReadChar(ptCANRx,ucFrameLength  + 4 + 1 ) << 16) + \
                                                     (cd_ReadChar(ptCANRx,ucFrameLength  + 4 + 2 ) << 8) + \
                                                     cd_ReadChar(ptCANRx,ucFrameLength  + 4 + 3 ) ;

            for(i=2; i< ( ucFrameLength  + 4 ); i++)
            {
                frameCrcBuff[i+2] = cd_ReadChar(ptCANRx,i);
            }
            
            /*CRC 校验*/
            CrcTemp = CRC32_Calculate( (CD_UINT8 *)frameCrcBuff, (ucFrameLength  + 4 + 2 ) );
            if( ucCRCSum !=  CrcTemp)
            {
                update.AckEnable =  ENABLE;
                downLoad.userCmd = CMD_ACK_ERR;
                downLoad.step = 0xf1;
                
                cd_DelChar(ptCANRx, (ucFrameLength  + 4 + 5 ));	
                return ;
            }
            
            for(i=0; i< ( ucFrameLength-5); i++)
            {
                receice_data[i] = frameCrcBuff[i+13];
            }

            cd_DelChar(ptCANRx, (ucFrameLength  + 4 + 5 ));	
            update.TimeCounter_Update = 0;
            ptCANRx->ucCANEnable = 1;
            Data_Updata(ucKeyCmd, receice_data, &frameCrcBuff[9]);
        }
        else 
        {
            cd_DelChar(ptCANRx, 1);
        }	 
            
    }

}

void CAN_sendBootInfo(void)
{
    static CD_UINT8 bootInfoBuff[22]={ FRAME_HEAD1,FRAME_HEAD2,0x07,0x15,0x0C,0x0B,0xC1,0x09,'M','C',' ','V','2','.','6','.','0',0x00,0x00,0x00,0x00,0xF0 };//版本号: MC V1.3.0
    CD_UINT32 crc32Ret;
    //static CD_UINT8 ucInit_flag = 0;
            
    crc32Ret = CRC32_Calculate( (CD_UINT8 *)bootInfoBuff,17 );
    
    bootInfoBuff[17] = (CD_UINT8)( crc32Ret >> 24 );
    bootInfoBuff[18] = (CD_UINT8)( crc32Ret >> 16 );
    bootInfoBuff[19] = (CD_UINT8)( crc32Ret >> 8 );
    bootInfoBuff[20] = (CD_UINT8)( crc32Ret );
    
    //ready to send
    pTxMsg->rtr = 0;//0-data frame,1-remote frame
    pTxMsg->id = ((CAN_RxBuf_Struct1.ID & 0x7FF) << 18);//standard identifier
    //pTxMsg->id = ID & 0x1FFFFFFF;//extended identifier
    pTxMsg->xtd = 0;//0-11-bit standard identifier,1-29-bit extended identifier
    pTxMsg->esi = 0;
    pTxMsg->brs = 0;
    pTxMsg->fdf = 0;//0-Classic CAN format,1-CAN FD format
    pTxMsg->efc = 1;//1-Store Tx events
    //pTxMsg->mm = 0xAA;
    
    /*发送第1包数据*/
    pTxMsg->dlc = 8;
    
    pTxMsg->data[0] =  bootInfoBuff[0];
    pTxMsg->data[1] =  bootInfoBuff[1];
    for(int i=0;i<6;i++)
    {
        pTxMsg->data[i+2] =  bootInfoBuff[i+4];
    }

    if(!cd_SentMsg(pTxMsg, 0)) return;

    /*发送第2包数据*/
    pTxMsg->dlc = 8;

    for(int i=0;i<8;i++)
    {
        pTxMsg->data[i] =  bootInfoBuff[i+10];
    }
    
    if(!cd_SentMsg(pTxMsg, 1)) return;
            
    /*发送第3包数据*/
    pTxMsg->dlc = 4;

    for(int i=0;i<4;i++)
    {
        pTxMsg->data[i] =  bootInfoBuff[i+18];
    }
    
    if(!cd_SentMsg(pTxMsg, 2)) return;
              
}

void CAN_sendAck(void)
{
    static CD_UINT8 ackBuff_2[16]={ FRAME_HEAD1,FRAME_HEAD2,0x07,0x15,0x0C,0x05,0xA9,0x03,'A','C','K',0x00,0x00,0x00,0x00,0xF0 };
    CD_UINT32 crc32Ret;
    //uint8_t i;
    
    crc32Ret = CRC32_Calculate( (CD_UINT8 *)ackBuff_2,11 );
    
    ackBuff_2[11] = (CD_UINT8)( crc32Ret >> 24 );
    ackBuff_2[12] = (CD_UINT8)( crc32Ret >> 16 );
    ackBuff_2[13] = (CD_UINT8)( crc32Ret >> 8 );
    ackBuff_2[14] = (CD_UINT8)( crc32Ret );
    //ready to send                        
    pTxMsg->rtr = 0;//0-data frame,1-remote frame
    pTxMsg->id = ((CAN_RxBuf_Struct1.ID & 0x7FF) << 18);//standard identifier
    //pTxMsg->id = ID & 0x1FFFFFFF;//extended identifier
    pTxMsg->xtd = 0;//0-11-bit standard identifier,1-29-bit extended identifier
    pTxMsg->esi = 0;
    pTxMsg->brs = 0;
    pTxMsg->fdf = 0;//0-Classic CAN format,1-CAN FD format
    pTxMsg->efc = 1;//1-Store Tx events
    //pTxMsg->mm = 0xAA;
    
    /*发送第1包数据*/

    pTxMsg->dlc = 8;
    
    pTxMsg->data[0] =  ackBuff_2[0];
    pTxMsg->data[1] =  ackBuff_2[1];
    
    for(int i=0;i<6;i++)
    {
        pTxMsg->data[i+2] =  ackBuff_2[i+4];
    }

    if(!cd_SentMsg(pTxMsg, 0)) return;

    /*发送第2包数据*/
    pTxMsg->dlc = 6;

    for(int i=0;i<6;i++)
    {
        pTxMsg->data[i] =  ackBuff_2[i+10];
    }
    
    if(!cd_SentMsg(pTxMsg, 1)) return;
}

void CAN_sendUpdateAck( CD_UINT16 cmd ,CD_UINT16 packageNum )
{
    static CD_UINT8 ackBuff[15]={ FRAME_HEAD1,FRAME_HEAD2,0x07,0x15,0x0C,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF0 };
    CD_UINT32 crc32Ret;
    //static CD_UINT8 ucInit_flag = 0;
    //uint8_t i;
    
    ackBuff[6] = (CD_UINT8)(cmd >>8);
    ackBuff[7] = (CD_UINT8)cmd;
    ackBuff[8] = (CD_UINT8)packageNum;
    ackBuff[9] = (CD_UINT8)(packageNum>>8);
    
    crc32Ret = CRC32_Calculate( (CD_UINT8 *)ackBuff, 10);
    
    ackBuff[10] = (CD_UINT8)( crc32Ret >> 24 );
    ackBuff[11] = (CD_UINT8)( crc32Ret >> 16 );
    ackBuff[12] = (CD_UINT8)( crc32Ret >> 8 );
    ackBuff[13] = (CD_UINT8)( crc32Ret );
    //ready to send
    pTxMsg->rtr = 0;//0-data frame,1-remote frame
    pTxMsg->id = ((CAN_RxBuf_Struct1.ID & 0x7FF) << 18);//standard identifier
    //pTxMsg->id = ID & 0x1FFFFFFF;//extended identifier
    pTxMsg->xtd = 0;//0-11-bit standard identifier,1-29-bit extended identifier
    pTxMsg->esi = 0;
    pTxMsg->brs = 0;
    pTxMsg->fdf = 0;//0-Classic CAN format,1-CAN FD format
    pTxMsg->efc = 1;//1-Store Tx events
    //pTxMsg->mm = 0xAA;
      
    /*发送第1包数据*/

    pTxMsg->dlc = 8;
    
    pTxMsg->data[0] =  ackBuff[0];
    pTxMsg->data[1] =  ackBuff[1];
    
    for(int i=0;i<6;i++)
    {
        pTxMsg->data[i+2] =  ackBuff[i+4];
    }

    if(!cd_SentMsg(pTxMsg, 0))
      return;    
    

    /*发送第2包数据*/
    pTxMsg->dlc = 5;
    
    for(int i=0;i<5;i++)
    {
        pTxMsg->data[i] =  ackBuff[i+10];
    }
    
    if(!cd_SentMsg(pTxMsg, 1))
      return;    
}

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