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+/************************************************************************
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+ Project: Welling Motor Control Paltform
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+ Filename: asr.c
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+ Partner Filename: asr.h
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+ Description: Automatic speed regulator
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+ Complier: IAR Embedded Workbench for ARM 7.80, IAR Systems.
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+ CPU TYPE : STM32F30x
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+*************************************************************************
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+ Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
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+ All rights reserved.
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+*************************************************************************
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+*************************************************************************
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+Revising History (ECL of this file):
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+
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+************************************************************************/
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+
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+/************************************************************************
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+ Beginning of File, do not put anything above here except notes
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+ Compiler Directives:
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+*************************************************************************/
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+#ifndef _CAN_C_
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+#define _CAN_C_
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+#endif
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+/************************************************************************
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+ Included File:
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+*************************************************************************/
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+#include "stdlib.h"
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+#include "string.h"
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+
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+#include "torquesensor.h"
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+#include "FuncLayerAPI.h"
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+#include "can.h"
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+#include "usart.h"
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+#include "canAppl.h"
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+#include "CodePara.h"
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+#include "flash_master.h"
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+#include "i2c_master.h"
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+#include "power.h"
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+#include "board_config.h"
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+#include "MosResCalib.h"
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+#include "UserGpio_Config.h"
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+
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+const uint32_t Crc32Table[256] = {
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+ 0x00000000, 0x04C11DB7, 0x09823B6E, 0x0D4326D9, 0x130476DC, 0x17C56B6B, 0x1A864DB2, 0x1E475005, 0x2608EDB8, 0x22C9F00F, 0x2F8AD6D6, 0x2B4BCB61,
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+ 0x350C9B64, 0x31CD86D3, 0x3C8EA00A, 0x384FBDBD, 0x4C11DB70, 0x48D0C6C7, 0x4593E01E, 0x4152FDA9, 0x5F15ADAC, 0x5BD4B01B, 0x569796C2, 0x52568B75,
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+ 0x6A1936C8, 0x6ED82B7F, 0x639B0DA6, 0x675A1011, 0x791D4014, 0x7DDC5DA3, 0x709F7B7A, 0x745E66CD, 0x9823B6E0, 0x9CE2AB57, 0x91A18D8E, 0x95609039,
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+ 0x8B27C03C, 0x8FE6DD8B, 0x82A5FB52, 0x8664E6E5, 0xBE2B5B58, 0xBAEA46EF, 0xB7A96036, 0xB3687D81, 0xAD2F2D84, 0xA9EE3033, 0xA4AD16EA, 0xA06C0B5D,
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+ 0xD4326D90, 0xD0F37027, 0xDDB056FE, 0xD9714B49, 0xC7361B4C, 0xC3F706FB, 0xCEB42022, 0xCA753D95, 0xF23A8028, 0xF6FB9D9F, 0xFBB8BB46, 0xFF79A6F1,
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+ 0xE13EF6F4, 0xE5FFEB43, 0xE8BCCD9A, 0xEC7DD02D, 0x34867077, 0x30476DC0, 0x3D044B19, 0x39C556AE, 0x278206AB, 0x23431B1C, 0x2E003DC5, 0x2AC12072,
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+ 0x128E9DCF, 0x164F8078, 0x1B0CA6A1, 0x1FCDBB16, 0x018AEB13, 0x054BF6A4, 0x0808D07D, 0x0CC9CDCA, 0x7897AB07, 0x7C56B6B0, 0x71159069, 0x75D48DDE,
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+ 0x6B93DDDB, 0x6F52C06C, 0x6211E6B5, 0x66D0FB02, 0x5E9F46BF, 0x5A5E5B08, 0x571D7DD1, 0x53DC6066, 0x4D9B3063, 0x495A2DD4, 0x44190B0D, 0x40D816BA,
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+ 0xACA5C697, 0xA864DB20, 0xA527FDF9, 0xA1E6E04E, 0xBFA1B04B, 0xBB60ADFC, 0xB6238B25, 0xB2E29692, 0x8AAD2B2F, 0x8E6C3698, 0x832F1041, 0x87EE0DF6,
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+ 0x99A95DF3, 0x9D684044, 0x902B669D, 0x94EA7B2A, 0xE0B41DE7, 0xE4750050, 0xE9362689, 0xEDF73B3E, 0xF3B06B3B, 0xF771768C, 0xFA325055, 0xFEF34DE2,
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+ 0xC6BCF05F, 0xC27DEDE8, 0xCF3ECB31, 0xCBFFD686, 0xD5B88683, 0xD1799B34, 0xDC3ABDED, 0xD8FBA05A, 0x690CE0EE, 0x6DCDFD59, 0x608EDB80, 0x644FC637,
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+ 0x7A089632, 0x7EC98B85, 0x738AAD5C, 0x774BB0EB, 0x4F040D56, 0x4BC510E1, 0x46863638, 0x42472B8F, 0x5C007B8A, 0x58C1663D, 0x558240E4, 0x51435D53,
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+ 0x251D3B9E, 0x21DC2629, 0x2C9F00F0, 0x285E1D47, 0x36194D42, 0x32D850F5, 0x3F9B762C, 0x3B5A6B9B, 0x0315D626, 0x07D4CB91, 0x0A97ED48, 0x0E56F0FF,
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+ 0x1011A0FA, 0x14D0BD4D, 0x19939B94, 0x1D528623, 0xF12F560E, 0xF5EE4BB9, 0xF8AD6D60, 0xFC6C70D7, 0xE22B20D2, 0xE6EA3D65, 0xEBA91BBC, 0xEF68060B,
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+ 0xD727BBB6, 0xD3E6A601, 0xDEA580D8, 0xDA649D6F, 0xC423CD6A, 0xC0E2D0DD, 0xCDA1F604, 0xC960EBB3, 0xBD3E8D7E, 0xB9FF90C9, 0xB4BCB610, 0xB07DABA7,
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+ 0xAE3AFBA2, 0xAAFBE615, 0xA7B8C0CC, 0xA379DD7B, 0x9B3660C6, 0x9FF77D71, 0x92B45BA8, 0x9675461F, 0x8832161A, 0x8CF30BAD, 0x81B02D74, 0x857130C3,
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+ 0x5D8A9099, 0x594B8D2E, 0x5408ABF7, 0x50C9B640, 0x4E8EE645, 0x4A4FFBF2, 0x470CDD2B, 0x43CDC09C, 0x7B827D21, 0x7F436096, 0x7200464F, 0x76C15BF8,
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+ 0x68860BFD, 0x6C47164A, 0x61043093, 0x65C52D24, 0x119B4BE9, 0x155A565E, 0x18197087, 0x1CD86D30, 0x029F3D35, 0x065E2082, 0x0B1D065B, 0x0FDC1BEC,
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+ 0x3793A651, 0x3352BBE6, 0x3E119D3F, 0x3AD08088, 0x2497D08D, 0x2056CD3A, 0x2D15EBE3, 0x29D4F654, 0xC5A92679, 0xC1683BCE, 0xCC2B1D17, 0xC8EA00A0,
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+ 0xD6AD50A5, 0xD26C4D12, 0xDF2F6BCB, 0xDBEE767C, 0xE3A1CBC1, 0xE760D676, 0xEA23F0AF, 0xEEE2ED18, 0xF0A5BD1D, 0xF464A0AA, 0xF9278673, 0xFDE69BC4,
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+ 0x89B8FD09, 0x8D79E0BE, 0x803AC667, 0x84FBDBD0, 0x9ABC8BD5, 0x9E7D9662, 0x933EB0BB, 0x97FFAD0C, 0xAFB010B1, 0xAB710D06, 0xA6322BDF, 0xA2F33668,
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+ 0xBCB4666D, 0xB8757BDA, 0xB5365D03, 0xB1F740B4};
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+
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+
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+//中断服务函数
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+void CAN_Rx_ISR(CAN_Buf_TypeDef *ptCANRx, uint8_t ucLength)
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+{
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+ for (uint8_t i = 0; i < ucLength; i++)
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+ {
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+ *((*ptCANRx).pcBufAddr + (*ptCANRx).ucBufWrInde) = pRxMsg->data[i];
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+ if (++(*ptCANRx).ucBufWrInde >= (*ptCANRx).ucBufSize)
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+ {
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+ (*ptCANRx).ucBufWrInde = 0;
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+ }
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+ if (++(*ptCANRx).ucBufCnt > (*ptCANRx).ucBufSize)
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+ {
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+ (*ptCANRx).ucBufCnt = (*ptCANRx).ucBufSize;
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+ (*ptCANRx).ucBufOvf = 1;
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+ }
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+ }
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+}
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+
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+uint16_t LastPacketLen, PacketNum;
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+uint32_t OVtim;
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+void CAN_SendData(uint32_t ID, uint32_t ID_mode, uint8_t *Data, uint16_t Length)
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+{
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+ uint8_t i, j;
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+ if (Length > 0)
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+ {
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+ //计算分包个数
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+ LastPacketLen = Length % 8; //最后一个数据包长度
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+ if (LastPacketLen == 0)
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+ {
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+ LastPacketLen = 8;
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+ PacketNum = Length / 8;
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+ }
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+ else
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+ {
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+ PacketNum = Length / 8 + 1;
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+ }
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+ //开始发送数据
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+ pTxMsg->rtr = 0;//0-data frame,1-remote frame
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+ if(ID_mode == ID_MODE_STANDARD)
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+ {
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+ pTxMsg->id = ((ID & 0x7FF) << 18);
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+ }
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+ else
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+ {
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+ pTxMsg->id = ID & 0x1FFFFFFF;
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+ }
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+ pTxMsg->xtd = ID_mode;//0-11-bit standard identifier,1-29-bit extended identifier
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+ pTxMsg->esi = 0;
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+ pTxMsg->brs = 0;
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+ pTxMsg->fdf = 0;//0-Classic CAN format,1-CAN FD format
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+ pTxMsg->efc = 1;//1-Store Tx events
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+ //pTxMsg->mm = 0xAA;
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+
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+ //发送前（PacketNum - 1）个数据包
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+ for (i = 0; i < (PacketNum - 1); i++)
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+ {
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+ pTxMsg->dlc = 8;
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+ for (j = 0; j < 8; j++)
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+ {
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+ pTxMsg->data[j] = Data[8 * i + j];
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+ }
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+ /* Write Tx Message to the Message RAM. */
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+ DL_MCAN_writeMsgRam(MCAN0_INST, DL_MCAN_MEM_TYPE_BUF, i, pTxMsg);
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+
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+ /* Add request for transmission. */
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+ DL_MCAN_TXBufAddReq(MCAN0_INST, i);
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+
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+ OVtim = 0;
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+
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+ while(((DL_MCAN_getTxBufTransmissionStatus(MCAN0_INST) & (1<<i)) == 0) && (OVtim < 0XFFF))
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+ {
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+ OVtim++;
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+ } //等待发送结束
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+
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+ if (OVtim >= 0XFFF)
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+ {
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+ return;
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+ }
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+ }
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+
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+ //发送最后一个数据包
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+ pTxMsg->dlc = LastPacketLen;
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+ for (j = 0; j < LastPacketLen; j++)
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+ {
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+ pTxMsg->data[j] = Data[8 * i + j];
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+ }
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+ /* Write Tx Message to the Message RAM. */
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+ DL_MCAN_writeMsgRam(MCAN0_INST, DL_MCAN_MEM_TYPE_BUF, i, pTxMsg);
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+
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+ /* Add request for transmission. */
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+ DL_MCAN_TXBufAddReq(MCAN0_INST, i);
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+
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+ OVtim = 0;
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+
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+ while(((DL_MCAN_getTxBufTransmissionStatus(MCAN0_INST) & (1<<i)) == 0) && (OVtim < 0XFFF))
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+ {
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+ OVtim++;
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+ }
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+
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+ if (OVtim >= 0XFFF)
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+ {
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+ return;
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+ }
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+ }
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+}
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+
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+//从队列读取一个字节
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+uint8_t CAN_ReadChar(CAN_Buf_TypeDef *ptCANRx, uint8_t ucNum)
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+{
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+ uint8_t ucData;
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+ uint16_t i;
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+ i = ucNum;
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+ if ((*ptCANRx).ucBufCnt >= ucNum)
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+ {
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+ i += (*ptCANRx).ucBufRdInde;
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+ if (i >= (*ptCANRx).ucBufSize)
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+ {
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+ i -= ((*ptCANRx).ucBufSize);
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+ }
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+ }
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+ else
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+ {
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+ i = 0;
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+ }
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+ ucData = *((*ptCANRx).pcBufAddr + i);
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+ return ucData;
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+}
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+
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+//从队列删除一个字节
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+
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+void CAN_DelChar(CAN_Buf_TypeDef *ptCANRx, uint8_t ucNum)
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+{
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+ uint16_t i;
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+ if ((*ptCANRx).ucBufCnt >= ucNum)
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+ {
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+ DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 0U);//关接收中断
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+
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+ (*ptCANRx).ucBufCnt -= ucNum;
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+
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+ DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 1U);//开接收中断
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+
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+ i = ucNum;
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+ i += (*ptCANRx).ucBufRdInde;
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+ if (i >= (*ptCANRx).ucBufSize)
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+ {
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+ i -= (*ptCANRx).ucBufSize;
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+ }
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+ (*ptCANRx).ucBufRdInde = i;
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+ }
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+ else
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+ {
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+ DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 0U);//关接收中断
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+
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+ i = (*ptCANRx).ucBufCnt;
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+ (*ptCANRx).ucBufCnt = 0;
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+
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+ DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 1U);//开接收中断
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+
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+ i += (*ptCANRx).ucBufRdInde;
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+ if (i >= (*ptCANRx).ucBufSize)
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+ {
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+ i -= (*ptCANRx).ucBufSize;
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+ }
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+ (*ptCANRx).ucBufRdInde = i;
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+ }
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+}
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+
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+//解析队列数据，严格按照通信协议格式
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+uint8_t CAN_RevData[255], CAN_RevData_CRC_Buf[255];
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+void CAN_RxData_Process(CAN_Buf_TypeDef *ptCANRx, uint16_t TimeOutCnt)
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+{
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+ uint8_t Mode, CmdLength, DataLength;
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+ uint16_t Cmd, i;
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+ uint32_t CrcResult, CrcData;
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+ uint8_t FrameBegin1, FrameBegin2;
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+ if (ptCANRx->ucBufCnt >= 11)
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+ {
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+ //读取帧头
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+ FrameBegin1 = CAN_ReadChar(ptCANRx, 0);
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+ CAN_RevData_CRC_Buf[0] = FrameBegin1;
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+ FrameBegin2 = CAN_ReadChar(ptCANRx, 1);
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+ CAN_RevData_CRC_Buf[1] = FrameBegin2;
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+ if ((FrameBegin1 == FRAME_BEGIN1) && (FrameBegin2 == FRAME_BEGIN2))
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+ {
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+ CAN_RevData_CRC_Buf[2] = (uint8_t)((ptCANRx->ulBufID >> 8) & 0xFF);
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+ CAN_RevData_CRC_Buf[3] = (uint8_t)(ptCANRx->ulBufID & 0xFF);
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+ //读取帧模式
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+ Mode = CAN_ReadChar(ptCANRx, 2);
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+ CAN_RevData_CRC_Buf[4] = Mode;
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+ if ((Mode == MODE_READ) || (Mode == MODE_WRITE) || (Mode == MODE_REPORT))
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+ {
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+ //读取命令段长度和命令字
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+ CmdLength = CAN_ReadChar(ptCANRx, 3);
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+ CAN_RevData_CRC_Buf[5] = CmdLength;
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+ Cmd = (CAN_ReadChar(ptCANRx, 4) << 8) + CAN_ReadChar(ptCANRx, 5);
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+ CAN_RevData_CRC_Buf[6] = (uint8_t)((Cmd >> 8) & 0xFF);
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+ CAN_RevData_CRC_Buf[7] = (uint8_t)(Cmd & 0xFF);
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+ DataLength = CAN_ReadChar(ptCANRx, 5);
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+ if ((CmdLength - DataLength) == 2)
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+ {
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+ if (ptCANRx->ucBufCnt < (CmdLength + 9)) //帧头2bytes + 模式1byte + 命令段长度1byte + 校验位4bytes + 帧尾1byte
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+ {
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+ if (ptCANRx->IsWaitRX_Flag == FALSE)
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+ {
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+ ptCANRx->DelayTimeCnt = cp_ulSystickCnt; // SysTick_GetCounter()
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+ ptCANRx->IsWaitRX_Flag = TRUE;
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+ }
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+ if ((cp_ulSystickCnt - ptCANRx->DelayTimeCnt) > TimeOutCnt) //超时，单位ms
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+ {
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+ CAN_DelChar(ptCANRx, ptCANRx->ucBufCnt);
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+ ptCANRx->IsWaitRX_Flag = FALSE;
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+ }
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+ return;
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+ }
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+ else
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+ {
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+ ptCANRx->IsWaitRX_Flag = FALSE;
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+ //接收到完整正确数据包
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+ for (i = 0; i < DataLength; i++) //读取数据段
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+ {
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+ CAN_RevData[i] = CAN_ReadChar(ptCANRx, 6 + i);
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+ CAN_RevData_CRC_Buf[8 + i] = CAN_RevData[i];
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+ }
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+ CrcData = (CAN_ReadChar(ptCANRx, 6 + DataLength) << 24) + (CAN_ReadChar(ptCANRx, 7 + DataLength) << 16) +
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+ (CAN_ReadChar(ptCANRx, 8 + DataLength) << 8) + CAN_ReadChar(ptCANRx, 9 + DataLength);
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+ CrcResult = CRC32_Calculate(CAN_RevData_CRC_Buf, 8 + DataLength);
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+ if ((CrcData - CrcResult) == 0) // 比较校验
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+ {
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+ //数据处理
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+ ucCommType = 1;
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+ DataProcess(&UART_TxBuff_Struct_OBC, ptCANRx->ulBufID, Mode, Cmd, CAN_RevData); // Mode为帧模式，Cmd为命令字，Data为数据段
|
|
|
+ CAN_DelChar(ptCANRx, CmdLength + 9);
|
|
|
+ return;
|
|
|
+ }
|
|
|
+ CAN_DelChar(ptCANRx, 1);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ CAN_DelChar(ptCANRx, 1);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ CAN_DelChar(ptCANRx, 1);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ CAN_DelChar(ptCANRx, 1);
|
|
|
+ }
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+// CAN数据解任务，定时执行
|
|
|
+void CanRx_Process(void)
|
|
|
+{
|
|
|
+ CAN_RxData_Process(&CAN_RxBuf_Struct_PBU, 500);
|
|
|
+ CAN_RxData_Process(&CAN_RxBuf_Struct_BMS, 500);
|
|
|
+ CAN_RxData_Process(&CAN_RxBuf_Struct_HMI, 500);
|
|
|
+ CAN_RxData_Process(&CAN_RxBuf_Struct_CDL, 500);
|
|
|
+}
|
|
|
+
|
|
|
+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;
|
|
|
+}
|
|
|
+/************************************************************************
|
|
|
+ Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
|
|
|
+ All rights reserved.
|
|
|
+*************************************************************************/
|
|
|
+#ifdef _CAN_C_
|
|
|
+#undef _CAN_C_
|
|
|
+#endif
|
|
|
+/*************************************************************************
|
|
|
+ End of this File (EOF):
|
|
|
+ !!!!!!Do not put anything after this part!!!!!!!!!!!
|
|
|
+*************************************************************************/
|
CN\houcf5