motor_ctl-1/3.BasicFunction/Source/can.c

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            asr.c
 Partner Filename:    asr.h
 Description:         Automatic speed regulator
 Complier:            IAR Embedded Workbench for ARM 7.80, IAR Systems.
 CPU TYPE :           STM32F30x
*************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
Revising History (ECL of this file):

************************************************************************/

/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef _CAN_C_
#define _CAN_C_
#endif
/************************************************************************
 Included File:
*************************************************************************/
#include "stdlib.h"
#include "string.h"

#include "torquesensor.h"
#include "FuncLayerAPI.h"
#include "can.h"
#include "usart.h"
#include "canAppl.h"
#include "CodePara.h"
#include "flash_master.h"
#include "i2c_master.h"
#include "power.h"
#include "board_config.h"
#include "MosResCalib.h"
#include "UserGpio_Config.h"

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};


//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;
        }
    }
}

uint16_t LastPacketLen, PacketNum;
uint32_t OVtim;
void CAN_SendData(uint32_t ID, uint32_t ID_mode, uint8_t *Data, uint16_t Length)
{
    uint8_t  i, j;
    if (Length > 0)
    {
        //计算分包个数
        LastPacketLen = Length % 8; //最后一个数据包长度
        if (LastPacketLen == 0)
        {
            LastPacketLen = 8;
            PacketNum = Length / 8;
        }
        else
        {
            PacketNum = Length / 8 + 1;
        }
        //开始发送数据
        pTxMsg->rtr = 0;//0-data frame,1-remote frame
        if(ID_mode == ID_MODE_STANDARD)
        {
            pTxMsg->id = ((ID & 0x7FF) << 18);
        }
        else
        {
            pTxMsg->id = ID & 0x1FFFFFFF;
        }
        pTxMsg->xtd = ID_mode;//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;

        //发送前（PacketNum - 1）个数据包
        for (i = 0; i < (PacketNum - 1); i++)
        {
            pTxMsg->dlc = 8;
            for (j = 0; j < 8; j++)
            {
                pTxMsg->data[j] = Data[8 * i + j];
            }
            /* Write Tx Message to the Message RAM. */
            DL_MCAN_writeMsgRam(MCAN0_INST, DL_MCAN_MEM_TYPE_BUF, i, pTxMsg);

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

            OVtim = 0;

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

            if (OVtim >= 0XFFF)
            {
                return;
            }
        }

        //发送最后一个数据包
        pTxMsg->dlc = LastPacketLen;
        for (j = 0; j < LastPacketLen; j++)
        {
            pTxMsg->data[j] = Data[8 * i + j];
        }
        /* Write Tx Message to the Message RAM. */
        DL_MCAN_writeMsgRam(MCAN0_INST, DL_MCAN_MEM_TYPE_BUF, i, pTxMsg);

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

        OVtim = 0;

        while(((DL_MCAN_getTxBufTransmissionStatus(MCAN0_INST) & (1<<i)) == 0) && (OVtim < 0XFFF))
        {
            OVtim++;
        }

        if (OVtim >= 0XFFF)
        {
            return;
        }
    }
}

//从队列读取一个字节
uint8_t CAN_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;
}

//从队列删除一个字节

void CAN_DelChar(CAN_Buf_TypeDef *ptCANRx, uint8_t ucNum)
{
    uint16_t i;
    if ((*ptCANRx).ucBufCnt >= ucNum)
    {
        DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 0U);//关接收中断

        (*ptCANRx).ucBufCnt -= ucNum;

        DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 1U);//开接收中断

        i = ucNum;
        i += (*ptCANRx).ucBufRdInde;
        if (i >= (*ptCANRx).ucBufSize)
        {
            i -= (*ptCANRx).ucBufSize;
        }
        (*ptCANRx).ucBufRdInde = i;
    }
    else
    {
        DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 0U);//关接收中断

        i = (*ptCANRx).ucBufCnt;
        (*ptCANRx).ucBufCnt = 0;

        DL_MCAN_enableIntr(MCAN0_INST, DL_MCAN_INTERRUPT_RF0N, 1U);//开接收中断

        i += (*ptCANRx).ucBufRdInde;
        if (i >= (*ptCANRx).ucBufSize)
        {
            i -= (*ptCANRx).ucBufSize;
        }
        (*ptCANRx).ucBufRdInde = i;
    }
}

//解析队列数据，严格按照通信协议格式
uint8_t CAN_RevData[255], CAN_RevData_CRC_Buf[255];
void CAN_RxData_Process(CAN_Buf_TypeDef *ptCANRx, uint16_t TimeOutCnt)
{
    uint8_t  Mode, CmdLength, DataLength;
    uint16_t Cmd, i;
    uint32_t CrcResult, CrcData;
    uint8_t  FrameBegin1, FrameBegin2;
    if (ptCANRx->ucBufCnt >= 11)
    {
        //读取帧头
        FrameBegin1 = CAN_ReadChar(ptCANRx, 0);
        CAN_RevData_CRC_Buf[0] = FrameBegin1;
        FrameBegin2 = CAN_ReadChar(ptCANRx, 1);
        CAN_RevData_CRC_Buf[1] = FrameBegin2;
        if ((FrameBegin1 == FRAME_BEGIN1) && (FrameBegin2 == FRAME_BEGIN2))
        {
            CAN_RevData_CRC_Buf[2] = (uint8_t)((ptCANRx->ulBufID >> 8) & 0xFF);
            CAN_RevData_CRC_Buf[3] = (uint8_t)(ptCANRx->ulBufID & 0xFF);
            //读取帧模式
            Mode = CAN_ReadChar(ptCANRx, 2);
            CAN_RevData_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 = CAN_ReadChar(ptCANRx, 3);
                CAN_RevData_CRC_Buf[5] = CmdLength;
                Cmd = (CAN_ReadChar(ptCANRx, 4) << 8) + CAN_ReadChar(ptCANRx, 5);
                CAN_RevData_CRC_Buf[6] = (uint8_t)((Cmd >> 8) & 0xFF);
                CAN_RevData_CRC_Buf[7] = (uint8_t)(Cmd & 0xFF);
                DataLength = CAN_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 = cp_ulSystickCnt; // SysTick_GetCounter()
                            ptCANRx->IsWaitRX_Flag = TRUE;
                        }
                        if ((cp_ulSystickCnt - ptCANRx->DelayTimeCnt) > TimeOutCnt) //超时，单位ms
                        {
                            CAN_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
                        {
                            CAN_RevData[i] = CAN_ReadChar(ptCANRx, 6 + i);
                            CAN_RevData_CRC_Buf[8 + i] = CAN_RevData[i];
                        }
                        CrcData = (CAN_ReadChar(ptCANRx, 6 + DataLength) << 24) + (CAN_ReadChar(ptCANRx, 7 + DataLength) << 16) +
                                  (CAN_ReadChar(ptCANRx, 8 + DataLength) << 8) + CAN_ReadChar(ptCANRx, 9 + DataLength);
                        CrcResult = CRC32_Calculate(CAN_RevData_CRC_Buf, 8 + DataLength);
                        if ((CrcData - CrcResult) == 0) // 比较校验
                        {
                            //数据处理
                            ucCommType = 1;
                            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!!!!!!!!!!!
*************************************************************************/