259 lines
8.5 KiB
C
259 lines
8.5 KiB
C
/*******************************************************************************
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* the includes
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******************************************************************************/
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#include "canuser.h"
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#include "appTask.h"
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#include "can_message.h"
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/*******************************************************************************
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* the defines
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******************************************************************************/
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#define CAN_BUFFER_FIFO_SIZE (16u)
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/*******************************************************************************
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* the typedefs
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******************************************************************************/
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typedef enum
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{
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UDS_MSG_IDX_STD_RX_PHYS,
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UDS_MSG_IDX_STD_RX_FUNC,
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UDS_MSG_IDX_STD_TX,
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UDS_MSG_IDX_STD_RX_TEST1,
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UDS_MSG_IDX_STD_RX_TEST2,
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UDS_MSG_IDX_STD_TX_TEST1,
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UDS_MSG_IDX_STD_TEST1,
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UDS_MSG_IDX_STD_TEST2,
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UDS_MSG_IDX_NUM
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} Uds_MsgIdIdxType;
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typedef struct
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{
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FlexCan_FrameStructureType rxMsg[CAN_BUFFER_FIFO_SIZE];
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FlexCan_FrameStructureType txMsg[CAN_BUFFER_FIFO_SIZE];
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uint8_t wrIdx;
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uint8_t rdIdx;
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} FlexCan_DataInfoType;
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/*******************************************************************************
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* the globals
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******************************************************************************/
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extern UdsType udsObj;
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extern McuType mcu;
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FlexCan_DataInfoType flexCan_DataInfo;
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FlexCanDrv_ControllerCfgType flexCanCfg;
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FlexCanDrvType* flexCanDrv_DemoObj;
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uint8_t flexCanBoot_EnhanceRxFFCnt = 0;
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uint8_t txMsgBuf[8] = {0};
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/*******************************************************************************
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* the const
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******************************************************************************/
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const FlexCanDrv_MsgCfgType msgCfgObj[UDS_MSG_IDX_NUM] = {
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{UDS_MSG_IDX_STD_RX_PHYS, 1, UDS_PHYS_RECV_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_PHYS */
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{UDS_MSG_IDX_STD_RX_FUNC, 1, UDS_FUNC_RECV_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_FUNC */
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{UDS_MSG_IDX_STD_TX, 1, UDS_PHYS_RESP_MSG_ID, false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
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{UDS_MSG_IDX_STD_RX_TEST1, 1, APP_RX_TEST1_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_FUNC */
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{UDS_MSG_IDX_STD_RX_TEST2, 1, APP_RX_TEST2_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_FUNC */
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{UDS_MSG_IDX_STD_TEST1, 1, APP_TX_TEST1_MSG_ID, false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
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{UDS_MSG_IDX_STD_TEST2, 1, APP_TX_TEST2_MSG_ID, false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
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};
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/*******************************************************************************
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* the functions
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******************************************************************************/
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void CAN_ORed_0_31_MB_Handler(void)
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{
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uint8_t i = 0;
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FlexCanDrv_MsgObjType msgObj;
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for(i = 0; i < flexCanCfg.msgNum; i++)
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{
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msgObj.msgBufId = i;
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if(FlexCanDrv_GetMsgObjFlag(flexCanDrv_DemoObj, &msgObj))
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{
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if(flexCanCfg.msgCfg[i].msgType == FLEXCANDRV_MSGTYPE_RX)
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{
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/* clear message buffer interrupt flag */
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FlexCanDrv_ClearMsgObjFlag(flexCanDrv_DemoObj, &msgObj);
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/* get the new message data */
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FlexCanDrv_GetRxMsg(flexCanDrv_DemoObj, &msgObj);
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memcpy(flexCan_DataInfo.rxMsg[flexCan_DataInfo.wrIdx].data, msgObj.data, msgObj.dlc);
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flexCan_DataInfo.rxMsg[flexCan_DataInfo.wrIdx].id = msgObj.msgId;
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flexCan_DataInfo.rxMsg[flexCan_DataInfo.wrIdx].len = msgObj.dlc;
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flexCan_DataInfo.wrIdx++;
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if(flexCan_DataInfo.wrIdx >= CAN_BUFFER_FIFO_SIZE)
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{
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flexCan_DataInfo.wrIdx = 0;
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}
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}
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else
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{
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/* clear message buffer interrupt flag */
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FlexCanDrv_ClearMsgObjFlag(flexCanDrv_DemoObj, &msgObj);
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}
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}
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}
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}
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bool FlexCanBoot_ReadoutMsg(FlexCan_FrameStructureType *pRxMsgObj)
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{
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bool ret = false;
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if(flexCan_DataInfo.wrIdx != flexCan_DataInfo.rdIdx)
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{
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memcpy(pRxMsgObj, &flexCan_DataInfo.rxMsg[flexCan_DataInfo.rdIdx], sizeof(FlexCan_FrameStructureType));
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flexCan_DataInfo.rdIdx++;
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if(flexCan_DataInfo.rdIdx >= CAN_BUFFER_FIFO_SIZE)
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{
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flexCan_DataInfo.rdIdx = 0;
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}
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ret = true;
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}
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return ret;
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}
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int8_t FlexCanBoot_TxMessage(uint32_t msgId, const uint8_t *pData, uint8_t size)
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{
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FlexCanDrv_MsgObjType txMsgObj;
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uint8_t msgIdx = 0, i = 0;
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for(i = 0; i < flexCanCfg.msgNum; i++)
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{
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if(msgId == flexCanCfg.msgCfg[i].msgId)
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{
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msgIdx = i;
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break;
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}
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}
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txMsgObj.msgBufId = flexCanCfg.msgCfg[msgIdx].msgBufId;
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txMsgObj.dlc = size;
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txMsgObj.msgId = flexCanCfg.msgCfg[msgIdx].msgId;
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memcpy(&txMsgObj.data[0], pData, size);
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FlexCanDrv_SetTxMsg(flexCanDrv_DemoObj, &txMsgObj);
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/* transmit standard CAN Tx message */
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FlexCanDrv_TransmitMsg(flexCanDrv_DemoObj, &txMsgObj);
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return 0;
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}
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void FlexCanBoot_Init(void)
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{
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uint32_t busClockFreq = 0;
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/* CAN init */
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memset(&flexCan_DataInfo, 0, sizeof(flexCan_DataInfo));
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memset(&flexCanCfg, 0, sizeof(flexCanCfg));
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flexCanDrv_DemoObj = &mcu.flexCanDrv;
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/* set CAN0.RX */
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PinsDrv_SetMuxModeSel(&mcu.ptb, 15, PINSDRV_MUX_ALT6);
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/* set CAN0.TX */
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PinsDrv_SetMuxModeSel(&mcu.ptb, 14, PINSDRV_MUX_ALT6);
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/* get CAN controller default configuration */
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FlexCanDrv_GetDefaultCfg(&flexCanCfg);
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flexCanCfg.msgNum = sizeof(msgCfgObj) / sizeof(FlexCanDrv_MsgCfgType);
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flexCanCfg.msgCfg = msgCfgObj;
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flexCanCfg.clkSrc = FLEXCANDRV_CLKSRC_CHICLK;
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flexCanCfg.fdEnable = false;
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flexCanCfg.fdISOEnable = false;
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flexCanCfg.msgBufDataLenSel = FLEXCANDRV_MB_SIZE_BYTE_8;
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flexCanCfg.individualMaskEnable = true;
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if(flexCanCfg.clkSrc == FLEXCANDRV_CLKSRC_CHICLK)
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{
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ClockDrv_GetFreq(&mcu.clockDrv, CLOCKDRV_APB, &busClockFreq);
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}
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else
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{
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ClockDrv_GetFreq(&mcu.clockDrv, CLOCKDRV_SOSC_DIV, &busClockFreq);
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}
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if(flexCanCfg.fdEnable == true)
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{
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FlexCanDrv_BitTimingCalc(&flexCanCfg.fdBitTiming,
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busClockFreq, /* module clock source: 16M */
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2000000, /* baudrate: 2M */
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7500, /* sample point: 75% */
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2000, /* SJW: 20% */
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1); /* FD bit timing */
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}
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FlexCanDrv_BitTimingCalc(&flexCanCfg.bitTiming,
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busClockFreq, /* module clock source: 16M */
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500000, /* baudrate: 500K */
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7500, /* sample point: 75% */
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2500, /* SJW: 20% */
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0); /* classic CAN bit timing */
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/* initialize CAN module */
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FlexCanDrv_Configure(flexCanDrv_DemoObj, &flexCanCfg);
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/* enable all CAN mailbox interrupt */
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IrqDrv_EnableIrq(CAN_ORed_0_31_MB_IRQn);
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IrqDrv_EnableIrq(CAN_ORed_32_63_MB_IRQn);
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}
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void TxTestMsg(uint8_t *pdata)
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{
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uint8_t txMsgBuf[8] = {0};
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if (pdata != NULL)
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{
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memcpy(txMsgBuf,pdata,8);
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}
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FlexCanBoot_TxMessage(APP_TX_TEST1_MSG_ID, txMsgBuf, 8);
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//SEGGER_RTT_printf(0,"test data\n");
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}
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void CANMsgTask(void)//1ms task
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{
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static uint16_t msg_counter=0;
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FlexCan_FrameStructureType rxMsg;
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msg_counter++;
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if (msg_counter % 100 == 0)
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{
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TxTestMsg(NULL);
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}
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if (msg_counter >= 1000)
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{
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msg_counter = 0;
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}
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/* Handler user routine */
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if(FlexCanBoot_ReadoutMsg(&rxMsg) == true)
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{
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if((rxMsg.id == UDS_PHYS_RECV_MSG_ID) || (rxMsg.id == UDS_FUNC_RECV_MSG_ID))
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{
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IsoTp_HandleIncomingCanMsg(&udsObj.isotp, rxMsg.id, rxMsg.data, rxMsg.len);
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}
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else
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{
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//scm_canmatrix_Receive(&scm_canmatrix_rx,rxMsg.data,rxMsg.id,rxMsg.len);
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//参考
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}
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}
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Uds_Run(&udsObj);
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}
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