基础响应功能的实现
This commit is contained in:
+100
-418
@@ -1,14 +1,15 @@
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#include "Can.h"
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#include "OTA.h"
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#include "config.h"
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#include "flash.h"
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#include "gd32c10x.h"
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#include "gd32c10x_can.h"
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#include "gd32c10x_dma.h"
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#include "gd32c10x_gpio.h"
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#include "systick.h"
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#include "main.h"
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#include <cstdio>
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#include <cstdlib>
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#include <cstring>
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#include <random>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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@@ -17,9 +18,10 @@ constexpr u16 CANX = CAN0;
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constexpr u16 DEV_CAN0_ID = 0x0000;
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constexpr u16 DEV_CAN0_MASK = 0x0000;
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constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000;
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constexpr float ANGLE_FACTOR = 25.0f / 360.0f * 2.0f * 3.14159265358979323846f;
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CAN_transmiter CAN0_transmiter; // CAN初始化
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extern BootloaderSystem sys;
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extern OTAHandler ota;
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extern FlashEEPROM flashEEP;
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// 添加DMA相关变量
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@@ -96,65 +98,6 @@ void can_dma_init(void) {
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// can_dma_enable(CAN0, CAN_DMA_RECEIVE);
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}
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/*!
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\brief 初始化CAN0 2.0B 模式
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\param[in] none
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\param[out] none
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\retval none
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*/
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void can_config(void) {
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can_gpio_init();
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can_dma_init(); // 初始化DMA
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can_parameter_struct can_parameter;
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can_filter_parameter_struct can_filter;
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can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
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/* initialize CAN register */
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can_deinit(CAN0);
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/* initialize CAN parameters */
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can_parameter.time_triggered = DISABLE;
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can_parameter.auto_bus_off_recovery = DISABLE;
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can_parameter.auto_wake_up = DISABLE;
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can_parameter.auto_retrans = DISABLE;
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can_parameter.rec_fifo_overwrite = DISABLE;
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can_parameter.trans_fifo_order = DISABLE;
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can_parameter.working_mode = CAN_NORMAL_MODE;
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/* configure CAN0 baud rate 1MBps, sample point at 80% */
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 6;
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/* initialize CAN */
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if (can_init(CAN0, &can_parameter) != SUCCESS) {
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while (1)
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printf("can init error \r\n");
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}
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/* initialize filter */
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/* configure filter mode */
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can_filter.filter_mode = CAN_FILTERMODE_MASK;
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can_filter.filter_bits = CAN_FILTERBITS_32BIT;
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/* configure filter mask */
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can_filter.filter_mask_high = 0x0000;
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can_filter.filter_mask_low = 0x0000;
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/* select receiver fifo */
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can_filter.filter_fifo_number = CAN_FIFO0;
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can_filter.filter_enable = ENABLE;
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/* configure filter number */
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can_filter.filter_number = 0;
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can_filter_init(&can_filter);
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/* configure CAN0 NVIC */
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nvic_irq_enable(CAN0_RX0_IRQn, 1, 0);
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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// 使能DMA中断
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nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1);
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dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF);
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}
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/*!
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\brief 初始化CAN0 CANFD模式
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\param[in] none
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@@ -163,6 +106,7 @@ void can_config(void) {
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*/
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void canfd_config(void) {
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can_gpio_init();
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can_dma_init();
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can_parameter_struct can_parameter;
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can_fdframe_struct can_fd_parameter;
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can_fd_tdc_struct can_fd_tdc_parameter;
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@@ -225,183 +169,9 @@ void canfd_config(void) {
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nvic_irq_enable(CAN0_RX0_IRQn, 1, 0);
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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}
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/*!
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\brief 初始化CAN0回环测试
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\param[in] none
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\param[out] none
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\retval none
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*/
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void can_loopback_init(void) {
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can_gpio_init();
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can_parameter_struct can_parameter;
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can_filter_parameter_struct can_filter;
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/* initialize CAN register */
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can_deinit(CANX);
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/* initialize CAN */
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can_parameter.time_triggered = DISABLE;
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can_parameter.auto_bus_off_recovery = DISABLE;
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can_parameter.auto_wake_up = DISABLE;
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can_parameter.auto_retrans = DISABLE;
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can_parameter.rec_fifo_overwrite = DISABLE;
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can_parameter.trans_fifo_order = DISABLE;
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can_parameter.working_mode = CAN_NORMAL_MODE;
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/* baudrate 1Mbps, sample piont at 80% */
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 6;
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if (can_init(CANX, &can_parameter) != SUCCESS) {
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u16 i = 200;
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while (--i > 0) {
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delay_1ms(10);
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printf("can init error \r\n");
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}
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system_soft_reset();
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}
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/* initialize filter */
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/* configure filter mode */
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can_filter.filter_mode = CAN_FILTERMODE_MASK;
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can_filter.filter_bits = CAN_FILTERBITS_32BIT;
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/* configure filter ID */
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can_filter.filter_list_high = (uint16_t)(DEV_CAN_LOOPBACK_ID >> 13U);
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can_filter.filter_list_low =
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((uint16_t)(DEV_CAN_LOOPBACK_ID)) << 3U | (1U << 2);
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/* configure filter mask */
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can_filter.filter_mask_high = 0x0000;
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can_filter.filter_mask_low = 0x0000;
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/* select receiver fifo */
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can_filter.filter_fifo_number = CAN_FIFO0;
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can_filter.filter_enable = ENABLE;
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/* configure filter number */
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can_filter.filter_number = 0;
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can_filter_init(&can_filter);
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}
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/*!
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\brief CAN0 FD回环测试
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\param[in] none
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\param[out] none
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\retval ErrStatus
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*/
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void canfd_loopback_test(void) {
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can_trasnmit_message_struct transmit_message;
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can_receive_message_struct receive_message;
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uint32_t timeout = 0xFFFF;
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uint8_t transmit_mailbox = 0;
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std::mt19937 gen;
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std::uniform_int_distribution<int> dis(0, 255);
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can_struct_para_init(CAN_FD_FRAME_STRUCT, &transmit_message);
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transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
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transmit_message.tx_efid = 0x00;
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transmit_message.tx_ft = CAN_FT_DATA;
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transmit_message.tx_ff = CAN_FF_EXTENDED;
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transmit_message.tx_dlen = 7;
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transmit_message.fd_flag = 1;
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transmit_message.fd_brs = 1;
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transmit_message.fd_esi = 0;
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int i = 0;
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while (i++ < transmit_message.tx_dlen) {
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transmit_message.tx_data[i] = dis(gen);
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std::printf("%x\n", transmit_message.tx_data[i]);
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}
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/* transmit message */
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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/* waiting for transmit completed */
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while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) &&
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(0 != timeout)) {
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timeout--;
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}
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timeout = 0xFFFF;
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/* waiting for receive completed */
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while ((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) &&
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(0 != timeout)) {
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timeout--;
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}
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can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
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can_message_receive(CAN0, CAN_FIFO0, &receive_message);
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/* check the receive message */
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if ((transmit_message.tx_sfid == receive_message.rx_sfid) &&
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(transmit_message.tx_ff == receive_message.rx_ff) &&
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(transmit_message.tx_dlen == receive_message.rx_dlen)) {
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/* loopback test is success */
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std::printf("CAN LO0PBACK SUCCESS\r\n");
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} else {
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/* loopback test is failed */
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std::printf("CAN LO0PBACK FAIL\r\n");
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}
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}
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/**
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\brief CAN0 回环测试
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\param[in] none
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\param[out] none
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\retval none
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*/
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void can_loopback_test(void) {
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can_trasnmit_message_struct transmit_message;
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can_receive_message_struct receive_message;
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uint32_t timeout = 0xFF;
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uint8_t transmit_mailbox = 0;
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std::mt19937 gen(rand()); // 使用随机设备生成的种子
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std::uniform_int_distribution<int> dis(0, 0xff);
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can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
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/* initialize transmit message */
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transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
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transmit_message.tx_ft = CAN_FT_DATA;
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transmit_message.tx_ff = CAN_FF_STANDARD;
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transmit_message.tx_dlen = 7;
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int i = 0;
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while (i++ < transmit_message.tx_dlen) {
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// transmit_message.tx_data[i] = dis(gen);
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transmit_message.tx_data[i] = i;
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}
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/* transmit message */
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transmit_mailbox = can_message_transmit(CANX, &transmit_message);
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/* waiting for transmit completed */
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while ((CAN_TRANSMIT_OK != can_transmit_states(CANX, transmit_mailbox)) &&
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(0 != timeout)) {
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printf("sending:%x...\n", can_transmit_states(CANX, transmit_mailbox));
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timeout--;
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}
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timeout = 0xFF;
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/* waiting for receive completed */
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while ((can_receive_message_length_get(CANX, CAN_FIFO0) < 1) &&
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(0 != timeout)) {
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timeout--;
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}
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can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
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can_message_receive(CANX, CAN_FIFO0, &receive_message);
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/* check the receive message */
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if ((DEV_CAN_LOOPBACK_ID == receive_message.rx_sfid) &&
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(CAN_FF_STANDARD == receive_message.rx_ff) &&
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(transmit_message.tx_dlen == receive_message.rx_dlen)) {
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i = transmit_message.tx_dlen;
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while (i-- > 0) {
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std::printf("rx %d:%x:%x\n", i, transmit_message.tx_data[i],
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receive_message.rx_data[i]);
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}
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if (std::memcmp(receive_message.rx_data, transmit_message.tx_data,
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transmit_message.tx_dlen) == 0) {
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/* loopback test is success */
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std::printf("loopback success\n");
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} else {
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std::printf("loopback failed\n");
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}
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} else {
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/* loopback test is failed */
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std::printf("loopback failed\n");
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}
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// 使能DMA中断
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nvic_irq_enable(DMA0_Channel4_IRQn, 1, 1);
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dma_interrupt_enable(DMA0, DMA_CH4, DMA_INT_FTF);
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}
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/*!
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@@ -410,7 +180,6 @@ void can_loopback_test(void) {
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*/
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u8 CAN_transmiter::init() {
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// 初始化CAN硬件
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// can_config();
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canfd_config();
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// 初始化发送消息结构体
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@@ -424,148 +193,6 @@ u8 CAN_transmiter::init() {
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return 0;
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}
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/*!
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\brief CAN 数据发送
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\param id CAN ID
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\param length 数据长度
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\param data 数据
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*/
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u8 CAN_transmiter::CAN_Send(u32 id, u8 length, u8 *data) {
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// 检查数据长度是否符合CAN规范
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if (length > 8) {
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printf("CAN data length exceeds maximum of 8 bytes\r\n");
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return 0;
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}
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// 检查数据指针是否有效
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if (data == nullptr) {
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printf("Invalid data pointer\r\n");
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return 0;
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}
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/* 配置发送消息参数 */
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transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
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transmit_message.tx_ff = CAN_FF_STANDARD; // 标准帧格式
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transmit_message.tx_sfid = id; // 设置帧ID
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transmit_message.tx_dlen = length; // 设置数据长度
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// 复制数据到发送缓冲区
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for (int i = 0; i < length && i < 8; i++) {
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transmit_message.tx_data[i] = *(data + i);
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}
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// 将数据复制到DMA缓冲区
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memcpy(can_tx_buffer, data, length);
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// 配置DMA发送参数
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dma_tx_parameter.number = length;
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dma_init(DMA0, DMA_CH5, &dma_tx_parameter);
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// 启动DMA传输
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dma_channel_enable(DMA0, DMA_CH5);
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// 自动选择空闲mailbox发送消息，不需要人为指定
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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// 检查是否成功获取mailbox
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if (CAN_NOMAILBOX == transmit_mailbox) {
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// 没有可用的mailbox，可能所有mailbox都在使用中
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printf("No available mailbox for CAN transmission\r\n");
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return 0;
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}
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return 1;
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}
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/*!
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\brief CANFD 数据发送
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\param id CAN消息ID
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\param length CAN消息长度
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\param data CAN消息数据
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*/
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u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
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// 检查CANFD模式是否启用
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if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
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printf("CANFD mode not enabled\r\n");
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return 0;
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}
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// 检查数据指针是否有效
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if (data == nullptr) {
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printf("Invalid data pointer\r\n");
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return 0;
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}
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// 检查数据长度是否符合CANFD规范
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if (length > 64) {
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printf("CANFD data length exceeds maximum of 64 bytes\r\n");
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return 0;
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}
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/* 配置发送消息参数 */
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transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
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transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式
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// transmit_message.tx_sfid = id; // 设置帧ID
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transmit_message.tx_efid = id; // 扩展帧ID
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transmit_message.tx_dlen = length; // 设置数据长度
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// 设置CANFD特定参数
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transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式
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transmit_message.fd_brs = ENABLE; // 使能比特率切换
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transmit_message.fd_esi = DISABLE; // 错误状态指示
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// 复制数据到发送缓冲区
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for (int i = 0; i < length && i < 64; i++) {
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transmit_message.tx_data[i] = *(data + i);
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}
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// 将数据复制到DMA缓冲区
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memcpy(can_tx_buffer, data, length);
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// 配置DMA发送参数
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dma_tx_parameter.number = length;
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dma_init(DMA0, DMA_CH5, &dma_tx_parameter);
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// 启动DMA传输
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dma_channel_enable(DMA0, DMA_CH5);
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// 自动选择空闲mailbox发送消息，不需要人为指定
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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// 检查是否成功获取mailbox
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if (CAN_NOMAILBOX == transmit_mailbox) {
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static u32 count = 0;
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// 没有可用的mailbox，可能所有mailbox都在使用中
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count++;
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// printf("No available mailbox for CANFD transmission\r\n");
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if (count > 0xff and !is_sleep) {
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printf("No available mailbox for CANFD transmission\r\n");
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init();
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count = 0;
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}
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return 0;
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}
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return 1;
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}
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/**
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* @brief CANFD发送函数
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* @retval 0: 发送失败
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* 1: 发送成功
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*/
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u8 CAN_transmiter::CANFD_all_Send() {
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u32 success_flag = 0;
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constexpr u32 STATUS_ID = 0x00010100;
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constexpr u32 CONFIG_ID = 0x00010101;
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// 打包status数据 - 只清零实际使用的32字节
|
||||
memset(transmit_data, 0, 32);
|
||||
|
||||
success_flag += CANFD_Send(STATUS_ID, 32, transmit_data);
|
||||
|
||||
return success_flag;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief CAN通信检查函数
|
||||
* @retval 0: 无新消息
|
||||
@@ -576,20 +203,24 @@ void CAN_transmiter::communication_check() {
|
||||
if (SET == can0_send_flag) {
|
||||
// printf("\r\n can0 %X receive data:", receive_message.rx_efid);
|
||||
// CAN0_transmiter.CAN_all_Send();
|
||||
CANFD_all_Send();
|
||||
// CANFD_all_Send();
|
||||
can0_send_flag = RESET;
|
||||
}
|
||||
|
||||
// CAN0 接收数据标志
|
||||
if (SET == can0_receive_flag) {
|
||||
// printf("\r\n can0 %X receive data:", receive_message.rx_efid);
|
||||
// for (i = 0; i < receive_message.rx_dlen; i++) {
|
||||
// printf(" %02x", receive_message.rx_data[i]);
|
||||
// }
|
||||
if (receive_message.rx_efid == 0x00010200) {
|
||||
;
|
||||
} else if (receive_message.rx_efid == 0x00010301) {
|
||||
;
|
||||
printf("\r\n can0 %X receive data:", receive_message.rx_efid);
|
||||
for (int i = 0; i < receive_message.rx_dlen; i++) {
|
||||
printf(" %02x", receive_message.rx_data[i]);
|
||||
}
|
||||
if (receive_message.rx_efid == CANFD_OTA_DATA_ID) {
|
||||
ota.handleOTAMessage(receive_message.rx_efid,
|
||||
receive_message.rx_data,
|
||||
receive_message.rx_dlen);
|
||||
} else if (receive_message.rx_efid == CANFD_OTA_REQ_ID) {
|
||||
ota.handleOTAMessage(receive_message.rx_efid,
|
||||
receive_message.rx_data,
|
||||
receive_message.rx_dlen);
|
||||
} else {
|
||||
printf("Unknown CAN ID: %X\n", receive_message.rx_efid);
|
||||
}
|
||||
@@ -601,33 +232,9 @@ u8 CAN_transmiter::sendACK(u32 CANFD_OTA_ACK_ID, u32 packet_num) {
|
||||
u32_union_t pack_data;
|
||||
pack_data.u = packet_num;
|
||||
memset(transmit_data, 0, 4);
|
||||
pack_u32_to_bytes(transmit_data, 3, pack_data);
|
||||
pack_u32_to_bytes(transmit_data, 0, pack_data);
|
||||
|
||||
return CANFD_Send(CANFD_OTA_ACK_ID, 4, transmit_data);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief CAN睡眠
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
u8 CAN_transmiter::CAN_Sleep() {
|
||||
gpio_bit_set(GPIOB, GPIO_PIN_13);
|
||||
is_sleep = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief CAN唤醒
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
u8 CAN_transmiter::CAN_Wakeup() {
|
||||
printf("can wake\r\n");
|
||||
is_sleep = false;
|
||||
canfd_config();
|
||||
|
||||
return 0;
|
||||
return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 4, transmit_data);
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -691,7 +298,82 @@ void DMA0_Channel4_IRQHandler(void) {
|
||||
*/
|
||||
void DMA0_Channel5_IRQHandler(void) {
|
||||
if (dma_interrupt_flag_get(DMA0, DMA_CH5, DMA_INT_FLAG_FTF)) {
|
||||
// DMA传输完成，可以在此处执行后续处理
|
||||
// 清除DMA传输完成中断标志
|
||||
dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_G);
|
||||
dma_interrupt_flag_clear(DMA0, DMA_CH5, DMA_INT_FLAG_FTF);
|
||||
// 可以在此添加后续处理逻辑，如发送下一个数据包等
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 异步CANFD数据发送(使用DMA和中断机制)
|
||||
* @param id CAN消息ID
|
||||
* @param length CAN消息长度
|
||||
* @param data CAN消息数据
|
||||
*/
|
||||
u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) {
|
||||
// 检查CANFD模式是否启用
|
||||
if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) {
|
||||
printf("CANFD mode not enabled\r\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// 检查数据指针是否有效
|
||||
if (data == nullptr) {
|
||||
printf("Invalid data pointer\r\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
// 检查数据长度是否符合CANFD规范
|
||||
if (length > 64) {
|
||||
printf("CANFD data length exceeds maximum of 64 bytes\r\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* 配置发送消息参数 */
|
||||
transmit_message.tx_ft = CAN_FT_DATA; // 数据帧
|
||||
transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式
|
||||
transmit_message.tx_efid = id; // 扩展帧ID
|
||||
transmit_message.tx_dlen = length; // 设置数据长度
|
||||
|
||||
// 设置CANFD特定参数
|
||||
transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式
|
||||
transmit_message.fd_brs = ENABLE; // 使能比特率切换
|
||||
transmit_message.fd_esi = DISABLE; // 错误状态指示
|
||||
|
||||
// 复制数据到发送缓冲区
|
||||
for (int i = 0; i < length && i < 64; i++) {
|
||||
transmit_message.tx_data[i] = *(data + i);
|
||||
}
|
||||
|
||||
// 自动选择空闲mailbox发送消息
|
||||
transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
|
||||
|
||||
// 检查是否成功获取mailbox
|
||||
if (transmit_mailbox == CAN_NOMAILBOX) {
|
||||
// 没有可用的mailbox，启用发送中断以便在邮箱可用时重试
|
||||
printf("No available mailbox for CANFD transmission, enabling TX "
|
||||
"interrupt\r\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// 启用CAN发送中断以检测传输完成
|
||||
can_interrupt_enable(CAN0, CAN_INTEN_TMEIE);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 添加CAN传输中断处理函数
|
||||
void CAN0_TX_IRQHandler(void) {
|
||||
// 检查是否有发送邮箱空闲
|
||||
if (can_flag_get(CAN0, CAN_FLAG_TME0) != RESET ||
|
||||
can_flag_get(CAN0, CAN_FLAG_TME1) != RESET ||
|
||||
can_flag_get(CAN0, CAN_FLAG_TME2) != RESET) {
|
||||
// 邮箱已空闲，可以发送新消息
|
||||
// 可以在这里处理待发送队列中的消息
|
||||
// 清除发送中断标志
|
||||
can_flag_clear(CAN0, CAN_FLAG_TME0);
|
||||
can_flag_clear(CAN0, CAN_FLAG_TME1);
|
||||
can_flag_clear(CAN0, CAN_FLAG_TME2);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user