msts/App/Can/Src/can_task.c

#include "can_task.h"
#include "can_interface.h"
#include "hal_math.h"
#include "queue.h"
#include "utils.h"
#include <stdint.h>
#include <string.h>

queue_entry(pdu_tag, 40) can_rx_queue;
queue_entry(pdu_tag, 40) can_tx_queue;

uint8_t recv_can_id;

static uint64_t base_data;

void data_bit_move(uint8_t start_bit, uint8_t bit_len, uint64_t data)
{
    uint64_t mask        = 0;
    uint64_t source_data = (uint64_t)data;
    mask                 = hal_pow(2, bit_len) - 1;
    base_data |= (mask & source_data) << start_bit;
}

void product_array(uint8_t send_array[8])
{
    send_array[0] = (uint8_t)base_data;
    send_array[1] = (uint8_t)(base_data >> 8);
    send_array[2] = (uint8_t)(base_data >> 16);
    send_array[3] = (uint8_t)(base_data >> 24);
    send_array[4] = (uint8_t)(base_data >> 32);
    send_array[5] = (uint8_t)(base_data >> 40);
    send_array[6] = (uint8_t)(base_data >> 48);
    send_array[7] = (uint8_t)(base_data >> 56);
    base_data     = 0;
}

uint8_t push_can_message_to_queue(uint32_t id, uint8_t len, uint8_t *p_data)
{
    pdu_tag      response_msg;
    QUEUE_STATUS result_status;
    response_msg.id.r    = id;
    response_msg.reg.dlc = len;
    memcpy(&response_msg.data.u8_buf[0], p_data, len);

    if (id > 0x7FF)
    {
        response_msg.reg.ide = CAN_ID_EXT;
    }
    else
    {
        response_msg.reg.ide = CAN_ID_STD;
    }

    __disable_irq();
    en_queue(&can_tx_queue, response_msg, result_status);
    __enable_irq();

    if (result_status != Q_OK)
    {
        return 0;
    }
    return 1;
}

static uint8_t can_tx_frame(pdu_tag can_message)
{

    can_write(can_message.id.r, can_message.reg.ide, can_message.data.u8_buf, can_message.reg.dlc);
    return 1;
}

void can_tx_callback(void)
{
    pdu_tag      tx_data;
    QUEUE_STATUS result_status;

    de_queue(&can_tx_queue, tx_data, result_status);

    // 返回值为1代表读取成功
    if (result_status == Q_OK)
    {
        can_tx_frame(tx_data);
        CAN_IT_TME_ENABLE();
    }
    else
    {
        CAN_IT_TME_DISABLE();
    }
}

void can_rx_callback(CAN_RxHeaderTypeDef rx_header, uint8_t *buff)
{
    pdu_tag      data;
    uint8_t      ps;
    uint8_t      pf;
    QUEUE_STATUS result;

    switch (rx_header.ExtId)
    {
    case 0x18011801:
        data.id.r    = 0x18011801;
        data.reg.dlc = rx_header.DLC;
        memcpy(&data.data.u8_buf[0], buff, rx_header.DLC);
        en_queue(&can_rx_queue, data, result);
        break;
    default:
        pf = (rx_header.ExtId & CAN_PGN_PF) >> 16;
        if (pf >= 0xF0)
        {
            data.id.r   = rx_header.ExtId;
            recv_can_id = data.id.b.sa;
            memcpy(&data.data.u8_buf[0], buff, rx_header.DLC);
            en_queue(&can_rx_queue, data, result);
        }
        else
        {
            ps = (rx_header.ExtId & CAN_PGN_PS) >> 8;
            if (ps == 0xF4)
            {
                data.id.r    = rx_header.ExtId;
                recv_can_id  = data.id.b.sa;
                data.reg.dlc = rx_header.DLC;
                memcpy(&data.data.u8_buf[0], buff, rx_header.DLC);

                if (data.id.b.pf == 0xDF)
                {
                    en_queue(&can_rx_queue, data, result);
                }
                else
                {
                    en_queue(&can_rx_queue, data, result);
                }
            }
            else
            {
                memcpy(&data.data.u8_buf[0], buff, rx_header.DLC);
                en_queue(&can_rx_queue, data, result);
                if (result == 1)
                {
                    return;
                }
            }
        }
    }
}
uint8_t tx_flag = 0;

void can_rx_update(pdu_tag rec_msg)
{
    if ((rec_msg.data.u8_buf[0] == 'A') && (rec_msg.data.u8_buf[1] == 'P') &&
        (rec_msg.data.u8_buf[2] == 'P') && (rec_msg.data.u8_buf[3] == 'L') &&
        (rec_msg.data.u8_buf[4] == 'O') && (rec_msg.data.u8_buf[5] == 'A') &&
        (rec_msg.data.u8_buf[6] == 'D') && (rec_msg.data.u8_buf[7] == 0x01))
    {
        __set_FAULTMASK(1); //  关闭所有中断
        NVIC_SystemReset(); //  复位
    }
}

can_rx_tab can_tab[] = {{0x18011801, can_rx_update}};

void can_start_send(void)
{
    pdu_tag      tx_msg;
    QUEUE_STATUS result_status;

    if (0 == ((CAN_IER) & 0x1))
    {
        de_queue(&can_tx_queue, tx_msg, result_status);

        if (result_status == Q_OK) // 返回值为1代表读取成功
        {
            can_tx_frame(tx_msg);
            CAN_IT_TME_ENABLE();
        }
    }
}

static void can_rx_process(void)
{
    uint8_t      i;
    uint8_t      flg = 0;
    pdu_tag      rec_msg;
    QUEUE_STATUS result;

    for (uint8_t j = 0; j < 15; j++)
    {
        __disable_irq();
        de_queue(&can_rx_queue, rec_msg, result);
        __enable_irq();

        if (Q_OK == result)
        {
            for (i = 0; i < ARR_SIZE(can_tab); i++)
            {
                if (can_tab[i].id == rec_msg.id.r)
                {
                    can_tab[i].p_func(rec_msg);
                    flg = 1;
                    break;
                }
                else if (can_tab[i].id == (uint32_t)(rec_msg.id.b.pf << 8 | rec_msg.id.b.ps))
                {
                    can_tab[i].p_func(rec_msg);
                    flg = 1;
                    break;
                }
                else if (can_tab[i].id == rec_msg.id.b.pf)
                {
                    can_tab[i].p_func(rec_msg);
                    flg = 1;
                    break;
                }
            }

            if (flg == 0)
            {
                // j1939_msg_push_queue(&rec_msg);
            }
            flg = 0;
        }
    }
}

void can_tx_0x18010023_message(void)
{
    uint8_t send_data[8] = {0};
    data_bit_move(0, 8, 'A');
    data_bit_move(8, 8, 'A');
    data_bit_move(16, 8, 'A');
    data_bit_move(24, 8, 'C');
    data_bit_move(32, 8, 'A');
    data_bit_move(40, 8, '-');
    data_bit_move(48, 8, 'A');
    data_bit_move(56, 8, 'B');
    product_array(send_data);
    push_can_message_to_queue(0x18010023, 8, send_data);
}

void can_tx_0x18180003_message(void)
{
    uint8_t data[8] = {0};
    data_bit_move(0, 16, 0);
    data_bit_move(16, 16, 0x2710);
    data_bit_move(32, 16, 0x4E20);
    data_bit_move(48, 16, 0x7530);
    product_array(data);
    push_can_message_to_queue(0x18190006, 8, data);
}

void can_tx_0x18190007_message(void)
{
    uint8_t data[8] = {0};
    data_bit_move(0, 16, 0xDFFF);
    data_bit_move(16, 16, 0xF000);
    data_bit_move(32, 16, 0xE800);
    data_bit_move(48, 16, 0xE13D);
    product_array(data);
    push_can_message_to_queue(0x18190005, 8, data);
}

void can_tx_0x18190009_message(void)
{
    uint8_t data[8] = {0};
    data_bit_move(0, 16, 0xDFFF);
    data_bit_move(16, 16, 0xF000);
    data_bit_move(32, 16, 0xE800);
    data_bit_move(48, 16, 0xE13D);
    product_array(data);
    push_can_message_to_queue(0x18190005, 0, data);
}

void send_message(void)
{
    static volatile uint8_t times = 0;

    if (times >= 100)
    {
        times = 0;
    }
    if (times % 100 == 0)
    {
        // can_tx_0x18010001_message();
        // can_tx_0x18010002_message();
        // can_tx_0x18010004_message();
        // can_tx_0x18010005_message();
    }
    else if (times % 100 == 5)
    {
        // can_tx_0x18010006_message();
        // can_tx_0x18010007_message();
        // can_tx_0x18010008_message();
        // can_tx_0x18010009_message();
        // can_tx_0x1801000A_message();
    }
    else if (times % 100 == 10)
    {
        // can_tx_0x1801000B_message();
        // can_tx_0x1801000C_message();
        // can_tx_0x1801000D_message();
        // can_tx_0x18010023_message();
        // can_tx_0x18010010_message();
    }
    else if (times % 100 == 15)
    {
        // can_tx_0x18010018_message();
        // can_tx_0x18010019_message();
        // can_tx_0x1801001A_message();
        // can_tx_0x1801001B_message();
        // can_tx_0x1801001C_message();
    }
    else if (times % 100 == 20)
    {
        // can_tx_0x1801001D_message();
        // can_tx_0x1801000F_message();
        // can_tx_0x18030003_message();
        // can_tx_0x18030001_message();
        // can_tx_0x18010000_message();
    }
    else if (times % 100 == 25)
    {
        // can_tx_0x18010017_message();
        // can_tx_0x18010012_message();
        // can_tx_0x18011802_message();
        // can_tx_0x18011803_message();
        // can_tx_0x18011803_2_message();
        can_tx_0x18180003_message();
        can_tx_0x18190007_message();
    }
    else
    {
        // return;
    }
    times++;
}

void can_network_init(void)
{
    queue_init(&can_rx_queue);
    queue_init(&can_tx_queue);
    can_rx_back_init(can_rx_callback);
    can_tx_back_init(can_tx_callback);
}

void can_process(void)
{
    can_rx_process();
    send_message();
    can_start_send();
}