4G/code/app/AppTaskCan.c

/*
 * @Author: chenjie
 * @Date: 2022-06-06
 * @LastEditTime: 2022-10-27
 * @LastEditors: chenjie
 * @Description: 
 * @FilePath: \S32K146_4G\code\app\AppTaskCan.c
 * Copyright (c) 2022 by chenjie, All Rights Reserved.
 */
#include "AppTaskCan.h"
static uint8 BattSendFlg = 0;
static void UDSAnsFunc(uint8 *rawData);
static void UdsAns(bool PosFlg,uint8 UdsService,uint8 UdsSubService,uint8 Idx,uint8 *AnsData,uint8 AnsDataLen);
static void BattSendFunc(void);
static void vCanRxCallback(TimerHandle_t pxTimer)
{
	uint32 ulTimerID;
	ulTimerID = (uint32)pvTimerGetTimerID(pxTimer);
	if(ulTimerID==0)
	{
		Can_MainFunction_Read();
	}
}
void CanTask(void *pvParameters)
{
	uint32 timerCounterNow = 0;
	(void)pvParameters;
	CanIf_bRxFlag = false;
	Can_Msg_Type_Data CanRxMsg;
	CanRecvQueueHandle = xQueueCreate(100, sizeof(Can_Msg_Type_Data));
	TimerHandle_t monitorTimer1ms;
	monitorTimer1ms = xTimerCreate("monitor1ms",1,pdTRUE,(void *)0,vCanRxCallback);
	xTimerStart(monitorTimer1ms,0);
	BaseType_t ret = pdFALSE;
	GsensorInit();
	while(1)
	{
		do
		{
			memset(&CanRxMsg, 0, sizeof(CanRxMsg));
			ret = xQueueReceive(CanRecvQueueHandle, &CanRxMsg, 1);
			if (ret == pdPASS)
			{
				if(IsJumptoBootloader(CanRxMsg.id, CanRxMsg.data))
				{
					DoRoutinePositiveAnswer();
					RequestEnterBootloader();
					SystemSoftwareReset();
					break;
				}
				else
				{
					BcuDecodeFunction(CanRxMsg.id,CanRxMsg.data);//can协议解析
				}
			}
		}while(ret == pdPASS);
		SL_SC7A20_Read_XYZ_Data(xyzData);
		if(BattSendFlg)
		{
			BattSendFunc();
		}
		if((TimerCounter - timerCounterNow)>=100)
		{
			timerCounterNow = TimerCounter;
			//温度采集
			ADC_ReadValue();
		}
	}
}
//注意解码超限问题
void BcuDecodeFunction(uint32 ID, uint8 *rawData)
{
	switch(ID)
		{
		case 0x1C00EDEA:
		{
			UDSAnsFunc(rawData);
			break;
		}
		}
}
static void UDSAnsFunc(uint8 *rawData)
{
	static uint8 UdsStates = 1;
	uint8 Data[8] = {0};
	memcpy(Data,rawData,8);
	uint8 UdsService = 0;
	uint8 UdsSubService = 0;
	UdsService = Data[0];
	UdsSubService = Data[1];
	uint8 AnsData[24]={0};
	static uint8 deviceSnRecvFlg = 0;
	switch(UdsService)
	{
	case 0x10://模式切换
	{
		if(UdsSubService==0x01)
		{
			UdsStates = 0x01;//关闭UDS诊断
			UdsAns(true,UdsService,UdsSubService,0x00,NULL,0);
		}
		else if(UdsSubService==0x02)
		{
			if(UdsStates==0x01||UdsStates==0x02)
			{
				UdsStates = 0x02;//打开UDS诊断
				UdsAns(true,UdsService,UdsSubService,0x00,NULL,0);
			}
			else
			{
				UdsAns(false,UdsService,UdsSubService,0x00,NULL,0);
			}
		}
		break;
	}
	case 0x11://控制
	{
		if(UdsStates==0x02)
		{
			switch(UdsSubService)
			{
				case 0x01://重启
				{
					AnsData[0] = AppSwVersion>>24;
					AnsData[1] = AppSwVersion>>16;
					AnsData[2] = AppSwVersion>>8;
					AnsData[3] = AppSwVersion>>0;
					UdsAns(true,UdsService,UdsSubService,0x00,AnsData,4);
					AppConfigInfo.appSaveFlg = true;
					vTaskDelay(pdMS_TO_TICKS(1000));
					SystemSoftwareReset();
					break;
				}
				default:
				{
					UdsAns(false,UdsService,UdsSubService,0x00,NULL,0);
					break;
				}
			}
		}
		else
		{
			UdsAns(false,UdsService,UdsSubService,0x00,NULL,0);
		}
		break;
	}
	case 0x22://查询
	{
		if(UdsStates==0x02)
		{
			switch(UdsSubService)
			{
			case 0x01://版本号查询
			{
				AnsData[0] = AppSwVersion>>24;
				AnsData[1] = AppSwVersion>>16;
				AnsData[2] = AppSwVersion>>8;
				AnsData[3] = AppSwVersion>>0;
				UdsAns(true,UdsService,UdsSubService,0x00,AnsData,4);
				break;
			}
			case 0x02://SN号码查询
			{
				memcpy(AnsData,AppConfigInfo.deviceSn,17);
				for(uint8 i=0;i<5;i++)
				{
					UdsAns(true,UdsService,UdsSubService,i,&AnsData[i*4],4);
				}
				break;
			}
			case 0x03://ICCID查询
			{
				memcpy(AnsData,IccidNum,20);
				for(uint8 i=0;i<5;i++)
				{
					UdsAns(true,UdsService,UdsSubService,i,&AnsData[i*4],4);
				}
				break;
			}
			case 0x04://IMEI查询
			{
				memcpy(AnsData,ImeiNum,15);
				for(uint8 i=0;i<4;i++)
				{
					UdsAns(true,UdsService,UdsSubService,i,&AnsData[i*4],4);
				}
				break;
			}
			case 0x05://驻网状态查询
			{
				AnsData[0]= RegChkRet;
				UdsAns(true,UdsService,UdsSubService,0x00,AnsData,1);
				break;
			}
			case 0x06://联网状态查询
			{
				AnsData[0]= SocketId;
				UdsAns(true,UdsService,UdsSubService,0x00,AnsData,1);
				break;
			}
			case 0x07://定位信息查询
			{
				GPSInfo GpsRecvData;
				if (xQueuePeek(GpsDataQueueHandle, &GpsRecvData, 0) == pdPASS)
				{
					AnsData[0] = GpsRecvData.locateMark;
					AnsData[4] = GpsRecvData.longitude[0];
					AnsData[5] = GpsRecvData.longitude[1];
					AnsData[6] = GpsRecvData.longitude[2];
					AnsData[7] = GpsRecvData.longitude[3];
					AnsData[8] = GpsRecvData.latitude[0];
					AnsData[9] = GpsRecvData.latitude[1];
					AnsData[10] = GpsRecvData.latitude[2];
					AnsData[11] = GpsRecvData.latitude[3];
					AnsData[12] = GpsRecvData.altitude[0];
					AnsData[13] = GpsRecvData.altitude[1];
					AnsData[14] = GpsRecvData.satelliteNum;
					for(uint8 i=0;i<4;i++)
					{
						UdsAns(true,UdsService,UdsSubService,i,&AnsData[i*4],4);
					}
					break;
				}
				else
				{
					AnsData[0]=0xFF;
					UdsAns(true,UdsService,UdsSubService,0x00,AnsData,1);
				}
				break;
			}
			case 0x08://温度检测查询
			{
				UdsAns(true,UdsService,UdsSubService,0x00,AnsData,1);
				break;
			}
			case 0x09://电池信息查询
			{
				UdsAns(true,UdsService,UdsSubService,0x00,AnsData,1);
				BattSendFlg = 1;
				break;
			}
			case 0x0A://三轴数据查询
			{
				AnsData[0] = xyzData[0]>>8;
				AnsData[1] = xyzData[0]>>0;
				AnsData[2] = xyzData[1]>>8;
				AnsData[3] = xyzData[1]>>0;
				AnsData[4] = xyzData[2]>>8;
				AnsData[5] = xyzData[2]>>0;
				for(uint8 i=0;i<2;i++)
				{
					UdsAns(true,UdsService,UdsSubService,i,&AnsData[i*4],4);
				}
				break;
			}
			}//switch
		}//if
		else
		{
			UdsAns(false,UdsService,UdsSubService,0x00,NULL,0);
		}
		break;
	}
	case 0x2E://写入
	{
		if(UdsStates==0x02)
		{
			switch(UdsSubService)
			{
			case 0x01:
			{
				setbit(deviceSnRecvFlg,Data[3]);
				if(Data[3]<0x04)
				{
					memcpy(&AppConfigInfo.deviceSn[Data[3]*4],&Data[4],4);
					UdsAns(true,UdsService,UdsSubService,0x00,&Data[3],1);
				}
				else if(Data[3]==0x04)
				{
					memcpy(&AppConfigInfo.deviceSn[Data[3]*4],&Data[4],1);
					UdsAns(true,UdsService,UdsSubService,0x00,&Data[3],1);
				}
				if(deviceSnRecvFlg==0x1F)
				{
					deviceSnRecvFlg = 0;
					AppConfigInfo.appSaveFlg = true;
					AppConfigInfo.eolFlg=true;
				}
				break;
			}
			}
		}
		else
		{
			UdsAns(false,UdsService,UdsSubService,0x00,NULL,0);
		}
		break;
	}
	case 0x31://控制
	{
		if(UdsStates==0x02)
		{

		}
		else
		{
			UdsAns(false,UdsService,UdsSubService,0x00,NULL,0);
		}
		break;
	}
	default:
		break;
	}
	return;
}
static void UdsAns(bool PosFlg,uint8 UdsService,uint8 UdsSubService,uint8 Idx,uint8 *AnsData,uint8 AnsDataLen)
{
	Can_Msg_Type CanTxMsg;
	uint32 CanAnsId = 0x1C00EAED;
	uint8 SendData[8] = {0};
	if(PosFlg)
	{
		SendData[0] = 0x78;
		SendData[1] = UdsService;
		SendData[2] = UdsSubService;
		SendData[3] = Idx;
		if(AnsData!=NULL&&AnsDataLen!=0x00)
		{
			memcpy(&SendData[4],AnsData,AnsDataLen);
		}
	}
	else
	{
		SendData[0] = 0x7F;
		SendData[1] = UdsService;
		SendData[2] = UdsSubService;
		SendData[3] = 0x00;
	}
	CanTxMsg.id = CanAnsId;
	CanTxMsg.idFrame = CAN_EXTENDED_ID_TYPE;
	CanTxMsg.sdu = SendData;
	CanTxMsg.length = 8;
	CanIf_SendMessage(CAN1, CanTxMsg);
}
static void BattSendFunc(void)
{
	Can_Msg_Type CanTxMsg;
	uint32 CanAnsId = 0;
	uint8 SendData[8] = {0};
	static uint8 SendStep = 0;
	static uint8 SendCounter = 0;
	switch(SendStep)
	{
	case 0x00:
	{
		SendStep++;
		break;
	}
	case 0x01:
	{
		CanAnsId = 0x1C01EAED;
		SendData[0] =  battHeatState;
		SendData[1] =  battFanState;
		SendData[2] =  battRelayState;
		SendData[3] =  battConverState;
		SendStep++;
		break;
	}
	case 0x02:
	{
		uint16 ErrorTemp ;
		ErrorTemp = GetErrorNum(ErrorArray,sizeof(ErrorArray)/2);
		CanAnsId = 0x1C09EAED;
		SendData[0] =  battWorkState;
		SendData[1] =  ErrorTemp>>8;
		SendData[2] =  ErrorTemp;
		SendData[3] =  0;
		SendData[4] =  0;
		SendData[5] =  0;
		SendData[6] =  0;
		SendData[7] =  0;
		SendStep++;
		break;
	}
	case 0x03:
	{
		CanAnsId = 0x1C0AEAED;
		uint16 SocTemp = battSOC*10;
		SendData[0] =  battI>>8;
		SendData[1] =  battI;
		SendData[2] =  battPackVol>>8;
		SendData[3] =  battPackVol;
		SendData[4] =  SocTemp>>8;
		SendData[5] =  SocTemp;
		SendData[6] =  battSOH;
		SendData[7] =  battMOSSwitchState;
		SendStep++;
		break;
	}
	case 0x04:
	{
		CanAnsId = 0x1C10EAED + (SendCounter<<16);
		if((SendCounter*8 + 7)>BMS_TEMPNUM)
		{
			SendCounter = 0;
			SendStep++;
			break;
		}
		else
		{
			SendData[0] =  battCellTemp[SendCounter*8 + 0];
			SendData[1] =  battCellTemp[SendCounter*8 + 1];
			SendData[2] =  battCellTemp[SendCounter*8 + 2];
			SendData[3] =  battCellTemp[SendCounter*8 + 3];
			SendData[4] =  battCellTemp[SendCounter*8 + 4];
			SendData[5] =  battCellTemp[SendCounter*8 + 5];
			SendData[6] =  battCellTemp[SendCounter*8 + 6];
			SendData[7] =  battCellTemp[SendCounter*8 + 7];
		}
		break;
	}
	case 0x05:
	{
		CanAnsId = 0x1CA0EAED + (SendCounter<<16);
		if((SendCounter*4 + 3)>BMS_CELLNUM)
		{
			SendCounter = 0;
			SendStep++;
			break;
		}
		else
		{
			SendData[0] =  battCellU[SendCounter*4 + 0]>>8;
			SendData[1] =  battCellU[SendCounter*4 + 0];
			SendData[2] =  battCellU[SendCounter*4 + 1]>>8;
			SendData[3] =  battCellU[SendCounter*4 + 1];
			SendData[4] =  battCellU[SendCounter*4 + 2]>>8;
			SendData[5] =  battCellU[SendCounter*4 + 2];
			SendData[6] =  battCellU[SendCounter*4 + 3]>>8;
			SendData[7] =  battCellU[SendCounter*4 + 3];
		}
		break;
	}
	default:
	{
		SendStep = 0;
		BattSendFlg = 0;
		break;
	}
	}
	CanTxMsg.id = CanAnsId;
	CanTxMsg.idFrame = CAN_EXTENDED_ID_TYPE;
	CanTxMsg.sdu = SendData;
	CanTxMsg.length = 8;
	CanIf_SendMessage(CAN1, CanTxMsg);
}