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@@ -7,8 +7,14 @@
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#include "AppTaskCan.h"
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static void CanDataAsk(QueueDataTrans_Type AskData);
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uint8 DataPackCounter[21] = {1,1,7,5,16,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1};
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+static uint32 timerConuter = 0;
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static void UdsAns(bool PosFlg,uint8 UdsService,uint8 UdsSubService,uint8 Idx,uint8 *AnsData,uint8 AnsDataLen);
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void udsService(uint8 *DataIn);
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+static void dataInit();
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+static void appFunc();
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+static void CanSend100ms(void);
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+static void CanDecode(uint32 AskCanID, uint8 AskData[]);
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+static void uartDataDecode(uint8 Data[]);
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static void vCanRxCallback(TimerHandle_t pxTimer)
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{
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uint32 ulTimerID;
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@@ -16,9 +22,9 @@ static void vCanRxCallback(TimerHandle_t pxTimer)
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if(ulTimerID==0)
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{
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Can_MainFunction_Read();
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+ timerConuter++;
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}
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}
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-
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void CanTask()
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{
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CanRecvQueueHandle = xQueueCreate(16, sizeof(Can_Msg_Type_Data)); // CAN获取消息队列创建
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@@ -32,7 +38,10 @@ void CanTask()
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TimerHandle_t monitorTimer1ms;
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monitorTimer1ms = xTimerCreate("monitor1ms",1,pdTRUE,(void *)0,vCanRxCallback);
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xTimerStart(monitorTimer1ms,0);
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-
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+ uint32 canRecvDelay = 0;
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+ sint8 QueueRet = -1;
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+ uint8 uartData[10] = {0};
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+ uint32 canSendCounter = 0;
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while (TRUE)
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{
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switch (CanState)
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@@ -45,23 +54,403 @@ void CanTask()
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case 1:
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{
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memset(&CanRxMsg, 0, sizeof(CanRxMsg));
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- // Can_MainFunction_Read();
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- BaseType_t ret = xQueueReceive(CanRecvQueueHandle, &CanRxMsg, 0);
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+ BaseType_t ret = xQueueReceive(CanRecvQueueHandle, &CanRxMsg, 10);
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if (ret == pdPASS)
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{
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- BleCanTransmit(CanRxMsg.id, CanRxMsg.data);
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+ CanDecode(CanRxMsg.id, CanRxMsg.data);
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+ canRecvDelay = 0;
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}
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- BaseType_t ret2 = xQueueReceive(Uart2ToCanDataHandle,&CanAskData,10);//带有校验码
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- if (ret2 == pdPASS)
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+ else
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{
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- CanDataAsk(CanAskData);
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+ canRecvDelay = canRecvDelay + 10;
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+ }
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+ if(canRecvDelay>10*1000)
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+ {
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+ canRecvDelay = 0;
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+ dataInit();
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+ }
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+ QueueRet = xQueueReceive(McuDataSendHandle,uartData,0);
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+ if(QueueRet==pdPASS)//串口数据解析
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+ {
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+ uartDataDecode(uartData);// 解码
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+ }
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+ if((timerConuter - canSendCounter)>100)//100ms
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+ {
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+ canSendCounter = timerConuter;
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+ appFunc();
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+ CanSend100ms();
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}
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-// vTaskDelay(pdMS_TO_TICKS(10));
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break;
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}
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}
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}
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}
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+static void uartDataDecode(uint8 Data[])
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+{
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+
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+ uint8 CmdIndex = Data[0];
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+ BleRecvDataFromUart2 DataSend={0,NULL};
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+ uint8 ReadLen = 0;
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+ sint8 McuDataRet = -1;
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+ switch (CmdIndex)
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+ {
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+ case 0x01: //心跳数据，为了维持通讯
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+ {
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+ uint16 CrcChkCal = 0;
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+ ReadLen = 9;
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+ DataSend.RealLen = ReadLen;
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+ DataSend.DataPtr = malloc(ReadLen+1);
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+ memset(DataSend.DataPtr,0x00,ReadLen+1);
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+ *(DataSend.DataPtr+0) = 0x11;
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+ *(DataSend.DataPtr+1) = 0x02;
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+ *(DataSend.DataPtr+2) = 0x00;
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+ *(DataSend.DataPtr+3) = 0x01;
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+ CrcChkCal = CRC16_Modbus(DataSend.DataPtr,ReadLen-2);
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+ *(DataSend.DataPtr+7) = CrcChkCal;
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+ *(DataSend.DataPtr+8) = CrcChkCal>>8;
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+ McuDataRet= xQueueSend(McuDataRecvHandle,&DataSend,1000*2);
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+ break;
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+ }
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+ case 0x02: //获取换电控制器信息
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+ {
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+ uint16 CrcChkCal = 0;
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+ ReadLen = 51;
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+ DataSend.RealLen = ReadLen;
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+ DataSend.DataPtr = malloc(ReadLen+1);
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+ memset(DataSend.DataPtr,0x00,ReadLen+1);
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+ *(DataSend.DataPtr+7*0 + 0) = 0x21;
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+ *(DataSend.DataPtr+7*0 + 1) = unlockFlg;
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+ *(DataSend.DataPtr+7*0 + 2) = lockFlg;
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+ *(DataSend.DataPtr+7*0 + 3) = VehPowerMode;
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+ *(DataSend.DataPtr+7*1) = 0x22;
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+ *(DataSend.DataPtr+7*2) = 0x23;
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+ *(DataSend.DataPtr+7*3) = 0x24;
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+ *(DataSend.DataPtr+7*4) = 0x25;
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+ *(DataSend.DataPtr+7*5) = 0x26;
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+ *(DataSend.DataPtr+7*6) = 0x27;
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+ CrcChkCal = CRC16_Modbus(DataSend.DataPtr,ReadLen-2);
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+ *(DataSend.DataPtr+49) = CrcChkCal;
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+ *(DataSend.DataPtr+50) = CrcChkCal>>8;
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+ McuDataRet= xQueueSend(McuDataRecvHandle,&DataSend,1000*2);
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+ break;
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+ }
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+ case 0x03: //获得车辆信息
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+ {
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+ uint16 CrcChkCal = 0;
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+ ReadLen = 37;
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+ DataSend.RealLen = ReadLen;
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+ DataSend.DataPtr = malloc(ReadLen+1);
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+ memset(DataSend.DataPtr,0x00,ReadLen+1);
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+ *(DataSend.DataPtr+7*0 + 0) = 0x31;
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+ *(DataSend.DataPtr+7*0 + 1) = EPBWorkingSts;
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+ *(DataSend.DataPtr+7*0 + 2) = BrakeSwitchSts;
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+ *(DataSend.DataPtr+7*0 + 3) = 0x00;
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+ *(DataSend.DataPtr+7*0 + 3) = VehPowerMode;
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+ *(DataSend.DataPtr+7*1) = 0x32;
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+ *(DataSend.DataPtr+7*2) = 0x33;
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+ *(DataSend.DataPtr+7*3) = 0x34;
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+ *(DataSend.DataPtr+7*4) = 0x35;
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+ CrcChkCal = CRC16_Modbus(DataSend.DataPtr,ReadLen-2);
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+ *(DataSend.DataPtr+35) = CrcChkCal;
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+ *(DataSend.DataPtr+36) = CrcChkCal>>8;
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+ McuDataRet= xQueueSend(McuDataRecvHandle,&DataSend,1000*2);
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+ break;
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+ }
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+ case 0x04: //获取电池信息
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+ {
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+ uint16 CrcChkCal = 0;
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+ ReadLen = 16*7+2;
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+ DataSend.RealLen = ReadLen;
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+ DataSend.DataPtr = malloc(ReadLen+1);
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+ memset(DataSend.DataPtr,0x00,ReadLen+1);
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+ *(DataSend.DataPtr+7*0) = 0x40;
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+ *(DataSend.DataPtr+7*1) = 0x41;
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+ *(DataSend.DataPtr+7*2) = 0x42;
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+ *(DataSend.DataPtr+7*3) = 0x43;
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+ *(DataSend.DataPtr+7*4) = 0x44;
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+ *(DataSend.DataPtr+7*5) = 0x45;
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+ *(DataSend.DataPtr+7*6) = 0x46;
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+ *(DataSend.DataPtr+7*7) = 0x47;
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+ *(DataSend.DataPtr+7*8) = 0x48;
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+ *(DataSend.DataPtr+7*9) = 0x49;
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+ *(DataSend.DataPtr+7*10) = 0x4A;
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+ *(DataSend.DataPtr+7*11) = 0x4B;
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+ *(DataSend.DataPtr+7*12) = 0x4C;
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+ *(DataSend.DataPtr+7*13) = 0x4D;
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+ *(DataSend.DataPtr+7*14) = 0x4E;
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+ *(DataSend.DataPtr+7*15) = 0x4F;
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+ CrcChkCal = CRC16_Modbus(DataSend.DataPtr,ReadLen-2);
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+ *(DataSend.DataPtr+112) = CrcChkCal;
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+ *(DataSend.DataPtr+113) = CrcChkCal>>8;
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+ McuDataRet= xQueueSend(McuDataRecvHandle,&DataSend,1000*2);
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+ break;
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+ }
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+ case 0x05: //握手
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+ {
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+ uint16 CrcChkCal = 0;
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+ ReadLen = 1*7+2;
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+ DataSend.RealLen = ReadLen;
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+ DataSend.DataPtr = malloc(ReadLen+1);
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+ memset(DataSend.DataPtr,0x00,ReadLen+1);
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+ *(DataSend.DataPtr+7*0) = 0x51;
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+ CrcChkCal = CRC16_Modbus(DataSend.DataPtr,ReadLen-2);
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+ *(DataSend.DataPtr+1*7+0) = CrcChkCal;
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+ *(DataSend.DataPtr+1*7+1) = CrcChkCal>>8;
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+ McuDataRet= xQueueSend(McuDataRecvHandle,&DataSend,1000*2);
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+ break;
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+ }
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+ case 0x06: //解锁
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+ {
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+ break;
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+ }
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+ case 0x07: //锁紧
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+ {
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+ break;
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+ }
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+ case 0x08: //完成换电
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+ {
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+ swapBattDone = 1;
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+ break;
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+ }
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+ case 0x09: //强制解锁，强制上升
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+ {
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+ unlockCmdFlg = 1;
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+ break;
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+ }
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+ case 0x0A: //强制锁紧，强制下降
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+ {
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+ lockCmdFlg = 1;
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+ break;
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+ }
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+ case 0x0B: //回到行车状态
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+ {
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+ swapBattDone = 0;
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+ backToDrv = 1;
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+ break;
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+ }
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+ case 0x0C: //顶板举升
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+ {
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+ break;
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+ }
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+ case 0x0D: //顶板下降
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+ {
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+ break;
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+ }
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+ case 0x0E: //换电开始自动解锁
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+ {
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+ break;
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+ }
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+ case 0x0F: //换电完成自动锁紧
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+ {
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+ break;
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+ }
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+ case 0x10: //除尘开始
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+ {
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+ break;
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+ }
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+ case 0x11: //除尘关闭
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+ {
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+ break;
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+ }
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+ case 0x12: //切换到无线通信状态
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+ {
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+ break;
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+ }
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+ case 0x13: //进入换电状态
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+ {
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+ break;
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+ }
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+ case 0x14: //急停指令
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+ {
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+ break;
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+ }
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+ default:
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+ break;
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+ }
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+ if(McuDataRet!=pdPASS)//发送不成功则释放
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+ {
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+ if(DataSend.DataPtr != NULL)
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+ {
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+ free(DataSend.DataPtr);
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+ }
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+ DataSend.DataPtr = NULL;
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+ }
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+}
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+/*通讯板串口转CAN函数*/
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+static void CanSend100ms(void)
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+{
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+ Can_Msg_Type CanTxMsg;
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+ uint8 DataSend[8]={0};
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+ uint8 cmdIdx = 1;
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+ switch(cmdIdx)
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+ {
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+ case 1:
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+ /*301发送*/
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+ memset(DataSend,0x00,8);
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+ DataSend[0] = packReadySts;
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+ DataSend[1] = 0;
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+ DataSend[2] = 0;
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+ DataSend[3] = 0;
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+ DataSend[4] = 0;
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+ DataSend[5] = 0;
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+ DataSend[6] = 0;
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+ DataSend[7] = 0;
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+ CanTxMsg.id = 0x301;
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+ CanTxMsg.idFrame = CAN_STANDARD_ID_TYPE;
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+ CanTxMsg.sdu = DataSend;
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+ CanTxMsg.length = 8;
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+ CanIf_SendMessage(0, CanTxMsg);
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+// break;
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+ case 2:
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+ /*302发送*/
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+ memset(DataSend,0x00,8);
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+ DataSend[0] = ((installPackNum<<4)|installPackLoc)&0xFF;
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+ DataSend[1] = cmdSwapBatt;
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+ DataSend[2] = 0;
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+ DataSend[3] = 0;
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+ DataSend[4] = 0;
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+ DataSend[5] = 0;
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+ DataSend[6] = 0;
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+ DataSend[7] = 0;
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+ CanTxMsg.id = 0x302;
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+ CanTxMsg.idFrame = CAN_STANDARD_ID_TYPE;
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+ CanTxMsg.sdu = DataSend;
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+ CanTxMsg.length = 8;
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+ CanIf_SendMessage(0, CanTxMsg);
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+// break;
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+ case 3:
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+ /*303发送*/
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+ if(BleConnectEnable==1)
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+ {
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+ memcpy(canTargetMac,BleTargetMacAddr,6);
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+ memset(DataSend,0x00,8);
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+ DataSend[0] = 0;
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+ DataSend[1] = connecMacUb;
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+ DataSend[2] = canTargetMac[0];
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+ DataSend[3] = canTargetMac[1];
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+ DataSend[4] = canTargetMac[2];
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+ DataSend[5] = canTargetMac[3];
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+ DataSend[6] = canTargetMac[4];
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+ DataSend[7] = canTargetMac[5];
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+ CanTxMsg.id = 0x303;
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+ CanTxMsg.idFrame = CAN_STANDARD_ID_TYPE;
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+ CanTxMsg.sdu = DataSend;
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+ CanTxMsg.length = 8;
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+ CanIf_SendMessage(0, CanTxMsg);
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+ connecMacUb++;
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+ }
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+ break;
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+ default:
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+ break;
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+ }
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+ return;
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+}
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+static void CanDecode(uint32 AskCanID, uint8 AskData[])
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+{
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+ switch(AskCanID)
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+ {
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+ case 0x201:
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+ PackExcSts= AskData[0];
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+ VehPowerMode = (AskData[1]>>3)&0x01;
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+ GearSts = (AskData[1]>>4)&0x01;
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+ EPBWorkingSts = (AskData[1]>>5)&0x01;
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+ BrakeSwitchSts = (AskData[1]>>6)&0x01;
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+ DoorSts = (AskData[1]>>7)&0x01;
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+ SteeringWheelAngle = ((AskData[2]&0x07)<<13)|(AskData[2]<<5)|(AskData[3]>>3);
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+ BattSwappingAllw = (AskData[3]>>2)&0x01;
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+ BlueDisconnectFailFlg = (AskData[3]>>1)&0x01;
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+ AllPackPwrDnSts= (AskData[4]>>4)&0x0F;
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+ break;
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+ case 0x202:
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+ break;
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+ case 0x203:
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+ carBleConnectSts = AskData[0]&0x0F;
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+ BleConnectFlg = carBleConnectSts;
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+ break;
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+ case 0x205:
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+ lockAndUnlockSensor[0] = (AskData[1]>>4)&0x0F;
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+ lockAndUnlockSensor[1] = (AskData[1])&0x0F;
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+ lockAndUnlockSensor[2] = (AskData[2]>>4)&0x0F;
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+ lockAndUnlockSensor[3] = (AskData[2])&0x0F;
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+ for(uint8 i=0;i<4;i++)
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+ {
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+ if(lockAndUnlockSensor[i]==0x01)
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+ {
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+ setbit(lockFlg,i);
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+ clrbit(unlockFlg,i);
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+ }
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+ else if(lockAndUnlockSensor[i]==0x02)
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+ {
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+ setbit(unlockFlg,i);
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+ clrbit(lockFlg,i);
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+ }
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+ }
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+ break;
|
|
|
+ default:
|
|
|
+ break;
|
|
|
+ }
|
|
|
+}
|
|
|
+static void dataInit()
|
|
|
+{
|
|
|
+ uint8 AskData[8] = {0};
|
|
|
+ PackExcSts= AskData[0];
|
|
|
+ VehPowerMode = (AskData[1]>>3)&0x01;
|
|
|
+ GearSts = (AskData[1]>>4)&0x01;
|
|
|
+ EPBWorkingSts = (AskData[1]>>5)&0x01;
|
|
|
+ BrakeSwitchSts = (AskData[1]>>6)&0x01;
|
|
|
+ DoorSts = (AskData[1]>>7)&0x01;
|
|
|
+ SteeringWheelAngle = ((AskData[2]&0x07)<<13)|(AskData[2]<<5)|(AskData[3]>>3);
|
|
|
+ BattSwappingAllw = (AskData[3]>>2)&0x01;
|
|
|
+ BlueDisconnectFailFlg = (AskData[3]>>1)&0x01;
|
|
|
+ AllPackPwrDnSts= (AskData[4]>>4)&0x0F;
|
|
|
+ carBleConnectSts = AskData[0]&0x0F;
|
|
|
+}
|
|
|
+static void appFunc()
|
|
|
+{
|
|
|
+ if(BleDisconnectEnable==1)
|
|
|
+ {
|
|
|
+ connecMacUb = 0;
|
|
|
+ cmdSwapBatt = 2;
|
|
|
+ packReadySts = 0;
|
|
|
+ installPackNum = 0;
|
|
|
+ installPackLoc = 0;
|
|
|
+ cmdSwapBatt = 0;
|
|
|
+ }
|
|
|
+ if(carBleConnectSts==1)//蓝牙连接成功
|
|
|
+ {
|
|
|
+ xSemaphoreGive(ConnSemaphore);
|
|
|
+ cmdSwapBatt = 0;
|
|
|
+ }
|
|
|
+ if(unlockCmdFlg)//开始换电
|
|
|
+ {
|
|
|
+ installPackNum = 1;
|
|
|
+ installPackLoc = 1;
|
|
|
+ cmdSwapBatt = 1;
|
|
|
+ }
|
|
|
+ if(swapBattDone)//锁紧到位
|
|
|
+ {
|
|
|
+ packReadySts = 1;
|
|
|
+ connecMacUb = 0;
|
|
|
+ unlockCmdFlg = 0;
|
|
|
+ }
|
|
|
+ if(PackExcSts==0x03)//换电电池检测完成
|
|
|
+ {
|
|
|
+ packReadySts = 0;
|
|
|
+ installPackNum = 0;
|
|
|
+ installPackLoc = 0;
|
|
|
+ cmdSwapBatt = 0;
|
|
|
+ }
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+/*常规蓝牙程序函数*/
|
|
|
static void CanDataAsk(QueueDataTrans_Type AskData)
|
|
|
{
|
|
|
Can_Msg_Type CanTxMsg;
|
