/********************************************************************************
* 常州易控汽车电子股份有限公司
* (c) Copyright 2009-2015 ECTEK
* 保留所有权利
********************************************************************************
* 工程名称：整车管理
* 文件名： CANNet.c
* 功能描述 ： CAN总线管理
* 引用记录：
* 备注： 
* 修订记录：
*		日期		      版本		  作者		描述
*   2011.07.14          00.01.00      李中     第一版                                           
*******************************************************************************/

#include "HardwareLib.h"
#include "CANNet.h"
#include "AccPedCD.h"


MCANDrv_infoMsgConfS_TYPE CANNet_infoMsgTxConfSA[3];

uint16 CANNet_idxSchedUB;

MCANDrv_infoMsgConfS_TYPE CANNet_InfoRxMsgConfSA[128];
uint8 CANNet_datRxMsgBufM[128][9];

uint32 CanRecvTest = 0;
uint32 CanRecvTestDelay = 0;


void CANNet_Init(void)
{
    /*示例代码*/

    /*各个CAN节点初始化*/
    MCANDrv_SetBaudrate(_CAN_INDEX_CAN0, 250000);
    MCANDrv_SetCANMode(_CAN_INDEX_CAN0, MCAN_NODEMODE_BUF);
    MCANDrv_SetCallbackFunc(_CAN_INDEX_CAN0, (pFunc_RxMsgCallback)CANNet_RecvMsgCAN0, NULL_PTR);

    MCANDrv_SetBaudrate(_CAN_INDEX_CAN1, 250000);
    MCANDrv_SetCANMode(_CAN_INDEX_CAN1, MCAN_NODEMODE_BUF);
    MCANDrv_SetCallbackFunc(_CAN_INDEX_CAN1, (pFunc_RxMsgCallback)CANNet_RecvMsgCAN1, NULL_PTR);

    /*第2路CAN用于CCP、UDS协议，由底层配置*/

    /*接收报文初始化*/
//    CANNet_InfoRxMsgConfSA[0].infoMsgIDUI = 0x1F000023UL;
//    CANNet_InfoRxMsgConfSA[0].infoMsgParU.B.CAN = 0;
//    CANNet_InfoRxMsgConfSA[0].infoMsgParU.B.MO = 0;
//    CANNet_InfoRxMsgConfSA[0].infoMsgParU.B.DIR = _MCAN_DIR_RX;
//    CANNet_InfoRxMsgConfSA[0].infoMsgParU.B.DLC = 8;
//    CANNet_InfoRxMsgConfSA[0].infoMsgParU.B.IDE = _MCAN_IDE_EXT;
//    MCANDrv_SetMsgObj(CANNet_InfoRxMsgConfSA[0], CANNet_RecvMsgCAN0);

    /*发送报文初始化*/
    CANNet_infoMsgTxConfSA[0].infoMsgIDUI = 0x1F000024UL;
    CANNet_infoMsgTxConfSA[0].infoMsgParU.B.CAN = 0;
    CANNet_infoMsgTxConfSA[0].infoMsgParU.B.MO = 0;
    CANNet_infoMsgTxConfSA[0].infoMsgParU.B.DIR = _MCAN_DIR_TX;
    CANNet_infoMsgTxConfSA[0].infoMsgParU.B.DLC = 8;
    CANNet_infoMsgTxConfSA[0].infoMsgParU.B.IDE = _MCAN_IDE_EXT;
    //MCANDrv_SetMsgObj(CANNet_infoMsgTxConfSA[0], NULL_PTR);

    CANNet_infoMsgTxConfSA[1].infoMsgIDUI = 0x1F000025UL;
    CANNet_infoMsgTxConfSA[1].infoMsgParU.B.CAN = 1;
    CANNet_infoMsgTxConfSA[1].infoMsgParU.B.MO = 1;
    CANNet_infoMsgTxConfSA[1].infoMsgParU.B.DIR = _MCAN_DIR_TX;
    CANNet_infoMsgTxConfSA[1].infoMsgParU.B.DLC = 8;
    CANNet_infoMsgTxConfSA[1].infoMsgParU.B.IDE = _MCAN_IDE_EXT;
    //MCANDrv_SetMsgObj(CANNet_infoMsgTxConfSA[1], NULL_PTR);

    CANNet_infoMsgTxConfSA[2].infoMsgIDUI = 0x1F000026UL;
	CANNet_infoMsgTxConfSA[2].infoMsgParU.B.CAN = 2;
	CANNet_infoMsgTxConfSA[2].infoMsgParU.B.MO = 2;
	CANNet_infoMsgTxConfSA[2].infoMsgParU.B.DIR = _MCAN_DIR_TX;
	CANNet_infoMsgTxConfSA[2].infoMsgParU.B.DLC = 8;
	CANNet_infoMsgTxConfSA[2].infoMsgParU.B.IDE = _MCAN_IDE_EXT;
}

//CAN0接收消息处理函数
void CANNet_RecvMsgCAN0(MCANDrv_infoMsgS_TYPE infoMsgS)
{
    //CAN接收样例
    uint8 idxIncUB,idxByteUB;

    for(idxIncUB=0;idxIncUB<128;idxIncUB++)
    {
        if(infoMsgS.infoConfS.infoMsgIDUI == CANNet_InfoRxMsgConfSA[idxIncUB].infoMsgIDUI)
        {
            for(idxByteUB=0;idxByteUB<8;idxByteUB++)
            {
                CANNet_datRxMsgBufM[idxIncUB][idxByteUB]=infoMsgS.datMsgUBA[idxByteUB];
            }

            CANNet_datRxMsgBufM[idxIncUB][8]++;
        }
    }
    CanRecvTestDelay = SysCon_tiRunHighResiUI;
    CanRecvTest  = CanRecvTestDelay - CanRecvTest;
}
//CAN1接收消息处理函数
void CANNet_RecvMsgCAN1(MCANDrv_infoMsgS_TYPE infoMsgS)
{
    //CAN接收样例
    uint8 idxIncUB,idxByteUB;

    for(idxIncUB=0;idxIncUB<128;idxIncUB++)
    {
        if(infoMsgS.infoConfS.infoMsgIDUI == CANNet_InfoRxMsgConfSA[idxIncUB].infoMsgIDUI)
        {
            for(idxByteUB=0;idxByteUB<8;idxByteUB++)
            {
                CANNet_datRxMsgBufM[idxIncUB][idxByteUB]=infoMsgS.datMsgUBA[idxByteUB];
            }

            CANNet_datRxMsgBufM[idxIncUB][8]++;
        }
    }
}
//发送消息管理
void CANNet_Manage1ms(void)
{
    MCANDrv_infoMsgS_TYPE infoMsgS;
    
    switch(CANNet_idxSchedUB)
    {
        case 0:
        	CANNet_infoMsgTxConfSA[2].infoMsgIDUI = 0x7F0;
        	infoMsgS.infoConfS = CANNet_infoMsgTxConfSA[2];
			infoMsgS.datMsgUBA[0] = (uint8)(PressureValue>>24);
			infoMsgS.datMsgUBA[1] = (uint8)(PressureValue>>16);
			infoMsgS.datMsgUBA[2] = (uint8)(PressureValue)>>8;
			infoMsgS.datMsgUBA[3] = (uint8)(PressureValue);
			infoMsgS.datMsgUBA[4] = (uint8)(Distence1>>8);
			infoMsgS.datMsgUBA[5] = (uint8)(Distence1);
			infoMsgS.datMsgUBA[6] = (uint8)(Distence2>>8);
			infoMsgS.datMsgUBA[7] = (uint8)(Distence2);
			MCANDrv_SendMsg(infoMsgS);
            break;
        case 1:
        	CANNet_infoMsgTxConfSA[2].infoMsgIDUI = 0x7F1;
        	infoMsgS.infoConfS = CANNet_infoMsgTxConfSA[2];
			infoMsgS.datMsgUBA[0] = (uint8)(Switch1);
			infoMsgS.datMsgUBA[1] = (uint8)(Switch2);
			infoMsgS.datMsgUBA[2] = 0xFF;
			infoMsgS.datMsgUBA[3] = 0xFF;
			infoMsgS.datMsgUBA[4] = 0xFF;
			infoMsgS.datMsgUBA[5] = 0xFF;
			infoMsgS.datMsgUBA[6] = 0xFF;
			infoMsgS.datMsgUBA[7] = 0xFF;
			MCANDrv_SendMsg(infoMsgS);
            break;
        case 2:
        	CANNet_infoMsgTxConfSA[2].infoMsgIDUI = 0x7F2;
        	infoMsgS.infoConfS = CANNet_infoMsgTxConfSA[2];
			infoMsgS.datMsgUBA[0] = ControlState;
			infoMsgS.datMsgUBA[1] = 0xFF;
			infoMsgS.datMsgUBA[2] = 0xFF;
			infoMsgS.datMsgUBA[3] = 0xFF;
			infoMsgS.datMsgUBA[4] = (uint8)(Control_Times>>24);
			infoMsgS.datMsgUBA[5] = (uint8)(Control_Times>>16);
			infoMsgS.datMsgUBA[6] = (uint8)(Control_Times>>8);
			infoMsgS.datMsgUBA[7] = (uint8)(Control_Times);
			MCANDrv_SendMsg(infoMsgS);
			break;
        default:
            break;
    }
    
    CANNet_idxSchedUB=(uint16)((CANNet_idxSchedUB+1)%100); //100ms一个完整循环
}