BatterySwap/System/Vehicle/Communication/CANNet.c

/********************************************************************************
 * 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"
#include "BleCanProtocolFunc.h"
#include "BcuCanProtocolFunc.h"
#include "VcuCanProtocolFunc.h"
MCANDrv_infoMsgConfS_TYPE CANNet_infoMsgTxConfSA[3];
MCAN_stRetE_TYPE CAN1Result;
uint16 CANNet_idxSchedUB;
MCANDrv_infoMsgConfS_TYPE CANNet_InfoRxMsgConfSA[128];
uint8 CANNet_datRxMsgBufM[128][9];
CanMsgInfo infoVcuSendMsg;
CanMsgInfo infoBmsSendMsg;
volatile BOOL VcuSendFlg = FALSE;
volatile BOOL BmsSendFlg = FALSE;
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*/
	// MCANDrv_SetCallbackFunc(_CAN_INDEX_CAN2, (pFunc_RxMsgCallback)CANNet_RecvMsgCAN2, NULL_PTR);

	/*接收报文初始化，主要配置CAN2*/
	CANNet_InfoRxMsgConfSA[0].infoMsgIDUI = 0x1CEF0000UL;
	CANNet_InfoRxMsgConfSA[0].infoMsgParU.B.CAN = 2;
	CANNet_InfoRxMsgConfSA[0].infoMsgParU.B.MO = 3;
	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_RecvMsgCAN2);

	CANNet_InfoRxMsgConfSA[1].infoMsgIDUI = 0x1C00ECEAUL;
	CANNet_InfoRxMsgConfSA[1].infoMsgParU.B.CAN = 2;
	CANNet_InfoRxMsgConfSA[1].infoMsgParU.B.MO = 4;
	CANNet_InfoRxMsgConfSA[1].infoMsgParU.B.DIR = _MCAN_DIR_RX;
	CANNet_InfoRxMsgConfSA[1].infoMsgParU.B.DLC = 8;
	CANNet_InfoRxMsgConfSA[1].infoMsgParU.B.IDE = _MCAN_IDE_EXT;
	MCANDrv_SetMsgObj(CANNet_InfoRxMsgConfSA[1], CANNet_RecvMsgCAN2);

	/*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 VCU
void CANNet_RecvMsgCAN0(MCANDrv_infoMsgS_TYPE infoMsgS)
{
	//直连状态下，CAN0空置，连接CAN1
	//非直连状态下，CAN0接收VCU消息
	VcuDecodeFunction(infoMsgS.infoConfS.infoMsgIDUI, infoMsgS.datMsgUBA);
	infoVcuSendMsg.CanID = infoMsgS.infoConfS.infoMsgIDUI;
	memcpy(infoVcuSendMsg.CanData,infoMsgS.datMsgUBA,8);
	VcuSendFlg = TRUE;
	if((infoVcuSendMsg.CanID&0x0000FFFF)==0x0000F3D0||(infoVcuSendMsg.CanID&0x0000FFFF)==0x000015F6||(infoVcuSendMsg.CanID&0x0000FFFF)==0x000051ED||(infoVcuSendMsg.CanID&0x0000FFFF)==0x1C00EDEA)
	{
		CANNet_infoMsgTxConfSA[1].infoMsgIDUI = infoVcuSendMsg.CanID;
		infoMsgS.infoConfS = CANNet_infoMsgTxConfSA[1];
		memset(infoMsgS.datMsgUBA, 0x00, 8);
		if((infoVcuSendMsg.CanID==0x1802F3D0)&& 0)
		{
			static uint8 VcuLife = 0;
			uint8 chk = 0;
			VcuLife = (VcuLife+1)>14?0:(VcuLife+1);
			infoVcuSendMsg.CanData[1] = (BattHvCtl<<4)|(VcuLife&0x0F);
			for(uint8 i=1;i<8;i++)
			{
				chk = chk^infoVcuSendMsg.CanData[i];
			}
			infoVcuSendMsg.CanData[0] = chk;
		}
		memcpy(infoMsgS.datMsgUBA,infoVcuSendMsg.CanData,8);
		MCANDrv_SendMsg(infoMsgS);
	}

}
// CAN1接收消息处理函数
void CANNet_RecvMsgCAN1(MCANDrv_infoMsgS_TYPE infoMsgS)
{
	BcuDecodeFunction(infoMsgS.infoConfS.infoMsgIDUI, infoMsgS.datMsgUBA);
	infoBmsSendMsg.CanID = infoMsgS.infoConfS.infoMsgIDUI;
	memcpy(infoBmsSendMsg.CanData,infoMsgS.datMsgUBA,8);
	BmsSendFlg = TRUE;
	CANNet_infoMsgTxConfSA[0].infoMsgIDUI = infoBmsSendMsg.CanID;
	static uint8 TmsErrorFltTemp = 0;
	if((infoBmsSendMsg.CanID==0x1880D0F3)&& 0)//主负继电器状态和主正一起发出  加TMS故障屏蔽
	{
		uint8 DataTemp = 0x00;
		if(((infoBmsSendMsg.CanData[1]>>4)&0x03)==0x02)//主负继电器状态和主正一起发出
		{
			DataTemp = infoBmsSendMsg.CanData[1]&0x3F;
			DataTemp = DataTemp|((0x02)<<6);
			infoBmsSendMsg.CanData[1] = DataTemp;
		}
		else
		{
			DataTemp = infoBmsSendMsg.CanData[1]&0x3F;
			DataTemp = DataTemp|((0x01)<<6);
			infoBmsSendMsg.CanData[1] = DataTemp;
		}
		if(infoBmsSendMsg.CanData[7]==93)//TMS故障屏蔽
		{
			TmsErrorFltTemp = 1;
			clrbit(infoBmsSendMsg.CanData[4],6);
			infoBmsSendMsg.CanData[7] = 0;
		}
	}
	if((infoBmsSendMsg.CanID==0x1881D0F3)&& TmsErrorFltTemp)//屏蔽Tms出现的故障等级
	{
		uint8 chk = 0;
		uint8 ErrNum = 0;
		clrbit(infoBmsSendMsg.CanData[2],5);
		clrbit(infoBmsSendMsg.CanData[2],6);
		ErrNum = (infoBmsSendMsg.CanData[7]>>3);
		ErrNum = (ErrNum-1)<=0?0:(ErrNum-1);
		infoBmsSendMsg.CanData[7] = (infoBmsSendMsg.CanData[7]&0x03)|(ErrNum<<3);
		for(uint8 i=1;i<8;i++)
		{
			chk = chk^infoBmsSendMsg.CanData[i];
		}
		infoVcuSendMsg.CanData[0] = chk;
	}

	infoMsgS.infoConfS = CANNet_infoMsgTxConfSA[0];
	memset(infoMsgS.datMsgUBA, 0x00, 8);
	memcpy(infoMsgS.datMsgUBA,infoBmsSendMsg.CanData,8);
	MCANDrv_SendMsg(infoMsgS);

}
/*备注，CAN2接收报文时，需要配置接收报文的MO号，如果不配置，将进入不了CAN中断*/
void CANNet_RecvMsgCAN2(MCANDrv_infoMsgS_TYPE infoMsgS)
{
	Can2ProtocolDecode(infoMsgS.infoConfS.infoMsgIDUI, infoMsgS.datMsgUBA);
}
//发送消息管理
void CAN0Net_Manage1ms(void)
{
	MCANDrv_infoMsgS_TYPE infoMsgS;
	if(BmsSendFlg){

		//BmsSendFlg = FALSE;
	}
}
void CAN1Net_Manage1ms(void)
{
	static UINT32 Can1TimerCounter = 0;
	static UINT8 BcuIDIdx = 0;
	static BOOL BcuChkFlg = FALSE;
	MCANDrv_infoMsgS_TYPE infoMsgS;
	if (Can1TimerCounter % 100 == 0)
	{
		if (Can1TimerCounter % (EbcOutTable[BcuIDIdx][1]) == 0)
		{
			CANNet_infoMsgTxConfSA[1].infoMsgIDUI = EbcOutTable[BcuIDIdx][0];
			infoMsgS.infoConfS = CANNet_infoMsgTxConfSA[1];
			memset(infoMsgS.datMsgUBA, 0x00, 8);
			BcuEncodeFunction(EbcOutTable[BcuIDIdx][0], &(infoMsgS.datMsgUBA[0]));
			MCANDrv_SendMsg(infoMsgS);
		}
		BcuIDIdx++;
		BcuChkFlg = FALSE;
	}
	else if(VcuSendFlg){

		//VcuSendFlg = FALSE;
	}

	if (BcuIDIdx >= (sizeof(EbcOutTable) / 8))
	{
		BcuIDIdx = 0;
		BcuChkFlg = TRUE;
	}
	if (BcuChkFlg)
	{
		Can1TimerCounter = Can1TimerCounter + 1;
	}
}
void CAN2Net_Manage1ms(void)
{
	MCANDrv_infoMsgS_TYPE infoMsgS;
	static UINT32 Can2TimerCounter = 0;
	static uint8 Can2SendIdx = 0;
	BOOL Can2SendChkFlg = 0;
	if (Can2TimerCounter % 100 == 0)
	{
		if (Can2TimerCounter % (Can2OutTable[Can2SendIdx][1]) == 0)
		{
			CANNet_infoMsgTxConfSA[2].infoMsgIDUI = Can2OutTable[Can2SendIdx][0];
			infoMsgS.infoConfS = CANNet_infoMsgTxConfSA[2];
			memset(infoMsgS.datMsgUBA, 0x00, 8);
			Can2EncodeFunction(Can2OutTable[Can2SendIdx][0], &(infoMsgS.datMsgUBA[0]));
			MCANDrv_SendMsg(infoMsgS);
		}
		Can2SendIdx++;
		Can2SendChkFlg = FALSE;
	}
	if (Can2SendIdx >= (sizeof(Can2OutTable) / 8))
	{
		Can2SendIdx = 0;
		Can2SendChkFlg = TRUE;
	}
	if (Can2SendChkFlg)
	{
		Can2TimerCounter = Can2TimerCounter + 1;
	}

}