NB_APP_Code/src/AppTaskCan.c

/****************************************************************************
 *
 * Copy right:   2021-, Copyrigths of RLWL Ltd.Zhen C
 * File name:    AppTaskCan.h
 * Description:  App Task Can H file 
 * History:      Rev3.0   2021-07-06
 *
 ****************************************************************************/
#include "AppTaskCan.h"

static void CanTask(void);

static StaticTask_t gProcess_Can_Rx_Task_t;
static UINT8 gProcess_Can_Rx_TaskStack[PROC_CAN_RX_TASK_STACK_SIZE];
static process_CAN gProcess_CAN_Task = PROCESS_CAN_STATE_IDLE;
#define PROC_CAN_STATE_SWITCH(a) (gProcess_CAN_Task = a)

void AppTaskCanInit(void *arg)
{
	osThreadAttr_t task_rx_attr;
	memset(&task_rx_attr, 0, sizeof(task_rx_attr));
	memset(gProcess_Can_Rx_TaskStack, 0, PROC_CAN_RX_TASK_STACK_SIZE);
	task_rx_attr.name = "Can_Task";
	task_rx_attr.stack_mem = gProcess_Can_Rx_TaskStack;
	task_rx_attr.stack_size = PROC_CAN_RX_TASK_STACK_SIZE;
	task_rx_attr.priority = osPriorityBelowNormal7;
	task_rx_attr.cb_mem = &gProcess_Can_Rx_Task_t;
	task_rx_attr.cb_size = sizeof(StaticTask_t);
	osDelay(1000);
	osThreadNew(CanTask, NULL, &task_rx_attr);
}

static void CanTask()
{
	Can_InitType param;
	UINT8 udsFlag, msgFlag = 0;
	UINT8 i = 0;
	UINT16 delayconuter = 0;
	UINT8 UDSService[2];
	UINT8 UDSSubService[2];
	UINT8 UDSSubServiceActionCode[2];
	CAN_Msg_Type CanRxMsg[2];
	UINT8 ConvertCounter = 0;

	PROC_CAN_STATE_SWITCH(PROCESS_CAN_STATE_INIT);

	while (TRUE)
	{
		memset(CanRxMsg, 0, sizeof(CanRxMsg));
		switch (gProcess_CAN_Task)
		{
		case PROCESS_CAN_STATE_INIT:
		{
			param.baudrate = CAN_250Kbps;
			param.mode = REQOP_NORMAL;
			param.packType = STD_PACK;
			HAL_Can_Init(param);
			osDelay(100);
			PROC_CAN_STATE_SWITCH(PROCESS_CAN_STATE_WORK);
			break;
		}
		case PROCESS_CAN_STATE_IDLE:
		{
			ConvertCounter = 0;
			while (TRUE)
			{
				osDelay(100);
				ConvertCounter++;
				if (gProcess_app != WORK)
				{
					PROC_CAN_STATE_SWITCH(PROCESS_CAN_STATE_SLEEP);
					break;
				}
				if (getbit(PadInterrupt, 0) == 1 || ConvertCounter >= 10)
				{
					PROC_CAN_STATE_SWITCH(PROCESS_CAN_STATE_WORK);
					break;
				}
			}
			break;
		}
		case PROCESS_CAN_STATE_WORK:
		{
			if (HAL_Can_Receive(CanRxMsg) > 0)
			{
				delayconuter = 0;
				for (i = 0; i < 2; i++)
				{
					if (CanRxMsg[i].Id == 0x7A0)
					{
						udsFlag = 1;
						UDSService[i] = CanRxMsg[i].Data[0];
						UDSSubService[i] = CanRxMsg[i].Data[1];
						UDSSubServiceActionCode[i] = CanRxMsg[i].Data[2];
						if (UDSService[i] == 0x10)
						{
							if (UDSSubService[i] == 0x02)
							{
								UDSSwitch = 1;
							}
						}
					}
					else if (CanRxMsg[i].Id == 0x7A1)
					{
						if (CanRxMsg[i].Data[0] != 0x00)
						{
							msgFlag = 1;
						}
						else
						{
							msgFlag = 0;
						}
					}
				}
				if (udsFlag == 1)
				{
					UDS_Service(CanRxMsg);
					udsFlag = 0;
				}
			}
			else
			{
				delayconuter++;
				osDelay(10);
			}
			if (msgFlag == 1)
			{
				CanMsgTx1000ms();
			}
			if (delayconuter >= 500 && msgFlag == 0)
			{
				delayconuter = 0;
				clrbit(PadInterrupt, 0);
				PROC_CAN_STATE_SWITCH(PROCESS_CAN_STATE_IDLE);
				if (RelayForceControl == 1)
				{
					RelayForceControl = 2;
				}
			}
			break;
		}
		case PROCESS_CAN_STATE_SLEEP:
		{
			HAL_Can_Sleep();
			while (TRUE)
			{
				if (getbit(PadInterrupt, 0) == 1 || (slpManGetWakeupPinValue() & 0x1) == 0x00) //判断是否产生中断,产生中断则退出延时
				{
					PROC_CAN_STATE_SWITCH(PROCESS_CAN_STATE_INIT);
					break;
				}
				osDelay(2000);
			}
			break;
		}
		}
	}
}