You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
394 lines
12 KiB
394 lines
12 KiB
#include "zcanreceiver.hpp"
|
|
|
|
#ifdef HAL_CAN_MODULE_ENABLED
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
using namespace iflytop;
|
|
using namespace zcr;
|
|
|
|
#define TAG "ZCanCmder"
|
|
|
|
#define OVER_TIME_MS 5
|
|
#define MAIN_DEVICE_CAN_ID 0
|
|
|
|
static void assign_packet_checksum(uint8_t *packet, int len) {
|
|
uint8_t checksum = 0;
|
|
for (int i = 0; i < len - 1; i++) {
|
|
checksum += packet[i];
|
|
}
|
|
packet[len - 1] = checksum;
|
|
}
|
|
|
|
ZCanReceiver::CFG *ZCanReceiver::createCFG(uint8_t deviceId) {
|
|
CFG *cfg = new CFG();
|
|
ZASSERT(cfg != NULL);
|
|
cfg->deviceId = deviceId;
|
|
#ifdef STM32F103xB
|
|
cfg->canHandle = &hcan;
|
|
#else
|
|
cfg->canHandle = &hcan1;
|
|
#endif
|
|
cfg->canFilterIndex0 = 0;
|
|
cfg->maxFilterNum = 7;
|
|
cfg->rxfifoNum = CAN_RX_FIFO0;
|
|
return cfg;
|
|
}
|
|
void ZCanReceiver::initialize(CFG *cfg) {
|
|
HAL_StatusTypeDef hal_status;
|
|
m_config = cfg;
|
|
m_lock.init();
|
|
|
|
m_rxFramePool.init();
|
|
m_pendingMsgQueue.init();
|
|
|
|
/**
|
|
* @brief 初始化过滤器
|
|
*/
|
|
hal_status = initializeFilter();
|
|
if (hal_status != HAL_OK) {
|
|
ZLOGE(TAG, "start can initializeFilter fail\r\n");
|
|
return;
|
|
}
|
|
/**
|
|
* @brief 启动CAN
|
|
*/
|
|
hal_status = HAL_CAN_Start(m_config->canHandle); // 开启CAN
|
|
if (hal_status != HAL_OK) {
|
|
ZLOGE(TAG, "start can fail\r\n");
|
|
return;
|
|
}
|
|
/**
|
|
* @brief 监听回调
|
|
*/
|
|
ZCanIRQDispatcher::instance().regListener(this);
|
|
HAL_StatusTypeDef status = activateRxIT();
|
|
if (status != HAL_OK) {
|
|
ZLOGE(TAG, "activateRxIT fail\r\n");
|
|
return;
|
|
}
|
|
// ZHALCORE::getInstance()->regPeriodJob([this](ZHALCORE::Context &context) { loop(); }, 0);
|
|
}
|
|
HAL_StatusTypeDef ZCanReceiver::initializeFilter() {
|
|
/**
|
|
* @brief ID区帧格式
|
|
*/
|
|
HAL_StatusTypeDef HAL_Status;
|
|
CAN_FilterTypeDef sFilterConfig;
|
|
|
|
uint32_t filterId;
|
|
uint32_t mask;
|
|
|
|
memset(&sFilterConfig, 0, sizeof(sFilterConfig));
|
|
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 设为MASK模式
|
|
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // CAN_FILTERSCALE_16BIT
|
|
sFilterConfig.FilterFIFOAssignment = m_config->rxfifoNum; // 关联过滤器到rxfifoNum
|
|
sFilterConfig.FilterActivation = ENABLE; // 激活过滤器
|
|
sFilterConfig.SlaveStartFilterBank = m_config->maxFilterNum; // slave filter start index
|
|
|
|
/*******************************************************************************
|
|
* 直接收来自主机的消息 *
|
|
*******************************************************************************/
|
|
filterId = (MAIN_DEVICE_CAN_ID); //
|
|
mask = (0xffffffff); //
|
|
sFilterConfig.FilterBank = m_config->canFilterIndex0; //
|
|
sFilterConfig.FilterMaskIdLow = mask & 0xffff; //
|
|
sFilterConfig.FilterMaskIdHigh = (mask & 0xffff0000) >> 16; //
|
|
sFilterConfig.FilterIdLow = filterId & 0xffff; //
|
|
sFilterConfig.FilterIdHigh = (filterId & 0xffff0000) >> 16; //
|
|
HAL_Status = HAL_CAN_ConfigFilter(m_config->canHandle, &sFilterConfig);
|
|
if (HAL_Status != HAL_OK) {
|
|
ZLOGE(TAG, "HAL_CAN_ConfigFilter filter0 fail");
|
|
return HAL_Status;
|
|
}
|
|
ZLOGI(TAG, "HAL_CAN_ConfigFilter filterID1 %08x", filterId >> 3);
|
|
return HAL_Status;
|
|
}
|
|
|
|
void ZCanReceiver::registerListener(IZCanRxProcesser *listener) { rxprocesser = listener; }
|
|
|
|
// static inline const char *dumphex(uint8_t *packet, size_t len) {
|
|
// static char buf[1024];
|
|
// memset(buf, 0, sizeof(buf));
|
|
// for (size_t i = 0; i < len; i++) {
|
|
// sprintf(buf + i * 2, "%02x", packet[i]);
|
|
// }
|
|
// return buf;
|
|
// }
|
|
|
|
static const char *hex2str(const char *hex, size_t len) __attribute__((unused));
|
|
static const char *hex2str(const char *hex, size_t len) {
|
|
static char buf[256];
|
|
memset(buf, 0, sizeof(buf));
|
|
for (size_t i = 0; i < len; i++) {
|
|
sprintf(buf + i * 2, "%02X", hex[i]);
|
|
}
|
|
return buf;
|
|
}
|
|
|
|
void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {
|
|
// ZLOGI(TAG, "tx %s(%d)", hex2str((const char *)packet, len), len);
|
|
/**
|
|
* @brief
|
|
*/
|
|
int npacket = len / 7 + (len % 7 == 0 ? 0 : 1);
|
|
if (npacket > 255) {
|
|
ZLOGE(TAG, "sendPacket fail, len:%d", len);
|
|
return;
|
|
}
|
|
int finalpacketlen = len % 7 == 0 ? 7 : len % 7;
|
|
|
|
for (uint8_t i = 0; i < npacket; i++) {
|
|
bool suc = false;
|
|
if (i == npacket - 1) {
|
|
suc = sendPacketSub(npacket, i, packet + i * 7, finalpacketlen, OVER_TIME_MS);
|
|
} else {
|
|
suc = sendPacketSub(npacket, i, packet + i * 7, 7, OVER_TIME_MS);
|
|
}
|
|
if (!suc) {
|
|
ZLOGE(TAG, "sendPacket fail, packet(%d:%d)", npacket, i);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
int32_t ZCanReceiver::sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) {
|
|
zlock_guard l(m_lock);
|
|
zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
|
|
int packetlen = sizeof(zcr_cmd_header_t) + len + 1;
|
|
|
|
ZASSERT(sizeof(txbuff) > packetlen);
|
|
|
|
memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
|
|
txheader->packetType = kptv2_ack;
|
|
txheader->datalen = len;
|
|
memcpy(txheader->data, data, len);
|
|
assign_packet_checksum(txbuff, packetlen);
|
|
|
|
sendPacket(txbuff, packetlen);
|
|
return 0;
|
|
}
|
|
int32_t ZCanReceiver::triggerEvent(zcr_cmd_header_t *cmd_header, uint8_t *data, int32_t len) {
|
|
zlock_guard l(m_lock);
|
|
zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
|
|
int packetlen = sizeof(zcr_cmd_header_t) + len + 1;
|
|
|
|
ZASSERT(sizeof(txbuff) > packetlen);
|
|
|
|
memcpy(txheader, cmd_header, sizeof(zcr_cmd_header_t));
|
|
txheader->packetType = kptv2_event;
|
|
txheader->index = m_reportIndex;
|
|
txheader->datalen = len;
|
|
memcpy(txheader->data, data, len);
|
|
assign_packet_checksum(txbuff, packetlen);
|
|
|
|
sendPacket(txbuff, packetlen);
|
|
|
|
m_reportIndex++;
|
|
return 0;
|
|
}
|
|
|
|
int32_t ZCanReceiver::sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) {
|
|
zlock_guard l(m_lock);
|
|
|
|
zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
|
|
int packetlen = sizeof(zcr_cmd_header_t) + sizeof(int32_t) * nack + 1;
|
|
|
|
memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
|
|
txheader->packetType = kptv2_ack;
|
|
int32_t *txackcache = (int32_t *)txheader->data;
|
|
txheader->datalen = nack * sizeof(int32_t);
|
|
for (int i = 0; i < nack; i++) {
|
|
txackcache[i] = ackvar[i];
|
|
}
|
|
assign_packet_checksum(txbuff, packetlen);
|
|
|
|
sendPacket(txbuff, packetlen);
|
|
return 0;
|
|
}
|
|
int32_t ZCanReceiver::sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) {
|
|
zlock_guard l(m_lock);
|
|
zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
|
|
int32_t *txackcache = (int32_t *)txheader->data;
|
|
int packetlen = sizeof(zcr_cmd_header_t) + sizeof(int32_t) * 1 + 1;
|
|
|
|
memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
|
|
txheader->packetType = kptv2_error_ack;
|
|
txheader->datalen = sizeof(int32_t);
|
|
txackcache[0] = errorcode;
|
|
|
|
assign_packet_checksum(txbuff, packetlen);
|
|
sendPacket(txbuff, packetlen);
|
|
return 0;
|
|
}
|
|
|
|
bool ZCanReceiver::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
|
|
zlock_guard l(m_lock);
|
|
|
|
// ZLOGI(TAG, "sendPacketSub(%d:%d)", npacket, packetIndex);
|
|
CAN_TxHeaderTypeDef pHeader;
|
|
uint8_t aData[8] /*8byte table*/;
|
|
uint32_t txMailBox = 0;
|
|
|
|
uint32_t enterticket = zos_get_tick();
|
|
|
|
memset(&pHeader, 0, sizeof(pHeader));
|
|
memset(aData, 0, sizeof(aData));
|
|
pHeader.StdId = m_config->deviceId;
|
|
pHeader.ExtId = 0;
|
|
pHeader.IDE = CAN_ID_STD;
|
|
pHeader.RTR = CAN_RTR_DATA;
|
|
pHeader.DLC = len + 1;
|
|
pHeader.TransmitGlobalTime = DISABLE;
|
|
|
|
aData[0] = (npacket << 4) | packetIndex;
|
|
memcpy(aData + 1, packet, len);
|
|
|
|
m_lastTransmitStatus = HAL_CAN_AddTxMessage(m_config->canHandle, &pHeader, aData, &txMailBox);
|
|
if (m_lastTransmitStatus != HAL_OK) {
|
|
ZLOGE(TAG, "HAL_CAN_AddTxMessage fail");
|
|
return false;
|
|
}
|
|
|
|
while (HAL_CAN_IsTxMessagePending(m_config->canHandle, txMailBox)) {
|
|
if (zos_haspassedms(enterticket) > (uint32_t)overtimems) {
|
|
m_lastTransmitStatus = HAL_TIMEOUT;
|
|
HAL_CAN_AbortTxRequest(m_config->canHandle, txMailBox);
|
|
return false;
|
|
}
|
|
// m_os->sleepMS(1);
|
|
osDelay(1);
|
|
}
|
|
if (txPacketInterval_ms > 0) {
|
|
osDelay(txPacketInterval_ms);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool ZCanReceiver::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) {
|
|
/**
|
|
* @brief 读取当前FIFO中缓存了多少帧的数据
|
|
*/
|
|
uint32_t level = HAL_CAN_GetRxFifoFillLevel(m_config->canHandle, m_config->rxfifoNum);
|
|
if (level == 0) {
|
|
return false;
|
|
}
|
|
HAL_StatusTypeDef HAL_RetVal;
|
|
HAL_RetVal = HAL_CAN_GetRxMessage(m_config->canHandle, m_config->rxfifoNum, pHeader, aData);
|
|
if (HAL_OK == HAL_RetVal) {
|
|
// 处理接收到的can总线数据
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle) {
|
|
/**
|
|
* @brief 中断上下文
|
|
*/
|
|
if (canHandle != m_config->canHandle) {
|
|
return;
|
|
}
|
|
/**
|
|
* @brief 处理can接收到消息
|
|
*/
|
|
CAN_RxHeaderTypeDef pHeader;
|
|
uint8_t aData[8] = {0};
|
|
// CanPacketRxBuffer *rxbuf = &m_canPacketRxBuffer;
|
|
while (getRxMessage(&pHeader, aData)) {
|
|
// 过滤掉非标准帧和远程帧，和DLC为0的帧
|
|
if (pHeader.RTR != CAN_RTR_DATA || pHeader.IDE != CAN_ID_STD) continue;
|
|
if (pHeader.DLC == 0) continue;
|
|
|
|
// printf(".");
|
|
|
|
/**
|
|
* @brief 处理接收到的数据
|
|
*/
|
|
|
|
uint8_t from = (pHeader.StdId & 0xFF);
|
|
uint8_t nframe = (aData[0] & 0xF0) >> 4;
|
|
uint8_t frameoff = (aData[0] & 0x0F);
|
|
|
|
// 只接收来自主机的消息
|
|
if (from != MAIN_DEVICE_CAN_ID) continue;
|
|
|
|
// 当frameoff==0,重置接收缓存
|
|
if (frameoff == 0) {
|
|
if (curRxBuf != nullptr) {
|
|
m_rxFramePool.free(&curRxBuf);
|
|
}
|
|
curRxBuf = m_rxFramePool.alloc();
|
|
}
|
|
|
|
if (!curRxBuf) return; // 分配内存失败
|
|
|
|
// 当接收到非期望frameoff的数据时，说明发生了丢包，重置接收缓存
|
|
if (curRxBuf->canPacketNum != frameoff) {
|
|
m_rxFramePool.free(&curRxBuf);
|
|
continue;
|
|
}
|
|
|
|
// 接收到有效包
|
|
if (curRxBuf->rxdataLen + pHeader.DLC - 1 < sizeof(curRxBuf->rxdata)) {
|
|
memcpy(&curRxBuf->rxdata[curRxBuf->rxdataLen], &aData[1], pHeader.DLC - 1);
|
|
curRxBuf->canPacketNum++;
|
|
curRxBuf->rxdataLen += pHeader.DLC - 1;
|
|
}
|
|
|
|
if (nframe == frameoff + 1) {
|
|
curRxBuf->npacket = nframe;
|
|
bool pass = rxprocesser->filterPacket(curRxBuf);
|
|
if (pass) {
|
|
// printf("y\n");
|
|
m_pendingMsgQueue.sendIRQ(curRxBuf);
|
|
} else {
|
|
// printf("x\n");
|
|
m_rxFramePool.free(&curRxBuf);
|
|
}
|
|
}
|
|
}
|
|
|
|
// deactivateRxIT();
|
|
}
|
|
void ZCanReceiver::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) {
|
|
if (canHandle != m_config->canHandle) {
|
|
return;
|
|
}
|
|
ZLOGE(TAG, "onCAN_Error\r\n");
|
|
}
|
|
|
|
void ZCanReceiver::processRx() {
|
|
auto *rx = m_pendingMsgQueue.receive();
|
|
if (rx) {
|
|
// !处理接收到的数据!
|
|
if (rxprocesser) rxprocesser->processRxPacket(rx);
|
|
}
|
|
}
|
|
|
|
void ZCanReceiver::loop() { processRx(); }
|
|
HAL_StatusTypeDef ZCanReceiver::activateRxIT() {
|
|
HAL_StatusTypeDef hal_status = HAL_ERROR;
|
|
if (m_config->rxfifoNum == CAN_RX_FIFO0) {
|
|
hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
|
|
} else if (m_config->rxfifoNum == CAN_RX_FIFO1) {
|
|
hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
|
|
} else {
|
|
ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n");
|
|
return hal_status;
|
|
}
|
|
return hal_status;
|
|
}
|
|
HAL_StatusTypeDef ZCanReceiver::deactivateRxIT() {
|
|
HAL_StatusTypeDef hal_status = HAL_ERROR;
|
|
if (m_config->rxfifoNum == CAN_RX_FIFO0) {
|
|
hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
|
|
} else if (m_config->rxfifoNum == CAN_RX_FIFO1) {
|
|
hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
|
|
} else {
|
|
ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n");
|
|
return hal_status;
|
|
}
|
|
return hal_status;
|
|
}
|
|
|
|
#endif
|