| 0,0 → 1,269 |
|---|
| #include <stdio.h> |
| #include <stdarg.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "91x_can.h" |
| #include "timer1.h" |
| #include "led.h" |
| #include "canbus.h" |
| #include "compass.h" |
| #include "main.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "GPS.h" |
| |
| canmsg CanMsg; |
| canmsg RxCanMsg; |
| volatile u32 AllMsgsReceived; |
| u32 CanbusTimeOut = 0; |
| |
| GPIO_InitTypeDef GPIO_InitStructure; |
| CAN_InitTypeDef CAN_InitStructure; |
| |
| |
| typedef enum { |
| NA, |
| Priority_1, |
| Priority_2, |
| Priority_3 |
| }VIC_Priority; |
| |
| /* buffer for receive messages */ |
| canmsg RxCanTxMsg; |
| |
| /* used message object numbers */ |
| enum { |
| CAN_TX_MSGOBJ = 0, |
| CAN_RX_MSGOBJ = 1 |
| }; |
| |
| #define CAN_MSG_ADR_MA 0x200 |
| #define CAN_MSG_ADR_SL 0x300 |
| |
| u32 CAN_IdTx; // I am Sending in this ID-Range |
| u32 CAN_IdRx; // I am Receiving in this ID-Range |
| |
| CanMessage_t CanTxMessage[MAX_CAN_MSG]; |
| CanMessage_t CanRxMessage[MAX_CAN_MSG]; |
| |
| void CAN_IO_Init(void) |
| { |
| // P5.0 alternate input 1, CAN_RX pin |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0; |
| GPIO_InitStructure.GPIO_Direction=GPIO_PinInput; |
| GPIO_InitStructure.GPIO_IPInputConnected=GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate=GPIO_InputAlt1; |
| GPIO_Init(GPIO5,&GPIO_InitStructure); |
| // P5.1 CAN_TX |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1; |
| GPIO_InitStructure.GPIO_Direction=GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Type=GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt2; |
| GPIO_Init(GPIO5,&GPIO_InitStructure); |
| } |
| |
| |
| |
| /******************************************************************************* |
| * Function Name : CAN_IRQHandler |
| * Description : This function handles the CAN interrupt request |
| *******************************************************************************/ |
| void CAN_IRQHandler(void) |
| { |
| u32 msgobj = 0; |
| if(CAN->IDR == 0x8000) /* status interrupt */ |
| { |
| (void)CAN->SR; /* read the status register to clear*/ |
| } |
| else if(CAN->IDR >= 1 && CAN->IDR <= 32) |
| { |
| /* get the message object number that caused the interrupt to occur */ |
| switch(msgobj = CAN->IDR - 1) |
| { |
| case 0 /* CAN_TX_MSGOBJ */: |
| CAN_ReleaseTxMessage(msgobj); |
| break; |
| |
| case 1 /* CAN_RX_MSGOBJ */: |
| CAN_ReceiveMessage(msgobj, FALSE, &RxCanMsg); |
| CAN_ReleaseRxMessage(msgobj); |
| |
| if(RxCanMsg.Id >= CAN_IdRx && RxCanMsg.Id < CAN_IdRx + MAX_CAN_MSG) |
| { |
| memcpy(&CanRxMessage[RxCanMsg.Id - CAN_IdRx], &RxCanMsg,sizeof(RxCanMsg)); |
| } |
| if(RxCanMsg.Id == CAN_IdRx + MAX_CAN_MSG - 1) |
| { |
| AllMsgsReceived = 1; |
| } |
| // DebugOut.Analog[] = RxCanMsg.Id; |
| break; |
| |
| default: |
| CAN_ReleaseMessage(msgobj); |
| break; |
| } |
| } |
| |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| |
| } |
| |
| void CanSend(void) |
| { |
| static u32 index = 1; |
| |
| if(CAN_SendMessage(CAN_TX_MSGOBJ, (canmsg*) &CanTxMessage[index]) == SUCCESS) |
| { |
| if(++index >= MAX_CAN_MSG) |
| { |
| u32 i; |
| index = 0; |
| CanTxMessage[CAN_ID_STATUS].D.Byte[0] = ErrorCode; |
| |
| CanTxMessage[CAN_ID_FS_LON].D.sLong = GPS_FailsafePosition.Longitude; |
| CanTxMessage[CAN_ID_FS_LAT].D.sLong = GPS_FailsafePosition.Latitude; |
| |
| CanTxMessage[CAN_ID_STATUS].D.Byte[0] = ErrorCode; |
| CanTxMessage[CAN_ID_STATUS].D.Byte[1] = FC.StatusFlags; |
| CanTxMessage[CAN_ID_STATUS].D.Byte[2] = FC.StatusFlags2; |
| CanTxMessage[CAN_ID_STATUS].D.Byte[3] = FC.StatusFlags3; |
| CanTxMessage[CAN_ID_STATUS].D.Byte[4] = NC_To_FC_Flags; |
| CanTxMessage[CAN_ID_STATUS].D.Byte[5] = EarthMagneticField/5; // in % |
| CanTxMessage[CAN_ID_STATUS].D.Int[3] = GyroCompassCorrected; |
| |
| for(i=0; i<8;i++) |
| { |
| CanTxMessage[CAN_ID_TEXT1].D.Byte[i] = ErrorMSG[i]; |
| CanTxMessage[CAN_ID_TEXT2].D.Byte[i] = ErrorMSG[i + 8]; |
| CanTxMessage[CAN_ID_TEXT3].D.Byte[i] = ErrorMSG[i + 16]; |
| } |
| } |
| } |
| } |
| |
| void CanReceive(void) |
| { |
| |
| } |
| |
| |
| void CanbusInit(void) |
| { |
| UART1_PutString("\r\n Canbus init..."); |
| CAN_IO_Init(); |
| SCU_APBPeriphClockConfig(__CAN, ENABLE); |
| SCU_APBPeriphReset(__CAN, DISABLE); |
| |
| VIC_Config(CAN_ITLine, VIC_IRQ, Priority_1); |
| CAN_InitStructure.CAN_ConfigParameters=CAN_CR_IE; |
| CAN_InitStructure.CAN_Bitrate = CAN_BITRATE_1M; |
| CAN_Init(&CAN_InitStructure); |
| VIC_ITCmd(CAN_ITLine, ENABLE); |
| |
| CAN_SetUnusedAllMsgObj(); |
| CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE); |
| CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE); |
| |
| u32 i; |
| |
| if(IamMaster == SLAVE) |
| { |
| CAN_IdRx = CAN_MSG_ADR_MA; |
| CAN_IdTx = CAN_MSG_ADR_SL; |
| } |
| else |
| { |
| CAN_IdRx = CAN_MSG_ADR_SL; |
| CAN_IdTx = CAN_MSG_ADR_MA; |
| } |
| |
| for(i=0; i< MAX_CAN_MSG;i++) |
| { |
| // clear TX Buffer |
| CanTxMessage[i].IdType = CAN_STD_ID; |
| CanTxMessage[i].Id = i + CAN_IdTx; |
| CanTxMessage[i].Length = 8; |
| CanTxMessage[i].D.Long = 0; |
| |
| // clear receiving Buffer |
| CanRxMessage[i].Id = 0; |
| CanRxMessage[i].D.Long = 0; |
| } |
| |
| CanTxMessage[CAN_ID_VERSION].D.Byte[0] = 0; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[2] = GPS_Version/1000; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[3] = UART_VersionInfo.HWMajor; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[4] = CAN_SLAVE_COMPATIBLE; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[5] = VERSION_PATCH; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[6] = VERSION_MINOR; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[7] = VERSION_MAJOR; |
| |
| UART1_PutString("ok"); |
| } |
| |
| void ProcessCanBus(void) |
| { |
| u32 errorcnt = 0; |
| |
| CanSend(); |
| CanReceive(); |
| |
| errorcnt = CAN_GetTransmitErrorCounter(); |
| //if(errorcnt > 200) CanbusInit(); |
| |
| if(CanbusTimeOut < 3) |
| { |
| if(CanbusTimeOut == 1) Partner.ErrorCode = 39; // ERR: Canbus |
| Partner.StatusFlags = 0; |
| Partner.StatusFlags2 = 0; |
| Partner.StatusFlags3 = 0; |
| Partner.NC_To_FC_Flags = 0; |
| Partner.MagnetField = 0; |
| Partner.GyroCompassCorrected = -1; |
| sprintf(PartnerErrorMSG," --- "); |
| } |
| |
| if(CanRxMessage[CAN_ID_VERSION].D.Byte[6] == 13) // dann ist der Testdummy angeschlossen -> nur zum Testen von EXT2 |
| { |
| if((PartnerErrorMSG[17] + PartnerErrorMSG[18]) & 1) EXT2_ON; |
| else EXT2_OFF; |
| } |
| |
| if(AllMsgsReceived) |
| { |
| u32 i; |
| AllMsgsReceived = 0; |
| CanbusTimeOut = 1000; |
| for(i=0; i<8;i++) |
| { |
| PartnerErrorMSG[i] = CanRxMessage[CAN_ID_TEXT1].D.Byte[i]; |
| PartnerErrorMSG[i+8] = CanRxMessage[CAN_ID_TEXT2].D.Byte[i]; |
| PartnerErrorMSG[i+16] = CanRxMessage[CAN_ID_TEXT3].D.Byte[i]; |
| } |
| Partner.ErrorCode = CanRxMessage[CAN_ID_STATUS].D.Byte[0]; |
| Partner.StatusFlags = CanRxMessage[CAN_ID_STATUS].D.Byte[1]; |
| Partner.StatusFlags2 = CanRxMessage[CAN_ID_STATUS].D.Byte[2]; |
| Partner.StatusFlags3 = CanRxMessage[CAN_ID_STATUS].D.Byte[3]; |
| Partner.NC_To_FC_Flags = CanRxMessage[CAN_ID_STATUS].D.Byte[4]; |
| Partner.MagnetField = CanRxMessage[CAN_ID_STATUS].D.Byte[5]; |
| Partner.GyroCompassCorrected = CanRxMessage[CAN_ID_STATUS].D.Int[3]; |
| |
| CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
| |
| if(IamMaster == SLAVE) |
| { |
| GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |
| GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
| } |
| } |
| } |
| |
| |
| |
| |
| |