| 1,3 → 1,4 |
|---|
| #include <string.h> |
| #include "91x_lib.h" |
| #include "91x_can.h" |
| #include "timer1.h" |
| 5,10 → 6,11 |
|---|
| #include "canbus.h" |
| #include "main.h" |
| #include "uart1.h" |
| #include "GPS.h" |
| |
| canmsg CanMsg; |
| canmsg RxCanMsg; |
| volatile u32 frame_received_flag; |
| volatile u32 AllMsgsReceived; |
| |
| GPIO_InitTypeDef GPIO_InitStructure; |
| CAN_InitTypeDef CAN_InitStructure; |
| 22,7 → 24,7 |
|---|
| }VIC_Priority; |
| |
| /* buffer for receive messages */ |
| canmsg RxCanMsg; |
| canmsg RxCanTxMsg; |
| |
| /* used message object numbers */ |
| enum { |
| 30,13 → 32,19 |
|---|
| CAN_RX_MSGOBJ = 1 |
| }; |
| |
| /* array of pre-defined transmit messages */ |
| canmsg TxCanMsg[3] = { |
| { CAN_STD_ID, 0x123, 4, { 0x01, 0x02, 0x04, 0x08 } }, |
| { CAN_STD_ID, 0x321, 2, { 0xAA, 0x55, 0xAA, 0x55 } }, |
| { CAN_EXT_ID, 0x12345678, 8, { 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17 } } |
| }; |
| #define CAN_MSG_ADR 0x100 |
| |
| #define CAN_ID_VERSION 0 |
| #define CAN_ID_STATUS 1 |
| #define CAN_ID_FS_LON 2 |
| #define CAN_ID_FS_LAT 3 |
| #define CAN_ID_FS_ALT 4 |
| |
| #define MAX_CAN_MSG 10 |
| |
| 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 |
| 79,9 → 87,17 |
|---|
| |
| case 1 /* CAN_RX_MSGOBJ */: |
| CAN_ReceiveMessage(msgobj, FALSE, &RxCanMsg); |
| CAN_ReleaseRxMessage(msgobj); |
| frame_received_flag = 1; |
| DebugOut.Analog[19]++; |
| CAN_ReleaseRxMessage(msgobj); |
| |
| if(RxCanMsg.Id >= CAN_MSG_ADR && RxCanMsg.Id < CAN_MSG_ADR + MAX_CAN_MSG) |
| { |
| memcpy(&CanRxMessage[RxCanMsg.Id - CAN_MSG_ADR], &RxCanMsg,sizeof(RxCanMsg)); |
| } |
| if(RxCanMsg.Id == CAN_MSG_ADR + MAX_CAN_MSG - 1) |
| { |
| AllMsgsReceived = 1; |
| } |
| DebugOut.Analog[16] = RxCanMsg.Id; |
| break; |
| |
| default: |
| 97,13 → 113,18 |
|---|
| |
| void CanSend(void) |
| { |
| // 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); |
| //CAN_UpdateMsgObj(CAN_TX_MSGOBJ, &TxCanMsg[1]); |
| TxCanMsg[1].Data[0] = DebugOut.Analog[24] / 256; |
| TxCanMsg[1].Data[1] = DebugOut.Analog[24] % 256; |
| CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]); |
| static u32 index = 1; |
| CanTxMessage[4].D.sLong = DebugOut.Analog[24]; |
| // CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]); |
| if(CAN_SendMessage(CAN_TX_MSGOBJ, &CanTxMessage[index]) == SUCCESS) |
| { |
| if(++index >= MAX_CAN_MSG) |
| { |
| index = 0; |
| CanTxMessage[CAN_ID_FS_LON].D.sLong = GPS_FailsafePosition.Longitude; |
| CanTxMessage[CAN_ID_FS_LAT].D.sLong = GPS_FailsafePosition.Latitude; |
| } |
| } |
| } |
| |
| void CanReceive(void) |
| 129,6 → 150,20 |
|---|
| 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; |
| for(i=0; i< MAX_CAN_MSG;i++) |
| { |
| CanTxMessage[i].IdType = CAN_STD_ID; |
| CanTxMessage[i].Id = i + CAN_MSG_ADR; |
| CanTxMessage[i].Length = 8; |
| CanTxMessage[i].D.Long = i; |
| } |
| |
| CanTxMessage[CAN_ID_VERSION].D.Byte[0] = CAN_SLAVE_COMPATIBLE; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[1] = VERSION_PATCH; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[2] = VERSION_MINOR; |
| CanTxMessage[CAN_ID_VERSION].D.Byte[3] = VERSION_MAJOR; |
| |
| UART1_PutString("ok"); |
| } |
| |
| 141,12 → 176,21 |
|---|
| |
| //DebugOut.Analog[16] = CAN->SR ; |
| |
| if(frame_received_flag) |
| if(AllMsgsReceived) |
| { |
| frame_received_flag = 0; |
| DebugOut.Analog[16] = RxCanMsg.Data[0] * 256 + RxCanMsg.Data[1]; |
| AllMsgsReceived = 0; |
| DebugOut.Analog[17] = CanRxMessage[4].D.sLong; |
| DebugOut.Analog[19]++; |
| |
| DebugOut.Analog[17] = CanRxMessage[CAN_ID_FS_LON].D.sLong / 100000; |
| DebugOut.Analog[18] = CanRxMessage[CAN_ID_FS_LAT].D.sLong / 100000; |
| |
| if(DebugOut.Analog[31] == 0) |
| { |
| GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |
| GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
| } |
| } |
| |
| } |
| |
| |