update can driver

Signed-off-by: FuangCao <cavan.cao@foxmail.com>

Project/PS100.uvprojx

@@ -324,7 +324,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
-            <uGnu>0</uGnu>
+            <uGnu>1</uGnu>
             <useXO>0</useXO>
             <v6Lang>1</v6Lang>
             <v6LangP>1</v6LangP>

Project/version.txt

@@ -1 +1 @@
-PS100XX_V11_11201527
+PS100XX_V11_11201916

Source/app.c

@@ -782,8 +782,6 @@ void Power_On_Normal(uint8_t enable,uint8_t from)
 		ACC2_Enable(0);
 		
 		Can_Power_Enable(0);
-
-		Can_Stop_Send();
 		
 		//QD_Enable(0);
 		QD_Enable_From(0,1);

Source/app_end_ctr.c

@@ -354,6 +354,7 @@ int8_t Handle_Can_Ctr_CMD(CAN_FRAME*can_ctr_frame)
 		case 0x42F5:
 		case 0x42F6:
 		case 0x42F8:
+		case 0x42F9:
 			break;
 #endif
 		default:
@@ -650,6 +651,14 @@ int8_t Rsp_Can_Ctr_CMD(CAN_FRAME*can_ctr_frame)
 			return 0;
 #ifdef CONFIG_CAN_IAP
 		case 0x42F5:
+			if (can_ctr_frame->len > 2 && can_ctr_frame->len < 8) {
+				memmove(buf + 3, buf + 2, can_ctr_frame->len - 2);
+				len = can_ctr_frame->len + 1;
+				buf[2] = 0;
+				break;
+			}
+		case 0x42F9:
+			qws_iap_write_magic(0x11223344);
 		case 0x42F6:
 			len = 3;
 			buf[2] = 0;

Source/drv_can.c

@@ -4,7 +4,6 @@
 
 extern uint8_t work_normal;
 //********************************************************CAN-START**********************************************************
-static uint8_t can_tx_buf[CAN_TX_BUF_MAX];
 static uint8_t can_rx_ctr_self_buf[CAN_RX_BUF_MAX];
 static uint8_t can_rx_ctr_bro_buf[CAN_RX_CTR_BRO_BUF_MAX];
 static uint8_t can_rx_test_bro_buf[CAN_RX_TEST_BRO_BUF_MAX];
@@ -25,14 +24,106 @@ uint32_t filter_test_bro_id = (PRINTF_TER_ID << 10)|(BROCAST_ID << 3)|CAN_FF_EXT
 CAN_FRAME can_ctr_self;
 CAN_FRAME can_ctr_bro;
 CAN_FRAME can_test_bro;
-static CAN_FRAME can_tx_frame;
 
-static uint8_t can_busy = 0;
+static shark_can_frame_t shark_can_tx_queue[200];
+static shark_u8 shark_can_tx_head;
+static shark_u8 shark_can_tx_tail;
+
+static shark_bool shark_can_tx_frame(shark_can_frame_t *frame)
+{
+	u8 mailbox;
+
+	if (CAN_TSTAT_TME0 == (CAN_TSTAT(CAN0) & CAN_TSTAT_TME0)) {
+		mailbox = CAN_MAILBOX0;
+	} else if (CAN_TSTAT_TME1 == (CAN_TSTAT(CAN0) & CAN_TSTAT_TME1)) {
+		mailbox = CAN_MAILBOX1;
+	} else if (CAN_TSTAT_TME2 == (CAN_TSTAT(CAN0) & CAN_TSTAT_TME2)) {
+		mailbox = CAN_MAILBOX2;
+	} else {
+		return shark_false;
+	}
+
+	CAN_TMDATA0(CAN0, mailbox) = frame->values[0];
+	CAN_TMDATA1(CAN0, mailbox) = frame->values[1];
+
+	CAN_TMP(CAN0, mailbox) &= ~CAN_TMP_DLENC;
+	CAN_TMP(CAN0, mailbox) |= frame->efid.length + 1;
+	CAN_TMI(CAN0, mailbox) = frame->efid.value << 3 | CAN_FF_EXTENDED | CAN_FT_DATA | CAN_TMI_TEN;
+
+	return shark_true;
+}
+
+shark_bool shark_can_send_frame(shark_can_efid_t efid, const void *buff, u8 length)
+{
+	u8 tail = (shark_can_tx_tail + 1) % NELEM(shark_can_tx_queue);
+	shark_can_frame_t *frame;
+	u32 times = 20000;
+
+	if (work_normal == 0) {
+		return shark_false;
+	}
+
+	while (tail == shark_can_tx_head) {
+		if (times > 0) {
+			times--;
+		} else {
+			return shark_false;
+		}
+	}
+
+	frame = shark_can_tx_queue + shark_can_tx_tail;
+	memcpy(frame->data, buff, length);
+	frame->efid.value = efid.value;
+
+	if (shark_can_tx_tail == shark_can_tx_head && shark_can_tx_frame(frame)) {
+		return shark_true;
+	}
+
+	shark_can_tx_tail = tail;
+	can_interrupt_enable(CAN0, CAN_INT_TME);
+
+	return shark_true;
+}
+
+shark_bool shark_can_send(u8 dest, u8 src, u8 type, const u8 *buff, u16 length)
+{
+	shark_can_efid_t efid;
+	u8 index = 1;
+
+	efid.dest = dest;
+	efid.src = src;
+	efid.type = type;
+	efid.priority = 6;
+	efid.total = (length + 7) / 8;
+
+	while (length > 0) {
+		u8 wrlen = length > 8 ? 8 : length;
+
+		efid.index = index;
+		efid.length = wrlen - 1;
+
+		if (shark_can_send_frame(efid, buff, wrlen)) {
+			length -= wrlen;
+			buff += wrlen;
+			index++;
+		} else {
+			return shark_false;
+		}
+	}
+
+	return shark_true;
+}
 
 void Can_Stop_Send(void)
 {
-	can_busy = 0;
+	shark_can_tx_head = shark_can_tx_tail = 0;
+}
+
+int8_t Send_Data_Can(CAN_FRAME*app_can_frame,uint8_t from)
+{
+	return shark_can_send(app_can_frame->head.dest, app_can_frame->head.sour, app_can_frame->head.rsp, app_can_frame->data, app_can_frame->len);
 }
+
 void Check_Can_Poll(void)
 {
 	if(work_normal)
@@ -43,7 +134,6 @@ void Check_Can_Poll(void)
 			can_deinit(CAN0);
 			CAN_Config_HW();
 			Can_Power_Enable(1);
-			can_busy = 0;
 		}
 	}
 }
@@ -82,52 +172,6 @@ uint16_t Get_Data_Can(CAN_FRAME*app_can_frame)
     
 }
 
-
-
-int8_t Send_Data_Can(CAN_FRAME*app_can_frame,uint8_t from)
-{
-	can_trasnmit_message_struct can_tr_m;
-	uint32_t exid = 0;
-	
-
-
-	if(app_can_frame == NULL || can_busy || work_normal == 0)
-	    return 0;
-	
-	//Silent_Enable(0);
-	//delay_1us(100);
-	
-	memcpy(&can_tx_frame.head,&app_can_frame->head,sizeof(can_tx_frame.head));
-	can_tx_frame.len = app_can_frame->len;
-	memcpy(can_tx_frame.data,app_can_frame->data,can_tx_frame.len);
-
-
-	
-	memset(&can_tr_m,0x00,sizeof(can_tr_m));
-	memcpy(&exid,&can_tx_frame.head,sizeof(exid));
-	can_tr_m.tx_efid = (exid>>3);
-	can_tr_m.tx_ff = CAN_FF_EXTENDED;
-	can_tr_m.tx_ft = CAN_FT_DATA;
-
-	if(can_tx_frame.len > 8)
-		can_tr_m.tx_dlen = 8;
-	else
-		can_tr_m.tx_dlen = can_tx_frame.len;
-
-	memcpy(can_tr_m.tx_data,can_tx_frame.data,can_tr_m.tx_dlen);
-
-	if(can_message_transmit(CAN0,&can_tr_m) == CAN_NOMAILBOX)
-		return 0;
-
-	if(can_tx_frame.head.total != 1)
-	{
-		can_busy = 1;
-		can_interrupt_enable(CAN0, CAN_INT_TME);
-	}
-	
-    return 1;
-    
-}
 static void Can_NVIC_Config(void)
 {
 	nvic_irq_enable(USBD_HP_CAN0_TX_IRQn,3,0);
@@ -260,10 +304,6 @@ void CAN_Config(void)
 	can_ctr_self.data = can_rx_ctr_self_buf;
 	can_ctr_bro.data = can_rx_ctr_bro_buf;
 	can_test_bro.data = can_rx_test_bro_buf;
-
-	memset(&can_tx_frame,0x00,sizeof(can_tx_frame));
-	memset(can_tx_buf,0x00,sizeof(can_tx_buf));
-	can_tx_frame.data = can_tx_buf;
 	
 	
 	/* enable CAN clock */
@@ -368,37 +408,18 @@ void CAN_Config(void)
 
 void USBD_HP_CAN0_TX_IRQHandler(void)
 {
-	can_trasnmit_message_struct can_tr_m;
-	uint32_t exid = 0;
-	
-	if(can_tx_frame.head.index != can_tx_frame.head.total)
-	{
-		can_tx_frame.head.index++;
-		
-		memset(&can_tr_m,0x00,sizeof(can_tr_m));
-		memcpy(&exid,&can_tx_frame.head,sizeof(exid));
-		can_tr_m.tx_efid = (exid>>3);
-		can_tr_m.tx_ff = CAN_FF_EXTENDED;
-		can_tr_m.tx_ft = CAN_FT_DATA;
-		exid = get_index_total_value(can_tx_frame.head.index) -1;
-		exid <<= 3;
-		
-		if(can_tx_frame.head.index != can_tx_frame.head.total)
-			can_tr_m.tx_dlen = 8;
-		else
-			can_tr_m.tx_dlen = can_tx_frame.len - exid;
-
-		memcpy(can_tr_m.tx_data,&can_tx_frame.data[exid],can_tr_m.tx_dlen);
-
-		can_message_transmit(CAN0,&can_tr_m);
-	}
-	else
-	{
-		can_busy = 0;
-		can_interrupt_disable(CAN0, CAN_INT_TME);
-		//Silent_Enable(1);
+	while (shark_true) {
+		if (shark_can_tx_head == shark_can_tx_tail) {
+			can_interrupt_disable(CAN0, CAN_INT_TME);
+			break;
+		}
+
+		if (shark_can_tx_frame(shark_can_tx_queue + shark_can_tx_head)) {
+			shark_can_tx_head = (shark_can_tx_head + 1) % NELEM(shark_can_tx_queue);
+		} else {
+			break;
+		}
 	}
-	
 }
 
 void USBD_LP_CAN0_RX0_IRQHandler(void)
@@ -448,33 +469,8 @@ void USBD_LP_CAN0_RX0_IRQHandler(void)
 	
 }
 
-static can_trasnmit_message_struct shark_can_log_message;
-static u32 shark_can_log_delay;
-
-static void shark_can_log_flush(uint8_t dest)
-{
-	u32 ticks = shark_can_log_delay;
-
-	shark_can_log_message.tx_efid = 3 << 24 | 1 << 19 | 1 << 14 | SELF_ID << 7 | dest;
-	shark_can_log_message.tx_ff = CAN_FF_EXTENDED;
-	shark_can_log_message.tx_ft = CAN_FT_DATA;
-
-	while (shark_true) {
-		if (can_message_transmit(CAN0, &shark_can_log_message) != CAN_NOMAILBOX) {
-			shark_can_log_delay = 20000;
-			break;
-		}
-
-		if (ticks > 0) {
-			ticks--;
-		} else {
-			shark_can_log_delay = 0;
-			break;
-		}
-	}
-
-	shark_can_log_message.tx_dlen = 0;
-}
+static u8 shark_can_log_buff[8];
+static u8 shark_can_log_length;
 
 // 
 //ÓÃÓÚϵͳµ÷ÓÃprintf
@@ -482,18 +478,19 @@ static void shark_can_log_flush(uint8_t dest)
 int fputc(int ch, FILE *f)
 {
 	if (ch == '\n') {
-		if (shark_can_log_message.tx_dlen > 0) {
-			shark_can_log_flush(0x72);
+		if (shark_can_log_length > 0) {
+			shark_can_send(0x72, 0x42, 3, shark_can_log_buff, shark_can_log_length);
+			shark_can_log_length = 0;
 		}
-	} else if (shark_can_log_message.tx_dlen < sizeof(shark_can_log_message.tx_data)) {
-		shark_can_log_message.tx_data[shark_can_log_message.tx_dlen] = ch;
-		shark_can_log_message.tx_dlen++;
+	} else if (shark_can_log_length < sizeof(shark_can_log_buff)) {
+		shark_can_log_buff[shark_can_log_length] = ch;
+		shark_can_log_length++;
 	} else {
-		shark_can_log_flush(0x70);
-		shark_can_log_message.tx_dlen = 1;
-		shark_can_log_message.tx_data[0] = ch;
+		shark_can_send(0x70, 0x42, 3, shark_can_log_buff, shark_can_log_length);
+		shark_can_log_buff[0] = ch;
+		shark_can_log_length = 1;
 	}
-	
+
 	return ch;
 }
 //********************************************************CAN-END**********************************************************

Source/drv_can.h

@@ -1,6 +1,8 @@
 #ifndef DRV_CAN_H
 #define DRV_CAN_H
 
+#include "shark_types.h"
+
 #define FRAME_PRO_0 (0)
 #define FRAME_PRO_1 (1)
 #define FRAME_PRO_2 (2)
@@ -30,6 +32,29 @@
 #define get_index_total_value(x) ((x)?(x):(32))
 #define Silent_Enable(x) gpio_bit_write(GPIOA,GPIO_PIN_7,(bit_status)(x))
 
+typedef union {
+	u32 value;
+
+	struct {
+		u32 dest		:7;
+		u32 src			:7;
+		u32 index		:5;
+		u32 total		:5;
+		u32 type		:2;
+		u32 priority	:3;
+		u32 length		:3;
+	};
+} shark_can_efid_t;
+
+typedef struct {
+	shark_can_efid_t efid;
+
+	union {
+		u16 key;
+		u8 data[8];
+		u32 values[2];
+	};
+} shark_can_frame_t;
 
 #pragma  pack (push,1)  
 typedef struct
@@ -97,6 +122,9 @@ void Check_Can_Poll(void);
 
 void Can_Stop_Send(void);
 
+shark_bool shark_can_send_frame(shark_can_efid_t efid, const void *buff, u8 length);
+shark_bool shark_can_send(u8 dest, u8 src, u8 type, const u8 *buff, u16 length);
+
 #endif
 
 

Source/main.c

@@ -182,9 +182,6 @@ int main(void)
 	
 #if DEBUG_MODE == 0
 	Watch_Dog_Initial();
-#endif
-#ifdef CONFIG_CAN_IAP
-		qws_iap_write_magic(0x11223344);
 #endif
 	/*extern void test_io(void);
 	for(;;)

Source/shark_charge.c

@@ -28,6 +28,14 @@ shark_bool shark_charger_is_normal(void)
 	return shark_charger_enabled && (shark_battery_charge_in1() || shark_battery_charge_in2());
 }
 
+void shark_charger_set_state(shark_charger_state_t state)
+{
+	if (shark_charger_state != state) {
+		shark_charger_state = state;
+		println("charger: state%d", state);
+	}
+}
+
 void shark_charger_set_enable(shark_bool enable)
 {
 	if (sub_bms_info_1.packet_common.m_percent > 99 && sub_bms_info_2.packet_common.m_percent > 99) {
@@ -47,12 +55,12 @@ void shark_charger_set_enable(shark_bool enable)
 	}
 
 	if (enable) {
+		println("charger enable");
 		gpio_bit_set(GPIO_PORT_CHG_EN, GPIO_PIN_CHG_EN);
 		shark_charge_times = 0;
 	} else {
+		println("charger disable");
 		gpio_bit_reset(GPIO_PORT_CHG_EN, GPIO_PIN_CHG_EN);
-		shark_charger_insert = 0;
-		shark_charger_state = SHARK_CHG_DETECT;
 	}
 
 	shark_charger_valid = shark_false;
@@ -62,7 +70,10 @@ void shark_charger_set_enable(shark_bool enable)
 void shark_charger_disable(void)
 {
 	if (shark_charge_times > SHARK_CHG_TIME_DETECT || shark_charger_valid) {
+		println("charger detect");
+		shark_charger_insert = 0;
 		shark_charge_skip = 6000;
+		shark_charger_set_state(SHARK_CHG_DETECT);
 		shark_charger_set_enable(shark_false);
 	}
 }
@@ -80,7 +91,7 @@ void shark_charge_tick(void)
 			shark_charge_skip--;
 		} else {
 			if (shark_charger_insert == SHARK_CHG_INSERT_MIN && shark_xl_check_with_qd() == shark_false) {
-				shark_charger_state = SHARK_CHG_INSERT;
+				shark_charger_set_state(SHARK_CHG_INSERT);
 			}
 
 			shark_charger_insert++;
@@ -90,7 +101,7 @@ void shark_charge_tick(void)
 		shark_charge_skip = 0;
 
 		if (shark_charger_remove > SHARK_CHG_REMOVE_MIN) {
-			shark_charger_state = SHARK_CHG_REMOVE;
+			shark_charger_set_state(SHARK_CHG_REMOVE);
 		} else {
 			shark_charger_remove++;
 		}

Source/shark_charge.h

@@ -34,6 +34,7 @@ extern shark_bool shark_charger_valid;
 extern shark_u16 shark_charge_times;
 
 void shark_charger_set_enable(shark_bool enable);
+void shark_charger_set_state(shark_charger_state_t state);
 shark_bool shark_charger_is_normal(void);
 void shark_charger_disable(void);
 void shark_charge_init(void);

Source/shark_types.h

@@ -10,6 +10,8 @@
 #define SHARK_U16(value)	((shark_u16) (value))
 #define SHARK_U8(value)		((shark_u8) (value))
 
+#define NELEM(array)		(sizeof(array) / sizeof((array)[0]))
+
 #define shark_false			0
 #define shark_true			1
 

Source/sw_build_info.h

@@ -1,3 +1,3 @@
 #pragma once
 
-#define CONFIG_VERSION "PS100XX_V11_11201527"
+#define CONFIG_VERSION "PS100XX_V11_11201916"