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matlab_23550/Inu/Src/N12_Libs/CAN_Setup.c

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#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
#include "CAN_Setup.h" // DSP281x Headerfile Include File
#include "modbus_table_v2.h"
#include "DSP281x_Examples.h" // DSP281x Examples Include File
#include "DSP281x_Device.h"
#include "global_time.h"
#include "TuneUpPlane.h"
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
int CanTimeOutErrorTR = 0;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
int enable_can_recive_after_units_box = 0;
int flag_enable_can_from_mpu=0;
int flag_enable_can_from_terminal=0;
long time_pause_enable_can_from_mpu=0;
long time_pause_enable_can_from_terminal=0;
//unsigned long can_base_adr_terminal, can_base_adr_units, can_base_adr_mpu1, can_base_adr_alarm_log;
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
unsigned int enable_profile_led1_can = 1;
unsigned int enable_profile_led2_can = 0;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
#pragma DATA_SECTION(cycle,".slow_vars")
CYCLE cycle[UNIT_QUA];
#pragma DATA_SECTION(new_cycle_fifo,".slow_vars")
NEW_CYCLE_FIFO new_cycle_fifo;
#pragma DATA_SECTION(fifo,".slow_vars")
#pragma DATA_SECTION(refo,".slow_vars")
FIFO fifo, refo;
#pragma DATA_SECTION(BUSY,".slow_vars")
int BUSY = 0;
#pragma DATA_SECTION(Unites, ".slow_vars")
int Unites[UNIT_QUA_UNITS][UNIT_LEN];
#pragma DATA_SECTION(TerminalUnites, ".slow_vars")
int TerminalUnites[TERMINAL_UNIT_QUA_UNITS][TERMINAL_UNIT_LEN];
#pragma DATA_SECTION(CanOpenUnites, ".slow_vars")
int CanOpenUnites[CANOPENUNIT_LEN];
///////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////
//#pragma DATA_SECTION(CAN_timeout,".slow_vars")
#pragma DATA_SECTION(CAN_timeout,".fast_vars")
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int CAN_timeout[UNIT_QUA];
//
#pragma DATA_SECTION(CAN_request_sent,".slow_vars")
int CAN_request_sent[UNIT_QUA];
//
#pragma DATA_SECTION(CAN_answer_wait,".slow_vars")
int CAN_answer_wait[UNIT_QUA];
//
#pragma DATA_SECTION(CAN_no_answer,".slow_vars")
int CAN_no_answer[UNIT_QUA];
// <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#pragma DATA_SECTION(CAN_refresh_cicle,".slow_vars")
int CAN_refresh_cicle[UNIT_QUA];
// <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#pragma DATA_SECTION(CAN_count_cycle_input_units,".slow_vars")
int CAN_count_cycle_input_units[UNIT_QUA_UNITS];
#pragma DATA_SECTION(CAN_timeout_cicle,".fast_vars")
//#pragma DATA_SECTION(CAN_timeout_cicle, ".slow_vars")
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
int CAN_timeout_cicle[UNIT_QUA];
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
///////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////
#pragma DATA_SECTION(unites_can_setup, ".slow_vars")
UNITES_CAN_SETUP unites_can_setup = UNITES_CAN_SETUP_DEFAULT;
#pragma DATA_SECTION(mpu_can_setup, ".slow_vars")
MPU_CAN_SETUP mpu_can_setup = MPU_CAN_SETUP_DEFAULT;
#pragma DATA_SECTION(terminal_can_setup, ".slow_vars")
TERMINAL_CAN_SETUP terminal_can_setup = TERMINAL_CAN_SETUP_DEFAULT;
#pragma DATA_SECTION(alarm_log_can_setup, ".slow_vars")
ALARM_LOG_CAN_SETUP alarm_log_can_setup = ALARM_LOG_CAN_SETUP_DEFAULT;
#pragma DATA_SECTION(mailboxs_can_setup, ".slow_vars")
MAILBOXS_CAN_SETUP mailboxs_can_setup = MAILBOXS_CAN_SETUP_DEFAULT;
#pragma DATA_SECTION(canopen_can_setup, ".slow_vars")
CANOPEN_CAN_SETUP canopen_can_setup = CANOPEN_CAN_SETUP_DEFAULT;
/////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////
int init_units_can_boxs(UNITES_CAN_SETUP *p)
{
int c,e;
e=0;
for (c=0;c<MAX_COUNT_UNITES_UKSS;c++)
{
if (p->active_box[c])
{
p->adr_box[c+UNITS_NUMERATION_FROM_0_OR_1] = e;
if (p->revers_box[c]) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Unites <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> TMS
{
p->can_in_mbox_adr[e] = p->can_base_adr + c;
p->can_out_mbox_adr[e] = p->can_base_adr + OFFSET_CAN_ADR_UNITS + c;
}
else
{
p->can_out_mbox_adr[e] = p->can_base_adr + c;
p->can_in_mbox_adr[e] = p->can_base_adr + OFFSET_CAN_ADR_UNITS + c;
}
// p->can_in_mbox_adr[e] = START_CAN_ADR_UNITS + c*2;
// p->can_out_mbox_adr[e] = START_CAN_ADR_UNITS + OFFSET_CAN_ADR_UNITS + c*2;
e++;
}
}
p->max_number = e;
return e;
}
/////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////
int init_canopen_can_boxs(CANOPEN_CAN_SETUP *p)
{
int i;
// p->max_number = 8;
for(i = 0; i < CANOPENUNIT_LEN; i++)
CanOpenUnites[i] = 0;
return 1;
}
/////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////
int init_mpu_can_boxs(MPU_CAN_SETUP *p )
{
int c,e;
e = 0;
for (c=0;c<MAX_COUNT_UNITES_MPU;c++)
{
if (p->active_box[c])
{
p->adr_box[c] = e;
p->can_out_mbox_adr[e] = p->can_base_adr + c;
p->can_in_mbox_adr[e] = p->can_base_adr + 0x10 + c; //OFFSET_CAN_ADR_MPU
e++;
}
}
p->max_number = e;
return e;
}
/////////////////////////////////////////////////////////
int init_terminal_can_boxs(TERMINAL_CAN_SETUP *p )
{
int c,e;
e = 0;
for (c=0;c<MAX_COUNT_UNITES_TERMINAL;c++)
{
if (p->active_box[c])
{
p->adr_box[c] = e;
p->can_out_mbox_adr[e] = p->can_base_adr + c;
p->can_in_mbox_adr[e] = p->can_base_adr + 0x10 + c; //OFFSET_CAN_ADR_MPU
e++;
}
}
p->max_number = e;
return e;
}
/////////////////////////////////////////////////////////
int init_alarm_log_can_boxs(ALARM_LOG_CAN_SETUP *p )
{
int c,e;
e = 0;
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
for (c=0;c<MAX_COUNT_UNITES_TERMINAL;c++)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
{
if (p->active_box[c])
{
p->adr_box[c] = e;
p->can_out_mbox_adr[e] = p->can_base_adr + c;
p->can_in_mbox_adr[e] = p->can_base_adr + 0x10 + c; //OFFSET_CAN_ADR_MPU
e++;
}
}
p->max_number = e;
return e;
}
/////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////
void init_mailboxs_can( UNITES_CAN_SETUP *p_units,
MPU_CAN_SETUP *p_mpu,
TERMINAL_CAN_SETUP *p_terminal,
ALARM_LOG_CAN_SETUP *p_alarm_log,
CANOPEN_CAN_SETUP *p_canopen,
MAILBOXS_CAN_SETUP *p_mailboxs )
{
volatile int c,e,max_number_in,max_number_out;
e = 0;
max_number_in = 0;
max_number_out = 0;
if (p_units->max_number>0)
{
for (c=0;c<p_units->max_number;c++)
{
p_mailboxs->can_mbox_adr[e] = p_units->can_in_mbox_adr[c] | 0x80000000;
p_mailboxs->type_in_out_box[e] = CAN_BOX_TYPE_IN;
p_mailboxs->local_number_box[e] = c;
p_mailboxs->type_box[e] = UNITS_TYPE_BOX;
p_units->adr_in_mbox[c] = e;
max_number_in++;
e++;
p_mailboxs->can_mbox_adr[e] = p_units->can_out_mbox_adr[c] | 0x80000000;
p_mailboxs->type_in_out_box[e] = CAN_BOX_TYPE_OUT;
p_mailboxs->local_number_box[e] = c;
p_mailboxs->type_box[e] = UNITS_TYPE_BOX;
p_units->adr_out_mbox[c] = e;
max_number_out++;
e++;
}
}
if (p_mpu->max_number>0)
{
for (c=0;c<p_mpu->max_number;c++)
{
p_mailboxs->can_mbox_adr[e] = p_mpu->can_in_mbox_adr[c] | 0x80000000;
p_mailboxs->type_in_out_box[e] = CAN_BOX_TYPE_IN;
p_mailboxs->local_number_box[e] = c;
p_mailboxs->type_box[e] = MPU_TYPE_BOX;
p_mpu->adr_in_mbox[c] = e;
max_number_in++;
e++;
p_mailboxs->can_mbox_adr[e] = p_mpu->can_out_mbox_adr[c] | 0x80000000;
p_mailboxs->type_in_out_box[e] = CAN_BOX_TYPE_OUT;
p_mailboxs->local_number_box[e] = c;
p_mailboxs->type_box[e] = MPU_TYPE_BOX;
p_mpu->adr_out_mbox[c] = e;
max_number_out++;
e++;
}
}
if (p_terminal->max_number>0)
{
for (c=0;c<p_terminal->max_number;c++)
{
p_mailboxs->can_mbox_adr[e] = p_terminal->can_in_mbox_adr[c] | 0x80000000;
p_mailboxs->type_in_out_box[e] = CAN_BOX_TYPE_IN;
p_mailboxs->local_number_box[e] = c;
p_mailboxs->type_box[e] = TERMINAL_TYPE_BOX;
p_terminal->adr_in_mbox[c] = e;
max_number_in++;
e++;
p_mailboxs->can_mbox_adr[e] = p_terminal->can_out_mbox_adr[c] | 0x80000000;
p_mailboxs->type_in_out_box[e] = CAN_BOX_TYPE_OUT;
p_mailboxs->local_number_box[e] = c;
p_mailboxs->type_box[e] = TERMINAL_TYPE_BOX;
p_terminal->adr_out_mbox[c] = e;
max_number_out++;
e++;
}
}
if (p_alarm_log->max_number>0)
{
for (c=0;c<p_alarm_log->max_number;c++)
{
p_mailboxs->can_mbox_adr[e] = p_alarm_log->can_in_mbox_adr[c] | 0x80000000;
p_mailboxs->type_in_out_box[e] = CAN_BOX_TYPE_IN;
p_mailboxs->local_number_box[e] = c;
p_mailboxs->type_box[e] = ALARM_LOG_TYPE_BOX;
p_alarm_log->adr_in_mbox[c] = e;
max_number_in++;
e++;
p_mailboxs->can_mbox_adr[e] = p_alarm_log->can_out_mbox_adr[c] | 0x80000000;
p_mailboxs->type_in_out_box[e] = CAN_BOX_TYPE_OUT;
p_mailboxs->local_number_box[e] = c;
p_mailboxs->type_box[e] = ALARM_LOG_TYPE_BOX;
p_alarm_log->adr_out_mbox[c] = e;
max_number_out++;
e++;
}
}
if (p_canopen->max_number>0)
{
for (c=0;c<p_canopen->max_number;c++)
{
p_mailboxs->can_mbox_adr[e] = p_canopen->can_in_mbox_adr[c];
p_mailboxs->type_in_out_box[e] = CAN_BOX_TYPE_IN;
p_mailboxs->local_number_box[e] = c;
p_mailboxs->type_box[e] = CANOPEN_TYPE_BOX;
p_canopen->adr_in_mbox[c] = e;
max_number_in++;
e++;
}
}
p_mailboxs->max_number_in = max_number_in;
p_mailboxs->max_number_out = max_number_out;
}
/////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////
void init_all_mailboxs(unsigned long can_base_adr_units, unsigned long can_base_adr_mpu, unsigned long can_base_adr_alarm_log, unsigned long can_base_adr_terminal)
{
//
unites_can_setup.can_base_adr = can_base_adr_units;
init_units_can_boxs(&unites_can_setup);
//
mpu_can_setup.can_base_adr = can_base_adr_mpu;
init_mpu_can_boxs(&mpu_can_setup);
//
terminal_can_setup.can_base_adr = can_base_adr_terminal;
init_terminal_can_boxs(&terminal_can_setup);
//
alarm_log_can_setup.can_base_adr = can_base_adr_alarm_log;
init_alarm_log_can_boxs(&alarm_log_can_setup);
//
init_canopen_can_boxs(&canopen_can_setup);
//
init_mailboxs_can(&unites_can_setup, &mpu_can_setup, &terminal_can_setup, &alarm_log_can_setup, &canopen_can_setup, &mailboxs_can_setup);
}
/////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////
void reset_CAN_timeout_cicle(int box)
{
CAN_timeout_cicle[box]=0;
}
#pragma CODE_SECTION(inc_CAN_timeout_cicle, ".fast_run2");
void inc_CAN_timeout_cicle()
{
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
int i;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
for(i = 0; i < UNIT_QUA; i++)
{
if (CAN_timeout_cicle[i] < MAX_CAN_WAIT_TIMEOUT)
{
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
CAN_timeout_cicle[i]++;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
}
else
{
CAN_timeout[i] = 1;
}
}
}
void InitCan(unsigned long can_base_adr_units, unsigned long can_base_adr_mpu, unsigned long can_base_adr_alarm_log, unsigned long can_base_adr_terminal)
{
struct ECAN_REGS ECanaShadow;
int i, c;
volatile struct MBOX *tmbox;
volatile Uint32 *tmoto;
unsigned long canme_bits = 0;
unsigned long canmd_bits = 0;
unsigned long canmim_bits = 0;
init_all_mailboxs(can_base_adr_units, can_base_adr_mpu, can_base_adr_alarm_log, can_base_adr_terminal);
// Configure CAN pins using GPIO regs here
EALLOW;
GpioMuxRegs.GPFMUX.bit.CANTXA_GPIOF6 = 1;
GpioMuxRegs.GPFMUX.bit.CANRXA_GPIOF7 = 1;
// Configure the eCAN RX and TX pins for eCAN transmissions
ECanaRegs.CANTIOC.all = 8; // only 3rd bit, TXFUNC, is significant
ECanaRegs.CANRIOC.all = 8; // only 3rd bit, RXFUNC, is significant
// Specify that 8 bits will be sent/received
for (c=0;c<32;c++)
{
tmbox = &ECanaMboxes.MBOX0 + c;
tmbox->MSGCTRL.all = 0x00000008;
}
// Disable all Mailboxes
// Required before writing the MSGIDs
ECanaRegs.CANME.all = 0;
canme_bits = 0;
canmd_bits = 0;
canmim_bits = 0;
// receive+transive //Ura
for (c=0;c<32;c++)
{
if (mailboxs_can_setup.can_mbox_adr[c])
{
tmbox = &ECanaMboxes.MBOX0 + c;
if(mailboxs_can_setup.type_box[c] == UNITS_TYPE_BOX)
{
// tmbox->MSGID.bit.IDE = 0;
// tmbox->MSGID.bit.STDMSGID = mailboxs_can_setup.can_mbox_adr[c];
tmbox->MSGID.all = mailboxs_can_setup.can_mbox_adr[c];
}
else
{
if(mailboxs_can_setup.type_box[c] == CANOPEN_TYPE_BOX)
{
tmbox->MSGID.bit.IDE = 0;
tmbox->MSGID.bit.STDMSGID = mailboxs_can_setup.can_mbox_adr[c];
//tmbox->MSGID.all = mailboxs_can_setup.can_mbox_adr[c];
}
else
tmbox->MSGID.all = mailboxs_can_setup.can_mbox_adr[c];
}
canme_bits |= ((unsigned long)1<<c); // set select box bits
canmim_bits |= ((unsigned long)1<<c); // set interrupt bits
if (mailboxs_can_setup.type_in_out_box[c] == CAN_BOX_TYPE_IN)
{
canmd_bits |= ((unsigned long)1<<c); // set receive bits
}
if (mailboxs_can_setup.type_in_out_box[c] == CAN_BOX_TYPE_OUT)
{
}
}
}
// <09><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
ECanaRegs.CANMD.all = canmd_bits;//0x0000FFFF;
// <09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
ECanaRegs.CANME.all = canme_bits;
// Clear all TAn bits
ECanaRegs.CANTA.all = 0xFFFFFFFF;
// Clear all RMPn bits
ECanaRegs.CANRMP.all = 0xFFFFFFFF;
// Clear all interrupt flag bits
ECanaRegs.CANGIF0.all = 0xFFFFFFFF;
ECanaRegs.CANGIF1.all = 0xFFFFFFFF;
// Clear all error and status bits
ECanaRegs.CANES.all=0xffffffff;
ECanaRegs.CANMIM.all = 0xFFFFFFFF;
// Request permission to change the configuration registers
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.all = 0;
ECanaShadow.CANMC.bit.MBCC = 1; // Mailbox timestamp counter clear bit
ECanaShadow.CANMC.bit.TCC = 1; // Time stamp counter MSB clear bit
ECanaShadow.CANMC.bit.SCB = 1; // eCAN mode (reqd to access 32 mailboxes)
ECanaShadow.CANMC.bit.WUBA = 1; // Wake up on bus activity
ECanaShadow.CANMC.bit.ABO = 1; // Auto bus on
ECanaShadow.CANMC.bit.CCR = 1;
// ECanaShadow.CANMC.bit.CCE = 0;
// ECanaShadow.CANMC.bit.STM = 1; // self-test loop-back
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
EDIS;
do
{
ECanaShadow.CANES.all = ECanaRegs.CANES.all;
} while(ECanaShadow.CANES.bit.CCE != 1 ); // Wait for CCE bit to be set..
// while(!ECanaRegs.CANES.bit.CCE);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CAN
EALLOW;
ECanaShadow.CANBTC.all = ECanaRegs.CANBTC.all;
// ECanaShadow.CANBTC.bit.SJWREG = 1;
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
#if (CAN_SPEED_BITS==250000)
ECanaShadow.CANBTC.bit.BRPREG = 23;//11;// 47; //59;//49;//4;//9; // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
ECanaShadow.CANBTC.bit.TSEG1REG = 15;// 15; //5;//7;//14;//10;//7; // Bit time = 15
ECanaShadow.CANBTC.bit.TSEG2REG = 2; // 2; //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
#else
#if (CAN_SPEED_BITS==500000)
ECanaShadow.CANBTC.bit.BRPREG = 14;//11;//23;//11;// 47; //59;//49;//4;//9; // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
ECanaShadow.CANBTC.bit.TSEG1REG = 11;//12;//15;// 15; //5;//7;//14;//10;//7; // Bit time = 15
ECanaShadow.CANBTC.bit.TSEG2REG = 2; // 2; //4;//5;//7;//2;//5 ; // to the CAN module. (150 / 10 = 15)
#else
#error "Set Can speed in CAN_project.h!!!"
#endif
#endif
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
ECanaShadow.CANBTC.bit.SJWREG=1;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.CCR = 0; // Set CCR = 0
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
EDIS;
// Wait until the CPU no longer has permission to change the
// configuration registers
do
{
ECanaShadow.CANES.all = ECanaRegs.CANES.all;
} while(ECanaShadow.CANES.bit.CCE != 0 );
// while(ECanaRegs.CANES.bit.CCE); // Wait for CCE bit to be cleared..
EALLOW;
// <09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
for (c=0;c<32;c++)
{
tmoto = &ECanaMOTORegs.MOTO0 + c;
(*(volatile Uint32 *)( tmoto )) = 550000;
}
ECanaRegs.CANTOC.all = 0;//0x000000ff;
ECanaRegs.CANTOS.all = 0; // clear all time-out flags
ECanaRegs.CANTSC = 0; // clear time-out counter
ECanaShadow.CANGIM.all = 0;
ECanaRegs.CANMIM.all = canmim_bits; // 26.01.2011 Dimas
ECanaRegs.CANMIL.all = 0x00000000; // All mailbox interrupts are generated on interrupt line 0.
ECanaShadow.CANGIM.bit.I0EN = 1;
PieVectTable.ECAN0INTA = &CAN_handler;
PieCtrlRegs.PIEIER9.bit.INTx5=1; // PIE Group 9, INT6
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
ECanaShadow.CANGIM.bit.AAIM=1;
ECanaShadow.CANGIM.bit.BOIM=1;
ECanaShadow.CANGIM.bit.EPIM=1;
ECanaShadow.CANGIM.bit.RMLIM=1;
ECanaShadow.CANGIM.bit.WUIM=1;
ECanaShadow.CANGIM.bit.WLIM=1;
ECanaShadow.CANGIM.bit.WDIM=1;
ECanaShadow.CANGIM.bit.TCOM=1;
ECanaShadow.CANGIM.bit.MTOM = 1;
ECanaShadow.CANGIM.bit.I1EN = 1;
ECanaShadow.CANGIM.bit.GIL = 1;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
ECanaRegs.CANGIM.all = ECanaShadow.CANGIM.all;
PieVectTable.ECAN1INTA = &CAN_reset_err;
PieCtrlRegs.PIEIER9.bit.INTx6=1; // PIE Group 9, INT6
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CAN <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
for(i=0;i<UNIT_QUA;i++)
{
cycle[i].busy = 0;
cycle[i].FLY = 0;
cycle[i].extended = 0;
cycle[i].adr = 0;
cycle[i].adr_from = 0;
cycle[i].adr_to = 0;
cycle[i].quant = 0;
}
fifo.adr=0;
refo.adr=0;
CanTimeOutErrorTR=0;
for(i=0;i<UNIT_QUA;i++)
{
CAN_timeout[i]=1;
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
CAN_timeout_cicle[i]=0;
CAN_refresh_cicle[i]=0;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
}
for(i=0;i<UNIT_QUA_UNITS;i++)
{
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
CAN_count_cycle_input_units[i]=0;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
for(c=0;c<UNIT_LEN;c++)
Unites[i][c]=0;
}
for(i=0;i<TERMINAL_UNIT_QUA_UNITS;i++)
{
// CAN_count_cycle_input_units[i]=0;
for(c=0;c<TERMINAL_UNIT_LEN;c++)
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
TerminalUnites[i][c]=0;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
}
new_cycle_fifo.index_data = 0;
new_cycle_fifo.index_send = 0;
new_cycle_fifo.count_lost = 0;
new_cycle_fifo.count_load = 0;
new_cycle_fifo.count_free = 0;
new_cycle_fifo.flag_inter = 0;
for(i=0;i<NEW_CYCLE_FIFO_LEN;i++)
{
new_cycle_fifo.cycle_data[i].busy = 0;
new_cycle_fifo.cycle_data[i].FLY = 0;
new_cycle_fifo.cycle_data[i].extended = 0;
new_cycle_fifo.cycle_data[i].adr = 0;
new_cycle_fifo.cycle_data[i].adr_from = 0;
new_cycle_fifo.cycle_data[i].adr_to = 0;
new_cycle_fifo.cycle_data[i].quant = 0;
new_cycle_fifo.cycle_data[i].box = 0;
new_cycle_fifo.cycle_data[i].priority = 0;
new_cycle_fifo.cycle_data[i].quant_block = 0;
}
for(i=0;i<UNIT_QUA;i++)
{
new_cycle_fifo.cycle_box[i] = 0;
new_cycle_fifo.lost_box[i] = 0;
}
//IER |= M_INT9; // Enable CPU INT
// EDIS;
enable_can_recive_after_units_box = 1;
}
void start_can_interrupt(void)
{
IER |= M_INT9; // Enable CPU INT
PieCtrlRegs.PIEACK.all = BIT8;
}
void stop_can_interrupt(void)
{
IER &= ~M_INT9; //stop CAN
PieCtrlRegs.PIEACK.all = BIT8;
}
void new_fifo_calc_load(void)
{
unsigned int i, free_l = 0;
// for(i=0;i<NEW_FIFO_LEN;i++)
// {
// if (new_fifo.pak[i].box==0)
// free_l++;
// }
// new_fifo.count_load = NEW_FIFO_LEN - free_l;
// new_fifo.count_free = free_l;
//
//
//
// for (i=0;i<;i++)
// {
//
//// new_cycle_fifo.cycle_box[i] = 0;
// }
}
int CAN_may_be_send_cycle_fifo(void)
{
volatile struct MBOX *Mailbox;
unsigned long mask;
int box;
unsigned long hiword, loword;
if (new_cycle_fifo.index_data == new_cycle_fifo.index_send)
{
// <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//
}
else
{
CAN_cycle_fifo_step();
}
return 0;
}
////////////////////////////////////////////////////////////////////////////
int get_new_cycle_fifo_load_level(void)
{
volatile int load_level_byte;
load_level_byte = (new_cycle_fifo.index_data - new_cycle_fifo.index_send)&NEW_CYCLE_FIFO_LEN_MASK;
load_level_byte = (int)NEW_CYCLE_FIFO_LEN - load_level_byte;
if (load_level_byte < (NEW_CYCLE_FIFO_LEN >> 4) )
return 3;
if (load_level_byte < (NEW_CYCLE_FIFO_LEN >> 2) )
return 2;
if (load_level_byte < (NEW_CYCLE_FIFO_LEN >> 1) )
return 1;
return 0;
}
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
int new_cycle_fifo_load(int box, unsigned long adr, int * adr_from, unsigned long addr_to, unsigned long quant, int extended, int priority, int cmd_wait)
{
unsigned int ind;
if (((new_cycle_fifo.index_data - new_cycle_fifo.index_send)&NEW_CYCLE_FIFO_LEN_MASK)>=(NEW_CYCLE_FIFO_LEN_MASK-3))
{
new_cycle_fifo.count_lost++;
// may_be_send_cycle_fifo(); // <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><>, <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>!
return -1; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>!
}
if (new_cycle_fifo.cycle_data[new_cycle_fifo.index_data].box==0) // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
new_cycle_fifo.cycle_data[new_cycle_fifo.index_data].box = box;
new_cycle_fifo.cycle_data[new_cycle_fifo.index_data].adr = adr;
new_cycle_fifo.cycle_data[new_cycle_fifo.index_data].adr_to = addr_to;
new_cycle_fifo.cycle_data[new_cycle_fifo.index_data].adr_from = adr_from;
new_cycle_fifo.cycle_data[new_cycle_fifo.index_data].quant = quant;
new_cycle_fifo.cycle_data[new_cycle_fifo.index_data].extended = extended;
new_cycle_fifo.cycle_data[new_cycle_fifo.index_data].priority = priority;
new_cycle_fifo.cycle_data[new_cycle_fifo.index_data].busy = 1;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
new_cycle_fifo.cycle_box[box]++;
if (new_cycle_fifo.index_data == new_cycle_fifo.index_send)
{
// <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
new_cycle_fifo.index_data++;
new_cycle_fifo.index_data &= NEW_CYCLE_FIFO_LEN_MASK;
// if (new_cycle_fifo.index_data>=NEW_CYCLE_FIFO_LEN) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// new_cycle_fifo.index_data = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// may_be_send_fifo();
// if (cmd_wait==0)
// may_be_send_cycle_fifo();
return 1; // <20><><EFBFBD> <20><>!
}
else
{
new_cycle_fifo.count_lost++;
// may_be_send_cycle_fifo(); // <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><>, <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>!
return -1; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>!
}
}
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
int CAN_FLY_free(int box)
{
return !cycle[box].FLY;
}
int CAN_cycle_free(int box)
{
int i;
#if (CAN_PROTOCOL_VERSION==2)
if (new_cycle_fifo.cycle_box[box] >= 200)
{
new_cycle_fifo.lost_box[box]++;
return 0;
}
else
return 1;
#endif
#if (CAN_PROTOCOL_VERSION==1)
return !cycle[box].busy;
#endif
}
int CAN_cycle_full_free(int box, int statistics_flag)
{
int i;
#if (CAN_PROTOCOL_VERSION==2)
if (new_cycle_fifo.cycle_box[box] != 0)
{
if (statistics_flag==CAN_BOX_STAT_ON)
new_cycle_fifo.lost_box[box]++;
return 0;
}
else
return 1;
#endif
#if (CAN_PROTOCOL_VERSION==1)
return !cycle[box].busy;
#endif
}
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
int CAN_FIFO_free(unsigned int quant)
{
#if (CAN_PROTOCOL_VERSION==2)
return 0;
#endif
#if (CAN_PROTOCOL_VERSION==1)
return ((FIFO_LEN-(unsigned int)fifo.adr)>quant);
#endif
}
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
void CAN_cycle_stop(int box)
{
cycle[box].busy=0;
}
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
#pragma CODE_SECTION(CAN_send2,".fast_run2");
void CAN_send2(int box,unsigned long hiword, unsigned long loword)
{
volatile struct MBOX *Mailbox;
unsigned long mask;
// cycle[box].FLY = 1;
new_cycle_fifo.flag_inter = 1;
mask = ((unsigned long)1<<box);
Mailbox = &ECanaMboxes.MBOX0 + box;
Mailbox->MDH.all = hiword;
Mailbox->MDL.all = loword;
ECanaRegs.CANTRS.all = mask;
}
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
///////////////////////////////////////////////
int get_real_out_mbox(int type_box, int box)
{
if (type_box==FREE_TYPE_BOX)
return -1;
if (type_box==UNITS_TYPE_BOX)
{
if (box<MAX_COUNT_UNITES_UKSS)
return unites_can_setup.adr_out_mbox[box];
else
return -1;
}
if (type_box==MPU_TYPE_BOX)
{
if (box<MAX_COUNT_UNITES_MPU)
return mpu_can_setup.adr_out_mbox[box];
else
return -1;
}
if (type_box==TERMINAL_TYPE_BOX)
{
if (box<MAX_COUNT_UNITES_TERMINAL)
return terminal_can_setup.adr_out_mbox[box];
else
return -1;
}
if (type_box==ALARM_LOG_TYPE_BOX)
{
if (box<MAX_COUNT_UNITES_ALARM_LOG)
return alarm_log_can_setup.adr_out_mbox[box];
else
return -1;
}
/*
if (type_box==CANOPEN_TYPE_BOX)
if (box<CANOPENUNIT_LEN)
return mpu_can_setup.adr_out_mbox[box];
else
return -1;
*/
return -1;
}
////////////////////////////////////////////////////////////////
///////////////////////////////////////////////
int get_real_in_mbox(int type_box, int box)
{
if (type_box==FREE_TYPE_BOX)
return -1;
if (type_box==UNITS_TYPE_BOX)
{
if (box<MAX_COUNT_UNITES_UKSS)
return unites_can_setup.adr_in_mbox[box];
else
return -1;
}
if (type_box==MPU_TYPE_BOX)
{
if (box<MAX_COUNT_UNITES_MPU)
return mpu_can_setup.adr_in_mbox[box];
else
return -1;
}
if (type_box==TERMINAL_TYPE_BOX)
{
if (box<MAX_COUNT_UNITES_TERMINAL)
return terminal_can_setup.adr_in_mbox[box];
else
return -1;
}
if (type_box==ALARM_LOG_TYPE_BOX)
{
if (box<MAX_COUNT_UNITES_ALARM_LOG)
return alarm_log_can_setup.adr_in_mbox[box];
else
return -1;
}
/*
if (type_box==CANOPEN_TYPE_BOX)
if (box<CANOPENUNIT_LEN)
return mpu_can_setup.adr_in_mbox[box];
else
return -1;
*/
return -1;
}
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
////////////////////////////////////////////////////////////////
void realign_new_cycle_fifo_on_priority(void)
{
int cur_send_index, sdvig_index, prev_sdvig_index;
int next_send_index;
NEW_CYCLE_DATA new_data, old_data;
cur_send_index = new_cycle_fifo.index_send;
if (new_cycle_fifo.index_data == new_cycle_fifo.index_send)
{
// <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//
return;
}
next_send_index = new_cycle_fifo.index_send;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
do
{
next_send_index++;
next_send_index &= NEW_CYCLE_FIFO_LEN_MASK;
if (next_send_index==new_cycle_fifo.index_data)
{
// <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//
return;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> new_cycle_fifo.index_send <20> next_index
if ((new_cycle_fifo.cycle_data[next_send_index].priority > new_cycle_fifo.cycle_data[cur_send_index].priority)
&& new_cycle_fifo.cycle_data[next_send_index].box)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
new_data = new_cycle_fifo.cycle_data[next_send_index];
new_cycle_fifo.index_send--;
new_cycle_fifo.index_send &= NEW_CYCLE_FIFO_LEN_MASK;
// <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20> -1
new_cycle_fifo.cycle_data[new_cycle_fifo.index_send] = new_data;
new_cycle_fifo.cycle_data[next_send_index].box = 0;
new_cycle_fifo.cycle_data[next_send_index].busy = 0;
return;
}
} while (next_send_index!=new_cycle_fifo.index_data);
return;
}
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
//#pragma CODE_SECTION(CAN_cycle_fifo_step,".fast_run1");
int CAN_cycle_fifo_one_box(void)
{
unsigned long hiword,loword,mask;
unsigned int * point;
unsigned int box=0, index;
index = new_cycle_fifo.index_send;
// <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>? <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>...
if (index == new_cycle_fifo.index_data)
return 0;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD>... <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
// if (new_cycle_fifo.cycle_data[index].box==0)
// return;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> quant <20><><EFBFBD><EFBFBD>.
if(new_cycle_fifo.cycle_data[index].adr>=new_cycle_fifo.cycle_data[index].quant || new_cycle_fifo.cycle_data[index].box==0)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>
if (new_cycle_fifo.cycle_data[index].box)
new_cycle_fifo.cycle_box[new_cycle_fifo.cycle_data[index].box]--;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> new_fifo <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
new_cycle_fifo.cycle_data[index].busy = 0;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
new_cycle_fifo.cycle_data[index].box = 0;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
new_cycle_fifo.index_send++;
new_cycle_fifo.index_send &= NEW_CYCLE_FIFO_LEN_MASK;
return 0;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>
mask = 0xE000;
if(new_cycle_fifo.cycle_data[index].adr==new_cycle_fifo.cycle_data[index].quant-1) mask = 0x8000;
if(new_cycle_fifo.cycle_data[index].adr==new_cycle_fifo.cycle_data[index].quant-2) mask = 0xC000;
point = (unsigned int *)&hiword;
// <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (new_cycle_fifo.cycle_data[index].extended == 0)
point[1] = mask | (new_cycle_fifo.cycle_data[index].adr_to + new_cycle_fifo.cycle_data[index].adr);
else
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> mask <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>.
point[1] = (new_cycle_fifo.cycle_data[index].adr_to + new_cycle_fifo.cycle_data[index].adr)/3L; // <20><><EFBFBD><EFBFBD><EFBFBD> <20><> 3 <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 65535*3 = 196605 <20><><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> extended=1
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
point[0] = new_cycle_fifo.cycle_data[index].adr_from[new_cycle_fifo.cycle_data[index].adr];
point = (unsigned int *)&loword;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
point[1] = new_cycle_fifo.cycle_data[index].adr_from[new_cycle_fifo.cycle_data[index].adr+1];
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
point[0] = new_cycle_fifo.cycle_data[index].adr_from[new_cycle_fifo.cycle_data[index].adr+2];
new_cycle_fifo.cycle_data[index].adr+=3;
box = new_cycle_fifo.cycle_data[index].box;
#if (CAN_PROTOCOL_VERSION==2)
CAN_send2(box,hiword,loword);
//new_fifo_load(box,hiword,loword);
#endif
return 1;
}
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
//#pragma CODE_SECTION(CAN_cycle_fifo_step,".fast_run1");
int CAN_cycle_fifo_step(void)
{
unsigned long hiword,loword,mask;
unsigned int * point;
unsigned int box=0, index;
index = new_cycle_fifo.index_send;
// <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>? <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>...
if (index==new_cycle_fifo.index_data)
return 0;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD>... <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
// if (new_cycle_fifo.cycle_data[index].box==0)
// return;
if (new_cycle_fifo.flag_inter==0)
{
realign_new_cycle_fifo_on_priority();
CAN_cycle_fifo_one_box();
}
return 1;
}
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
#define CAN_BOX_PRIORITY_LOW_MAX_SIZE_BLOCK 333L //99 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 3 <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//#pragma CODE_SECTION(CAN_cycle_send,".fast_run2");
void CAN_cycle_send(int type_box, int box, unsigned long Addr, int * Data, unsigned long quant, int extended, int priority)
{
int real_mbox;
unsigned int old_time;
real_mbox = get_real_out_mbox (type_box, box);
if (real_mbox<0)
return;
#if (CAN_PROTOCOL_VERSION==1)
cycle[real_mbox].adr = 0;
cycle[real_mbox].adr_from = Data;
cycle[real_mbox].adr_to = Addr;
cycle[real_mbox].quant = quant;
cycle[real_mbox].busy = 1;
cycle[real_mbox].extended = extended;
CAN_cycle_step(real_mbox);
#endif
#if (CAN_PROTOCOL_VERSION==2)
if (priority==CAN_BOX_PRIORITY_LOW)
{
do
{
// if (get_new_cycle_fifo_load_level()<=2)
if (quant>CAN_BOX_PRIORITY_LOW_MAX_SIZE_BLOCK)
{
if (new_cycle_fifo_load (real_mbox, 0, Data, Addr, CAN_BOX_PRIORITY_LOW_MAX_SIZE_BLOCK, extended, priority, 1) == 1)
{
quant -= CAN_BOX_PRIORITY_LOW_MAX_SIZE_BLOCK;
Data += CAN_BOX_PRIORITY_LOW_MAX_SIZE_BLOCK;
Addr += CAN_BOX_PRIORITY_LOW_MAX_SIZE_BLOCK;
}
}
else
{
new_cycle_fifo_load (real_mbox, 0, Data, Addr, quant, extended, priority, 0);
quant = 0;
}
}
while (quant>0);
//
}
else
new_cycle_fifo_load (real_mbox, 0, Data, Addr, quant, extended, priority, 0);
#endif
}
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
////////////////////////////////////////////////////////////////
void detect_time_refresh_units(int box, int adr)
{
if (box>=UNIT_QUA_UNITS)
return;
if (adr==unites_can_setup.adr_detect_refresh[box])
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
CAN_count_cycle_input_units[box]++;
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
}
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
void messagePaserToUnitesIngitim(int box, unsigned long h_word, unsigned long l_word)
{
int adr;
if (box==6) adr = 0;
if (box==7) adr = 1;
if (box==8) adr = 2;
adr = adr*4;
if (adr<(CANOPENUNIT_LEN-3))
{
CanOpenUnites[adr] = (h_word >> 16 ) & 0xffff;
CanOpenUnites[adr+1] = (h_word ) & 0xffff;
CanOpenUnites[adr+2] = (l_word >> 16 ) & 0xffff;
CanOpenUnites[adr+3] = (l_word ) & 0xffff;
}
}
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
void parse_data_from_mbox(unsigned int box, unsigned long hiword,
unsigned long loword)
{
unsigned int bit[3], real_mbox;
int local_number_box;
int adr;
static int reply_box = 0;
static volatile int err=0;
////////////////////////////////////////////////////////////////////
// CAN OPEN
////////////////////////////////////////////////////////////////////
if (mailboxs_can_setup.type_box[box] == CANOPEN_TYPE_BOX)
{
#ifdef BWC_CAN_FATEC
messageParserToUnites(box, hiword, loword);
#endif
#ifdef BWC_CAN_SIEMENS
messageParserToUnitesSiemens(box, hiword, loword);
#endif
#ifdef INGITIM_CAN_OPEN
messagePaserToUnitesIngitim(box, hiword, loword);
#endif
// messageParser(box, hiword, loword);
return;
}
adr = hiword >> 16;
bit[0] = adr & 0x8000;
bit[1] = adr & 0x4000;
bit[2] = adr & 0x2000;
adr &= 0x1fff;
// -------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CAN-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20> 8 <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
// | 3 <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> | <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (13 <20><><EFBFBD>) | data1 | data2 | data3 |
// <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: [0|1] - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> dataX
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD> "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>=data1, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+1=data2, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+2=data3
// <20><><EFBFBD> "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+2, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+3
// <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> = "1".
// -------------------------------------------------------------------------
////////////////////////////////////////////////////////////////////
//SMPU_CAN_DEVICE - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> ID = 0x80CEB0E1;
////////////////////////////////////////////////////////////////////
/* if (mailboxs_can_setup.type_box[box] == SMPU_TYPE_BOX)
{
if (adr==5 || adr==1)
{
run_cmd_super_can_5(adr,(unsigned int)((hiword ) & 0xffff),(unsigned int)((loword>>16) & 0xffff),(unsigned int)((loword) & 0xffff));
}
else
ready_run_cmd_super_can(adr,(unsigned int)((hiword ) & 0xffff),(unsigned int)((loword>>16) & 0xffff),(unsigned int)((loword) & 0xffff));
return;
}
*/
///////////////////////////////////////////////////////////////////
//MPU
///////////////////////////////////////////////////////////////////
if (mailboxs_can_setup.type_box[box] == MPU_TYPE_BOX)
{
local_number_box = mailboxs_can_setup.local_number_box[box];
if (local_number_box>=MPU_UNIT_QUA_UNITS)
return;
if(bit[0])
{
timer_pause_enable_can_from_mpu();
if (adr<SIZE_MODBUS_TABLE)
{
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if ((adr>0) && flag_enable_can_from_mpu)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
{
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
modbus_table_can_in[adr-1].all = /*(unsigned int)*/((hiword ) & 0xffff);
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
}
adr++;
}
else
{
err++;
}
}
if(bit[1])
{
timer_pause_enable_can_from_mpu();
if (adr<SIZE_MODBUS_TABLE)
{
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if ((adr>0) && flag_enable_can_from_mpu)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
{
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
modbus_table_can_in[adr-1].all = /*(unsigned int)*/((loword>>16) & 0xffff);
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
}
adr++;
}
else
{
err++;
}
}
if(bit[2])
{
timer_pause_enable_can_from_mpu();
if (adr<SIZE_MODBUS_TABLE)
{
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if ((adr>0) && flag_enable_can_from_mpu)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
{
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
modbus_table_can_in[adr-1].all = /*(unsigned int)*/((loword) & 0xffff);
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
}
adr++;
}
else
{
err++;
}
}
real_mbox = get_real_in_mbox (MPU_TYPE_BOX, 0);
return;
}
///////////////////////////////////////////////////////////////////
//TERMINAL
////////////////////////////////////////////////////////////////////
if (mailboxs_can_setup.type_box[box] == TERMINAL_TYPE_BOX)
{
local_number_box = mailboxs_can_setup.local_number_box[box];
if (local_number_box>=TERMINAL_UNIT_QUA_UNITS)
return;
if(bit[0])
{
timer_pause_enable_can_from_terminal();
if (adr<TERMINAL_UNIT_LEN)
{
if ((adr>=0) && flag_enable_can_from_terminal)
{
TerminalUnites[local_number_box][adr] = /*(unsigned int)*/((hiword ) & 0xffff);
}
adr++;
}
}
if(bit[1])
{
timer_pause_enable_can_from_terminal();
if (adr<TERMINAL_UNIT_LEN)
{
if ((adr>=0) && flag_enable_can_from_terminal)
{
TerminalUnites[local_number_box][adr] = /*(unsigned int)*/((loword>>16) & 0xffff);
}
adr++;
}
}
if(bit[2])
{
timer_pause_enable_can_from_terminal();
if (adr<TERMINAL_UNIT_LEN)
{
if ((adr>=0) && flag_enable_can_from_terminal)
{
TerminalUnites[local_number_box][adr] = /*(unsigned int)*/((loword) & 0xffff);
}
adr++;
}
}
return;
}
////////////////////////////////////////////////////////////////////
//UKSS
////////////////////////////////////////////////////////////////////
if (mailboxs_can_setup.type_box[box] == UNITS_TYPE_BOX)
{
local_number_box = mailboxs_can_setup.local_number_box[box];
if (local_number_box>=UNIT_QUA_UNITS)
return;
if(bit[0])
{
if ( (adr<UNIT_LEN) && (adr>=0) )
{
Unites[local_number_box][adr] = (hiword ) & 0xffff;
detect_time_refresh_units(local_number_box,adr);
}
adr++;
}
if(bit[1])
{
if ( (adr<UNIT_LEN) && (adr>=0) )
{
Unites[local_number_box][adr] = ((loword>>16) & 0xffff);
detect_time_refresh_units(local_number_box,adr);
}
adr++;
}
if(bit[2])
{
if ( (adr<UNIT_LEN) && (adr>=0) )
{
Unites[local_number_box][adr] = (loword ) & 0xffff;
detect_time_refresh_units(local_number_box,adr);
}
adr++;
}
return;
}
}
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
//#pragma CODE_SECTION(CAN_handler,".fast_run");
interrupt void CAN_handler(void)
{
volatile struct MBOX *Mailbox;
unsigned long hiword, loword, mask = 1;
int box,type_in_out_box, box_i;
// Set interrupt priority:
volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER9.all;
IER |= M_INT9;
IER &= MINT9; // Set "global" priority
PieCtrlRegs.PIEIER9.all &= MG95; // Set "group" priority
PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts
#if (_ENABLE_INTERRUPT_PROFILE_LED1)
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (enable_profile_led1_can)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
i_led1_on_off_special(1);
#endif
#if (_ENABLE_INTERRUPT_PROFILE_LED2)
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (enable_profile_led2_can)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
i_led2_on_off_special(1);
#endif
EINT;
box = ECanaRegs.CANGIF0.bit.MIV0;
mask <<= box;
type_in_out_box = mailboxs_can_setup.type_in_out_box[box];
if(type_in_out_box == CAN_BOX_TYPE_OUT)
{
cycle[box].FLY=0;
// new_cycle_fifo.flag_inter = 0;
ECanaRegs.CANTA.all = mask;
ECanaRegs.CANAA.all = mask;
#ifdef SUPER_CAN
if(box == SMPU_CAN_DEVICE_TRANSMIT) // SMPU_CAN_DEVICE_TRANSMIT - ID = 0x80CEB0F1;
{
loword = Mailbox->MDL.all;
hiword = Mailbox->MDH.all;
adr = (hiword >> 16) & 0x1FFF;
if(adr == 5) //
{
flag_send_mess_super_can = 1;
}
}
#endif
#if (CAN_PROTOCOL_VERSION==1)
if(!BUSY && fifo.adr && !cycle[fifo.pak[fifo.adr-1].box].FLY)
{
BUSY=1;
fifo.adr--;
CAN_send( fifo.pak[fifo.adr].box,
fifo.pak[fifo.adr].hiword,
fifo.pak[fifo.adr].loword);
BUSY=0;
}
else if(refo.adr && !cycle[refo.pak[refo.adr-1].box].FLY)
{
refo.adr--;
CAN_send( refo.pak[refo.adr].box,
refo.pak[refo.adr].hiword,
refo.pak[refo.adr].loword);
}
if(cycle[box].busy) // 26.01.2011 Dimas
CAN_cycle_step(box); // 26.01.2011 Dimas
#endif
#if (CAN_PROTOCOL_VERSION==2)
new_cycle_fifo.flag_inter = CAN_cycle_fifo_one_box();//CAN_cycle_fifo_step(new_cycle_fifo.index_send);
// // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// new_fifo_unload();
//
// // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// if(cycle[box].busy) //
// CAN_cycle_step(box); //
//
//
// if(cycle[box].busy==0) //
// {
// // <20> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// for (box_i=0;box_i<UNIT_QUA;box_i++)
// if(cycle[box_i].busy)
// {
// CAN_cycle_step(box_i); //
// break;
// }
// }
#endif
}
else
{
ECanaRegs.CANRMP.all = mask;
Mailbox = &ECanaMboxes.MBOX0 + box;
loword = Mailbox->MDL.all;
hiword = Mailbox->MDH.all;
if (enable_can_recive_after_units_box)
{
parse_data_from_mbox(box, hiword, loword);
}
CAN_timeout[box]=0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CAN_refresh_cicle[box]=CAN_timeout_cicle[box];
CAN_timeout_cicle[box]=0;
// led2_toggle();
}
//#if (CAN_PROTOCOL_VERSION==2)
//// // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//// new_fifo_unload();
////
// // <20> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// for (box_i=0;box_i<UNIT_QUA;box_i++)
// if(cycle[box_i].busy)
// {
// CAN_cycle_step(box_i); //
// break;
// }
//#endif
// PieCtrlRegs.PIEACK.bit.ACK9 |= 1;
PieCtrlRegs.PIEACK.all = BIT8;
// Restore registers saved:
DINT;
PieCtrlRegs.PIEIER9.all = TempPIEIER;
#if (_ENABLE_INTERRUPT_PROFILE_LED1)
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (enable_profile_led1_can)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
i_led1_on_off_special(0);
#endif
#if (_ENABLE_INTERRUPT_PROFILE_LED2)
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (enable_profile_led2_can)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
i_led2_on_off_special(0);
#endif
}
////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////
interrupt void CAN_reset_err(void)
{
// Set interrupt priority:
volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER9.all;
IER |= M_INT9;
IER &= MINT9; // Set "global" priority
PieCtrlRegs.PIEIER9.all &= MG96; // Set "group" priority
PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts
#if (_ENABLE_INTERRUPT_PROFILE_LED1)
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (enable_profile_led1_can)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
i_led1_on_off_special(1);
#endif
#if (_ENABLE_INTERRUPT_PROFILE_LED2)
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (enable_profile_led2_can)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
i_led2_on_off_special(1);
#endif
EINT;
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (ECanaRegs.CANGIF1.bit.AAIF1)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
{
ECanaRegs.CANAA.all = ECanaRegs.CANAA.all;
}
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (ECanaRegs.CANGIF1.bit.WDIF1)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
{
ECanaRegs.CANGIF1.bit.WDIF1=1;
}
// ECanaRegs.CANTRR.all = 1;
CanTimeOutErrorTR++;
// PieCtrlRegs.PIEACK.bit.ACK9 |= 1;
PieCtrlRegs.PIEACK.all = BIT8;
// Restore registers saved:
DINT;
PieCtrlRegs.PIEIER9.all = TempPIEIER;
#if (_ENABLE_INTERRUPT_PROFILE_LED1)
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (enable_profile_led1_can)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
i_led1_on_off_special(0);
#endif
#if (_ENABLE_INTERRUPT_PROFILE_LED2)
попытка запустить 23550_on_ship. такая же фигня, шим красивый но неправильный
2025-01-15 13:39:33 +03:00
if (enable_profile_led2_can)
#3 Скомпилилось, но пока ничего не вызывается Все основные файлы подтянуты без изменений Изменены (только папка main_matlab): - заглушки для ненужных функций (main_matlab.c) - iq библиотека (IQmathLib_matlab.c) - библиотеки DSP281x
2025-01-13 11:09:58 +03:00
i_led2_on_off_special(0);
#endif
}
void timer_pause_enable_can_from_terminal(void)
{
time_pause_enable_can_from_terminal++;
if (time_pause_enable_can_from_terminal>=TIME_PAUSE_CAN_FROM_TERMINAL)
{
time_pause_enable_can_from_terminal=TIME_PAUSE_CAN_FROM_TERMINAL;
flag_enable_can_from_terminal = 1;
}
}
void timer_pause_enable_can_from_mpu(void)
{
time_pause_enable_can_from_mpu++;
if (time_pause_enable_can_from_mpu>=TIME_PAUSE_CAN_FROM_MPU)
{
time_pause_enable_can_from_mpu=TIME_PAUSE_CAN_FROM_MPU;
flag_enable_can_from_mpu = 1;
}
}
unsigned int test_can_live_mpu(void)
{
if (CAN_timeout[get_real_out_mbox(MPU_TYPE_BOX,0)]==0)
return 1;
else
return 0;
}
unsigned int test_can_live_terminal(int n)
{
if (CAN_timeout[get_real_out_mbox(TERMINAL_TYPE_BOX,n)]==0)
return 1;
else
return 0;
}
/*
//===========================================================================
// No more.
//===========================================================================
*/
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