Shteibezandt_VA/CAN_Request-Response_protocol
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Новая версия протокола CAN.

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Пока без ответа на запрос в общее адресное пространство.
This commit is contained in:
Вячеслав Штейбезандт
2026-02-25 11:57:45 +03:00
parent 167de72ea4
commit ed21d0f378
7 changed files with 487 additions and 400 deletions
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126
Core/Inc/requester.h
View File

@@ -26,7 +26,10 @@
//CAN Filter
#define ID_MAIN_DEVICE 0x000
#define CURRENT_ID_DEVICE 0x002
#define CURRENT_TYPE_DEVICE 0b001
#define CURRENT_ID_DEVICE 0b0010
#define CAN_IDE_32 0b00000100 // Для 32-х битного масштаба
#define CAN_DATA_TYPE_FILTER 0x1F000000
@@ -34,7 +37,7 @@
#define CAN_SENSOR_TYPE_FILTER 0x00F80000
#define CAN_SENSOR_ID_FILTER 0x0007FF00
union Byte{
typedef union{
struct bitfield{
unsigned bit0:1;
unsigned bit1:1;
@@ -46,7 +49,19 @@ union Byte{
unsigned bit7:1;
}Bitfield;
char AllBit;
};
}Byte;
/**
* @brief HAL Status structures definition
*/
typedef enum
{
CRR_OK = 0x00U,
CRR_ERROR = 0x01U,
CRR_BUSY = 0x02U,
CRR_TIMEOUT = 0x03U
} CRR_Status;
_Bool IsLeapYear(uint8_t year);
@@ -58,6 +73,10 @@ _Bool IsLeapYear(uint8_t year);
#define HighByteOfWord(WORD) (WORD>>8)&0xFF
#define LowByteOfWord(WORD) WORD&0xFF
//Priority level
#define PRIORITY_CRITICAL 0
#define PRIORITY_STANDARD 1
//Route mode
#define ROUTE_MASTER 0
#define ROUTE_SLAVE 1
@@ -67,33 +86,34 @@ _Bool IsLeapYear(uint8_t year);
#define DATA_TYPE_DISCRETE 0b0001
#define DATA_TYPE_ANALOG 0b0010
#define DATA_TYPE_MODBUS_COIL 0b0011
#define DATA_TYPE_MODBUS_DISCRETE 0b0100
#define DATA_TYPE_MODBUS_HOLDING 0b0101
#define DATA_TYPE_MODBUS_INPUT 0b0110
#define DATA_TYPE_ERROR 0b0111
#define DATA_TYPE_GENERAL_ADDRESS_SPACE 0b0100
#define DATA_TYPE_MODBUS_DISCRETE 0b0101
#define DATA_TYPE_MODBUS_HOLDING 0b0110
#define DATA_TYPE_MODBUS_INPUT 0b0111
#define DATA_TYPE_ERROR 0b1000
#define DATA_TYPE_PULSE 0b1111
//Sensor Types for DATA_TYPE_BROADCAST
#define SENSOR_TYPE_BROADCAST_STATUS 0b00000
#define SENSOR_TYPE_BROADCAST_ONOFF 0b00001
#define SENSOR_TYPE_BROADCAST_RESTARTDEVICE 0b00010
#define SENSOR_TYPE_BROADCAST_RTCSETUP 0b00011
#define SENSOR_TYPE_BROADCAST_STATUS 0b000000000000
#define SENSOR_TYPE_BROADCAST_ONOFF 0b000000000001
#define SENSOR_TYPE_BROADCAST_RESTARTDEVICE 0b000000000010
#define SENSOR_TYPE_BROADCAST_RTCSETUP 0b000000000011
//Sensor Types for DATA_TYPE_DISCRETE
#define SENSOR_TYPE_DISCRETE_ACCIDENT 0b00000
#define SENSOR_TYPE_DISCRETE_WARNING 0b00001
#define SENSOR_TYPE_DISCRETE_CONTROL_SIGNALS 0b00010
#define SENSOR_TYPE_DISCRETE_FLAGS 0b00011
#define SENSOR_TYPE_DISCRETE_RESET 0b00100
#define SENSOR_TYPE_DISCRETE_CHANGE_MODE 0b00101
#define SENSOR_TYPE_DISCRETE_REQUEST_LIST_OF_PARAMETERS 0b00110
#define SENSOR_TYPE_DISCRETE_ACCIDENT 0b0000
#define SENSOR_TYPE_DISCRETE_WARNING 0b0001
#define SENSOR_TYPE_DISCRETE_CONTROL_SIGNALS 0b0010
#define SENSOR_TYPE_DISCRETE_FLAGS 0b0011
#define SENSOR_TYPE_DISCRETE_RESET 0b0100
#define SENSOR_TYPE_DISCRETE_CHANGE_MODE 0b0101
#define SENSOR_TYPE_DISCRETE_REQUEST_LIST_OF_PARAMETERS 0b0110
//Sensor Types for DATA_TYPE_ANALOG
#define SENSOR_TYPE_ANALOG_UNIVERSAL 0b00000
#define SENSOR_TYPE_ANALOG_USTAVKI 0b00001
#define SENSOR_TYPE_ANALOG_U 0b00010
#define SENSOR_TYPE_ANALOG_I 0b00011
#define SENSOR_TYPE_ANALOG_T 0b00100
#define SENSOR_TYPE_ANALOG_UNIVERSAL 0b0000
#define SENSOR_TYPE_ANALOG_USTAVKI 0b0001
#define SENSOR_TYPE_ANALOG_U 0b0010
#define SENSOR_TYPE_ANALOG_I 0b0011
#define SENSOR_TYPE_ANALOG_T 0b0100
//Error Code
#define NONEXISTENT_ELEMENT 0x01
@@ -129,21 +149,37 @@ union ext_ID_Modbus{
unsigned int BitAll:29;
};*/
typedef union _extID{
struct extID_Standard_Fields{
unsigned DeviceID:8;
unsigned SensorID:11;
unsigned SensorType:5;
unsigned DataType:4;
typedef union{
struct extID_Fields{
union{
struct msgBody_Broadcast{
unsigned Page:4;
unsigned BroadcastType:12;
}Broadcast;
struct msgBody_Discrete{
unsigned Body:12;
unsigned Type:4;
}Discrete;
struct msgBody_Analog{
unsigned SensorID:12;
unsigned SensorType:4;
}Analog;
struct msgBody_Modbus{
unsigned RegCount:4;
unsigned StrAdr:12;
}Modbus;
struct msgBody_Error{
unsigned ErrorCode:8;
unsigned Info:8;
}Error;
unsigned Body:16;
}Msg;
unsigned MsgType:4;
unsigned DeviceID:4;
unsigned DeviceType:3;
unsigned Route:1;
}StandardFields;
struct extID_Modbus_Fields{
unsigned DeviceID:8;
unsigned CountReg:8;
unsigned StrAdr:8;
unsigned DataType:4;
unsigned Route:1;
}ModbusFields;
unsigned Priority:1;
}Fields;
unsigned int BitAll:29;
}extID;
@@ -260,20 +296,20 @@ void REQUESTER_Init(void);
void REQUESTER_MainWhile(void);
void Boot_SystemClock_Config(void);
void REQUESTER_AnalogProcessing(struct RXMsg _rxMsg);
CRR_Status REQUESTER_AnalogProcessing(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogUniversal(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogUSTAVKI(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogUSens(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogISens(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToAnalogTSens(struct RXMsg _rxMsg);
void REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg);
CRR_Status REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToBroadcastStatus(struct RXMsg _rxMsg);
void CanRequestToBroadcastOnOff(struct RXMsg _rxMsg);
void CanRequestToBroadcastRestart(struct RXMsg _rxMsg);
void CanRequestToBroadcastRtcSetup(struct RXMsg _rxMsg);
void REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg);
CRR_Status REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg);
void CanRequestToDiscreteAccident(struct RXMsg _rxMsg);
void CanRequestToDiscreteWarning(struct RXMsg _rxMsg);
void CanRequestToDiscreteControlSignals(struct RXMsg _rxMsg);
@@ -282,11 +318,11 @@ void CanRequestToDiscreteReset(struct RXMsg _rxMsg);
void CanRequestToDiscreteChangeMode(struct RXMsg _rxMsg);
void CanRequestToDiscreteRequestListOfParameters(struct RXMsg _rxMsg);
void REQUESTER_ModbusProcessing(struct RXMsg _rxMsg);
void CanRequestToModbusCoil(struct RXMsg _rxMsg);
void CanRequestToModbusDiscrete(struct RXMsg _rxMsg);
void CanRequestToModbusHolding(struct RXMsg _rxMsg);
void CanRequestToModbusInput(struct RXMsg _rxMsg);
CRR_Status REQUESTER_ModbusProcessing(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToModbusCoil(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToModbusDiscrete(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToModbusHolding(struct RXMsg _rxMsg);
HAL_StatusTypeDef CanRequestToModbusInput(struct RXMsg _rxMsg);
void REQUESTER_RTC_SYNC(uint8_t *data);
void REQUESTER_Pulse_TIM_Handler(void);

602
Core/Src/requester.c
View File

@@ -1,29 +1,13 @@
#include "requester.h"
static union Byte byte[2048][8];
#define byte_modbusadr(x) byte[x/64][(x%64)/8]
#define _GET_MODBUS_BIT(x) byte[x/64][(x%64)/8].AllBit>>((x%64)%8)
#define _GET_MODBUS_ADR(SensorId, RequestedBytePosition, RequestedBitPosition) SensorId*64 + RequestedBytePosition*8 + RequestedBitPosition
uint16_t ModbusFilters[COUNT_OF_MODBUS_SECTIONS][2];
struct device CurrentDevice;
struct device Device_on_the_Network[32];
struct data Data;
struct device Device_on_the_Network[8][16];
struct controlflags ControlFlags;
struct received_request ReceivedRequest;
uint8_t CurrentStep = 0;
uint8_t LastStep = 0;
struct RXMsg rxMsg[CAN_RX_BUFFER_SIZE];
#define MAX_NUM_OF_DEVICES_PER_LINE 4
#define MAX_NUM_OF_REGISTERS_IN_DEVICE 255
//Регистр это слово (16 бит). uint16
uint16_t ModbusDemonstration[MAX_NUM_OF_DEVICES_PER_LINE][MAX_NUM_OF_REGISTERS_IN_DEVICE];
uint16_t ModbusAlternativeTable[MAX_NUM_OF_DEVICES_PER_LINE*MAX_NUM_OF_REGISTERS_IN_DEVICE];
_Bool IsLeapYear(uint8_t year)
{
year+=2000;
@@ -50,135 +34,94 @@ void REQUESTER_Init(void)
ControlFlags.IsPulse = 1;
MX_TIM7_Init();
MX_RTC_Init();
#ifdef _DEMO
int Reg_AltModbusTable;
//Тестовые значения регистров. Для отладки/демонстрации
for(int x = 0; x < MAX_NUM_OF_DEVICES_PER_LINE; x++)
{
for(int y = 0; y < MAX_NUM_OF_REGISTERS_IN_DEVICE; y++)
{
ModbusDemonstration[x][y] = x<<8 | y;
Reg_AltModbusTable = x*MAX_NUM_OF_REGISTERS_IN_DEVICE+y;
ModbusAlternativeTable[Reg_AltModbusTable] = x<<8 | y;
}
}
#endif
}
int ProverkaDefinaResult;
int ProverkaDefinaItem = 0;
int ProverkaArbitors = 0;
/**
* @brief Функция с обработкой полученных запросов
* @details В бесконечном цикле функция ожидает выставление флага о полученном запросе.
* @details В бесконечном цикле функция ожидает приёма сообщения. После этого сообщение распределяется в зависимости от DataType.
* Обработка запроса аналоговых значений - REQUESTER_AnalogProcessing().
* Обработка широковещательных запросов - REQUESTER_BroadcastProcessing().
* Обработка запроса дискретных значений - REQUESTER_DiscreticProcessing().
* Обработка Modbus - REQUESTER_ModbusProcessing().
* @note
*/
void REQUESTER_MainWhile(void)
{
CAN_TxHeaderTypeDef TxHeader;
uint32_t TxMailBox = 0;
uint8_t data[8];
extID eID;
eID.BitAll = 0;
eID.StandardFields.DeviceID = 2;
eID.StandardFields.DataType = DATA_TYPE_ANALOG;
eID.StandardFields.SensorType = 0x1F;
eID.StandardFields.SensorID = 0;
eID.StandardFields.Route = ROUTE_SLAVE;
TxHeader.IDE = CAN_ID_EXT;
TxHeader.TransmitGlobalTime = DISABLE;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.ExtId = eID.BitAll;
int TxTest = 0;
HAL_TIM_Base_Start_IT(&htim7);
unsigned currentAttemptCount;
while(1)
{
if(AvailableCanRxMsg())
{
if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_ANALOG)
{
REQUESTER_AnalogProcessing(rxMsg[CurrentStep]);
}
else if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_BROADCAST)
{
REQUESTER_BroadcastProcessing(rxMsg[CurrentStep]);
}
else if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_DISCRETE)
{
REQUESTER_DiscreticProcessing(rxMsg[CurrentStep]);
}
else if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_COIL ||
rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_DISCRETE ||
rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_HOLDING ||
rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_INPUT)
{
REQUESTER_ModbusProcessing(rxMsg[CurrentStep]);
}
currentAttemptCount = 0;
if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_ANALOG)
{
REQUESTER_AnalogProcessing(rxMsg[CurrentStep]);
}
else if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_BROADCAST)
{
REQUESTER_BroadcastProcessing(rxMsg[CurrentStep]);
}
else if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_DISCRETE)
{
REQUESTER_DiscreticProcessing(rxMsg[CurrentStep]);
}
else if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_GENERAL_ADDRESS_SPACE)
{
}
else if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_MODBUS_COIL ||
rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_MODBUS_DISCRETE ||
rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_MODBUS_HOLDING ||
rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_MODBUS_INPUT)
{
REQUESTER_ModbusProcessing(rxMsg[CurrentStep]);
}
CurrentStep = (uint16_t)(CurrentStep + 1) % CAN_RX_BUFFER_SIZE;
}
/*
while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0);
if(HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailBox)!= HAL_OK)
{
ProverkaArbitors++;
}
*/
// eID.Fields.SensorID++;
// if(eID.Fields.SensorID>10)
//{
// eID.Fields.SensorID = 0;
// }
}
}
/**
* @brief Функция обработки аналоговых запросов.
* @details Функция, формирующая и отправляющая ответ на запросы. Типы запросов: Универсальный, Уставки, Напряжение, Ток, Температура
* @param struct RXMsg _rxMsg - структура для полученного сообщения.
* @details Функция, формирующая и отправляющая ответ на запросы. Типы запросов: Универсальный, Уставки, Напряжение, Ток, Температура.
*/
void REQUESTER_AnalogProcessing(struct RXMsg _rxMsg)
CRR_Status REQUESTER_AnalogProcessing(struct RXMsg _rxMsg)
{
switch (_rxMsg.eID.StandardFields.SensorType)
switch (_rxMsg.eID.Fields.Msg.Analog.SensorType)
{
case SENSOR_TYPE_ANALOG_UNIVERSAL:
{
CanRequestToAnalogUniversal(_rxMsg);
return (CRR_Status)CanRequestToAnalogUniversal(_rxMsg);
break;
}
case SENSOR_TYPE_ANALOG_USTAVKI:
{
CanRequestToAnalogUSTAVKI(_rxMsg);
return (CRR_Status)CanRequestToAnalogUSTAVKI(_rxMsg);
break;
}
case SENSOR_TYPE_ANALOG_U:
{
CanRequestToAnalogUSens(_rxMsg);
return (CRR_Status)CanRequestToAnalogUSens(_rxMsg);
break;
}
case SENSOR_TYPE_ANALOG_I:
{
CanRequestToAnalogISens(_rxMsg);
return (CRR_Status)CanRequestToAnalogISens(_rxMsg);
break;
}
case SENSOR_TYPE_ANALOG_T:
{
CanRequestToAnalogTSens(_rxMsg);
return (CRR_Status)CanRequestToAnalogTSens(_rxMsg);
break;
}
default:
//RESERVE SENSOR TYPE
return CRR_ERROR;
break;
}
return CRR_ERROR;
}
__weak HAL_StatusTypeDef CanRequestToAnalogUniversal(struct RXMsg _rxMsg)
@@ -191,7 +134,7 @@ __weak HAL_StatusTypeDef CanRequestToAnalogUniversal(struct RXMsg _rxMsg)
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.StandardFields.Route = ROUTE_SLAVE;
tmp_eID.Fields.Route = ROUTE_SLAVE;
TxHeader.ExtId = tmp_eID.BitAll;
TxHeader.DLC = 6;
data[0] = 'U';
@@ -213,7 +156,7 @@ __weak HAL_StatusTypeDef CanRequestToAnalogUSTAVKI(struct RXMsg _rxMsg)
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.StandardFields.Route = ROUTE_SLAVE;
tmp_eID.Fields.Route = ROUTE_SLAVE;
TxHeader.ExtId = tmp_eID.BitAll;
TxHeader.DLC = 7;
data[0] = 'U';
@@ -236,15 +179,15 @@ __weak HAL_StatusTypeDef CanRequestToAnalogUSens(struct RXMsg _rxMsg)
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.StandardFields.Route = ROUTE_SLAVE;
tmp_eID.Fields.Route = ROUTE_SLAVE;
TxHeader.ExtId = tmp_eID.BitAll;
TxHeader.DLC = 6;
data[0] = 'U';
data[1] = ' ';
data[2] = 's';
data[3] = 'e';
data[4] = 'n';
data[5] = 's';
data[1] = 'S';
data[2] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 1000;
data[3] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 100 % 10;
data[4] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 10 % 10;
data[5] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID % 10;
return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
}
@@ -258,15 +201,15 @@ __weak HAL_StatusTypeDef CanRequestToAnalogISens(struct RXMsg _rxMsg)
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.StandardFields.Route = ROUTE_SLAVE;
tmp_eID.Fields.Route = ROUTE_SLAVE;
TxHeader.ExtId = tmp_eID.BitAll;
TxHeader.DLC = 6;
data[0] = 'I';
data[1] = ' ';
data[2] = 's';
data[3] = 'e';
data[4] = 'n';
data[5] = 's';
data[1] = 'S';
data[2] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 1000;
data[3] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 100 % 10;
data[4] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 10 % 10;
data[5] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID % 10;
return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
}
@@ -280,30 +223,34 @@ __weak HAL_StatusTypeDef CanRequestToAnalogTSens(struct RXMsg _rxMsg)
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.StandardFields.Route = ROUTE_SLAVE;
tmp_eID.Fields.Route = ROUTE_SLAVE;
TxHeader.ExtId = tmp_eID.BitAll;
TxHeader.DLC = 6;
data[0] = 'T';
data[1] = ' ';
data[2] = 's';
data[3] = 'e';
data[4] = 'n';
data[5] = 's';
data[1] = 'S';
data[2] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 1000;
data[3] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 100 % 10;
data[4] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 10 % 10;
data[5] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID % 10;
return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
}
/**
* @brief Функция обработки широковещательных запросов.
* @param struct RXMsg _rxMsg - структура для полученного сообщения.
* @details Функция, выполняющая команды, переданные в широковещательном формате с головного (master) устройства. Типы команд: Запрос статуса, запрос на включение или выключение, рестарт устройств, установка времени.
*/
void REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg)
CRR_Status REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg)
{
switch(_rxMsg.eID.StandardFields.SensorType)
switch(_rxMsg.eID.Fields.Msg.Broadcast.BroadcastType)
{
case SENSOR_TYPE_BROADCAST_STATUS:
{
//Обработка запроса статуса устройства
CanRequestToBroadcastStatus(_rxMsg);
if(CanRequestToBroadcastStatus(_rxMsg)!=HAL_OK)
{
return CRR_ERROR;
}
break;
}
case SENSOR_TYPE_BROADCAST_ONOFF:
@@ -326,8 +273,10 @@ void REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg)
}
default:
//RESERVE SENSOR TYPE.
return CRR_ERROR;
break;
}
return CRR_OK;
}
__weak HAL_StatusTypeDef CanRequestToBroadcastStatus(struct RXMsg _rxMsg)
@@ -341,8 +290,9 @@ __weak HAL_StatusTypeDef CanRequestToBroadcastStatus(struct RXMsg _rxMsg)
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.StandardFields.Route = ROUTE_SLAVE;
tmp_eID.StandardFields.DeviceID = CURRENT_ID_DEVICE;
tmp_eID.Fields.Route = ROUTE_SLAVE;
tmp_eID.Fields.DeviceType = CURRENT_TYPE_DEVICE;
tmp_eID.Fields.DeviceID = CURRENT_ID_DEVICE;
TxHeader.ExtId = tmp_eID.BitAll;
RTC_TimeTypeDef sTime = {0};
@@ -372,7 +322,7 @@ __weak void CanRequestToBroadcastRestart(struct RXMsg _rxMsg)
{
return;
}
if(_rxMsg.eID.StandardFields.SensorID == (CURRENT_ID_DEVICE / (_rxMsg.DLC*8)))
if(_rxMsg.eID.Fields.Msg.Broadcast.Page == (CURRENT_ID_DEVICE / (_rxMsg.DLC*8)))
{
uint64_t page = 0;
for(int i = 0; i < _rxMsg.DLC; i++)
@@ -416,12 +366,13 @@ __weak void CanRequestToBroadcastRtcSetup(struct RXMsg _rxMsg)
/**
* @brief Функция обработки дискретных запросов.
* @param struct RXMsg _rxMsg - структура для полученного сообщения.
* @details Функция, формирующая и отправляющая ответ на запросы. Типы запросов: Аварии, Предупреждения, Управляющие сигналы, Флаги, Рестарт устройства, Изменение режима работы устройства, Запрос на устройство.
* @note Запрос на устройство. Головное (master) устройство запрашивает некоторое колличество параметров. В Data - 64 битовых адресса параметров, тип которых задаётся в Sensor ID. Имеется возможность запрашивать непоследовательные параметры.
*/
void REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg)
CRR_Status REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg)
{
switch(_rxMsg.eID.StandardFields.SensorType){
switch(_rxMsg.eID.Fields.Msg.Discrete.Type){
case SENSOR_TYPE_DISCRETE_ACCIDENT:
{
CanRequestToDiscreteAccident(_rxMsg);
@@ -459,8 +410,10 @@ void REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg)
}
default:
//RESERVE SENSOR TYPE.
return CRR_ERROR;
break;
}
return CRR_OK;
}
__weak void CanRequestToDiscreteAccident(struct RXMsg _rxMsg)
@@ -499,116 +452,144 @@ __weak void CanRequestToDiscreteRequestListOfParameters(struct RXMsg _rxMsg)
/**
* @brief Функция обработки Modbus запросов.
* @param struct RXMsg _rxMsg - структура для полученного сообщения.
* @details Функция, формирующая и отправляющая ответ на запросы.
*/
void REQUESTER_ModbusProcessing(struct RXMsg _rxMsg)
CRR_Status REQUESTER_ModbusProcessing(struct RXMsg _rxMsg)
{
switch(_rxMsg.eID.ModbusFields.DataType)
switch(_rxMsg.eID.Fields.MsgType)
{
case DATA_TYPE_MODBUS_COIL:
{
CanRequestToModbusCoil(_rxMsg);
return (CRR_Status)CanRequestToModbusCoil(_rxMsg);
break;
}
case DATA_TYPE_MODBUS_DISCRETE:
{
CanRequestToModbusDiscrete(_rxMsg);
return (CRR_Status)CanRequestToModbusDiscrete(_rxMsg);
break;
}
case DATA_TYPE_MODBUS_HOLDING:
{
CanRequestToModbusHolding(_rxMsg);
return (CRR_Status)CanRequestToModbusHolding(_rxMsg);
break;
}
case DATA_TYPE_MODBUS_INPUT:
{
CanRequestToModbusInput(_rxMsg);
return (CRR_Status)CanRequestToModbusInput(_rxMsg);
break;
}
default:
//ERROR
return CRR_ERROR;
break;
}
return CRR_ERROR;
}
__weak void CanRequestToModbusCoil(struct RXMsg _rxMsg)
__weak HAL_StatusTypeDef CanRequestToModbusCoil(struct RXMsg _rxMsg)
{
return;
CAN_TxHeaderTypeDef TxHeader;
uint32_t TxMailBox = 0;
uint8_t data[8];
TxHeader.IDE = CAN_ID_EXT;
TxHeader.TransmitGlobalTime = DISABLE;
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.Fields.Route = ROUTE_SLAVE;
TxHeader.ExtId = tmp_eID.BitAll;
TxHeader.DLC = 8;
data[0] = 'M';
data[1] = 'C';
data[2] = ' ';
data[3] = 'S';
data[4] = _rxMsg.eID.Fields.Msg.Modbus.StrAdr;
data[5] = ' ';
data[6] = 'C';
data[7] = _rxMsg.eID.Fields.Msg.Modbus.RegCount;
return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
}
__weak void CanRequestToModbusDiscrete(struct RXMsg _rxMsg)
__weak HAL_StatusTypeDef CanRequestToModbusDiscrete(struct RXMsg _rxMsg)
{
return;
CAN_TxHeaderTypeDef TxHeader;
uint32_t TxMailBox = 0;
uint8_t data[8];
TxHeader.IDE = CAN_ID_EXT;
TxHeader.TransmitGlobalTime = DISABLE;
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.Fields.Route = ROUTE_SLAVE;
TxHeader.ExtId = tmp_eID.BitAll;
TxHeader.DLC = 8;
data[0] = 'M';
data[1] = 'D';
data[2] = ' ';
data[3] = 'S';
data[4] = _rxMsg.eID.Fields.Msg.Modbus.StrAdr;
data[5] = ' ';
data[6] = 'C';
data[7] = _rxMsg.eID.Fields.Msg.Modbus.RegCount;
return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
}
__weak void CanRequestToModbusHolding(struct RXMsg _rxMsg)
__weak HAL_StatusTypeDef CanRequestToModbusHolding(struct RXMsg _rxMsg)
{
return;
CAN_TxHeaderTypeDef TxHeader;
uint32_t TxMailBox = 0;
uint8_t data[8];
TxHeader.IDE = CAN_ID_EXT;
TxHeader.TransmitGlobalTime = DISABLE;
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.Fields.Route = ROUTE_SLAVE;
TxHeader.ExtId = tmp_eID.BitAll;
TxHeader.DLC = 8;
data[0] = 'M';
data[1] = 'H';
data[2] = ' ';
data[3] = 'S';
data[4] = _rxMsg.eID.Fields.Msg.Modbus.StrAdr;
data[5] = ' ';
data[6] = 'C';
data[7] = _rxMsg.eID.Fields.Msg.Modbus.RegCount;
return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
}
__weak void CanRequestToModbusInput(struct RXMsg _rxMsg)
__weak HAL_StatusTypeDef CanRequestToModbusInput(struct RXMsg _rxMsg)
{
return;
CAN_TxHeaderTypeDef TxHeader;
uint32_t TxMailBox = 0;
uint8_t data[8];
TxHeader.IDE = CAN_ID_EXT;
TxHeader.TransmitGlobalTime = DISABLE;
TxHeader.RTR = CAN_RTR_DATA;
extID tmp_eID;
tmp_eID.BitAll = _rxMsg.eID.BitAll;
tmp_eID.Fields.Route = ROUTE_SLAVE;
TxHeader.ExtId = tmp_eID.BitAll;
TxHeader.DLC = 8;
data[0] = 'M';
data[1] = 'I';
data[2] = ' ';
data[3] = 'S';
data[4] = _rxMsg.eID.Fields.Msg.Modbus.StrAdr;
data[5] = ' ';
data[6] = 'C';
data[7] = _rxMsg.eID.Fields.Msg.Modbus.RegCount;
return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
}
/* СТАРЫЙ УЖАСНЫЙ МОДБАС
if((ReceivedRequest.SensorToModbus.Modbus.StrAdr>=0) && (ReceivedRequest.SensorToModbus.Modbus.StrAdr<=127))
{
//Обращение к существующему в устройстве модбас регистру
CAN_TxHeaderTypeDef TxHeader;
uint32_t TxMailBox = 0;
uint8_t data[8];
TxHeader.IDE = CAN_ID_EXT;
TxHeader.DLC = 8;
TxHeader.RTR = CAN_RTR_DATA;
int RequestFromDLC;
for(RequestFromDLC = ReceivedRequest.SensorToModbus.Modbus.StrAdr;
(RequestFromDLC<MAX_NUM_OF_REGISTERS_IN_DEVICE) &&
((RequestFromDLC-ReceivedRequest.SensorToModbus.Modbus.StrAdr)<ReceivedRequest.SensorToModbus.Modbus.Count);
// RequestFromDLC++
)
{
TxHeader.DLC = 0;
extID eID;
eID.BitAll = ReceivedRequest.RequestedExtID.BitAll;
eID.StandardFields.Route = ROUTE_SLAVE;
eID.StandardFields.SensorType = RequestFromDLC>>11;
eID.StandardFields.SensorID = RequestFromDLC;
TxHeader.ExtId = eID.BitAll;
for(int DataFor = 0; DataFor < 8; DataFor+=2)
{
data[DataFor] = HighByteOfWord(ModbusDemonstration[CURRENT_ID_DEVICE][RequestFromDLC]);
data[DataFor+1] = LowByteOfWord(ModbusDemonstration[CURRENT_ID_DEVICE][RequestFromDLC]);
RequestFromDLC++;
TxHeader.DLC +=2;
if(!((RequestFromDLC<MAX_NUM_OF_REGISTERS_IN_DEVICE) &&
((RequestFromDLC-ReceivedRequest.SensorToModbus.Modbus.StrAdr)<ReceivedRequest.SensorToModbus.Modbus.Count)))
{
break;
}
}
while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0);
HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailBox);
}
extID emID;
emID.BitAll = 0;
emID.ModbusFields.DeviceID = CURRENT_ID_DEVICE;
emID.ModbusFields.DataType = DATA_TYPE_ERROR;
emID.ModbusFields.CountReg = NONEXISTENT_ELEMENT;
emID.ModbusFields.Route = ROUTE_SLAVE;
TxHeader.DLC = 0;
for(;(RequestFromDLC-ReceivedRequest.SensorToModbus.Modbus.StrAdr)<ReceivedRequest.SensorToModbus.Modbus.Count; RequestFromDLC++)
{
emID.ModbusFields.StrAdr = RequestFromDLC;
TxHeader.ExtId = emID.BitAll;
while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0);
HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailBox);
}
ReceivedRequest.ModbusFlags.AllFlags = 0;
return;
}
ReceivedRequest.ModbusFlags.AllFlags = 0;
*/
/**
* @brief
* @param extID tmp_eID
* @param uint32_t tmp_IDE
* @param uint32_t tmp_RTR
* @param uint32_t tmp_DLC
* @param uint8_t *tmp_DATA
* @param uint16_t tmp_LastStep
* @details
*/
void TakeRxMsgToBuffer(extID tmp_eID, uint32_t tmp_IDE, uint32_t tmp_RTR, uint32_t tmp_DLC, uint8_t *tmp_DATA, uint16_t tmp_LastStep)
{
rxMsg[tmp_LastStep].eID.BitAll = tmp_eID.BitAll;
@@ -638,28 +619,26 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
if(tmp_LastStep == CurrentStep)
{
//Буффер переполнен
return;
}
extID ExtID_Of_RX_MSG;
ExtID_Of_RX_MSG.BitAll = RxHeader.ExtId;
//Полученное сообщение - широковещательное
if (ExtID_Of_RX_MSG.StandardFields.DeviceID == ID_MAIN_DEVICE)
if (ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_BROADCAST)
{
if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_BROADCAST)
{
TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
return;
}
TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
return;
}
//Если ID запроса соответствует ID устройства
if(ExtID_Of_RX_MSG.StandardFields.DeviceID == (CURRENT_ID_DEVICE))
if((ExtID_Of_RX_MSG.Fields.DeviceType == CURRENT_TYPE_DEVICE) && (ExtID_Of_RX_MSG.Fields.DeviceID == CURRENT_ID_DEVICE))
{
if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_DISCRETE)
if(ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_DISCRETE)
{
TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
return;
}
if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_ANALOG)
if(ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_ANALOG)
{
//Является ли полученное сообщение - запросом
if(RxHeader.RTR)
@@ -668,20 +647,20 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
return;
}
}
if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_COIL ||
ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_DISCRETE ||
ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_HOLDING ||
ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_INPUT)
if(ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_MODBUS_COIL ||
ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_MODBUS_DISCRETE ||
ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_MODBUS_HOLDING ||
ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_MODBUS_INPUT)
{
TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
return;
}
}
//Полученное сообщение - пульс устройств в сети
if (ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_PULSE)
if (ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_PULSE)
{
Device_on_the_Network[ExtID_Of_RX_MSG.StandardFields.DeviceID].Status = ONLINE;
Device_on_the_Network[ExtID_Of_RX_MSG.StandardFields.DeviceID].TimeFromLastPulse = 0;
Device_on_the_Network[ExtID_Of_RX_MSG.Fields.DeviceType][ExtID_Of_RX_MSG.Fields.DeviceID].Status = ONLINE;
Device_on_the_Network[ExtID_Of_RX_MSG.Fields.DeviceType][ExtID_Of_RX_MSG.Fields.DeviceID].TimeFromLastPulse = 0;
}
}
}
@@ -699,9 +678,11 @@ void REQUESTER_Pulse_TIM_Handler()
uint32_t TxMailBox = 0;
extID currentID;
currentID.BitAll = 0;
currentID.StandardFields.DeviceID = CURRENT_ID_DEVICE;
currentID.StandardFields.DataType = DATA_TYPE_PULSE;
currentID.StandardFields.Route = ROUTE_SLAVE;
currentID.Fields.DeviceID = CURRENT_ID_DEVICE;
currentID.Fields.DeviceType = CURRENT_TYPE_DEVICE;
currentID.Fields.MsgType = DATA_TYPE_PULSE;
currentID.Fields.Route = ROUTE_SLAVE;
currentID.Fields.Priority = PRIORITY_STANDARD;
TxHeader.ExtId = currentID.BitAll;
uint8_t data[8];
TxHeader.IDE = CAN_ID_EXT;
@@ -719,7 +700,7 @@ void REQUESTER_Pulse_TIM_Handler()
/**
* @brief Функция установки в RTC полученной даты/время из запроса.
* @param Байтовый массив, 7 элементов. [0] - Часы. [1] - Минуты. [2] - Секунды. [3] - Год. [4] - Месяц. [5] - Дата. [6] - День недели.
* @param uint8_t *data - Байтовый массив, 7 элементов. [0] - Часы. [1] - Минуты. [2] - Секунды. [3] - Год. [4] - Месяц. [5] - Дата. [6] - День недели.
*/
void REQUESTER_RTC_SYNC(uint8_t *data)
{
@@ -751,73 +732,122 @@ void REQUESTER_RTC_SYNC(uint8_t *data)
* @brief Функция настройки фильтров CAN.
* @details Настройка фильтров. Фильр для приёма сообщений с главного устройства. Фильтр для приёма на текущее устройство. Фильтр для приёма пульса других устройств в сети.
*/
void CONFIG_CAN_FILTER(uint8_t filterBank, uint32_t idFilter, uint32_t idMask)
{
CAN_FilterTypeDef canFilterConfig;
canFilterConfig.FilterBank = filterBank;
canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
canFilterConfig.FilterActivation = ENABLE;
canFilterConfig.SlaveStartFilterBank = 14;
// Разбиваем 32-битный ID и маску для фильтрации на High и Low 16 бит
canFilterConfig.FilterIdHigh = (uint16_t)( ((idFilter & 0xFFFF) >> 13) ); // верхние 16 бит
canFilterConfig.FilterIdLow = (uint16_t)( (((idFilter & 0x1FFF) << 3) ) | CAN_IDE_32 ); // низкие 16 бит,
canFilterConfig.FilterMaskIdHigh = (uint16_t)(((idMask & 0xFFFF) >> 13) );
canFilterConfig.FilterMaskIdLow = (uint16_t)( (((idMask & 0x1FFF) << 3) ) | CAN_IDE_32 );
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
{
Error_Handler();
}
}
#define BIT27 (1UL << 27)
#define BITS_20_23_MASK (0xFUL << 20) // 4 бита (20..23)
#define BITS_24_26_MASK (0x7UL << 24) // 3 бита (24..26)
uint32_t filter1_id = BIT27 | CURRENT_TYPE_DEVICE | CURRENT_ID_DEVICE;
uint32_t filter1_mask = BIT27 | BITS_24_26_MASK | BITS_20_23_MASK; // все проверяемые биты
#define BITS_16_19_MASK (0xFUL << 16)
uint32_t filter2_id = DATA_TYPE_BROADCAST;
uint32_t filter2_mask = BITS_16_19_MASK;
uint32_t filter3_id = DATA_TYPE_PULSE;
uint32_t filter3_mask = BITS_16_19_MASK;
void REQUESTER_CAN_FILTERS()
{
//MAIN DEVICE
CAN_FilterTypeDef canFilterConfig;
canFilterConfig.FilterBank = 0;
canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
/*Для ID устройства используются восемь младших битов.
Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
canFilterConfig.FilterIdHigh = (uint16_t)(ID_MAIN_DEVICE>>13);
canFilterConfig.FilterIdLow = (uint16_t)(ID_MAIN_DEVICE<<5) | CAN_IDE_32;
/*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
canFilterConfig.FilterActivation = ENABLE;
canFilterConfig.SlaveStartFilterBank = 14;
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
{
Error_Handler();
}
//CURRENT DEVICE
canFilterConfig.FilterBank = 1;
/*Для ID устройства используются восемь младших битов.
Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
canFilterConfig.FilterIdHigh = (uint16_t)(CURRENT_ID_DEVICE>>13);
canFilterConfig.FilterIdLow = (uint16_t)(CURRENT_ID_DEVICE<<5) | CAN_IDE_32;
/*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
{
Error_Handler();
}
//MODBUS
canFilterConfig.FilterBank = 2;
canFilterConfig.FilterIdHigh = (uint16_t)(0x03000000>>13);
canFilterConfig.FilterIdLow = (uint16_t)(0x03000000<<5) | CAN_IDE_32;
canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
{
Error_Handler();
}
//PULSE
canFilterConfig.FilterBank = 3;
canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)>>13);
//canFilterConfig.FilterIdHigh = (uint16_t)(0x1F000000>>13);
canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)<<5) | CAN_IDE_32;
canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
{
Error_Handler();
}
//DEBUG FILTER "ALL IDE WELCOME"
canFilterConfig.FilterBank = 4;
canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(0)>>13);
canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(0)<<5) | CAN_IDE_32;
canFilterConfig.FilterMaskIdHigh = (uint16_t)(0>>13); // we're checking only high 13 bits, that contained "key"
canFilterConfig.FilterMaskIdLow = (uint16_t)(0<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
{
Error_Handler();
}
// Первый фильтр: проверяем 20-27 биты, где 27-й всегда 1
CONFIG_CAN_FILTER(0, filter1_id, filter1_mask);
// Второй фильтр: проверяем 16-19 биты, равны DATA_TYPE_BROADCASTE
CONFIG_CAN_FILTER(1, filter2_id, filter2_mask);
// Третий фильтр: проверяем 16-19 биты, равны DATA_TYPE_PULSE
CONFIG_CAN_FILTER(2, filter3_id, filter3_mask);
}
//void REQUESTER_CAN_FILTERS()
//{
// //MAIN DEVICE
// CAN_FilterTypeDef canFilterConfig;
// canFilterConfig.FilterBank = 0;
// canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
// canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
// /*Для ID устройства используются восемь младших битов.
// Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
// canFilterConfig.FilterIdHigh = (uint16_t)(ID_MAIN_DEVICE>>13);
// canFilterConfig.FilterIdLow = (uint16_t)(ID_MAIN_DEVICE<<5) | CAN_IDE_32;
// /*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
// canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
// canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
// canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
// canFilterConfig.FilterActivation = ENABLE;
// canFilterConfig.SlaveStartFilterBank = 14;
// if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
// {
// Error_Handler();
// }
//
// //CURRENT DEVICE
// canFilterConfig.FilterBank = 1;
// /*Для ID устройства используются восемь младших битов.
// Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
// canFilterConfig.FilterIdHigh = (uint16_t)(CURRENT_ID_DEVICE>>13);
// canFilterConfig.FilterIdLow = (uint16_t)(CURRENT_ID_DEVICE<<5) | CAN_IDE_32;
// /*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
// canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
// canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
// if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
// {
// Error_Handler();
// }
//
// //MODBUS
// canFilterConfig.FilterBank = 2;
// canFilterConfig.FilterIdHigh = (uint16_t)(0x03000000>>13);
// canFilterConfig.FilterIdLow = (uint16_t)(0x03000000<<5) | CAN_IDE_32;
// canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
// canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
// if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
// {
// Error_Handler();
// }
//
// //PULSE
// canFilterConfig.FilterBank = 3;
// canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)>>13);
// canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)<<5) | CAN_IDE_32;
// canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
// canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
// if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
// {
// Error_Handler();
// }
//
// //DEBUG FILTER "ALL IDE WELCOME"
// canFilterConfig.FilterBank = 4;
// canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(0)>>13);
// canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(0)<<5) | CAN_IDE_32;
// canFilterConfig.FilterMaskIdHigh = (uint16_t)(0>>13); // we're checking only high 13 bits, that contained "key"
// canFilterConfig.FilterMaskIdLow = (uint16_t)(0<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
// if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
// {
// Error_Handler();
// }
//}

2
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c
View File

@@ -403,7 +403,7 @@ HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan)
}
/* Set the automatic retransmission */
if (hcan->Init.AutoRetransmission == ENABLE)
if (hcan->Init.AutoRetransmission == ENABLE)
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
}

95
MDK-ARM/CAN_Request-Response_protocol.uvoptx
View File

@@ -117,6 +117,11 @@
<pMon>Segger\JL2CM3.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>В¬†wTІв TІв п;Зq</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
@@ -135,11 +140,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>JL2CM3</Key>
<Name>-U -O14 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight JTAG-DP") -D00(4BA00477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F103RG$Flash\STM32F10x_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>-U-O14 -O14 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight JTAG-DP") -D00(4BA00477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F103RG$Flash\STM32F10x_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -152,7 +153,79 @@
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F103RG$Flash\STM32F10x_1024.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>30</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134237984</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Core\Src\requester.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\CAN_Request_Response_protocol\../Core/Src/requester.c\30</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>52</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134236608</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>../Core/Src/can.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\CAN_Request_Response_protocol\../Core/Src/can.c\52</Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>334</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134223362</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\CAN_Request_Response_protocol\../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c\334</Expression>
</Bp>
<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>1008</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134224438</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\CAN_Request_Response_protocol\../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c\1008</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>sTime</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
@@ -195,6 +268,16 @@
<pszMrulep></pszMrulep>
<pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp>
<SystemViewers>
<Entry>
<Name>System Viewer\CAN</Name>
<WinId>35904</WinId>
</Entry>
<Entry>
<Name>System Viewer\RTC</Name>
<WinId>35905</WinId>
</Entry>
</SystemViewers>
<DebugDescription>
<Enable>1</Enable>
<EnableFlashSeq>1</EnableFlashSeq>

62
extID_type/extID_type_from_new_can_protocol.h
View File

@@ -1,62 +0,0 @@
#ifndef _new_can_protocol_ID_struct
#define _new_can_protocol_ID_struct
//Route mode
#define ROUTE_MASTER 0
#define ROUTE_SLAVE 1
//Data Types
#define DATA_TYPE_BROADCAST 0b0000
#define DATA_TYPE_DISCRETE 0b0001
#define DATA_TYPE_ANALOG 0b0010
#define DATA_TYPE_MODBUS_COIL 0b0011
#define DATA_TYPE_MODBUS_DISCRETE 0b0100
#define DATA_TYPE_MODBUS_HOLDING 0b0101
#define DATA_TYPE_MODBUS_INPUT 0b0110
#define DATA_TYPE_ERROR 0b0111
#define DATA_TYPE_PULSE 0b1111
//Sensor Types for DATA_TYPE_BROADCAST
#define SENSOR_TYPE_BROADCAST_STATUS 0b00000
#define SENSOR_TYPE_BROADCAST_ONOFF 0b00001
#define SENSOR_TYPE_BROADCAST_RESTARTDEVICE 0b00010
#define SENSOR_TYPE_BROADCAST_RTCSETUP 0b00011
//Sensor Types for DATA_TYPE_DISCRETE
#define SENSOR_TYPE_DISCRETE_ACCIDENT 0b00000
#define SENSOR_TYPE_DISCRETE_WARNING 0b00001
#define SENSOR_TYPE_DISCRETE_CONTROL_SIGNALS 0b00010
#define SENSOR_TYPE_DISCRETE_FLAGS 0b00011
#define SENSOR_TYPE_DISCRETE_RESET 0b00100
#define SENSOR_TYPE_DISCRETE_CHANGE_MODE 0b00101
#define SENSOR_TYPE_DISCRETE_REQUEST_LIST_OF_PARAMETERS 0b00110
//Sensor Types for DATA_TYPE_ANALOG
#define SENSOR_TYPE_ANALOG_UNIVERSAL 0b00000
#define SENSOR_TYPE_ANALOG_USTAVKI 0b00001
#define SENSOR_TYPE_ANALOG_U 0b00010
#define SENSOR_TYPE_ANALOG_I 0b00011
#define SENSOR_TYPE_ANALOG_T 0b00100
//Error Code
#define NONEXISTENT_ELEMENT 0x01
typedef union _extID{
struct extID_Standard_Fields{
unsigned DeviceID:8;
unsigned SensorID:11;
unsigned SensorType:5;
unsigned DataType:4;
unsigned Route:1;
}StandardFields;
struct extID_Modbus_Fields{
unsigned DeviceID:8;
unsigned CountReg:8;
unsigned StrAdr:8;
unsigned DataType:4;
unsigned Route:1;
}ModbusFields;
unsigned int BitAll:29;
}extID;
#endif

BIN
requester.xlsx
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BIN
Протокол CAN и ОАП.xlsx Normal file
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