411 lines
13 KiB
C
411 lines
13 KiB
C
/*!
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Copyright 2017 ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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\file v_CANtoRS.c
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\brief Ïðåîáðàçîâàòåëü ïîñûëîê CAN â RS/USB è îáðàòíî. Ðàáîòàåò
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ñîâìåñòíî ñ äðàéâåðîì CANOpen
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\author ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
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\version v 3.0 08/08/2017
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\addtogroup v_CANtoRS
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@{
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*/
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#include "DSP.h"
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#include "main.h"
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void usb_irq_en(void);
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void usb_irq_dis(void);
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//! \memberof TCANtoRS
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void CANtoRS_init(TCANtoRS *p) {
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#ifdef CANTORS_ENA
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#ifdef HW_NIIET_BOARD_SIMULATOR
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//UART TX - ïëàòà ìèêðîêîíòðîëëåðà ðàçúåì XP6 ïèí 57 (ñîîòâåòñòâóåò îáîçíà÷åíèþ UART_TXD1 â øåëêîãðàôèè íà îñíîâíîé ïëàòå)
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//UART RX - ïëàòà ìèêðîêîíòðîëëåðà ðàçúåì XP6 ïèí 59 (ñîîòâåòñòâóåò îáîçíà÷åíèþ UART_RXD1 â øåëêîãðàôèè íà îñíîâíîé ïëàòå)
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NT_COMMON_REG->GPIOPCTLA_bit.PIN3 = 1; //UART_TxD1]
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NT_COMMON_REG->GPIOPCTLA_bit.PIN4 = 1; //UART_RxD[1]
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NT_GPIOA->ALTFUNCSET = (1 << 3);
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NT_GPIOA->ALTFUNCSET = (1 << 4);
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NT_COMMON_REG->GPIOPCTLA_bit.PIN3 = 0;
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NT_COMMON_REG->GPIOPCTLA_bit.PIN4 = 0;
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p->NT_UART=NT_UART1;//Èñïîëüçóåìûé â äðàéâåðå íîìåð UART (1,2,3)
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#elif defined (HW_MOTORCONTROLBOARD)
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p->NT_UART=UART2;//Èñïîëüçóåìûé â äðàéâåðå íîìåð UART (1,2,3)
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p->NT_UART->CR_bit.UARTEN = 1; // Ðàçðåøèòü ðàáîòó UART
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#else
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p->NT_UART=UART2;//Èñïîëüçóåìûé â äðàéâåðå íîìåð UART (1,2,3)
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p->NT_UART->CR_bit.UARTEN = 1; // Ðàçðåøèòü ðàáîòó UART
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#endif
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p->NT_UART->CR_bit.UARTEN = 1; // Ðàçðåøèòü ðàáîòó UART
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// Íàñòðîéêà ÷àñòîòû â äâóõ ðåãèñòðàõ:
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// çàäàíèå äåëèòåëÿ ÷àñòîòû äëÿ ïîëó÷åíèÿ BaudRate
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// Ò.ê. áëîê UART òàêòèðóåòñÿ ñ ÷àñòîòîé 25 ÌÃö (òàê íàñòðîåíî â èíèòå ìèêðîêîíòðîëëåðà),
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// òî äëÿ ïîëó÷åíèÿ ÷àñòîòû 57600 áèò/ñ íåîáõîäèì
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// äåëèòåëü 25000000 / (16 * 57600) = 27,126736111111111111111111111111
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// Öåëàÿ ÷àñòü I = 27
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// Äðîáíàÿ ÷àñòü F = (int)( 0.126736111*64 + 0.5 ) = 8
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// Ôîðìóëû ñì. â äîêóìåíòàöèè
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p->NT_UART->IBRD_bit.DIVINT= 27;
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p->NT_UART->FBRD_bit.DIVFRAC = 8;
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p->NT_UART->LCRH_bit.SPS = 0; // Íåò ïðîâåðêè ÷åòíîñòè
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p->NT_UART->LCRH_bit.WLEN = 3; // Äëèíà ïîñûëêè 8 áèò
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p->NT_UART->LCRH_bit.FEN = 1; // Èñïîëüçîâàòü FIFO
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p->NT_UART->CR_bit.TXE = 1; // Ðàçðåøèòü ïðè¸ì
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p->NT_UART->CR_bit.RXE = 1; // Ðàçðåøèòü ïåðåäà÷ó
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p->NT_UART->LCRH_bit.STP2 = 0; // 1 ñòîï-áèò
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#endif
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#ifdef CANTOUSB_ENA
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USB_init_hardware();
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#endif
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p->CounterWrongCRC=0;
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p->CounterRes=0;
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p->CounterSended=0;
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p->PacketInWait=0;
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}
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//! Èç çàäàííîãî äëÿ ïåðåäà÷è ìàññèâà ôóíêöèÿ ôîðìèðóåò
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//!API ïàêåò, à çàòåì âûçûâàåò ôóíêöèþ
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//!ïîáàéòîâîé îòïðàâêè
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//! \memberof TCANtoRS
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Uint16 CANtoRS_SendP(Uint16* Data, int16 len, TCANtoRS *p) {
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volatile int16 i;
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Uint16 MyCRC;
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p->buf_out[0]=0x7E;
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for (i=0;i<len;i++)
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p->buf_out[i+1]=Data[i];
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MyCRC=CANtoRS_C_CRC(p,Data,len);
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p->buf_out[len+1]=MyCRC & 0xFF;//ïåðâûé áàéò
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p->buf_out[len+2]=(MyCRC>>8) & 0xFF;//âòîðîé áàéò
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p->all_len=1+len+2;//ïîëíàÿ äëèíà=ñèãíàòóðà+äàííûå + êîíòðîëüíàÿ ñóììà
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i = 0;
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#ifdef CANTORS_ENA
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// Åñëè áóôåð TX íå çàïîëíåí, òî îòïðàâëÿåì âñå áàéòû èç áóôåðà
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while ((p->NT_UART->FR_bit.TXFF != 1) && (i < p->all_len)){
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p->NT_UART->DR = p->buf_out[i];
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i++;
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}
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#endif
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#ifdef CANTOUSB_ENA
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usb_irq_dis();
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if (usbTxBuf.busy == 0 && usbTxBuf.availSpace(&usbTxBuf) > p->all_len){
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usbTxBuf.put(&usbTxBuf, p->all_len, (Uint8*)p->buf_out);
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}
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usb_irq_en();
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#endif
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return 1;
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}
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#define CRC_MAGIC_NUMBER 0xA001
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//! Ôóíêöèÿ ñ÷èòàåò êîíòðîëüíóþ ñóììó ïàêåòà
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//! è ñðàâíèâàåò ñ ïðèíÿòîé. Åñëè âñå âåðíî, òî âîçâðàùàåò 1
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//! \memberof TCANtoRS
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#if defined (__GNUC__)
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__attribute__((section(".fastcode")))
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#endif
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Uint16 CANtoRS_C_CRC(TCANtoRS *p,Uint16 *Data,Uint16 len) { //ïðîâåðêà êîíòðîëüíîé ñóììû ïðèíÿòîãî API ïàêåòà
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int16 i,j;
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Uint16 MyCalcCRC=0xFFFF;
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for (j=0;j<len;j++) {
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MyCalcCRC=MyCalcCRC^(Data[j++]&0xFF);
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for (i=0; i<16; i++)
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if (MyCalcCRC&0x01) {
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MyCalcCRC=(MyCalcCRC>>1);
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MyCalcCRC=MyCalcCRC^CRC_MAGIC_NUMBER;
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} else
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MyCalcCRC=(MyCalcCRC>>1);
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}
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return MyCalcCRC;
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}
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/*! Ôóíêöèÿ âûçûâàåòñÿ, êîãäà ïðèøëè êàêèå-òî äàííûå,
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è îáðàáàòûâàåò èõ êàê ïåðåäàííûé CAN ïàêåò. Âûäåëÿåò
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èäåíòèôèêàòîð, äëèíó è ïðî÷åå. Ðåç-ò ïîìåùàåò â ñòðóêòóðó
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p->MSG */
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//! \memberof TCANtoRS
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void CANtoRS_Analysis(TCANtoRS *p) {
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int16 i,j;
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//ïîñûëêà äàííûõ íà÷èíàåòñÿ ñ 12ãî áàéòà,
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//äî ýòîãî ñëóæåáíàÿ èíôîðìàöèÿ API ïàêåòà
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p->MSG.id=0;
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p->MSG.id=(p->ReadPackData[0] & 7)<<8; //íèæíèå 3 áèòà ñäâèãàåì íàâåðõ;
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p->MSG.id|=p->ReadPackData[1];
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p->MSG.dlc=(p->ReadPackData[0]>>4) & 0xF; //âåðõíèå 4 áèòà ñäâèãàåì âíèç; äëèíà ïîñûëêè
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for (i=2,j=0;i<CANTORS_READ_DATA_MAX_LEN;i++,j++)
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p->MSG.data[j]=p->ReadPackData[i];
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p->callback_go=1;
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}
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/*! Ôóíêöèÿ âûçûâàåòñÿ, êîãäà ïðèøëè êàêèå-òî äàííûå,
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* è ïðîâåðÿåò, ÷òî ýòè äàííûå êîððåêòíû è ìîãóò áûòü îáðàáîòàíû
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* äðàéâåðîì CANopen. Åñëè ýòî òàê - äàííûå îòïðàâëÿþòñÿ íà
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* îáðàáîòêó
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*/
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//! \memberof TCANtoRS
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#if defined (__GNUC__)
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__attribute__((section(".fastcode")))
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#endif
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void CANtoRS_CheckPacketValid(TCANtoRS *p) {
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Uint8 i;
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Uint16 readCRC, calcCRC; // Ðàñ÷¸òíàÿ è ïðèøåäøàÿ êîíòðîëüíûå ñóììû
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// Ñíà÷àëà ïðîâåðèì, íå õîòåë ëè ïðåäûäóèùé ïðèíÿòûé ïàêåò çàïóñòèòü êîëáýê
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// Åñëè õîòåë - òî âûïîëíèì, à óæå ïðè ñëåäóþùåì âûçîâå ïðîâåðèì, ïðèøëè ëè äàííûå, ÷òîáû íå ñèëüíî çàãðóæàòü ïðîöåññîð
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if (p->callback_go) {
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p->callback_go = 0;
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p->CounterRes++;
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p->callback(&co1_vars, (TZCanMsg*)&(p->MSG));
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return;
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}
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// Ïîñìîòðèì, ñêîëüêî áàéò íà÷èòàëè â áóôåð. Åñëè ìåíüøå, ÷åì íóæíî (13) - âûõîäèì è æä¸ì ñëåäóþùåãî ðàçà.
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// Åñëè íàñ÷èòàëè - ñáðàñûâàåì ñ÷¸ò÷èê ïðèíÿòûõ áàéò è èä¸ì ïðîâåðÿòü ïîñûëêó
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if (p->ReadPackDataCounter < 13)
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return;
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p->ReadPackDataCounter = 0;
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// Ñíà÷àëà ïðîâåðÿåì ñèãíàòóðó, ïåðâûé áàéò ïîñûëêè (äîëæíà áûòü 0x7E)
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// Åñëè ñèãíàòóðà íå ñîøëàñü - ñáðàñûâàåì ñ÷¸ò÷èê íà÷èòàííûõ áàéòîâ, è óâåëè÷èâàåì ÷èñëî ïîòåðÿííûõ ïàêåòîâ
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if (p->tempBuf[0] != 0x7E){
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p->MessDrop3++;
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return;
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}
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// Åñëè ñèãíàòóðà ñîøëàñü - ñëåäóþùèå 10 áàéò êëàä¸ì â DATA
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for (i = 0; i < CANTORS_READ_DATA_MAX_LEN; i++){
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p->ReadPackData[i] = p->tempBuf[i + 1];
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}
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// Òåïåðü çàáèðàåì ïîñëåäíèå äâà áàéò ïîñûëêè - CRC. Ñðàíèâàåì ïðèøåäøóþ CRC è ðàñ÷¸òíóþ.
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// Åñëè íå ñîøëîñü - âûõîäèì îòñåäîâà.
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readCRC = ((Uint16)(p->tempBuf[12]) << 8) | ((Uint16)(p->tempBuf[11]));
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calcCRC = CANtoRS_C_CRC(p, (Uint16*)p->ReadPackData, CANTORS_READ_DATA_MAX_LEN);
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if (readCRC != calcCRC) {
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p->CounterWrongCRC++;
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return;
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}
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// Êîíòðîëüíàÿ ñóììà ñîøëàñü - àíàëèçèðóåì ïàêåò
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CANtoRS_Analysis(p);
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// Ìîæåò ïîëó÷èòñÿ, ÷òî â ðåçóëüòàòå îáðàáîòêè ïàêåòà ìû óâèäåëè íåîáõîäèìîñòü âûçâàòü êîëëáýê.
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//  òàêîì ñëó÷àå áóäåò âçâåä¸í ôëàã "callback_go". Åñëè ýòî òàê - ìû åãî îáðàáîòàåì ïðè ñëåäóþùåì
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// âûçîâå ôóíêöèè, ÷òîáû íå òðàòèòü ñëèøêîì ìíîãî âðåìåíè. À ïîêà âûõîäèì.
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return;
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}
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//! Ôóíêöèÿ äëÿ ïðè¸ìà äàííûõ îò ïåðèôåðèè RS
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//! \memberof TCANtoRS
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#if defined (__GNUC__)
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__attribute__((section(".fastcode")))
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#endif
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void CANtoRS_ReceiveRS(TCANtoRS *p) {
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// ×èòàåì èç ôèôî äàííûå, ïîêà îíè òàì åñòü, ëèáî ïîêà ôèôî íå îïóñòååò
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while ((p->NT_UART->FR_bit.RXFE != 1) && (p->ReadPackDataCounter < 13)) {
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// Åñëè ÷òî-òî ïðèøëî ïî RS, à â ïðîøëûé ðàç ïðèõîäèëî ïî USB - íàäî îáíóëèòü ReadDataCounter
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if (p->lastActiveConnection == CANTOUSB_ACTIVE)
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p->ReadPackDataCounter = 0;
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p->tempBuf[p->ReadPackDataCounter] = p->NT_UART->DR_bit.DATA;
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p->ReadPackDataCounter++;
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// Óêàçûâàåì, ÷òî ñåé÷àñ àêòèâåí RS
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p->lastActiveConnection = CANTORS_ACTIVE;
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}
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}
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//! Ôóíêöèÿ äëÿ ïðè¸ìà äàííûõ îò ïåðèôåðèè USB
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//! \memberof TCANtoRS
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#if defined (__GNUC__)
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__attribute__((section(".fastcode")))
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#endif
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void CANtoRS_ReceiveUSB(TCANtoRS *p) {
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// Uint16 neededBytes;
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// Uint16 tempLen;
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// // Ïðîâåðÿåì, ñêîëüêî åñòü äàííûõ â áóôåðå.
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// // Åñëè áîëüøå, ÷åì íàì íàäî - ÷èòàåì ñêîëüêî íàäî.
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// // Åñëè ìåíüøå, ÷åì íàäî - ÷èòàåì âñ¸.
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// usb_irq_dis();
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// tempLen = usbRxBuf.filledSpace(&usbRxBuf);
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// if (tempLen > 0){
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// // Åñëè ÷òî-òî ïðèøëî ïî USB, à â ïðîøëûé ðàç ïðèõîäèëî ïî RS - íàäî îáíóëèòü ReadDataCounter
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// if (p->lastActiveConnection == CANTORS_ACTIVE)
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// p->ReadPackDataCounter = 0;
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//
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// neededBytes = 13 - p->ReadPackDataCounter;
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//
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// if (tempLen >= neededBytes) {
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// usbRxBuf.get(&usbRxBuf, neededBytes, (Uint8*)(p->tempBuf + p->ReadPackDataCounter));
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// p->ReadPackDataCounter += neededBytes;
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// } else {
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// usbRxBuf.get(&usbRxBuf, tempLen, (Uint8*)(p->tempBuf + p->ReadPackDataCounter));
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// p->ReadPackDataCounter += tempLen;
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// }
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//
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// // Óêàçûâàåì, ÷òî ó íàñ áûë àêòèâåí USB
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// p->lastActiveConnection = CANTOUSB_ACTIVE;
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// }
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// usb_irq_en();
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}
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//! Ôóíêöèÿ äëÿ ïðè¸ìà è îáðàáîòêè äàííûõ îò ïåðèôåðèè/
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//! Ðàáîòàåò ñðàçó è ñ USB, è ñ RS
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//! \memberof TCANtoRS
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#if defined (__GNUC__)
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__attribute__((section(".fastcode")))
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#endif
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void CANtoRS_Receive(TCANtoRS *p) {
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#ifdef CANTORS_ENA
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// Åñëè RS-ìîäóëü çàäåéñòâîâàí - îáðàáàòûâàåì UART
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CANtoRS_ReceiveRS(p);
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#endif
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#ifdef CANTOUSB_ENA
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// Åñëè USB çàäåéñòâîâàí - îáðàáàòûâàåì USB
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CANtoRS_ReceiveUSB(p);
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#endif
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// Ïðîâåðÿåì ïðèøåäøèå äàííûå
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CANtoRS_CheckPacketValid(p);
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}
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/*! Äîëæíà âûçûâàòüñÿ êàæäóþ ñåêóíäó è îòñûëàåò
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CAN ïàêåòû HeartBeat. Åñëè îòîñëàòü íå âûõîäèò (ïåðåäà÷à çàíÿòà),
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òî ñîêðàùàåò ïîñëåäóþùèé òàéìàóò è, íåìíîãî îáîæäàâ, ïûòàåòñÿ
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îòïðàâèòü çàíîâî */
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//! \memberof TCANtoRS
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void CANtoRS_HeartBeat(TCANtoRS *p) {
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TZCanMsg MSG;
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int16 i;
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MSG.id = 0xE << 7; //heartbeat
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MSG.id |= *p->nodeID; //íîìåð óçëà
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MSG.dlc = 1; //äëèíà
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for (i = 0; i < 8; MSG.data[i++] = 0); //î÷èñòêà
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MSG.data[0] = 5; //äàííûå heartbeat
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if (!CANtoRS_Write(&MSG, p)) { //åñëè íå ïîëó÷èëîñü îòïðàâèòü
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p->HeartCounter = (CANTORS_HEART_COUNTER_MAX - 3); //âñêîðå ïðîáóåì ñäåëàòü ýòî åùå ðàç
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p->HeartBeatGo = 1; //è åñëè áóäåò ñîáûòèå íà îòïðàâêó SDO, íî áóäåò çíàòü, ÷òî íàäî ïðîïóñòèòü
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} else {
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p->HeartBeatGo = 0;
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}
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}
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//! \memberof TCANtoRS
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Uint16 CANtoRS_WriteHelper(TZCanMsg* MSG,TCANtoRS *p) {
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if (p->HeartBeatGo) { //õî÷åò îòïðàâèòüñÿ HeartBeat
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CANtoRS_HeartBeat(p);
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p->MessDrop1++;
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return 0;//ñîîáùåíèå òåðÿåì...
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}
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if (CANtoRS_Write(MSG,p))
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p->CounterSended++;
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|
else {
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p->MessDrop2++;
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|
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return 0;
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}
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return 1;
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}
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|
|
|
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/*! Èç ñòðóêòóðû CAN ïàêåòà ôîðìèðóåò ìàññèâ-ïîñûëêó,
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ãäå âíà÷àëå 4 áèòà - äëèíà, ïîòîì 1 áèò ïðîïóñê è 11 èäåíòèôèêàòîð.
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Äàëåå íåïîñðåäñòâåííî äàííûå. Ïîñëå êîíñòðóèðîâàíèÿ ïîñûëêà îòïðàâëÿåòñÿ*/
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//! \memberof TCANtoRS
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Uint16 CANtoRS_Write(TZCanMsg* MSG,TCANtoRS *p) {
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|
if (!p->PacketInWait) { //íåò ïàêåòà â áóôåðå
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|
//êîïèðóåì âî âðåìåííûé áóôåð
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|
p->bufMSG=*MSG;
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|
p->PacketInWait=1;//ôëàã, ÷òî â áóôåðå ÷òî-òî åñòü
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|
return 1;
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|
//ñ÷èòàåòñÿ, ÷òî áóôåðà íà 1 ïîçèöèþ äîëæíî õâàòàòü
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|
} else
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|
return 0;
|
|
}
|
|
|
|
//! \memberof TCANtoRS
|
|
Uint16 CANtoRS_Write_Real(TZCanMsg* MSG,TCANtoRS *p) {
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|
int16 i;
|
|
|
|
p->TempData[0]=(MSG->dlc & 0xF)<<4;
|
|
p->TempData[0]|=(MSG->id >> 8) & 7;
|
|
p->TempData[1]=MSG->id & 0xFF;
|
|
for (i=0;i<8;i++) p->TempData[i+2]=MSG->data[i];
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|
CANtoRS_SendP((Uint16*)p->TempData,10,p);
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|
return 1;
|
|
}
|
|
|
|
/*! Âûçûâàåòñÿ èç ìèëëèñåêóíäíîãî òàéìåðà, îòñ÷èòûâàåò 1 ñåêóíäó
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è âûçûâàåò ôóíêöèþ îòïðàâêè HeartBeat. Çàîäíî ïðîâåðÿåò,
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|
åñëè â SCI âîçíèêëà êàêàÿ-òî îøèáêà è îí îñòàíîâèëñÿ, ïåðåçàïóñêàåò.
|
|
*/
|
|
|
|
//! \memberof TCANtoRS
|
|
#if defined (__GNUC__)
|
|
__attribute__((section(".fastcode")))
|
|
#endif
|
|
void CANtoRS_calc(TCANtoRS *p) {
|
|
|
|
//åñëè â áóôåðå åñòü ïàêåò, îæèäàþùèé îòïðàâêè è ïåðåäàò÷èê ñâîáîäåí è íå æäåò heartbeat
|
|
if (p->PacketInWait) {
|
|
if (!CANtoRS_Write_Real((TZCanMsg*)&p->bufMSG, p))//îòïðàâèòü íå óäàëîñü?
|
|
p->MessDrop2++;
|
|
p->PacketInWait=0;//î÷èùàåì áóôåð
|
|
}
|
|
else{//åñëè ïàêåòà íà îòïðàâê íåò, îáðàáàòûâàåòñÿ âñ¸ îñòàëüíîå. Ìîæíî áû è îáðàáàòûâàòü ñðàçó, íî íå õâàòàåò ðåñóðñîâ
|
|
CANtoRS_Receive(p);
|
|
p->HeartCounter++; //ñ÷åò÷èê äëÿ HeartBeat
|
|
|
|
//íå ïîðà ëè îòïðàâèòü HeartBeat?
|
|
if (p->HeartCounter>=(CANTORS_HEART_COUNTER_MAX-1)) {
|
|
p->HeartCounter=0;
|
|
CANtoRS_HeartBeat(p);
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/*@}*/
|