motorcontroldemo_035/Vsrc/V_CANtoRS.c

/*!
    Copyright 2017 	ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

 \file      v_CANtoRS.c
 \brief     Ïðåîáðàçîâàòåëü ïîñûëîê CAN â RS è îáðàòíî. Ðàáîòàåò 
ñîâìåñòíî ñ äðàéâåðîì CANOpen
 \author    ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
 \version   v 2.0 25/03/2016

 \addtogroup v_CANtoRS
@{
*/
#include "DSP.h"
#include "main.h"



//! \memberof TCANtoRS
void CANtoRS_init(TCANtoRS *p) {

	GPIOB->ALTFUNCSET = (1 << 8) + (1 << 9);

	p->UART=UART1;//Èñïîëüçóåìûé â äðàéâåðå íîìåð UART (0, 1)


	// Íàñòðîéêà ÷àñòîòû â äâóõ ðåãèñòðàõ:
	// çàäàíèå äåëèòåëÿ ÷àñòîòû äëÿ ïîëó÷åíèÿ BaudRate
	// Ò.ê. áëîê UART òàêòèðóåòñÿ ñ ÷àñòîòîé 25 ÌÃö (òàê íàñòðîåíî â èíèòå ìèêðîêîíòðîëëåðà),
	// òî äëÿ ïîëó÷åíèÿ ÷àñòîòû 57600 áèò/ñ íåîáõîäèì
	// äåëèòåëü 25000000 / (16 * 57600) = 27,126736111111111111111111111111
	// Öåëàÿ ÷àñòü I = 27
	// Äðîáíàÿ ÷àñòü F = (int)( 0.126736111*64 + 0.5 ) = 8
	// Ôîðìóëû ñì. â äîêóìåíòàöèè
	p->UART->IBRD_bit.DIVINT= 27;
	p->UART->FBRD_bit.DIVFRAC = 8;


	//p->UART->LCRH_bit.SPS = 0;		// Íåò ïðîâåðêè ÷åòíîñòè
	//p->UART->LCRH_bit.WLEN = 3;		// Äëèíà ïîñûëêè 8 áèò
	//p->UART->LCRH_bit.FEN = 1;		// Èñïîëüçîâàòü FIFO
	//p->UART->LCRH_bit.STP2 = 0;		// 1 ñòîï-áèò
    //
	//p->UART->CR_bit.UARTEN = 1; // Ðàçðåøèòü ðàáîòó UART
	//p->UART->CR_bit.TXE = 1;			// Ðàçðåøèòü ïðè¸ì
	//p->UART->CR_bit.RXE = 1;			// Ðàçðåøèòü ïåðåäà÷ó

	p->UART->LCRH = (0 << UART_LCRH_SPS_Pos) |
					(3 << UART_LCRH_WLEN_Pos) |
					(1 << UART_LCRH_FEN_Pos) |
					(0 << UART_LCRH_STP2_Pos);

	p->UART->CR = (1 << UART_CR_UARTEN_Pos) |
				  (1 << UART_CR_TXE_Pos) |
			      (1 << UART_CR_RXE_Pos);

	p->CounterWrongCRC=0;
    p->CounterRes=0;
    p->CounterSended=0;
    p->PacketInWait=0;

}



//! Èç çàäàííîãî äëÿ ïåðåäà÷è ìàññèâà ôóíêöèÿ ôîðìèðóåò
//!API ïàêåò, à çàòåì âûçûâàåò ôóíêöèþ
//!ïîáàéòîâîé îòïðàâêè

 //! \memberof TCANtoRS
Uint16 CANtoRS_SendP(Uint16* Data, int16 len, TCANtoRS *p) {
    volatile int16 i;
    Uint16 MyCRC;
    p->buf_out[0] = 0x7E;
    for (i = 0; i < len; i++)
        p->buf_out[i+1]=Data[i];
    MyCRC=CANtoRS_C_CRC(p,Data,len);
    p->buf_out[len+1]=MyCRC & 0xFF;//ïåðâûé áàéò
    p->buf_out[len+2]=(MyCRC>>8) & 0xFF;//âòîðîé áàéò
    p->all_len=1+len+2;//ïîëíàÿ äëèíà=ñèãíàòóðà+äàííûå + êîíòðîëüíàÿ ñóììà

    i = 0;
    // Åñëè áóôåð TX íå çàïîëíåí, òî îòïðàâëÿåì âñå áàéòû èç áóôåðà
    while ((p->UART->FR_bit.TXFF != 1) && (i < p->all_len)){
    	p->UART->DR = p->buf_out[i];
    	i++;
    }

    return 1;
}



#define CRC_MAGIC_NUMBER 0xA001
//! Ôóíêöèÿ ñ÷èòàåò êîíòðîëüíóþ ñóììó ïàêåòà 
//! è ñðàâíèâàåò ñ ïðèíÿòîé. Åñëè âñå âåðíî, òî âîçâðàùàåò 1
 //! \memberof TCANtoRS

Uint16 CANtoRS_C_CRC(TCANtoRS *p,Uint16 *Data,Uint16 len) { //ïðîâåðêà êîíòðîëüíîé ñóììû ïðèíÿòîãî API ïàêåòà
    int16 i,j;
    Uint16 MyCalcCRC=0xFFFF;

    for (j=0;j<len;j++) {
        MyCalcCRC=MyCalcCRC^(Data[j++]&0xFF);
        for (i=0; i<16; i++)
            if (MyCalcCRC&0x01) {
                MyCalcCRC=(MyCalcCRC>>1);
                MyCalcCRC=MyCalcCRC^CRC_MAGIC_NUMBER;
            } else
                MyCalcCRC=(MyCalcCRC>>1);
    }

    return MyCalcCRC;
}



/*! Ôóíêöèÿ âûçûâàåòñÿ, êîãäà ïðèøëè êàêèå-òî äàííûå,
è îáðàáàòûâàåò èõ êàê ïåðåäàííûé CAN ïàêåò. Âûäåëÿåò
èäåíòèôèêàòîð, äëèíó è ïðî÷åå. Ðåç-ò ïîìåùàåò â ñòðóêòóðó
p->MSG */
 //! \memberof TCANtoRS
void CANtoRS_Analysis(TCANtoRS *p) {
    int16 i,j;
    //ïîñûëêà äàííûõ íà÷èíàåòñÿ ñ 12ãî áàéòà,
    //äî ýòîãî ñëóæåáíàÿ èíôîðìàöèÿ API ïàêåòà
    p->MSG.id=0;
    p->MSG.id=(p->ReadPackData[0] & 7)<<8; //íèæíèå 3 áèòà ñäâèãàåì íàâåðõ;
    p->MSG.id|=p->ReadPackData[1];
    p->MSG.dlc=(p->ReadPackData[0]>>4) & 0xF; //âåðõíèå 4 áèòà ñäâèãàåì âíèç; äëèíà ïîñûëêè
    for (i=2,j=0;i<CANTORS_READ_DATA_MAX_LEN;i++,j++)
        p->MSG.data[j]=p->ReadPackData[i];
    p->callback_go=1;
}





/*! Ïîáàéòîâûé îáðàáîò÷èê ïðèõîäÿùèõ ïî SCI äàííûõ.
Ðàáîòàåò ïî ïðèíöèïó äèñêðåòíîãî àâòîìàòà è ïûòàåòñÿ
íàéòè â ïîñûëêå API ïàêåò. Ñíà÷àëà æäåò çàäàííóþ ñèãíàòóðó,
ïîòîì äëèíó è ò.ï. Â êîíöå ïðîâåðÿåò êîíòðîëüíóþ ñóììó è
âûçûâàåò äàëüíåéøèå îáðàáîò÷èêè */
 //! \memberof TCANtoRS

void CANtoRS_Receive(TCANtoRS *p) {
    Uint16 MyReadCRC_u16;
    Uint16 MyCalcCRC;
    Uint32 temp_byte;
    Uint16 repeat;
    for (repeat=0;repeat<7; repeat++) {//îáðàáîòêà íå áîëåå n áàéò çà îäèí âõîä â ôóíêöèþ

        switch (p->APIpacketMode) {

        case 0: { //îæèäàíèå ñèãíàòóðû


            if (p->UART->FR_bit.RXFE)
            	return;
            temp_byte = p->UART->DR_bit.DATA;
            if (temp_byte!=0x7e) {
                p->MessDrop3++;
                return;
            }
            p->ReadPackDataCounter=0;//ñ÷åò÷èê äàííûõ
            p->APIpacketMode=1; //ñèãðíàòóðà íàéäåíà, ðåæèì ïðèåìà äàííûõ
            break;
        };
        case 1: { //îæèäàíèå äàííûõ(ïîëåçíàÿ íàãðóçêà) ïàêåòà
            //âñå ïîñëåäóþùèå áàéòû ñêëàäûâàåì â API áóôåð

            if (p->UART->FR_bit.RXFE)
            	return;
            temp_byte = p->UART->DR_bit.DATA;
            p->ReadPackData[p->ReadPackDataCounter++]=temp_byte;
            if (p->ReadPackDataCounter>=CANTORS_READ_DATA_MAX_LEN) {
                p->ReadPackDataCounter=0;//ñ÷åò÷èê äàííûõ
                p->ReadCRCCounter=0;//ñ÷åò÷èê êîíòðîëüíîé ñóììû
                p->APIpacketMode=2;  //äàííûå ïðèíÿòû, ðåæèì ïðèåìà è ïðîâåðñè CRC
            }
            break;
        };

        case 2: { //îæèäàíèå  CRC
            //âñå ïîñëåäóþùèå áàéòû ñêëàäûâàåì â CRC áóôåð

            if (p->UART->FR_bit.RXFE)
            	return;
            temp_byte = p->UART->DR_bit.DATA;
            p->ReadCRC[p->ReadCRCCounter++]=temp_byte;
            if (p->ReadCRCCounter>=2) {
                p->ReadCRCCounter=0;//ñ÷åò÷èê êîíòðîëüíîé ñóììû
                MyReadCRC_u16=(p->ReadCRC[0]&0xFF)+((p->ReadCRC[1]<<8)&0xFF00);//çàïàêîâûâàåì äâóõáàéòîâóþ CRC â îäíó ïåðåìåííóþ
                MyCalcCRC=CANtoRS_C_CRC(p,(Uint16 *)p->ReadPackData,CANTORS_READ_DATA_MAX_LEN);
                if (MyCalcCRC!=MyReadCRC_u16) {
                    //îøèáêà!
                    p->CounterWrongCRC++;
                    p->APIpacketMode=0;
                    break;
                }//êîíòðîëüíàÿ ñóììà ïðèíÿòà è âåðíà

                CANtoRS_Analysis(p);
                if (p->callback_go) { //åñëè âûñòàâëåí ôëàã, âûçîâ callback
                    p->callback_go=0;
                    p->APIpacketMode=3;  //îáðàáîòêà callback
                }
                else
                    p->APIpacketMode=0;
                return;
            }
            break;
        };
        case 3: { //îáðàáîòêà callback
            p->CounterRes++;
            p->callback(&co1_vars, (TZCanMsg*)&(p->MSG));
            p->APIpacketMode=0;
            break;
        };
        default:
            return;
        }
    }
    return;
}



/*! Äîëæíà âûçûâàòüñÿ êàæäóþ ñåêóíäó è îòñûëàåò
CAN ïàêåòû HeartBeat. Åñëè îòîñëàòü íå âûõîäèò (ïåðåäà÷à çàíÿòà),
òî ñîêðàùàåò ïîñëåäóþùèé òàéìàóò è, íåìíîãî îáîæäàâ, ïûòàåòñÿ
îòïðàâèòü çàíîâî */
 //! \memberof TCANtoRS
void CANtoRS_HeartBeat(TCANtoRS *p) {
    TZCanMsg MSG;
    int16 i;
    MSG.id=0xE<<7;//heartbeat
    MSG.id|=*p->nodeID;//íîìåð óçëà
    MSG.dlc=1;//äëèíà
    for (i=0;i<8;MSG.data[i++]=0);//î÷èñòêà
    MSG.data[0]=5;//äàííûå heartbeat
    if (!CANtoRS_Write(&MSG,p)) { //åñëè íå ïîëó÷èëîñü îòïðàâèòü
        p->HeartCounter=(CANTORS_HEART_COUNTER_MAX-3); //âñêîðå ïðîáóåì ñäåëàòü ýòî åùå ðàç
        p->HeartBeatGo=1;//è åñëè áóäåò ñîáûòèå íà îòïðàâêó SDO, íî áóäåò çíàòü, ÷òî íàäî ïðîïóñòèòü
    } else {
        p->HeartBeatGo=0;
    }
}


 //! \memberof TCANtoRS
Uint16 CANtoRS_WriteHelper(TZCanMsg* MSG,TCANtoRS *p) {
    if (p->HeartBeatGo) { //õî÷åò îòïðàâèòüñÿ HeartBeat
        CANtoRS_HeartBeat(p);
        p->MessDrop1++;
        return 0;//ñîîáùåíèå òåðÿåì...
    }
    if (CANtoRS_Write(MSG,p))
        p->CounterSended++;
    else {
        p->MessDrop2++;

        return 0;
    }
    return 1;
}


/*! Èç ñòðóêòóðû CAN ïàêåòà ôîðìèðóåò ìàññèâ-ïîñûëêó,
ãäå âíà÷àëå 4 áèòà - äëèíà, ïîòîì 1 áèò ïðîïóñê è 11 èäåíòèôèêàòîð.
Äàëåå íåïîñðåäñòâåííî äàííûå. Ïîñëå êîíñòðóèðîâàíèÿ ïîñûëêà îòïðàâëÿåòñÿ*/
 //! \memberof TCANtoRS
Uint16 CANtoRS_Write(TZCanMsg* MSG,TCANtoRS *p) {
    if (!p->PacketInWait) { //íåò ïàêåòà â áóôåðå
        //êîïèðóåì âî âðåìåííûé áóôåð
        p->bufMSG=*MSG;
        p->PacketInWait=1;//ôëàã, ÷òî â áóôåðå ÷òî-òî åñòü
        return 1;
        //ñ÷èòàåòñÿ, ÷òî áóôåðà íà 1 ïîçèöèþ äîëæíî õâàòàòü
    } else
        return 0;
}

 //! \memberof TCANtoRS
Uint16 CANtoRS_Write_Real(TZCanMsg* MSG,TCANtoRS *p) {
    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];
    CANtoRS_SendP((Uint16*)p->TempData,10,p);
    return 1;
}

/*! Âûçûâàåòñÿ èç ìèëëèñåêóíäíîãî òàéìåðà, îòñ÷èòûâàåò 1 ñåêóíäó
è âûçûâàåò ôóíêöèþ îòïðàâêè HeartBeat. Çàîäíî ïðîâåðÿåò,
åñëè â SCI âîçíèêëà êàêàÿ-òî îøèáêà è îí îñòàíîâèëñÿ, ïåðåçàïóñêàåò.
 */

 //! \memberof TCANtoRS
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);
      }

    }
}



/*@}*/