T536_DTU/app_public/fuxi_public/fuxi_bsp/source/can_app.c

/******************************************************************************
版权所有：
文件名称：	can_app.c
文件版本：	01.01
创建作者:	   sunxi
创建日期：	2013-02-28
功能说明：	can传输应用层
其它说明：
修改记录：
*/
/*------------------------------- 头文件 --------------------------------------
 */
#include "head.h"

#ifdef BSP_CAN_ENABLE

/*------------------------------- 宏定义 --------------------------------------
 */

/*------------------------------ 类型结构 -------------------------------------
 */

/*------------------------------ 全局变量 -------------------------------------
 */
int g_sb_monitor;

/*------------------------------ 函数声明 -------------------------------------
 */
int can_app_callback(u32 can_bus, u8 *buf);

/*------------------------------ 外部函数 -------------------------------------
外部函数供其它实体文件引用，必须仔细检查传入参数的合法性.
*/
int can_app_init(void)
{
    can_regester_recv_callback(can_app_callback);

    return 0;
}

int can_app_exit(void)
{
    can_regester_recv_callback(NULL);

    return 0;
}

int can_app_callback(u32 can_bus, u8 *buf)
{
    struct can_frame_head *cfh;

    // 检查参数
    if (can_bus >= CAN_BUS_NUM)
    {
        return -1;
    }

    if (buf == NULL)
    {
        return -2;
    }

    cfh = (struct can_frame_head *)buf;
    switch (cfh->type)
    {
    case CAN_FRAME_TYPE_DI_INIT:
    case CAN_FRAME_TYPE_DI_ON:
    case CAN_FRAME_TYPE_DI_OFF:
    case CAN_FRAME_TYPE_DI_INIT1:
    case CAN_FRAME_TYPE_DI_ON1:
    case CAN_FRAME_TYPE_DI_OFF1:
        dido_di_update(buf);
        break;

    case CAN_FRAME_TYPE_SB_INFO:
#if defined(CAN_SLAVE_BOARD)
        equ_board_info_update(can_bus, buf);
#endif
        break;

    default:
        return 0;
        break;
    }

    return 1;
}

u8 can_app_checksum(u8 *buf, u8 len)
{
    u8 i, sum;

    sum = 0;
    for (i = 0; i < len; i++)
    {
        sum += *buf++;
    }

    return sum;
}

int can_app_timing(void)
{
    static long g_timing_sec = 0;

    int i, ret;
    u8 *buf;
    struct timespec ts;

    clk_time_get(&ts);

    // 对时帧必须在内部对时秒脉冲发出10ms后再发送，每秒发送一次。
    if (ts.tv_sec == g_timing_sec || ts.tv_nsec < 10 * NSEC_PER_MS)
    {
        return 0;
    }

    // 帧头
    buf = can_request_tx_buf(CAN_FRAME_TYPE_TIMING);
    buf[0] = CAN_FRAME_TYPE_TIMING;
    buf[1] = CAN_BUS_ADDR_BCAST;
    buf[2] = 0;
    buf[3] = sizeof(int); // long -> int 8byte -> 4 byte, 暂时按回4字节传输，待确认 EWen

    // 得到时间
    memcpy(buf + 4, &ts.tv_sec, sizeof(int)); // noted by sunxi: 这里需要注意大小端问题

    // 发送
    for (i = 0; i < CAN_BUS_NUM; i++)
    {
        ret = can_send(i, buf);
        if (ret < 0)
        {
            // rt_printf("can_app_timing:ret=%d\r\n",ret);
        }
    }

    g_timing_sec = ts.tv_sec;

    return 0;
}

int can_app_reset(int is_watchdog)
{
    int i;
    u8 *buf;

    // 帧头
    buf = can_request_tx_buf(CAN_FRAME_TYPE_RESET);
    buf[0] = CAN_FRAME_TYPE_RESET;
    buf[1] = CAN_BUS_ADDR_BCAST;
    buf[2] = 0;
    buf[3] = 1;
    buf[4] = (u8)is_watchdog;

    // 发送
    for (i = 0; i < CAN_BUS_NUM; i++)
    {
        can_send(i, buf);
    }

    // 子板复位时更新时间，避免产生子板通讯异常错误。
    for (i = 0; i < EQU_SLOT_NUM_MAX; i++)
    {
        g_board_info[i].us0 = ustimer_get_origin();
    }

    return 0;
}

int can_app_sb_monitor(void)
{
    g_sb_monitor = 1;

    return 0;
}

int can_app_sb_monitor_send(void)
{
    u8 buf[4];

    buf[0] = CAN_FRAME_TYPE_SB_MONITOR;
    buf[1] = CAN_BUS_ADDR_BCAST;
    buf[2] = 0;
    buf[3] = 0;

    // 发送
    can_send(0, buf);
    can_send(1, buf);

    return 0;
}

// can子板查询 oujie add 20200420
int can_app_sb_discover(void)
{
    u8 buf[4];
    u32 slot;
    slot = equ_get_slot_by_type(BOARD_TYPE_METERING);
    if (slot > 0)
    {
        buf[0] = CAN_FRAME_TYPE_DISCOVER;
        buf[1] = CAN_BUS_ADDR_BCAST;
        buf[2] = 0;
        buf[3] = 0;
#ifdef CAN_BOARD_DEBUG
        rt_printf("查询子板\r\n");
#endif
        // 发送
        can_send(0, buf);
        // can_send(1,buf);
    }

    return 0;
}

#if 1
// 分配can子板卡槽号 oujie add 20200420
int can_app_sb_give_slot(u32 no, u8 *buf)
{
    u8 send_buf[32];
    char id_string[64] = {0};
    struct can_board_res *can_brd;

    Hex2Str(&buf[5], id_string, CHIP_ID_SIZE * 4);
#ifdef CAN_BOARD_DEBUG
    rt_printf("子板id字符串 = %s\r\n", id_string);
    rt_printf("获取卡槽号\r\n");
#endif
    can_brd = equ_get_can_slot(buf[4], buf[5], &buf[6], sizeof(can_brd->chip_id));
    if (can_brd != NULL)
    {
        can_brd->type = buf[5];
        send_buf[0] = CAN_FRAME_TYPE_GIVE_CAN_SLOT;
        send_buf[1] = CAN_BUS_ADDR_BCAST;
        send_buf[2] = 0;
        send_buf[3] = sizeof(can_brd->chip_id) + 1;
        send_buf[4] = can_brd->slot;
        memcpy(&send_buf[5], can_brd->chip_id, sizeof(can_brd->chip_id));

#ifdef CAN_BOARD_DEBUG
        rt_printf("CAN发送卡槽号 slot = %d\r\n", can_brd->slot);
        rt_printf("CAN卡类型 type = %d\r\n", can_brd->type);
#endif

        // 发送
        can_send(no, send_buf);
    }
    else
    {
#ifdef CAN_BOARD_DEBUG
        rt_printf("卡槽号已存在，不再发送\r\n");
#endif
    }

    return 0;
}
#endif

struct sb_monitor
{
    // 系统
    u32 slot;
    u32 type;
    u32 start_sec;

    // 中断时间
    u32 us_gps_min;
    u32 us_gps_max;
    u32 us_100us_min;
    u32 us_100us_max;
    u32 us_can_min;
    u32 us_can_max;

    // 开出
    u32 do_delay_min;
    u32 do_delay_max;

    // CAN总线
    u32 can_rx_dropped;
    u32 can_tx_dropped;
    u32 can_hw_bus_errors;
    u32 can_hw_errors;
    u32 can_hw_overrun;
    u32 can_overrun;
};

extern struct rt_stat g_stat_do_delay;

int can_app_sb_monitor_recv(u8 *buf)
{
    struct sb_monitor sm;
    struct timespec ts;

    memcpy(&sm, &buf[4], sizeof(sm));

    rt_printf("\r\n子板监视信息[slot=%02d,type=%02d]:\r\n", sm.slot, sm.type);

    ts.tv_sec = sm.start_sec;
    ts.tv_nsec = 0;
    rt_printf("上电时间: ");
    rt_printf_time2(ts);

    rt_printf("  GPS中断时间:\tmin=%d,\tmax=%d\r\n", sm.us_gps_min, sm.us_gps_max);
    rt_printf("100us中断时间:\tmin=%d,\tmax=%d\r\n", sm.us_100us_min, sm.us_100us_max);
    rt_printf("  CAN中断时间:\tmin=%d,\tmax=%d\r\n", sm.us_can_min, sm.us_can_max);
    rt_printf(" 开出延时时间:\tmin=%d,\tmax=%d\r\n", sm.do_delay_min, sm.do_delay_max);
    rt_stat_in(&g_stat_do_delay, sm.do_delay_max);

    rt_printf("CAN总线接收丢包:%d\r\n", sm.can_rx_dropped);
    rt_printf("CAN总线发送丢包:%d\r\n", sm.can_tx_dropped);
    rt_printf("CAN总线总线错误:%d\r\n", sm.can_hw_bus_errors);
    rt_printf("CAN总线硬件错误:%d\r\n", sm.can_hw_errors);
    rt_printf("CAN总线硬件溢出:%d\r\n", sm.can_hw_overrun);
    rt_printf("CAN总线接收溢出:%d\r\n", sm.can_overrun);

    return 0;
}

int can_app_sb_discover_recv(u8 *buf)
{
    struct can_board_res *can_brd;
#ifdef CAN_BOARD_DEBUG
    uint8_t i;
#endif

    memcpy((u8 *)can_board[0].chip_id, &buf[6], sizeof(can_brd->chip_id));

#ifdef CAN_BOARD_DEBUG
    rt_printf("\r\n接收到子板chip_id: ");
    for (i = 0; i < sizeof(can_brd->chip_id); i++)
    {
        rt_printf("%x ", buf[6 + i]);
    }
    rt_printf("\r\n");
#endif
    return 0;
}

int can_app_sb_slot_recv(u8 *buf)
{
#ifdef CAN_BOARD_DEBUG
    rt_printf("接收到子板分配卡槽的应答\r\n");
#endif
    uint8_t i;

    for (i = 0; i < CAN_BOARD_NUM; i++)
    {
        if (can_board[i].file_have)
        {
            if ((memcmp((u8 *)can_board[i].chip_id, &buf[5], sizeof(can_board[i].chip_id)) == 0) && (can_board[i].slot == buf[4]))
            {
#ifdef CAN_BOARD_DEBUG
                rt_printf("分配子板号完成\r\n");
#endif
                can_board[i].given_slot = 1;
            }
        }
    }

    return 0;
}

int errcount_crc = 0;
int errcount_sb = 0;
int errcount_no = 0;
int errcount_sb_no = 0;
int errcount_check = 0;

static u32 g_no_send[CAN_BUS_NUM];
static u32 g_no_recv[EQU_SLOT_NUM_MAX];

int can_app_test_send(void)
{
    u8 *buf_tx;
    int i, can, no, len, ret;

    len = 200;
    buf_tx = can_request_tx_buf(CAN_FRAME_TYPE_TEST);
    for (can = 0; can < CAN_BUS_NUM; can++)
    {
        no = g_no_send[can];
        buf_tx[0] = CAN_FRAME_TYPE_TEST;
        buf_tx[1] = CAN_BUS_ADDR_BCAST;
        buf_tx[2] = 0;
        buf_tx[3] = len;

        buf_tx[4] = 0;
        buf_tx[5] = no;
        buf_tx[6] = no >> 8;
        buf_tx[7] = no >> 16;
        buf_tx[8] = no >> 24;
        for (i = 0; i < (len - 6); i++)
        {
            buf_tx[i + 9] = i;
        }
        buf_tx[len + 3] = can_app_checksum(buf_tx + 4, len - 1);

        // 发送
        ret = can_send(can, buf_tx);
        if (ret < 0)
        {
            if (ret != -7)
            {
                rt_printf("can_app_test error:ret=%d\r\n", ret);
            }
        }
        else
        {
            g_no_send[can]++;
        }
    }

    return 0;
}

int can_app_test_recv(u8 *buf)
{
    u8 len, crc, crc_check;
    int i, no, slot;

    slot = buf[2];
    len = buf[3];
    crc = buf[len + 3];
    crc_check = can_app_checksum(buf + 4, len - 1);
    no = buf[5] | ((int)buf[6]) << 8 | ((int)buf[7]) << 16 | ((int)buf[8]) << 24;

    // 检查CRC
    if (crc != crc_check)
    {
        errcount_crc++;
        rt_printf("can_app_test_recv:crc error!slot=%d,type=%d,no=%d,   crc=%x,crc_check=%x,errcount_crc=%d\r\n", slot, buf[4], no, crc, crc_check, errcount_crc);
        print_msg("RX_CAN:", buf, buf[3] + 4);
        return -1;
    }

    // 检查子板接收错误
    if (buf[4] != 0)
    {
        errcount_sb++;
        rt_printf("can_app_test_recv:sb error!     slot=%d,type=%d,no=%d,   errcount_sb=%d\r\n", slot, buf[4], no, errcount_sb);
        print_msg("RX_CAN:", buf, buf[3] + 4);
        return -2;
    }

    // 检查内容
    for (i = 0; i < (len - 6); i++)
    {
        if (buf[i + 9] != i)
        {
            break;
        }
    }
    if (i != (len - 6))
    {
        errcount_check++;
        rt_printf("can_app_test_recv:content error!slot=%d,no=%d,errcount_check=%d\r\n", slot, no, errcount_check);
        print_msg("RX_CAN:", buf, buf[3] + 4);
        return -4;
    }

    // 检查序号
    if (no != g_no_recv[slot])
    {
        errcount_sb_no++;
        rt_printf("can_app_test_recv:no error!slot=%d,no=%d,g_no_recv[slot]=%d,errcount_sb_no=%d\r\n", slot, no, g_no_recv[slot], errcount_sb_no);
        print_msg("RX_CAN:", buf, buf[3] + 4);
        return -5;
    }

    // 检查ok，序号加一
    g_no_recv[slot]++;
    return 0;
}

int can_task(void)
{
    int i;
    u8 *buf;
    struct can_frame_head *cfh;
    static unsigned char send_discover = 0;
#ifdef CAN_SLAVE_BOARD
    static unsigned long us0 = 0;
    static unsigned long us1 = 0;
    static unsigned char send_discover = 0;
#endif
    //	static unsigned long us1 = 0;
    u8 can_no = 0;

    if (g_sb_monitor)
    {
        can_app_sb_monitor_send();
        g_sb_monitor = 0;
    }

    buf = can_request_tx_buf(CAN_FRAME_TYPE_PROGRAM_UPDATE);

    // 最多一次接收8帧
    for (i = 0; i < 128; i++)
    {
        if (can_recv(0, buf, CAN_FRAME_LEN_MAX) <= 0)
        {
            if (can_recv(1, buf, CAN_FRAME_LEN_MAX) <= 0)
            {
                prog_recv_timeout();
                break;
            }
            else
                can_no = 1;
        }
        else
            can_no = 0;

        // 检查帧内容
        cfh = (struct can_frame_head *)buf;
#if 0
		if(cfh->src >= EQU_SLOT_NUM_MAX)
		{
			continue;
		}
#endif
        if (cfh->src >= (EQU_SLOT_NUM_MAX + CAN_BOARD_NUM))
        {
            continue;
        }

        // 处理不同类型的帧
        switch (cfh->type)
        {
        case CAN_FRAME_TYPE_PROGRAM_UPDATE:
            prog_recv(buf);
            break;
        case CAN_FRAME_TYPE_SB_MONITOR:
            can_app_sb_monitor_recv(buf);
            break;
        case CAN_FRAME_TYPE_TEST:
            if (can_app_test_recv(buf) != 0)
            {
                g_test_on = 0;
                g_print_can = 0;
            }

            break;
        case CAN_FRAME_TYPE_DISCOVER:
            can_app_sb_discover_recv(buf);
            can_app_sb_give_slot(can_no, buf);
            send_discover = 0;
            can_brd_error_clear(buf[4]);
            break;
        case CAN_FRAME_TYPE_GIVE_CAN_SLOT: // 收到子板应答
            can_app_sb_slot_recv(buf);
            break;
        default:
            break;
        }
    }

    // 子板程序更新发送
    prog_send();

#ifdef CAN_SLAVE_BOARD
    if (!is_prog_down())
    {
        if (us0 == 0)
            us0 = ustimer_get_origin();
        if (ustimer_delay_origin2(&us0, 3 * USTIMER_SEC))
        {
            us0 = 0;
            can_app_sb_discover();
            send_discover++;
            us1 = ustimer_get_origin();
        }
        if (send_discover >= 2)
        {
            if (ustimer_delay_origin2(&us1, 2 * USTIMER_SEC))
            {
                send_discover = 0;
                us1 = ustimer_get_origin();
                can_brd_error_set();
                //			rt_printf("can_brd_error_set\r\n");
            }
        }
    }
#endif
#if defined(METERING_ENERGY) && defined(CAN_SLAVE_BOARD)
    if (!is_prog_down() && !send_discover)
        can_metering_send_app();
#endif

    if (g_test_on)
    {
        //		can_app_test_send();
    }

    return 0;
}

int can_app_test_printf(void)
{
    int i;
    for (i = 0; i < CAN_BUS_NUM; i++)
    {
        rt_printf("slot%02d:%d.\r\n", i, g_no_send[i]);
    }

    rt_printf("g_no_recv:\r\n");
    for (i = 0; i < EQU_SLOT_NUM_MAX; i++)
    {
        rt_printf("slot%02d:%d.\r\n", i, g_no_recv[i]);
    }

    return 0;
}

#endif

/*------------------------------ 内部函数 -------------------------------------
内部函数以下划线‘_’开头，不需要检查参数的合法性.
*/

/*------------------------------ 测试函数 -------------------------------------
一个实体文件必须带一个本模块的测试函数来进行单元测试，如果的确不方便在本模块中
进行单元测试，必须在此注明实际的测试位置（例如在哪个实体文件中使用哪个测试函数）.
*/

/*------------------------------ 文件结束 -------------------------------------
 */