#include "include.h"
u8 CAN_DATA[8];
u8 CAN_DATA1[8];
u8 CAN_DATA2[8];
u8 CAN_DATA3[8];
u8 CAN_DATA4[8];
u8 CAN_DATA5[8];
u8 CAN_DATA6[8];
u8 CAN_DATA_CNT;
u32 Init_Flash_Data = 0x12345678;
u8 CAN_RecData[CAN_RecDataMax];
u8 CAN_RecData_i;
u8 CAN_RecData_Toggle;
u8 CAN_RecData_TID;
void CAN_GPIO_Config(u32 RCC_APBnPeriphn, GPIO_TypeDef* GPIOx, u16 GPIO_Pin, u16 GPIO_PinSource, u8 GPIO_AF)
{
RCC_AHB1PeriphClockCmd(RCC_APBnPeriphn, ENABLE);
//��ʼ��GPIO
//���Ÿ���ӳ������
GPIO_PinAFConfig(GPIOx,GPIO_PinSource,GPIO_AF);//PA11����ΪCAN1
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //���ù���
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //�������
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //����
GPIO_Init(GPIOx,&GPIO_InitStructure); //��ʼ��PD0,PD1
}
void CAN_NVIC_Config(u8 NVIC_IRQChannel, u8 pre, u8 sub)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = NVIC_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = pre; // �����ȼ�Ϊ1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = sub; // �����ȼ�Ϊ0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void CAN_Mod_Config(u32 RCC_APB1Periph, CAN_TypeDef* CANx, u32 EXTID, u32 MaskID)
{
//u32 EXTID1 = 0X014E550A;
//u32 MaskId_ID = 0XFFFF0000;
RCC_APB1PeriphClockCmd(RCC_APB1Periph, ENABLE);
CAN_InitTypeDef CAN_InitStructure;
CAN_InitStructure.CAN_TTCM = DISABLE; //��ʱ�䴥��ͨ��ģʽ
CAN_InitStructure.CAN_ABOM = DISABLE; //�����Զ����߹���
CAN_InitStructure.CAN_AWUM = DISABLE; //˯��ģʽͨ����������
CAN_InitStructure.CAN_NART = ENABLE; //��ֹ�����Զ�����
CAN_InitStructure.CAN_RFLM = DISABLE; //���IJ�����,�µĸ��Ǿɵ�
CAN_InitStructure.CAN_TXFP = DISABLE; //���ȼ��ɱ��ı�ʶ������
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //ģʽ���� CAN_Mode_Normal
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; //����ͬ����Ծ����Ϊ��ʱ�䵥λ
CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq; //ʱ���1ռ��8��ʱ�䵥λ
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq; //ʱ���2ռ��5��ʱ�䵥λ
CAN_InitStructure.CAN_Prescaler = 6; //��Ƶϵ��(Fdiv)6 500K
CAN_Init(CANx, &CAN_InitStructure); //��ʼ��CAN1
/*
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_FilterInitStructure.CAN_FilterNumber = 0;//������0
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList;// CAN_FilterMode_IdMask
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;//32λ
CAN_FilterInitStructure.CAN_FilterIdHigh = ((EXTID<<3)>>16) & 0xffff;//32λID
CAN_FilterInitStructure.CAN_FilterIdLow = ((EXTID<<3)& 0xffff) | CAN_ID_EXT;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = ((MaskID<<3)>>16) & 0xffff;//32λID
CAN_FilterInitStructure.CAN_FilterMaskIdLow = ((MaskID<<3)& 0xffff) | CAN_ID_EXT;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;//FIFO0
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;//���������0
CAN_FilterInit(&CAN_FilterInitStructure);//�˲�����ʼ��
*/
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_FilterInitStructure.CAN_FilterNumber = 0;//������0
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList;// CAN_FilterMode_IdMask
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;//32λ
CAN_FilterInitStructure.CAN_FilterIdHigh = ((EXTID<<3)>>16) & 0xffff;//32λID
CAN_FilterInitStructure.CAN_FilterIdLow = ((EXTID<<3)& 0xffff) | CAN_ID_EXT;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = ((MaskID<<3)>>16) & 0xffff;//32λID
CAN_FilterInitStructure.CAN_FilterMaskIdLow = ((MaskID<<3)& 0xffff) | CAN_ID_EXT;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;//FIFO0
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;//���������0
CAN_FilterInit(&CAN_FilterInitStructure);//�˲�����ʼ��
CAN_ITConfig(CANx,CAN_IT_FMP0,ENABLE);//FIFO0 ���� ��Ϣ�Һ��ж�.
}
u8 CAN1_Send_Msg(u8* msg,u32 Can_ID,u8 len)
{
u8 mbox;
u16 i = 0;
CanTxMsg TxMessage;
TxMessage.StdId = 0; // ����ʶ��Ϊ0
TxMessage.ExtId = Can_ID;//0x1f4e5301 0x1f4e5701 // ������չ��ʾ����29λ��
TxMessage.IDE = CAN_ID_EXT; // ʹ����չ��ʶ��
TxMessage.RTR = CAN_RTR_DATA; // ��Ϣ����Ϊ����֡��һ֡8λ
TxMessage.DLC = len; // ������֡��Ϣ
for(i=0;i<len;i++)
{
TxMessage.Data[i] = msg[i]; // ��һ֡��Ϣ
}
mbox = CAN_Transmit(CAN1,&TxMessage);
i=0;
while((CAN_TransmitStatus(CAN1,mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))
{
i++;//�ȴ����ͽ���
}
if(i>=0XFFF)return 1;
return 0;
}
u8 CAN1_Receive_Msg(u8 *buf, u32 *id)
{
u32 i;
CanRxMsg RxMessage;
if(CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0; //û�н��յ�����,ֱ���˳�
CAN_Receive(CAN1, CAN_FIFO0,&RxMessage); //��ȡ����
*id = RxMessage.ExtId;
for(i=0;i<RxMessage.DLC;i++)
{
buf[i]=RxMessage.Data[i];
}
return RxMessage.DLC;
}
//Flash��������
void Send_Flash_Set(u8 num, u8 flag, float value)
{
int temp;
CAN_DATA[0] = num; //�������
CAN_DATA[1] = flag;//������
temp = (int)value;//00000123.00
/*
CAN_DATA[2] = (temp/10000000)<<4 | (temp%10000000)/1000000;
temp = temp%1000000;//000123.00
CAN_DATA[3] = (temp/100000)<<4 | (temp%100000) /10000;
temp = temp%10000;//0123.00
CAN_DATA[4] = (temp/1000)<<4 | (temp%1000) /100;
temp = temp%100;//23.00
CAN_DATA[5] = (temp/10)<<4 | (temp%10);
temp = (value-(int)value)*100;
CAN_DATA[6] = ((int)temp/10)<<4 | ((int)temp%10);
*/
//12345678
CAN_DATA[2] = (temp/1000000);
temp = temp%1000000;
CAN_DATA[3] = (temp/10000);
temp = temp%10000;
CAN_DATA[4] = (temp/100);
temp = temp%100;
CAN_DATA[5] = temp;
temp = (value-(int)value)*100;
CAN_DATA[6] = temp;
CAN_DATA[7] = 0xC0 + CAN_DATA_CNT++;
if(CAN_DATA_CNT>=32) CAN_DATA_CNT = 0;
CAN1_Send_Msg(CAN_DATA, CAN_Send_Flash_ID, 8);
}
float Rec_Flash_Set(u8 data[])
{
float value = 0;
value = (data[2]/16)*10000000 +
(data[2]%16)*1000000 +
(data[3]/16)*100000 +
(data[3]%16)*10000 +
(data[4]/16)*1000 +
(data[4]%16)*100 +
(data[5]/16)*10 +
(data[5]%16) +
(data[6]/16)*0.1 +
(data[6]%16)*0.01 ;
return value;
}
void Send_CAN_DATA1(void)
{
CAN_DATA1[0] = (u8)right_thruster.usart_data.rpm;
CAN_DATA1[1] = (u8)((u16)(right_thruster.usart_data.rpm)>>8)|((u8)(10-right_thruster.twin_data.speed_lim))<<4;
CAN_DATA1[2] = (u8)left_thruster.usart_data.rpm;
CAN_DATA1[3] = (u8)((u16)(left_thruster.usart_data.rpm)>>8)|((u8)(10-left_thruster.twin_data.speed_lim))<<4;
// CAN_DATA1[0] = 100;
// CAN_DATA1[1] = 0;
// CAN_DATA1[2] = 100;
// CAN_DATA1[3] = 0;
CAN_DATA1[4] = 0;
CAN_DATA1[5] = 0;
CAN_DATA1[6] = 0;
CAN_DATA1[7] = 0xC0 + CAN_DATA_CNT++;
if(CAN_DATA_CNT>=32) CAN_DATA_CNT = 0;
CAN1_Send_Msg(CAN_DATA1, CAN_Send_Speed_ID, 8);
}
void Send_CAN_DATA2(void)
{
CAN_DATA2[0] = 0;
CAN_DATA2[1] = 0;
CAN_DATA2[2] = 0;
CAN_DATA2[3] = 0;
CAN_DATA2[4] = 0;
CAN_DATA2[5] = 0;
CAN_DATA2[6] = 3;
CAN_DATA2[7] = 0xC0 + CAN_DATA_CNT++;
if(CAN_DATA_CNT>=32) CAN_DATA_CNT = 0;
CAN1_Send_Msg(CAN_DATA2, CAN_Send_Speed_ID, 8);
}
void Send_CAN_DATA3(void)
{
CAN_DATA3[0] = 0;
CAN_DATA3[1] = 0;
CAN_DATA3[2] = 0;
CAN_DATA3[3] = 0;
CAN_DATA3[4] = (u8)(left_track_motor.usart_data.rpm);
CAN_DATA3[5] = (u8)((u16)(left_track_motor.usart_data.rpm)>>8) | ((u8)(10-left_track_motor.twin_data.speed_lim))<<4;
CAN_DATA3[6] = 6;
CAN_DATA3[7] = 0xC0 + CAN_DATA_CNT++;
if(CAN_DATA_CNT>=32) CAN_DATA_CNT = 0;
CAN1_Send_Msg(CAN_DATA3, CAN_Send_Speed_ID, 8);
}
void Send_CAN_DATA4(void)
{
CAN_DATA4[0] = (u8)(right_track_motor.usart_data.rpm);
CAN_DATA4[1] = (u8)((u16)(right_track_motor.usart_data.rpm)>>8) | ((u8)(10-right_track_motor.twin_data.speed_lim))<<4;
CAN_DATA4[2] = 0;
CAN_DATA4[3] = 0;
CAN_DATA4[4] = 0;
CAN_DATA4[5] = 0;
CAN_DATA4[6] = 9;
CAN_DATA4[7] = 0xC0 + CAN_DATA_CNT++;
if(CAN_DATA_CNT>=32) CAN_DATA_CNT = 0;
CAN1_Send_Msg(CAN_DATA4, CAN_Send_Speed_ID, 8);
}
void Send_CAN_DATA5(void)
{
CAN_DATA5[0] = (u8)(Voltage*10);
CAN_DATA5[1] = (u8)((u16)(Voltage*10)>>8);
CAN_DATA5[2] = (u8)(temperature*10);
CAN_DATA5[3] = (u8)((u16)(temperature*10)>>8);
CAN_DATA5[4] = Motor_err_flag;
CAN_DATA5[5] = Motor_err_flag>>8;
CAN_DATA5[6] = 12;
CAN_DATA5[7] = 0xC0 + CAN_DATA_CNT++;
if(CAN_DATA_CNT>=32) CAN_DATA_CNT = 0;
CAN1_Send_Msg(CAN_DATA5, CAN_Send_Speed_ID, 8);
}
void Send_CAN_DATA6(void)
{
CAN_DATA6[0] = (u8)light_pwm;
CAN_DATA6[1] = (u8)(light_pwm>>8);
CAN_DATA6[2] = usbl_opendown;
CAN_DATA6[3] = 0;
CAN_DATA6[4] = 0;
CAN_DATA6[5] = 0;
CAN_DATA6[6] = 15;
CAN_DATA6[7] = 0xC0 + CAN_DATA_CNT++;
if(CAN_DATA_CNT>=32) CAN_DATA_CNT = 0;
CAN1_Send_Msg(CAN_DATA6, CAN_Send_Speed_ID, 8);
}
void Send_CAN_MOTOR1DATA(void)
{
static u8 tail1 = 0;
hv_motor1_data[7] = tail1 + 0xC0;
tail1++;
if(tail1>31) tail1 = 0;
CAN1_Send_Msg(hv_motor1_data, 0x014E650B, 8);
}
void Send_CAN_MOTOR2DATA(void)
{
static u8 tail2 = 0;
hv_motor2_data[7] = tail2 + 0xC0;
tail2++;
if(tail2>31) tail2 = 0;
CAN1_Send_Msg(hv_motor2_data, 0x014E660C, 8);
}
void Send_CAN_MOTOR3DATA(void)
{
static u8 tail3 = 0;
hv_motor3_data[7] = tail3 + 0xC0;
tail3++;
if(tail3>31) tail3 = 0;
CAN1_Send_Msg(hv_motor3_data, 0x014E670D, 8);
}