418 lines
14 KiB
C
418 lines
14 KiB
C
#include "bms/sae1939.h"
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/*
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缩写 全称 翻译
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DLL data link layer 数据链路层
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*/
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#define TIMEOUT_T1 750 //750ms
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#define TIMEOUT_T2 1250 //1250ms
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#define TIMEOUT_T3 1250 //1250ms
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#define TIMEOUT_T4 1050 //1050ms
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#define TP_CM_PGN 0x00EC00 //CM-多包传输的连接管理
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#define TP_DT_PGN 0x00EB00 //DT-多包数据传输
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#define TP_CM_RTS 16 //RTS-请求发送
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#define TP_CM_CTS 17 //CTS-允许发送
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#define TP_CM_ENDOFMSGACK 19 //结束应答
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#define TP_CM_ABORT 255 //放弃连接
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static U16_T u16_timer_count = 0; //定时其计数值
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/**
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* ************************************************************************
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* @brief - 用于上层清除底层的多包状态
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*
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* @param[in] pt_dll_data - 1393层数据
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*
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*
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* @author jiankalka
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* @date 2025-08-12
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* ************************************************************************
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*/
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void v_sae1393_clear_multi_pacet(DLL_DATA_T *pt_dll_data)
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{
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pt_dll_data->e_msg_state = NONE;
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}
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/**
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* ************************************************************************
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* @brief - SAE1393层发送函数，单包报文直接发送，多包报文此函数只传送RTS，多包传输处理在u32_sae1393_rx内进行
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* 注：27930中 不存在多包发送，此处仅考虑发送单包数据
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* @param[in] pt_dll_data - 1393层数据
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* @param[in] pt_can_data - 要送的报文
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*
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* @return U32_T - 0：发送成功，1：发送失败
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*
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* @author jiankalka
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* @date 2025-08-12
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* ************************************************************************
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*/
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U32_T u32_sae1393_tx(DLL_DATA_T *pt_dll_data, CAN_DATA_T *pt_can_data)
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{
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CAN_DATA t_msg;
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U32_T i;
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U8_T SendCmd = ((pt_can_data->u32_pgn & 0x0000FF00) >> 8);
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memset(&t_msg, 0, sizeof(CAN_DATA));
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if (pt_can_data->u16_len <= 8)
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{
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//单包发送
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t_msg.ID = u32_get_can_ID(pt_can_data->u8_pri,SendCmd,pt_can_data->u8_dest_addr,pt_can_data->u8_src_addr); //组帧ID
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t_msg.Len = pt_can_data->u16_len;
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for (i=0; i<t_msg.Len; i++)
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t_msg.Data[i] = pt_can_data->u8_data[i];
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return pt_dll_data->u32_can_tx(&t_msg); //这样定义有助于多个can口复用
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}
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return 1;
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}
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void v_delay_set_tymer_val(void)
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{
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u16_timer_count ++;
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}
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U32_T u32_delay_get_timer_val()
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{
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return u16_timer_count;
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}
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//计算时间间隔(单位:ms) (b+MAX-a)%MAX
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U32_T u32_delay_time_elapse(U32_T tim3_cnt_start, U32_T tim3_cnt_end)
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{
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if(tim3_cnt_end >= tim3_cnt_start)
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return (tim3_cnt_end-tim3_cnt_start)*10;
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else
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return (65535-tim3_cnt_end+tim3_cnt_start-1)*10;
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}
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/**
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* ************************************************************************
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* @brief - SAE1393层接收函数，接收到多包请求后 发送cts应答报文
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*
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* @param[in] ExtId - 帧ID
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* @param[in] Pgn - 多包帧pgn
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* @param[in] pack_num - 包总数
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* @param[in] pack_cnt - 请求包数
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* @param[in] t_tx_msg - 组帧报文内容
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*
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*
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* @author jiankalka
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* @date 2025-08-13
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* ************************************************************************
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*/
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void v_sae1939_cts_send(U32_T ExtId,U32_T Pgn, U8_T pack_num , U8_T pack_cnt, CAN_DATA *t_tx_msg)
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{
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t_tx_msg->ID = (ExtId & 0xFFFF0000);
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t_tx_msg->ID |= ((ExtId & 0xFF00) >> 8 ); //帧ID目标地址 源地址转换
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t_tx_msg->ID |= ((ExtId & 0x00FF) << 8 );
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t_tx_msg->ID = (t_tx_msg->ID & 0xFF00FFFF)|(TP_CM_PGN << 8); //将帧ID PGN赋值为0xEC
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t_tx_msg->Len = 8;
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t_tx_msg->Data[0] = TP_CM_CTS;
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t_tx_msg->Data[1] = pack_num;
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t_tx_msg->Data[2] = pack_cnt;
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t_tx_msg->Data[3] = 0xFF;
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t_tx_msg->Data[4] = 0xFF;
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t_tx_msg->Data[5] = ((Pgn >> 16) & 0xFF);
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t_tx_msg->Data[6] = ((Pgn >> 8 ) & 0xFF);
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t_tx_msg->Data[7] = ((Pgn ) & 0xFF);
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}
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/**
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* ************************************************************************
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* @brief - sae1939 放弃连接发送
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*
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* @param[in] ExtID - 帧ID
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* @param[in] Pgn - 多包帧报文对应 PGN
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* @param[in] t_tx_msg - 发送can数据组包
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*
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*
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* @author jiankalka
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* @date 2025-08-13
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* ************************************************************************
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*/
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void v_sae1939_abort_send(U32_T ExtID, U32_T Pgn, CAN_DATA *t_tx_msg)
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{
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t_tx_msg->ID = (ExtID & 0xFFFF0000);
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t_tx_msg->ID |= ((ExtID & 0xFF00) >> 8 ); //帧ID目标地址 源地址转换
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t_tx_msg->ID |= ((ExtID & 0x00FF) << 8 );
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t_tx_msg->Len = 8;
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t_tx_msg->Data[0] = TP_CM_ABORT;
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t_tx_msg->Data[1] = 0xFF;
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t_tx_msg->Data[2] = 0xFF;
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t_tx_msg->Data[3] = 0xFF;
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t_tx_msg->Data[4] = 0xFF;
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t_tx_msg->Data[5] = ((Pgn >> 16) & 0xFF);
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t_tx_msg->Data[6] = ((Pgn >> 8 ) & 0xFF);
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t_tx_msg->Data[7] = ((Pgn ) & 0xFF);
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}
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/*************************************************************
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函数名称: v_sae1939_EndofMsgACK_send
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函数功能: SAE1393层接收函数，放弃连接函数
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输入参数: pt_dll_data 接收报文
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输出参数: t_tx_msg 发送报文
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返回值 ：void
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**************************************************************/
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/**
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* ************************************************************************
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* @brief - 多包完成接收 发送结束应答帧
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*
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* @param[in] pt_dll_data - sae1939 控制数据
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* @param[in] t_tx_msg - 发送组包CAN数据
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*
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*
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* @author jiankalka
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* @date 2025-08-13
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* ************************************************************************
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*/
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void v_sae1939_EndofMsgACK_send(DLL_DATA_T *pt_dll_data, CAN_DATA *t_tx_msg)
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{
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t_tx_msg->ID = ((U32_T)(pt_dll_data->u8_pri & 0x07) << 26);
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t_tx_msg->ID |= ((TP_CM_PGN & 0x0000FF00) << 8);
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t_tx_msg->ID |= ((pt_dll_data->u8_dest_addr & 0xFF) );
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t_tx_msg->ID |= ((pt_dll_data->u8_src_addr & 0x00FF) << 8 );
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t_tx_msg->Len = 8;
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t_tx_msg->Data[0] = TP_CM_ENDOFMSGACK;
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t_tx_msg->Data[1] = (U8_T)(pt_dll_data->u16_len);
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t_tx_msg->Data[2] = (U8_T)(pt_dll_data->u16_len>>8);
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t_tx_msg->Data[3] = (pt_dll_data->u16_len+6)/7;
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t_tx_msg->Data[4] = 0xFF;
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t_tx_msg->Data[5] = (U8_T)(pt_dll_data->u32_pgn);
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t_tx_msg->Data[6] = (U8_T)(pt_dll_data->u32_pgn>>8);
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t_tx_msg->Data[7] = (U8_T)(pt_dll_data->u32_pgn>>16);
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}
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/*************************************************************
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函数名称: u32_sae1393_rx
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函数功能: SAE1393层接收函数，此函数需要在BMS处理层主循环内调用，
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处理报文的接收和多包报文的发送，也处理1393层的超时事件
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输入参数: pt_dll_data -- 1393层数据, rxMsg -- 待解析的报文
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输出参数: pt_can_data -- 保存接收到的完整报文
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返回值 ：0：接收成功，pt_can_data指向的报文可用；1：接收失败，pt_can_data指向的报文不可用
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**************************************************************/
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/**
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* ************************************************************************
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* @brief - SAE1393层接收函数，此函数需要在BMS处理层主循环内调用，处理报文的接收和多包报文的发送，也处理1393层的超时事件
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*
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* @param[in] pt_dll_data - 1393层控制数据
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* @param[in] pt_can_data - CAN解析存储数据
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* @param[in] t_rx_msg - 接收CAN数据-原报文数据
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*
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* @return U32_T - 1说明接收完整帧 0未接收完整帧
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*
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* @author jiankalka
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* @date 2025-08-13
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* ************************************************************************
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*/
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U32_T u32_sae1393_rx(DLL_DATA_T *pt_dll_data, CAN_DATA_T *pt_can_data, CAN_DATA t_rx_msg)
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{
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CAN_DATA t_tx_msg;
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U32_T u32_ret = 0;
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U32_T i, u32_pgn,u32_data;
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S32_T j;
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U8_T u8_src_addr, u8_dest_addr, u8_pri, u8_r_dp, u8_data_len;
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u8_pri = ((t_rx_msg.ID & 0x1C000000) >> 26); //优先级
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u8_r_dp = ((t_rx_msg.ID & 0x03000000) >> 24); //0
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u32_pgn = ((t_rx_msg.ID & 0x00FF0000) >> 8); //pgn - 是分辨多包使用，而不是bms数据内的bgn
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u8_src_addr = t_rx_msg.ID & 0xFF; //源地址
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u8_dest_addr = ((t_rx_msg.ID & 0x0000FF00) >> 8); //目标
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u8_data_len = t_rx_msg.Len; //数据长度
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(void)u8_r_dp;
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if (u32_pgn == TP_CM_PGN) //接收帧为多包连接管理帧
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{
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if(u8_data_len != 8) //管理帧帧长度都为8
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return u32_ret;
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switch(t_rx_msg.Data[0])
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{
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case TP_CM_RTS: //接收到对方发送的请求发送报文，回复CTS(允许发送)
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if ((pt_dll_data->e_msg_state == NONE) || //一级 状态为空闲时，直接接收
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(((pt_dll_data->e_msg_state == RX_WAIT_DATA_T2) || (pt_dll_data->e_msg_state == RX_WAIT_DATA_T1)) && //一级 接收状态下 重复接收相同帧
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(pt_dll_data->u32_pgn == ((t_rx_msg.Data[7]<<16) | (t_rx_msg.Data[6]<<8) | t_rx_msg.Data[5])) && //二级 接受帧pgn与正在接受的数据相同
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(pt_dll_data->u8_src_addr == u8_src_addr) && (pt_dll_data->u8_dest_addr == u8_dest_addr))) //二级 接收帧 目标地址和发送地址相同
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{
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//回复CTS
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u32_data = (U32_T)((t_rx_msg.Data[7]<<16) | (t_rx_msg.Data[6]<<8) | t_rx_msg.Data[5]);
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v_sae1939_cts_send(t_rx_msg.ID ,u32_data, t_rx_msg.Data[3],1, &t_tx_msg);
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if (pt_dll_data->u32_can_tx(&t_tx_msg) == 0) //发送成功
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{
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pt_dll_data->e_msg_state = RX_WAIT_DATA_T2;
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pt_dll_data->u32_time = u32_delay_get_timer_val();
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pt_dll_data->u32_pgn = (t_rx_msg.Data[7]<<16) | (t_rx_msg.Data[6]<<8) | t_rx_msg.Data[5]; //记录接收多包报文的pgn,有多个多包时也先收此pgn
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pt_dll_data->u8_src_addr = u8_src_addr;
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pt_dll_data->u8_dest_addr = u8_dest_addr;
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pt_dll_data->u8_pri = u8_pri;
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pt_dll_data->u16_len = ((U16_T)(t_rx_msg.Data[2])<<8) | t_rx_msg.Data[1];
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pt_dll_data->u8_packet_cnt = t_rx_msg.Data[3];
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pt_dll_data->u8_retry = 0;
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//等待接收数据，将缓存区置0xFF
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for (i=0; i<SAE1939_MULTI_PACKET_MAX_NUM; i++)
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{
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memset(pt_dll_data->t_packet[i].u8_data, 0xFF, 7);
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pt_dll_data->t_packet[i].u8_flag = 0;
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}
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}
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}
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else //放弃连接
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{
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//回复Abort
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u32_data = (U32_T)((t_rx_msg.Data[7]<<16) | (t_rx_msg.Data[6]<<8) | t_rx_msg.Data[5]);
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v_sae1939_abort_send(t_rx_msg.ID , u32_data, &t_tx_msg);
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pt_dll_data->u32_can_tx(&t_tx_msg);
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pt_dll_data->e_msg_state = NONE;
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}
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break;
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case TP_CM_ABORT: //结束应答
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if ((pt_dll_data->e_msg_state == RX_WAIT_DATA_T2) ||
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(pt_dll_data->e_msg_state == RX_WAIT_DATA_T1))
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{
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if ((u8_src_addr == pt_dll_data->u8_src_addr) &&
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(pt_dll_data->u8_dest_addr == u8_dest_addr) &&
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(pt_dll_data->u32_pgn == ((t_rx_msg.Data[7]<<16) | (t_rx_msg.Data[6]<<8) | t_rx_msg.Data[5])))
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{
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pt_dll_data->e_msg_state = NONE;
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}
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}
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break;
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default:
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break;
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}
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}
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else if (u32_pgn == TP_DT_PGN) //接收多包数据帧
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{
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if ((t_rx_msg.Len == 8) && //长度为8
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(pt_dll_data->u8_src_addr == u8_src_addr) && (pt_dll_data->u8_dest_addr == u8_dest_addr) && //接收报文目标、发送地址与报存的一致
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((pt_dll_data->e_msg_state == RX_WAIT_DATA_T2) || (pt_dll_data->e_msg_state == RX_WAIT_DATA_T1)) && //正在接收多包数据状态下
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(t_rx_msg.Data[0] != 0)) //包序号不为0
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{
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pt_dll_data->e_msg_state = RX_WAIT_DATA_T1;
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pt_dll_data->u32_time = u32_delay_get_timer_val();
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pt_dll_data->t_packet[t_rx_msg.Data[0]-1].u8_flag = 1;
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memcpy(pt_dll_data->t_packet[t_rx_msg.Data[0]-1].u8_data, &(t_rx_msg.Data[1]), 7);
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for (i=0; i<pt_dll_data->u8_packet_cnt; i++) //找到未接收的包，即下一个要求上送的包
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{
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if (pt_dll_data->t_packet[i].u8_flag == 0)
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break;
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}
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//多包数据接收完成
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if (i >= pt_dll_data->u8_packet_cnt)
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{
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pt_dll_data->e_msg_state = NONE;
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u32_ret = 1;
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pt_can_data->u32_pgn = pt_dll_data->u32_pgn;
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pt_can_data->u8_src_addr = u8_src_addr;
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pt_can_data->u8_dest_addr = u8_dest_addr;
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pt_can_data->u8_pri = u8_pri;
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pt_can_data->u16_len = pt_dll_data->u16_len;
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if (pt_can_data->u16_len > (SAE1939_MULTI_PACKET_MAX_NUM*7))
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pt_can_data->u16_len = (SAE1939_MULTI_PACKET_MAX_NUM*7);
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for (i=0; i<pt_can_data->u16_len; i++)
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pt_can_data->u8_data[i] = pt_dll_data->t_packet[i/7].u8_data[i%7];
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//发送EndofMsgACK
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v_sae1939_EndofMsgACK_send(pt_dll_data,&t_tx_msg);
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pt_dll_data->u32_can_tx(&t_tx_msg);
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}
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else if (pt_dll_data->t_packet[pt_dll_data->u8_packet_cnt-1].u8_flag == 1) //有包未接收，但是最后一包接收了，说明有丢包的 则重新申请丢的包
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{
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pt_dll_data->e_msg_state = RX_WAIT_DATA_T2;
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pt_dll_data->u32_time = u32_delay_get_timer_val();
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for (j=pt_dll_data->u8_packet_cnt-1; j>=0; j--)
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{
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if (pt_dll_data->t_packet[j].u8_flag == 0)
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break;
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}
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//回复CTS
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u32_data = pt_dll_data->u32_pgn;
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t_rx_msg.ID = (t_rx_msg.ID & 0xFF00FFFF)|(TP_CM_PGN << 8); //将帧ID PGN赋值为0xEC
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v_sae1939_cts_send(t_rx_msg.ID ,u32_data, j-i+1,i+1, &t_tx_msg);
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pt_dll_data->u32_can_tx(&t_tx_msg);
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}
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}
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}
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else //单包数据
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{
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u32_ret = 1; //返回解析成功
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pt_can_data->u32_pgn = u32_pgn;
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pt_can_data->u8_src_addr = u8_src_addr;
|
||
pt_can_data->u8_dest_addr = u8_dest_addr;
|
||
pt_can_data->u8_pri = u8_pri;
|
||
pt_can_data->u16_len = t_rx_msg.Len;
|
||
for (i=0; i<t_rx_msg.Len; i++)
|
||
pt_can_data->u8_data[i] = t_rx_msg.Data[i];
|
||
}
|
||
|
||
#if 1
|
||
//超时处理
|
||
switch (pt_dll_data->e_msg_state)
|
||
{
|
||
case RX_WAIT_DATA_T2:
|
||
if (u32_delay_time_elapse(pt_dll_data->u32_time, u32_delay_get_timer_val()) > TIMEOUT_T2)
|
||
{
|
||
//回复Abort
|
||
u32_data = ((U32_T)(pt_dll_data->u8_pri & 0x07) << 26);
|
||
u32_data |= ((TP_CM_PGN & 0x0000FF00) << 8);
|
||
u32_data |= ((U32_T)(pt_dll_data->u8_src_addr) <<8 );
|
||
u32_data |= pt_dll_data->u8_dest_addr;
|
||
v_sae1939_abort_send(u32_data , pt_dll_data->u32_pgn, &t_tx_msg);
|
||
|
||
pt_dll_data->u32_can_tx(&t_tx_msg);
|
||
|
||
pt_dll_data->e_msg_state = NONE;
|
||
}
|
||
break;
|
||
|
||
case RX_WAIT_DATA_T1:
|
||
if (u32_delay_time_elapse(pt_dll_data->u32_time, u32_delay_get_timer_val()) > TIMEOUT_T1)
|
||
{
|
||
//回复Abort
|
||
u32_data = ((U32_T)(pt_dll_data->u8_pri & 0x07) << 26);
|
||
u32_data |= ((TP_CM_PGN & 0x0000FF00) << 8);
|
||
u32_data |= ((U32_T)(pt_dll_data->u8_src_addr) <<8 );
|
||
u32_data |= pt_dll_data->u8_dest_addr;
|
||
v_sae1939_abort_send(u32_data , pt_dll_data->u32_pgn, &t_tx_msg);
|
||
|
||
pt_dll_data->u32_can_tx(&t_tx_msg);
|
||
|
||
pt_dll_data->e_msg_state = NONE;
|
||
}
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
#endif
|
||
|
||
return u32_ret;
|
||
}
|
||
|