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1.更新CAN协议灯控盒BMC 2.新增CAN协议前照灯

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masst 5 days ago
parent edd6abfb82
commit 72635cf6d1
4 changed files with 304 additions and 164 deletions
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28
SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_bsp_init.c
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@ -61,19 +61,19 @@ static void CanInit(void)
/* CAN中断 */
CAN_INTEn(CAN0, CAN_IT_ERR_WARN | CAN_IT_RX_OVERFLOW);
// /* 过滤器16位ID模式） */
// CAN_SetFilter16b(CAN0, CAN_FILTER_1, 0x200, 0x7FE, 0x101, 0x7F8); //ID1:0x200,0x201; ID2:0x101~0x104
// CAN_SetFilter16b(CAN0, CAN_FILTER_2, 0x130, 0x7FF, 0x150, 0x7FF); //ID1:0x130; ID2:0x150
// CAN_SetFilter16b(CAN0, CAN_FILTER_3, 0x500, 0x7FC, 0x600, 0x7FC); //ID1:0x500~0x503; ID2:0x600~0x602
// CAN_SetFilter16b(CAN0, CAN_FILTER_4, 0x640, 0x7FF, 0x650, 0x7FF); //ID1:0x640; ID2:0x650
// CAN_SetFilter16b(CAN0, CAN_FILTER_5, 0x630, 0x7FF, 0x631, 0x7FE); //ID1:0x630; ID2:0x631~0x632
//
// /* 过滤器32位ID模式） */
// CAN_SetFilter32b(CAN0, CAN_FILTER_6, 0x1000FFA0, 0x1FF8FFFF); //接收扩展ID为0x1000FFAx~0x1004FFAx的帧
// CAN_SetFilter32b(CAN0, CAN_FILTER_7, 0x1011FFA7, 0x1FFEFFFF); //接收扩展ID为0x1011FFA7,0x1012FFA7的帧
// CAN_SetFilter32b(CAN0, CAN_FILTER_8, 0x1020FFA0, 0x1FF0FFFF); //接收扩展ID为0x1020FFAx~0x1028FFAx的帧
// CAN_SetFilter32b(CAN0, CAN_FILTER_9, 0x1030FFA0, 0x1FFCFFFF); //接收扩展ID为0x1030FFAx~0x1033FFAx的帧
/* 过滤器32位ID模式） */
CAN_SetFilter32b(CAN0, CAN_FILTER_1, 0x00202001, 0x1FF0FCF8); //接收扩展ID为0x00202001~0x00202304的帧 MC过滤
CAN_SetFilter32b(CAN0, CAN_FILTER_2, 0x00182001, 0x1FF8FCFC); //接收扩展ID为0x00182001~0x00182303的帧 BMS过滤
CAN_SetFilter32b(CAN0, CAN_FILTER_3, 0x00282301, 0x1FF8FFFC); //接收扩展ID为0x00282301~0x002F2301的帧 VCU过滤
CAN_SetFilter32b(CAN0, CAN_FILTER_4, 0x00282001, 0x1FF8FCFF); //接收扩展ID为0x00282001~0x00282201的帧 VCU过滤
CAN_SetFilter32b(CAN0, CAN_FILTER_5, 0x00302001, 0x1FF0FCFF); //接收扩展ID为0x00302001~0x00372301的帧 HIMI过滤
CAN_SetFilter32b(CAN0, CAN_FILTER_6, 0x00382301, 0x1FF8FFFF); //接收扩展ID为0x00382301~0x003F2301的帧 ABS过滤
CAN_SetFilter32b(CAN0, CAN_FILTER_7, 0x00382001, 0x1FF8FCFF); //接收扩展ID为0x00382001~0x003F2201的帧 ABS过滤
CAN_SetFilter32b(CAN0, CAN_FILTER_8, 0x00402001, 0x1FF0FCFF); //接收扩展ID为0x00402001~0x00402301的帧 灯控盒
CAN_SetFilter32b(CAN0, CAN_FILTER_9, 0x00482001, 0x1FF8FCFF); //接收扩展ID为0x00482001~0x004F2301的帧 雷达
// CAN_SetFilter32b(CAN0, CAN_FILTER_8, 0x00402001, 0x1FF0FCFF); //接收扩展ID为0x00402001~0x00402301的帧 灯控盒
CAN_Open(CAN0); // 启动CAN0控制器
}
@ -108,7 +108,7 @@ void bsp_init(void)
{
SystemInit();
GPIO_Init(GPIOA, PIN3, 1, 0, 1, 0); //输出，MCU拉低使能
SerialInit(); //串口初始化
SerialInit(); //串口初始化
CanInit();
SysTick_Configuration(); // 配置SysTick系统定时器（用于产生定时中断）
}

422
SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_can.h
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@ -1,13 +1,110 @@
/*********************************************************
*** 赛鸽 6个CAN协议：general_cmd,MC,BMS,VCU,HIMI,ABS,灯控盒，雷达， **********
*** V1.10 **********
**********************************************************/
/****************************************************************************************
*** 赛鸽 12个CAN协议：general_cmd,MC,BMS,VCU,HIMI,ABS,灯控盒BCM，雷达，BMS扩展，充电器扩展
*** 前照灯0x0B,尾灯0x0C
*****************************************************************************************/
#ifndef __JW_CAN_H__
#define __JW_CAN_H__
#include <stdint.h>
#include <stdbool.h>
/************************************************************/
//充电状态
typedef enum {
No_req = 0x0,
Charging = 0x1,
Chg_full = 0x2,
Off_light = 0x3
}charg_state;
/* 灯光颜色枚举（与协议对应） */
typedef enum {
COLOR_NO_REQUEST = 0x0,
COLOR_WHITE = 0x1,
COLOR_1 = 0x2,
COLOR_2 = 0x3,
COLOR_3 = 0x4,
COLOR_4 = 0x5,
COLOR_5 = 0x6,
COLOR_6 = 0x7,
COLOR_7 = 0x8,
COLOR_RANDOM = 0x9,
COLOR_RESERVED = 0xA // 0xA~0xF均为保留值
} color_set;
/* 功能开关状态 */
typedef enum {
FUNC_OFF = 0x00, //关闭功能
FUNC_ON = 0x01, //开启功能
FUNC_INVALID = 0x03 //无效设置
}fun_sta; //功能状态
typedef enum {
No_Req = 0x00,
Req_on = 0x01,
Req_off = 0x02,
Rsv = 0X03
}Rq_sta; //请求状态
typedef enum {
no_req = 0x0,
white_until = 0x1, //白光常亮
yellow_until = 0x2, //黄光常亮
white_flash = 0x3, //白光闪烁
yellow_flash = 0x4, //黄光闪烁
req_off = 0x5 //请求关闭
}upper_set; //前照灯远光
typedef enum {
sanyuan = 0x00, //三元
LiFePO = 0x01, //磷酸铁锂
LMO, //锰酸锂
LFMP, //磷酸锰铁锂
sealed, //铅酸
NiH, //镍氢
LiCoO, //钴酸锂
LiTiO, //钛酸锂
Na, //钠离子
solid, //固态
Multic_dop //多元掺杂
}battery_type;
typedef enum {
mos_off = 0x00,
mos_on = 0x01,
rsv = 0x02,
Void = 0x03
}mos_sta;
typedef enum {
INvalid = 0x00,
valid = 0x01
}effecf; //有效、无效
typedef enum {
Not = 0x00, //无该包
Free, //空闲
Discharge, //放电
Charge, //充电
Feedback, //回馈
Off_line, //离线
Unincorporated, //未并入
Heat //加热
}work_state;
typedef enum {
Nott = 0x00, //无该包
One_chg, //单包充电
One_dischg, //单包放电
Two_chg, //双包充电
Two_dischg, //双包放电
three_chg, //三包充电
three_dischg, //三包放电
four_chg, //四包充电
four_dischg, //四包放电
}parallel_sta;//并机状态
/******************* 通用命令 general_cmd *******************/
typedef struct{
struct{
@ -49,44 +146,6 @@ typedef struct{
}OTA_cmd_0x10;
/******************* MC *******************/
//功能开关选项
typedef enum {
Off = 0x00, // 关闭功能
On = 0x01, // 开启功能
Invalid = 0x03 // 无效设置
}Fun_State;
/* 灯光颜色枚举（与协议对应） */
typedef enum {
COLOR_NO_REQUEST = 0x0,
COLOR_WHITE = 0x1,
COLOR_1 = 0x2,
COLOR_2 = 0x3,
COLOR_3 = 0x4,
COLOR_4 = 0x5,
COLOR_5 = 0x6,
COLOR_6 = 0x7,
COLOR_7 = 0x8,
COLOR_RANDOM = 0x9,
COLOR_RESERVED = 0xA // 0xA~0xF均为保留值
} color_set;
/* 功能开关状态 */
typedef enum {
FUNC_OFF = 0x00,
FUNC_ON = 0x01,
FUNC_INVALID= 0x03
}Rq_sta; //请求状态
typedef enum {
no_req = 0x0,
white_until = 0x1,
yellow_until = 0x2,
white_flash = 0x3,
yellow_flash = 0x4,
req_off = 0x5
}upper_set; //前照灯远光
// 功能开关设置（0x20_0x01）
typedef struct {
struct {
@ -294,7 +353,7 @@ typedef struct{
uint8_t chg_time_remain; //充电剩余时间
}BMS_RealTime_status3_0x2303; //实时状态3 1000ms
//BMS扩展帧
/***********************BMS扩展帧*****************************/
typedef struct {
uint8_t main_hw_ver; // byte0: 主硬件版本 (0-99)
uint8_t sub_hw_ver; // byte1: 次硬件版本 (0-99)
@ -330,51 +389,14 @@ typedef struct{
uint8_t sn[4];
}BMS_sn_num; //BMS序列号 2000ms
typedef enum {
sanyuan = 0x00, //三元
LiFePO = 0x01, //磷酸铁锂
LMO, //锰酸锂
LFMP, //磷酸锰铁锂
sealed, //铅酸
NiH, //镍氢
LiCoO, //钴酸锂
LiTiO, //钛酸锂
Na, //钠离子
solid, //固态
Multic_dop //多元掺杂
}battery_type;
typedef struct{
uint16_t vol; //额定电压
uint8_t cap; //额定容量
uint8_t series_num; //串联数量
uint8_t parallel_num; //并联数量
battery_type bat_type; //电池类型
battery_type bat_type; //电池类型
}BMS_Nominal_para; //额定参数 2000ms
typedef enum {
Not = 0x00, //无该包
Free, //空闲
Discharge, //放电
Charge, //充电
Feedback, //回馈
Off_line, //离线
Unincorporated, //未并入
Heat //加热
}work_state;
typedef enum {
Nott = 0x00, //无该包
One_chg, //单包充电
One_dischg, //单包放电
Two_chg, //双包充电
Two_dischg, //双包放电
three_chg, //三包充电
three_dischg, //三包放电
four_chg, //四包充电
four_dischg, //四包放电
}parallel_sta;//并机状态
typedef struct{
work_state sta0;
work_state sta1;
@ -403,18 +425,6 @@ typedef struct{
//总电池允许最大允许回馈电流
}BMS_SOP; //SOP汇总 100ms
typedef enum {
mos_off = 0x00,
mos_on = 0x01,
rsv = 0x02,
Void = 0x03
}mos_sta;
typedef enum {
INvalid = 0x00,
valid = 0x01
}effecf; //有效、无效
typedef struct{
uint16_t vol;
int16_t cur;
@ -474,7 +484,6 @@ typedef struct{
}BMS_temp_vaule; //温度值 500ms
#pragma pack(push, 1)
typedef struct {
struct {
// Byte 0
@ -520,7 +529,6 @@ typedef struct {
uint8_t pre_OC:1; // B4.7,预充过流
}b4;
// Byte 5 (单比特标志位)
struct {
uint8_t AFE_OV :1; // B5.0
@ -533,7 +541,6 @@ typedef struct {
uint8_t AFE_DOT:1; // B5.7
}b5;
// Byte 6 (单比特标志位)
struct {
uint8_t AFE_DLT:1; // B6.0
@ -659,11 +666,11 @@ typedef struct{
/******************* ABS *******************/
typedef struct{
Fun_State fun_switch1;
Rq_sta fun_switch1;
}ABS_fun_swit_set_0x2001; //功能开关设置
typedef struct{
Fun_State fun_switch2;
Rq_sta fun_switch2;
}ABS_sys_info_0x2201; //系统信息 1000ms
// 实时状态标志位结构体（内存对齐优化）
@ -675,57 +682,71 @@ typedef struct {
}ABS_RealTime_Status1_0x2301; //实时状态1 200ms
#pragma pack(pop)
/******************* 灯控盒 *******************/
/******************* 灯控盒BCM *******************/
typedef struct{
struct {
uint8_t system_enable : 2; // bit0-1
uint8_t reserved : 6;
} switch_status; // 灯控系统开关
fun_sta led_ctrl_sys:2; //灯控系统开关
uint8_t rsv1:6;
}switch_t;
color_set front_corridor:4; // 前照灯示廓灯 (bit0-3)
color_set front_LOGO:4; // 前照灯LOGO灯 (bit4-7)
color_set front_thick_wall:4; // 前照灯厚壁灯 (bit0-3)
color_set back_corridor:4; // 尾灯示廓灯 (bit4-7)
color_set back_LOGO:4; // 尾灯LOGO灯 (bit0-3)
}LED_fun_swit_set_0x2001;
uint8_t rsv2:4;
uint8_t storage_ontime; //储物灯亮灯时间 默认60
uint8_t flash_frequency; //闪灯频率
}BCM_fun_set_0x2001;
/* 灯光配置结构体 */
typedef struct{
Rq_sta low_beam:4;
upper_set high_beam:4;
struct{
Rq_sta low_beam:4; //近光灯(bit0-3)
upper_set upper_beam:4; //远光(bit4-7)
}front_t1; //byte0 前照灯
struct{
Rq_sta left_beam:2; //前照灯左转向灯(bit0-1)
Rq_sta left_side:2; //前照灯左侧指示灯(bit2-3)
Rq_sta left_fill:2; //前照灯左侧补光灯(bit4-5)
Rq_sta right_beam:2; //前照灯右转向灯(bit6-7)
Rq_sta left_beam:2; //前照灯左转向灯(bit0-1)
Rq_sta left_indicator:2; //前照灯左侧指示灯(bit2-3)
Rq_sta left_side_fill:2; //前照灯左侧补光灯(bit4-5)
Rq_sta right_beam:2; //前照灯右转向灯(bit6-7)
}front_t2; //byte1
struct{
Rq_sta right_side:2; //前照灯右侧指示灯(bit0-1)
Rq_sta right_fill:2; //前照灯右侧补光灯(bit2-3)
Rq_sta both_side:2; //前照灯两侧示廓灯(bit4-5)
Rq_sta LOGO_beam:2; //前照灯LOGO灯(bit6-7)
Rq_sta right_indicator:2; //前照灯右侧指示灯(bit0-1)
Rq_sta right_fill:2; //前照灯右侧补光灯(bit2-3)
Rq_sta both_side:2; //前照灯两侧示廓灯(bit4-5)
Rq_sta LOGO_beam:2; //前照灯LOGO灯(bit6-7)
}front_t3; //byte2
struct{
Rq_sta thick_wall:2; //前照灯厚壁灯(bit0-1)
Rq_sta drive_lamp:2; //尾灯行车灯(bit2-3)
Rq_sta stop_lamp:2; //尾灯制动灯(bit4-5)
Rq_sta left_t:2; //尾灯左转(bit6-7)
Rq_sta thick_wall:2; //前照灯厚壁灯(bit0-1)
Rq_sta tail_drive:2; //尾灯行车灯(bit2-3)
Rq_sta tail_brake:2; //尾灯制动灯(bit4-5)
Rq_sta left_t:2; //尾灯左转(bit6-7)
}back_t1;
struct{
Rq_sta right_t:2; //尾灯右转(bit0-1)
Rq_sta corridor_t:2; //尾灯示廓灯(bit2-3)
Rq_sta logo_t:2; //尾灯LOGO灯(bit4-5)
Rq_sta right_t:2; //尾灯右转(bit0-1)
Rq_sta tail_outline:2; //尾灯示廓灯(bit2-3)
Rq_sta tail_logo:2; //尾灯LOGO灯(bit4-5)
Rq_sta left_t:2; //左转灯(bit6-7)
}back_t2;
}LED_fun_cotrol_0x2101;
struct{
Rq_sta right_t:2; //右转灯(bit0-1)
Rq_sta front_projection:2; //前投影灯(bit2-3)
Rq_sta rear_projection:2; //后投影灯(bit4-5)
Rq_sta ambient_light:2; //氛围灯(bit6-7)
}led_t;
charg_state charg_indicator:2; //充电指示灯
Rq_sta drive_lamp:2; //行车灯
}BCM_fun_ctrl_0x2101; //功能控制 50ms
typedef struct{
Fun_State light_ctrl_box;//灯控盒
}LED_sys_info_t; //系统信息 1000ms
struct {
fun_sta led_ctrl_sys:2; //灯控系统开关
uint8_t rsv1:6;
}switch_t;
uint8_t storage_ontime; //储物灯亮灯时间 默认60
uint8_t flash_frequency; //闪灯频率
}BCM_sys_info_0x2201; //系统信息 1000ms
typedef struct{
struct{
uint16_t light_t:1; //灯光总开关/尾灯开关
struct{
uint16_t main_tail:1; //灯光总开关/尾灯开关
uint16_t high_beam:1; //远光灯开关
uint16_t left_turn:1; //左转开关
uint16_t right_turn:1; //右转开关
@ -734,41 +755,138 @@ typedef struct{
uint16_t rsv:10;
}switch_input;
struct{
uint16_t tail_on:1; //尾灯开启
uint16_t high_beam_on:1; //远光灯开启
uint16_t left_turn_on:1; //左转开启
uint16_t right_turn_on:1; //右转开启
uint16_t low_beam_on:1; //近光灯开启
uint16_t rsv:11;
uint16_t tail_on:1; //尾灯开启
uint16_t high_beam_on:1; //远光灯开启
uint16_t left_turn_on:1; //左转开启
uint16_t right_turn_on:1; //右转开启
uint16_t low_beam_on:1; //近光灯开启
uint16_t front_projector:2; //前投影灯(bit2-3)
uint16_t rear_projector:2; //后投影灯(bit4-5)
uint16_t ambient_light:2; //氛围灯(bit6-7)
uint16_t rsv:8;
}output_state;
struct{
uint32_t signal_left:1; //前转向灯左转故障
uint32_t signal_right:1; //前转向灯右转故障
uint32_t tail_left:1; //尾灯转向灯左转故障
uint32_t tail_right:1; //尾灯向灯右转故障
uint32_t dip_beam:1; //近光灯故障
uint32_t high_white_light:1; //远光灯白灯故障
uint32_t high_yellow_light:1; //远光灯黄灯故障
uint32_t headlight_OC:1; //行车灯过流故障
uint32_t LV_supply:1; //供电电压低故障
uint32_t OV_supply:1; //供电电压高故障
uint32_t left_OC:1; //左后视镜灯过流故障
uint32_t right_OC:1; //右后视镜灯过流故障
uint32_t storage_light_OC:1; //储物灯过流故障
uint32_t projector_OC_1:1; //投影灯1过流故障
uint32_t projector_OC_2:1; //投影灯2过流故障
uint32_t left_side_OC:1; //左侧补光灯过流故障
uint32_t right_side_OC:1; //右侧补光灯过流故障
uint32_t brake_OC:1; //制动灯过流故障
uint32_t horn_OC:1; //喇叭过流故障
uint32_t fan_OC:1; //风扇过流故障
uint32_t high_OC:1; //高刹过流故障
uint32_t ctrl_message_loss:1; //中控报文丢失故障
uint32_t radar_message_lost:1; //雷达报文丢失故障
uint32_t stuck_horn_switch:1; //喇叭开关卡滞故障
uint32_t seat_cushion_OH:1; //坐垫加热过流故障
uint32_t wrench_OH_OC:1; //转把加热过流故障
uint32_t rsv:6;
}fault_t;
}LED_realtime_status1_0x2301; //50ms
/******************* 前照灯0x0B *******************/
typedef struct{
struct {
fun_sta system_enable : 2; // bit0-1
uint8_t reserved : 6;
} switch_status; // 灯控系统开关
color_set front_corridor:4; // 前照灯示廓灯 (bit0-3)
color_set front_LOGO:4; // 前照灯LOGO灯 (bit4-7)
color_set front_thick_wall:4; // 前照灯厚壁灯 (bit0-3)
color_set back_corridor:4; // 尾灯示廓灯 (bit4-7)
color_set back_LOGO:4; // 尾灯LOGO灯 (bit0-3)
}HEAD_fun_swit_set_0x2001; //功能开关设置
typedef struct{
struct{
Rq_sta low_beam:2; //前照灯近光灯(bit0-1)
uint8_t rsv1:2;
upper_set upper_beam:3; //前照灯近光灯(bit4-7)
uint8_t rsv2:1;
}front_t1; //byte0 前照灯
struct{
Rq_sta left_beam:2; //前照灯左转向灯(bit0-1)
Rq_sta left_indicator:2; //前照灯左侧指示灯(bit2-3)
Rq_sta left_side_fill:2; //前照灯左侧补光灯(bit4-5)
Rq_sta right_beam:2; //前照灯右转向灯(bit6-7)
}front_t2; //byte1
struct{
Rq_sta right_indicator:2; //前照灯右侧指示灯(bit0-1)
Rq_sta right_fill:2; //前照灯右侧补光灯(bit2-3)
Rq_sta both_side:2; //前照灯两侧示廓灯(bit4-5)
Rq_sta LOGO_beam:2; //前照灯LOGO灯(bit6-7)
}front_t3; //byte2
struct{
Rq_sta thick_wall:2; //前照灯厚壁灯(bit0-1)
Rq_sta tail_drive:2; //尾灯行车灯(bit2-3)
Rq_sta tail_brake:2; //尾灯制动灯(bit4-5)
Rq_sta left_t:2; //尾灯左转(bit6-7)
}back_t1;
struct{
Rq_sta right_t:2; //尾灯右转(bit0-1)
Rq_sta tail_outline:2; //尾灯示廓灯(bit2-3)
Rq_sta tail_logo:2; //尾灯LOGO灯(bit4-5)
Rq_sta left_t:2; //左转灯(bit6-7)
}back_t2;
struct{
Rq_sta right_t:2; //右转灯(bit0-1)
Rq_sta front_projector:2; //前投影灯(bit2-3)
Rq_sta rear_projector:2; //后投影灯(bit4-5)
Rq_sta ambient_light:2; //氛围灯(bit6-7)
}led_t;
charg_state charg_indicator:2; //充电指示灯
}HEAD_fun_cotrol1_0x2101; //功能控制
typedef struct{
uint8_t turn_signal:4; //转向灯
uint8_t high_low_lamp:4; //远近光
}HEAD_headlamp_fault_0x2401; //前照灯故障反馈
typedef struct{
uint8_t turn_signal:2; //转向灯
uint8_t rsv:6;
}HEAD_taillight_fault_0x2402; //尾灯故障反馈
/******************* 雷达rado *******************/
typedef struct{
struct{
Fun_State radar_sys:2; //雷达系统开关
Fun_State warn_light:2; //预警灯开关
Fun_State buzzer:2; //蜂鸣器开关
Fun_State video:2; //录像开关
Rq_sta radar_sys:2; //雷达系统开关
Rq_sta warn_light:2; //预警灯开关
Rq_sta buzzer:2; //蜂鸣器开关
Rq_sta video:2; //录像开关
}switch1;
struct{
Fun_State behind_vehicle:2; //后方来车预警开关
Fun_State left_vehicle:2; //左侧方来车预警开关
Fun_State right_vehicle:2; //右侧方来车预警开关
Rq_sta behind_vehicle:2; //后方来车预警开关
Rq_sta left_vehicle:2; //左侧方来车预警开关
Rq_sta right_vehicle:2; //右侧方来车预警开关
}switch2;
}RADO_fun_switch_set_0x2001; //功能开关设置
typedef struct{
struct{
Fun_State radar_sys:2; //雷达系统开关
Fun_State warn_light:2; //预警灯开关
Fun_State buzzer:2; //蜂鸣器开关
Fun_State video:2; //录像开关
Rq_sta radar_sys:2; //雷达系统开关
Rq_sta warn_light:2; //预警灯开关
Rq_sta buzzer:2; //蜂鸣器开关
Rq_sta video:2; //录像开关
}switch1;
struct{
Fun_State behind_vehicle:2; //后方来车预警开关
Fun_State left_vehicle:2; //左侧方来车预警开关
Fun_State right_vehicle:2; //右侧方来车预警开关
Rq_sta behind_vehicle:2; //后方来车预警开关
Rq_sta left_vehicle:2; //左侧方来车预警开关
Rq_sta right_vehicle:2; //右侧方来车预警开关
}switch2;
}RADO_sys_info_0x2201; //系统信息 1000ms
@ -818,6 +936,12 @@ typedef struct{
chg_sta comm_fail; //通讯故障
chg_sta chg_overtime; //充电超时
}charger_state;
/******************* 前照灯 *******************/
//typedef struct{
// Rq_sta led_ctrl;
//}
/***************************************************************/
#define CAN_SIZE_MAX 100U //根据CAN的id数设置大小41
#define QUEUE_BUFF_SIZE 36U

16
SWM221_Lib/CAN/SimplCAN_RX_Int/APP/main.c
Unescape Escape View File

@ -60,6 +60,22 @@ static can_data_t can_buff[CAN_SIZE_MAX] = {
{.can_id = 0x201,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF} } //beam_set /*周期：100ms*/
};
//can_data_t radio_can_buff[CAN_SIZE_MAX] = {
// /* VCU广播地址 */
// .can_id = 0x00282301,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
// .can_id = 0x00292301,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
// .can_id = 0x002A2301,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
// .can_id = 0x002B2301,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
// .can_id = 0x002C2301,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
// .can_id = 0x002D2301,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
// .can_id = 0x002E2301,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
// .can_id = 0x00282302,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
// .can_id = 0x00292302,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
// .can_id = 0x002A2302,.data = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF},
//
//};
volatile bool msg_rcvd = false;
CircleBuffer_t CirBuf;

2
SWM221_Lib/SWM221_StdPeriph_Driver/CSL/SWM221_StdPeriph_Driver/SWM221_qei.c
Unescape Escape View File

@ -100,7 +100,7 @@ void QEI_IntEn(QEI_TypeDef * QEIx, uint32_t it)
switch((uint32_t)QEIx)
{
case ((uint32_t)QEI):
case ((uint32_t)QEI):
NVIC_EnableIRQ(GPIOB4_GPIOB10_QEI_IRQn);
break;
}

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