diff --git a/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_bsp_init.c b/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_bsp_init.c index 41c00f3..dccfe17 100644 --- a/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_bsp_init.c +++ b/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_bsp_init.c @@ -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） } diff --git a/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_can.h b/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_can.h index 73d2131..3d99fd2 100644 --- a/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_can.h +++ b/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/jw_can.h @@ -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 #include +/************************************************************/ +//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 diff --git a/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/main.c b/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/main.c index 91f1457..5c5f85e 100644 --- a/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/main.c +++ b/SWM221_Lib/CAN/SimplCAN_RX_Int/APP/main.c @@ -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 /*鍛ㄦ湡锛100ms*/ }; +//can_data_t radio_can_buff[CAN_SIZE_MAX] = { +// /* VCU骞挎挱鍦板潃 */ +// .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; diff --git a/SWM221_Lib/SWM221_StdPeriph_Driver/CSL/SWM221_StdPeriph_Driver/SWM221_qei.c b/SWM221_Lib/SWM221_StdPeriph_Driver/CSL/SWM221_StdPeriph_Driver/SWM221_qei.c index 241621d..8ade57f 100644 --- a/SWM221_Lib/SWM221_StdPeriph_Driver/CSL/SWM221_StdPeriph_Driver/SWM221_qei.c +++ b/SWM221_Lib/SWM221_StdPeriph_Driver/CSL/SWM221_StdPeriph_Driver/SWM221_qei.c @@ -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; }