diff --git a/HARDWARE/CAN/can1.c b/HARDWARE/CAN/can1.c index c8867a8..463bf54 100644 --- a/HARDWARE/CAN/can1.c +++ b/HARDWARE/CAN/can1.c @@ -119,7 +119,7 @@ void CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode,u32 * filter_list,u8 CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE); NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn; /* !! 中断优先级CAN1和CAN2必须相同*/ - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); @@ -158,13 +158,13 @@ void CAN1_RX0_IRQHandler(void){ /* CAN1数据拷贝至queue.arr尾部，并更新tail*/ queue_arr_memcpy(&can_queue, (u8 *)&RxMessage , sizeof(RxMessage)); - #if PRINT_UART_LOG - printf("CAN1 Data : "); - for(int i = 0; i < RxMessage.DLC;i++){ - printf("%d ",RxMessage.Data[i]); - } - printf("\r\n"); - #endif +// #if PRINT_UART_LOG +// printf("CAN1 Data : "); +// for(int i = 0; i < RxMessage.DLC;i++){ +// printf("%d ",RxMessage.Data[i]); +// } +// printf("\r\n"); +// #endif } } CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0); diff --git a/HARDWARE/CAN/can2.c b/HARDWARE/CAN/can2.c index 4683522..e2e90ad 100644 --- a/HARDWARE/CAN/can2.c +++ b/HARDWARE/CAN/can2.c @@ -140,7 +140,7 @@ void CAN2_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode,u32 * filter_list,u8 CAN_ITConfig(CAN2,CAN_IT_FMP1,ENABLE); NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn; /* !! 中断优先级CAN1和CAN2必须相同*/ - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); @@ -176,13 +176,13 @@ void CAN2_RX1_IRQHandler(void) queue_arr_memcpy(&can_queue, (u8 *)&SYSTEMTIME , sizeof(SYSTEMTIME)); /* CAN2数据拷贝至queue.arr尾部，并更新tail*/ queue_arr_memcpy(&can_queue, (u8 *)&RxMessage , sizeof(RxMessage)); - #if PRINT_UART_LOG - printf("CAN2 Data : "); - for(int i = 0; i < RxMessage.DLC;i++){ - printf("%d ",RxMessage.Data[i]); - } - printf("\r\n"); - #endif +// #if PRINT_UART_LOG +// printf("CAN2 Data : "); +// for(int i = 0; i < RxMessage.DLC;i++){ +// printf("%d ",RxMessage.Data[i]); +// } +// printf("\r\n"); +// #endif } } CAN_ClearITPendingBit(CAN2, CAN_IT_FMP1); diff --git a/HARDWARE/QUEUE/queue.c b/HARDWARE/QUEUE/queue.c index 25dc3c0..8cc4dc2 100644 --- a/HARDWARE/QUEUE/queue.c +++ b/HARDWARE/QUEUE/queue.c @@ -57,8 +57,15 @@ u8 queue_get(volatile Queue * pQueue) * @retval None */ void queue_arr_memcpy(Queue * pQueue, u8 * buf , u8 len){ - memcpy((u8 *)&pQueue->arr[pQueue->tail],buf,len); + if((len + pQueue->tail) <= QUEUE_SIZE){ + memcpy((u8 *)&(pQueue->arr[pQueue->tail]),buf,len); + + }else{ + memcpy((u8 *)&(pQueue->arr[pQueue->tail]),buf,QUEUE_SIZE - pQueue->tail); + memcpy((u8 *)&(pQueue->arr[0]),buf+QUEUE_SIZE - pQueue->tail,len - QUEUE_SIZE + pQueue->tail); + } pQueue->tail = (pQueue->tail + len) % QUEUE_SIZE; + } /** @@ -85,7 +92,8 @@ void queue_clear(volatile Queue * pQueue) */ void queue_addtime_addIO(volatile Queue * pQueue, u32 count, u8 id, u8 IO_input1, u8 IO_input2,u8 dataType) { - pQueue->head = (pQueue->head-PACKAGE_HEAD_FRAME_LENGTH + QUEUE_SIZE)% QUEUE_SIZE; //往前距离为包的帧头长度，包括测试名称、时间、IO高低电平等 + pQueue->head = (pQueue->head + QUEUE_SIZE -PACKAGE_HEAD_FRAME_LENGTH)% QUEUE_SIZE; //往前距离为包的帧头长度，包括测试名称、时间、IO高低电平等 +// printf("Head: %d \r\nTail: %d \r\n\r\n",pQueue->head,pQueue->tail); pQueue->arr[(pQueue->head+0)% QUEUE_SIZE] = (u8)(pQueue->YYYY_MM_DD); pQueue->arr[(pQueue->head+1)% QUEUE_SIZE] = (u8)(pQueue->YYYY_MM_DD>>8); pQueue->arr[(pQueue->head+2)% QUEUE_SIZE] = (u8)(pQueue->YYYY_MM_DD>>16); @@ -159,7 +167,6 @@ u8 queue_empty(volatile Queue queue) */ u32 queue_length(volatile Queue queue) { -// printf("len : %d\r\n",(queue.tail-queue.head+QUEUE_SIZE)%QUEUE_SIZE); return (queue.tail-queue.head+QUEUE_SIZE)%QUEUE_SIZE; } diff --git a/HARDWARE/QUEUE/queue.h b/HARDWARE/QUEUE/queue.h index f229581..c605fc4 100644 --- a/HARDWARE/QUEUE/queue.h +++ b/HARDWARE/QUEUE/queue.h @@ -30,9 +30,9 @@ * @note 队列存储ADC和CAN数据，数据长度以ADC长度设置 * @{ */ -#define UDP_SEND_SIZE (8*60 + PACKAGE_HEAD_FRAME_LENGTH) /*!< UDP数据包最大大小 540 = 8 * 60 + PACKAGE_HEAD_FRAME_LENGTH>*/ -#define QUEUE_SIZE 700 /*!< 队列正常容量>*/ -#define ARR_SIZE (QUEUE_SIZE + UDP_SEND_SIZE+50) /*!< 队列最大容量>*/ +#define UDP_SEND_SIZE (8*40 + PACKAGE_HEAD_FRAME_LENGTH) /*!< UDP数据包最大大小 540 = 8 * 60 + PACKAGE_HEAD_FRAME_LENGTH>*/ +#define QUEUE_SIZE 500 /*!< 队列正常容量，必须比UDP_SEND_SIZE大一些，不然会在被后面的信息覆盖>*/ +#define ARR_SIZE (QUEUE_SIZE + UDP_SEND_SIZE+52) /*!< 队列最大容量>*/ /** * @} */ diff --git a/HARDWARE/TIMER/timer.c b/HARDWARE/TIMER/timer.c index 2f1ec84..cc05e95 100644 --- a/HARDWARE/TIMER/timer.c +++ b/HARDWARE/TIMER/timer.c @@ -51,7 +51,7 @@ void TIM4_Int_Init(u16 arr,u16 psc) /* TIM4中断*/ NVIC_InitStructure.NVIC_IRQChannel=TIM4_IRQn; /* 抢占优先级*/ - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x00; /* 子优先级3*/ NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x00; NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE; diff --git a/HARDWARE/WIFI/userwifi.c b/HARDWARE/WIFI/userwifi.c index a2bd7e7..bb3f34e 100644 --- a/HARDWARE/WIFI/userwifi.c +++ b/HARDWARE/WIFI/userwifi.c @@ -23,9 +23,9 @@ u32 SYSTEMTIME = 0; //系统时间 u32 YYMMDD =0; //年月日 u8 Time_Sync_Flag = 0; //最近时钟是否同步 -volatile u8 Wifi_Send_EN = 0; //数据采集和发送使能，是CAN和ADC采集的总开关 +volatile u8 Wifi_Send_EN = 1; //数据采集和发送使能，是CAN和ADC采集的总开关 u8 CAN_Get_EN = CAN1_ENABLE_BIT_SLC|CAN2_ENABLE_BIT_SLC; //CAN数据发送使能（第0位使能can1，第1位使能can2），默认开启（必须满足Wifi_Send_EN=1，才能采集） -u8 ADC_Get_EN = 0; //ADC数据采集使能，默认开启（必须满足Wifi_Send_EN=1，才能采集） +u8 ADC_Get_EN = 1; //ADC数据采集使能，默认开启（必须满足Wifi_Send_EN=1，才能采集） Queue adc_queue; //ADC数据存储 Queue can_queue; //can数据存储 u8 localDestIp_txrx[4] = {255,255,255,255}; @@ -143,25 +143,23 @@ u8 wifi_send_package() /* ADC Queue加入帧头*/ queue_addtime_addIO(&adc_queue,Adc_Length, nodeId, DIGITAL_INPUT1,DIGITAL_INPUT2,ADC_DATA_PACKAGE); - + /**获取队列头，并更新队列*/ + Adc_Head = adc_queue.head; + adc_queue.head = adc_queue.tail; /* CAN Queue加入帧头*/ queue_addtime_addIO(&can_queue,Can_Length, nodeId, DIGITAL_INPUT1,DIGITAL_INPUT2,CAN_DATA_PACKAGE); + Can_Head = can_queue.head; + can_queue.head = can_queue.tail; /* ADC如果分成两段，将前面一段复制到后面*/ - if(adc_queue.head + Adc_Length > QUEUE_SIZE ) { - queue_oversize(&adc_queue,adc_queue.head + PACKAGE_HEAD_FRAME_LENGTH + Adc_Length - QUEUE_SIZE); + if(Adc_Head + Adc_Length + PACKAGE_HEAD_FRAME_LENGTH > QUEUE_SIZE ) { + queue_oversize(&adc_queue,Adc_Head + PACKAGE_HEAD_FRAME_LENGTH + Adc_Length - QUEUE_SIZE); } /* CAN如果分成两段，将前面一段复制到后面*/ - if(can_queue.head + Can_Length > QUEUE_SIZE ) { - queue_oversize(&can_queue,can_queue.head + PACKAGE_HEAD_FRAME_LENGTH + Can_Length - QUEUE_SIZE); + if(Can_Head + Can_Length + PACKAGE_HEAD_FRAME_LENGTH > QUEUE_SIZE ) { + queue_oversize(&can_queue,Can_Head + PACKAGE_HEAD_FRAME_LENGTH + Can_Length - QUEUE_SIZE); } - /**获取队列头，并更新队列*/ - Adc_Head = adc_queue.head; - Can_Head = can_queue.head; - adc_queue.head = adc_queue.tail; - can_queue.head = can_queue.tail; - temp = DATA_AUTO_CHECK_EN; DATA_AUTO_CHECK_EN = 0; /* ADC数据发送到远程服务器*/ @@ -196,13 +194,13 @@ u8 wifi_send_package() if(queue_length(adc_queue) >= (UDP_SEND_SIZE - PACKAGE_HEAD_FRAME_LENGTH )){ Adc_Length = queue_length(adc_queue); - queue_addtime_addIO(&adc_queue,Adc_Length,nodeId, DIGITAL_INPUT1,DIGITAL_INPUT2,ADC_DATA_PACKAGE); // head <- head-10; - if(adc_queue.head + UDP_SEND_SIZE > QUEUE_SIZE ){ - queue_oversize(&adc_queue,adc_queue.head + UDP_SEND_SIZE - QUEUE_SIZE); - } Adc_Head = adc_queue.head; - adc_queue.head = adc_queue.tail; + adc_queue.head = adc_queue.tail; + if(Adc_Head + Adc_Length + PACKAGE_HEAD_FRAME_LENGTH > QUEUE_SIZE ){ + queue_oversize(&adc_queue,Adc_Head + Adc_Length + PACKAGE_HEAD_FRAME_LENGTH - QUEUE_SIZE); + } + //发送到远程服务器 temp = DATA_AUTO_CHECK_EN; DATA_AUTO_CHECK_EN = 0; @@ -218,55 +216,53 @@ u8 wifi_send_package() } /* CAN队列已满*/ if( queue_length(can_queue) >= (UDP_SEND_SIZE - PACKAGE_HEAD_FRAME_LENGTH )){ + /* 得到can队列的长度，只有数据*/ Can_Length = queue_length(can_queue); - /* CAN Queue加入帧头*/ queue_addtime_addIO(&can_queue,Can_Length, nodeId, DIGITAL_INPUT1,DIGITAL_INPUT2,CAN_DATA_PACKAGE); + Can_Head = can_queue.head; + can_queue.head = can_queue.tail; /* 如果分成两段，将前面一段复制到后面*/ - if(adc_queue.head + UDP_SEND_SIZE > QUEUE_SIZE ) { - queue_oversize(&can_queue,can_queue.head + UDP_SEND_SIZE - QUEUE_SIZE); + if(Can_Head + Can_Length + PACKAGE_HEAD_FRAME_LENGTH > QUEUE_SIZE ) { + queue_oversize(&can_queue,Can_Head + Can_Length + PACKAGE_HEAD_FRAME_LENGTH - QUEUE_SIZE); } - - /**获取队列头，并更新队列*/ - Can_Head = can_queue.head; - can_queue.head = can_queue.tail; +// for(int i =0 ;i < Can_Length+PACKAGE_HEAD_FRAME_LENGTH;i++){ +// printf("%x ",can_queue.arr[can_queue.head+i]); +// } temp = DATA_AUTO_CHECK_EN; DATA_AUTO_CHECK_EN = 0; /* 发送到远程服务器*/ - rsi_send_ludp_data(socketDescriptor_txrx, &can_queue.arr[Can_Head],Can_Length+PACKAGE_HEAD_FRAME_LENGTH, RSI_PROTOCOL_UDP_V4, (uint8 *)destIp_txrx, destSocket_txrx, &bytes_sent); - + rsi_send_ludp_data(socketDescriptor_txrx, &can_queue.arr[Can_Head],Can_Length, RSI_PROTOCOL_UDP_V4, (uint8 *)destIp_txrx, destSocket_txrx, &bytes_sent); + DATA_AUTO_CHECK_EN = temp; delay_ms(5); temp = DATA_AUTO_CHECK_EN; DATA_AUTO_CHECK_EN = 0; /* CAN数据发送到局域网*/ - rsi_send_ludp_data(localSocketDescriptor_txrx, &can_queue.arr[Can_Head],Can_Length+PACKAGE_HEAD_FRAME_LENGTH, RSI_PROTOCOL_UDP_V4, (uint8 *)localDestIp_txrx, localDestSocket_txrx, &bytes_sent); + rsi_send_ludp_data(localSocketDescriptor_txrx, &can_queue.arr[Can_Head],Can_Length, RSI_PROTOCOL_UDP_V4, (uint8 *)localDestIp_txrx, localDestSocket_txrx, &bytes_sent); DATA_AUTO_CHECK_EN = temp; - } - /* CAN队列中数据存储时间过长，以us为单位，就发出来*/ - if(queue_length(can_queue) > 0){ - Can_Length = queue_length(can_queue); + }else if(queue_length(can_queue) > 0){ /* CAN队列中数据存储时间过长，以us为单位，就发出来*/ if(((SYSTEMTIME - ((u32)(can_queue.arr[can_queue.head+1]&0xff)|((u32)(can_queue.arr[can_queue.head+2]&0xff)<<8)|((u32)(can_queue.arr[can_queue.head+3]&0xff)<<16) |((u32)(can_queue.arr[can_queue.head+4]&0xff)<<24)))*(TIM4_ARR + 1)*(TIM4_PSC + 1) / TIM3_4_PCLK_MHZ) > CAN_OVERTIME_SEND_TIME){ + /* 得到can队列的长度，只有数据*/ + Can_Length = queue_length(can_queue); /* CAN Queue加入帧头*/ queue_addtime_addIO(&can_queue,Can_Length, nodeId, DIGITAL_INPUT1,DIGITAL_INPUT2,CAN_DATA_PACKAGE); - - /* 如果分成两段，将前面一段复制到后面*/ - if(can_queue.head + Can_Length > QUEUE_SIZE ) { - queue_oversize(&can_queue,can_queue.head + Can_Length + PACKAGE_HEAD_FRAME_LENGTH - QUEUE_SIZE); - } - /**获取队列头，并更新队列*/ Can_Head = can_queue.head; - can_queue.head = can_queue.tail; + can_queue.head = can_queue.tail; + /* 如果分成两段，将前面一段复制到后面*/ + if(can_queue.head + Can_Length + PACKAGE_HEAD_FRAME_LENGTH > QUEUE_SIZE ) { + queue_oversize(&can_queue,can_queue.head + Can_Length + PACKAGE_HEAD_FRAME_LENGTH - QUEUE_SIZE); + }; + temp = DATA_AUTO_CHECK_EN; DATA_AUTO_CHECK_EN = 0; /* 发送到远程服务器*/ rsi_send_ludp_data(socketDescriptor_txrx, &can_queue.arr[Can_Head],Can_Length+PACKAGE_HEAD_FRAME_LENGTH, RSI_PROTOCOL_UDP_V4, (uint8 *)destIp_txrx, destSocket_txrx, &bytes_sent); - DATA_AUTO_CHECK_EN = temp; delay_ms(5); temp = DATA_AUTO_CHECK_EN; diff --git a/HARDWARE/WIFI/userwifi.h b/HARDWARE/WIFI/userwifi.h index 3bdf75c..5b5f857 100644 --- a/HARDWARE/WIFI/userwifi.h +++ b/HARDWARE/WIFI/userwifi.h @@ -57,7 +57,7 @@ typedef enum{ /** @defgroup 超时发送 * @{ */ -#define CAN_OVERTIME_SEND_TIME 2000000 /*!< 2000ms>*/ +#define CAN_OVERTIME_SEND_TIME 600000 /*!< 8000ms>*/ /** * @} */ diff --git a/USER/main.c b/USER/main.c index 51ba490..d6189b6 100644 --- a/USER/main.c +++ b/USER/main.c @@ -74,13 +74,14 @@ void Initialization (void) /*队列配置*/ queue_init(&adc_queue); + queue_init(&can_queue); /*ADC相关引脚初始化*/ ADC_CTRL_Conf(); // /* CAN测试*/ -// u32 filter[7] = {0x1800f001,0x1800f002,0x1800f003,0x1800f004,0x1800f005,0x1800f006,0x1800f007}; -// CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS1_6tq,CAN_BS2_7tq,12,CAN_Mode_Normal,(u32 *)filter,7); + u32 filter[7] = {0x1800f001,0x1800f002,0x1800f003,0x1800f004,0x1800f005,0x1800f006,0x1800f007}; + CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS1_6tq,CAN_BS2_7tq,12,CAN_Mode_Normal,(u32 *)filter,7); // CAN2_Mode_Init(CAN_SJW_1tq,CAN_BS1_6tq,CAN_BS2_7tq,6,CAN_Mode_Normal,(u32 *)filter,7); /*系统时间100us中断*/ TIM4_Int_Init(TIM4_ARR,TIM4_PSC);