824 lines
25 KiB
C
824 lines
25 KiB
C
#include "requester.h"
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static union Byte byte[2048][8];
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#define byte_modbusadr(x) byte[x/64][(x%64)/8]
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#define _GET_MODBUS_BIT(x) byte[x/64][(x%64)/8].AllBit>>((x%64)%8)
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#define _GET_MODBUS_ADR(SensorId, RequestedBytePosition, RequestedBitPosition) SensorId*64 + RequestedBytePosition*8 + RequestedBitPosition
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uint16_t ModbusFilters[COUNT_OF_MODBUS_SECTIONS][2];
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struct device CurrentDevice;
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struct device Device_on_the_Network[32];
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struct data Data;
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struct controlflags ControlFlags;
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struct received_request ReceivedRequest;
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uint8_t CurrentStep = 0;
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uint8_t LastStep = 0;
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struct RXMsg rxMsg[CAN_RX_BUFFER_SIZE];
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#define MAX_NUM_OF_DEVICES_PER_LINE 4
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#define MAX_NUM_OF_REGISTERS_IN_DEVICE 255
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//Регистр это слово (16 бит). uint16
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uint16_t ModbusDemonstration[MAX_NUM_OF_DEVICES_PER_LINE][MAX_NUM_OF_REGISTERS_IN_DEVICE];
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uint16_t ModbusAlternativeTable[MAX_NUM_OF_DEVICES_PER_LINE*MAX_NUM_OF_REGISTERS_IN_DEVICE];
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_Bool IsLeapYear(uint8_t year)
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{
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year+=2000;
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return (year%400==0)||((year%4==0)&&(year%100!=0));
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}
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uint16_t AvailableCanRxMsg(void)
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{
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return ((uint16_t)(CAN_RX_BUFFER_SIZE + LastStep - CurrentStep))%CAN_RX_BUFFER_SIZE;
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}
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/**
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* @brief Инициализация переферии
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* @details Инициализация HAL, CAN, TIM7, RTC.
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* @note Фильтры CAN описаны в разделе REQUESTER_CAN_FILTERS().
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*/
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void REQUESTER_Init(void)
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{
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HAL_Init();
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MX_CAN_Init();
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HAL_CAN_Start(&_HCAN);
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REQUESTER_CAN_FILTERS();
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HAL_CAN_ActivateNotification(&_HCAN, CAN_IT_RX_FIFO0_MSG_PENDING);
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ControlFlags.IsPulse = 1;
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MX_TIM7_Init();
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MX_RTC_Init();
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#ifdef _DEMO
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int Reg_AltModbusTable;
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//Тестовые значения регистров. Для отладки/демонстрации
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for(int x = 0; x < MAX_NUM_OF_DEVICES_PER_LINE; x++)
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{
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for(int y = 0; y < MAX_NUM_OF_REGISTERS_IN_DEVICE; y++)
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{
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ModbusDemonstration[x][y] = x<<8 | y;
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Reg_AltModbusTable = x*MAX_NUM_OF_REGISTERS_IN_DEVICE+y;
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ModbusAlternativeTable[Reg_AltModbusTable] = x<<8 | y;
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}
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}
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#endif
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}
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int ProverkaDefinaResult;
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int ProverkaDefinaItem = 0;
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int ProverkaArbitors = 0;
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/**
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* @brief Функция с обработкой полученных запросов
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* @details В бесконечном цикле функция ожидает выставление флага о полученном запросе.
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* Обработка запроса аналоговых значений - REQUESTER_AnalogProcessing().
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* Обработка широковещательных запросов - REQUESTER_BroadcastProcessing().
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* Обработка запроса дискретных значений - REQUESTER_DiscreticProcessing().
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* Обработка Modbus - REQUESTER_ModbusProcessing().
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* @note
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*/
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void REQUESTER_MainWhile(void)
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{
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CAN_TxHeaderTypeDef TxHeader;
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uint32_t TxMailBox = 0;
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uint8_t data[8];
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extID eID;
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eID.BitAll = 0;
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eID.StandardFields.DeviceID = 2;
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eID.StandardFields.DataType = DATA_TYPE_ANALOG;
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eID.StandardFields.SensorType = 0x1F;
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eID.StandardFields.SensorID = 0;
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eID.StandardFields.Route = ROUTE_SLAVE;
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TxHeader.IDE = CAN_ID_EXT;
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TxHeader.TransmitGlobalTime = DISABLE;
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TxHeader.RTR = CAN_RTR_DATA;
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TxHeader.ExtId = eID.BitAll;
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int TxTest = 0;
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HAL_TIM_Base_Start_IT(&htim7);
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while(1)
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{
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if(AvailableCanRxMsg())
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{
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if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_ANALOG)
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{
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REQUESTER_AnalogProcessing(rxMsg[CurrentStep]);
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}
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else if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_BROADCAST)
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{
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REQUESTER_BroadcastProcessing(rxMsg[CurrentStep]);
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}
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else if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_DISCRETE)
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{
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REQUESTER_DiscreticProcessing(rxMsg[CurrentStep]);
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}
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else if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_COIL ||
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rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_DISCRETE ||
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rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_HOLDING ||
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rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_INPUT)
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{
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REQUESTER_ModbusProcessing(rxMsg[CurrentStep]);
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}
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CurrentStep = (uint16_t)(CurrentStep + 1) % CAN_RX_BUFFER_SIZE;
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}
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/*
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while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0);
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if(HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailBox)!= HAL_OK)
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{
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ProverkaArbitors++;
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}
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*/
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// eID.Fields.SensorID++;
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// if(eID.Fields.SensorID>10)
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//{
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// eID.Fields.SensorID = 0;
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// }
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}
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}
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/**
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* @brief Функция обработки аналоговых запросов.
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* @details Функция, формирующая и отправляющая ответ на запросы. Типы запросов: Универсальный, Уставки, Напряжение, Ток, Температура
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*/
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void REQUESTER_AnalogProcessing(struct RXMsg _rxMsg)
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{
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switch (_rxMsg.eID.StandardFields.SensorType)
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{
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case SENSOR_TYPE_ANALOG_UNIVERSAL:
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{
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CanRequestToAnalogUniversal(_rxMsg);
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break;
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}
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case SENSOR_TYPE_ANALOG_USTAVKI:
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{
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CanRequestToAnalogUSTAVKI(_rxMsg);
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break;
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}
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case SENSOR_TYPE_ANALOG_U:
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{
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CanRequestToAnalogUSens(_rxMsg);
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break;
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}
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case SENSOR_TYPE_ANALOG_I:
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{
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CanRequestToAnalogISens(_rxMsg);
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break;
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}
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case SENSOR_TYPE_ANALOG_T:
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{
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CanRequestToAnalogTSens(_rxMsg);
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break;
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}
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default:
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//RESERVE SENSOR TYPE
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break;
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}
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}
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__weak HAL_StatusTypeDef CanRequestToAnalogUniversal(struct RXMsg _rxMsg)
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{
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CAN_TxHeaderTypeDef TxHeader;
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uint32_t TxMailBox = 0;
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uint8_t data[8];
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TxHeader.IDE = CAN_ID_EXT;
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TxHeader.TransmitGlobalTime = DISABLE;
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TxHeader.RTR = CAN_RTR_DATA;
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extID tmp_eID;
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tmp_eID.BitAll = _rxMsg.eID.BitAll;
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tmp_eID.StandardFields.Route = ROUTE_SLAVE;
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TxHeader.ExtId = tmp_eID.BitAll;
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TxHeader.DLC = 6;
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data[0] = 'U';
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data[1] = 'N';
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data[2] = 'I';
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data[3] = 'V';
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data[4] = 'E';
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data[5] = 'R';
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return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
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}
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__weak HAL_StatusTypeDef CanRequestToAnalogUSTAVKI(struct RXMsg _rxMsg)
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{
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CAN_TxHeaderTypeDef TxHeader;
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uint32_t TxMailBox = 0;
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uint8_t data[8];
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TxHeader.IDE = CAN_ID_EXT;
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TxHeader.TransmitGlobalTime = DISABLE;
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TxHeader.RTR = CAN_RTR_DATA;
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extID tmp_eID;
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tmp_eID.BitAll = _rxMsg.eID.BitAll;
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tmp_eID.StandardFields.Route = ROUTE_SLAVE;
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TxHeader.ExtId = tmp_eID.BitAll;
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TxHeader.DLC = 7;
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data[0] = 'U';
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data[1] = 'S';
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data[2] = 'T';
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data[3] = 'A';
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data[4] = 'V';
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data[5] = 'K';
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data[6] = 'I';
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return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
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}
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__weak HAL_StatusTypeDef CanRequestToAnalogUSens(struct RXMsg _rxMsg)
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{
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CAN_TxHeaderTypeDef TxHeader;
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uint32_t TxMailBox = 0;
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uint8_t data[8];
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TxHeader.IDE = CAN_ID_EXT;
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TxHeader.TransmitGlobalTime = DISABLE;
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TxHeader.RTR = CAN_RTR_DATA;
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extID tmp_eID;
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tmp_eID.BitAll = _rxMsg.eID.BitAll;
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tmp_eID.StandardFields.Route = ROUTE_SLAVE;
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TxHeader.ExtId = tmp_eID.BitAll;
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TxHeader.DLC = 6;
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data[0] = 'U';
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data[1] = ' ';
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data[2] = 's';
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data[3] = 'e';
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data[4] = 'n';
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data[5] = 's';
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return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
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}
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__weak HAL_StatusTypeDef CanRequestToAnalogISens(struct RXMsg _rxMsg)
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{
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CAN_TxHeaderTypeDef TxHeader;
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uint32_t TxMailBox = 0;
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uint8_t data[8];
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TxHeader.IDE = CAN_ID_EXT;
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TxHeader.TransmitGlobalTime = DISABLE;
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TxHeader.RTR = CAN_RTR_DATA;
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extID tmp_eID;
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tmp_eID.BitAll = _rxMsg.eID.BitAll;
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tmp_eID.StandardFields.Route = ROUTE_SLAVE;
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TxHeader.ExtId = tmp_eID.BitAll;
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TxHeader.DLC = 6;
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data[0] = 'I';
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data[1] = ' ';
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data[2] = 's';
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data[3] = 'e';
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data[4] = 'n';
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data[5] = 's';
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return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
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}
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__weak HAL_StatusTypeDef CanRequestToAnalogTSens(struct RXMsg _rxMsg)
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{
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CAN_TxHeaderTypeDef TxHeader;
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uint32_t TxMailBox = 0;
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uint8_t data[8];
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TxHeader.IDE = CAN_ID_EXT;
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TxHeader.TransmitGlobalTime = DISABLE;
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TxHeader.RTR = CAN_RTR_DATA;
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extID tmp_eID;
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tmp_eID.BitAll = _rxMsg.eID.BitAll;
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tmp_eID.StandardFields.Route = ROUTE_SLAVE;
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TxHeader.ExtId = tmp_eID.BitAll;
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TxHeader.DLC = 6;
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data[0] = 'T';
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data[1] = ' ';
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data[2] = 's';
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data[3] = 'e';
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data[4] = 'n';
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data[5] = 's';
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return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
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}
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/**
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* @brief Функция обработки широковещательных запросов.
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* @details Функция, выполняющая команды, переданные в широковещательном формате с головного (master) устройства. Типы команд: Запрос статуса, запрос на включение или выключение, рестарт устройств, установка времени.
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*/
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void REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg)
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{
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switch(_rxMsg.eID.StandardFields.SensorType)
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{
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case SENSOR_TYPE_BROADCAST_STATUS:
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{
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//Обработка запроса статуса устройства
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CanRequestToBroadcastStatus(_rxMsg);
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break;
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}
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case SENSOR_TYPE_BROADCAST_ONOFF:
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{
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//Обработка запроса на вкл/выкл
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CanRequestToBroadcastOnOff(_rxMsg);
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break;
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}
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case SENSOR_TYPE_BROADCAST_RESTARTDEVICE:
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{
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CanRequestToBroadcastRestart(_rxMsg);
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break;
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}
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case SENSOR_TYPE_BROADCAST_RTCSETUP:
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{
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//Обработка запроса на синхронизацию времени
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//С головным устройством
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CanRequestToBroadcastRtcSetup(_rxMsg);
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break;;
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}
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default:
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//RESERVE SENSOR TYPE.
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break;
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}
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}
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__weak HAL_StatusTypeDef CanRequestToBroadcastStatus(struct RXMsg _rxMsg)
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{
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CAN_TxHeaderTypeDef TxHeader;
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uint32_t TxMailBox = 0;
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uint8_t data[8];
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TxHeader.IDE = CAN_ID_EXT;
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TxHeader.DLC = 7;
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TxHeader.TransmitGlobalTime = DISABLE;
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TxHeader.RTR = CAN_RTR_DATA;
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extID tmp_eID;
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tmp_eID.BitAll = _rxMsg.eID.BitAll;
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tmp_eID.StandardFields.Route = ROUTE_SLAVE;
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tmp_eID.StandardFields.DeviceID = CURRENT_ID_DEVICE;
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TxHeader.ExtId = tmp_eID.BitAll;
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RTC_TimeTypeDef sTime = {0};
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HAL_RTC_GetTime(&hrtc, &sTime, RTC_FORMAT_BIN);
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data[0] = sTime.Hours;
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data[1] = sTime.Minutes;
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data[2] = sTime.Seconds;
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RTC_DateTypeDef DateToUpdate = {0};
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HAL_RTC_GetDate(&hrtc, &DateToUpdate, RTC_FORMAT_BIN);
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data[3] = DateToUpdate.Year;
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data[4] = DateToUpdate.Month;
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data[5] = DateToUpdate.Date;
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data[6] = DateToUpdate.WeekDay;
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return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
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}
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__weak void CanRequestToBroadcastOnOff(struct RXMsg _rxMsg)
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{
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ControlFlags.IsPulse = !ControlFlags.IsPulse;
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}
|
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__weak void CanRequestToBroadcastRestart(struct RXMsg _rxMsg)
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{
|
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if(_rxMsg.DLC == 0)
|
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{
|
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return;
|
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}
|
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if(_rxMsg.eID.StandardFields.SensorID == (CURRENT_ID_DEVICE / (_rxMsg.DLC*8)))
|
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{
|
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uint64_t page = 0;
|
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for(int i = 0; i < _rxMsg.DLC; i++)
|
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{
|
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page+=(_rxMsg.Data[i]<<(i*8));
|
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}
|
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if((page>>CURRENT_ID_DEVICE)&0b1)
|
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{
|
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NVIC_SystemReset();
|
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}
|
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}
|
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return;
|
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}
|
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|
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__weak void CanRequestToBroadcastRtcSetup(struct RXMsg _rxMsg)
|
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{
|
||
if(_rxMsg.DLC > 7)
|
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{
|
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//ERROR
|
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}
|
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else
|
||
{
|
||
int DaysCount_Normal[2][12] = {{31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31},
|
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{31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31}};
|
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if (_rxMsg.Data[0]>23 ||
|
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_rxMsg.Data[1]>59 ||
|
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_rxMsg.Data[2]>59 ||
|
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_rxMsg.Data[3]>99 ||
|
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_rxMsg.Data[4]>12 ||
|
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_rxMsg.Data[5] > DaysCount_Normal[IsLeapYear(_rxMsg.Data[3])][_rxMsg.Data[4]] ||
|
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_rxMsg.Data[6]>6)
|
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{
|
||
//ERROR
|
||
}
|
||
else
|
||
{
|
||
REQUESTER_RTC_SYNC(_rxMsg.Data);
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief Функция обработки дискретных запросов.
|
||
* @details Функция, формирующая и отправляющая ответ на запросы. Типы запросов: Аварии, Предупреждения, Управляющие сигналы, Флаги, Рестарт устройства, Изменение режима работы устройства, Запрос на устройство.
|
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* @note Запрос на устройство. Головное (master) устройство запрашивает некоторое колличество параметров. В Data - 64 битовых адресса параметров, тип которых задаётся в Sensor ID. Имеется возможность запрашивать непоследовательные параметры.
|
||
*/
|
||
void REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg)
|
||
{
|
||
switch(_rxMsg.eID.StandardFields.SensorType){
|
||
case SENSOR_TYPE_DISCRETE_ACCIDENT:
|
||
{
|
||
CanRequestToDiscreteAccident(_rxMsg);
|
||
break;
|
||
}
|
||
case SENSOR_TYPE_DISCRETE_WARNING:
|
||
{
|
||
CanRequestToDiscreteWarning(_rxMsg);
|
||
break;
|
||
}
|
||
case SENSOR_TYPE_DISCRETE_CONTROL_SIGNALS:
|
||
{
|
||
CanRequestToDiscreteControlSignals(_rxMsg);
|
||
break;
|
||
}
|
||
case SENSOR_TYPE_DISCRETE_FLAGS:
|
||
{
|
||
CanRequestToDiscreteFlags(_rxMsg);
|
||
break;
|
||
}
|
||
case SENSOR_TYPE_DISCRETE_RESET:
|
||
{
|
||
CanRequestToDiscreteReset(_rxMsg);
|
||
break;
|
||
}
|
||
case SENSOR_TYPE_DISCRETE_CHANGE_MODE:
|
||
{
|
||
CanRequestToDiscreteChangeMode(_rxMsg);
|
||
break;
|
||
}
|
||
case SENSOR_TYPE_DISCRETE_REQUEST_LIST_OF_PARAMETERS:
|
||
{
|
||
CanRequestToDiscreteRequestListOfParameters(_rxMsg);
|
||
break;
|
||
}
|
||
default:
|
||
//RESERVE SENSOR TYPE.
|
||
break;
|
||
}
|
||
}
|
||
|
||
__weak void CanRequestToDiscreteAccident(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
|
||
__weak void CanRequestToDiscreteWarning(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
|
||
__weak void CanRequestToDiscreteControlSignals(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
|
||
__weak void CanRequestToDiscreteFlags(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
|
||
__weak void CanRequestToDiscreteReset(struct RXMsg _rxMsg)
|
||
{
|
||
NVIC_SystemReset();
|
||
}
|
||
|
||
__weak void CanRequestToDiscreteChangeMode(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
__weak void CanRequestToDiscreteRequestListOfParameters(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
|
||
/**
|
||
* @brief Функция обработки Modbus запросов.
|
||
* @details Функция, формирующая и отправляющая ответ на запросы.
|
||
*/
|
||
void REQUESTER_ModbusProcessing(struct RXMsg _rxMsg)
|
||
{
|
||
switch(_rxMsg.eID.ModbusFields.DataType)
|
||
{
|
||
case DATA_TYPE_MODBUS_COIL:
|
||
{
|
||
CanRequestToModbusCoil(_rxMsg);
|
||
break;
|
||
}
|
||
case DATA_TYPE_MODBUS_DISCRETE:
|
||
{
|
||
CanRequestToModbusDiscrete(_rxMsg);
|
||
break;
|
||
}
|
||
case DATA_TYPE_MODBUS_HOLDING:
|
||
{
|
||
CanRequestToModbusHolding(_rxMsg);
|
||
break;
|
||
}
|
||
case DATA_TYPE_MODBUS_INPUT:
|
||
{
|
||
CanRequestToModbusInput(_rxMsg);
|
||
break;
|
||
}
|
||
default:
|
||
//ERROR
|
||
break;
|
||
}
|
||
}
|
||
|
||
__weak void CanRequestToModbusCoil(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
__weak void CanRequestToModbusDiscrete(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
__weak void CanRequestToModbusHolding(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
__weak void CanRequestToModbusInput(struct RXMsg _rxMsg)
|
||
{
|
||
return;
|
||
}
|
||
|
||
/* СТАРЫЙ УЖАСНЫЙ МОДБАС
|
||
if((ReceivedRequest.SensorToModbus.Modbus.StrAdr>=0) && (ReceivedRequest.SensorToModbus.Modbus.StrAdr<=127))
|
||
{
|
||
//Обращение к существующему в устройстве модбас регистру
|
||
CAN_TxHeaderTypeDef TxHeader;
|
||
uint32_t TxMailBox = 0;
|
||
uint8_t data[8];
|
||
TxHeader.IDE = CAN_ID_EXT;
|
||
TxHeader.DLC = 8;
|
||
TxHeader.RTR = CAN_RTR_DATA;
|
||
|
||
int RequestFromDLC;
|
||
for(RequestFromDLC = ReceivedRequest.SensorToModbus.Modbus.StrAdr;
|
||
(RequestFromDLC<MAX_NUM_OF_REGISTERS_IN_DEVICE) &&
|
||
((RequestFromDLC-ReceivedRequest.SensorToModbus.Modbus.StrAdr)<ReceivedRequest.SensorToModbus.Modbus.Count);
|
||
// RequestFromDLC++
|
||
)
|
||
{
|
||
TxHeader.DLC = 0;
|
||
extID eID;
|
||
eID.BitAll = ReceivedRequest.RequestedExtID.BitAll;
|
||
eID.StandardFields.Route = ROUTE_SLAVE;
|
||
eID.StandardFields.SensorType = RequestFromDLC>>11;
|
||
eID.StandardFields.SensorID = RequestFromDLC;
|
||
TxHeader.ExtId = eID.BitAll;
|
||
for(int DataFor = 0; DataFor < 8; DataFor+=2)
|
||
{
|
||
data[DataFor] = HighByteOfWord(ModbusDemonstration[CURRENT_ID_DEVICE][RequestFromDLC]);
|
||
data[DataFor+1] = LowByteOfWord(ModbusDemonstration[CURRENT_ID_DEVICE][RequestFromDLC]);
|
||
RequestFromDLC++;
|
||
TxHeader.DLC +=2;
|
||
if(!((RequestFromDLC<MAX_NUM_OF_REGISTERS_IN_DEVICE) &&
|
||
((RequestFromDLC-ReceivedRequest.SensorToModbus.Modbus.StrAdr)<ReceivedRequest.SensorToModbus.Modbus.Count)))
|
||
{
|
||
break;
|
||
}
|
||
}
|
||
while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0);
|
||
HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailBox);
|
||
}
|
||
extID emID;
|
||
emID.BitAll = 0;
|
||
emID.ModbusFields.DeviceID = CURRENT_ID_DEVICE;
|
||
emID.ModbusFields.DataType = DATA_TYPE_ERROR;
|
||
emID.ModbusFields.CountReg = NONEXISTENT_ELEMENT;
|
||
emID.ModbusFields.Route = ROUTE_SLAVE;
|
||
TxHeader.DLC = 0;
|
||
for(;(RequestFromDLC-ReceivedRequest.SensorToModbus.Modbus.StrAdr)<ReceivedRequest.SensorToModbus.Modbus.Count; RequestFromDLC++)
|
||
{
|
||
emID.ModbusFields.StrAdr = RequestFromDLC;
|
||
TxHeader.ExtId = emID.BitAll;
|
||
while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0);
|
||
HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailBox);
|
||
}
|
||
ReceivedRequest.ModbusFlags.AllFlags = 0;
|
||
return;
|
||
}
|
||
ReceivedRequest.ModbusFlags.AllFlags = 0;
|
||
*/
|
||
|
||
|
||
void TakeRxMsgToBuffer(extID tmp_eID, uint32_t tmp_IDE, uint32_t tmp_RTR, uint32_t tmp_DLC, uint8_t *tmp_DATA, uint16_t tmp_LastStep)
|
||
{
|
||
rxMsg[tmp_LastStep].eID.BitAll = tmp_eID.BitAll;
|
||
rxMsg[tmp_LastStep].info.EXT = tmp_IDE;
|
||
rxMsg[tmp_LastStep].info.RTR = tmp_RTR;
|
||
rxMsg[tmp_LastStep].DLC = tmp_DLC;
|
||
for(int i = 0; i < tmp_DLC; i++)
|
||
{
|
||
rxMsg[tmp_LastStep].Data[i] = tmp_DATA[i];
|
||
}
|
||
LastStep = tmp_LastStep;
|
||
}
|
||
|
||
/**
|
||
* @brief Callback-Функция обработки приёма.
|
||
* @details Функция, сигнализирующая через флаги в бесконечный цикл REQUESTER_MainWhile о приёме запроса.
|
||
*/
|
||
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
|
||
{
|
||
CAN_RxHeaderTypeDef RxHeader;
|
||
uint8_t RCAN_Data[8];
|
||
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RCAN_Data);
|
||
//Расширенный ID
|
||
if(RxHeader.IDE == CAN_ID_EXT)
|
||
{
|
||
uint16_t tmp_LastStep = (uint16_t)(LastStep + 1) % CAN_RX_BUFFER_SIZE;
|
||
|
||
if(tmp_LastStep == CurrentStep)
|
||
{
|
||
return;
|
||
}
|
||
extID ExtID_Of_RX_MSG;
|
||
ExtID_Of_RX_MSG.BitAll = RxHeader.ExtId;
|
||
//Полученное сообщение - широковещательное
|
||
if (ExtID_Of_RX_MSG.StandardFields.DeviceID == ID_MAIN_DEVICE)
|
||
{
|
||
if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_BROADCAST)
|
||
{
|
||
TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
|
||
return;
|
||
}
|
||
}
|
||
//Если ID запроса соответствует ID устройства
|
||
if(ExtID_Of_RX_MSG.StandardFields.DeviceID == (CURRENT_ID_DEVICE))
|
||
{
|
||
if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_DISCRETE)
|
||
{
|
||
TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
|
||
return;
|
||
}
|
||
if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_ANALOG)
|
||
{
|
||
//Является ли полученное сообщение - запросом
|
||
if(RxHeader.RTR)
|
||
{
|
||
TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
|
||
return;
|
||
}
|
||
}
|
||
if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_COIL ||
|
||
ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_DISCRETE ||
|
||
ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_HOLDING ||
|
||
ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_INPUT)
|
||
{
|
||
TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
|
||
return;
|
||
}
|
||
}
|
||
//Полученное сообщение - пульс устройств в сети
|
||
if (ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_PULSE)
|
||
{
|
||
Device_on_the_Network[ExtID_Of_RX_MSG.StandardFields.DeviceID].Status = ONLINE;
|
||
Device_on_the_Network[ExtID_Of_RX_MSG.StandardFields.DeviceID].TimeFromLastPulse = 0;
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief Функция отправки пульса устройства.
|
||
* @details Пульс устройства. Есть возможность отключить пульс по запросу.
|
||
*/
|
||
void REQUESTER_Pulse_TIM_Handler()
|
||
{
|
||
if(ControlFlags.IsPulse)
|
||
{
|
||
static unsigned PulseStage = 0;
|
||
CAN_TxHeaderTypeDef TxHeader;
|
||
uint32_t TxMailBox = 0;
|
||
extID currentID;
|
||
currentID.BitAll = 0;
|
||
currentID.StandardFields.DeviceID = CURRENT_ID_DEVICE;
|
||
currentID.StandardFields.DataType = DATA_TYPE_PULSE;
|
||
currentID.StandardFields.Route = ROUTE_SLAVE;
|
||
TxHeader.ExtId = currentID.BitAll;
|
||
uint8_t data[8];
|
||
TxHeader.IDE = CAN_ID_EXT;
|
||
TxHeader.TransmitGlobalTime = DISABLE;
|
||
TxHeader.RTR = CAN_RTR_DATA;
|
||
TxHeader.DLC = 1;
|
||
if(PulseStage > 0xFF)
|
||
{
|
||
PulseStage = 0;
|
||
}
|
||
data[0] = PulseStage++;
|
||
HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief Функция установки в RTC полученной даты/время из запроса.
|
||
* @param Байтовый массив, 7 элементов. [0] - Часы. [1] - Минуты. [2] - Секунды. [3] - Год. [4] - Месяц. [5] - Дата. [6] - День недели.
|
||
*/
|
||
void REQUESTER_RTC_SYNC(uint8_t *data)
|
||
{
|
||
__HAL_RTC_WRITEPROTECTION_DISABLE(&hrtc);
|
||
RTC_TimeTypeDef sTime = {0};
|
||
RTC_DateTypeDef DateToUpdate = {0};
|
||
|
||
sTime.Hours = data[0];
|
||
sTime.Minutes = data[1];
|
||
sTime.Seconds = data[2];
|
||
|
||
if (HAL_RTC_SetTime(&hrtc, &sTime, RTC_FORMAT_BIN) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
|
||
DateToUpdate.Year = data[3];
|
||
DateToUpdate.Month = data[4];
|
||
DateToUpdate.Date = data[5];
|
||
DateToUpdate.WeekDay = data[6];
|
||
if (HAL_RTC_SetDate(&hrtc, &DateToUpdate, RTC_FORMAT_BIN) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
__HAL_RTC_WRITEPROTECTION_ENABLE(&hrtc);
|
||
}
|
||
|
||
/**
|
||
* @brief Функция настройки фильтров CAN.
|
||
* @details Настройка фильтров. Фильр для приёма сообщений с главного устройства. Фильтр для приёма на текущее устройство. Фильтр для приёма пульса других устройств в сети.
|
||
*/
|
||
void REQUESTER_CAN_FILTERS()
|
||
{
|
||
//MAIN DEVICE
|
||
CAN_FilterTypeDef canFilterConfig;
|
||
canFilterConfig.FilterBank = 0;
|
||
canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
|
||
canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
|
||
/*Для ID устройства используются восемь младших битов.
|
||
Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
|
||
canFilterConfig.FilterIdHigh = (uint16_t)(ID_MAIN_DEVICE>>13);
|
||
canFilterConfig.FilterIdLow = (uint16_t)(ID_MAIN_DEVICE<<5) | CAN_IDE_32;
|
||
/*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
|
||
canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
|
||
canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
|
||
canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
|
||
canFilterConfig.FilterActivation = ENABLE;
|
||
canFilterConfig.SlaveStartFilterBank = 14;
|
||
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
|
||
//CURRENT DEVICE
|
||
canFilterConfig.FilterBank = 1;
|
||
/*Для ID устройства используются восемь младших битов.
|
||
Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
|
||
canFilterConfig.FilterIdHigh = (uint16_t)(CURRENT_ID_DEVICE>>13);
|
||
canFilterConfig.FilterIdLow = (uint16_t)(CURRENT_ID_DEVICE<<5) | CAN_IDE_32;
|
||
/*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
|
||
canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
|
||
canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
|
||
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
|
||
//MODBUS
|
||
canFilterConfig.FilterBank = 2;
|
||
canFilterConfig.FilterIdHigh = (uint16_t)(0x03000000>>13);
|
||
canFilterConfig.FilterIdLow = (uint16_t)(0x03000000<<5) | CAN_IDE_32;
|
||
canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
|
||
canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
|
||
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
|
||
//PULSE
|
||
canFilterConfig.FilterBank = 3;
|
||
canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)>>13);
|
||
//canFilterConfig.FilterIdHigh = (uint16_t)(0x1F000000>>13);
|
||
canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)<<5) | CAN_IDE_32;
|
||
canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
|
||
canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
|
||
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
|
||
//DEBUG FILTER "ALL IDE WELCOME"
|
||
canFilterConfig.FilterBank = 4;
|
||
canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(0)>>13);
|
||
canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(0)<<5) | CAN_IDE_32;
|
||
canFilterConfig.FilterMaskIdHigh = (uint16_t)(0>>13); // we're checking only high 13 bits, that contained "key"
|
||
canFilterConfig.FilterMaskIdLow = (uint16_t)(0<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
|
||
if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
}
|