SAE J1939 协议源代码分析(二)-程序移植

weixin_362360865

于 2020-02-29 15:07:06 发布

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原文链接：https://blog.csdn.net/XieTongXueFlyMe/article/details/79840162

版权

预备知识

1.熟悉CAN2.0B协议，及相关硬件驱动开发
2.熟悉SAE J1939协议<http://blog.csdn.net/xietongxueflyme/article/details/74276702/>

 
 
 
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程序移植流程

移植示例(demo)

以下示例，对德国英飞凌XMC4500(MCU)芯片自带的CAN模块上移植J1939协议源代码，代码中can驱动函数，can的驱动结构体，可供移植参考

#ifndef __J1939_Config_H 
#define __J1939_Config_H 

#include "J1939.H"

#include "../UserApp/includes.h"//用户，自己工程必要的声明头文件
/******************************J1939地址和标识符配*********************************/
//设备默认的地址（地址命名是有规定的，参考J1939的附录B 地址和标识符的分配）
#define J1939_STARTING_ADDRESS 243
//如果声明不为0，表示我们的ECU(电子控制单元)支持网络中申请的任意地址，（参考J1939的网络层）
#define J1939_ARBITRARY_ADDRESS 0x00
#define J1939_INDUSTRY_GROUP 0
#define J1939_VEHICLE_INSTANCE 0
#define J1939_CA_NAME7 (J1939_ARBITRARY_ADDRESS | (J1939_INDUSTRY_GROUP << 4) | J1939_VEHICLE_INSTANCE)
#define J1939_VEHICLE_SYSTEM 0
#define J1939_CA_NAME6 (J1939_VEHICLE_SYSTEM << 1)
#define J1939_FUNCTION 0
#define J1939_CA_NAME5 J1939_FUNCTION
#define J1939_FUNCTION_INSTANCE 0
#define J1939_ECU_INSTANCE 0
#define J1939_CA_NAME4 ((J1939_FUNCTION_INSTANCE << 3) | J1939_ECU_INSTANCE)
#define J1939_MANUFACTURER_CODE 0
#define J1939_IDENTITY_NUMBER 50
#define J1939_CA_NAME3 (J1939_MANUFACTURER_CODE >> 3)
#define J1939_CA_NAME2 (((J1939_MANUFACTURER_CODE & 0x07) << 5) | (J1939_IDENTITY_NUMBER >> 16))
#define J1939_CA_NAME1 ((J1939_IDENTITY_NUMBER >> 8) & 0xFF)
#define J1939_CA_NAME0 (J1939_IDENTITY_NUMBER & 0xFF)
/******************************J1939功能配置******************************************/
//是否使用接受协议（对TP协议的支持，参考J1939-21）
#define J1939_ACCEPT_CMDADD J1939_FALSE
#define J1939_RX_QUEUE_SIZE 3
//当mcu来不及处理消息，接收消息列队是否允许被新的消息覆盖
#define J1939_OVERWRITE_RX_QUEUE J1939_FALSE
#define J1939_TX_QUEUE_SIZE 3
//当mcu来不及处理消息，发送消息列队是否允许被新的消息覆盖
#define J1939_OVERWRITE_TX_QUEUE J1939_FALSE
//是否使用轮询模式（否则使用中断模式）
#define J1939_POLL_ECAN J1939_TRUE
#define J1939_PRIORITIZED_INT J1939_TRUE

/******************************J1939移植配置函数******************************************/
#define Port_CAN_Transmit(MsgPtr) J1939_CAN_Transmit(MsgPtr) 
#define Port_CAN_Receive(MsgPtr) J1939_CAN_Receive(MsgPtr)
#define Port_SetAddressFilter(Address) J1939_SetAddressFilter(Address)
#define Port_RXinterruptEnable() J1939_RXinterruptEnable() 
#define Port_RXinterruptDisable() J1939_RXinterruptDisable() 
#define Port_TXinterruptEnable() J1939_TXinterruptEnable() 
#define Port_TXinterruptDisable() J1939_TXinterruptDisable() 
/******************************J1939与CAN驱动接口函数************************************/
void J1939_SetAddressFilter(unsigned char Ps_Address)
{
    CAN_NODE3_DEBUG.lmobj_ptr[0]->mo_ptr->can_id_mask &=0XFFFF00FF;
    CAN_NODE3_DEBUG.lmobj_ptr[0]->mo_ptr->can_id_mask |= (Ps_Address<<8);
    CAN_NODE_MO_Init(CAN_NODE3_DEBUG.lmobj_ptr[0]);
}
void ChangeGroupIDofLMO(const CAN_NODE_LMO_t *lmo_ptr,J1939_MESSAGE *MsgPtr)
{
    int _i=0;
    lmo_ptr->mo_ptr->can_identifier = 0;
    for(_i=0;_i<4;_i++)
    {
        lmo_ptr->mo_ptr->can_identifier = (lmo_ptr->mo_ptr->can_identifier << 8) + MsgPtr->Array[_i];
    }
    // 在线修改lmo配置
    CAN_NODE_MO_Init(lmo_ptr);
}

/*从MsgPtr加载到CAN自带的结构体中*/
void J1939_CAN_Transmit(J1939_MESSAGE *MsgPtr)
{
    CAN_NODE_LMO_t *lmo_ptr = CAN_NODE3_DEBUG.lmobj_ptr[1];
    /*加载29位ID*/
    ChangeGroupIDofLMO((const CAN_NODE_LMO_t * const)(CAN_NODE3_DEBUG.lmobj_ptr[1]),MsgPtr);
    /*加载数据长度*/
    lmo_ptr->mo_ptr->can_data_length = MsgPtr->Mxe.DataLength;
    CAN_NODE_MO_Init(lmo_ptr);
    /*加载数据*/
    lmo_ptr->mo_ptr->can_data_byte[0] = MsgPtr->Mxe.Data[0];
    lmo_ptr->mo_ptr->can_data_byte[1] = MsgPtr->Mxe.Data[1];
    lmo_ptr->mo_ptr->can_data_byte[2] = MsgPtr->Mxe.Data[2];
    lmo_ptr->mo_ptr->can_data_byte[3] = MsgPtr->Mxe.Data[3];
    lmo_ptr->mo_ptr->can_data_byte[4] = MsgPtr->Mxe.Data[4];
    lmo_ptr->mo_ptr->can_data_byte[5] = MsgPtr->Mxe.Data[5];
    lmo_ptr->mo_ptr->can_data_byte[6] = MsgPtr->Mxe.Data[6];
    lmo_ptr->mo_ptr->can_data_byte[7] = MsgPtr->Mxe.Data[7];
    /*加载RTR*/
    //你的代码
    //开始发送数据
    (CAN_NODE_STATUS_t) CAN_NODE_MO_Transmit(lmo_ptr) ;
}
//将设备CAN中的数据取出，存入J1939_MESSAGE结构体中
int J1939_CAN_Receive(J1939_MESSAGE *MsgPtr)
{
    uint32_t receive_status=0;
    uint32_t _id=0;
    receive_status = CAN_NODE_MO_GetStatus( ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]);
    if ( receive_status & XMC_CAN_MO_STATUS_RX_PENDING)  //XMC_CAN_MO_STATUS_NEW_DATA
    {
      // 清除接受标识位
      CAN_NODE_MO_ClearStatus(((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0],XMC_CAN_MO_RESET_STATUS_RX_PENDING);
      // 读取数据
      CAN_NODE_MO_Receive( ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]);
      //将29位标志位（can_identifier）写入J1939的结构中
      _id = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_identifier;
      MsgPtr->Array[0] = _id>>(8*3);
      MsgPtr->Array[1] = _id>>(8*2);
      MsgPtr->Array[2] = _id>>(8*1);
      MsgPtr->Array[3] = _id>>(8*0);
      //读取数据长度
      MsgPtr->Mxe.DataLength = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_length;
      if (MsgPtr->Mxe.DataLength > 8)
          MsgPtr->Mxe.DataLength = 8;
      //读取数据
      MsgPtr->Mxe.Data[0] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[0];
      MsgPtr->Mxe.Data[1] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[1];
      MsgPtr->Mxe.Data[2] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[2];
      MsgPtr->Mxe.Data[3] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[3];
      MsgPtr->Mxe.Data[4] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[4];
      MsgPtr->Mxe.Data[5] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[5];
      MsgPtr->Mxe.Data[6] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[6];
      MsgPtr->Mxe.Data[7] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[7];

      return 1;
    }else
    {
        return 0;//没有消息
    }
}

void J1939_RXinterruptEnable()
{
    INTERRUPT_Enable(&CAN_RInterrupt_DEBUG);
}

void J1939_RXinterruptDisable()
{
    INTERRUPT_Disable(&CAN_RInterrupt_DEBUG);
}
void J1939_TXinterruptEnable()
{
    ;
}

void J1939_TXinterruptDisable()
{
    ;
}
#endif
 
 
 
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