例子
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 | #ifndef __PROJ_CANBMS_H__#define __PROJ_CANBMS_H__#include <stdint.h>#include "double_list.h"#define BMS_CAN CANFD0 //CANFD1#define BMS_DEVICE_MAX_BUM 100#define CAN_RECV_BUFF_NUM 50#define Device_Max_Num 300 //BMS最大设备数//设置Location空闲超时时间#define DEVICE_LOCATION_IDLE_TIMEOUT 50000 //设备定位空闲超时时间 *1ms//设置Search空闲超时时间#define DEVICE_SEARCH_IDLE_TIMEOUT 50000 //设备搜索空闲超时时间 *1ms//Search升级设备搜索时间#define DEVICE_UPGRADE_SEARCH_TIMEOUT 10000//Location升级设备定位时间#define DEVICE_UPGRADE_LOCATION_TIMEOUT 10000//设置BMS-OTA超时时间#define DEVICE_LOCATIONH_TIMEOUT 30000 //设备定位超时时间 *1ms#define DEVICE_SEARCH_TIMEOUT 30000 //设备搜索超时时间 *1ms#define DEVICE_REQUEST_TIMEOUT 30000 //设备下载申请超时时间 *1ms#define DEVICE_ERASE_TIMEOUT 50000 //设备下载擦除超时时间 *1ms#define DEVICE_WRITE_TIMEOUT 6000 //设备下载写入超时时间 *1ms#define DEVICE_WRITE_END_TIMEOUT 2000 //设备下载写入完成超时时间 *1ms//设备发送超时时间 < 与设备数有关 - 与缓冲区有关 - 与BMS设备超时时间有关 >#define DEVICE_SEARCH_TIMEOUT_SEND 250//300 //设备搜索超时发送时间 *1ms#define DEVICE_REQUEST_TIMEOUT_SEND 300 //设备下载申请超时发送时间 *1ms#define DEVICE_ERASE_TIMEOUT_SEND 300 //设备下载擦除超时发送时间 *1ms#define DEVICE_WRITE_END_TIMEOUT_SEND 300 //设备下载写入超时发送完成时间 *1ms/* DeviceIndex ALL 0XFF BCU 1H BSMU 2H BAMU 3H ITMU 4H ITPU 5H EMU 6H PC FH*///BMS设备信息typedef struct{ int macAddr[4]; uint8_t arch_id[3]; //arch1_id arch2_id arch3_id uint8_t routeLevel; uint16_t tempID; uint16_t setID; uint32_t timeout; //uint8_t info; //firmwareVersion + device_grade uint8_t firmwareVersion; uint8_t device_grade; uint8_t device_type; uint8_t isSelect; uint8_t isReady; uint8_t randomid; //随机码}BMSDeviceInfo_t;//Location Search Pagetypedef struct{ uint8_t macAddr[4]; uint8_t arch_id[3];}Location_Search_Pack_t;//BMS设备链表typedef struct{ BMSDeviceInfo_t BMSDeviceInfo_Member; double_list_t list;}BMSDeviceInfo_Member_List_t;//BMS升级设备链表typedef struct{ uint8_t arch_id[3]; uint8_t Select_Flag; uint8_t ota_status; double_list_t list;}Device_Upgrade_List_t;//BMS升级设备类型信息 -- 设备类型链表嵌套设备链表typedef struct{ Device_Upgrade_List_t Device_Upgrade_List_Head; uint8_t device_type; uint8_t Select_Flag; double_list_t list;}Device_Type_List_t;//定位包typedef struct{ uint64_t Server_id; uint8_t data_id[50]; uint8_t onoff; uint8_t type; uint8_t file_type; uint16_t timeInterval; //主动上报发送间隔/ms 和 被动模式}Location_Pack_t;extern Location_Pack_t Location_Pack;//搜索包typedef struct{ uint64_t Server_id; uint8_t data_id[50]; uint8_t onoff; uint8_t type; uint8_t info; uint16_t layer_num; //MAX 100 int macAddr[100][4]; int arch_id[100][3]; //arch3_id arch2_id arch1_id uint8_t file_type; uint16_t timeInterval; //主动上报发送间隔/ms 和 被动模式}Search_Pack_t;extern Search_Pack_t Search_Pack;//BMS升级包typedef struct{ uint64_t Server_id; uint8_t data_id[20]; uint8_t file_id[20]; uint8_t file_name[50]; uint32_t crc; uint8_t type; //1:bin 2:s19 uint8_t file_path[50]; uint8_t version[10]; uint8_t deviceList[300][4]; uint32_t select_device_num;}Updown_Pack_t;extern Updown_Pack_t Updown_Pack;//终端升级包typedef struct{ uint64_t Server_id; uint32_t crc; uint8_t data_id[20]; uint8_t file_id[20]; uint8_t file_name[50]; uint8_t file_path[50]; uint8_t version[13];}Ars_Updown_Pack_t;extern Ars_Updown_Pack_t Ars_Updown_Pack;//Boot流程enum CANBootStep{ BOOT_IDLE = 0, BOOT_DEVICE_LOCATION = 8, BOOT_DEVICE_SEARCH = 1, BOOT_BURNING_REQUEST = 2, BOOT_MEM_ERASE = 3, BOOT_MEM_WRITE = 4, BOOT_MEM_WRITE_END = 5, BOOT_MEM_READ = 6, BOOT_APP_GO = 7,};//OTA流程enum OtaStep{ OTA_IDLE = 0, OTA_ARS = 1, OTA_BMS = 2,};//BMS Position错误码enum BMS_Position_Failed_Code{ POSITION_CAN_SEND_FAILED = 12900, //定位CAN发送失败 POSITION_JSON_PARSE_FAILED = 12901, //Position包json数据解析异常 POSITION_ARS_Upgrading_FAILED = 12902, //定位ARS正在升级，拒绝搜索 POSITION_BMS_Upgrading_FAILED = 12903, //定位BMS正在升级，拒绝搜索};//BMS Search错误码enum BMS_Search_Failed_Code{ SEARCH_CAN_SEND_FAILED = 13000, //搜索CAN发送失败 SEARCH_JSON_PARSE_FAILED = 13001, //Search包json数据解析异常 SEARCH_ARS_Upgrading_FAILED = 13002, //搜索ARS正在升级，拒绝搜索 SEARCH_BMS_Upgrading_FAILED = 13003, //搜索BMS正在升级，拒绝搜索};//BMS OTA升级错误码enum BMS_Ota_Step_Failed_Code{ BMS_ALL_TYPE_DEVICE_NOT_ALLOW_UPGRADE = 13211, //BMS全类型设备，不允许升级 BMS_UPGRAD_JSON_PARSE_FAILED = 13200, //BMS升级包json数据解析异常 BMS_DEVICE_HAPPEN_OFFLINE_FAILED = 13201, //BMS设备发生掉线，片选设备与在线设备不一致 BMS_REQUEST_SEND_FAILED = 13202, //BMS设备升级请求发送失败 BMS_REQUEST_TIMEOUT_FAILED = 13203, //BMS设备升级请求接收超时失败 BMS_MEM_ERASE_SEND_FAILED = 13204, //BMS设备升级擦除发送失败 BMS_MEM_ERASE_TIMEOUT_FAILED = 13205, //BMS设备升级擦除接收超时失败 BMS_MEM_WRITE_SEND_FAILED = 13206, //BMS设备升级数据传输发送失败 BMS_MEM_WRITE_TIMEOUT_FAILED = 13207, //BMS设备升级数据传输接收超时失败 BMS_DATA_CRC_FAILED = 13208, //BMS设备升级数据传输校验失败 BMS_FLASH_WRITE_READ_CRC_SEND_FAILED = 13209, //BMS设备升级数据存储校验发送失败 BMS_FLASH_WRITE_READ_CRC_TIMEOUT_FAILED = 13210, //BMS设备升级数据存储校验接收超时失败 BMS_DEVICE_POS_FAILED = 13212, //BMS设备列表位置错误};//ARS OTA升级错误码enum ARS_Ota_Step_Failed_Code{ ARS_UPGRAD_JSON_PARSE_FAILED = 13400, //升级包json数据解析异常 ARS_VERSION_TOO_LOW_FAILED = 13401, //ARS设备升级版本太低升级失败 ARS_MEM_WRITE_FAILED = 13402, //ARS设备升级数据传输失败 ARS_DATA_CRC_FAILED = 13403, //ARS设备升级数据传输校验失败 ARS_FLASH_WRITE_READ_CRC_FAILED = 13404, //ARS设备升级数据存储校验失败};//FTP错误码enum FTP_ERROR_CODE{ FTP_LOGIN_FAILED = 13600, //FTP登录失败 FTP_FILE_PATH_FAILED = 13601, //FTP文件路径失败 FTP_PASV_FAILED = 13602, //FTP被动模式失败 FTP_DATA_PORT_CONNECT_FAILED = 13603, //FTP服务器数据端口连接失败 FTP_FILE_SIZE_FAILED = 13604, //FTP文件大小格式失败 FTP_RETR_FAILED = 13605, //FTP指令下载失败};typedef struct{ uint32_t address; uint16_t data_length; uint8_t data[256];}S19_Record;//Ota队列数据typedef struct{ /* 1:data 2:Crc_Data */ uint8_t type; uint8_t data[8];}Ota_Queue_Data_t;/* Global variables */extern BMSDeviceInfo_Member_List_t Device_list_Head;extern BMSDeviceInfo_Member_List_t Device_Location_list_Head;extern QueueHandle_t OTA_Data_QueueHandle;extern QueueHandle_t Can_Recv_Data_QueueHandle;extern SemaphoreHandle_t OTA_Topic_BinarySemHandle;extern SemaphoreHandle_t OTA_Last_Data_BinarySemHandle;extern SemaphoreHandle_t OTA_Crc_Data_BinarySemHandle;extern SemaphoreHandle_t OTA_Data_Done_BinarySemHandle;extern uint16_t DeviceIndex; //设备IDextern volatile uint8_t CANBootStep; //升级流程extern uint8_t CANBootStatus;extern uint64_t Device_Upgrade_Search_Timeout_Num;extern uint64_t Device_Upgrade_Location_Timeout_Num;void Bms_Boot_Init(void);void Bms_Upgrade_Send_Recv_Pro(void);int8_t Boot_Device_Location(uint16_t deviceIndex);int8_t Boot_Device_Search(uint16_t deviceIndex);int8_t Boot_Device_Search_t(uint16_t deviceIndex);int8_t Boot_Device_Request(void);//int8_t Boot_Mem_Erase(void);int8_t Boot_Mem_Erase(uint16_t deviceIndex);int8_t Boot_Mem_Write_End(uint16_t deviceIndex);int8_t Boot_Mem_Write_S19_Bin(uint16_t deviceIndex, uint8_t *au8Data, uint32_t data_len);int8_t Parse_S19_Record(const char *line, S19_Record *record);int8_t Parse_S19_AddressLen(char *line);void CANBootStep_Set(uint8_t BootStep);void Clean_Search_Device_List(void);void Clean_Location_Device_List(void);void Bms_Boot_List_Pro(void);void Bms_Boot_Arr_Pro(void);#endif |
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1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573 1574 1575 1576 1577 | /** * @Author: wangxy * @Date: 2024-08-15 * @LastEditTime: 2024-08-15 * @LastEditors: wangxy * @Description: proj_canbms * @FilePath: proj_canbms.c */#include "main.h"#include "proj_canbms.h"#include "proj_fifo.h"#include "FTP_client.h"#include "sal_netdb.h"#include "net_sockets.h"#include "mqttclient.h"/* Global variables */QueueHandle_t OTA_Data_QueueHandle;QueueHandle_t Can_Recv_Data_QueueHandle;SemaphoreHandle_t OTA_Topic_BinarySemHandle;SemaphoreHandle_t OTA_Last_Data_BinarySemHandle;SemaphoreHandle_t OTA_Crc_Data_BinarySemHandle;SemaphoreHandle_t OTA_Data_Done_BinarySemHandle;BMSDeviceInfo_Member_List_t Device_list_Head; //定义设备头节点BMSDeviceInfo_Member_List_t Device_Location_list_Head; //定义设备定位头节点Device_Type_List_t Device_Type_List_Head; //定义升级设备类型头节点 -- 设备类型链表再嵌套设备链表double_list_t *ptr =NULL;volatile uint8_t CANBootStep = BOOT_IDLE; //BOOT_DEVICE_SEARCH; //0;fifo_t *Can_Recv_Buff;uint16_t DeviceIndex = 0; //设备IDuint8_t OTA_Data_Done_BinarySemHandle_Flag =0;Search_Pack_t Search_Pack;Location_Pack_t Location_Pack;Updown_Pack_t Updown_Pack;Ars_Updown_Pack_t Ars_Updown_Pack;uint16_t BOOT_Send_Timeout_Num;extern TaskHandle_t CAN_BMS_Upgrade_handle;volatile uint8_t CAN_BMS_BOOT_Flag =0;Location_Search_Pack_t Location_Search_Pack;//Search升级设备搜索时间uint64_t Device_Upgrade_Search_Timeout_Num =DEVICE_UPGRADE_SEARCH_TIMEOUT;//Location升级设备定位时间uint64_t Device_Upgrade_Location_Timeout_Num =DEVICE_UPGRADE_LOCATION_TIMEOUT;/** * @details: This function is Bms Boot Init */void Bms_Boot_Init(void){ /* 初始化设备链表头 */ memset(&Device_list_Head,0,sizeof(Device_list_Head)); double_list_init(&Device_list_Head.list); /* 初始化设备定位链表头 */ memset(&Device_Location_list_Head,0,sizeof(Device_Location_list_Head)); double_list_init(&Device_Location_list_Head.list); /* 初始化设备类型链表头和升级设备链表头 */ memset(&Device_Type_List_Head,0,sizeof(Device_Type_List_Head)); double_list_init(&Device_Type_List_Head.list); memset(&Device_Type_List_Head.Device_Upgrade_List_Head,0,sizeof(Device_Type_List_Head.Device_Upgrade_List_Head)); double_list_init(&Device_Type_List_Head.Device_Upgrade_List_Head.list); /* 初始化CAN-Fifo缓冲区 */ Can_Recv_Buff =fifo_alloc(CAN_RECV_BUFF_NUM, sizeof(CANFD_FD_MSG_T)); if(Can_Recv_Buff==NULL){ RS_LOGE("Can_Recv_Buff fifo_alloc Failed\n"); } /* 初始化CAN-Queue缓冲区 */ Can_Recv_Data_QueueHandle =xQueueCreate(CAN_RECV_BUFF_NUM, sizeof(CANFD_FD_MSG_T)); if(Can_Recv_Data_QueueHandle ==NULL){ RS_LOGE("Can_Recv_Data_QueueHandle xQueueCreate failed!"); } /* 初始化OTA数据缓冲队列 */ OTA_Data_QueueHandle =xQueueCreate(1, sizeof(Ota_Queue_Data_t)); if(OTA_Data_QueueHandle ==NULL){ RS_LOGE("OTA_Data_QueueHandle xQueueCreate failed!"); } /* CreateBinary OTA_Data_Done_BinarySemHandle */ OTA_Data_Done_BinarySemHandle =xSemaphoreCreateBinary(); //vSemaphoreCreateBinary(OTA_Data_Done_BinarySemHandle); //OTA_Data_Done_BinarySemHandle = xSemaphoreCreateMutex(); if(OTA_Data_Done_BinarySemHandle ==NULL){ RS_LOGE("OTA_Data_Done_BinarySemHandle vSemaphoreCreateBinary failed!"); } /* CreateBinary OTA_Crc_Data_BinarySemHandle */ OTA_Crc_Data_BinarySemHandle =xSemaphoreCreateBinary(); if(OTA_Crc_Data_BinarySemHandle ==NULL){ RS_LOGE("OTA_Crc_Data_BinarySemHandle vSemaphoreCreateBinary failed!"); } /* CreateBinary OTA_Last_Data_BinarySemHandle */ OTA_Last_Data_BinarySemHandle =xSemaphoreCreateBinary(); if(OTA_Last_Data_BinarySemHandle ==NULL){ RS_LOGE("OTA_Last_Data_BinarySemHandle vSemaphoreCreateBinary failed!"); } /* CreateBinary OTA_Topic_BinarySemHandle */ //OTA_Topic_BinarySemHandle =xSemaphoreCreateBinary(); vSemaphoreCreateBinary(OTA_Topic_BinarySemHandle); if(OTA_Topic_BinarySemHandle ==NULL){ RS_LOGE("OTA_Topic_BinarySemHandle vSemaphoreCreateBinary failed!"); }}/** * @details: This function is Bms Boot Deinit */void Bms_Boot_Deinit(void){ //no use}/**链表形式 * @details: This function is Bms Boot List Pro */void Bms_Boot_List_Pro(void){ int8_t device_type =-1; /* 1.遍历设备类型 --> 选定设备类型 --> 开启路线定位 */ { /* 1.逐一获取所有设备类型的节点 --> 获取当前类型的所有路线 */ if(double_list_isempty(&Device_Type_List_Head.list) ==0){ //登录FTP服务器 if(zFTP_Connect_Fun()<0){ RS_LOGW("zFTP_Connect_Fun Failed and Thread Exit"); vTaskDelete(NULL); } //逐一遍历设备类型 double_list_t *Device_Type_List_ptr =NULL; double_list_for_each(Device_Type_List_ptr,&Device_Type_List_Head.list){ Device_Type_List_t *Device_Type_Member =double_list_entry(Device_Type_List_ptr, Device_Type_List_t, list); device_type =Device_Type_Member->device_type; //设置设备类型，开启BMS定位 DeviceIndex =device_type; CANBootStep_Set(BOOT_DEVICE_LOCATION); //等待设备路线索引完成，通过设备类型，定位所有路线 //... Wait delay() ... uint16_t Loop_Timeout =1000; do{ vTaskDelay(100); //超时结束处理 if(!(Loop_Timeout--)){ RS_LOGW("Bms_Boot_List_Pro Location_Timeout Thread Exit"); CANBootStep_Set(BOOT_IDLE); vTaskDelete(NULL); } }while(Device_Upgrade_Location_Timeout_Num !=0); /* 2.逐一定位所有路线 --> 再搜索当前路线下的所有设备 */ { //1.逐一选定路线索引所有设备 if(double_list_isempty(&Device_Location_list_Head.list) ==0){ double_list_t *Device_Location_list_Head_ptr =NULL; //开始逐个遍历所有路线 double_list_for_each(Device_Location_list_Head_ptr,&Device_Location_list_Head.list){ //先通过遍历判断当前设备链表是否已全部升级成功且完成? int8_t Device_Upgrade_Member_Flag= 0; double_list_t *Device_Upgrade_List_Head_ptr =NULL; double_list_for_each(Device_Upgrade_List_Head_ptr, &Device_Type_Member->Device_Upgrade_List_Head.list){ Device_Upgrade_List_t *Device_Upgrade_Member =double_list_entry(Device_Upgrade_List_Head_ptr, Device_Upgrade_List_t, list); if(Device_Upgrade_Member->Select_Flag ==0){ //当前设备升级链表没有全部升级完成 Device_Upgrade_Member_Flag =1; } } if(Device_Upgrade_Member_Flag){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(Device_Location_list_Head_ptr, BMSDeviceInfo_Member_List_t, list); memset(&Location_Search_Pack, 0, sizeof(Location_Search_Pack)); Location_Search_Pack.macAddr[0] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0]; Location_Search_Pack.macAddr[1] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1]; Location_Search_Pack.macAddr[2] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2]; Location_Search_Pack.macAddr[3] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3]; Location_Search_Pack.arch_id[0] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[0]; Location_Search_Pack.arch_id[1] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[1]; Location_Search_Pack.arch_id[2] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[2]; //发送定位，开启BMS搜索 CANBootStep_Set(BOOT_DEVICE_SEARCH); //等待当前路线下的设备搜索完成 //... Wait delay() ... uint16_t Loop_Timeout =1000; do{ vTaskDelay(100); //超时结束处理 if(!(Loop_Timeout--)){ RS_LOGW("Bms_Boot_List_Pro Search_Timeout Thread Exit"); CANBootStep_Set(BOOT_IDLE); vTaskDelete(NULL); } }while(Device_Upgrade_Search_Timeout_Num !=0); /* 3.当前路线下设备与升级设备进行匹配和片选 */ uint8_t Route_Select_Flag =0; double_list_t *Device_Upgrade_List_Head_ptr =NULL; Device_Upgrade_List_t *Device_Upgrade_Member =NULL; double_list_for_each(Device_Upgrade_List_Head_ptr, &Device_Type_Member->Device_Upgrade_List_Head.list){ //设备类型下--所有设备 Device_Upgrade_Member =double_list_entry(Device_Upgrade_List_Head_ptr, Device_Upgrade_List_t, list); double_list_t *Device_list_Head_ptr =NULL; double_list_for_each(Device_list_Head_ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(Device_list_Head_ptr, BMSDeviceInfo_Member_List_t, list); //匹配片选 if(memcmp(Device_Upgrade_Member->arch_id, BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id, sizeof(BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id))==0){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect =1; BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_REQUEST_TIMEOUT; Device_Upgrade_Member->Select_Flag =1; Route_Select_Flag =1; } } } if(Route_Select_Flag){ #if 0 //匹配和片选成功，开始升级 int8_t download_rel =download_S19_Bin_file_fun(1); //开始启动升级！ int8_t download_rel =download_S19_Bin_file_fun(&Bms_Ota_Info_Arr.bms_ota_info[i]); //升级结束，成功则置位，片选标志清零。 double_list_for_each(Device_Upgrade_List_Head_ptr,&Device_Type_Member->Device_Upgrade_List_Head.list){ Device_Upgrade_Member =double_list_entry(Device_Upgrade_List_Head_ptr, Device_Upgrade_List_t, list); if(Device_Upgrade_Member->Select_Flag ==1){ Device_Upgrade_Member->Select_Flag =0; if(download_rel==0){ Device_Upgrade_Member->ota_status =1; } } } #endif } } } } } } //关闭FTP服务器 zFTP_Close_Fun(); //全部升级完成，遍历是否全部升级成功 double_list_for_each(Device_Type_List_ptr,&Device_Type_List_Head.list){ Device_Type_List_t *Device_Type_Member =double_list_entry(Device_Type_List_ptr, Device_Type_List_t, list); double_list_t *Device_Upgrade_List_Head_ptr =NULL; double_list_for_each(Device_Upgrade_List_Head_ptr, &Device_Type_Member->Device_Upgrade_List_Head.list){ Device_Upgrade_List_t *Device_Upgrade_Member =double_list_entry(Device_Upgrade_List_Head_ptr, Device_Upgrade_List_t, list); if(Device_Upgrade_Member->ota_status == 0){ //完全升级失败 /* deal result */ } } } }else{ //链表为空，无升级需求！ } } vTaskDelete(NULL);}/**数组形式 * @details: This function is Bms Boot Arr Pro */void Bms_Boot_Arr_Pro(void){ int8_t device_type =-1; /* 1.遍历设备类型 --> 选定设备类型 --> 开启路线定位 */ { /* 1.逐一获取所有设备类型的节点 --> 获取当前类型的所有路线 */ if(Bms_Ota_Info_Arr.bms_ota_info_num !=0){ #if 0 //登录FTP服务器 if(zFTP_Connect_Fun()<0){ RS_LOGW("zFTP_Connect_Fun Failed and Thread Exit"); zFTP_Close_Fun(); vTaskDelete(NULL); } #endif /* 逐一遍历每个升级的设备类型 */ for(uint8_t i=0; i<Bms_Ota_Info_Arr.bms_ota_info_num; i++){ device_type =Bms_Ota_Info_Arr.bms_ota_info[i].device_type; //设置设备类型，开启BMS定位 DeviceIndex =device_type; CANBootStep_Set(BOOT_DEVICE_LOCATION); //等待设备路线索引完成，通过设备类型，定位所有路线 //... Wait delay() ... uint16_t Loop_Timeout =200; do{ vTaskDelay(100); //超时结束处理 if(!(Loop_Timeout--)){ RS_LOGW("Bms_Boot_Arr_Pro Location_Timeout Thread Exit"); CANBootStep_Set(BOOT_IDLE); //zFTP_Close_Fun(); goto Bms_Boot_Arr_Pro_Exit; } }while(Device_Upgrade_Location_Timeout_Num !=0); /* 2.逐一定位所有路线 --> 再搜索当前路线下的所有设备 */ { //1.逐一选定路线索引所有设备 if(double_list_isempty(&Device_Location_list_Head.list) ==0){ double_list_t *Device_Location_list_Head_ptr =NULL; #if 0 /***********打印出所有的链表节点***********/ double_list_t *Device_Location_list_Head_ptr_t =NULL; double_list_for_each(Device_Location_list_Head_ptr_t,&Device_Location_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(Device_Location_list_Head_ptr_t, BMSDeviceInfo_Member_List_t, list); RS_LOGI("macAddr[0]:%x macAddr[1]:%x macAddr[2]:%x macAddr[3]:%x\n\ arch_id[0]:%d arch_id[1]:%d arch_id[2]:%d \n", BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3], BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[0], BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[1], BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[2]); } #endif //开始逐个遍历所有路线 double_list_for_each(Device_Location_list_Head_ptr,&Device_Location_list_Head.list){ //先通过遍历判断当前设备链表是否已全部升级成功且完成? int8_t Device_Upgrade_Member_Flag =0; for(uint8_t m=0; m<Bms_Ota_Info_Arr.bms_ota_info[i].positions_device_num; m++){ if(Bms_Ota_Info_Arr.bms_ota_info[i].devces_positions_info[m].Select_Flag==0){ //当前设备升级链表没有全部升级完成 Device_Upgrade_Member_Flag =1; } } if(Device_Upgrade_Member_Flag){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(Device_Location_list_Head_ptr, BMSDeviceInfo_Member_List_t, list); memset(&Location_Search_Pack, 0, sizeof(Location_Search_Pack)); Location_Search_Pack.macAddr[0] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0]; Location_Search_Pack.macAddr[1] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1]; Location_Search_Pack.macAddr[2] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2]; Location_Search_Pack.macAddr[3] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3]; //层级编号 if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.routeLevel ==3){ Location_Search_Pack.arch_id[0] =0xFF; }else{ Location_Search_Pack.arch_id[0] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[0]; } if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.routeLevel ==2){ Location_Search_Pack.arch_id[1] =0xFF; }else{ Location_Search_Pack.arch_id[1] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[1]; } if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.routeLevel ==1){ Location_Search_Pack.arch_id[2] =0xFF; }else{ Location_Search_Pack.arch_id[2] =BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[2]; } //发送定位，开启BMS搜索 CANBootStep_Set(BOOT_DEVICE_SEARCH); //等待当前路线下的设备搜索完成 //... Wait delay() ... uint16_t Loop_Timeout =200; do{ vTaskDelay(100); //超时结束处理 if(!(Loop_Timeout--)){ RS_LOGW("Bms_Boot_Arr_Pro Search_Timeout Thread Exit"); CANBootStep_Set(BOOT_IDLE); //zFTP_Close_Fun(); goto Bms_Boot_Arr_Pro_Exit; } }while(Device_Upgrade_Search_Timeout_Num !=0); /* 3.当前路线下设备与升级设备进行匹配和片选 */ uint8_t Route_Select_Flag =0; for(uint8_t m=0; m<Bms_Ota_Info_Arr.bms_ota_info[i].positions_device_num; m++){ double_list_t *Device_list_Head_ptr =NULL; double_list_for_each(Device_list_Head_ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(Device_list_Head_ptr, BMSDeviceInfo_Member_List_t, list); if(memcmp(Bms_Ota_Info_Arr.bms_ota_info[i].devces_positions_info[m].arch_id, BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id, sizeof(BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id))==0){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect =1; BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_REQUEST_TIMEOUT; Bms_Ota_Info_Arr.bms_ota_info[i].devces_positions_info[m].Select_Flag=1; Route_Select_Flag =1; } } } if(Route_Select_Flag){ //开始连接服务器，启动升级！ if(zFTP_Connect_Fun()<0){ RS_LOGW("zFTP_Connect_Fun Failed and Thread Exit"); zFTP_Close_Fun(); goto Bms_Boot_Arr_Pro_Exit; } //下载升级设备固件 int8_t download_rel =download_S19_Bin_file_fun(&Bms_Ota_Info_Arr.bms_ota_info[i]); if(download_rel<0){ RS_LOGW("download_S19_Bin_file_fun Failed and Thread Exit"); zFTP_Close_Fun(); goto Bms_Boot_Arr_Pro_Exit; } //清除匹配片选标志和置位升级标志 for(uint8_t n=0; n<Bms_Ota_Info_Arr.bms_ota_info[i].positions_device_num; n++){ if(Bms_Ota_Info_Arr.bms_ota_info[i].devces_positions_info[n].Select_Flag ==1){ Bms_Ota_Info_Arr.bms_ota_info[i].devces_positions_info[n].Select_Flag =0; Bms_Ota_Info_Arr.bms_ota_info[i].devces_positions_info[n].ota_status =1; } } //关闭Ftp客户端 zFTP_Close_Fun(); } } } } } } #if 0 //关闭FTP客户端 zFTP_Close_Fun(); #endif //检测是否设备全部升级成功 uint8_t ALL_Type_Device_Success_Flag =1; for(uint8_t p=0; p<Bms_Ota_Info_Arr.bms_ota_info_num; p++){ for(uint8_t q=0; q<Bms_Ota_Info_Arr.bms_ota_info[p].positions_device_num; q++){ if(Bms_Ota_Info_Arr.bms_ota_info[p].devces_positions_info[q].ota_status == 0){ //所有设备完全升级失败 ALL_Type_Device_Success_Flag =0; } } } Bms_Ota_Info_Arr.bms_ota_info_num =0; if(ALL_Type_Device_Success_Flag){ //上报服务器成功 BMS_Upgrade_Result_Report(1,0); RS_LOGV("BMS OTA ALL Transmit Success!\n"); }else{ //失败 BMS_Upgrade_Result_Report(0,BMS_DEVICE_POS_FAILED); RS_LOGV("BMS OTA ALL Transmit Failed : DEVICE_POS ERROR!\n"); } }else{ //链表为空，无升级需求！ RS_LOGI("List NO Device Need Upgrade!\n"); } }Bms_Boot_Arr_Pro_Exit: //关闭 Bms_Upgrade_Send_Recv_Pro 线程 if(CAN_BMS_BOOT_Flag){ CAN_BMS_BOOT_Flag =0; vTaskDelete(CAN_BMS_Upgrade_handle); } //清空链表上所有的搜索设备 Clean_Search_Device_List(); //清空链表上所有的定位设备 Clean_Location_Device_List(); RS_LOGI("Bms_Boot_Arr_Pro Thread Exit"); //释放升级信号量 if(xSemaphoreGive(OTA_Topic_BinarySemHandle) != pdTRUE){ RS_LOGW("xSemaphoreGive OTA_Topic_BinarySemHandle Full\n"); } CANBootStep_Set(BOOT_IDLE); vTaskDelete(NULL);}/** * @details: This function is Bms Send Recv Pro */void Bms_Upgrade_Send_Recv_Pro(void){ RS_LOGV("Bms_Upgrade_Send_Recv_Pro Begin Run..."); for(;;){ /* Upgrade Recv Deal Data */ CANFD_FD_MSG_T RxMsgFrame; memset(&RxMsgFrame, 0, sizeof(RxMsgFrame)); //if(fifo_unuse(Can_Recv_Buff)){ //if(fifo_get(Can_Recv_Buff, &RxMsgFrame, sizeof(RxMsgFrame)) >0){ if(xQueueReceive(Can_Recv_Data_QueueHandle, &RxMsgFrame, 0) == pdTRUE){ switch(CANBootStep){ case BOOT_DEVICE_LOCATION: //定位 { if((RxMsgFrame.u32Id & 0xFFFFFF00) != 0x1F010000 + (DeviceIndex << 8)) break; //重置设备搜索发送 //BOOT_Send_Timeout_Num =0; uint8_t New_Device_Flag =1; //遍历新设备标志 uint16_t Device_Curr_Num =0; //当前在线设备数 //遍历当前设备链表 if(double_list_isempty(&Device_Location_list_Head.list) ==0){ double_list_for_each(ptr,&Device_Location_list_Head.list){ Device_Curr_Num++; BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); uint8_t macAddr_temp[4] ={0}; macAddr_temp[0] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0]; macAddr_temp[1] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1]; macAddr_temp[2] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2]; macAddr_temp[3] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3]; if(memcmp(&RxMsgFrame.au8Data[4],macAddr_temp,4)==0){ //当前设备已经存在设备链表 BMSDeviceInfo_Member->BMSDeviceInfo_Member.firmwareVersion =((RxMsgFrame.au8Data[0]>>4)&0x0f); //更新固件版本号 BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade =(RxMsgFrame.au8Data[0]&0x0f); //更新设备层级 BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[0] =RxMsgFrame.au8Data[1]; //更新设备Arch3 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[1] =RxMsgFrame.au8Data[2]; //更新设备Arch2 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[2] =RxMsgFrame.au8Data[3]; //更新设备Arch1 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type =(((uint8_t)(RxMsgFrame.u32Id>>8))&0xff); //更新设备类型 BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout = DEVICE_SEARCH_TIMEOUT; //更新重置超时时间 BMSDeviceInfo_Member->BMSDeviceInfo_Member.routeLevel = RxMsgFrame.au8Data[0] & 0x0f; //更新架构层级 New_Device_Flag =0; } } } //扫描新设备,且小于设备总数 if(New_Device_Flag && (Device_Curr_Num < Device_Max_Num)){ //从新设置升级定位时间 Device_Upgrade_Location_Timeout_Num =DEVICE_UPGRADE_LOCATION_TIMEOUT; BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member = pvPortMalloc(sizeof(BMSDeviceInfo_Member_List_t)); memset(BMSDeviceInfo_Member, 0, sizeof(*BMSDeviceInfo_Member)); BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0] = RxMsgFrame.au8Data[4]; BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1] = RxMsgFrame.au8Data[5]; BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2] = RxMsgFrame.au8Data[6]; BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3] = RxMsgFrame.au8Data[7]; BMSDeviceInfo_Member->BMSDeviceInfo_Member.firmwareVersion =((RxMsgFrame.au8Data[0]>>4)&0x0f); //获取固件版本号 BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade =(RxMsgFrame.au8Data[0]&0x0f); //获取设备层级 BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[0] =RxMsgFrame.au8Data[1]; //获取设备Arch3 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[1] =RxMsgFrame.au8Data[2]; //获取设备Arch2 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[2] =RxMsgFrame.au8Data[3]; //获取设备Arch1 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type =(((uint8_t)(RxMsgFrame.u32Id>>8))&0xff); //获取设备类型 BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout = DEVICE_LOCATIONH_TIMEOUT; //设置超时时间 BMSDeviceInfo_Member->BMSDeviceInfo_Member.routeLevel = (RxMsgFrame.au8Data[0]&0x0f); //获取架构层级 double_list_insert_after(&Device_Location_list_Head.list,&BMSDeviceInfo_Member->list); //添加到设备定位链表 #if 1 //for debug test RS_LOGI("Location Add a new device MacAddr: %02x-%02x-%02x-%02x\n", BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3] ); #endif } break; } case BOOT_DEVICE_SEARCH: //搜索 0x1F01YYFF { if((RxMsgFrame.u32Id & 0xFFFFFF00) != 0x1F020000 + (DeviceIndex << 8)) break; //重置设备搜索发送 //BOOT_Send_Timeout_Num =0; uint8_t New_Device_Flag =1; //遍历新设备标志 uint16_t Device_Curr_Num =0; //当前在线设备数 //遍历当前设备链表 if(double_list_isempty(&Device_list_Head.list) ==0){ double_list_for_each(ptr,&Device_list_Head.list){ Device_Curr_Num++; BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); uint8_t macAddr_temp[4] ={0}; macAddr_temp[0] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0]; macAddr_temp[1] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1]; macAddr_temp[2] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2]; macAddr_temp[3] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3]; //if(memcmp(&RxMsgFrame.au8Data[2],BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr,6)==0){ //if(memcmp(&RxMsgFrame.au8Data[4],macAddr_temp,4)==0){ if( (memcmp(&RxMsgFrame.au8Data[4],macAddr_temp,4)==0) && (BMSDeviceInfo_Member->BMSDeviceInfo_Member.randomid == (((uint8_t)(RxMsgFrame.u32Id))&0xff))){ //当前设备已经存在设备链表 BMSDeviceInfo_Member->BMSDeviceInfo_Member.firmwareVersion =((RxMsgFrame.au8Data[0]>>4)&0x0f); //更新固件版本号 BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade =(RxMsgFrame.au8Data[0]&0x0f); //更新设备层级 BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[0] =RxMsgFrame.au8Data[1]; //更新设备Arch3 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[1] =RxMsgFrame.au8Data[2]; //更新设备Arch2 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[2] =RxMsgFrame.au8Data[3]; //更新设备Arch1 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type =(((uint8_t)(RxMsgFrame.u32Id>>8))&0xff); //更新设备类型 BMSDeviceInfo_Member->BMSDeviceInfo_Member.randomid =(((uint8_t)(RxMsgFrame.u32Id))&0xff); //更新随机码 BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout = DEVICE_SEARCH_TIMEOUT; //更新重置超时时间 //预设ID if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade ==1){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.setID = RxMsgFrame.au8Data[3]; }else if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade ==2){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.setID = RxMsgFrame.au8Data[2]; }else if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade ==3){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.setID = RxMsgFrame.au8Data[1]; } New_Device_Flag =0; //已存设备 } } } //扫描新设备,且小于设备总数 if(New_Device_Flag && (Device_Curr_Num < Device_Max_Num)){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member = pvPortMalloc(sizeof(BMSDeviceInfo_Member_List_t)); if(BMSDeviceInfo_Member !=NULL){ //从新设置升级搜索时间 Device_Upgrade_Search_Timeout_Num =DEVICE_UPGRADE_SEARCH_TIMEOUT; //memcpy(BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr,&RxMsgFrame.au8Data[2],6); //获取MAC地址 memset(BMSDeviceInfo_Member, 0, sizeof(*BMSDeviceInfo_Member)); BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0] = RxMsgFrame.au8Data[4]; BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1] = RxMsgFrame.au8Data[5]; BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2] = RxMsgFrame.au8Data[6]; BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3] = RxMsgFrame.au8Data[7]; BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type =(((uint8_t)(RxMsgFrame.u32Id>>8))&0xff); //获取设备类型 BMSDeviceInfo_Member->BMSDeviceInfo_Member.randomid =(((uint8_t)(RxMsgFrame.u32Id))&0xff); //获取随机码 BMSDeviceInfo_Member->BMSDeviceInfo_Member.firmwareVersion =((RxMsgFrame.au8Data[0]>>4)&0x0f); //获取固件版本号 BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade =(RxMsgFrame.au8Data[0]&0x0f); //获取设备层级 BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[0] =RxMsgFrame.au8Data[1]; //获取设备Arch3 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[1] =RxMsgFrame.au8Data[2]; //获取设备Arch2 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.arch_id[2] =RxMsgFrame.au8Data[3]; //获取设备Arch1 ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout = DEVICE_SEARCH_TIMEOUT; //设置超时时间 double_list_insert_after(&Device_list_Head.list,&BMSDeviceInfo_Member->list); //添加到设备链表 //预设ID if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade ==1){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.setID = RxMsgFrame.au8Data[3]; }else if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade ==2){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.setID = RxMsgFrame.au8Data[2]; }else if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_grade ==3){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.setID = RxMsgFrame.au8Data[1]; } #if 1 //for debug test RS_LOGI("Search Add a new device MacAddr: %02x-%02x-%02x-%02x\n", BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3] ); #endif //Report_Search_Device_Info(); }else{ RS_LOGW("BOOT_DEVICE_SEARCH new device pvPortMalloc failed!"); } } //unsigned int num_list =double_list_len(&Device_list_Head.list); //printf("Device_list num :%d\n",num_list); break; } case BOOT_BURNING_REQUEST: //请求 { //if(RxMsgFrame.u32Id != 0x1F0300FF + (DeviceIndex << 8)) if((RxMsgFrame.u32Id & 0xFFFFFF00) != 0x1F030000 + (DeviceIndex << 8)) break; //重置设备申请发送 //BOOT_Send_Timeout_Num =0; if(double_list_isempty(&Device_list_Head.list) ==0){ uint8_t All_Ready =1; double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); uint8_t macAddr_temp[4] ={0}; macAddr_temp[0] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0]; macAddr_temp[1] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1]; macAddr_temp[2] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2]; macAddr_temp[3] =(uint8_t)BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3]; //if(memcmp(&RxMsgFrame.au8Data[2],BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr,6)==0 && RxMsgFrame.au8Data[0]== BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID){ if(memcmp(&RxMsgFrame.au8Data[4],macAddr_temp,4)==0 && RxMsgFrame.au8Data[0]== BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady =1; BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_REQUEST_TIMEOUT; //设置更新超时时间 } //BMS DEVICES ALL Ready？ if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect){ if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady ==0){ All_Ready =0; } } } if(All_Ready){ CANBootStep_Set(BOOT_MEM_ERASE); } } break; } case BOOT_MEM_ERASE: //擦除 { if((RxMsgFrame.u32Id & 0xFFFFFF00) != 0x1F040000 + (DeviceIndex << 8)) break; //重置设备擦除发送 //BOOT_Send_Timeout_Num =0; if(double_list_isempty(&Device_list_Head.list) ==0){ uint8_t All_Ready =1; double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); if((uint8_t)RxMsgFrame.u32Id == BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID && RxMsgFrame.au8Data[0]==2){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady =1; BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_ERASE_TIMEOUT; //设置更新超时时间 } //BMS DEVICES ALL Ready？ if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect){ if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady ==0){ All_Ready =0; } } } if(All_Ready){ CANBootStep_Set(BOOT_MEM_WRITE); RS_LOGV("Flash Erase Finish, and begin download bms firmware...\n"); //发送成功指令，接收到所有片选设备应答ACK，开始升级下一帧数据 if(xSemaphoreGive(OTA_Data_Done_BinarySemHandle) != pdTRUE){ RS_LOGE("xSemaphoreGive OTA_Data_Done_BinarySemHandle Error\n"); } } } break; } case BOOT_MEM_WRITE: //写入 { if((RxMsgFrame.u32Id & 0xFFFFFF00) != 0x1F050000 + (DeviceIndex << 8)) break; if(double_list_isempty(&Device_list_Head.list) ==0){ uint8_t All_Ready =1; double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); if(((uint8_t)RxMsgFrame.u32Id == BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID) && RxMsgFrame.au8Data[0]==1){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady =1; BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_WRITE_TIMEOUT; //设置更新超时时间 } //BMS DEVICES ALL Ready？ if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect){ if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady ==0){ All_Ready =0; } } } if(All_Ready){ if(xSemaphoreTake(OTA_Crc_Data_BinarySemHandle, 0)==pdPASS){ CANBootStep_Set(BOOT_MEM_WRITE_END); break; } //再次清除链表所有节点isReady标志 if(double_list_isempty(&Device_list_Head.list) ==0){ double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady =0; } } //发送成功指令，接收到所有片选设备应答ACK，开始升级下一帧数据 if(xSemaphoreGive(OTA_Data_Done_BinarySemHandle) != pdTRUE){ RS_LOGE("xSemaphoreGive OTA_Data_Done_BinarySemHandle Error\n"); } } } break; } case BOOT_MEM_WRITE_END: //写完 { if((RxMsgFrame.u32Id & 0xFFFFFF00) != 0x1F060000 + (DeviceIndex << 8)) break; //重置设备写结束发送 //BOOT_Send_Timeout_Num =0; if(double_list_isempty(&Device_list_Head.list) ==0){ uint8_t All_Ready =1; double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); if((uint8_t)RxMsgFrame.u32Id == BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID && RxMsgFrame.au8Data[0]==0){ //if((uint8_t)RxMsgFrame.u32Id == BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID){ if(RxMsgFrame.au8Data[0]==0){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady =1; BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_WRITE_END_TIMEOUT; //设置更新超时时间 }else if(RxMsgFrame.au8Data[0]==1){ //BMS Flash FAILED BMS_Upgrade_Result_Report(0, BMS_FLASH_WRITE_READ_CRC_TIMEOUT_FAILED); CANBootStep_Set(BOOT_IDLE); break; } } //BMS DEVICES ALL Ready？ if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect){ if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady ==0){ All_Ready =0; } } } //升级成功，进入空闲模式 if(All_Ready){ //释放信号量，本次升级成功 if(xSemaphoreGive(OTA_Last_Data_BinarySemHandle) != pdTRUE){ RS_LOGE("xSemaphoreGive OTA_Last_Data_BinarySemHandle Error\n"); } //上报服务器成功 //BMS_Upgrade_Result_Report(1,0); //RS_LOGV("BMS OTA Transmit Success!\n"); //CANBootStep_Set(BOOT_IDLE); } } break; } default: break; } } //} /* Boot Send Can Data */ switch(CANBootStep){ case BOOT_IDLE: { break; } case BOOT_DEVICE_LOCATION: { //设置Location空闲超时时间 if(Device_Upgrade_Location_Timeout_Num !=0){ Device_Upgrade_Location_Timeout_Num--; } //检测超时发送Location if(BOOT_Send_Timeout_Num++ > DEVICE_SEARCH_TIMEOUT_SEND){ BOOT_Send_Timeout_Num =0; if(Boot_Device_Location(DeviceIndex) != RS_OK){ //定位发送失败，进入idle, 结束升级 CANBootStep_Set(BOOT_IDLE); RS_LOGE("Boot Device Location Send Failed\n"); } } break; } case BOOT_DEVICE_SEARCH: { //设置Search空闲超时时间 if(Device_Upgrade_Search_Timeout_Num !=0){ Device_Upgrade_Search_Timeout_Num--; } //检测超时发送Search if(BOOT_Send_Timeout_Num++ > DEVICE_SEARCH_TIMEOUT_SEND){ BOOT_Send_Timeout_Num =0; //if(Boot_Device_Search(DeviceIndex) != RS_OK){ if(Boot_Device_Search_t(DeviceIndex) != RS_OK){ //搜索发送失败，进入idle, 结束升级 CANBootStep_Set(BOOT_IDLE); RS_LOGE("Boot Device Search Send Failed\n"); } } break; } case BOOT_BURNING_REQUEST: { if(BOOT_Send_Timeout_Num++ > DEVICE_REQUEST_TIMEOUT_SEND){ BOOT_Send_Timeout_Num =0; if(Boot_Device_Request() != RS_OK){ //申请发送失败，进入idle, 结束升级 BMS_Upgrade_Result_Report(0, BMS_REQUEST_SEND_FAILED); CANBootStep_Set(BOOT_IDLE); RS_LOGE("Boot Device Request Send Failed\n"); } } break; } case BOOT_MEM_ERASE: { if(BOOT_Send_Timeout_Num++ > DEVICE_ERASE_TIMEOUT_SEND){ BOOT_Send_Timeout_Num =0; if(Boot_Mem_Erase(DeviceIndex) != RS_OK){ //擦除发送失败，进入idle, 结束升级 BMS_Upgrade_Result_Report(0, BMS_MEM_ERASE_SEND_FAILED); CANBootStep_Set(BOOT_IDLE); RS_LOGE("Boot Device Erase Send Failed\n"); } } break; } case BOOT_MEM_WRITE: { break; } case BOOT_MEM_WRITE_END: { if(BOOT_Send_Timeout_Num++ > DEVICE_WRITE_END_TIMEOUT_SEND){ if(Boot_Mem_Write_End(DeviceIndex) != RS_OK){ //写完成发送失败，进入idle, 结束升级 BMS_Upgrade_Result_Report(0, BMS_FLASH_WRITE_READ_CRC_SEND_FAILED); CANBootStep_Set(BOOT_IDLE); RS_LOGE("Boot Device Write End Send Failed\n"); } } break; } default: break; } /* 设备超时处理 */ if(CANBootStep == BOOT_DEVICE_LOCATION){ //BOOT_DEVICE_LOCATION TIMEOUT DEAL if(double_list_isempty(&Device_Location_list_Head.list) ==0){ double_list_for_each(ptr,&Device_Location_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); //////////////////////////////////////////////////////////////////// #if 0 //for debug test RS_LOGI("------------------------------------------------------------------------------>"); RS_LOGI("BMSDeviceInfo_Member.macAddr: %x-%x-%x-%x-%x-%x\n", BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[4], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[5] ); RS_LOGI("BMSDeviceInfo_Member.firmwareVersion: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.firmwareVersion); RS_LOGI("BMSDeviceInfo_Member.routeLevel: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.routeLevel); RS_LOGI("BMSDeviceInfo_Member.tempID: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID); RS_LOGI("BMSDeviceInfo_Member.setID: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.setID); RS_LOGI("BMSDeviceInfo_Member.timeout: %d\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout); RS_LOGI("BMSDeviceInfo_Member.device_type: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type); RS_LOGI("BMSDeviceInfo_Member.isSelect: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect); RS_LOGI("BMSDeviceInfo_Member.isReady: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady); #endif //////////////////////////////////////////////////////////////////// BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout--;//时间步长 if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout==0){ //移除设备链表 #if 1 //for debug test RS_LOGI("Location Device Timeout Remove a device MacAddr: %02x-%02x-%02x-%02x\n", BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3] ); #endif double_list_remove(ptr); vPortFree(BMSDeviceInfo_Member); } } } }else if(CANBootStep == BOOT_DEVICE_SEARCH){ //SEARCH TIMEOUT DEAL if(double_list_isempty(&Device_list_Head.list) ==0){ double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); //////////////////////////////////////////////////////////////////// #if 0 //for debug test RS_LOGI("------------------------------------------------------------------------------>"); RS_LOGI("BMSDeviceInfo_Member.macAddr: %x-%x-%x-%x-%x-%x\n", BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[4], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[5] ); RS_LOGI("BMSDeviceInfo_Member.firmwareVersion: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.firmwareVersion); RS_LOGI("BMSDeviceInfo_Member.routeLevel: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.routeLevel); RS_LOGI("BMSDeviceInfo_Member.tempID: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID); RS_LOGI("BMSDeviceInfo_Member.setID: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.setID); RS_LOGI("BMSDeviceInfo_Member.timeout: %d\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout); RS_LOGI("BMSDeviceInfo_Member.device_type: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type); RS_LOGI("BMSDeviceInfo_Member.isSelect: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect); RS_LOGI("BMSDeviceInfo_Member.isReady: %x\n",BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady); #endif //////////////////////////////////////////////////////////////////// BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout--; //时间步长 if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout==0){ //移除设备链表 #if 1 //for debug test RS_LOGI("Search Device Timeout Remove a device MacAddr: %02x-%02x-%02x-%02x\n", BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2], BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3] ); #endif double_list_remove(ptr); vPortFree(BMSDeviceInfo_Member); //Report_Search_Device_Info(); } } } }else if((CANBootStep == BOOT_BURNING_REQUEST) || (CANBootStep == BOOT_MEM_ERASE) || (CANBootStep == BOOT_MEM_WRITE) || (CANBootStep == BOOT_MEM_WRITE_END)){ //TIMEOUT DEAL if(double_list_isempty(&Device_list_Head.list) ==0){ uint8_t Request_Timeout =0; double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect){ BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout--; //时间步长 if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout==0){ //设备超时标志 Request_Timeout =1; } } } //但凡一台设备超时，移除链表所有设备，本次升级失败，进入IDLE if(Request_Timeout){ double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); double_list_remove(ptr); vPortFree(BMSDeviceInfo_Member); } //上报服务器任务失败 switch(CANBootStep){ case BOOT_BURNING_REQUEST: { BMS_Upgrade_Result_Report(0, BMS_REQUEST_TIMEOUT_FAILED); RS_LOGV("BMS OTA REQUEST Timeout!\n"); break; } case BOOT_MEM_ERASE: { BMS_Upgrade_Result_Report(0, BMS_MEM_ERASE_TIMEOUT_FAILED); RS_LOGV("BMS OTA ERASE Timeout!\n"); break; } case BOOT_MEM_WRITE: { BMS_Upgrade_Result_Report(0, BMS_MEM_WRITE_TIMEOUT_FAILED); RS_LOGV("BMS OTA WRITE Timeout!\n"); break; } case BOOT_MEM_WRITE_END: { BMS_Upgrade_Result_Report(0, BMS_FLASH_WRITE_READ_CRC_TIMEOUT_FAILED); RS_LOGV("BMS OTA WRITE END Timeout!\n"); break; } default:break; } RS_LOGV("BMS OTA Transmit Failed!\n"); //判断是否为BOOT_MEM_WRITE，结束升级线程 if(CANBootStep == BOOT_BURNING_REQUEST || CANBootStep == BOOT_MEM_WRITE || CANBootStep == BOOT_MEM_WRITE_END){ //重置OTA的数据消息队列 xQueueReset(OTA_Data_QueueHandle); } //超时失败，本次升级失败，进入空闲模式 CANBootStep_Set(BOOT_IDLE); } } } //vTaskDelay(300); //vTaskDelay(5); //vTaskDelay(2); vTaskDelay(1); }}/** * @details: This function is Boot Location Devices */int8_t Boot_Device_Location(uint16_t deviceIndex){ CANFD_FD_MSG_T TxMsgFrame; memset(&TxMsgFrame, 0, sizeof(TxMsgFrame)); /* Set the ID Number */ TxMsgFrame.u32Id = 0x0F0100FF + (deviceIndex << 8); /* Set the frame type */ TxMsgFrame.eIdType = eCANFD_XID; /* CAN FD frame type */ TxMsgFrame.eFrmType = eCANFD_DATA_FRM; /* Set FD frame format attribute */ TxMsgFrame.bFDFormat = 1; /* Set the bitrate switch attribute */ TxMsgFrame.bBitRateSwitch = 1; /*Set data length*/ TxMsgFrame.u32DLC = 0; if(CANFD_TransmitDMsg(BMS_CAN, 0, &TxMsgFrame) != 1){ return RS_ERROR; } //xSemaphoreTake(CAN0_Transfer_Done_BinarySemHandle, portMAX_DELAY); return RS_OK;}/** * @details: This function is Boot Search Devices */int8_t Boot_Device_Search(uint16_t deviceIndex){ for(int i=0;i<Search_Pack.layer_num; i++){ CANFD_FD_MSG_T TxMsgFrame; memset(&TxMsgFrame, 0, sizeof(TxMsgFrame)); /* Set the ID Number */ TxMsgFrame.u32Id = 0x0F0200FF + (deviceIndex << 8); /* Set the frame type */ TxMsgFrame.eIdType = eCANFD_XID; /* CAN FD frame type */ TxMsgFrame.eFrmType = eCANFD_DATA_FRM; /* Set FD frame format attribute */ TxMsgFrame.bFDFormat = 1; /* Set the bitrate switch attribute */ TxMsgFrame.bBitRateSwitch = 1; /*Set data length*/ TxMsgFrame.u32DLC = 8; /*Set data */ //arch_id TxMsgFrame.au8Data[1] = (uint8_t)Search_Pack.arch_id[i][0]; TxMsgFrame.au8Data[2] = (uint8_t)Search_Pack.arch_id[i][1]; TxMsgFrame.au8Data[3] = (uint8_t)Search_Pack.arch_id[i][2]; //mac TxMsgFrame.au8Data[4] = (uint8_t)Search_Pack.macAddr[i][0]; TxMsgFrame.au8Data[5] = (uint8_t)Search_Pack.macAddr[i][1]; TxMsgFrame.au8Data[6] = (uint8_t)Search_Pack.macAddr[i][2]; TxMsgFrame.au8Data[7] = (uint8_t)Search_Pack.macAddr[i][3]; if(CANFD_TransmitDMsg(BMS_CAN, 0, &TxMsgFrame) != 1){ return RS_ERROR; } //xSemaphoreTake(CAN0_Transfer_Done_BinarySemHandle, portMAX_DELAY); //delay_ms(50); } return RS_OK;}/** * @details: This function is Boot_Device_Search_t */int8_t Boot_Device_Search_t(uint16_t deviceIndex){ CANFD_FD_MSG_T TxMsgFrame; memset(&TxMsgFrame, 0, sizeof(TxMsgFrame)); /* Set the ID Number */ TxMsgFrame.u32Id = 0x0F0200FF + (deviceIndex << 8); /* Set the frame type */ TxMsgFrame.eIdType = eCANFD_XID; /* CAN FD frame type */ TxMsgFrame.eFrmType = eCANFD_DATA_FRM; /* Set FD frame format attribute */ TxMsgFrame.bFDFormat = 1; /* Set the bitrate switch attribute */ TxMsgFrame.bBitRateSwitch = 1; /*Set data length*/ TxMsgFrame.u32DLC = 8; /*Set data */ //arch_id TxMsgFrame.au8Data[1] = (uint8_t)Location_Search_Pack.arch_id[0]; TxMsgFrame.au8Data[2] = (uint8_t)Location_Search_Pack.arch_id[1]; TxMsgFrame.au8Data[3] = (uint8_t)Location_Search_Pack.arch_id[2]; //mac TxMsgFrame.au8Data[4] = (uint8_t)Location_Search_Pack.macAddr[0]; TxMsgFrame.au8Data[5] = (uint8_t)Location_Search_Pack.macAddr[1]; TxMsgFrame.au8Data[6] = (uint8_t)Location_Search_Pack.macAddr[2]; TxMsgFrame.au8Data[7] = (uint8_t)Location_Search_Pack.macAddr[3]; if(CANFD_TransmitDMsg(BMS_CAN, 0, &TxMsgFrame) != 1){ return RS_ERROR; } return RS_OK;}/** * @details: This function is Boot Request Devices */int8_t Boot_Device_Request(void){ //给选中设备分配临时ID if(double_list_isempty(&Device_list_Head.list) ==0){ uint16_t TempID_Count =0; double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect){ TempID_Count =TempID_Count+1; //烧录请求时，给所有片选的设备，分配临时ID BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID = TempID_Count; //发送CAN数据帧 CANFD_FD_MSG_T TxMsgFrame; memset(&TxMsgFrame, 0, sizeof(TxMsgFrame)); /*Set the ID Number*/ TxMsgFrame.u32Id = 0x0F0300FF + ((BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type)<< 8); //TxMsgFrame.u32Id = 0x0F030000 + ((BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type)<< 8) + (BMSDeviceInfo_Member->BMSDeviceInfo_Member.randomid); /*Set the frame type*/ TxMsgFrame.eIdType = eCANFD_XID; /*CAN FD frame type */ TxMsgFrame.eFrmType = eCANFD_DATA_FRM; /*Set FD frame format attribute */ TxMsgFrame.bFDFormat = 1; /*Set the bitrate switch attribute*/ TxMsgFrame.bBitRateSwitch = 1; /*Set data length*/ TxMsgFrame.u32DLC = 8; /*Set data */ TxMsgFrame.au8Data[0] = (uint8_t)(BMSDeviceInfo_Member->BMSDeviceInfo_Member.tempID); TxMsgFrame.au8Data[1] = (uint8_t)(BMSDeviceInfo_Member->BMSDeviceInfo_Member.setID); TxMsgFrame.au8Data[4] = BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[0]; TxMsgFrame.au8Data[5] = BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[1]; TxMsgFrame.au8Data[6] = BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[2]; TxMsgFrame.au8Data[7] = BMSDeviceInfo_Member->BMSDeviceInfo_Member.macAddr[3]; if(CANFD_TransmitDMsg(BMS_CAN, 0, &TxMsgFrame) != 1){ return RS_ERROR; } //xSemaphoreTake(CAN0_Transfer_Done_BinarySemHandle, portMAX_DELAY); delay_ms(50); } } return RS_OK; } return RS_OK;}/** * @details: This function is Boot Devices Mem Erase *///int8_t Boot_Mem_Erase(void)int8_t Boot_Mem_Erase(uint16_t deviceIndex){#if 0 //给每个片选设备发送擦除指令 if(double_list_isempty(&Device_list_Head.list) ==0){ double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.isSelect){ //发送CAN数据帧 CANFD_FD_MSG_T TxMsgFrame; memset(&TxMsgFrame, 0, sizeof(TxMsgFrame)); /*Set the ID Number*/ TxMsgFrame.u32Id = 0x0F0400FF + ((BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type)<< 8); /*Set the frame type*/ TxMsgFrame.eIdType = eCANFD_XID; /*CAN FD frame type */ TxMsgFrame.eFrmType = eCANFD_DATA_FRM; /*Set FD frame format attribute */ TxMsgFrame.bFDFormat = 1; /*Set the bitrate switch attribute*/ TxMsgFrame.bBitRateSwitch = 1; /*Set data length*/ TxMsgFrame.u32DLC = 0; if(CANFD_TransmitDMsg(BMS_CAN, 0, &TxMsgFrame) != 1){ return RS_ERROR; } //xSemaphoreTake(CAN0_Transfer_Done_BinarySemHandle, portMAX_DELAY); delay_ms(50); } } }#endif #if 1 //广播发送CAN数据帧 CANFD_FD_MSG_T TxMsgFrame; memset(&TxMsgFrame, 0, sizeof(TxMsgFrame)); /*Set the ID Number*/ TxMsgFrame.u32Id = 0x0F0400FF + (deviceIndex<< 8); /*Set the frame type*/ TxMsgFrame.eIdType = eCANFD_XID; /*CAN FD frame type */ TxMsgFrame.eFrmType = eCANFD_DATA_FRM; /*Set FD frame format attribute */ TxMsgFrame.bFDFormat = 1; /*Set the bitrate switch attribute*/ TxMsgFrame.bBitRateSwitch = 1; /*Set data length*/ TxMsgFrame.u32DLC = 0; if(CANFD_TransmitDMsg(BMS_CAN, 0, &TxMsgFrame) != 1){ return RS_ERROR; } //xSemaphoreTake(CAN0_Transfer_Done_BinarySemHandle, portMAX_DELAY); delay_ms(50);#endif return RS_OK;}/** * @details: This function is Boot Devices Write End */int8_t Boot_Mem_Write_End(uint16_t deviceIndex){ //广播发送CAN数据帧 CANFD_FD_MSG_T TxMsgFrame; memset(&TxMsgFrame, 0, sizeof(TxMsgFrame)); /* Set the ID Number */ TxMsgFrame.u32Id = 0x0F0600FF + (deviceIndex<< 8); /* Set the frame type */ TxMsgFrame.eIdType = eCANFD_XID; /* CAN FD frame type */ TxMsgFrame.eFrmType = eCANFD_DATA_FRM; /* Set FD frame format attribute */ TxMsgFrame.bFDFormat = 1; /* Set the bitrate switch attribute */ TxMsgFrame.bBitRateSwitch = 1; /* Set data length */ TxMsgFrame.u32DLC = 0; if(CANFD_TransmitDMsg(BMS_CAN, 0, &TxMsgFrame) != 1){ return RS_ERROR; } //xSemaphoreTake(CAN0_Transfer_Done_BinarySemHandle, portMAX_DELAY); delay_ms(50); return RS_OK;}/** * @details: This function is Boot Devices Mem Write S19 */int8_t Boot_Mem_Write_S19_Bin(uint16_t deviceIndex, uint8_t *au8Data, uint32_t data_len){ if((au8Data == NULL) || data_len >8) RS_LOGE("Boot_Mem_Write_S19 para error\n"); CANFD_FD_MSG_T TxMsgFrame; memset(&TxMsgFrame, 0, sizeof(TxMsgFrame)); /* Set the ID Number */ TxMsgFrame.u32Id = 0x0F0500FF + (deviceIndex<< 8); /* Set the frame type */ TxMsgFrame.eIdType = eCANFD_XID; /* CAN FD frame type */ TxMsgFrame.eFrmType = eCANFD_DATA_FRM; /* Set FD frame format attribute */ TxMsgFrame.bFDFormat = 1; /* Set the bitrate switch attribute */ TxMsgFrame.bBitRateSwitch = 1; /* Set data length */ TxMsgFrame.u32DLC = data_len; /* Set data */ memcpy(TxMsgFrame.au8Data, au8Data, data_len); if(CANFD_TransmitDMsg(BMS_CAN, 0, &TxMsgFrame) != 1){ return RS_ERROR; } //xSemaphoreTake(CAN0_Transfer_Done_BinarySemHandle, portMAX_DELAY); //delay_ms(50); return RS_OK;}/** * @details: This function is Parse_S19 Record */int8_t Parse_S19_Record(const char *line, S19_Record *record){ int i, checksum; char type[3]={0}; int length; int8_t Address_length; uint8_t byte; //获取类型和长度 if(sscanf(line, "%2c%2x", type, &length) != 2){ RS_LOGE("Error parsing type length"); return RS_ERROR; } //类型检查 if(type[0] != 'S'){ RS_LOGE("Error Invalid record type"); return RS_ERROR; } //类型 s0 s5 s7 s8 s9 不进行数据解析 if(type[1]=='0' || type[1]=='5' || type[1]=='7' || type[1]=='8' || type[1]=='9'){ return -3; } //通过类型解析地址长度 Address_length =Parse_S19_AddressLen(type); if(Address_length == RS_ERROR){ RS_LOGE("Parse_S19_AddressLen"); return RS_ERROR; } //获取行地址 switch(Address_length){ case 4: { if(sscanf(line+4, "%4x", &record->address) != 1){ RS_LOGE("Error parsing address"); return RS_ERROR; } break; } case 6: { if(sscanf(line+4, "%6x", &record->address) != 1){ RS_LOGE("Error parsing address"); return RS_ERROR; } break; } case 8: { if(sscanf(line+4, "%8x", &record->address) != 1){ RS_LOGE("Error parsing address"); return RS_ERROR; } break; } default:break; } //length = address + data + checksum 字节数总和 if(length > 256){ RS_LOGE("Error Invalid data length"); return RS_ERROR; } //记录数据字节大小 record->data_length = (length*2 - Address_length - 2) / 2; //解析数据 for(i = 0; i < (length*2 - Address_length - 2)/2; ++i){ if(sscanf((line+2+2+Address_length)+i*2, "%2hhx", &byte) != 1){ RS_LOGE("Error parsing data bytes"); return RS_ERROR; } record->data[i] = byte; } //获取行数据校验和 int checksum_line =0; if(sscanf((line+length*2+2), "%2x", &checksum_line) != 1){ RS_LOGE("Error parsing checksum_line bytes"); return RS_ERROR; } //计算对比行校验和 checksum = 0; int checksum_data =0; for(i=0; i<length; i++){ if(sscanf((line+2+i*2), "%2x", &checksum_data) != 1){ RS_LOGE("Error parsing checksum bytes"); return RS_ERROR; } checksum +=checksum_data; } checksum = 0xFF -(checksum & 0xFF); //比较计算值与原始值的一致性 if(checksum != checksum_line){ RS_LOGE("Error Invalid checksum"); return RS_ERROR; } return RS_OK;}/** * @details: This function is Parse_S19 AddressLen */int8_t Parse_S19_AddressLen(char *line){ int8_t AddressLen = 0; if(line[0] != 'S' || line == NULL || strlen(line) != 2){ return RS_ERROR; } switch(line[1]){ case '0': AddressLen = 2 * 2; break; case '1': AddressLen = 2 * 2; break; case '2': AddressLen = 3 * 2; break; case '3': AddressLen = 4 * 2; break; case '7': AddressLen = 4 * 2; break; case '8': AddressLen = 3 * 2; break; case '9': AddressLen = 2 * 2; break; default:break; } return AddressLen;}/** * @details: This function is CANBootStep_Set */void CANBootStep_Set(uint8_t BootStep){ CANBootStep =BootStep; //只要跳转，清除BMS的CAN当前发送超时计数 BOOT_Send_Timeout_Num =0; /* 跳转 : 1.对接口进行统一管理操作 2.清除链表所有节点isReady标志 3.重置链表所有节点超时时间 */ if(double_list_isempty(&Device_list_Head.list) ==0){ double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); //遍历清除所有准备状态标志 BMSDeviceInfo_Member->BMSDeviceInfo_Member.isReady =0; switch(BootStep){ case BOOT_IDLE: break; case BOOT_DEVICE_LOCATION: BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_LOCATIONH_TIMEOUT; break; case BOOT_DEVICE_SEARCH: BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_SEARCH_TIMEOUT; break; case BOOT_BURNING_REQUEST: BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_REQUEST_TIMEOUT; break; case BOOT_MEM_ERASE: BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_ERASE_TIMEOUT; break; case BOOT_MEM_WRITE: BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_WRITE_TIMEOUT; break; case BOOT_MEM_WRITE_END: BMSDeviceInfo_Member->BMSDeviceInfo_Member.timeout =DEVICE_WRITE_END_TIMEOUT; break; default:break; } } } /* CAN Boot Step Deal */ switch(BootStep){ case BOOT_IDLE: { //关闭 Search上报开关 Search_Pack.onoff =0; //OTA最后一帧数据标志置位 xSemaphoreTake(OTA_Crc_Data_BinarySemHandle, 0); #if 1 //关闭 Bms_Upgrade_Send_Recv_Pro 线程 if(CAN_BMS_BOOT_Flag){ CAN_BMS_BOOT_Flag =0; vTaskDelete(CAN_BMS_Upgrade_handle); } #endif break; } case BOOT_DEVICE_LOCATION: { //设置Location升级设备定位时间 Device_Upgrade_Location_Timeout_Num =DEVICE_UPGRADE_LOCATION_TIMEOUT; //针对设备类型进行过滤 CANFD_SetXIDFltr_BMS_DeviceIndex(0x1F010000,0x1F010000,DeviceIndex); //清空定位设备链表节点 Clean_Location_Device_List(); //关闭 Bms_Upgrade_Send_Recv_Pro 线程 if(CAN_BMS_BOOT_Flag){ CAN_BMS_BOOT_Flag =0; vTaskDelete(CAN_BMS_Upgrade_handle); } //创建 Bms_Upgrade_Send_Recv_Pro 线程 if(CAN_BMS_BOOT_Flag == 0){ if(xTaskCreate((TaskFunction_t )Bms_Upgrade_Send_Recv_Pro, (const char* )"Bms_Upgrade_Send_Recv_Pro", (uint16_t )512*3,//15 *1024,//512*6, //512*2, (void* )NULL, (UBaseType_t )7, //8, //7,//6, //3, (TaskHandle_t* )&CAN_BMS_Upgrade_handle) != pdPASS) { RS_LOGE("xTaskCreate Bms_Upgrade_Send_Recv_Pro Task Failed!\n"); }else{ CAN_BMS_BOOT_Flag =1; } } break; } case BOOT_DEVICE_SEARCH: { //设置Search升级设备搜索时间 Device_Upgrade_Search_Timeout_Num =DEVICE_UPGRADE_SEARCH_TIMEOUT; //针对设备类型进行过滤 CANFD_SetXIDFltr_BMS_DeviceIndex(0x1F020000,0x1F020000,DeviceIndex); //清空搜索设备链表节点 Clean_Search_Device_List(); //剔除不同的设备类型节点，保留相同设备 if(double_list_isempty(&Device_list_Head.list) ==0){ double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); if(BMSDeviceInfo_Member->BMSDeviceInfo_Member.device_type != DeviceIndex){ double_list_remove(ptr); vPortFree(BMSDeviceInfo_Member); } } } //创建 Bms_Upgrade_Send_Recv_Pro 线程 if(CAN_BMS_BOOT_Flag == 0){ if(xTaskCreate((TaskFunction_t )Bms_Upgrade_Send_Recv_Pro, (const char* )"Bms_Upgrade_Send_Recv_Pro", (uint16_t )512*3,//15 *1024,//512*6, //512*2, (void* )NULL, (UBaseType_t )7, //8, //6, //3, (TaskHandle_t* )&CAN_BMS_Upgrade_handle) != pdPASS) { RS_LOGE("xTaskCreate Bms_Upgrade_Send_Recv_Pro Task Failed!\n"); }else{ CAN_BMS_BOOT_Flag =1; } } break; } case BOOT_BURNING_REQUEST: { //清空重置队列缓冲区 xQueueReset(Can_Recv_Data_QueueHandle); //针对设备类型进行过滤 CANFD_SetXIDFltr_BMS_DeviceIndex(0x1F030000,0x1F030000,DeviceIndex); break; } case BOOT_MEM_ERASE: { //清空重置队列缓冲区 xQueueReset(Can_Recv_Data_QueueHandle); //针对设备类型进行过滤 CANFD_SetXIDFltr_BMS_DeviceIndex(0x1F040000,0x1F040000,DeviceIndex); break; } case BOOT_MEM_WRITE: { //清空重置队列缓冲区 xQueueReset(Can_Recv_Data_QueueHandle); //针对设备类型进行过滤 CANFD_SetXIDFltr_BMS_DeviceIndex(0x1F050000,0x1F050000,DeviceIndex); break; } case BOOT_MEM_WRITE_END: { //清空重置队列缓冲区 xQueueReset(Can_Recv_Data_QueueHandle); //针对设备类型进行过滤 CANFD_SetXIDFltr_BMS_DeviceIndex(0x1F060000,0x1F060000,DeviceIndex); break; } default:break; }}/**清空搜索设备链表节点 * @details: This function is Clean_Search_Device_List */void Clean_Search_Device_List(void){ if(double_list_isempty(&Device_list_Head.list) ==0){ double_list_for_each(ptr,&Device_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); double_list_remove(ptr); vPortFree(BMSDeviceInfo_Member); } }}/**清空定位设备链表节点 * @details: This function is Clean_Location_Device_List */void Clean_Location_Device_List(void){ if(double_list_isempty(&Device_Location_list_Head.list) ==0){ double_list_for_each(ptr,&Device_Location_list_Head.list){ BMSDeviceInfo_Member_List_t *BMSDeviceInfo_Member =double_list_entry(ptr, BMSDeviceInfo_Member_List_t, list); double_list_remove(ptr); vPortFree(BMSDeviceInfo_Member); } }} |
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