obd_iso15765/BleCanBoxCode/STM32F103RCT6/USER/main.c

#include "string.h"

#include "sys.h"
#include "delay.h"
#include "usart.h"

#include "hal_key.h"

#include "sys_log.h"
#include "sys_queue.h"
#include "sys_timer.h"
#include "sys_ver.h"

#include "hal_led.h"
#include "hal_spi.h"
#include "hal_can.h"
#include "hal_timer.h"
#include "hal_ble.h"
#include "hal_wdg.h"
#include "hal_adc.h"

#include "mod_candataprocess.h"
#include "mod_spi.h"
#include "mod_atcmd.h"
#include "mod_key.h"
#include "mod_sys.h"

#define RX_HEART_CAN_ID_EN      0
#define OBD_HEART_CAN_ID        0x130

queue_list_t g_s_uart_rx_list;
queue_list_t g_s_spi_rx_list;
queue_list_t g_s_spi_tx_list;
queue_list_t g_s_can_rx_list;
static uint8_t rx_heart_id_cnt = 0;

static void spi_inter_callback(uint8_t type)
{
    uint8_t rx_buf[QUEUE_MAX_DATA_LEN];
    memset(rx_buf, 0, QUEUE_MAX_DATA_LEN);

    HAL_SpiRxData(rx_buf, QUEUE_MAX_DATA_LEN);
    queue_in(&g_s_spi_rx_list, rx_buf, QUEUE_MAX_DATA_LEN);
}

static void led_toggle_timer_callback()
{
    HAL_LedToggle(LED_BLUE);
}

static void print_log_timer_callback()
{
    static uint32_t run_second;
    run_second += 5;
    DLOG_I("mcu run seconds:%ds", run_second);
    if(60*60*24*7 == run_second)
    {
        run_second = 0;
    }
}

void spi_send_callback(uint8_t* data, uint8_t len)
{
    queue_in(&g_s_spi_tx_list, data, len);
}

void uart_isr_callback(uint8_t* data, uint8_t len)
{
    queue_in(&g_s_uart_rx_list, data, len);
}


//static void key_long_press_callback(void)
//{
//    DLOG_I("key_long_pressed");
//}


static void can_rx_callback(uint8_t can_id_type, uint32_t can_id, uint8_t* can_data, uint8_t data_len)
{
    //buf格式:can帧id类型,can帧id,can帧长度,can帧数据
    //接收到数据以后,将数据放入队列.
    uint8_t buf_len = 0;
    uint8_t can_buf[32];

    // if(CAN_ID_EXT == can_id_type)
    // {
    //     DLOG_E("can_id_type:0x%x", can_id_type);
    //     return;
    // }

#if RX_HEART_CAN_ID_EN
    //宝马摩托车的心跳帧为100ms一次,在这做下统计,每3s上报一次.
    if(can_id == OBD_HEART_CAN_ID)
    {
        rx_heart_id_cnt += 1;
        if(rx_heart_id_cnt < 30)
        {
				return;
        }
        else
        {
            rx_heart_id_cnt = 0;
        }
    }
#else
    if(can_id == OBD_HEART_CAN_ID)
    {
        return;
    }
#endif

    //帧类型
    can_buf[0] = can_id_type;
    buf_len += 1;
    //帧id
    memcpy(&can_buf[1], &can_id, 4);
    buf_len += 4;
    //帧数据包长度
    can_buf[5] = data_len;
    buf_len += 1;
    //帧数据包内容
    memcpy(&can_buf[6], can_data, data_len);
    buf_len += data_len;

    queue_in(&g_s_can_rx_list, can_buf, buf_len);
}

static void can_tx_callback(void)
{
    // DLOG_I("can_tx_cb");
}

static void can_error_callback(uint32_t err_code)
{
    DLOG_E("can_error:0x%x",err_code);
}

int main(void)
{
    int err_code;

    CAN_RxHeaderTypeDef can_rx_header;

    memset(&can_rx_header, 0, sizeof(CAN_RxHeaderTypeDef));

    HAL_Init();
    Stm32_Clock_Init(RCC_PLL_MUL9);
    delay_init(72);

    uart_init(115200);
    HAL_WdgInit(IWDG_PRESCALER_64, 2000);
    HAL_WdgFeed();


    queue_init(&g_s_uart_rx_list);
    queue_init(&g_s_spi_rx_list);
    queue_init(&g_s_spi_tx_list);
    queue_init(&g_s_can_rx_list);

    HAL_AdcInit();

    HAL_UartIsrCallbackRegister(uart_isr_callback);
    Sys_LogPrintCallbackRegister(HAL_Usart1SendData); 

    HAL_BleEnGpioInit();
    HAL_BleGpioEn(true);
    HAL_LedInit();
    HAL_LedOff(LED_BLUE);

    HAL_Timer3Init(10-1, 7200-1);         

    MOD_SpiDataSendCallbackRegister(spi_send_callback);
    HAL_SpiInit(spi_inter_callback);

    HAL_CanCallbackRegister(can_rx_callback, can_tx_callback, can_error_callback);

    err_code = HAL_CanInit();             
    if (0 != err_code)
    {
        DLOG_E("can_init_error");
        while (1) {}
    }
    err_code = HAL_CanStart();            
    if (0 != err_code)
    {
        DLOG_E("can_start_error");
        while (1) {}
    }
    MOD_SysInit();
    // MOD_KeyInit(key_long_press_callback); 

    HAL_TimerRegister(led_toggle_timer_callback, 200);
    HAL_TimerRegister(print_log_timer_callback, 5000);

    DLOG_I("init finished, ver:0x%x", get_ver());
    while (1)
    {
        QUEUE_MSG_PROCESS(&g_s_can_rx_list, MOD_CanRxDataProcess);
        QUEUE_MSG_PROCESS(&g_s_spi_tx_list, HAL_SpiTxData);
        QUEUE_MSG_PROCESS(&g_s_spi_rx_list, MOD_SpiDataProcess);
        QUEUE_MSG_PROCESS(&g_s_uart_rx_list, MOD_AtCmdDataProcess);
    }
}