#ifndef J1939_H_ #define J1939_H_ #include #include #include #include #include "platmacro.h" typedef uint8_t J1939Result; typedef uint32_t uint32_T; typedef uint16_t uint16_T; typedef uint8_t uint8_T; typedef int32_t int32_T; typedef int16_t int16_T; typedef int8_t int8_T; #ifndef J1939_PAGED #define J1939_PAGED #endif #ifndef FALSE #define FALSE 0U #endif #ifndef TRUE #define TRUE 1U #endif #define J1939_CAN_FRAME_DATA_LEN 8 /******************************返回码定义***********************************/ #define J1939_OK 0 //成功 #define J1939_ERR 1 //错误 #define J1939_PTR_NULL 2 //指针为空 #define J1939_QUEUE_FULL 3 //队列满 #define J1939_QUEUE_EMPTY 4 //队列空 #define J1939_TP_FRAME_NUM_ERROR 5 //TP帧序号错误 #define J1939_TP_RX_SESSION_FULL 6 //接收TP满 #define J1939_TP_RX_SESSION_NOT_OPEN 7 //接收TP没有打开 #define J1939_TP_RX_SESSION_NOT_EXIST 8 //不存在对应TP #define J1939_TP_TX_SESSION_BUSY 9 //发送TP忙 #define J1939_TP_TX_SESSION_NOT_OPEN 10 //发送TP没有打开 #define J1939_MSG_FULL 11 //消息满 #define J1939_MSG_EMPTY 12 //消息空 #define J1939_MSG_LEN_TO_LONG 13 //消息长度过长 #define J1939_WAIT_CTS_TIMEOUT 14 //等待CTS超时 #define J1939_WAIT_ENDACK_TIMEOUT 15 //等待ENDACK超时 /******************************TP的PGN定义***********************************/ #define J1939_PGN_TP_CM 0x00EC00 #define J1939_PGN_TP_DATA 0x00EB00 /******************************TP优先级定义***********************************/ #define J1939_TP_CM_DEFAULT_PRI 0x07 #define J1939_TP_DATA_DEFAULT_PRI 0x07 #define J1939_MSG_DEFAULT_PRI 0x06 /******************************J1939CM定义***********************************/ #define J1939_TP_CM_RTS 16 #define J1939_TP_CM_CTS 17 #define J1939_TP_CM_END 19 #define J1939_TP_CM_BAM 32 #define J1939_TP_CM_ABORT 255 /******************************超时时间定义***********************************/ #define J1939_TP_DATA_TX_TIME_INTERVAL 1 //TP发送数据时间间隔 2ms #define J1939_BAM_TX_TIME_INTERVAL 50 //广播发送数据时间间隔 50ms #define J1939_CTS_RESEND_TIMEOUT 20 //20ms #define J1939_Tr_TIMEOUT 200 //200ms #define J1939_Th_TIMEOUT 500 //500ms #define J1939_T1_TIMEOUT 750 //750ms #define J1939_T2_TIMEOUT 1250 //1250ms #define J1939_T3_TIMEOUT 1250 //1250ms #define J1939_T4_TIMEOUT 1050 //1050ms /****************************************************************************/ #define GET_PGN_PS(PGN) ((uint8_T)(PGN)) //获取PGN的PS #define GET_PGN_PF(PGN) ((uint8_T)((PGN) >> 8)) //获取PGN的PF #define GET_PGN_DP(PGN) ((uint8_T)((PGN) >> 16))//获取PGN的DP(目标地址) /****************************数据内存定义*************************************/ #define J1939_RX_MSG_QUEUE_MAX_NUM 1 //J1939接收到消息队列数目 #define J1939_TP_RX_SESSION_NUM 1 //支持TP数目(支持和其他通信CAN节点数) #define J1939_CAN_FRAME_QUEUE_NUM 128 //CAN数据帧队列数目 /****************************************************************************/ #define J1939_TP_DT_MAX_CNT 16//在正常的车辆运行期间，建议把每个CTS 中可发送的数据包最大数目设置为16 #define J1939_DTC_SEND_BUFF_MAX 32 #define J1939_DTC_MAX 20 #define J1939_OC_MAX 126 #define J1939_DTC_DM_BROADCAST_INTERVAL 1000 #define J1939_DM1_PRI 6 #define J1939_DM1_PGN 0xFECA #define CAN_FRAME_DATA_MAX_LEN 8 /************************************************ * @enum CanMode * @brief CAN标识符 ***********************************************/ typedef enum { kCanStandardMode = 0, kCanExtendMode = 1, } CanMode; typedef union { uint32_T value; // 32-bit Data Type uint16_T words[2]; // 16-bit Data Type uint8_T bytes[4]; // Four 8-bit Data Type } Can32Bit; typedef struct { Can32Bit id; // CAN报文id uint8_T len; // CAN 报文长度 uint8_T data[CAN_FRAME_DATA_MAX_LEN]; //CAN报文数据域数组8 uint8_T piro; //报文优先级 CanMode can_id_mode; } J1939CanMessage; //TP状态定义 typedef enum { kTp_IDLE,//空闲 kTp_RTS,//发送请求 kTp_CTS,//等待CTS kTp_DT, //发送或接收数据 kTp_END,//数据发送或接收完成 kTp_ABORT, //错误 } TpStatus; //j1939CAN ID定义 typedef union { uint32_T value; struct { uint32_T SA :8; //源地址 uint32_T PS :8; //目标地址 uint32_T PF :8; //PF uint32_T DP :1; //页 uint32_T R :1; //远程帧还是... uint32_T P :3; //优先级 uint32_T NA :3; //空 } Bits; } J1939CanId; typedef struct { J1939CanId id; //id号 uint8_T data_len; //数据长度 uint8_T data[J1939_CAN_FRAME_DATA_LEN]; uint8_T piro; //报文优先级 uint8_T mode; //模式 } J1939CanFrame; //CAN设备参数定义 typedef struct { uint8_T handleid; //设备号HANDLE uint32_T bps; //波特率 uint8_T addr; //设备地址 } J1939CanDeviceParam; //存放单帧CAN数据帧的环形数组栈 typedef struct { J1939CanMessage frame[J1939_CAN_FRAME_QUEUE_NUM]; uint8_T pop_index; uint8_T push_index; uint8_T cnt; pthread_mutex_t mutex; //互斥锁 } J1939CanFrameQueue; //j1939消息结构体定义 typedef struct { J1939CanId id;//ID号 uint32_T pgn; //PGN uint8_T dest_addr; //目标地址 uint8_T source_addr;//原地址 uint16_T msg_len; //消息长度 uint16_T msg_max_len; uint8_T * J1939_PAGED data;//消息 } J1939Msg; //j1939TP通讯过程结构体定义 typedef struct { J1939Msg msg; //J1939消息 uint8_T is_open; //是否开启 uint8_T is_bam;//是否是广播信息 uint8_T frame_cnt; //帧总数 uint8_T max_tx_frame_num;//最大发送帧数 uint8_T frame_index; //帧编号 uint8_T frame_err_flag;//接收帧编号错误标志(漏帧) uint8_T start_frame;//起始帧号 uint8_T end_frame; //结束帧号 TpStatus status; //TP状态 uint32_T last_tick;//上次时间 uint16_T time_out;//超时时间 uint8_T frame_recved_flag[J1939_CAN_FRAME_QUEUE_NUM];//多帧已接收标志 uint32_T resendTick;//重发请求时间 } J1939TpSession; //j1939最终接收到消息存放的环形数组队列中 typedef struct { J1939Msg msg[J1939_RX_MSG_QUEUE_MAX_NUM]; uint8_T pop_index; uint8_T push_index; uint8_T cnt; pthread_mutex_t mutex; //互斥锁 } J1939RxMsgQueue; typedef enum { kDTCNone = 0, kDTCOn, kDTCOff }DtcStatus; typedef struct { uint32_T spn; uint8_T fmi; uint8_T cm; uint8_T oc; }J1939DtcInfo; typedef struct _LIST_ITEM { struct _LIST_ITEM* next; }LIST_ITEM; typedef struct { LIST_ITEM* J1939_PAGED next; DtcStatus status; uint8_T send_flag; uint8_T oc_last_second; uint32_T last_tick; J1939DtcInfo info; }J1939DtcItem; typedef struct { J1939DtcItem* J1939_PAGED dtc_item_start; uint8_T is_start; uint32_T last_tick; //用于1秒周期计时 uint8_T occure_cnt_one_second; uint8_T release_cnt_one_second; uint8_T send_failure_flag; uint8_T dtc_item_cnt; uint8_T dtc_item_max; J1939DtcItem dtc_item_buff[J1939_DTC_MAX]; }J1939DtcContext; //j1939结构体定义 typedef struct { J1939CanDeviceParam device_param; //CAN设备参数 J1939TpSession tp_rx_session[J1939_TP_RX_SESSION_NUM]; //J1939接收信息过程 J1939TpSession tp_tx_session; //J1939发送信息过程 J1939CanFrameQueue tx_frame_tmp_queue; //发送CAN数据帧中间缓存队列 J1939CanFrameQueue rx_frame_tmp_queue; //接收CAN数据帧中间缓存队列 J1939CanFrameQueue rx_frame_queue; //最终接收到的信息队列(单帧,根据pgn具体分析) J1939RxMsgQueue rx_msg_queue; //最终接收到的信息队列 uint16_T rx_msg_max_len; J1939DtcContext dtc_context; } J1939Context; J1939Result J1939_Init(J1939Context* J1939_PAGED context, J1939CanDeviceParam* J1939_PAGED can_dev); J1939Result J1939_TxMsg(J1939Context* J1939_PAGED context, J1939Msg* J1939_PAGED msg); J1939Result J1939_RxMsg(J1939Context* J1939_PAGED context, J1939Msg* J1939_PAGED msg); J1939Result J1939_TxCanFrame(J1939Context* J1939_PAGED context); void J1939_TpSession(J1939Context* J1939_PAGED context); #endif