HDG/ECU_APP/user/appTask.c

#include "appTask.h"
#include "iodefine.h"
#include "extern.h"
#include "r_cg_adc.h"
#include "r_cg_intc.h"
#include "PINdef.h"
#include "hwCtrl.h"
#include "crc.h"
#include "pfdl.h"

u8 can_data_init_flag = 0;

unsigned long Can_1ms_count_alive;



unsigned char IGN_Voltage_error_flag;
uint16_t IGN_Voltage_error_count;


unsigned char Timer_1ms_flag;
unsigned char Timer_5ms_flag;
unsigned char Timer_10ms_flag;
unsigned char Timer_20ms_flag;
unsigned char Timer_50ms_flag;
unsigned char Timer_1000ms_flag;

unsigned int CAN_LostCount;
unsigned char key_count, key_last;
unsigned char IGN_Lost, IGN_Lost_Count;
unsigned char IGN_On, IGN_On_Count;
/********************* Network Manage ****************************/
unsigned char ucIgnStus;
unsigned int uiBusOffCnt;        // ms
unsigned char ucBusOffModeState; // 0:Normal  1~4:Fast Rec 5:Slow Rec
unsigned char BusoffFlag;
/***************************************************/

uint16_t VehicleSpeedRaw,VehicleSpeed;

uint8_t nouse;//Relocation value is odd number


void Apply_task(void)
{

    // DiagnosticSession_Present=MngDcm_GetDiagnosticSession(); 
    

    // DiagnosticSession_Present=MngDcm_GetDiagnosticSession();
    if(CAN_STB == 0 && ucBusOffModeState == 0)//Tx enable
    {
        TxServe();
    }
    if (Timer_1ms_flag == 1)
    {
        Timer_1ms_flag = 0;
        MngDcm_MainFunction();
        MngCanTp_MainFunction();
        App28sTxRxStatus = GetNormalMsgSts();
        Nw28sTxRxStatus = GetNetworkMsgSts();
        if (BusOff_Detect_delay_count == 0 /*&& (ad_voltage_fact[2]>=85 && ad_voltage_fact[2]<=165)*/)
        {
            BusOff_Detect();
        }
        KeyScan();


        //IGN_Detect();
        //CanNwHandle();
    }
    if (Timer_5ms_flag == 1)
    {
        Timer_5ms_flag = 0;
        CAN_RX_Data_Handle();
        
        // IGN_Detect();
        
    }

    if (Timer_10ms_flag == 1)
    {
        Timer_10ms_flag = 0;
        KeyPro();
        Can_Msg_Change();


    }
    if (Timer_20ms_flag == 1)
    {
        Timer_20ms_flag = 0;

        IGN_Voltage_Detect();

    }
    if (Timer_50ms_flag == 1)
    {
        Timer_50ms_flag = 0;
        BL_Ctrl(1);
        //TxTestMsg();
        //SleepDetect();//TODO
    }
}






void KeyPro(void)
{
    //按下
    if (getKeyPressFlag(SIGID_SW_LOCK_IN) == KEY_PRESSED)
    {
        
    }
    if (getKeyPressFlag(SIGID_SW_L_IN) == KEY_PRESSED)
    {
        
    }
    
}

void Can_Msg_Change(void)
{
    //CAN_45A.Msg_Part.SCM_PsngrSeatBeltWarnSts = sbrWarnState;
    CAN_188.Msg_Part.SL_Fswitch = 0;
    CAN_188.Msg_Part.SL_Hswitch = 0;
    CAN_188.Msg_Part.SL_Lswitch = 0;
    CAN_188.Msg_Part.SL_Nswitch = 0;
    CAN_188.Msg_Part.SL_Rswitch = 0;
    CAN_188.Msg_Part.err1 = 0;
    CAN_188.Msg_Part.err2 = 0;
    CAN_188.Msg_Part.err3 = 0;
    CAN_188.Msg_Part.err4 = 0;
    CAN_188.Msg_Part.err5 = 0;
    CAN_188.Msg_Part.err6 = 0;
    CAN_188.Msg_Part.err7 = 0;
    CAN_188.Msg_Part.err8 = 0;
    CAN_188.Msg_Part.CRC = CRC_Calc_Table(CAN_188.Msg_Byte,7);
}

void EEL_READ(void)
{
    
    
}

#define SC_500MS_PC_1MS 500

void EEL_WRITE(void)
{
    
}

void EEL_Write_Enable_Check(void)
{
    //EEL_SAVE_ENABLE = 1;
}

void DID_data_save_init(void)
{
    unsigned char DID_init_Buf[33], i;
    ReadFlashData(DID_init_Buf, 0x000F1000 + 0x400, 1);

    if (DID_init_Buf[0] == 0xff)
    {
        for (i = 0; i < 33; i++)
        {
            if (i < 8)
            {
                DID_init_Buf[i] = DID_0xF110_VehicleNetworkConfiguration[i];
            }
            else if (i < 25)
            {
                DID_init_Buf[i] = DID_0xF190_vehicleIdentificationNumber[i - 8];
            }
            else if (i < 33)
            {
                DID_init_Buf[i] = DID_0xF197_SystemNameOrEngineType[i - 25];
            }
        }
        WriteDataflash(DID_init_Buf, 0x000F1000 + 0x400, 33);
    }
    ReadFlashData(DID_init_Buf, 0x000F1000 + 0x800, 1);
    if (DID_init_Buf[0] == 0xff)
    {
        for (i = 0; i < 32; i++)
        {
            if (i < 16)
            {
                DID_init_Buf[i] = DID_0xF198_RepairShopCodeOrTesterSerialNumber[i];
            }
            else if (i < 20)
            {
                DID_init_Buf[i] = DID_0xF199_ProgrammingOrConfigurationDate[i - 16];
            }
            else if (i < 24)
            {
                DID_init_Buf[i] = DID_0xF19D_ECUInstallationDateDataIdentifier[i - 20];
            }
            else if (i < 32)
            {
                DID_init_Buf[i] = DID_0xF112_VehicleName[i - 24];
            }
        }
        WriteDataflash(DID_init_Buf, 0x000F1000 + 0x800, 32);
    }
}

unsigned char BusOffTimeCnt = 0;
unsigned short BusOff1msCnt = 0;
unsigned char CanBusOffPro(void)
{
    unsigned char ret = 0;
    if (C0ERFLLL & 0x08) // Bus-Off Stutas
    {
        ret = 1;
    }
    if ((C0CTRLL & 0x02) == 0x02) // Channal Halt Mode
    {

        if (C0ERFLLL & 0x08) // Bus-Off Stutas
        {
            BusOff1msCnt++;
            ret = 1;
        }

        if ((BusOffTimeCnt < 10) && (BusOff1msCnt >= 100))
        {
            BusOffTimeCnt++;
            BusOff1msCnt = 0;
            C0ERFLL = 0;
            C0CTRL &= ~0x03; /* CHMDC[1:0] = 00B   change to communication mode. */
        }
        else if ((BusOffTimeCnt >= 10) && (BusOff1msCnt >= 1000))
        {
            BusOffTimeCnt = 10;
            BusOff1msCnt = 0;
            C0ERFLL = 0;
            C0CTRL &= ~0x03; /* CHMDC[1:0] = 00B   change to communication mode. */
        }
    }
    return ret;
}

#define FAST_BUSOFF_THRESHOULD 100  // 100MS
#define SLOW_BUSOFF_THRESHOULD 1000 // 100MS

void BusOff_Recovery(void);

void BusOff_Detect(void)
{

    if ((C0ERFLL & 0x08) && (R_CAN_ReadChStatus_CH0() & 0x02))
    {

        if (uiBusOffCnt == 0)
        {
            if (ucBusOffModeState == 0)
            {
                uiBusOffCnt = FAST_BUSOFF_THRESHOULD;
                // BusOff_Recovery();
            }
            if ((ucBusOffModeState > 0) && (ucBusOffModeState < 5))
            {
                BusOff_Recovery();
                uiBusOffCnt = FAST_BUSOFF_THRESHOULD; //fast recover
            }
            else if (ucBusOffModeState >= 5)
            {
                BusOff_Recovery();
                uiBusOffCnt = SLOW_BUSOFF_THRESHOULD; //soft recover
            }
            else
            {
                ;
            }
            if (ucBusOffModeState < 5)
            {
                ucBusOffModeState++;
            }
        }
    }
    else
    {
        if (ucBusOffModeState > 0)
        {
            if (uiBusOffCnt == 0)
            {
                ucBusOffModeState = 0;

                // 原来程序的标志位
            }
        }
        else
        {
            ;
        }
        BusOff_flag = 0;
    }
}

void BusOff_Recovery(void)
{
    CFCCL0L &= ~0x01;
    NOP();
    CFCCL0L |= 0x01;
    if (C0ERFLL != 0)
    {
        C0ERFLL = 0;
    }
    C0CTRL &= 0xfffc; // bus off
}
uint16_t SupplyVoltage;
uint32_t IGN_Voltage;
void IGN_Voltage_Detect(void)//20ms
{
    uint32_t adval;
    adval = getAdval(ADCH_IGN);
    SupplyVoltage = (adval*57*5)>>10;   //100mV
    //adval / 1024 * 5 * 5.7
    IGN_Voltage = ((adval*57*500)>>10) + 700;//1mv
    if (IGN_Voltage <= 8500 )
    {
        IGN_Voltage_error_count++;
        if (IGN_Voltage_error_count >= 250)
        {
            IGN_Voltage_error_count = 250;
            IGN_Voltage_error_flag = 1;
        }
    }
    else if (IGN_Voltage >= 16500 )//16.5
    {
        IGN_Voltage_error_count++;
        if (IGN_Voltage_error_count >= 250)
        {
            IGN_Voltage_error_count = 250;
            IGN_Voltage_error_flag = 2;
        }
    }
    else if (IGN_Voltage >= 9000 && IGN_Voltage <= 16000)
    {
        if (IGN_Voltage_error_count > 0)
        {
            IGN_Voltage_error_count--;
        }
        else
        {
            IGN_Voltage_error_count = 0;
            IGN_Voltage_error_flag = 0;
        }
    }


    if (IGN_Voltage_error_flag != 0)
    {
        // TAU0_Channel1_ChangeDuty(0);
    }
}


void value_init(void)
{

    CAN_LostCount = 500;
    BusOff_Detect_delay_count = 2000;
    ucIgnStus = IGN_OFF;
}
void CAN_RX_Data_Handle(void)
{


}


void SleepDetect(void)
{

    // if(CAN_LostCount==0 && IGN_Lost == 1)
    {

        R_TAU0_Channel0_Stop();
        // R_TAU0_Channel2_Stop();
        // R_TAU0_Channel6_Stop();
        // R_TAU1_Channel0_Stop();
        TO0 = 0;
        TO1 = 0;
        TOE0 = 0;
        TOE1 = 0;
        TO0 = 0;
        TO1 = 0;

        // R_IICA0_Stop();
        R_ADC_Stop();
        ADCE = 0;
        IICA0EN = 0;
        TAU0EN = 0;
        TAU1EN = 0;

        P6_bit.no2 = 0;
        P6_bit.no3 = 0;
        P12_bit.no0 = 0;
        P3_bit.no3 = 0;
        P1_bit.no3 = 0;
        P1_bit.no4 = 0;
        P3_bit.no0 = 0;

        CAN_STB = 1;

        C0CTRL |= (uint16_t)(CAN_STP_BIT_ON);
        GCTRL |= 0x01;
        NOP();
        GCTRL |= (uint16_t)(CAN_GLB_STP_BIT_ON);
        PLLON = 0;
        //R_INTC3_Start();
        CAN0WUPIF = 0U;
        CAN0WUPMK = 0U;

        if (I_IGN_SIGN != IGN_ON)
            STOP();

        WakeUP();
    }
}

void WakeUP(void)
{
    // stop can and ex interrupt
    CAN0WUPIF = 0U;
    CAN0WUPMK = 1U;
    //R_INTC3_Stop();
    // WDTE = 0xff;  //reset
    CAN_STB = 0;
    hdwinit();
    R_MAIN_UserInit();
    R_TAU0_Channel0_Start(); // timer


}

void Signal_Lost_Detect(unsigned char Pin,
                        unsigned char Lost_state,
                        unsigned char *Signal_Lost,
                        unsigned char *Signal_Lost_count,
                        unsigned char Lost_time)
{
    if (Pin == Lost_state)
    {
        (*Signal_Lost_count)++;
        if ((*Signal_Lost_count) >= Lost_time)
        {
            *Signal_Lost_count = 0;
            *Signal_Lost = 1;
        }
    }
    else
    {
        *Signal_Lost_count = 0;
        *Signal_Lost = 0;
    }
}

void IGN_Detect(void)
{
    static unsigned char IGN_last;
    Signal_Lost_Detect(I_IGN_SIGN, 1, &IGN_Lost, &IGN_Lost_Count, 5);
    Signal_Lost_Detect(I_IGN_SIGN, 0, &IGN_On, &IGN_On_Count, 5);

    if (IGN_On == 1)
    {
        ucIgnStus = IGN_ON;
    }
    else if (IGN_Lost == 1)
    {
        ucIgnStus = IGN_OFF;

        PWN_KEY = 0;
    }
    if (IGN_last != ucIgnStus)
    {
        IGN_last = ucIgnStus;
        if (IGN_ON == ucIgnStus)
            C0CTRH &= ~0x0300; // 设置正常模式
    }
}




/*****************diagnostic******************/

void getIGNVoltage(unsigned char* data)
{
    data[0] = (uint8_t)SupplyVoltage;
}