657 lines
14 KiB
C
657 lines
14 KiB
C
#include "appTask.h"
|
|
#include "iodefine.h"
|
|
#include "extern.h"
|
|
#include "r_cg_adc.h"
|
|
#include "r_cg_intc.h"
|
|
#include "r_cg_timer.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
|
|
uint8_t lock_state,lkey_state;
|
|
static uint8_t lh_state,fnr_state;
|
|
|
|
|
|
|
|
void IND_task(void);
|
|
void HD_task(void);
|
|
|
|
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();
|
|
HD_task();
|
|
// 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();
|
|
IND_task();
|
|
//SleepDetect();//TODO
|
|
}
|
|
}
|
|
extern uint8 txbuf1[8];
|
|
void HD_task(void)//5ms
|
|
{
|
|
uint16_t adval = getAdval(ADCH_HALL);
|
|
static uint8_t fnr_step = 0, lh_step = 0;
|
|
static uint16_t fnr_counter[3] = {0};
|
|
uint8_t db_pos = 0;
|
|
txbuf1[0] = lock_state;
|
|
txbuf1[1] = lkey_state;
|
|
txbuf1[3] = adval & 0xff;
|
|
txbuf1[2] = adval >> 8;
|
|
txbuf1[4] = lh_state;
|
|
txbuf1[5] = fnr_state;
|
|
if (adval>50 && adval<=165)
|
|
{
|
|
db_pos = 1;
|
|
}
|
|
else if (adval>165 && adval<=250)
|
|
{
|
|
db_pos = 2;
|
|
}
|
|
else if (adval>250 && adval<=350)
|
|
{
|
|
db_pos = 3;
|
|
}
|
|
else if (adval>350 && adval<=460)
|
|
{
|
|
db_pos = 4;
|
|
}
|
|
else if (adval>460 && adval<=560)
|
|
{
|
|
db_pos = 5;
|
|
}
|
|
txbuf1[6] = db_pos;
|
|
txbuf1[7] = (lh_step<<4) | (fnr_step);
|
|
|
|
if (lock_state == 1)
|
|
{
|
|
lh_step = 0;
|
|
fnr_step = 0;
|
|
}
|
|
switch (lh_step)
|
|
{
|
|
case 0:
|
|
if (lock_state == 0)
|
|
{
|
|
lh_step = 1;
|
|
lkey_state = 0;
|
|
}
|
|
break;
|
|
case 1:
|
|
if (lkey_state == 1)
|
|
{
|
|
if (lh_state == LH_STATE_L)
|
|
{
|
|
lh_state = LH_STATE_H;
|
|
}
|
|
else
|
|
{
|
|
lh_state = LH_STATE_L;
|
|
}
|
|
lh_step = 2;
|
|
}
|
|
case 2:
|
|
default:
|
|
break;
|
|
}
|
|
switch (fnr_step)
|
|
{
|
|
case 0:
|
|
if (lock_state == 0 && adval<350 && adval>250)
|
|
{
|
|
fnr_step = 1;
|
|
fnr_counter[0] = 0;
|
|
fnr_counter[1] = 0;
|
|
fnr_counter[2] = 0;
|
|
}
|
|
break;
|
|
case 1:
|
|
if(lock_state == 1)
|
|
{
|
|
fnr_step = 0;
|
|
break;
|
|
}
|
|
if (adval>=350 && adval<=460)
|
|
{
|
|
fnr_counter[FNR_STATE_N]++;
|
|
if (fnr_counter[FNR_STATE_N]>=100)
|
|
{
|
|
fnr_state = FNR_STATE_N;
|
|
fnr_step = 2;
|
|
}
|
|
fnr_counter[FNR_STATE_F] = 0;
|
|
fnr_counter[FNR_STATE_R] = 0;
|
|
}
|
|
else if (adval>460 && adval<=560)
|
|
{
|
|
fnr_counter[FNR_STATE_R]++;
|
|
if (fnr_counter[FNR_STATE_R]>=20)
|
|
{
|
|
fnr_state = FNR_STATE_R;
|
|
fnr_step = 2;
|
|
}
|
|
fnr_counter[FNR_STATE_N] = 0;
|
|
fnr_counter[FNR_STATE_F] = 0;
|
|
}
|
|
else if (adval>50 && adval<=165)
|
|
{
|
|
fnr_counter[FNR_STATE_F]++;
|
|
if (fnr_counter[FNR_STATE_F]>=20)
|
|
{
|
|
fnr_state = FNR_STATE_F;
|
|
fnr_step = 2;
|
|
}
|
|
fnr_counter[FNR_STATE_N] = 0;
|
|
fnr_counter[FNR_STATE_R] = 0;
|
|
}
|
|
else if (adval>165 && adval<=250)
|
|
{
|
|
fnr_counter[FNR_STATE_N]++;
|
|
if (fnr_counter[FNR_STATE_N]>=100)
|
|
{
|
|
fnr_state = FNR_STATE_N;
|
|
fnr_step = 2;
|
|
}
|
|
fnr_counter[FNR_STATE_F] = 0;
|
|
fnr_counter[FNR_STATE_R] = 0;
|
|
}
|
|
break;
|
|
case 2:
|
|
break;
|
|
default:
|
|
fnr_step = 0;
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
void IND_task(void)
|
|
{
|
|
IND_Ctrl(fnr_state,lh_state);
|
|
}
|
|
|
|
|
|
|
|
void KeyPro(void)
|
|
{
|
|
//按下
|
|
if (getKeyPressFlag(SIGID_SW_LOCK_IN) == KEY_PRESSED)
|
|
{
|
|
lock_state = 0;
|
|
}
|
|
if (getKeyPressFlag(SIGID_SW_L_IN) == KEY_PRESSED)
|
|
{
|
|
lkey_state = 1;
|
|
}
|
|
|
|
if (getKeyReleaseFlag(SIGID_SW_LOCK_IN) == KEY_PRESSED)
|
|
{
|
|
lock_state = 1;
|
|
}
|
|
if (getKeyReleaseFlag(SIGID_SW_L_IN) == KEY_PRESSED)
|
|
{
|
|
lkey_state = 0;
|
|
}
|
|
|
|
}
|
|
|
|
void Can_Msg_Change(void)
|
|
{
|
|
//CAN_45A.Msg_Part.SCM_PsngrSeatBeltWarnSts = sbrWarnState;
|
|
CAN_188.Msg_Part.SL_Fswitch = (fnr_state == FNR_STATE_F)?1:0;
|
|
CAN_188.Msg_Part.SL_Hswitch = (lh_state == LH_STATE_H)?1:0;
|
|
CAN_188.Msg_Part.SL_Lswitch = (lh_state == LH_STATE_L)?1:0;
|
|
CAN_188.Msg_Part.SL_Nswitch = (fnr_state == FNR_STATE_N)?1:0;
|
|
CAN_188.Msg_Part.SL_Rswitch = (fnr_state == FNR_STATE_R)?1:0;
|
|
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;
|
|
lock_state = 1;
|
|
lkey_state = 0;
|
|
fnr_state = FNR_STATE_N;
|
|
lh_state = LH_STATE_H;
|
|
}
|
|
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;
|
|
}
|