588 lines
13 KiB
C
588 lines
13 KiB
C
#include "appTask.h"
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#include "iodefine.h"
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#include "extern.h"
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#include "r_cg_adc.h"
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#include "r_cg_intc.h"
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#include "PINdef.h"
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#include "hwCtrl.h"
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#include "pfdl.h"
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u8 can_data_init_flag = 0;
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unsigned long Can_1ms_count_alive;
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unsigned char rollingcounter = 0;
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unsigned char IGN_Voltage_error_flag, IGN_Voltage_error_count;
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volatile uint8_t flag_IIC_SendEnd;
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volatile uint8_t flag_IIC_ReceiveEnd;
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unsigned char Timer_1ms_flag;
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unsigned char Timer_5ms_flag;
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unsigned char Timer_10ms_flag;
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unsigned char Timer_20ms_flag;
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unsigned char Timer_50ms_flag;
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unsigned char Timer_1000ms_flag;
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unsigned int CAN_LostCount;
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unsigned char key_count, key_last;
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unsigned char IGN_Lost, IGN_Lost_Count;
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unsigned char IGN_On, IGN_On_Count;
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/********************* Network Manage ****************************/
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unsigned char ucIgnStus;
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unsigned int uiBusOffCnt; // ms
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unsigned char ucBusOffModeState; // 0:Normal 1~4:Fast Rec 5:Slow Rec
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unsigned char BusoffFlag;
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/***************************************************/
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static unsigned int EEL_SAVE_CNT_DOWN_TIMER;
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static uint8_t EEL_SAVE_ENABLE;
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MotorStateEE_Type MotorStateEE;
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MotorStateEE_Type *pEE;
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uint16_t VehicleSpeedRaw,VehicleSpeed;
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uint8_t lockstate,sbrstate,sbrWarnState;
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uint8_t nouse;//Relocation value is odd number
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void Apply_task(void)
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{
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// DiagnosticSession_Present=MngDcm_GetDiagnosticSession();
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App28sTxRxStatus = GetNormalMsgSts();
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Nw28sTxRxStatus = GetNetworkMsgSts();
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// DiagnosticSession_Present=MngDcm_GetDiagnosticSession();
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if(CAN_STB == 0 && ucBusOffModeState == 0)//Tx enable
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{
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TxServe();
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}
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if (Timer_1ms_flag == 1)
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{
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Timer_1ms_flag = 0;
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MngDcm_MainFunction();
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MngCanTp_MainFunction();
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if (BusOff_Detect_delay_count == 0 /*&& (ad_voltage_fact[2]>=85 && ad_voltage_fact[2]<=165)*/)
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{
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BusOff_Detect();
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}
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KeyScan();
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if (EEL_SAVE_CNT_DOWN_TIMER > 0)
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{
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EEL_SAVE_CNT_DOWN_TIMER--;
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}
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Can_Msg_Change();
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//IGN_Detect();
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//CanNwHandle();
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}
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if (Timer_5ms_flag == 1)
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{
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Timer_5ms_flag = 0;
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CAN_RX_Data_Handle();
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/*
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if (IGN_On == 1 && ucActiveWakeupBit != PASSIVE_WAKEUP)
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KeyScan();
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*/
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KeyPro();
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// IGN_Detect();
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}
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if (Timer_10ms_flag == 1)
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{
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Timer_10ms_flag = 0;
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// BAT_Voltage_Detect();
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// CanNwHandle();
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}
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if (Timer_20ms_flag == 1)
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{
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Timer_20ms_flag = 0;
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IGN_Voltage_Detect();
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}
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if (Timer_50ms_flag == 1)
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{
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Timer_50ms_flag = 0;
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//EEL_WRITE();
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TxTestMsg();
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//SleepDetect();//TODO
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}
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}
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#define KEY_LONGPRESS_500MS 100
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void KeyPro(void)//5ms
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{
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}
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void Can_Msg_Change(void)//
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{
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uint8_t i,checksum;
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if (IGN_Voltage_error_flag == 0)
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{
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CAN_50A.Msg_Bit.b00 = GetKeyState(KEYID_P84);
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CAN_50A.Msg_Bit.b01 = GetKeyState(KEYID_P80);
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CAN_50A.Msg_Bit.b02 = GetKeyState(KEYID_P83);
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CAN_50A.Msg_Bit.b03 = GetKeyState(KEYID_P82);
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CAN_50A.Msg_Bit.b04 = GetKeyState(KEYID_P81);
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CAN_50A.Msg_Bit.b05 = GetKeyState(KEYID_P34);
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CAN_50A.Msg_Bit.b06 = GetKeyState(KEYID_P125);
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CAN_50A.Msg_Bit.b07 = GetKeyState(KEYID_P85);
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}
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else
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{
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CAN_50A.Msg_Bit.b00 = 0;
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CAN_50A.Msg_Bit.b01 = 0;
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CAN_50A.Msg_Bit.b02 = 0;
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CAN_50A.Msg_Bit.b03 = 0;
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CAN_50A.Msg_Bit.b04 = 0;
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CAN_50A.Msg_Bit.b05 = 0;
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CAN_50A.Msg_Bit.b06 = 0;
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CAN_50A.Msg_Bit.b07 = 0;
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}
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/*
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CAN_50A.Msg_Bit.b10 = GetKeyState(KEYID_P16);
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CAN_50A.Msg_Bit.b11 = GetKeyState(KEYID_P17);
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CAN_50A.Msg_Bit.b12 = GetKeyState(KEYID_P30);
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CAN_50A.Msg_Bit.b13 = GetKeyState(KEYID_P63);
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CAN_50A.Msg_Bit.b14 = GetKeyState(KEYID_P62);
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CAN_50A.Msg_Bit.b15 = GetKeyState(KEYID_P61);
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CAN_50A.Msg_Bit.b16 = GetKeyState(KEYID_P60);
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CAN_50A.Msg_Bit.b17 = GetKeyState(KEYID_P137);
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CAN_50A.Msg_Bit.b20 = GetKeyState(KEYID_P16);
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CAN_50A.Msg_Bit.b21 = GetKeyState(KEYID_P17);
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*/
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}
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static uint8_t EEL_BUF[50];
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void EEL_READ(void)
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{
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uint16_t checksum;
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uint8_t *src,*des,i;
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ReadFlashData(EEL_BUF, 0x000F1000, sizeof(MotorStateEE));
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pEE = (MotorStateEE_Type *)EEL_BUF;
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checksum = pEE->kbsoft1 + pEE->kbsoft2 + pEE->kbnow + pEE->zysoft1 + pEE->zysoft2 + pEE->zynow;
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if (pEE ->start == 0x55AA && pEE->stop == 0xAA55 && checksum == pEE->checksum)
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{
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des = &MotorStateEE;
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src = EEL_BUF;
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for (i = 0; i < sizeof(MotorStateEE); i++)
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{
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des[i] = src[i];
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}
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}
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else
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{
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MotorStateEE.start = 0x55AA;
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MotorStateEE.stop = 0xAA55;
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MotorStateEE.kbnow = 0x8000;
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MotorStateEE.kbsoft1 = 0;
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MotorStateEE.kbsoft2 = 0;
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MotorStateEE.zynow = 0x8000;
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MotorStateEE.zysoft1 = 0;
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MotorStateEE.zysoft2 = 0;
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EEL_Write_Enable_Check();
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}
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}
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#define SC_500MS_PC_1MS 500
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void EEL_WRITE(void)
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{
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static unsigned char EEL_SAVE_REQUIRE_FLAG=0;
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uint8_t i,*p;
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if (EEL_SAVE_ENABLE)
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{
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EEL_SAVE_REQUIRE_FLAG = 1;
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EEL_SAVE_CNT_DOWN_TIMER = SC_500MS_PC_1MS;
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EEL_SAVE_ENABLE = 0;
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}
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if (0 == EEL_SAVE_CNT_DOWN_TIMER && 1 == EEL_SAVE_REQUIRE_FLAG)
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{
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MotorStateEE.checksum = MotorStateEE.kbsoft1 + MotorStateEE.kbsoft2 + MotorStateEE.kbnow + MotorStateEE.zysoft1 + MotorStateEE.zysoft2 + MotorStateEE.zynow;
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p = &MotorStateEE;
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for (i = 0; i < sizeof(MotorStateEE); i++)
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{
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EEL_BUF[i] = p[i];
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}
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if(WriteDataflash(EEL_BUF,0x000F1000,sizeof(MotorStateEE)) == 0x11)
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{
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EEL_SAVE_REQUIRE_FLAG=0;
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}
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}
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}
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void EEL_Write_Enable_Check(void)
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{
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EEL_SAVE_ENABLE = 1;
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}
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void DID_data_save_init(void)
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{
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unsigned char DID_init_Buf[33], i;
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ReadFlashData(DID_init_Buf, 0x000F1000 + 0x400, 1);
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if (DID_init_Buf[0] == 0xff)
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{
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for (i = 0; i < 33; i++)
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{
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if (i < 8)
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{
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DID_init_Buf[i] = DID_0xF110_VehicleNetworkConfiguration[i];
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}
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else if (i < 25)
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{
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DID_init_Buf[i] = DID_0xF190_vehicleIdentificationNumber[i - 8];
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}
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else if (i < 33)
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{
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DID_init_Buf[i] = DID_0xF197_SystemNameOrEngineType[i - 25];
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}
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}
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WriteDataflash(DID_init_Buf, 0x000F1000 + 0x400, 33);
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}
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ReadFlashData(DID_init_Buf, 0x000F1000 + 0x800, 1);
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if (DID_init_Buf[0] == 0xff)
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{
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for (i = 0; i < 32; i++)
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{
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if (i < 16)
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{
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DID_init_Buf[i] = DID_0xF198_RepairShopCodeOrTesterSerialNumber[i];
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}
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else if (i < 20)
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{
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DID_init_Buf[i] = DID_0xF199_ProgrammingOrConfigurationDate[i - 16];
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}
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else if (i < 24)
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{
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DID_init_Buf[i] = DID_0xF19D_ECUInstallationDateDataIdentifier[i - 20];
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}
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else if (i < 32)
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{
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DID_init_Buf[i] = DID_0xF112_VehicleName[i - 24];
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}
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}
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WriteDataflash(DID_init_Buf, 0x000F1000 + 0x800, 32);
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}
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}
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unsigned char BusOffTimeCnt = 0;
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unsigned short BusOff1msCnt = 0;
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unsigned char CanBusOffPro(void)
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{
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unsigned char ret = 0;
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if (C0ERFLLL & 0x08) // Bus-Off Stutas
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{
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ret = 1;
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}
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if ((C0CTRLL & 0x02) == 0x02) // Channal Halt Mode
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{
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if (C0ERFLLL & 0x08) // Bus-Off Stutas
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{
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BusOff1msCnt++;
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ret = 1;
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}
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if ((BusOffTimeCnt < 10) && (BusOff1msCnt >= 100))
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{
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BusOffTimeCnt++;
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BusOff1msCnt = 0;
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C0ERFLL = 0;
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C0CTRL &= ~0x03; /* CHMDC[1:0] = 00B change to communication mode. */
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}
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else if ((BusOffTimeCnt >= 10) && (BusOff1msCnt >= 1000))
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{
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BusOffTimeCnt = 10;
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BusOff1msCnt = 0;
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C0ERFLL = 0;
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C0CTRL &= ~0x03; /* CHMDC[1:0] = 00B change to communication mode. */
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}
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}
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return ret;
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}
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#define FAST_BUSOFF_THRESHOULD 100 // 100MS
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#define SLOW_BUSOFF_THRESHOULD 1000 // 100MS
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void BusOff_Recovery(void);
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void BusOff_Detect(void)
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{
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if ((C0ERFLL & 0x08) && (R_CAN_ReadChStatus_CH0() & 0x02))
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{
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if (uiBusOffCnt == 0)
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{
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if (ucBusOffModeState == 0)
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{
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uiBusOffCnt = FAST_BUSOFF_THRESHOULD;
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// BusOff_Recovery();
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}
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if ((ucBusOffModeState > 0) && (ucBusOffModeState < 5))
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{
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BusOff_Recovery();
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uiBusOffCnt = FAST_BUSOFF_THRESHOULD; //fast recover
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}
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else if (ucBusOffModeState >= 5)
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{
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BusOff_Recovery();
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uiBusOffCnt = SLOW_BUSOFF_THRESHOULD; //soft recover
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}
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else
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{
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;
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}
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if (ucBusOffModeState < 5)
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{
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ucBusOffModeState++;
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}
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}
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}
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else
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{
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if (ucBusOffModeState > 0)
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{
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if (uiBusOffCnt == 0)
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{
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ucBusOffModeState = 0;
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// 原来程序的标志位
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}
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}
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else
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{
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;
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}
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BusOff_flag = 0;
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}
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}
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void BusOff_Recovery(void)
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{
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CFCCL0L &= ~0x01;
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NOP();
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CFCCL0L |= 0x01;
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if (C0ERFLL != 0)
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{
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C0ERFLL = 0;
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}
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C0CTRL &= 0xfffc; // bus off
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}
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uint16_t SupplyVoltage;
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void IGN_Voltage_Detect(void)
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{
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uint32_t adval;
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adval = getAdval(ADCH_IGN);
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SupplyVoltage = (adval*57*5)>>10;
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if (adval <= 277 )//8.5v
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{
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IGN_Voltage_error_count++;
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if (IGN_Voltage_error_count >= 200)
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{
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IGN_Voltage_error_count = 0;
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IGN_Voltage_error_flag = 1;
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}
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}
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else if (adval >= 560 )//16.5
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{
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IGN_Voltage_error_count++;
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if (IGN_Voltage_error_count >= 200)
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{
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IGN_Voltage_error_count = 0;
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IGN_Voltage_error_flag = 2;
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}
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}
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else if (adval >= 295 && adval <= 544)//9v 16v
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{
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IGN_Voltage_error_count = 0;
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IGN_Voltage_error_flag = 0;
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}
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if (IGN_Voltage_error_flag != 0)
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{
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// TAU0_Channel1_ChangeDuty(0);
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}
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}
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void value_init(void)
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{
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uint8_t i;
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CAN_LostCount = 500;
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BusOff_Detect_delay_count = 2000;
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ucIgnStus = IGN_OFF;
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for (i = 0; i < 8; i++)
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{
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CAN_50A.Msg_Byte[i] = 0;
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}
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}
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uint8_t red_value,green_value,blue_value;
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void CAN_RX_Data_Handle(void)
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{
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red_value = CAN_486.Msg_Byte[0];
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green_value = CAN_486.Msg_Byte[1];
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blue_value = CAN_486.Msg_Byte[2];
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if (IGN_Voltage_error_flag == 0)
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{
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SetRGB(red_value,green_value,blue_value);
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}
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else
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{
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SetRGB(0,0,0);
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}
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}
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void SleepDetect(void)
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{
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// if(CAN_LostCount==0 && IGN_Lost == 1)
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{
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R_TAU0_Channel0_Stop();
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// R_TAU0_Channel2_Stop();
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// R_TAU0_Channel6_Stop();
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// R_TAU1_Channel0_Stop();
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TO0 = 0;
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TO1 = 0;
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TOE0 = 0;
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TOE1 = 0;
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TO0 = 0;
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TO1 = 0;
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// R_IICA0_Stop();
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R_ADC_Stop();
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ADCE = 0;
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IICA0EN = 0;
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TAU0EN = 0;
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TAU1EN = 0;
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P6_bit.no2 = 0;
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P6_bit.no3 = 0;
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P12_bit.no0 = 0;
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P3_bit.no3 = 0;
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P1_bit.no3 = 0;
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P1_bit.no4 = 0;
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P3_bit.no0 = 0;
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CAN_STB = 1;
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C0CTRL |= (uint16_t)(CAN_STP_BIT_ON);
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GCTRL |= 0x01;
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NOP();
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GCTRL |= (uint16_t)(CAN_GLB_STP_BIT_ON);
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PLLON = 0;
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//R_INTC3_Start();
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CAN0WUPIF = 0U;
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CAN0WUPMK = 0U;
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if (I_IGN_SIGN != IGN_ON)
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STOP();
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WakeUP();
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}
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}
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void WakeUP(void)
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{
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// stop can and ex interrupt
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CAN0WUPIF = 0U;
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CAN0WUPMK = 1U;
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//R_INTC3_Stop();
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// WDTE = 0xff; //reset
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CAN_STB = 0;
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hdwinit();
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R_MAIN_UserInit();
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R_TAU0_Channel0_Start(); // timer
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}
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void Signal_Lost_Detect(unsigned char Pin,
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unsigned char Lost_state,
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unsigned char *Signal_Lost,
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unsigned char *Signal_Lost_count,
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unsigned char Lost_time)
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{
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if (Pin == Lost_state)
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{
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(*Signal_Lost_count)++;
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if ((*Signal_Lost_count) >= Lost_time)
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{
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*Signal_Lost_count = 0;
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*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
|
|
}
|
|
}
|
|
|
|
void LED_Light_Ctrl(void)
|
|
{
|
|
|
|
}
|
|
|
|
|
|
/*****************diagnostic******************/
|
|
|
|
void getIGNVoltage(unsigned char* data)
|
|
{
|
|
data[0] = (uint8_t)SupplyVoltage;
|
|
}
|