253 lines
8.5 KiB
C
253 lines
8.5 KiB
C
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/**
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* @copyright 2015 Indie Semiconductor.
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*
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* This file is proprietary to Indie Semiconductor.
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* All rights reserved. Reproduction or distribution, in whole
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* or in part, is forbidden except by express written permission
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* of Indie Semiconductor.
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*
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* @file pdsTask.c
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* @Author: Jack.Pan
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* @E-mail:jack.pan@indiemicro.com
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* @Date: 2020/09/10
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*/
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#include <applicationTask.h>
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#include <pdsTask.h>
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#include <crc32.h>
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#include <meta.h>
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#include <motorControlTask.h>
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#include <flash_device.h>
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#include <flash_sfrs.h>
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#include <linsNodeCfgIdentify.h>
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#include <linStackTask.h>
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#include <linSlaveTask.h>
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#include <crc_sfr.h>
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uint8_t pds_store(uint8_t index);
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static SystemParams_t systemParam;
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static Userdata_t userdata;
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static TaskState_t pdsState = TASK_STATE_INIT;
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static PdsStatus_t pdsStatus = PDS_STATUS_USING_NORMAL;
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#define PDS_ACTIVE_DATA_INDEX (0U)
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#define PDS_ACTIVE_DATA_BACKUP_INDEX (1U)
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void PDS_PowerONRead_MotorParamfromFlash(uint16_t *buff,uint16_t leng)
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{
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for (uint16_t i = 0U; i < leng; i++){
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*buff = systemParam.info.motorParams.data16[i];
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buff++;
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}
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}
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void PDS_Init(void)
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{
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uint32_t crcValue;
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uint32_t crcValueuserdata;
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CRC32_Init();
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Userdata_t *Motorstep= (Userdata_t *)FLASH_START_ADDRESS_USER_DATA;
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crcValueuserdata = CRC32_GetRunTimeCRC32((uint8_t *)&Motorstep->info ,(uint16_t)sizeof(Motorstep->info));
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if(crcValueuserdata == Motorstep->head.crc32){
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userdata = *Motorstep;
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}else{
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userdata.info.data[0] = 0;
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userdata.info.data[1] = 0;
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}
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CRC32_Init();
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SystemParams_t *param = (SystemParams_t *)FLASH_START_ADDRESS_SYSTEM_DATA;
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crcValue = CRC32_GetRunTimeCRC32((uint8_t *)¶m->info ,(uint16_t)sizeof(param->info));
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if (crcValue == param->head.crc32){
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systemParam = *param;
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pdsStatus = PDS_STATUS_USING_NORMAL;
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}else{
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param = (SystemParams_t *)FLASH_START_ADDRESS_SYSTEM_DATA_BACK_UP;
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crcValue = CRC32_GetRunTimeCRC32((uint8_t *)¶m->info ,(uint16_t)sizeof(param->info));
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if (crcValue == param->head.crc32){
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systemParam = *param;
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pdsStatus = PDS_STATUS_USING_BACKUP;
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}else{
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pdsStatus = PDS_STATUS_USING_DEFAULT;
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}
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}
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pdsStatus = PDS_STATUS_USING_DEFAULT;
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if (pdsStatus == PDS_STATUS_USING_DEFAULT){
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/* **********************fix LIN configuration default value ************************************/
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systemParam.head.index = 0U;
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systemParam.info.linParams.nad = INIT_LINS_NAD_ADDR;
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systemParam.info.linParams.supplierID = LINS_SUPPLIER_ID;
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systemParam.info.linParams.functionID = LINS_FUNCTION_ID;
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systemParam.info.linParams.variant = LINS_VARIANT;
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systemParam.info.linParams.serialNo = LINS_SERIAL_NO;
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systemParam.info.linParams.fwVersion = LINS_FW_VERSION;
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systemParam.info.linParams.hwVersion = LINS_HW_VERSION;
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systemParam.info.motorParams.Constantspeed = DEFAULT_CONSTANTSPEED;
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systemParam.info.motorParams.startspeed = DEFAULT_STARTSPEED;
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systemParam.info.motorParams.Slowspeed = DEFAULT_SLOWSPEED;
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systemParam.info.motorParams.MotorlockAcoilvoltage = DEFAULT_ACOILVOLTAGE;
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systemParam.info.motorParams.MotorlockBcoilvoltage = DEFAULT_BCOILVOLTAGE;
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systemParam.info.motorParams.ClimbTime = DEFAULT_CLIMBTIME;
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systemParam.info.motorParams.SlowTime = DEFAULT_SLOWTIME;
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// GetMotorPhyParam[0] = systemParam.info.motorParams.Constantspeed;//Constantspeed us/step
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// GetMotorPhyParam[1] = systemParam.info.motorParams.startspeed;//Motorlock startspeed us/step
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// GetMotorPhyParam[2] = systemParam.info.motorParams.Slowspeed;//Motorlock Slowspeed us/step
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// GetMotorPhyParam[3] = systemParam.info.motorParams.MotorlockAcoilvoltage;//Motorlock Acoil voltage
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// GetMotorPhyParam[4] = systemParam.info.motorParams.MotorlockBcoilvoltage;//Motorlock Bcoil voltage
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// GetMotorPhyParam[5] = systemParam.info.motorParams.ClimbTime + (uint16_t)systemParam.info.motorParams.SlowTime << 8;//ClimbTime: ms low8bit, SlowTime: ms high8bit
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LIN_Device_Frame_t volatile *frame = LINS_GetUcndFramesTable(&systemParam.info.linParams.frameIDSize);
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for (uint8_t i = 0; i < systemParam.info.linParams.frameIDSize; i++){
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systemParam.info.linParams.frameInfo[i].frameId = frame[i].frame_id;
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systemParam.info.linParams.frameInfo[i].frameIsValid = TRUE;
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}
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}
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ls_set_initialNad(INIT_LINS_NAD_ADDR);
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ls_set_nad(INIT_LINS_NAD_ADDR);
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/* must be call here for init LIN param */
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LNCI_Init();
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}
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uint8_t pds_store(uint8_t index)
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{
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/****************************************************************************************************************/
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static uint16_t motorbuffdata[TransferCNT];
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/*Take out new parameters for the motor through the 3C command*/
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LINS_Transfer3CdataToPDS(motorbuffdata,TransferCNT);
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for(uint8_t n=0;n<TransferCNT;n++){
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systemParam.info.motorParams.data16[n] = motorbuffdata[n];
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}
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uint16_t wordLength;
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uint32_t *pWord = (uint32_t *)((void *)&systemParam);
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uint32_t crcValue = CRC32_GetRunTimeCRC32((uint8_t *)(&systemParam.info) ,(uint16_t)sizeof(systemParam.info));
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systemParam.head.crc32 = crcValue;
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systemParam.head.index ++;
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/* sizeof(SystemParams_t) is the timers of word */
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wordLength = ((uint16_t)sizeof(SystemParams_t) >> 2U);
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pdsStatus = PDS_STATUS_USING_NORMAL;
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if (index == PDS_ACTIVE_DATA_INDEX){
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/*write sys data normal*/
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f_FLASH_EraseSector(FLASH_START_ADDRESS_SYSTEM_DATA);
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for (uint32_t i = 0; i < wordLength; i+=2){
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f_FLASH_Write2WordsWithECC(FLASH_START_ADDRESS_SYSTEM_DATA +i*4U, pWord[i],pWord[i+1]);
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}
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}else{
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/*write sys data back up*/
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f_FLASH_EraseSector(FLASH_START_ADDRESS_SYSTEM_DATA_BACK_UP);
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for (uint32_t i = 0; i < wordLength; i++){
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f_FLASH_Write2WordsWithECC(FLASH_START_ADDRESS_SYSTEM_DATA_BACK_UP +i*4U, pWord[i],pWord[i+1]);
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}
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}
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return 0U;
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}
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void userdatapds_store(void)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
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{
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/****************************************************************************************************************/
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userdata.info.data[0] = Motor_GetCurrentPosition();
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userdata.info.data[1] = Motor_GetCurrentPosition() >> 16U;
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uint16_t wordLength;
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uint32_t *pWord = (uint32_t *)((void *)&userdata);
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uint32_t crcValue = CRC32_GetRunTimeCRC32((uint8_t *)(&userdata.info) ,(uint16_t)sizeof(userdata.info));
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userdata.head.crc32 = crcValue;
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userdata.head.index ++;
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Flash_EraseSector(FLASH_START_ADDRESS_USER_DATA);
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/* sizeof(Userdata_t) is the timers of word */
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wordLength = ((uint32_t)sizeof(Userdata_t) >> 2U);
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/*write sys data normal*/
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for (uint32_t i = 0; i < wordLength; i++){
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FLASH_Write2WordsWithECC(FLASH_START_ADDRESS_USER_DATA+i*8U,pWord[i*2],pWord[i*2+1]);
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}
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// CRC32_Init();
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// Userdata_t *Motorstep= (Userdata_t *)FLASH_START_ADDRESS_USER_DATA;
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// uint32_t crcValueuserdata = CRC32_GetRunTimeCRC32((uint8_t *)&Motorstep->info ,(uint16_t)sizeof(Motorstep->info));
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// if(crcValueuserdata == Motorstep->head.crc32){
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// userdata = *Motorstep;
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// }else{
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// userdata.info.data[0] = 0;
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// userdata.info.data[1] = 0;
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// }
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}
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MotorClusterParams_t *PDS_GetMotorParam(void)
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{
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return &systemParam.info.motorParams;
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}
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LINClusterParams_t *PDS_GetLINParam(void)
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{
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return &systemParam.info.linParams;
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}
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PdsStatus_t PDS_GetPdsStatus(void)
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{
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return pdsStatus;
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}
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uint32_t PDS_GetMotorstepnfromflash(void)
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{
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uint32_t motorstepn = 0;
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motorstepn = userdata.info.data[1];
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motorstepn <<= 16U;
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motorstepn += userdata.info.data[0];
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return motorstepn;
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}
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void PDS_TaskHandler(void)
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{
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switch(pdsState){
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case TASK_STATE_INIT:
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pdsState = TASK_STATE_ACTIVE;
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break;
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case TASK_STATE_ACTIVE:
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/* storage system parameters */
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(void)pds_store(PDS_ACTIVE_DATA_INDEX);
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pdsState = TASK_STATE_PROCESSING;
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//TM_PostTask(TASK_ID_PDS);
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break;
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case TASK_STATE_PROCESSING:
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/* storage system parameters backup*/
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(void)pds_store(PDS_ACTIVE_DATA_BACKUP_INDEX);
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/* set save parameters flag for lin stack*/
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(void)ls_save_configuration();
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pdsState = TASK_STATE_ACTIVE;
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break;
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default:
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break;
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}
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}
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