LYFJDB/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 "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,Pkey_state,re2key_state;
#define LOCK_STATE_LOCKED   0
#define LOCK_STATE_UNLOCKED 1
static uint8_t g_lh_state,g_fnr_state;
uint8_t g_f_op,g_n_op,g_r_op;
static uint8_t PowerUpDetect_flag;
static uint8_t PowerUp_FNR_Error_flag,OperationFault_flag;
static uint8_t err_counter;
static uint8_t P_light_rcv;
#define FNR_ERROR_HL_POS    0
#define FNR_ERROR_F_POS     1
#define FNR_ERROR_N_POS     2
#define FNR_ERROR_R_POS     3
#define FNR_ERROR_P_POS     4

void IND_task(void);
void HD_task(void);
void PowerUpDetect(void);
void P_light_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();
        
        IND_task();
        //IGN_Detect();
        //CanNwHandle();
    }
    if (Timer_5ms_flag == 1)
    {
        Timer_5ms_flag = 0;
        CAN_RX_Data_Handle();
        if (PowerUpDetect_flag == 1)
        {
            HD_task();
        }
        
        
        // IGN_Detect();
        
    }

    if (Timer_10ms_flag == 1)
    {
        Timer_10ms_flag = 0;
        KeyPro();
        Can_Msg_Change();
        if (PowerUpDetect_flag == 0)
        {
            PowerUpDetect();
        }
        P_light_task();
    }
    if (Timer_20ms_flag == 1)
    {
        Timer_20ms_flag = 0;

        IGN_Voltage_Detect();

    }
    if (Timer_50ms_flag == 1)
    {
        Timer_50ms_flag = 0;
        //TxTestMsg();
        
        //SleepDetect();//TODO
    }
}
extern uint8 txbuf1[8];

void HD_F_CTRL(void)
{
    
    
}
//200MS
#define HD_DEBOUNCE 40 
void HD_task(void)//5ms
{
    uint16_t adval[3] = {0};
    static uint8_t fnr_step = 0, lh_step = 0;
    static uint16_t fnr_counter[3] = {0},OperationFault_counter[3] = {0}; 
    uint8_t db_pos = 0;

    if (lkey_state == 1)
    {
        lkey_state = 0;
        if (g_lh_state == LH_STATE_L)
        {
            g_lh_state = LH_STATE_H;
        }
        else
        {
            g_lh_state = LH_STATE_L;
        }
    }


    adval[FNR_STATE_F] = getAdval(ADCH_HALL_F);
    adval[FNR_STATE_N] = getAdval(ADCH_HALL_N);
    adval[FNR_STATE_R] = getAdval(ADCH_HALL_R);

    switch (g_fnr_state)
    {
    case FNR_STATE_N:
        if (adval[FNR_STATE_F] < 20 && adval[FNR_STATE_N] > 1000 && g_f_op == 0 && OperationFault_flag == 0)
        {
            fnr_counter[FNR_STATE_F]++;
            if (fnr_counter[FNR_STATE_F] > HD_DEBOUNCE)
            {
                fnr_counter[FNR_STATE_F] = HD_DEBOUNCE;
                if (lock_state == LOCK_STATE_LOCKED)
                {
                    g_f_op = 1;
                }
                else
                {
                    g_fnr_state = FNR_STATE_F;
                }
            }
        }
        else
        {
            fnr_counter[FNR_STATE_F] = 0;
        }
        
        if (adval[FNR_STATE_R] < 20 && adval[FNR_STATE_N] > 1000 && g_f_op == 0 && OperationFault_flag == 0)
        {
            fnr_counter[FNR_STATE_R]++;
            if (fnr_counter[FNR_STATE_R] > HD_DEBOUNCE)
            {
                fnr_counter[FNR_STATE_R] = HD_DEBOUNCE;
                if (lock_state == LOCK_STATE_LOCKED)
                {
                    g_r_op = 1;
                }
                else
                {
                    g_fnr_state = FNR_STATE_R;
                }
            }
        }
        else
        {
            fnr_counter[FNR_STATE_R] = 0;
        }
        
        if (adval[FNR_STATE_N] < 20 && adval[FNR_STATE_F] > 1000 && adval[FNR_STATE_R] > 1000)
        {
            g_f_op = 0;
            g_r_op = 0;
            OperationFault_flag = 0;
        }
        if (adval[FNR_STATE_N] < 20 && adval[FNR_STATE_F] < 20)
        {
            OperationFault_counter[FNR_STATE_F]++;
            if (OperationFault_counter[FNR_STATE_F] > HD_DEBOUNCE)
            {
                OperationFault_counter[FNR_STATE_F] = HD_DEBOUNCE;
                OperationFault_flag |= 1<<FNR_ERROR_F_POS;
            }
        }
        else
        {
            OperationFault_counter[FNR_STATE_F] = 0;
            //OperationFault_flag &= ~(1<<FNR_ERROR_F_POS);
        }

        if (adval[FNR_STATE_N] < 20 && adval[FNR_STATE_R] < 20)
        {
            OperationFault_counter[FNR_STATE_R]++;
            if (OperationFault_counter[FNR_STATE_R] > HD_DEBOUNCE)
            {
                OperationFault_counter[FNR_STATE_R] = HD_DEBOUNCE;
                OperationFault_flag |= 1<<FNR_ERROR_R_POS;
            }
        }
        else
        {
            OperationFault_counter[FNR_STATE_R] = 0;
            //OperationFault_flag &= ~(1<<FNR_ERROR_R_POS);
        }
        
        break;
    case FNR_STATE_F:
    case FNR_STATE_R:
        if (adval[FNR_STATE_N] < 20 && adval[FNR_STATE_F] > 1000 && adval[FNR_STATE_R] > 1000 && lock_state == LOCK_STATE_UNLOCKED)
        {
            fnr_counter[FNR_STATE_N]++;
            if (fnr_counter[FNR_STATE_N] > HD_DEBOUNCE)
            {
                g_fnr_state = FNR_STATE_N;
            }
        }
        else
        {
            fnr_counter[FNR_STATE_N] = 0;
        }
        break;
    default:
        g_fnr_state = FNR_STATE_N;
        break;
    }


    txbuf1[0] = adval[FNR_STATE_F]<50?0:1;
    txbuf1[1] = adval[FNR_STATE_N]<50?0:1;
    txbuf1[2] = adval[FNR_STATE_R]<50?0:1;
    
}

void PowerUpDetect(void)//10ms
{
    static uint8_t count=0,powerupdelay=0;
    uint16_t adval = 0;
    uint8_t errbit = 0;

    if (powerupdelay < 50)
    {
        powerupdelay++;
        return;
    }
    

    PowerUp_FNR_Error_flag = 0;

    //errbit = GetIOState(SIGID_SW_L_IN);
    //PowerUp_FNR_Error_flag |= errbit<<FNR_ERROR_HL_POS;

    errbit = GetIOState(SIGID_SW_P_IN);
    PowerUp_FNR_Error_flag |= errbit<<FNR_ERROR_P_POS;

    adval = getAdval(ADCH_HALL_F);
    errbit = adval<50?1:0;
    PowerUp_FNR_Error_flag |= errbit<<FNR_ERROR_F_POS;

    adval = getAdval(ADCH_HALL_N);
    errbit = adval<50?0:1;
    PowerUp_FNR_Error_flag |= errbit<<FNR_ERROR_N_POS;

    adval = getAdval(ADCH_HALL_R);
    errbit = adval<50?1:0;
    PowerUp_FNR_Error_flag |= errbit<<FNR_ERROR_R_POS;

    if (PowerUp_FNR_Error_flag == 0)
    {
        count++;
        if (count>=5)
        {
            PowerUpDetect_flag = 1;
            count = 0;
        }
    }
    else
    {
        count = 0;
    }
    
}

void P_light_task(void)
{
    static uint8_t counter;
    switch (P_light_rcv)
    {
    case 0:
    case 1:   
    case 2:
        P_light_Ctrl(P_light_rcv);
        counter=0;
        break;
    case 3:
        counter++;
        if (counter<11)
        {
            P_light_Ctrl(P_LIGHT_RED);
        }
        else if (counter<23)
        {
            P_light_Ctrl(P_LIGHT_YELLOE);
        }
        else
        {
            counter = 0;
        }
        break;
    default:
        counter=0;
        P_light_Ctrl(0);
        break;
    }
}

void IND_task(void)
{
    static uint8_t counter=0;

    if (counter < 7)
    {
        IND_Ctrl(g_fnr_state);
    }
    else
    {
        IND_Ctrl(FNR_ALL_LIGHT);
    }
    counter++;
    if (counter > 9)
    {
        counter = 0;
    }
    
}



void KeyPro(void)
{
    //按下
    if (getKeyPressFlag(SIGID_SW_LOCK_IN) == KEY_PRESSED)
    {
        lock_state = LOCK_STATE_UNLOCKED;
    }
    if (getKeyPressFlag(SIGID_SW_L_IN) == KEY_PRESSED)
    {
        lkey_state = 1;
    }
    if (getKeyPressFlag(SIGID_SW_P_IN) == KEY_PRESSED)
    {
        Pkey_state = !Pkey_state;
        //RE1LED_CTRL(Pkey_state);
    }
    if (getKeyPressFlag(SIGID_SW_RE2) == KEY_PRESSED)
    {
        re2key_state = !re2key_state;
        RE2LED_CTRL(re2key_state);
    }
    
    //释放
    if (getKeyReleaseFlag(SIGID_SW_LOCK_IN) == KEY_PRESSED)
    {
        lock_state = LOCK_STATE_LOCKED;
    }
    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 = (g_fnr_state == FNR_STATE_F)?1:0;
    CAN_188.Msg_Part.SL_Hswitch = 0;//(g_lh_state == LH_STATE_H)?1:0;
    CAN_188.Msg_Part.SL_Lswitch = 0;//(g_lh_state == LH_STATE_L)?1:0;
    CAN_188.Msg_Part.SL_Nswitch = (g_fnr_state == FNR_STATE_N)?1:0;
    CAN_188.Msg_Part.SL_Rswitch = (g_fnr_state == FNR_STATE_R)?1:0;
    CAN_188.Msg_Part.switch1 = Pkey_state;
    CAN_188.Msg_Part.switch2 = re2key_state;
    CAN_188.Msg_Part.Reserve_1 = 0;
    CAN_188.Msg_Part.F_OP = g_f_op;
    CAN_188.Msg_Part.N_OP = g_n_op;
    CAN_188.Msg_Part.R_OP = g_r_op;
    CAN_188.Msg_Part.err1 = 0;//20240815delete
    CAN_188.Msg_Part.err2 = PowerUp_FNR_Error_flag&(1<<FNR_ERROR_F_POS)?1:0;
    CAN_188.Msg_Part.err3 = PowerUp_FNR_Error_flag&(1<<FNR_ERROR_N_POS)?1:0;
    CAN_188.Msg_Part.err4 = PowerUp_FNR_Error_flag&(1<<FNR_ERROR_R_POS)?1:0;
    CAN_188.Msg_Part.err5 = OperationFault_flag&(1<<FNR_ERROR_F_POS)?1:0;
    CAN_188.Msg_Part.err6 = 0;
    CAN_188.Msg_Part.err7 = OperationFault_flag&(1<<FNR_ERROR_R_POS)?1:0;
    CAN_188.Msg_Part.err8 = PowerUp_FNR_Error_flag&(1<<FNR_ERROR_P_POS)?1:0;
    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 = LOCK_STATE_LOCKED;
    lkey_state = 0;
    g_fnr_state = FNR_STATE_N;
    g_lh_state = LH_STATE_H;
    PowerUpDetect_flag = 0;
    P_light_rcv = 0;
}
void CAN_RX_Data_Handle(void)
{
    P_light_rcv = CAN_189.Msg_Part.P_light;

}


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;
}