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更新bootloader复位问题

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This commit is contained in:
sunbeam 2024-06-18 16:03:46 +08:00
parent 9264a68c73
commit 8e8b20623e
29 changed files with 1201 additions and 327 deletions
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13
CAN_Bootloader/main.aardio
View File

@ -3,7 +3,6 @@ import win.ui;
mainForm = win.form(text="CAN_Bootloader";right=599;bottom=465;border="dialog frame";max=false)
mainForm.add(
btnConnect={cls="button";text="连接";left=204;top=64;right=289;bottom=90;z=4};
btnDiag={cls="button";text="诊断";left=149;top=350;right=248;bottom=375;z=25};
btnFlash={cls="button";text="开始刷写";left=37;top=315;right=136;bottom=343;z=9};
btnFresh={cls="button";text="刷新";left=204;top=28;right=288;bottom=54;z=2};
btnOpen={cls="button";text="打开文件";left=37;top=282;right=136;bottom=310;z=8};
@ -237,22 +236,14 @@ mainForm.btnOpenFlashdrv.oncommand = function(id,event){
::PostThreadMessage(thrdId,104,1,0)//自定义消息-打开flashdriver
}
var frmChild = win.loadForm("\dlg\诊断子窗口.aardio");
frmChild.show(false);
mainForm.btnDiag.oncommand = function(id,event){
frmChild.show();
}
thrdHandle,thrdId = thread.create( CanThread )
mainForm.onClose = function(hwnd,message,wParam,lParam){
::PostThreadMessage(thrdId,120,1,0)
raw.closehandle(thrdHandle);
thread.waitClose(thrdHandle);
//frmChild.close();
}

2
CAN_Bootloader/user/CanThread.aardio
View File

@ -207,7 +207,7 @@ var FuncSendPackage = function(){
data[i+1] = table.remove(Packdata);
}
CANHw.SendMsg(PackID,data);
sleep(1);
//sleep(1);
PackNext += 1;
if(PackNext > 0x2f){
PackNext = 0x20;

8
cva_asw_m0146/.vscode/settings.json vendored
View File

@ -13,7 +13,13 @@
"hwctrl.h": "c",
"cvm014x_features.h": "c",
"clock_drv.h": "c",
"irq_drv.h": "c"
"irq_drv.h": "c",
"motorctrl.h": "c",
"extern.h": "c",
"sbc_tle94x1.h": "c",
"tle94x1.h": "c",
"reset_drv.h": "c",
"pwmlite_drv.h": "c"
},
"C_Cpp.default.compilerPath": ""
}

5
cva_asw_m0146/SDK/middleware/uds/user/uds_service11.c
View File

@ -19,6 +19,7 @@
******************************************************************************/
#include "uds_service11.h"
#include "extern.h"
/*******************************************************************************
* the defines
@ -72,7 +73,7 @@ void UdsService11_ResetEcu(UdsType *obj, const uint8_t msgBuf[], uint16_t msgLen
case UDS_RESET_HARD:
Uds_PositiveResponse(obj, rspBuffer, 3);
/*add hardware reset code*/
extHardwareReset();
break;
case UDS_RESET_KEYOFFON:
Uds_PositiveResponse(obj, rspBuffer, 3);
@ -82,7 +83,7 @@ void UdsService11_ResetEcu(UdsType *obj, const uint8_t msgBuf[], uint16_t msgLen
case UDS_RESET_SOFT:
Uds_PositiveResponse(obj, rspBuffer, 3);
/*add software reset code*/
extSortwareReset();
break;
default:
Uds_NegativeResponse(obj, 0x11, NRC_SUBFUNCTION_NOT_SUPPORTED);

3
cva_asw_m0146/cva_asw_m0146.ewp
View File

@ -2964,6 +2964,9 @@
<file>
<name>$PROJ_DIR$\src\appTask.c</name>
</file>
<file>
<name>$PROJ_DIR$\src\canuser.c</name>
</file>
<file>
<name>$PROJ_DIR$\src\extern.c</name>
</file>

3
cva_asw_m0146/cva_asw_m0146.ewt
View File

@ -3603,6 +3603,9 @@
<file>
<name>$PROJ_DIR$\src\appTask.c</name>
</file>
<file>
<name>$PROJ_DIR$\src\canuser.c</name>
</file>
<file>
<name>$PROJ_DIR$\src\extern.c</name>
</file>

4
cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat
View File

@ -25,7 +25,7 @@ if not "%~1" == "" goto debugFile
@echo on
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl"
@echo off
goto end
@ -34,7 +34,7 @@ goto end
@echo on
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" "--debug_file=%~1" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" "--debug_file=%~1" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl"
@echo off
:end

4
cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1
View File

@ -23,9 +23,9 @@
if ($debugfile -eq "")
{
& "E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl"
& "e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl"
}
else
{
& "E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --debug_file=$debugfile --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl"
& "e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.general.xcl" --debug_file=$debugfile --backend -f "F:\FCB_project\RP-01\CODE\cva_asw_m0146\settings\cva_asw_m0146.Debug.driver.xcl"
}

2
cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl
View File

@ -6,7 +6,7 @@
"-p"
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf"
"--semihosting"

6
cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl
View File

@ -1,10 +1,10 @@
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armPROC.dll"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armPROC.dll"
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armJLINK.dll"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armJLINK.dll"
"F:\FCB_project\RP-01\CODE\cva_asw_m0146\Debug_FLASH\Exe\app_m146.out"
--plugin="E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armbat.dll"
--plugin="e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armbat.dll"

2
cva_asw_m0146/settings/cva_asw_m0146.dnx
View File

@ -22,7 +22,7 @@
</JLinkDriver>
<PlDriver>
<FirstRun>0</FirstRun>
<MemConfigValue>E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue>
<MemConfigValue>e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue>
</PlDriver>
<ArmDriver>
<EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>

26
cva_asw_m0146/settings/cva_asw_m0146.wsdt
View File

File diff suppressed because one or more lines are too long

690
cva_asw_m0146/src/MotorCtrl.c
View File

@ -1,22 +1,610 @@
#include "MotorCtrl.h"
#include "hwctrl.h"
/*******************************************************************************
* the defines
******************************************************************************/
#define START_FLAG 0x55aa
#define STOP_FLAG 0xaa55
#define AUTOCAL_STOP 0
#define AUTOCAL_START 1
#define AUTOCAL_ACT1 2
#define AUTOCAL_ACT2 3
#define AUTOCAL_END 4
#define OC_10A 100
#define OC_30A 300
#define OC_500mS 500
#define OC_50mS 50
#define OC_TIME_200MS 200
#define HALLDELAYMAX 2
/*******************************************************************************
* the typedefs
******************************************************************************/
typedef struct
{
uint16_t MotorStopLoc1;
uint16_t MotorStopLoc2;
uint16_t MotorNowLoc;
}MOTOR_DATA;
typedef struct
{
uint16_t start_flag;
MOTOR_DATA MotorData[6];
uint16_t MemoryLoc[3][6];
uint16_t checksum;
uint16_t stop_flag;
}MEMORY_DATA;
/*******************************************************************************
* the globals
******************************************************************************/
MOTOR_DATA MotorData[6];
uint16_t MemoryLoc[3][6];
MEMORY_DATA MemoryData;
uint8_t OC1flag,OC2flag,OC3flag;
uint8_t MotorState[6],MotorStateReal[6];
uint16_t MotorHallLoc[6],MotorHardStop1[6],MotorHardStop2[6];
uint8_t MotorLearnState[6];
uint8_t MotorErr[6];
uint16_t MotorTarget[6] = {0};
uint16_t current1,current2,current3;
uint8_t stopflag = 0;
static uint8_t AutoCalState;
uint16_t HallErrorCount[6];
/*******************************************************************************
* the const
******************************************************************************/
/*******************************************************************************
* the local function prototypes
******************************************************************************/
static void MotorCtrl(void);
static void AutoCalCtrl(void);
static void MotorValueInit(void);
/*******************************************************************************
* the local functions
******************************************************************************/
static void MotorValueInit(void)
{
uint8_t i;
for (i = 0; i < 6; i++)
{
MotorHallLoc[i] = 0x8000;
MotorErr[i] = 0;
}
//ReadMotorMemory();
}
static void AutoCalCtrl(void)
{
static uint16_t autocalcounter[3];
static uint8_t MotorArr1state,MotorArr2state,MotorArr3state;
static uint8_t wait1,wait2,wait3;
uint8_t i;
uint32_t temp;
switch (AutoCalState)
{
case AUTOCAL_STOP:
MotorArr1state = AUTOCAL_STOP;
MotorArr2state = AUTOCAL_STOP;
MotorArr3state = AUTOCAL_STOP;
return;
case AUTOCAL_START:
MotorArr1state = 1;
MotorArr2state = 1;
MotorArr3state = 1;
setMotorState(Motor1,Motor_ACT_CW);
setMotorState(Motor3,Motor_ACT_CW);
setMotorState(Motor5,Motor_ACT_CW);
autocalcounter[0] = 0;
autocalcounter[1] = 0;
autocalcounter[2] = 0;
AutoCalState++;
for (i = 0; i < 6; i++)
{
MotorHardStop1[i] = 0;
MotorHardStop2[i] = 0;
MotorHallLoc[i] = 0x8000;
}
break;
case AUTOCAL_ACT1:
if (MotorArr1state == 0 && MotorArr2state == 0 && MotorArr3state == 0)
{
for (i = 0; i < 6; i++)
{
temp = MotorHardStop1[i];
temp += MotorHardStop2[i];
setMotorTarget(i,temp/2);
}
}
break;
case AUTOCAL_ACT2:
break;
default:
break;
}
//1
switch (MotorArr1state)
{
case 1://Motor1 xq
autocalcounter[0]++;
if (MotorHardStop1[Motor1] != 0)
{
MotorArr1state++;
wait1 = 0;
setMotorState(Motor1,Motor_ACT_NOACT);
}
if (autocalcounter[0] > 3000 || MotorErr[Motor1] != 0)
{
MotorArr1state = 4;
wait1 = 0;
setMotorState(Motor1,Motor_ACT_NOACT);
}
break;
case 2://wait
wait1++;
if (wait1 > 50)
{
MotorArr1state++;
setMotorState(Motor1,Motor_ACT_CCW);
autocalcounter[0] = 0;
}
break;
case 3://Motor1 xh
autocalcounter[0]++;
if (MotorHardStop2[Motor1] != 0)
{
MotorArr1state++;
wait1 = 0;
setMotorState(Motor1,Motor_ACT_NOACT);
}
if (autocalcounter[0] > 3000 || MotorErr[Motor1] != 0)
{
MotorArr1state = 4;
wait1 = 0;
setMotorState(Motor1,Motor_ACT_NOACT);
}
break;
case 4://wait
wait1++;
if (wait1 > 50)
{
MotorArr1state++;
setMotorState(Motor2,Motor_ACT_CW);
autocalcounter[0] = 0;
}
break;
case 5://Motor2 xq
autocalcounter[0]++;
if (MotorHardStop1[Motor2] != 0)
{
MotorArr1state++;
wait1 = 0;
setMotorState(Motor2,Motor_ACT_NOACT);
}
if (autocalcounter[0] > 3000 || MotorErr[Motor2] != 0)
{
MotorArr1state = 0;
setMotorState(Motor2,Motor_ACT_NOACT);
}
break;
case 6://wait
wait1++;
if (wait1 > 50)
{
MotorArr1state++;
setMotorState(Motor2,Motor_ACT_CCW);
autocalcounter[0] = 0;
}
break;
case 7:
autocalcounter[0]++;
if (MotorHardStop2[Motor2] != 0)
{
MotorArr1state=0;
wait1 = 0;
setMotorState(Motor2,Motor_ACT_NOACT);
}
if (autocalcounter[0] > 3000 || MotorErr[Motor2] != 0)
{
MotorArr1state = 0;
setMotorState(Motor2,Motor_ACT_NOACT);
}
break;
default:
break;
}
//2
switch (MotorArr2state)
{
case 1://Motor3 xq
autocalcounter[1]++;
if (MotorHardStop1[Motor3] != 0)
{
MotorArr2state++;
wait2 = 0;
setMotorState(Motor3,Motor_ACT_NOACT);
}
if (autocalcounter[1] > 3000 || MotorErr[Motor3] != 0)
{
MotorArr2state = 4;
wait2 = 0;
setMotorState(Motor3,Motor_ACT_NOACT);
}
break;
case 2://wait
wait2++;
if (wait2 > 50)
{
MotorArr2state++;
setMotorState(Motor3,Motor_ACT_CCW);
autocalcounter[1] = 0;
}
break;
case 3://Motor3 xh
autocalcounter[1]++;
if (MotorHardStop2[Motor3] != 0)
{
MotorArr2state++;
wait2 = 0;
setMotorState(Motor3,Motor_ACT_NOACT);
}
if (autocalcounter[1] > 3000 || MotorErr[Motor3] != 0)
{
MotorArr2state = 4;
wait2 = 0;
setMotorState(Motor3,Motor_ACT_NOACT);
}
break;
case 4://wait
wait2++;
if (wait2 > 50)
{
MotorArr2state++;
setMotorState(Motor4,Motor_ACT_CW);
autocalcounter[1] = 0;
}
break;
case 5://Motor4 xq
autocalcounter[1]++;
if (MotorHardStop1[Motor4] != 0)
{
MotorArr2state++;
wait2 = 0;
setMotorState(Motor4,Motor_ACT_NOACT);
}
if (autocalcounter[1] > 3000 || MotorErr[Motor4] != 0)
{
MotorArr2state = 0;
setMotorState(Motor4,Motor_ACT_NOACT);
}
break;
case 6://wait
wait2++;
if (wait2 > 50)
{
MotorArr2state++;
setMotorState(Motor4,Motor_ACT_CCW);
autocalcounter[1] = 0;
}
break;
case 7:
autocalcounter[1]++;
if (MotorHardStop2[Motor4] != 0)
{
MotorArr2state=0;
wait2 = 0;
setMotorState(Motor4,Motor_ACT_NOACT);
}
if (autocalcounter[1] > 3000 || MotorErr[Motor4] != 0)
{
MotorArr2state = 0;
setMotorState(Motor4,Motor_ACT_NOACT);
}
break;
default:
break;
}
switch (MotorArr3state)
{
case 1://Motor5 xq
autocalcounter[2]++;
if (MotorHardStop1[Motor5] != 0)
{
MotorArr3state++;
wait3 = 0;
setMotorState(Motor5,Motor_ACT_NOACT);
}
if (autocalcounter[2] > 3000 || MotorErr[Motor5] != 0)
{
MotorArr3state = 4;
wait3 = 0;
setMotorState(Motor5,Motor_ACT_NOACT);
}
break;
case 2://wait
wait3++;
if (wait3 > 50)
{
MotorArr3state++;
setMotorState(Motor5,Motor_ACT_CCW);
autocalcounter[2] = 0;
}
break;
case 3://Motor5 xh
autocalcounter[2]++;
if (MotorHardStop2[Motor5] != 0)
{
MotorArr3state++;
wait3 = 0;
setMotorState(Motor5,Motor_ACT_NOACT);
}
if (autocalcounter[2] > 3000 || MotorErr[Motor5] != 0)
{
MotorArr3state = 4;
wait3 = 0;
setMotorState(Motor5,Motor_ACT_NOACT);
}
break;
case 4://wait
wait3++;
if (wait3 > 50)
{
MotorArr3state++;
setMotorState(Motor6,Motor_ACT_CW);
autocalcounter[2] = 0;
}
break;
case 5://Motor6 xq
autocalcounter[2]++;
if (MotorHardStop1[Motor6] != 0)
{
MotorArr3state++;
wait3 = 0;
setMotorState(Motor6,Motor_ACT_NOACT);
}
if (autocalcounter[2] > 3000 || MotorErr[Motor6] != 0)
{
MotorArr3state = 0;
setMotorState(Motor6,Motor_ACT_NOACT);
}
break;
case 6://wait
wait3++;
if (wait3 > 50)
{
MotorArr3state++;
setMotorState(Motor6,Motor_ACT_CCW);
autocalcounter[2] = 0;
}
break;
case 7:
autocalcounter[2]++;
if (MotorHardStop2[Motor6] != 0)
{
MotorArr3state=0;
wait3 = 0;
setMotorState(Motor6,Motor_ACT_NOACT);
}
if (autocalcounter[2] > 3000 || MotorErr[Motor6] != 0)
{
MotorArr3state = 0;
setMotorState(Motor6,Motor_ACT_NOACT);
}
break;
default:
break;
}
}
static void MotorCtrl(void)//10ms
{
uint8_t i;
//WriteMotorMemory(); //TODO
AutoCalCtrl();
if (OC1flag == 1)
{
OC1flag = 0;
if (MotorState[0] == Motor_ACT_CW)
{
MotorHardStop1[0] = MotorHallLoc[0];
}
else if (MotorState[0] == Motor_ACT_CCW)
{
MotorHardStop2[0] = MotorHallLoc[0];
}
else if (MotorState[1] == Motor_ACT_CW)
{
MotorHardStop1[1] = MotorHallLoc[1];
}
else if (MotorState[1] == Motor_ACT_CCW)
{
MotorHardStop2[1] = MotorHallLoc[1];
}
setMotorTarget(Motor1,0);
setMotorTarget(Motor2,0);
MotorState[Motor1] = Motor_ACT_NOACT;
MotorState[Motor2] = Motor_ACT_NOACT;
}
if (OC2flag == 1)
{
OC2flag = 0;
if (MotorState[2] == Motor_ACT_CW)
{
MotorHardStop1[2] = MotorHallLoc[2];
}
else if (MotorState[2] == Motor_ACT_CCW)
{
MotorHardStop2[2] = MotorHallLoc[2];
}
else if (MotorState[3] == Motor_ACT_CW)
{
MotorHardStop1[3] = MotorHallLoc[3];
}
else if (MotorState[3] == Motor_ACT_CCW)
{
MotorHardStop2[3] = MotorHallLoc[3];
}
setMotorTarget(Motor3,0);
setMotorTarget(Motor4,0);
MotorState[Motor3] = Motor_ACT_NOACT;
MotorState[Motor4] = Motor_ACT_NOACT;
}
if (OC3flag == 1)
{
OC3flag = 0;
if (MotorState[4] == Motor_ACT_CW)
{
MotorHardStop1[4] = MotorHallLoc[4];
}
else if (MotorState[4] == Motor_ACT_CCW)
{
MotorHardStop2[4] = MotorHallLoc[4];
}
else if (MotorState[5] == Motor_ACT_CW)
{
MotorHardStop1[5] = MotorHallLoc[5];
}
else if (MotorState[5] == Motor_ACT_CCW)
{
MotorHardStop2[5] = MotorHallLoc[5];
}
setMotorTarget(Motor5,0);
setMotorTarget(Motor6,0);
MotorState[Motor5] = Motor_ACT_NOACT;
MotorState[Motor6] = Motor_ACT_NOACT;
}
for (i = 0; i < 6; i++)
{
MotorStateReal[i] = MotorState[i];
if (MotorState[i] == Motor_ACT_NOACT && MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0 )
{
if (MotorTarget[i]!=0 && MotorHardStop1[i] > MotorTarget[i] && MotorTarget[i] > MotorHardStop2[i])
{
if (MotorTarget[i] > MotorHallLoc[i]+10)
{
MotorStateReal[i] = Motor_ACT_CW;
}
else if (MotorTarget[i] < MotorHallLoc[i]-10)
{
MotorStateReal[i] = Motor_ACT_CCW;
}
else
{
MotorTarget[i] = 0;
}
}
}
else if (MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0)
{
if (MotorHallLoc[i] > (MotorHardStop1[i]-20) && MotorStateReal[i] == Motor_ACT_CW)
{
MotorStateReal[i] = Motor_ACT_NOACT;
}
if (MotorHallLoc[i] < (MotorHardStop2[i] + 20) && MotorStateReal[i] == Motor_ACT_CCW)
{
MotorStateReal[i] = Motor_ACT_NOACT;
}
}
else
{
MotorTarget[i] = 0;
}
}
}
/*******************************************************************************
* the global functions
******************************************************************************/
void MotorCtrl_Init(McuType *obj)
{
for (uint8_t i = 0; i < 6; i++)
{
hw_MotorCtrl(obj, i, Motor_ACT_NOACT);
}
MotorValueInit();
}
void MotorCtrl_Maintask(McuType *obj)//10ms task
{
static uint8_t motor_cnt = 0,motor_act=0,run_count=0;
run_count++;
if (run_count > 100)
MotorCtrl();
for (Motor_ID_Type i = 0; i < MOTOR_NUM; i++)
{
run_count = 0;
hw_MotorCtrl(obj, i, MotorStateReal[i]);
}
}
void setMotorState(Motor_ID_Type motorid,Motor_ACT_Type act)
{
if (act < Motor_ACT_NUM && motorid < MOTOR_NUM)
{
MotorState[motorid] = act;
}
}
void setMotorTarget(uint8_t motorid,uint16_t target)
{
if (MotorHardStop1[motorid]!=0 && MotorHardStop2[motorid]!=0)
{
MotorTarget[motorid] = target;
}
else
{
MotorTarget[motorid] = 0;
}
}
void StartAutoCal(void)
{
AutoCalState = AUTOCAL_START;
}
void StopAutoCal(void)
{
uint8_t i;
if (AutoCalState != AUTOCAL_STOP)
{
AutoCalState = AUTOCAL_STOP;
setMotorState(Motor1,Motor_ACT_NOACT);
setMotorState(Motor2,Motor_ACT_NOACT);
setMotorState(Motor3,Motor_ACT_NOACT);
setMotorState(Motor4,Motor_ACT_NOACT);
setMotorState(Motor5,Motor_ACT_NOACT);
setMotorState(Motor6,Motor_ACT_NOACT);
}
for (i = 0; i < 6; i++)
{
if (MotorTarget[i] != 0)
{
MotorTarget[i] = 0;
stopflag = 1;
}
}
@ -27,3 +615,95 @@ void MotorCtrl_Maintask(McuType *obj)//10ms task
uint16_t getOverCurrentTh(uint8_t ch)
{
uint16_t th = 10;
switch (ch)
{
case 0:
if (MotorStateReal[Motor1]!=Motor_ACT_NOACT)
{
th+=50;
}
if (MotorStateReal[Motor2]!=Motor_ACT_NOACT)
{
th+=50;
}
break;
case 1:
if (MotorStateReal[Motor3]!=Motor_ACT_NOACT)
{
th+=50;
}
if (MotorStateReal[Motor4]!=Motor_ACT_NOACT)
{
th+=50;
}
break;
case 2:
if (MotorStateReal[Motor5]!=Motor_ACT_NOACT)
{
th+=50;
}
if (MotorStateReal[Motor6]!=Motor_ACT_NOACT)
{
th+=20;
}
break;
default:
break;
}
return th;
}
void HallDetecte(void)
{
static uint8_t HallLastState[6],HallDelay[6];
uint8_t i,hallstate;
for (i = 0; i < 6; i++)
{
hallstate = GetIOState(i+1);
if (hallstate != HallLastState[i])
{
HallDelay[i]++;
if (HallDelay[i] > HALLDELAYMAX)
{
if (MotorStateReal[i] == Motor_ACT_CW)
{
MotorHallLoc[i]++;
}
else if (MotorStateReal[i] == Motor_ACT_CCW)
{
MotorHallLoc[i]--;
}
HallLastState[i] = hallstate;
}
HallErrorCount[i] = 0;
MotorErr[i] = 0;
//EEL_SAVE_Counter = 1000;
//EEL_SAVE_REQUIRE_FLAG = 1;
}
else
{
HallDelay[i] = 0;
if (MotorStateReal[i] != Motor_ACT_NOACT)
{
HallErrorCount[i]++;
if (HallErrorCount[i] > 500)
{
HallErrorCount[i] = 500;
MotorErr[i] = 1;
}
}
}
}
/*
if (EEL_SAVE_Counter > 0)
{
EEL_SAVE_Counter--;
}
*/
}

28
cva_asw_m0146/src/MotorCtrl.h
View File

@ -3,8 +3,36 @@
#include "Mcu.h"
/*******************************************************************************
* the typedefs
******************************************************************************/
typedef enum
{
Motor_ACT_NOACT,//停止
Motor_ACT_CW,//正转
Motor_ACT_CCW,//反转
Motor_ACT_NUM,
} Motor_ACT_Type;
typedef enum
{
Motor1,//
Motor2,//
Motor3,//
Motor4,//
Motor5,//
Motor6,//
MOTOR_NUM,
} Motor_ID_Type;
void MotorCtrl_Init(McuType *obj);
void MotorCtrl_Maintask(McuType *obj);
void setMotorState(Motor_ID_Type motorid,Motor_ACT_Type act);
void setMotorTarget(uint8_t motorid,uint16_t target);
void StartAutoCal(void);
void StopAutoCal(void);

27
cva_asw_m0146/src/appTask.c
View File

@ -9,6 +9,7 @@
#include "string.h"
#include "SEGGER_RTT.h"
#include "MotorCtrl.h"
#include "canuser.h"
/*******************************************************************************
* the defines
@ -21,13 +22,12 @@
uint8_t txMsgBuf[8] = {0};
uint8_t udsSendBuf[UDS_SEND_BUF] = {0};
uint8_t udsRecvBuf[UDS_RECV_BUF] = {0};
UdsType udsObj;
int64_t Get_Cur_Time_Stamp(void);
Uds_ParamsType udsParam = {
@ -54,6 +54,7 @@ volatile uint32_t gSystick1msEvent = 0, gSystick1msCnt = 0, gTestRunCnt = 0, gTe
#pragma location = ".bss.no_init"
static uint32_t sAswBoot_Req;
//
int64_t Get_Cur_Time_Stamp(void)
{
@ -73,7 +74,6 @@ void SysTick_Handler(void)
}
void appTask(McuType *obj)
{
FlexCan_FrameStructureType rxMsg;
if(gSystick1msEvent > 0u)
{
if(udsObj.session == UDS_SESSION_PROGRAMMING)
@ -81,10 +81,10 @@ void appTask(McuType *obj)
Asw_SetBootloaderRequest();
ResetDrv_SoftwareResetModule(&obj->resetDrv, RESETDRV_SWRESET_SYS);
}
gSystick1msEvent--;
gSystick1msCnt++;
gSysTick1sCnt++;
MsgTask(&udsObj);
if (gSystick1msCnt % 10 == 0)
{
MotorCtrl_Maintask(obj);
@ -97,10 +97,8 @@ void appTask(McuType *obj)
if(gSystick1msCnt % 200 == 0)
{
uint8_t txMsgBuf[8]={0};
txMsgBuf[3] = gSysTick1sCnt & 0xFF;
FlexCanBoot_TxMessage(APP_TX_TEST1_MSG_ID, txMsgBuf, 8);
}
if (gSystick1msCnt >= 10000)
{
@ -108,21 +106,6 @@ void appTask(McuType *obj)
SEGGER_RTT_printf(0,"app running\n");
}
/* Handler user routine */
if(FlexCanBoot_ReadoutMsg(&rxMsg) == true)
{
if((rxMsg.id == UDS_PHYS_RECV_MSG_ID) || (rxMsg.id == UDS_FUNC_RECV_MSG_ID))
{
IsoTp_HandleIncomingCanMsg(&udsObj.isotp, rxMsg.id, rxMsg.data, rxMsg.len);
}
else
{
}
}
Uds_Run(&udsObj);
}
}

340
cva_asw_m0146/src/canuser.c Normal file
View File

@ -0,0 +1,340 @@
#include "canuser.h"
/*******************************************************************************
* the typedefs
******************************************************************************/
typedef enum
{
UDS_MSG_IDX_STD_RX_PHYS,
UDS_MSG_IDX_STD_RX_FUNC,
UDS_MSG_IDX_STD_HOST_REQ1,
UDS_MSG_IDX_STD_HOST_REQ2,
UDS_MSG_IDX_STD_PHYS_RESP,
UDS_MSG_IDX_STD_ECU_STATUS,
UDS_MSG_IDX_STD_ECU_DEBUG1,
UDS_MSG_IDX_STD_ECU_DEBUG2,
UDS_MSG_IDX_STD_ECU_DEBUG3,
UDS_MSG_IDX_NUM
} Uds_MsgIdIdxType;
typedef struct
{
FlexCan_FrameStructureType rxMsg[CAN_BUFFER_FIFO_SIZE];
FlexCan_FrameStructureType txMsg[CAN_BUFFER_FIFO_SIZE];
uint8_t wrIdx;
uint8_t rdIdx;
} FlexCan_DataInfoType;
typedef struct
{
uint8_t ECU_HeatStatus:4;//0
uint8_t ECU_FanStatus:4;
uint8_t ECU_AnmoStatus:4;//1
uint8_t reverse14:4;
uint8_t ECU_MOTOR1_STATUS:2;//2
uint8_t ECU_MOTOR2_STATUS:2;
uint8_t ECU_MOTOR3_STATUS:2;
uint8_t ECU_MOTOR4_STATUS:2;
uint8_t ECU_MOTOR5_STATUS:2;//3
uint8_t ECU_MOTOR6_STATUS:2;//4
uint8_t reverse34:4;
uint8_t reverse[4];
}ECU_status_Type;
typedef struct
{
uint8_t ECU_Power;
uint8_t ECU_MOTOR_C1;
uint8_t ECU_MOTOR_C2;
uint8_t ECU_MOTOR_C3;
uint8_t ECU_HEAT_C1;
uint8_t ECU_HEAT_C2;
uint8_t reverse[2];
}ECU_Debug1_Type;
typedef struct
{
uint16_t ECU_MOTOR_POS1;
uint16_t ECU_MOTOR_POS2;
uint16_t ECU_MOTOR_POS3;
uint16_t ECU_MOTOR_POS4;
}ECU_Debug2_Type;
typedef struct
{
uint16_t ECU_MOTOR_POS5;
uint16_t ECU_MOTOR_POS6;
uint8_t ECU_HALL1:1;
uint8_t ECU_HALL2:1;
uint8_t ECU_HALL3:1;
uint8_t ECU_HALL4:1;
uint8_t ECU_HALL5:1;
uint8_t ECU_HALL6:1;
uint8_t reverse46:2;
uint8_t reverse[3];
}ECU_Debug3_Type;
typedef struct
{
uint8_t HOST_KEY1:1;//0
uint8_t HOST_KEY2:1;
uint8_t HOST_KEY3:1;
uint8_t HOST_KEY4:1;
uint8_t HOST_KEY5:1;
uint8_t HOST_KEY6:1;
uint8_t HOST_KEY7:1;
uint8_t HOST_KEY8:1;
uint8_t HOST_KEY9:1;//1
uint8_t HOST_KEY10:1;
uint8_t HOST_KEY11:1;
uint8_t HOST_KEY12:1;
uint8_t HOST_KEY13:1;
uint8_t HOST_KEY14:1;
uint8_t HOST_KEY15:1;
uint8_t HOST_KEY16:1;
uint8_t HOST_HeatReq:4;//2
uint8_t HOST_FanReq:4;
uint8_t HOST_AnmoReq:4;//3
uint8_t reverse34:4;
uint8_t reverse[3];
uint8_t HOST_DebugMode:1;//7
uint8_t reverse71:7;
}HOST_Req1_Type;
/*******************************************************************************
* the globals
******************************************************************************/
FlexCanDrv_ControllerCfgType flexCanCfg;
FlexCan_DataInfoType flexCan_DataInfo;
FlexCanDrvType* flexCanDrv_DemoObj;
static uint8_t txMsgBuf1[8] = {0};
static uint8_t txMsgBuf2[8] = {0};
static uint8_t txMsgBuf3[8] = {0};
static uint8_t txMsgBuf4[8] = {0};
static uint8_t rxMsgBuf1[8] = {0};
static uint8_t rxMsgBuf2[8] = {0};
static uint8_t debugMode;
/*******************************************************************************
* the const
******************************************************************************/
const FlexCanDrv_MsgCfgType msgCfgObj[UDS_MSG_IDX_NUM] = {
{UDS_MSG_IDX_STD_RX_PHYS, 1, UDS_PHYS_RECV_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_PHYS */
{UDS_MSG_IDX_STD_RX_FUNC, 1, UDS_FUNC_RECV_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_FUNC */
{UDS_MSG_IDX_STD_HOST_REQ1, 1, APP_RX_HOST_REQ1_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_FUNC */
{UDS_MSG_IDX_STD_HOST_REQ2, 1, APP_RX_HOST_REQ2_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_FUNC */
{UDS_MSG_IDX_STD_PHYS_RESP, 1, UDS_PHYS_RESP_MSG_ID, false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
{UDS_MSG_IDX_STD_ECU_STATUS,1, APP_TX_ECU_STATUS_MSG_ID,false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
{UDS_MSG_IDX_STD_ECU_DEBUG1,1, APP_TX_ECU_DEBUG1_MSG_ID,false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
{UDS_MSG_IDX_STD_ECU_DEBUG2,1, APP_TX_ECU_DEBUG2_MSG_ID,false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
{UDS_MSG_IDX_STD_ECU_DEBUG3,1, APP_TX_ECU_DEBUG3_MSG_ID,false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
};
static void RxMsgProcess(void)
{
HOST_Req1_Type* prxMsgBuf1 = (HOST_Req1_Type*)rxMsgBuf1;
debugMode = prxMsgBuf1->HOST_DebugMode;
}
void MsgTask(UdsType *obj)//1ms task
{
static uint16_t msg_counter=0;
FlexCan_FrameStructureType rxMsg;
//tx
msg_counter++;
if (msg_counter >= 50)
{
msg_counter = 0;
FlexCanBoot_TxMessage(APP_TX_ECU_STATUS_MSG_ID, txMsgBuf1, 8);
if (debugMode!=0)
{
FlexCanBoot_TxMessage(APP_TX_ECU_DEBUG1_MSG_ID, txMsgBuf2, 8);
FlexCanBoot_TxMessage(APP_TX_ECU_DEBUG2_MSG_ID, txMsgBuf3, 8);
FlexCanBoot_TxMessage(APP_TX_ECU_DEBUG3_MSG_ID, txMsgBuf4, 8);
}
}
//rx
/* Handler user routine */
if(FlexCanBoot_ReadoutMsg(&rxMsg) == true)
{
if((rxMsg.id == UDS_PHYS_RECV_MSG_ID) || (rxMsg.id == UDS_FUNC_RECV_MSG_ID))
{
IsoTp_HandleIncomingCanMsg(&obj->isotp, rxMsg.id, rxMsg.data, rxMsg.len);
}
else
{
if (rxMsg.id == APP_RX_HOST_REQ1_MSG_ID)
{
memcpy(rxMsgBuf1, rxMsg.data, rxMsg.len);
}
}
}
RxMsgProcess();
//uds stack
Uds_Run(obj);
}
/************************************* CAN *****************************************/
int8_t FlexCanBoot_TxMessage(uint32_t msgId, const uint8_t* pData, uint8_t size)
{
FlexCanDrv_MsgObjType txMsgObj;
uint8_t msgIdx = 0, i = 0;
for(i = 0; i < flexCanCfg.msgNum; i++)
{
if(msgId == flexCanCfg.msgCfg[i].msgId)
{
msgIdx = i;
break;
}
}
txMsgObj.msgBufId = flexCanCfg.msgCfg[msgIdx].msgBufId;
txMsgObj.dlc = size;
txMsgObj.msgId = flexCanCfg.msgCfg[msgIdx].msgId;
memcpy(&txMsgObj.data[0], pData, size);
FlexCanDrv_SetTxMsg(flexCanDrv_DemoObj, &txMsgObj);
/* transmit standard CAN Tx message */
FlexCanDrv_TransmitMsg(flexCanDrv_DemoObj, &txMsgObj);
return 0;
}
void FlexCanBoot_Init(McuType *obj)
{
uint32_t busClockFreq = 0;
/* CAN init */
memset(&flexCan_DataInfo, 0, sizeof(flexCan_DataInfo));
memset(&flexCanCfg, 0, sizeof(flexCanCfg));
SEGGER_RTT_printf(0,"-----FlexCanDrv_INIT-----\n");
/* get CAN controller default configuration */
FlexCanDrv_GetDefaultCfg(&flexCanCfg);
flexCanCfg.msgNum = sizeof(msgCfgObj) / sizeof(FlexCanDrv_MsgCfgType);
flexCanCfg.msgCfg = msgCfgObj;
flexCanDrv_DemoObj = &obj->flexCanDrv0;
/* set PTE4 as MUX 5 - CAN0.RX */
PinsDrv_SetMuxModeSel(&obj->ptb, 0, PINSDRV_MUX_ALT5);
/* set PTE5 as MUX 5 - CAN0.TX */
PinsDrv_SetMuxModeSel(&obj->ptb, 1, PINSDRV_MUX_ALT5);
flexCanCfg.clkSrc = FLEXCANDRV_CLKSRC_CHICLK;
flexCanCfg.fdEnable = false;
flexCanCfg.fdISOEnable = false;
flexCanCfg.enhancefifoEnable = true;
flexCanCfg.msgBufDataLenSel = FLEXCANDRV_MB_SIZE_BYTE_8;
flexCanCfg.individualMaskEnable = true;
if(flexCanCfg.clkSrc == FLEXCANDRV_CLKSRC_CHICLK)
{
ClockDrv_GetFreq(&obj->clockDrv, CLOCKDRV_APB, &busClockFreq);
}
else
{
ClockDrv_GetFreq(&obj->clockDrv, CLOCKDRV_SOSC_DIV2, &busClockFreq);
}
if(flexCanCfg.fdEnable == true)
{
FlexCanDrv_BitTimingCalc(&flexCanCfg.fdBitTiming,
busClockFreq, /* module clock source: 16M */
2000000, /* baudrate: 2M */
7500, /* sample point: 75% */
2000, /* SJW: 20% */
1); /* FD bit timing */
}
FlexCanDrv_BitTimingCalc(&flexCanCfg.bitTiming,
busClockFreq, /* module clock source: 16M */
500000, /* baudrate: 500K */
7500, /* sample point: 75% */
2500, /* SJW: 20% */
0); /* classic CAN bit timing */
/* initialize CAN module */
FlexCanDrv_Configure(flexCanDrv_DemoObj, &flexCanCfg);
/* enable enhance rx fifo interrupt */
FlexCanDrv_SetEnhanceRxFFIsr(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_DAIE, true);
IrqDrv_EnableIrq(CAN0_ERxFIFO_IRQn);
}
bool FlexCanBoot_ReadoutMsg(FlexCan_FrameStructureType* pRxMsgObj)
{
bool ret = false;
if(flexCan_DataInfo.wrIdx != flexCan_DataInfo.rdIdx)
{
memcpy(pRxMsgObj, &flexCan_DataInfo.rxMsg[flexCan_DataInfo.rdIdx], sizeof(FlexCan_FrameStructureType));
flexCan_DataInfo.rdIdx++;
if(flexCan_DataInfo.rdIdx >= CAN_BUFFER_FIFO_SIZE)
{
flexCan_DataInfo.rdIdx = 0;
}
ret = true;
}
return ret;
}
uint8_t flexCanBoot_EnhanceRxFFCnt = 0;
void CAN0_ERxFIFO_Handler(void)
{
if(FlexCanDrv_GetEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_DAIE) == true)
{
if(FlexCanDrv_GetEnhanceRxFFIsFull(flexCanDrv_DemoObj) == false)
{
}
if(FlexCanDrv_GetEnhanceRxFFIsEmpty(flexCanDrv_DemoObj) == false)
{
FlexCanDrv_MsgObjType rxMsgObj;
flexCanBoot_EnhanceRxFFCnt = FlexCanDrv_GetEnhanceRxFFMsgNums(flexCanDrv_DemoObj);
if(flexCanBoot_EnhanceRxFFCnt > 0)
{
FlexCanDrv_GetEnhanceRxFifoMsg(flexCanDrv_DemoObj, &rxMsgObj);
memcpy(flexCan_DataInfo.rxMsg[flexCan_DataInfo.wrIdx].data, rxMsgObj.data, rxMsgObj.dlc);
flexCan_DataInfo.rxMsg[flexCan_DataInfo.wrIdx].id = rxMsgObj.msgId;
flexCan_DataInfo.rxMsg[flexCan_DataInfo.wrIdx].len = rxMsgObj.dlc;
flexCan_DataInfo.wrIdx++;
if(flexCan_DataInfo.wrIdx >= CAN_BUFFER_FIFO_SIZE)
{
flexCan_DataInfo.wrIdx = 0;
}
}
}
}
if(FlexCanDrv_GetEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_WMMIE) == true)
{
FlexCanDrv_ClearEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_WMMIE);
}
if(FlexCanDrv_GetEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_OVFIE) == true)
{
FlexCanDrv_ClearEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_OVFIE);
}
if(FlexCanDrv_GetEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_UFWIE) == true)
{
FlexCanDrv_ClearEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_UFWIE);
}
}

46
cva_asw_m0146/src/canuser.h Normal file
View File

@ -0,0 +1,46 @@
#ifndef __CANUSER_H__
#define __CANUSER_H__
#include "mcu.h"
#include "uds.h"
/*******************************************************************************
* the defines
******************************************************************************/
#define UDS_PHYS_RECV_MSG_ID (0x732)
#define UDS_FUNC_RECV_MSG_ID (0x7DF)
#define UDS_PHYS_RESP_MSG_ID (0x7B2)
#define APP_TX_ECU_STATUS_MSG_ID (0x210)
#define APP_TX_ECU_DEBUG1_MSG_ID (0x211)
#define APP_TX_ECU_DEBUG2_MSG_ID (0x212)
#define APP_TX_ECU_DEBUG3_MSG_ID (0x213)
#define APP_RX_HOST_REQ1_MSG_ID (0x200)
#define APP_RX_HOST_REQ2_MSG_ID (0x201)
#define CAN_DATA_BUFFER_SIZE (64u)
#define CAN_BUFFER_FIFO_SIZE (32u)
/*******************************************************************************
* the typedefs
******************************************************************************/
typedef struct
{
uint32_t id;
uint8_t data[CAN_DATA_BUFFER_SIZE];
uint8_t len;
uint16_t timeStamp;
uint32_t hrTimeStamp;
} FlexCan_FrameStructureType;
/*******************************************************************************
* the function prototypes
******************************************************************************/
void FlexCanBoot_Init(McuType *obj);
int8_t FlexCanBoot_TxMessage(uint32_t msgId, const uint8_t* pData, uint8_t size);
bool FlexCanBoot_ReadoutMsg(FlexCan_FrameStructureType* pRxMsgObj);
void MsgTask(UdsType *obj);
#endif

15
cva_asw_m0146/src/extern.c
View File

@ -1,11 +1,13 @@
#include "extern.h"
#include "TLE94x1.h"
#include <string.h>
#include "drivers/reset/reset_drv.h"
#include "mcu.h"
static const unsigned char SW_VERSION[16] = "SW0101_20240510";
static const unsigned char HW_VERSION[8] = "HW01";
extern McuType mcu;
void getSW_VERSION(unsigned char *pdata)
{
@ -22,4 +24,13 @@ void getBuildTime(unsigned char *pdata)
memcpy(pdata, (unsigned char *)0x00010410, 12);
memcpy(pdata + 12, (unsigned char *)0x00010404, 8);
pdata[11] = ' ';
}
void extHardwareReset(void)
{
SBC_Write_RegField(SBC_M_S_CTRL, SBC_M_S_CTRL_MODE_Msk, SBC_M_S_CTRL_MODE_Pos, SBC_MODE_RESET, NULL);
}
void extSortwareReset(void)
{
ResetDrv_SoftwareResetModule(&mcu.resetDrv,RESETDRV_SWRESET_SYS);
}

3
cva_asw_m0146/src/extern.h
View File

@ -6,6 +6,9 @@ void getSW_VERSION(unsigned char *pdata);
void getHW_VERSION(unsigned char *pdata);
void getBuildTime(unsigned char *pdata);
void extHardwareReset(void);
void extSortwareReset(void);
#endif

193
cva_asw_m0146/src/hwctrl.c
View File

@ -6,6 +6,8 @@
#include "TLE94x1.h"
#include "string.h"
#include "irq_drv.h"
#include "canuser.h"
/*******************************************************************************
* the defines
@ -15,51 +17,23 @@
/*******************************************************************************
* the typedefs
******************************************************************************/
typedef enum
{
UDS_MSG_IDX_STD_RX_PHYS,
UDS_MSG_IDX_STD_RX_FUNC,
UDS_MSG_IDX_STD_RX_TEST1,
UDS_MSG_IDX_STD_RX_TEST2,
UDS_MSG_IDX_STD_TX_TEST1,
UDS_MSG_IDX_STD_TX,
UDS_MSG_IDX_STD_TEST1,
UDS_MSG_IDX_STD_TEST2,
UDS_MSG_IDX_NUM
} Uds_MsgIdIdxType;
typedef struct
{
FlexCan_FrameStructureType rxMsg[CAN_BUFFER_FIFO_SIZE];
FlexCan_FrameStructureType txMsg[CAN_BUFFER_FIFO_SIZE];
uint8_t wrIdx;
uint8_t rdIdx;
} FlexCan_DataInfoType;
/*******************************************************************************
* the globals
******************************************************************************/
FlexCanDrv_ControllerCfgType flexCanCfg;
FlexCan_DataInfoType flexCan_DataInfo;
FlexCanDrvType* flexCanDrv_DemoObj;
/*******************************************************************************
* the const
******************************************************************************/
const FlexCanDrv_MsgCfgType msgCfgObj[UDS_MSG_IDX_NUM] = {
{UDS_MSG_IDX_STD_RX_PHYS, 1, UDS_PHYS_RECV_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_PHYS */
{UDS_MSG_IDX_STD_RX_FUNC, 1, UDS_FUNC_RECV_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_FUNC */
{UDS_MSG_IDX_STD_RX_TEST1, 1, APP_RX_TEST1_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_FUNC */
{UDS_MSG_IDX_STD_RX_TEST2, 1, APP_RX_TEST2_MSG_ID, false, FLEXCANDRV_MSGTYPE_RX, DLC_BYTE_8, false, true, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_RX_FUNC */
{UDS_MSG_IDX_STD_TX, 1, UDS_PHYS_RESP_MSG_ID, false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
{UDS_MSG_IDX_STD_TEST1, 1, APP_TX_TEST1_MSG_ID, false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
{UDS_MSG_IDX_STD_TEST2, 1, APP_TX_TEST2_MSG_ID, false, FLEXCANDRV_MSGTYPE_TX, DLC_BYTE_8, false, false, 0xFFFFFFFF}, /* CAN_MSGOBJ_STD_TX */
};
/*******************************************************************************
* the function prototypes
******************************************************************************/
static void FlexCanBoot_Init(McuType *obj);
static void hw_IO_Init(McuType *obj);
@ -112,16 +86,6 @@ void hw_init(McuType *obj)
SEGGER_RTT_printf(0,"-----SPI_INIT-----\n");
SBC_SPI_INIT();
/* CAN init */
memset(&flexCan_DataInfo, 0, sizeof(flexCan_DataInfo));
memset(&flexCanCfg, 0, sizeof(flexCanCfg));
SEGGER_RTT_printf(0,"-----FlexCanDrv_INIT-----\n");
/* get CAN controller default configuration */
FlexCanDrv_GetDefaultCfg(&flexCanCfg);
flexCanCfg.msgNum = sizeof(msgCfgObj) / sizeof(FlexCanDrv_MsgCfgType);
flexCanCfg.msgCfg = msgCfgObj;
FlexCanBoot_Init(obj);
hw_IO_Init(obj);
@ -459,149 +423,8 @@ void hw_MotorCtrl(McuType *obj,Motor_ID_Type motorid,Motor_ACT_Type dir)
}
/************************************* CAN *****************************************/
int8_t FlexCanBoot_TxMessage(uint32_t msgId, const uint8_t* pData, uint8_t size)
{
FlexCanDrv_MsgObjType txMsgObj;
uint8_t msgIdx = 0, i = 0;
for(i = 0; i < flexCanCfg.msgNum; i++)
{
if(msgId == flexCanCfg.msgCfg[i].msgId)
{
msgIdx = i;
break;
}
}
txMsgObj.msgBufId = flexCanCfg.msgCfg[msgIdx].msgBufId;
txMsgObj.dlc = size;
txMsgObj.msgId = flexCanCfg.msgCfg[msgIdx].msgId;
memcpy(&txMsgObj.data[0], pData, size);
FlexCanDrv_SetTxMsg(flexCanDrv_DemoObj, &txMsgObj);
/* transmit standard CAN Tx message */
FlexCanDrv_TransmitMsg(flexCanDrv_DemoObj, &txMsgObj);
return 0;
}
static void FlexCanBoot_Init(McuType *obj)
{
uint32_t busClockFreq = 0;
flexCanDrv_DemoObj = &obj->flexCanDrv0;
/* set PTE4 as MUX 5 - CAN0.RX */
PinsDrv_SetMuxModeSel(&obj->ptb, 0, PINSDRV_MUX_ALT5);
/* set PTE5 as MUX 5 - CAN0.TX */
PinsDrv_SetMuxModeSel(&obj->ptb, 1, PINSDRV_MUX_ALT5);
flexCanCfg.clkSrc = FLEXCANDRV_CLKSRC_CHICLK;
flexCanCfg.fdEnable = false;
flexCanCfg.fdISOEnable = false;
flexCanCfg.enhancefifoEnable = true;
flexCanCfg.msgBufDataLenSel = FLEXCANDRV_MB_SIZE_BYTE_8;
flexCanCfg.individualMaskEnable = true;
if(flexCanCfg.clkSrc == FLEXCANDRV_CLKSRC_CHICLK)
{
ClockDrv_GetFreq(&obj->clockDrv, CLOCKDRV_APB, &busClockFreq);
}
else
{
ClockDrv_GetFreq(&obj->clockDrv, CLOCKDRV_SOSC_DIV2, &busClockFreq);
}
if(flexCanCfg.fdEnable == true)
{
FlexCanDrv_BitTimingCalc(&flexCanCfg.fdBitTiming,
busClockFreq, /* module clock source: 16M */
2000000, /* baudrate: 2M */
7500, /* sample point: 75% */
2000, /* SJW: 20% */
1); /* FD bit timing */
}
FlexCanDrv_BitTimingCalc(&flexCanCfg.bitTiming,
busClockFreq, /* module clock source: 16M */
500000, /* baudrate: 500K */
7500, /* sample point: 75% */
2500, /* SJW: 20% */
0); /* classic CAN bit timing */
/* initialize CAN module */
FlexCanDrv_Configure(flexCanDrv_DemoObj, &flexCanCfg);
/* enable enhance rx fifo interrupt */
FlexCanDrv_SetEnhanceRxFFIsr(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_DAIE, true);
IrqDrv_EnableIrq(CAN0_ERxFIFO_IRQn);
}
bool FlexCanBoot_ReadoutMsg(FlexCan_FrameStructureType* pRxMsgObj)
{
bool ret = false;
if(flexCan_DataInfo.wrIdx != flexCan_DataInfo.rdIdx)
{
memcpy(pRxMsgObj, &flexCan_DataInfo.rxMsg[flexCan_DataInfo.rdIdx], sizeof(FlexCan_FrameStructureType));
flexCan_DataInfo.rdIdx++;
if(flexCan_DataInfo.rdIdx >= CAN_BUFFER_FIFO_SIZE)
{
flexCan_DataInfo.rdIdx = 0;
}
ret = true;
}
return ret;
}
uint8_t flexCanBoot_EnhanceRxFFCnt = 0;
void CAN0_ERxFIFO_Handler(void)
{
if(FlexCanDrv_GetEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_DAIE) == true)
{
if(FlexCanDrv_GetEnhanceRxFFIsFull(flexCanDrv_DemoObj) == false)
{
}
if(FlexCanDrv_GetEnhanceRxFFIsEmpty(flexCanDrv_DemoObj) == false)
{
FlexCanDrv_MsgObjType rxMsgObj;
flexCanBoot_EnhanceRxFFCnt = FlexCanDrv_GetEnhanceRxFFMsgNums(flexCanDrv_DemoObj);
if(flexCanBoot_EnhanceRxFFCnt > 0)
{
FlexCanDrv_GetEnhanceRxFifoMsg(flexCanDrv_DemoObj, &rxMsgObj);
memcpy(flexCan_DataInfo.rxMsg[flexCan_DataInfo.wrIdx].data, rxMsgObj.data, rxMsgObj.dlc);
flexCan_DataInfo.rxMsg[flexCan_DataInfo.wrIdx].id = rxMsgObj.msgId;
flexCan_DataInfo.rxMsg[flexCan_DataInfo.wrIdx].len = rxMsgObj.dlc;
flexCan_DataInfo.wrIdx++;
if(flexCan_DataInfo.wrIdx >= CAN_BUFFER_FIFO_SIZE)
{
flexCan_DataInfo.wrIdx = 0;
}
}
}
}
if(FlexCanDrv_GetEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_WMMIE) == true)
{
FlexCanDrv_ClearEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_WMMIE);
}
if(FlexCanDrv_GetEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_OVFIE) == true)
{
FlexCanDrv_ClearEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_OVFIE);
}
if(FlexCanDrv_GetEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_UFWIE) == true)
{
FlexCanDrv_ClearEnhanceRxFFIsrFlag(flexCanDrv_DemoObj, FLEXCANDRV_ENHANCERXFF_ISR_SRC_UFWIE);
}
}

40
cva_asw_m0146/src/hwctrl.h
View File

@ -2,61 +2,23 @@
#define __HWCTRL_H__
#include "mcu.h"
#include "MotorCtrl.h"
/*******************************************************************************
* the defines
******************************************************************************/
#define UDS_PHYS_RECV_MSG_ID (0x732)
#define UDS_FUNC_RECV_MSG_ID (0x7DF)
#define UDS_PHYS_RESP_MSG_ID (0x7B2)
#define APP_TX_TEST1_MSG_ID (0x111)
#define APP_TX_TEST2_MSG_ID (0x222)
#define APP_RX_TEST1_MSG_ID (0x444)
#define APP_RX_TEST2_MSG_ID (0x555)
#define CAN_DATA_BUFFER_SIZE (64u)
#define CAN_BUFFER_FIFO_SIZE (32u)
/*******************************************************************************
* the typedefs
******************************************************************************/
typedef struct
{
uint32_t id;
uint8_t data[CAN_DATA_BUFFER_SIZE];
uint8_t len;
uint16_t timeStamp;
uint32_t hrTimeStamp;
} FlexCan_FrameStructureType;
typedef enum
{
Motor_ACT_NOACT,//停止
Motor_ACT_CW,//正转
Motor_ACT_CCW,//反转
} Motor_ACT_Type;
typedef enum
{
Motor1,//
Motor2,//
Motor3,//
Motor4,//
Motor5,//
Motor6,//
} Motor_ID_Type;
/*******************************************************************************
* the function prototypes
******************************************************************************/
void hw_init(McuType *obj);
int8_t FlexCanBoot_TxMessage(uint32_t msgId, const uint8_t* pData, uint8_t size);
bool FlexCanBoot_ReadoutMsg(FlexCan_FrameStructureType* pRxMsgObj);
void hw_MotorCtrl(McuType *obj,Motor_ID_Type motorid,Motor_ACT_Type dir);

9
cva_asw_m0146/src/main.c
View File

@ -55,11 +55,6 @@ typedef struct
******************************************************************************/
McuType mcu;
#pragma location = ".asw_header"
__root const app_CfgInfoType app_inif = {
.sAswHeader = ASW_HEAD_MASK,//0x00010400
@ -79,10 +74,8 @@ __root const app_CfgInfoType app_inif = {
int main(void)
{
IrqDrv_DisableGlobalInterrupt();
/* Initialize all MCU drivers: flash drv included */
Mcu_Init(&mcu);
@ -91,8 +84,6 @@ int main(void)
hw_init(&mcu);
appTaskInit(&mcu);
IrqDrv_EnableGlobalInterrupt();
SEGGER_RTT_printf(0,"-----init success-----\n");

4
cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.bat
View File

@ -25,7 +25,7 @@ if not "%~1" == "" goto debugFile
@echo on
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.driver.xcl"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.driver.xcl"
@echo off
goto end
@ -34,7 +34,7 @@ goto end
@echo on
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.general.xcl" "--debug_file=%~1" --backend -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.driver.xcl"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.general.xcl" "--debug_file=%~1" --backend -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.driver.xcl"
@echo off
:end

4
cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.ps1
View File

@ -23,9 +23,9 @@
if ($debugfile -eq "")
{
& "E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.driver.xcl"
& "e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.general.xcl" --backend -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.driver.xcl"
}
else
{
& "E:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.general.xcl" --debug_file=$debugfile --backend -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.driver.xcl"
& "e:\Program Files\IAR Systems\Embedded Workbench 9.2\common\bin\cspybat" -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.general.xcl" --debug_file=$debugfile --backend -f "F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\settings\cva_bootloader_m0146.Debug.driver.xcl"
}

2
cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.driver.xcl
View File

@ -6,7 +6,7 @@
"-p"
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf"
"--semihosting"

6
cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.general.xcl
View File

@ -1,10 +1,10 @@
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armPROC.dll"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armPROC.dll"
"E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armJLINK.dll"
"e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armJLINK.dll"
"F:\FCB_project\RP-01\CODE\cva_bootloader_m0146\Debug_FLASH\Exe\bootloader_m146.out"
--plugin="E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armbat.dll"
--plugin="e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\bin\armbat.dll"

20
cva_bootloader_m0146/settings/cva_bootloader_m0146.dnx
View File

@ -15,13 +15,13 @@
<WatchCond>_ 0</WatchCond>
<Watch0>_ 0 "" 0 "" 0 "" 0 "" 0 0 0 0</Watch0>
<Watch1>_ 0 "" 0 "" 0 "" 0 "" 0 0 0 0</Watch1>
<LeaveTargetRunning>_ 0</LeaveTargetRunning>
<CStepIntDis>_ 0</CStepIntDis>
<jlinkResetStyle>12</jlinkResetStyle>
<jlinkResetStrategy>0</jlinkResetStrategy>
<TraceBufferSize>0x10000</TraceBufferSize>
<TraceStallIfFIFOFull>0x0</TraceStallIfFIFOFull>
<TracePortSize>0x4</TracePortSize>
<LeaveTargetRunning>_ 0</LeaveTargetRunning>
<CStepIntDis>_ 0</CStepIntDis>
</JLinkDriver>
<DebugChecksum>
<Checksum>968150740</Checksum>
@ -77,11 +77,11 @@
</CallStackStripe>
<PlDriver>
<FirstRun>0</FirstRun>
<MemConfigValue>E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue>
<MemConfigValue>e:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue>
</PlDriver>
<ArmDriver>
<EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>
<EnableCache>0</EnableCache>
<EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>
</ArmDriver>
<TerminalIO>
<InputSource>1</InputSource>
@ -95,6 +95,12 @@
<array_types>
<Fmt0>uint8_t[2056] 4 0</Fmt0>
</array_types>
<DriverProfiling>
<Enabled>0</Enabled>
<Mode>1</Mode>
<Graph>0</Graph>
<Symbiont>0</Symbiont>
</DriverProfiling>
<Trace2>
<Enabled>0</Enabled>
<ShowSource>0</ShowSource>
@ -149,12 +155,6 @@
<ShowTimeSum>1</ShowTimeSum>
<SumSortOrder>0</SumSortOrder>
</EventLog>
<DriverProfiling>
<Enabled>0</Enabled>
<Mode>1</Mode>
<Graph>0</Graph>
<Symbiont>0</Symbiont>
</DriverProfiling>
<PowerProbe>
<Frequency>10000</Frequency>
<Probe0>I0</Probe0>

16
cva_bootloader_m0146/settings/cva_bootloader_m0146.wsdt
View File

File diff suppressed because one or more lines are too long

7
cva_bootloader_m0146/src/main.c
View File

@ -713,6 +713,7 @@ static void Bootloader_SetSessionMode(uint8_t sessionMode)
static void Bootloader_SwReset(void)
{
IrqDrv_DisableGlobalInterrupt();//关闭中断，不加会导致无法复位
ResetDrv_SoftwareResetModule(&mcu.resetDrv, RESETDRV_SWRESET_SYS);
}
@ -837,6 +838,9 @@ int main(void)
if (gSystick1msCnt % 500 == 0)
{
ret = SBC_Read_Command(SBC_WD_CTRL);
SEGGER_RTT_printf(0,"%04d : SBC_WD_CTRL = %x\n",rollingcounter++,ret);
testdata[0] = ret;
//FlexCanBoot_TxMessage(UDS_TEXT_TX_MSG_ID,testdata,8);
}
@ -856,8 +860,7 @@ int main(void)
//PinsDrv_WritePin(&mcu.ptb, 5, 0);
}
ret = SBC_Read_Command(SBC_M_S_CTRL);
SEGGER_RTT_printf(0,"%04d : FAM_PROD_STAT = %x\n",rollingcounter++,ret);
}