diff --git a/CAN_Bootloader/main.aardio b/CAN_Bootloader/main.aardio index 9a1a860..e7d5116 100644 --- a/CAN_Bootloader/main.aardio +++ b/CAN_Bootloader/main.aardio @@ -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(); } diff --git a/CAN_Bootloader/user/CanThread.aardio b/CAN_Bootloader/user/CanThread.aardio index 617ab12..7565d76 100644 --- a/CAN_Bootloader/user/CanThread.aardio +++ b/CAN_Bootloader/user/CanThread.aardio @@ -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; diff --git a/cva_asw_m0146/.vscode/settings.json b/cva_asw_m0146/.vscode/settings.json index 5b093a8..4afa91c 100644 --- a/cva_asw_m0146/.vscode/settings.json +++ b/cva_asw_m0146/.vscode/settings.json @@ -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": "" } \ No newline at end of file diff --git a/cva_asw_m0146/SDK/middleware/uds/user/uds_service11.c b/cva_asw_m0146/SDK/middleware/uds/user/uds_service11.c index d8e2ec5..1f17961 100644 --- a/cva_asw_m0146/SDK/middleware/uds/user/uds_service11.c +++ b/cva_asw_m0146/SDK/middleware/uds/user/uds_service11.c @@ -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); diff --git a/cva_asw_m0146/cva_asw_m0146.ewp b/cva_asw_m0146/cva_asw_m0146.ewp index de06dbd..ce514be 100644 --- a/cva_asw_m0146/cva_asw_m0146.ewp +++ b/cva_asw_m0146/cva_asw_m0146.ewp @@ -2964,6 +2964,9 @@ $PROJ_DIR$\src\appTask.c + + $PROJ_DIR$\src\canuser.c + $PROJ_DIR$\src\extern.c diff --git a/cva_asw_m0146/cva_asw_m0146.ewt b/cva_asw_m0146/cva_asw_m0146.ewt index bab0c6f..43da57a 100644 --- a/cva_asw_m0146/cva_asw_m0146.ewt +++ b/cva_asw_m0146/cva_asw_m0146.ewt @@ -3603,6 +3603,9 @@ $PROJ_DIR$\src\appTask.c + + $PROJ_DIR$\src\canuser.c + $PROJ_DIR$\src\extern.c diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat index 1f65c7c..a46c3b9 100644 --- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat +++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.bat @@ -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 \ No newline at end of file diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1 b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1 index 8eaae2d..9544490 100644 --- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1 +++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.cspy.ps1 @@ -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" } diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl b/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl index ffd29cb..28b46e5 100644 --- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl +++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.driver.xcl @@ -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" diff --git a/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl b/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl index e6c2ce3..9bf83b9 100644 --- a/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl +++ b/cva_asw_m0146/settings/cva_asw_m0146.Debug.general.xcl @@ -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" diff --git a/cva_asw_m0146/settings/cva_asw_m0146.dnx b/cva_asw_m0146/settings/cva_asw_m0146.dnx index f785f4d..2269911 100644 --- a/cva_asw_m0146/settings/cva_asw_m0146.dnx +++ b/cva_asw_m0146/settings/cva_asw_m0146.dnx @@ -22,7 +22,7 @@ 0 - 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 1 diff --git a/cva_asw_m0146/settings/cva_asw_m0146.wsdt b/cva_asw_m0146/settings/cva_asw_m0146.wsdt index 6047720..bc34714 100644 --- a/cva_asw_m0146/settings/cva_asw_m0146.wsdt +++ b/cva_asw_m0146/settings/cva_asw_m0146.wsdt @@ -117,11 +117,11 @@ 1 1 1 - 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0 @@ -180,7 +180,7 @@ 76 914 2 - + 0 -1 @@ -202,7 +202,7 @@ 76 914 2 - + 0 -1 @@ -238,7 +238,7 @@ 76 912 2 - + 0 -1 @@ -257,7 +257,7 @@ 2 - + 0 -1 @@ -279,16 +279,16 @@ 2 - + - + <Right-click on a symbol in the editor to show a call graph> - + 0 @@ -297,7 +297,7 @@ 0 - + 0 @@ -419,7 +419,7 @@ CMSIS-Pack - 00200000010000000100FFFF01001100434D4643546F6F6C426172427574746F6ED18400000200000092000000FFFEFF00000000000000000000000000010000000100000000000000FFFEFF0A43004D005300490053002D005000610063006B0018000000 + 00200000010000000100FFFF01001100434D4643546F6F6C426172427574746F6ED184000002000000AA000000FFFEFF00000000000000000000000000010000000100000000000000FFFEFF0A43004D005300490053002D005000610063006B0018000000 34048 @@ -548,7 +548,7 @@ Main - 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diff --git a/cva_asw_m0146/src/MotorCtrl.c b/cva_asw_m0146/src/MotorCtrl.c index 2e985c7..d2be17f 100644 --- a/cva_asw_m0146/src/MotorCtrl.c +++ b/cva_asw_m0146/src/MotorCtrl.c @@ -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--; + } + */ +} + diff --git a/cva_asw_m0146/src/MotorCtrl.h b/cva_asw_m0146/src/MotorCtrl.h index 68b61db..90da483 100644 --- a/cva_asw_m0146/src/MotorCtrl.h +++ b/cva_asw_m0146/src/MotorCtrl.h @@ -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); diff --git a/cva_asw_m0146/src/appTask.c b/cva_asw_m0146/src/appTask.c index 1170290..49d0731 100644 --- a/cva_asw_m0146/src/appTask.c +++ b/cva_asw_m0146/src/appTask.c @@ -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); } } diff --git a/cva_asw_m0146/src/canuser.c b/cva_asw_m0146/src/canuser.c new file mode 100644 index 0000000..e684752 --- /dev/null +++ b/cva_asw_m0146/src/canuser.c @@ -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); + } +} diff --git a/cva_asw_m0146/src/canuser.h b/cva_asw_m0146/src/canuser.h new file mode 100644 index 0000000..0d41704 --- /dev/null +++ b/cva_asw_m0146/src/canuser.h @@ -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 diff --git a/cva_asw_m0146/src/extern.c b/cva_asw_m0146/src/extern.c index e15077a..ce8383f 100644 --- a/cva_asw_m0146/src/extern.c +++ b/cva_asw_m0146/src/extern.c @@ -1,11 +1,13 @@ #include "extern.h" - +#include "TLE94x1.h" #include - +#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); } \ No newline at end of file diff --git a/cva_asw_m0146/src/extern.h b/cva_asw_m0146/src/extern.h index ce714a9..477a085 100644 --- a/cva_asw_m0146/src/extern.h +++ b/cva_asw_m0146/src/extern.h @@ -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 diff --git a/cva_asw_m0146/src/hwctrl.c b/cva_asw_m0146/src/hwctrl.c index ccf8edb..34695f4 100644 --- a/cva_asw_m0146/src/hwctrl.c +++ b/cva_asw_m0146/src/hwctrl.c @@ -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); - } -} + + diff --git a/cva_asw_m0146/src/hwctrl.h b/cva_asw_m0146/src/hwctrl.h index bc5b1b2..1b0cc7a 100644 --- a/cva_asw_m0146/src/hwctrl.h +++ b/cva_asw_m0146/src/hwctrl.h @@ -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); diff --git a/cva_asw_m0146/src/main.c b/cva_asw_m0146/src/main.c index d2e77b3..cd81ce4 100644 --- a/cva_asw_m0146/src/main.c +++ b/cva_asw_m0146/src/main.c @@ -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"); diff --git a/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.bat b/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.bat index 14ee629..df88f5a 100644 --- a/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.bat +++ b/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.bat @@ -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 \ No newline at end of file diff --git a/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.ps1 b/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.ps1 index f14ba67..e6bf050 100644 --- a/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.ps1 +++ b/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.cspy.ps1 @@ -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" } diff --git a/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.driver.xcl b/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.driver.xcl index ffd29cb..28b46e5 100644 --- a/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.driver.xcl +++ b/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.driver.xcl @@ -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" diff --git a/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.general.xcl b/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.general.xcl index e936804..d912a3a 100644 --- a/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.general.xcl +++ b/cva_bootloader_m0146/settings/cva_bootloader_m0146.Debug.general.xcl @@ -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" diff --git a/cva_bootloader_m0146/settings/cva_bootloader_m0146.dnx b/cva_bootloader_m0146/settings/cva_bootloader_m0146.dnx index f9cae5f..c3da40b 100644 --- a/cva_bootloader_m0146/settings/cva_bootloader_m0146.dnx +++ b/cva_bootloader_m0146/settings/cva_bootloader_m0146.dnx @@ -15,13 +15,13 @@ _ 0 _ 0 "" 0 "" 0 "" 0 "" 0 0 0 0 _ 0 "" 0 "" 0 "" 0 "" 0 0 0 0 - _ 0 - _ 0 12 0 0x10000 0x0 0x4 + _ 0 + _ 0 968150740 @@ -77,11 +77,11 @@ 0 - 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 - 1 0 + 1 1 @@ -95,6 +95,12 @@ uint8_t[2056] 4 0 + + 0 + 1 + 0 + 0 + 0 0 @@ -149,12 +155,6 @@ 1 0 - - 0 - 1 - 0 - 0 - 10000 I0 diff --git a/cva_bootloader_m0146/settings/cva_bootloader_m0146.wsdt b/cva_bootloader_m0146/settings/cva_bootloader_m0146.wsdt index f98b5d8..b6d5eec 100644 --- a/cva_bootloader_m0146/settings/cva_bootloader_m0146.wsdt +++ b/cva_bootloader_m0146/settings/cva_bootloader_m0146.wsdt @@ -16,7 +16,7 @@ _I0 - 1503 + 1486 20 2 @@ -95,11 +95,11 @@ 1 1 1 - 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diff --git a/cva_bootloader_m0146/src/main.c b/cva_bootloader_m0146/src/main.c index 658202f..61a9906 100644 --- a/cva_bootloader_m0146/src/main.c +++ b/cva_bootloader_m0146/src/main.c @@ -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); + }