mirror of
https://github.com/Dev-KATECH/ADM.git
synced 2026-05-17 01:43:59 +09:00
3minbe
049e2fa05f
- 비상정지 시 최대 제동 토크가 인가되도록 수정 - 제동등 점등 문제 수정 - HAC 로직 점검 : D단인 경우에만 HAC Flag 판단 로직이 동작하도록 수정 - ACU의 최고 속도 제한(25km/h)
407 lines
6.1 KiB
Plaintext
407 lines
6.1 KiB
Plaintext
task_1s ()
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{
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uint16_t din2;
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uint16_t din1;
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uint16_t adc_mV;
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<bb 2> :
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# DEBUG BEGIN_STMT
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Time_Tick1s ();
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# DEBUG BEGIN_STMT
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CAN_Task_1000ms ();
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# DEBUG BEGIN_STMT
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# DEBUG BEGIN_STMT
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_1 = gb.led_flag;
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_2 = _1 == 0;
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_3 = (int) _2;
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led_onoff (_3);
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return;
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}
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task_200ms ()
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{
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<bb 2> :
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# DEBUG BEGIN_STMT
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CAN_Task_200ms ();
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# DEBUG BEGIN_STMT
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PWM_for_dirve_mode ();
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return;
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}
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task_100ms ()
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{
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<bb 2> :
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# DEBUG BEGIN_STMT
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test_pwm.1_1 = test_pwm;
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if (test_pwm.1_1 <= 99)
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goto <bb 3>; [INV]
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else
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goto <bb 4>; [INV]
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<bb 3> :
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# DEBUG BEGIN_STMT
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test_pwm.2_2 = test_pwm;
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test_pwm.3_3 = test_pwm.2_2;
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_4 = test_pwm.3_3 + 1;
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test_pwm = _4;
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goto <bb 5>; [INV]
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<bb 4> :
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# DEBUG BEGIN_STMT
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test_pwm = 0;
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<bb 5> :
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# DEBUG BEGIN_STMT
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C_100ms.4_5 = C_100ms;
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_6 = C_100ms.4_5 + 1;
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C_100ms = _6;
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# DEBUG BEGIN_STMT
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CAN_Task_100ms ();
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return;
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}
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task_50ms ()
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{
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<bb 2> :
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# DEBUG BEGIN_STMT
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return;
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}
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task_20ms ()
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{
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<bb 2> :
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# DEBUG BEGIN_STMT
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CAN_Task_20ms ();
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return;
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}
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task_10ms ()
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{
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<bb 2> :
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# DEBUG BEGIN_STMT
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CAN_Task_10ms ();
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return;
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}
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task_5ms ()
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{
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<bb 2> :
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# DEBUG BEGIN_STMT
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CAN_Task_5ms ();
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return;
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}
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task_2ms ()
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{
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<bb 2> :
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# DEBUG BEGIN_STMT
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ECU3_KATECH_Logic_2ms ();
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return;
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}
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task_1ms ()
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{
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<bb 2> :
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# DEBUG BEGIN_STMT
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return;
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}
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task_500us ()
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{
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<bb 2> :
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# DEBUG BEGIN_STMT
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can_tx_check ();
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# DEBUG BEGIN_STMT
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can_main_ECU3 ();
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return;
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}
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main ()
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{
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u64 tick_200ms;
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u64 tick_5ms;
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u64 tick_500us;
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u64 tick_1ms;
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u64 tick_1sec;
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u64 tick_2ms;
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u64 tick_50ms;
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u64 tick_20ms;
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u64 tick_10ms;
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u64 tick_100ms;
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char ch;
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int port;
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int i;
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int retry;
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StatusType status;
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int D.14016;
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<bb 2> :
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# DEBUG BEGIN_STMT
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# DEBUG BEGIN_STMT
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# DEBUG BEGIN_STMT
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# DEBUG BEGIN_STMT
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# DEBUG BEGIN_STMT
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Gvar_init ();
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# DEBUG BEGIN_STMT
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Clock_Ip_Init (&Mcu_aClockConfigPB[0]);
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# DEBUG BEGIN_STMT
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Siul2_Port_Ip_Init (78, &g_pin_mux_InitConfigArr0);
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# DEBUG BEGIN_STMT
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IntCtrl_Ip_Init (&IntCtrlConfig_0);
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# DEBUG BEGIN_STMT
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IntCtrl_Ip_ConfigIrqRouting (&intRouteConfig);
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# DEBUG BEGIN_STMT
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Uart_Init ();
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# DEBUG BEGIN_STMT
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_1 = gb.pwm_max_tick;
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pwm_init (_1);
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# DEBUG BEGIN_STMT
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Adc_Init ();
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# DEBUG BEGIN_STMT
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i2c1_init ();
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# DEBUG BEGIN_STMT
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i2c0_init ();
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# DEBUG BEGIN_STMT
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SPI_init ();
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# DEBUG BEGIN_STMT
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Pit_Ip_Init (0, &PIT_0_InitConfig_PB);
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# DEBUG BEGIN_STMT
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Pit_Ip_InitChannel (0, &PIT_0_ChannelConfig_PB[0]);
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# DEBUG BEGIN_STMT
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Pit_Ip_EnableChannelInterrupt (0, 0);
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# DEBUG BEGIN_STMT
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Pit_Ip_StartChannel (0, 0, 20000);
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# DEBUG BEGIN_STMT
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ch = 0;
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goto <bb 4>; [INV]
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<bb 3> :
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# DEBUG BEGIN_STMT
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_2 = (int) ch;
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Can_Init_ECU3 (_2);
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# DEBUG BEGIN_STMT
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ch.0_3 = ch;
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ch = ch.0_3 + 1;
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<bb 4> :
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# DEBUG BEGIN_STMT
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if (ch <= 5)
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goto <bb 3>; [INV]
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else
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goto <bb 5>; [INV]
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<bb 5> :
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# DEBUG BEGIN_STMT
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board_init ();
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# DEBUG BEGIN_STMT
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tick_500us = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tick_1ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tick_2ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tick_5ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tick_10ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tick_20ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tick_50ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tick_100ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tick_200ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tick_1sec = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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tmr_delay (1000);
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# DEBUG BEGIN_STMT
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WATCHDOG_HAL_Init ();
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# DEBUG BEGIN_STMT
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debug_printf ("Board Init Finished\n\r");
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# DEBUG BEGIN_STMT
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ECU3_KATECH_Logic_init ();
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<bb 6> :
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# DEBUG BEGIN_STMT
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# DEBUG BEGIN_STMT
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_4 = gb.tmr_cnt;
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_5 = tick_1sec + 1000;
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if (_4 >= _5)
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goto <bb 7>; [INV]
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else
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goto <bb 8>; [INV]
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<bb 7> :
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# DEBUG BEGIN_STMT
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tick_1sec = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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task_1s ();
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<bb 8> :
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# DEBUG BEGIN_STMT
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_6 = gb.tmr_cnt;
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_7 = tick_200ms + 200;
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if (_6 >= _7)
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goto <bb 9>; [INV]
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else
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goto <bb 10>; [INV]
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<bb 9> :
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# DEBUG BEGIN_STMT
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tick_200ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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task_200ms ();
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<bb 10> :
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# DEBUG BEGIN_STMT
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_8 = gb.tmr_cnt;
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_9 = tick_100ms + 100;
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if (_8 >= _9)
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goto <bb 11>; [INV]
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else
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goto <bb 12>; [INV]
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<bb 11> :
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# DEBUG BEGIN_STMT
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tick_100ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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task_100ms ();
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<bb 12> :
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# DEBUG BEGIN_STMT
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_10 = gb.tmr_cnt;
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_11 = tick_50ms + 50;
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if (_10 >= _11)
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goto <bb 13>; [INV]
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else
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goto <bb 14>; [INV]
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<bb 13> :
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# DEBUG BEGIN_STMT
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tick_50ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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task_50ms ();
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<bb 14> :
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# DEBUG BEGIN_STMT
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_12 = gb.tmr_cnt;
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_13 = tick_20ms + 20;
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if (_12 >= _13)
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goto <bb 15>; [INV]
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else
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goto <bb 16>; [INV]
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<bb 15> :
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# DEBUG BEGIN_STMT
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tick_20ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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task_20ms ();
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<bb 16> :
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# DEBUG BEGIN_STMT
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_14 = gb.tmr_cnt;
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_15 = tick_10ms + 10;
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if (_14 >= _15)
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goto <bb 17>; [INV]
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else
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goto <bb 18>; [INV]
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<bb 17> :
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# DEBUG BEGIN_STMT
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tick_10ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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task_10ms ();
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<bb 18> :
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# DEBUG BEGIN_STMT
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_16 = gb.tmr_cnt;
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_17 = tick_5ms + 5;
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if (_16 >= _17)
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goto <bb 19>; [INV]
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else
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goto <bb 20>; [INV]
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<bb 19> :
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# DEBUG BEGIN_STMT
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tick_5ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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task_5ms ();
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<bb 20> :
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# DEBUG BEGIN_STMT
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_18 = gb.tmr_cnt;
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_19 = tick_2ms + 2;
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if (_18 >= _19)
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goto <bb 21>; [INV]
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else
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goto <bb 22>; [INV]
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<bb 21> :
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# DEBUG BEGIN_STMT
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tick_2ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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task_2ms ();
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<bb 22> :
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# DEBUG BEGIN_STMT
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_20 = gb.tmr_cnt;
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_21 = tick_1ms + 1;
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if (_20 >= _21)
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goto <bb 23>; [INV]
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else
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goto <bb 24>; [INV]
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<bb 23> :
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# DEBUG BEGIN_STMT
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tick_1ms = gb.tmr_cnt;
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# DEBUG BEGIN_STMT
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task_1ms ();
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<bb 24> :
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# DEBUG BEGIN_STMT
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_22 = gb.x500us;
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_23 = tick_500us + 1;
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if (_22 >= _23)
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goto <bb 25>; [INV]
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else
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goto <bb 26>; [INV]
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<bb 25> :
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# DEBUG BEGIN_STMT
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tick_500us = gb.x500us;
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# DEBUG BEGIN_STMT
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task_500us ();
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<bb 26> :
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# DEBUG BEGIN_STMT
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WATCHDOG_HAL_Fed ();
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# DEBUG BEGIN_STMT
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uds_wait ();
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# DEBUG BEGIN_STMT
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goto <bb 6>; [INV]
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}
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