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https://github.com/Dev-KATECH/ADM.git
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3minbe
a848e02179
- 1채널(ACU) RX ID 수정(150 → 151) - ACU ARC 적용 - [!] Message buffer(MB) 오류 수정 = define.h 내 MAX_RX_MB_1ch 수정 (4U → 32U) = board.c 내 LN.1244 RXID setting for문 수정(RX_MB_IDX → RX_MB_IDX_1ch) - Simulink 로직 수정 = ACU CAN Fault Flag 적용 = ACU 모드일때만 적용
344 lines
10 KiB
C
344 lines
10 KiB
C
#ifndef __define__
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#define __define__
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#include "math.h"
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#define EVB_BOARD 1
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#define Pllab_BOARD 2
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#define BOARD_TYPE EVB_BOARD
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// #define DEBUG_TEST
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// #define EMC_TEST
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/* ------------------------------------------------------------------------ */
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typedef unsigned long u64;
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typedef unsigned int u32;
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typedef int s32;
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typedef unsigned short u16;
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typedef unsigned char u8;
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typedef signed char s8;
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/* ------------------------------------------------------------------------ */
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#ifndef TRUE
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#define TRUE 1
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#endif
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#ifndef FALSE
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#define FALSE 0
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#endif
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/* ------------------------------------------------------------------------ */
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#define APP_TRUE 0
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#define APP_FALSE 1
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#define APP_ERROR 2
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#define APP_ON 1
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#define APP_OFF 0
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#define APP_HIGH 1
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#define APP_LOW 0
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/* ------------------------------------------------------------------------ */
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#define MAX_COMMAND_BUF 256
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/* ------------------------------------------------------------------------ */
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//CAM FD MB 0~23 TX_MB 0~3 RX_MB 4~23
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#define RX_MB_IDX MAX_TX_MB
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#define TX_MB_IDX 0U
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#define RX_MB_IDX_1ch MAX_TX_MB_1ch
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#define MAX_RX_MB 32U
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#define MAX_TX_MB 14U
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#define MAX_RX_MB_1ch 32U
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#define MAX_TX_MB_1ch 28U
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#define MAX_TX_RING 200
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#define MAX_RX_RING 100
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#define MAX_CAN_BUFFER 32 //max can length
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/* ------------------------------------------------------------------------ */
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#define P_WR(ch) CAN_ch[ch].p_wr
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#define P_RD(ch) CAN_ch[ch].p_rd
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/* ------------------------------------------------------------------------ */
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//<2F>궗<EFBFBD>뼇<EFBFBD>꽌<EFBFBD>쓽 寃쎌슦 1~6梨꾨꼸, 肄붾뱶<EBB6BE>긽<EFBFBD>뿉<EFBFBD>꽌<EFBFBD>뒗 0~5梨꾨꼸, 肄붾뱶湲곗<E6B9B2><EAB397>쑝濡<EC919D> <20>옉<EFBFBD>꽦<EFBFBD>븯<EFBFBD><EBB8AF><EFBFBD>쓬
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/*ECU3 CH0*/
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/*tx id*/
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#define ECU3_CH0_RWA_VCU_RC_Signal1 0x050
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#define ECU3_CH0_RWA_VCU_RC_Signal2 0x051
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#define ECU3_CH0_RWS_VCU_RC_Signal1 0x060
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#define ECU3_CH0_RWS_VCU_RC_Signal2 0x061
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#define ECU3_CH0_VCU_BCM_Signal_1 0x150
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#define ECU3_CH0_VCU_MCU_Signals1 0x250
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#define ECU3_CH0_VCU_RC_Signals1 0x010
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#define ECU3_CH0_VCU_RC_Signals2 0x011
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#define ECU3_VCU_EPAM 0x220
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/*rx id*/
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#define ECU3_CH0_BCM_VCU_Signal1 0x570
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#define ECU3_CH0_BCM_VCU_Signal2 0x580
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#define ECU3_CH0_BCM_VCU_Signal3 0x590
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#define ECU3_CH0_BCM_VCU_Signal4 0x595
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#define ECU3_CH0_BCM_VCU_Signal5 0x585
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#define ECU3_CH0_MCU_VCU_Signals1 0x300
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#define ECU3_CH0_MCU_VCU_Signals2 0x301
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#define ECU3_CH0_RC_VCU_Signal1 0x040
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#define ECU3_CH0_RC_VCU_Signal2 0x041
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#define ECU3_CH0_RX_IMU_TX1 0x174
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#define ECU3_CH0_RX_IMU_TX2 0x178
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#define ECU3_CH0_RX_IMU_TX3 0x17C
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#define ECU3_RC_VCU_BCM_Signal_1 0x155
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#define ECU3_EPAM_VCU 0x221
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#define ECU3_CAR_ARC 0x012
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#define ECU3_Receive_Debugging 0x777
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#define ECU3_RC_VCU_Fault_Flag 0x042
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/*ECU3 CH1*/
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/*tx id*/
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#define ECU3_CH1_BCM_VCU_ACU_Signal1 0x570
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#define ECU3_CH1_BCM_VCU_ACU_Signal2 0x580
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#define ECU3_CH1_BCM_VCU_ACU_Signal3 0x590
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#define ECU3_CH1_BCM_VCU_ACU_Signal4 0x595
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#define ECU3_CH1_BCM_VCU_ACU_Signal5 0x585
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#define ECU3_CH1_RWA_VCU_ACU_Signal1 0x050
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#define ECU3_CH1_RWA_VCU_ACU_Signal2 0x051
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#define ECU3_CH1_RWS_VCU_ACU_Signal1 0x060
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#define ECU3_CH1_RWS_VCU_ACU_Signal2 0x061
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#define ECU3_CH1_VCU_ACU_Signal1 0x013
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#define ECU3_CH1_VCU_ACU_Signal2 0x014
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/*rx id*/
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#define ECU3_CH1_ACU_VCU_Signal1 0x091
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#define ECU3_CH1_ACU_VCU_Signal2 0x092
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#define ECU3_CH1_ACU_VCU_Signal3 0x093
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#define ECU3_CH1_ACU_BCM_Signal_1 0x151
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/*ECU3 CH2*/
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/*tx id*/
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#define ECU3_CH2_BSC_IDB_BrakeCommand 0x064
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#define ECU3_CH2_BSC_IMU_ 0x070
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#define ECU3_CH2_BSC_IDB_StartupCommand 0x032
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#define ECU3_CH2_CH3_B_I_U_Message_1 0x797
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#define ECU3_CH2_BSC_RegenCommand 0x06A
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#define ECU3_CH2_BSC_RWA_RackCommand 0x040
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#define ECU3_CH2_BSC_RWA_Sister 0x350
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#define ECU3_CH2_BSC_RWA_StartupCommand 0x310
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#define ECU3_CH2_BSC_VehicleEnvironment 0x384
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#define ECU3_CH2_IDB_WheelSpeedStatus 0x088
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/*rx id*/
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#define ECU3_CH2_IDB_BrakeStatus1 0x09A
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#define ECU3_CH2_IDB_BrakeStatus2 0x0C8
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#define ECU3_CH2_IDB_PressureStatus 0x0A0
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#define ECU3_CH2_IDB_RegenTcsRequest 0x082
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#define ECU3_CH2_IDB_Status 0x092
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#define ECU3_CH2_IDB_TireSlipStatus 0x096
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#define ECU3_CH2_IDB_UdsResponse 0x798
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#define ECU3_CH2_IDB_WheelStatus 0x08C
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#define ECU3_CH2_RWA_Status1 0x072
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#define ECU3_CH2_RWA_Status2 0x073
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#define ECU3_CH2_RWA_Status3 0x0AA
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/*ECU3 CH3*/
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/*tx id*/
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#define ECU3_CH3_TX_BSC_IMU 0x071
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#define ECU3_CH3_TX_BSC_RCU_BrakeCommand 0x065
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#define ECU3_CH3_TX_BSC_RWA_RackCommand 0x040
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#define ECU3_CH3_TX_BSC_RWA_Sister 0x350
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#define ECU3_CH3_TX_BSC_RWA_StartupCommand 0x310
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#define ECU3_CH3_TX_BSC_RCU_StartupCommand 0x033
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#define ECU3_CH3_TX_BSC_RCU_UdsRequest 0x797
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#define ECU3_CH3_TX_BSC_VehicleEnvironment 0x385
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#define ECU3_CH3_TX_RCU_WheelSpeedStatus 0x089
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/*rx id*/
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#define ECU3_CH3_RX_RCU_BrakeStatus1 0x09B
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#define ECU3_CH3_RX_RCU_BrakeStatus2 0x0C9
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#define ECU3_CH3_RX_RCU_PressureStatus 0x0A1
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#define ECU3_CH3_RX_RWA_Status1 0x072
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#define ECU3_CH3_RX_RWA_Status2 0x073
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#define ECU3_CH3_RX_RWA_Status3 0x0AA
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#define ECU3_CH3_RX_RCU_TireSlipStatus 0x097
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#define ECU3_CH3_RX_RCU_WheelStatus 0x08D
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#define ECU3_CH3_RX_RCU_Status 0x093
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#define ECU3_CH3_RX_RCU_UdsResponse 0x799
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/*ECU3 CH4*/
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/*tx id*/
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#define ECU3_CH4_VCU_RWS_Rack_Cmd 0x040
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#define ECU3_CH4_VCU_RWS_StartupCommand 0x310
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/*rx id*/
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#define ECU3_CH4_RX_RWS_VCU_Rack_AngleFbk 0x073
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#define ECU3_CH4_RX_RWS_VCU_stat_Signal 0x072
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/*ECU3 CH5*/
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/*tx id*/
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#define ECU3_CH5_VCU_RWS_Rack_Cmd 0x040
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#define ECU3_CH5_VCU_RWS_StartupCommand 0x310
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/*rx id*/
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#define ECU3_CH5_RWS_VCU_Rack_AngleFbk 0x073
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#define ECU3_CH5_RWS_VCU_stat_Signal 0x072
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/* ------------------------------------------------------------------------ */
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typedef void (*user_callback)( int param );
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/* ------------------------------------------------------------------------ */
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#define PIT_INST_0 0U
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#define CH_0 0U
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//#define PIT_PERIOD 40000 // 1ms
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#define PIT_PERIOD 20000 // 500Usec
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/* ------------------------------------------------------------------------ */
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#define ADC_INST_0 0U
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#define ADC_INST_1 1U
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#define ADC_INST_2 2U
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#define MAX_ADC_RETRY 10
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#define ADC_AN_6 6U
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#define ADC_AN_2 2U
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#define ADC_AN_3 3U
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#define ADC_AN_4 4U
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#define ADC_AN_5 5U
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#define ADC_AN_43 43U
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/* ------------------------------------------------------------------------ */
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#define MAX_CAN_INST 6
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#define CAN_INST_0 0U
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#define CAN_INST_1 1U
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#define CAN_INST_2 2U
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#define CAN_INST_3 3U
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#define CAN_INST_4 4U
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#define CAN_INST_5 5U
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/* ------------------------------------------------------------------------ */
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#define DIN_0 0U
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#define DIN_1 1U
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#define DIN_2 2U
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#define DIN_3 3U
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#define DIN_4 4U
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#define DIN_5 5U
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#define DIN_6 6U
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#define DIN_7 7U
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#define DOUT_0 0U
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#define DOUT_1 1U
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#define DOUT_2 2U
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#define DOUT_3 3U
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#define DOUT_4 4U
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#define DOUT_5 5U
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#define DOUT_6 6U
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#define DOUT_7 7U
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#define ADC_0 0U
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#define ADC_1 1U
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#define ADC_2 2U
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#define ADC_3 3U
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#define ADC_4 4U
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#define AIN_BAT 5U
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/* ------------------------------------------------------------------------ */
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#define MAX_PWM 8
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#define PWM_EMIOS_0 0U
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#define PWM_CH0 0U
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#define PWM_CH1 1U
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#define PWM_CH2 2U
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#define PWM_CH3 3U
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#define PWM_FREQ 50000 // 50KHz
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#define PWM_INIT_MAX_TICK 160000000/PWM_FREQ
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/* ------------------------------------------------------------------------ */
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#define HW_LPI2C1 1 // Hardware I2C
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#define I2C_SLAVE 1U
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#define I2C_MASTER 0U
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#define TRANSFER_SIZE 8U
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/* ------------------------------------------------------------------------ */
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/* --- software I2C --- */
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//#define I2C_CROSS
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#ifndef I2C_CROSS
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#define I2C_DELAY 500
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#define I2C_SDA(x) {if(x) Siul2_Dio_Ip_WritePin(I2C0_SDA_PORT, I2C0_SDA_PIN, 1U); else Siul2_Dio_Ip_WritePin(I2C0_SDA_PORT, I2C0_SDA_PIN, 0U);}
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#define I2C_SCL(x) {if(x) Siul2_Dio_Ip_WritePin(I2C0_SCL_PORT, I2C0_SCL_PIN, 1U); else Siul2_Dio_Ip_WritePin(I2C0_SCL_PORT, I2C0_SCL_PIN, 0U);}
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#define I2C_SDI ((Siul2_Dio_Ip_ReadPins(I2C0_SDA_PORT)&0x00000001)?1:0)
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#else
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#define I2C_DELAY 500
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#define I2C_SDA(x) {if(x) Siul2_Dio_Ip_WritePin(I2C0_SCL_PORT, I2C0_SCL_PIN, 1U); else Siul2_Dio_Ip_WritePin(I2C0_SCL_PORT, I2C0_SCL_PIN, 0U);}
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#define I2C_SCL(x) {if(x) Siul2_Dio_Ip_WritePin(I2C0_SDA_PORT, I2C0_SDA_PIN, 1U); else Siul2_Dio_Ip_WritePin(I2C0_SDA_PORT, I2C0_SDA_PIN, 0U);}
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#define I2C_SDI ((Siul2_Dio_Ip_ReadPins(I2C0_SCL_PORT)&0x00000002)?1:0)
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#endif
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/* ------------------------------------------------------------------------ */
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#define I2C_START { I2C_SDA(APP_HIGH); i2c_delay(I2C_DELAY); I2C_SCL(APP_HIGH); i2c_delay(I2C_DELAY);\
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I2C_SDA(APP_LOW); i2c_delay(I2C_DELAY); I2C_SCL(APP_LOW); i2c_delay(I2C_DELAY);}
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#define I2C_STOP { I2C_SCL(APP_LOW); i2c_delay(I2C_DELAY); I2C_SDA(APP_LOW); i2c_delay(I2C_DELAY);\
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I2C_SCL(APP_HIGH); i2c_delay(I2C_DELAY); \
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I2C_SDA(APP_HIGH); i2c_delay(I2C_DELAY); }
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#define I2C_WDATA(a) { I2C_SCL(APP_LOW); i2c_delay(I2C_DELAY); I2C_SDA(a); i2c_delay(I2C_DELAY);\
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I2C_SCL(APP_HIGH); i2c_delay(I2C_DELAY); I2C_SCL(APP_LOW); i2c_delay(I2C_DELAY);}
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#define I2C_RDATA(a) { I2C_SCL(APP_HIGH); i2c_delay(I2C_DELAY); \
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a<<=1; a|=I2C_SDI; i2c_delay(I2C_DELAY); \
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I2C_SCL(APP_LOW); i2c_delay(I2C_DELAY); }
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#define I2C_GETACK(a) { i2c_delay(I2C_DELAY); I2C_SCL(APP_HIGH); i2c_delay(I2C_DELAY);\
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a|=I2C_SDI; i2c_delay(I2C_DELAY); I2C_SCL(APP_LOW); i2c_delay(I2C_DELAY);}
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#define I2C_SETNACK { I2C_SDA(APP_HIGH); i2c_delay(I2C_DELAY); I2C_SCL(APP_HIGH); i2c_delay(I2C_DELAY);\
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I2C_SCL(APP_LOW); i2c_delay(I2C_DELAY); I2C_SDA(APP_HIGH); i2c_delay(I2C_DELAY);}
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#define I2C_SETACK { I2C_SDA(APP_LOW); i2c_delay(I2C_DELAY); I2C_SCL(APP_HIGH); i2c_delay(I2C_DELAY);\
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I2C_SCL(APP_LOW); i2c_delay(I2C_DELAY); I2C_SDA(APP_HIGH); i2c_delay(I2C_DELAY);}
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/* ------------------------------------------------------------------------ */
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#define LIN_INSTANCE_1 0
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#define LIN_INSTANCE_2 1
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#define ID_1 0x1A
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#define ID_2 0x2A
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#define BUFFER_SIZE 3U
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#define T_LIN_TIME_OUT 400000
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#endif
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