mirror of
https://github.com/Dev-KATECH/ADM.git
synced 2026-05-17 09:53:59 +09:00
398 lines
7.4 KiB
C
398 lines
7.4 KiB
C
/*==================================================================================================
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* Project : RTD AUTOSAR 4.4
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* Platform : CORTEXM
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* Peripheral : S32K3XX
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* Dependencies : none
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*
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* Autosar Version : 4.4.0
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* Autosar Revision : ASR_REL_4_4_REV_0000
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* Autosar Conf.Variant :
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* SW Version : 0.9.0
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* Build Version : S32K3_RTD_0_9_0_P02_D2107_ASR_REL_4_4_REV_0000_20210716
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*
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* (c) Copyright 2020 - 2021 NXP Semiconductors
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* All Rights Reserved.
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*
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* NXP Confidential. This software is owned or controlled by NXP and may only be
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* used strictly in accordance with the applicable license terms. By expressly
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* accepting such terms or by downloading, installing, activating and/or otherwise
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* using the software, you are agreeing that you have read, and that you agree to
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* comply with and are bound by, such license terms. If you do not agree to be
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* bound by the applicable license terms, then you may not retain, install,
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* activate or otherwise use the software.
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==================================================================================================*/
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/**
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* @file main.c
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*
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* @addtogroup main_module main module documentation
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* @{
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*/
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/* Including necessary configuration files. */
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#include "Mcal.h"
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/* User includes */
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#define __APP_MAIN__
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uint8_t write_flag = 1;
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#include "FlexCAN_Ip_Types.h"
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#include "Lpuart_Uart_Ip.h"
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#include "Lpuart_Uart_Ip_Irq.h"
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#include "Clock_Ip.h"
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#include "IntCtrl_Ip.h"
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#include "Flexio_Mcl_Ip.h"
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#include "Adc_Sar_Ip.h"
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#include "FlexCAN_Ip.h"
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#include "Emios_Pwm_Ip.h"
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#include "Emios_Mcl_Ip.h"
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#include "Siul2_Port_Ip.h"
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#include "Siul2_Dio_Ip.h"
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#include "Pit_Ip.h"
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#include <string.h>
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#include "main.h"
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#include "can.h"
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#include "board.h"
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#include "KATECK_Logic.h"
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#include "Ignition.h"
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#include "System_Check.h"
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#include "Operation_Mode.h"
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#include "Global_Variable.h"
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#include "Speed.h"
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//==========================PYO====
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#include "NO_BCM_SIG.h"
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#include "NO_MCU_SIG.h"
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#include "LAMP_CMD.h"
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#include "Motor_logic.h"
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#include "PWM.h"
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//========================== bsw
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#include "def_uds.h"
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#include "uds.h"
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//========================== bsw
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#include "watchdog_hal.h"
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uint16_t adc0;
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extern uint8 rxBufferSlave[TRANSFER_SIZE];
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// VERSION
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__attribute__ ((section(".appversion"))) const char AppVersion[]= {
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"GW344 V0.2.5 2023.11.6 12:00\n\r"
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};
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void (*const appsign[])() __attribute__ ((section(".appsign"))) =
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{
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0x55AA1234, // 0x55AA1234 bootloader
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0x00000000
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};
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void (*const boot_vector[])() __attribute__ ((section(".boot_vector"))) =
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{
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0x5AA55AA5, // 0x55AA1234 bootloader
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0x00000001,
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0x00000000,
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0x00401000
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};
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/*!
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\brief The main function for the project.
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\details The startup initialization sequence is the following:
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* - startup asm routine
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* - main()
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*/
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int main(void)
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{
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/* Write your code here */
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StatusType status;
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int retry, i, port;
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char ch;
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u64 tick_100ms, tick_10ms,tick_20ms,tick_50ms, tick_2ms, tick_1sec, tick_1ms,tick_500us, tick_5ms, tick_200ms;
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Gvar_init();
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/* Init clock */
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Clock_Ip_Init(&Mcu_aClockConfigPB[0]);
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/* Initialize all pins */
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Siul2_Port_Ip_Init(NUM_OF_CONFIGURED_PINS0, g_pin_mux_InitConfigArr0);
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/* Initialize IRQs */
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IntCtrl_Ip_Init(&IntCtrlConfig_0);
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IntCtrl_Ip_ConfigIrqRouting(&intRouteConfig);
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// /* Init osif */
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// OsIf_Init(NULL_PTR);
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/* --- init Uart Channels --- */
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Uart_Init();
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/* --- init pwm channels --- */
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pwm_init(gb.pwm_max_tick);
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/* --- ADC init --- */
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Adc_Init();
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/* --- I2C init --- */
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i2c1_init();
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i2c0_init();
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/* --- SPI init --- */
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SPI_init();
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/* --- Lin init --- */
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// Lin_init();
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/*Initial PIT instance 0 - Channel 0*/
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Pit_Ip_Init(PIT_INST_0, &PIT_0_InitConfig_PB);
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/*Initial channel 0 */
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Pit_Ip_InitChannel(PIT_INST_0, PitChannel_0);
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/*Enable channel interrupt PIT_0 - CH_0*/
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Pit_Ip_EnableChannelInterrupt(PIT_INST_0, CH_0);
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/*Start channel CH_0*/
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Pit_Ip_StartChannel(PIT_INST_0, CH_0, PIT_PERIOD);
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/* --- CAN init --- */
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for(ch=0; ch<MAX_CAN_INST; ch++) Can_Init_ECU3(ch);
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board_init();
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tick_500us = gb.tmr_cnt;
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tick_1ms = gb.tmr_cnt;
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tick_2ms = gb.tmr_cnt;
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tick_5ms = gb.tmr_cnt;
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tick_10ms = gb.tmr_cnt;
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tick_20ms = gb.tmr_cnt;
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tick_50ms = gb.tmr_cnt;
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tick_100ms = gb.tmr_cnt;
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tick_200ms = gb.tmr_cnt;
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tick_1sec = gb.tmr_cnt;
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tmr_delay(1000);
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WATCHDOG_HAL_Init();
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debug_printf("Board Init Finished\n\r");
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// for (i=0;i<=24;i++)
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// {
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// Test_Signal_1_[i] = 0xFF;
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// }
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#ifdef EMC_TEST
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// Set_PWM_Duty(PWM_CH0,50);
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// Set_PWM_Duty(PWM_CH1,50);
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// Set_PWM_Duty(PWM_CH2,50);
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// Set_PWM_Duty(PWM_CH3,50);
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#endif
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while(1)
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{
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if(gb.tmr_cnt >= (tick_1sec + 1000))
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{
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tick_1sec = gb.tmr_cnt;
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task_1s();
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}
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if(gb.tmr_cnt >= (tick_200ms + 200))
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{
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tick_200ms = gb.tmr_cnt;
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task_200ms();
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}
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if(gb.tmr_cnt >= (tick_100ms + 100))
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{
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tick_100ms = gb.tmr_cnt;
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task_100ms();
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}
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if(gb.tmr_cnt >= (tick_50ms + 50))
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{
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tick_50ms = gb.tmr_cnt;
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task_50ms();
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}
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if(gb.tmr_cnt >= (tick_20ms + 20))
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{
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tick_20ms = gb.tmr_cnt;
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task_20ms();
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}
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if(gb.tmr_cnt >= (tick_10ms + 10))
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{
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tick_10ms = gb.tmr_cnt;
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task_10ms();
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}
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if(gb.tmr_cnt >= (tick_5ms + 5))
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{
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tick_5ms = gb.tmr_cnt;
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task_5ms();
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}
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if(gb.tmr_cnt >= (tick_2ms + 2))
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{
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tick_2ms = gb.tmr_cnt;
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task_2ms();
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}
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if(gb.tmr_cnt >= (tick_1ms + 1))
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{
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tick_1ms = gb.tmr_cnt;
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task_1ms();
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}
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if(gb.x500us >= tick_500us+1)
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{
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tick_500us = gb.x500us;
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task_500us();
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}
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WATCHDOG_HAL_Fed();
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uds_wait();
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}
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}
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void task_500us(void)
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{
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can_tx_check(); // <20><><EFBFBD><EFBFBD> <20>Ʒ<EFBFBD><C6B7><EFBFBD> <20>־<EFBFBD><D6BE>µ<EFBFBD> <20><><EFBFBD><EFBFBD> <20>ø<EFBFBD><C3B8><EFBFBD><EFBFBD><EFBFBD>
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// UART0_get_cmd();
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can_main_ECU3(); //STEP1. CAN_Receive, STEP2. CAN_Data_set
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}
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void task_1ms(void)
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{
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}
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void task_2ms(void)
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{
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}
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void task_5ms(void)
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{
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CAN_Task_5ms();
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}
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void task_10ms(void)
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{
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// Adc_Read_ch(ADC_INST_0);
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// Adc_Read_ch(ADC_INST_1);
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// Adc_Read_ch(ADC_INST_2);
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CAN_Task_10ms();
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//debug_printf("Process : %d",IG_Process_Status);
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// RC_Motor_Logic();
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}
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void task_20ms(void)
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{
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// DIN_TEST();
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CAN_Task_20ms();
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}
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uint8_t test_pwm;
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void task_50ms(void)
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{
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}
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uint32_t C_100ms = 0;
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void task_100ms(void)
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{
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if (test_pwm < 100) test_pwm++;
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else test_pwm = 0;
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C_100ms++;
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// if(C_100ms%10 == 0) debug_printf("C_100ms : %d\r\n",C_100ms);
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CAN_Task_100ms();
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// ALL_BCM_Signal_Check(); // BCM <20><>ȣ <20>˻<EFBFBD> <20>Լ<EFBFBD>
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// ALL_MCU_Signal_Check(); // MCU <20><>ȣ <20>˻<EFBFBD> <20>Լ<EFBFBD>
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}
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void task_200ms(void)
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{
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CAN_Task_200ms();
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}
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uint8_t toggle_PWM;
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uint8_t PWM_CH=1;
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void task_1s(void)
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{
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CAN_Task_1000ms();
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uint16_t adc_mV,din1,din2;
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led_onoff(!gb.led_flag);
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PWM_for_dirve_mode();
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// Set_PWM_Duty(PWM_CH2,test_pwm);
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// Set_PWM_Duty(PWM_CH3,test_pwm);
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// adc0 = ADC_Read(ADC_0);
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// EMEMERGNECY_BUTTEN = Digital_Read(DIN_0);
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//
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// EMEMERGNECY_BUTTEN = din1;
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// din2 = Digital_Read(DIN_2);
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// Digital_Write(DOUT_1,1);
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// Digital_Write(DOUT_2,write_flag);
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// if(write_flag == 1) write_flag = 0;
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// else if(write_flag == 0) write_flag = 1;
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// i2c_test();
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// SPI_test();
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// Lin_tx_test(LIN_INSTANCE_1);
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#ifdef DEBUG_TEST
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if(gb.Debug_test_No/10 == 2)
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debug_printf("Digital Input CH : %d, Value : %d\r\n\n",(gb.Debug_test_No%10),Digital_Read(gb.Debug_test_No%10));
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else if(gb.Debug_test_No/10 == 3)
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debug_printf("Analog Input CH : %d, Value : %d\r\n\n",(gb.Debug_test_No%10),ADC_Read(gb.Debug_test_No%10));
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else if(gb.Debug_test_No == 6)
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{
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i2c_test();
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for(uint8_t i;i<TRANSFER_SIZE;i++) debug_printf("%d ",rxBufferSlave[i]);
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debug_printf("\r\n");
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}
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#endif
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}
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