1437 lines
59 KiB
C
1437 lines
59 KiB
C
/* ========================================================================= */
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/* 1. Includes */
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/* ========================================================================= */
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#include "main.h"
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/* ========================================================================= */
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/* 2. Local Macros & Constants (내부 전용 매크로 및 상수) */
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/* ========================================================================= */
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/* ========================================================================= */
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/* 3. Local Typedefs & Structures (내부 전용 사용자 정의 자료형) */
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/* ========================================================================= */
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static CTx100 Tx100;
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static CTx101 Tx101;
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static CTx102 Tx102; // Command Data
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static CTx103 Tx103; // Command Data
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static CTx110 Tx110;
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static CTx120 Tx120;
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static CTx121 Tx121;
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static CTx122 Tx122;
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static CTx123 Tx123;
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static CTx124 Tx124;
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static CTx700 Tx700;
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static CTx701 Tx701;
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static CTx710 Tx710;
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static CTx720 Tx720;
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static CTx730 Tx730;
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static CTx731 Tx731;
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static CTx732 Tx732;
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static CTx733 Tx733;
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static CTx734 Tx734;
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static CTx740 Tx740;
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static CTx741 Tx741;
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static CTx750 Tx750;
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static CTx751 Tx751;
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static CTx752 Tx752;
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static CRx201 Rx201;
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/* ========================================================================= */
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/* 4. Internal Linkage Function Declarations (내부 동작용 Static 함수 선언) */
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/* ========================================================================= */
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static void CInitECanA(void);
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static void CInitECanB(void);
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static void CECanASetMbox(void);
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static void CECanBSetMbox(void);
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static void CInitECanStructure(void);
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static inline Uint16 CPackBit(Uint16 data, Uint16 pos);
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static inline Uint16 CPackField(Uint16 data, Uint16 mask, Uint16 pos);
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/* ========================================================================= */
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/* 5. Global Variables & Structure Initialization (전역 변수 및 구조체 초기화) */
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/* ========================================================================= */
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CCommCheck CommCheck;
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// Rx - GCU
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CRx200 Rx200;
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CRx210 Rx210;
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CRx220 Rx220;
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CRx221 Rx221;
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// Rx - ECU
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CRx300 Rx300;
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CRx301 Rx301;
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CRx310 Rx310;
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CRx320 Rx320;
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CRx321 Rx321;
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CRx322 Rx322;
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#ifdef AUX_TEST
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// Rx - For Aux Test
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CRx400 Rx400;
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#endif
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/* ========================================================================= */
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/* Function Definitions */
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/* ========================================================================= */
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interrupt void CECanInterruptA(void)
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{
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struct ECAN_REGS ECanShadow;
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ECanShadow.CANRMP.all = ECanaRegs.CANRMP.all;
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GeneralOperValue.Conection.CarComputer = 1U; // 한번이라도 통신이 수신되었다면 해당 장치가 연결되었다고 판단.
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CommCheck.CarComputer = 0U; // 송신 시 타임아웃 카운트 클리어
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ECanaRegs.CANRMP.all = ECanShadow.CANRMP.all;
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}
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static inline Uint32 CPackMboxData(Uint16 b0, Uint16 b1, Uint16 b2, Uint16 b3)
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{
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return (((Uint32)b0 << 24U) | ((Uint32)b1 << 16U) | ((Uint32)b2 << 8U) | (Uint32)b3);
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}
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void CSendECanDataA(void)
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{
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Uint16 uiTemp = 0U;
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float32 fTemp = 0.0F;
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// ---------------------------------------------------------
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// [700h - MBOX0]
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// ---------------------------------------------------------
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Tx700.HeartBit = (Tx700.HeartBit + 1U) % 65535U;
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// BYTE 0~1(HeartBit), BYTE 2(DCUversionMajor), BYTE 3(DCUversionMinor), BYTE 4(GCUversionMajor), BYTE 5(GCUversionMinor), BYTE 6(ECUversionMajor), BYTE 7(ECUversionMinor)
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ECanaMboxes.MBOX0.MDL.all = CPackMboxData((Uint16)((Tx700.HeartBit >> 0U) & 0xFFU), (Uint16)((Tx700.HeartBit >> 8U) & 0xFFU),
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(Uint16)FIRMWARE_VERSION_MAJOR, (Uint16)FIRMWARE_VERSION_MINOR);
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ECanaMboxes.MBOX0.MDH.all = CPackMboxData(Rx200.VersionMajor, Rx200.VersionMinor, Rx300.VersionMajor, Rx300.VersionMinor);
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// ---------------------------------------------------------
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// [701h - MBOX1]
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// ---------------------------------------------------------
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Tx701.DcuPlayState = (Uint16)(GeneralOperValue.uiApuState & 0x7U);
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uiTemp = 0U;
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uiTemp |= CPackBit(GeneralOperValue.uiFaultOccured, 0U);
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uiTemp |= CPackBit(GeneralOperValue.uiEmergency, 1U);
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uiTemp |= CPackBit(KeyOperValue.KeyList.MainPower, 2U);
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uiTemp |= CPackBit((GPIO_FAIL_SAFE_READ() == false) ? 1U : 0U, 3U);
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Tx701.DcuState = uiTemp;
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Tx701.GcuPlayState = Rx201.PlayState;
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Tx701.GcuState = Rx201.State;
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Tx701.EcuState = Rx301.State;
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// BYTE 0(DcuPlayState), BYTE 1(DcuState), BYTE 2(GcuPlayState), BYTE 3(GcuState), BYTE 4(EcuState), BYTE 5~7(Rsvd)
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ECanaMboxes.MBOX1.MDL.all = CPackMboxData(Tx701.DcuPlayState, Tx701.DcuState, Tx701.GcuPlayState, Tx701.GcuState);
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ECanaMboxes.MBOX1.MDH.all = CPackMboxData(Tx701.EcuState, 0U, 0U, 0U);
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// ---------------------------------------------------------
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// [710h - MBOX5]
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// ---------------------------------------------------------
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Tx710.GcuWarning = Rx210.GcuWarning;
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Tx710.EcuWarning = Rx310.EcuWarning;
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// BYTE 0(GcuWarning), BYTE 1(EcuWarning), BYTE 2~7(Rsvd)
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ECanaMboxes.MBOX5.MDL.all = CPackMboxData(Tx710.GcuWarning, Tx710.EcuWarning, 0U, 0U);
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ECanaMboxes.MBOX5.MDH.all = CPackMboxData(0U, 0U, 0U, 0U);
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// ---------------------------------------------------------
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// [720h - MBOX10]
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// ---------------------------------------------------------
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Tx720.DcuFault0 = (Uint16)((ulDcuTotalAlarm >> 0U) & 0xFFU);
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Tx720.DcuFault1 = (Uint16)((ulDcuTotalAlarm >> 8U) & 0xFFU);
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Tx720.DcuFault2 = (Uint16)((ulDcuTotalAlarm >> 16U) & 0xFFU);
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Tx720.DcuFault3 = (Uint16)((ulDcuTotalAlarm >> 24U) & 0xFFU);
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Tx720.GcuFault0 = (Uint16)((Rx210.GcuFault >> 0U) & 0xFFU);
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Tx720.GcuFault1 = (Uint16)((Rx210.GcuFault >> 8U) & 0xFFU);
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Tx720.EcuFault = Rx310.EcuFault;
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// BYTE 0~3(DcuFault0~3), BYTE 4~5(GcuFault0~1), BYTE 6(Rsvd), BYTE 7(EcuFault)
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ECanaMboxes.MBOX10.MDL.all = CPackMboxData(Tx720.DcuFault0, Tx720.DcuFault1, Tx720.DcuFault2, Tx720.DcuFault3);
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ECanaMboxes.MBOX10.MDH.all = CPackMboxData(Tx720.GcuFault0, Tx720.GcuFault1, 0U, Tx720.EcuFault);
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// ---------------------------------------------------------
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// [730h - MBOX15]
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// ---------------------------------------------------------
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Tx730.AuxState = (Uint16)GET_ALL_AUX_STATUS();
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// BYTE 0(AuxState), BYTE 1~7(Rsvd)
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ECanaMboxes.MBOX15.MDL.all = CPackMboxData(Tx730.AuxState, 0U, 0U, 0U);
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ECanaMboxes.MBOX15.MDH.all = CPackMboxData(0U, 0U, 0U, 0U);
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// ---------------------------------------------------------
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// [731h - MBOX16]
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// ---------------------------------------------------------
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fTemp = Adc_EngineHeater_V.fLpfValue * 10.0F;
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Tx731.EngineHeaterVoltage = (Uint16)fTemp;
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fTemp = Adc_EngineHeater_I.fLpfValue * 10.0F;
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Tx731.EngineHeaterCurrent = (Uint16)fTemp;
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fTemp = Adc_GlowPlug_V.fLpfValue * 10.0F;
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Tx731.GlowPlugVoltage = (Uint16)fTemp;
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fTemp = Adc_GlowPlug_I.fLpfValue * 10.0F;
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Tx731.GlowPlugCurrent = (Uint16)fTemp;
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// BYTE 0~1(EngineHeaterVoltage), BYTE 2~3(EngineHeaterCurrent), BYTE 4~5(GlowPlugVoltage), BYTE 6~7(GlowPlugCurrent)
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ECanaMboxes.MBOX16.MDL.all = CPackMboxData((Uint16)((Tx731.EngineHeaterVoltage >> 0U) & 0xFFU), (Uint16)((Tx731.EngineHeaterVoltage >> 8U) & 0xFFU),
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(Uint16)((Tx731.EngineHeaterCurrent >> 0U) & 0xFFU), (Uint16)((Tx731.EngineHeaterCurrent >> 8U) & 0xFFU));
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ECanaMboxes.MBOX16.MDH.all = CPackMboxData((Uint16)((Tx731.GlowPlugVoltage >> 0U) & 0xFFU), (Uint16)((Tx731.GlowPlugVoltage >> 8U) & 0xFFU),
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(Uint16)((Tx731.GlowPlugCurrent >> 0U) & 0xFFU), (Uint16)((Tx731.GlowPlugCurrent >> 8U) & 0xFFU));
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// ---------------------------------------------------------
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// [732h - MBOX17]
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// ---------------------------------------------------------
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fTemp = Adc_Solenoid_V.fLpfValue * 10.0F;
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Tx732.SolenoidVoltage = (Uint16)fTemp;
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fTemp = Adc_Solenoid_I.fLpfValue * 10.0F;
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Tx732.SolenoidCurrent = (Uint16)fTemp;
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fTemp = Adc_FuelPump_V.fLpfValue * 10.0F;
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Tx732.FuelPumpVoltage = (Uint16)fTemp;
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fTemp = Adc_FuelPump_I.fLpfValue * 10.0F;
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Tx732.FuelPumpCurrent = (Uint16)fTemp;
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// BYTE 0~1(SolenoidVoltage), BYTE 2~3(SolenoidCurrent), BYTE 4~5(FuelPumpVoltage), BYTE 6~7(FuelPumpCurrent)
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ECanaMboxes.MBOX17.MDL.all = CPackMboxData((Uint16)((Tx732.SolenoidVoltage >> 0U) & 0xFFU), (Uint16)((Tx732.SolenoidVoltage >> 8U) & 0xFFU),
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(Uint16)((Tx732.SolenoidCurrent >> 0U) & 0xFFU), (Uint16)((Tx732.SolenoidCurrent >> 8U) & 0xFFU));
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ECanaMboxes.MBOX17.MDH.all = CPackMboxData((Uint16)((Tx732.FuelPumpVoltage >> 0U) & 0xFFU), (Uint16)((Tx732.FuelPumpVoltage >> 8U) & 0xFFU),
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(Uint16)((Tx732.FuelPumpCurrent >> 0U) & 0xFFU), (Uint16)((Tx732.FuelPumpCurrent >> 8U) & 0xFFU));
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// ---------------------------------------------------------
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// [733h - MBOX18]
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// ---------------------------------------------------------
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fTemp = Adc_CoolantPump_V.fLpfValue * 10.0F;
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Tx733.CoolantPumpVoltage = (Uint16)fTemp;
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fTemp = Adc_CoolantPump_I.fLpfValue * 10.0F;
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Tx733.CoolantPumpCurrent = (Uint16)fTemp;
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fTemp = Adc_Fan1_V.fLpfValue * 10.0F;
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Tx733.Fan1Voltage = (Uint16)fTemp;
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fTemp = Adc_Fan1_I.fLpfValue * 10.0F;
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Tx733.Fan1Current = (Uint16)fTemp;
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// BYTE 0~1(CoolantPumpVoltage), BYTE 2~3(CoolantPumpCurrent), BYTE 4~5(Fan1Voltage), BYTE 6~7(Fan1Current)
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ECanaMboxes.MBOX18.MDL.all = CPackMboxData((Uint16)((Tx733.CoolantPumpVoltage >> 0U) & 0xFFU), (Uint16)((Tx733.CoolantPumpVoltage >> 8U) & 0xFFU),
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(Uint16)((Tx733.CoolantPumpCurrent >> 0U) & 0xFFU), (Uint16)((Tx733.CoolantPumpCurrent >> 8U) & 0xFFU));
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ECanaMboxes.MBOX18.MDH.all = CPackMboxData((Uint16)((Tx733.Fan1Voltage >> 0U) & 0xFFU), (Uint16)((Tx733.Fan1Voltage >> 8U) & 0xFFU),
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(Uint16)((Tx733.Fan1Current >> 0U) & 0xFFU), (Uint16)((Tx733.Fan1Current >> 8U) & 0xFFU));
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// ---------------------------------------------------------
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// [734h - MBOX19]
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// ---------------------------------------------------------
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fTemp = Adc_Fan2_V.fLpfValue * 10.0F;
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Tx734.Fan2Voltage = (Uint16)fTemp;
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fTemp = Adc_Fan2_I.fLpfValue * 10.0F;
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Tx734.Fan2Current = (Uint16)fTemp;
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// BYTE 0~1(Fan2Voltage), BYTE 2~3(Fan2Current), BYTE 4~7(Rsvd)
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ECanaMboxes.MBOX19.MDL.all = CPackMboxData((Uint16)((Tx734.Fan2Voltage >> 0U) & 0xFFU), (Uint16)((Tx734.Fan2Voltage >> 8U) & 0xFFU),
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(Uint16)((Tx734.Fan2Current >> 0U) & 0xFFU), (Uint16)((Tx734.Fan2Current >> 8U) & 0xFFU));
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ECanaMboxes.MBOX19.MDH.all = CPackMboxData(0U, 0U, 0U, 0U);
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// ---------------------------------------------------------
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// [740h - MBOX20]
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// ---------------------------------------------------------
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Tx740.Voltage = Rx220.DcVoltage;
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Tx740.Current = Rx220.DcCurrent;
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Tx740.Rpm = Rx220.Rpm;
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Tx740.Power = Rx220.Power;
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// BYTE 0~1(Voltage), BYTE 2~3(Current), BYTE 4~5(Rpm), BYTE 6~7(Power)
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ECanaMboxes.MBOX20.MDL.all = CPackMboxData((Uint16)((Tx740.Voltage >> 0U) & 0xFFU), (Uint16)((Tx740.Voltage >> 8U) & 0xFFU),
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(Uint16)((Tx740.Current >> 0U) & 0xFFU), (Uint16)((Tx740.Current >> 8U) & 0xFFU));
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ECanaMboxes.MBOX20.MDH.all = CPackMboxData((Uint16)((Tx740.Rpm >> 0U) & 0xFFU), (Uint16)((Tx740.Rpm >> 8U) & 0xFFU),
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(Uint16)((Tx740.Power >> 0U) & 0xFFU), (Uint16)((Tx740.Power >> 8U) & 0xFFU));
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// ---------------------------------------------------------
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// [741h - MBOX21]
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// ---------------------------------------------------------
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Tx741.PcbTemperature = Rx221.PcbTemperature;
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Tx741.FetTemperature = Rx221.FetTemperature;
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Tx741.Winding1Temperature = Rx221.GenTemperature1;
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Tx741.Winding2Temperature = Rx221.GenTemperature2;
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// BYTE 0(PcbTemperature), BYTE 1(FetTemperature), BYTE 2(Winding1Temperature), BYTE 3(Winding2Temperature), BYTE 4~7(Rsvd)
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ECanaMboxes.MBOX21.MDL.all = CPackMboxData(Tx741.PcbTemperature, Tx741.FetTemperature, Tx741.Winding1Temperature, Tx741.Winding2Temperature);
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ECanaMboxes.MBOX21.MDH.all = CPackMboxData(0U, 0U, 0U, 0U);
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// ---------------------------------------------------------
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// [750h - MBOX25]
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// ---------------------------------------------------------
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Tx750.ActualRpm = Rx320.ActualRpm;
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Tx750.SetRpm = Rx320.SetRpm;
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Tx750.ActualTorque = Rx320.ActualTorque;
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Tx750.SetTorque = Rx320.SetTorque;
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Tx750.SystemVoltage = Rx320.SystemVoltage;
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// BYTE 0~1(ActualRpm), BYTE 2~3(SetRpm), BYTE 4(ActualTorque), BYTE 5(SetTorque), BYTE 6~7(SystemVoltage)
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ECanaMboxes.MBOX25.MDL.all = CPackMboxData((Uint16)((Tx750.ActualRpm >> 0U) & 0xFFU), (Uint16)((Tx750.ActualRpm >> 8U) & 0xFFU),
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(Uint16)((Tx750.SetRpm >> 0U) & 0xFFU), (Uint16)((Tx750.SetRpm >> 8U) & 0xFFU));
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ECanaMboxes.MBOX25.MDH.all = CPackMboxData(Tx750.ActualTorque, Tx750.SetTorque,
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(Uint16)((Tx750.SystemVoltage >> 0U) & 0xFFU), (Uint16)((Tx750.SystemVoltage >> 8U) & 0xFFU));
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// ---------------------------------------------------------
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// [751h - MBOX26]
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// ---------------------------------------------------------
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Tx751.CoolantTemperature = Rx321.CoolantTemperature;
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Tx751.Fan1Speed = Rx321.Fan1Speed;
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Tx751.Fan2Speed = Rx321.Fan2Speed;
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Tx751.CoolantPumpSpeed = Rx321.CoolantPumpSpeed;
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Tx751.Barometric = Rx321.BarometricPressure;
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// BYTE 0(CoolantTemperature), BYTE 1(Fan1Speed), BYTE 2(Fan2Speed), BYTE 3(CoolantPumpSpeed), BYTE 4~5(Barometric), BYTE 6~7(Rsvd)
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ECanaMboxes.MBOX26.MDL.all = CPackMboxData(Tx751.CoolantTemperature, Tx751.Fan1Speed, Tx751.Fan2Speed, Tx751.CoolantPumpSpeed);
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ECanaMboxes.MBOX26.MDH.all = CPackMboxData((Uint16)((Tx751.Barometric >> 0U) & 0xFFU), (Uint16)((Tx751.Barometric >> 8U) & 0xFFU), 0U, 0U);
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// ---------------------------------------------------------
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// [752h - MBOX27]
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// ---------------------------------------------------------
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Tx752.OperationTimeL = Rx322.TotalOperTimeL;
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Tx752.OperationTimeH = Rx322.TotalOperTimeH;
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// BYTE 0~1(OperationTimeL), BYTE 2~3(OperationTimeH), BYTE 4~7(Rsvd)
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ECanaMboxes.MBOX27.MDL.all = CPackMboxData((Uint16)((Tx752.OperationTimeL >> 0U) & 0xFFU), (Uint16)((Tx752.OperationTimeL >> 8U) & 0xFFU),
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(Uint16)((Tx752.OperationTimeH >> 0U) & 0xFFU), (Uint16)((Tx752.OperationTimeH >> 8U) & 0xFFU));
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ECanaMboxes.MBOX27.MDH.all = CPackMboxData(0U, 0U, 0U, 0U);
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// ---------------------------------------------------------
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// 송신 메일박스 마스크 설정 및 전송 트리거
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// MBOX 마스크 (0, 1, 5, 10, 15, 16, 17, 18, 19, 20, 21, 25, 26, 27)
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// ---------------------------------------------------------
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Uint32 ulTxMask = 0x0E3F8423UL;
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ECanaRegs.CANTRS.all = ulTxMask;
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ECanaRegs.CANTA.all = ulTxMask;
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}
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static void CInitECanA(void)
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{
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/* Create a shadow register structure for the CAN control registers. This is
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needed, since only 32-bit access is allowed to these registers. 16-bit access
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to these registers could potentially corrupt the register contents or return
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false data. This is especially true while writing to/reading from a bit
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(or group of bits) among bits 16 - 31 */
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struct ECAN_REGS ECanaShadow = {};
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EALLOW; // EALLOW enables access to protected bits
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/* Enable internal pull-up for the selected CAN pins */
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// Pull-ups can be enabled or disabled by the user.
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// This will enable the pullups for the specified pins.
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// Comment out other unwanted lines.
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GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0x00U; // Enable pull-up CANRXA
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GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0x00U; // Enable pull-up CANTXA
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/* Set qualification for selected CAN pins to asynch only */
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// Inputs are synchronized to SYSCLKOUT by default.
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// This will select asynch (no qualification) for the selected pins.
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GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 0x03U; // Asynch qual for CANRXA
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/* Configure eCAN-A pins using GPIO regs*/
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// This specifies which of the possible GPIO pins will be eCAN functional pins.
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GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 0x03U; // Configure CANRXA operation
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GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 0x03U; // Configure CANTXA operation
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/* Configure eCAN RX and TX pins for CAN operation using eCAN regs*/
|
|
|
|
ECanaShadow.CANTIOC.all = ECanaRegs.CANTIOC.all;
|
|
ECanaShadow.CANTIOC.bit.TXFUNC = 1U;
|
|
ECanaRegs.CANTIOC.all = ECanaShadow.CANTIOC.all;
|
|
|
|
ECanaShadow.CANRIOC.all = ECanaRegs.CANRIOC.all;
|
|
ECanaShadow.CANRIOC.bit.RXFUNC = 1U;
|
|
ECanaRegs.CANRIOC.all = ECanaShadow.CANRIOC.all;
|
|
|
|
/* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */
|
|
// HECC mode also enables time-stamping feature
|
|
|
|
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
|
|
ECanaShadow.CANMC.bit.SCB = 1;
|
|
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
|
|
|
|
// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
|
|
// as a matter of precaution.
|
|
|
|
ECanaRegs.CANTA.all = 0xFFFFFFFFU; /* Clear all TAn bits */
|
|
ECanaRegs.CANRMP.all = 0xFFFFFFFFU; /* Clear all RMPn bits */
|
|
ECanaRegs.CANGIF0.all = 0xFFFFFFFFU; /* Clear all interrupt flag bits */
|
|
ECanaRegs.CANGIF1.all = 0xFFFFFFFFU;
|
|
|
|
/* Configure bit timing parameters for eCANB*/
|
|
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
|
|
ECanaShadow.CANMC.bit.CCR = 1U; // Set CCR = 1
|
|
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
|
|
|
|
ECanaShadow.CANES.all = ECanaRegs.CANES.all;
|
|
|
|
do
|
|
{
|
|
ECanaShadow.CANES.all = ECanaRegs.CANES.all;
|
|
} while(ECanaShadow.CANES.bit.CCE != 1U); // Wait for CCE bit to be set..
|
|
|
|
ECanaShadow.CANBTC.all = 0U;
|
|
|
|
// 250 [Kbps]
|
|
ECanaShadow.CANBTC.bit.BRPREG = 19U;
|
|
ECanaShadow.CANBTC.bit.TSEG1REG = 10U;
|
|
ECanaShadow.CANBTC.bit.TSEG2REG = 2U;
|
|
|
|
ECanaShadow.CANBTC.bit.SAM = 1U;
|
|
ECanaShadow.CANBTC.bit.SJWREG = 2U;
|
|
ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;
|
|
|
|
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
|
|
ECanaShadow.CANMC.bit.CCR = 0U;
|
|
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
|
|
|
|
ECanaShadow.CANES.all = ECanaRegs.CANES.all;
|
|
|
|
do
|
|
{
|
|
ECanaShadow.CANES.all = ECanaRegs.CANES.all;
|
|
} while (ECanaShadow.CANES.bit.CCE != 0U); // Wait for CCE bit to be cleared..
|
|
|
|
/* Disable all Mailboxes */
|
|
ECanaRegs.CANME.all = 0U; // Required before writing the MSGIDs
|
|
|
|
EDIS;
|
|
CECanASetMbox();
|
|
}
|
|
|
|
static void CECanASetMbox(void)
|
|
{
|
|
struct ECAN_REGS ECanShadow = {};
|
|
|
|
/* Tx Can MBox */
|
|
ECanaMboxes.MBOX0.MSGID.bit.IDE = 0U; // ID ECANa 식별자 - 11bit ID 스탠다드
|
|
ECanaMboxes.MBOX0.MSGID.bit.STDMSGID = 0x700U;
|
|
ECanaMboxes.MBOX0.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX0.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX0.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX0.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX1.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX1.MSGID.bit.STDMSGID = 0x701U;
|
|
ECanaMboxes.MBOX1.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX1.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX1.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX1.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX5.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX5.MSGID.bit.STDMSGID = 0x710U;
|
|
ECanaMboxes.MBOX5.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX5.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX5.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX5.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX5.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX10.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX10.MSGID.bit.STDMSGID = 0x720U;
|
|
ECanaMboxes.MBOX10.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX10.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX10.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX10.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX10.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX15.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX15.MSGID.bit.STDMSGID = 0x730U;
|
|
ECanaMboxes.MBOX15.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX15.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX15.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX15.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX15.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX16.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX16.MSGID.bit.STDMSGID = 0x731U;
|
|
ECanaMboxes.MBOX16.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX16.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX16.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX16.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX16.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX17.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX17.MSGID.bit.STDMSGID = 0x732U;
|
|
ECanaMboxes.MBOX17.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX17.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX17.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX17.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX17.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX18.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX18.MSGID.bit.STDMSGID = 0x733U;
|
|
ECanaMboxes.MBOX18.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX18.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX18.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX18.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX18.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX19.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX19.MSGID.bit.STDMSGID = 0x734U;
|
|
ECanaMboxes.MBOX19.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX19.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX19.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX19.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX19.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX20.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX20.MSGID.bit.STDMSGID = 0x740U;
|
|
ECanaMboxes.MBOX20.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX20.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX20.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX20.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX20.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX21.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX21.MSGID.bit.STDMSGID = 0x741U;
|
|
ECanaMboxes.MBOX21.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX21.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX21.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX21.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX21.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX25.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX25.MSGID.bit.STDMSGID = 0x750U;
|
|
ECanaMboxes.MBOX25.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX25.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX25.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX25.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX25.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX26.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX26.MSGID.bit.STDMSGID = 0x751U;
|
|
ECanaMboxes.MBOX26.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX26.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX26.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX26.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX26.MDL.all = 0x00000000U;
|
|
|
|
ECanaMboxes.MBOX27.MSGID.bit.IDE = 0U;
|
|
ECanaMboxes.MBOX27.MSGID.bit.STDMSGID = 0x752U;
|
|
ECanaMboxes.MBOX27.MSGID.bit.AME = 0U;
|
|
ECanaMboxes.MBOX27.MSGCTRL.bit.DLC = 8U;
|
|
ECanaMboxes.MBOX27.MSGCTRL.bit.RTR = 0U;
|
|
ECanaMboxes.MBOX27.MDH.all = 0x00000000U;
|
|
ECanaMboxes.MBOX27.MDL.all = 0x00000000U;
|
|
|
|
// Transe, Receive, 0 is Transe, 1 is Receive
|
|
ECanShadow.CANMD.all = ECanaRegs.CANMD.all;
|
|
ECanShadow.CANMD.all = 0x0U; // USE MBOX0, MBOX1, MBOX5, MBOX10, MBOX15, MBOX16, MBOX17, MBOX18, MBOX19, MBOX20, MBOX21, MBOX25, MBOX26, MBOX27
|
|
ECanaRegs.CANMD.all = ECanShadow.CANMD.all;
|
|
|
|
// MailBox Enable/Disable, 0 is Disable, 1 is Enable
|
|
ECanShadow.CANME.all = ECanaRegs.CANME.all;
|
|
ECanShadow.CANME.all = 0xE3F8413UL; // USE MBOX0, MBOX1, MBOX5, MBOX10, MBOX15, MBOX16, MBOX17, MBOX18, MBOX19, MBOX20, MBOX21, MBOX25, MBOX26, MBOX27
|
|
ECanaRegs.CANME.all = ECanShadow.CANME.all;
|
|
|
|
EALLOW;
|
|
ECanShadow.CANMC.all = ECanaRegs.CANMC.all;
|
|
ECanShadow.CANMC.bit.STM = 0U; // '1' CAN Self-test Mode ¼³A¤
|
|
ECanShadow.CANMC.bit.ABO = 1U; // '1' CAN Auto Bus On
|
|
ECanaRegs.CANMC.all = ECanShadow.CANMC.all;
|
|
|
|
// Groble Interrupt
|
|
ECanShadow.CANGIM.all = ECanaRegs.CANGIM.all;
|
|
ECanShadow.CANGIM.bit.I0EN = 1U; // Line 0 Interrupt Enable
|
|
ECanShadow.CANGIM.bit.GIL = 0U; // All global interrupts are mapped to the ECAN0INT interrupt line.
|
|
ECanaRegs.CANGIM.all = ECanShadow.CANGIM.all;
|
|
EDIS;
|
|
}
|
|
|
|
interrupt void CECanInterruptB(void)
|
|
{
|
|
Uint32 ECanRMPbit;
|
|
Uint32 uiMBOXMdl = 0UL;
|
|
Uint32 uiMBOXMdh = 0UL;
|
|
|
|
ECanRMPbit = ECanbRegs.CANRMP.all;
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX15 - 200h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 15U)) != 0U)
|
|
{
|
|
GeneralOperValue.Conection.Gcu = 1U;
|
|
CommCheck.Gcu = 0U; // GCU 타임아웃 카운트 초기화
|
|
|
|
uiMBOXMdl = ECanbMboxes.MBOX15.MDL.all;
|
|
uiMBOXMdh = ECanbMboxes.MBOX15.MDH.all;
|
|
|
|
Uint16 uiByte0 = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU);
|
|
Uint16 uiByte1 = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU);
|
|
|
|
Rx200.HeartBit = uiByte0 | (uiByte1 << 8U);
|
|
|
|
Rx200.VersionMajor = (Uint16)((uiMBOXMdh >> 16U) & 0xFFU); // Byte 5
|
|
Rx200.VersionMinor = (Uint16)((uiMBOXMdh >> 8U) & 0xFFU); // Byte 6
|
|
Rx200.VersionPatch = (Uint16)((uiMBOXMdh >> 0U) & 0xFFU); // Byte 7
|
|
}
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX16 - 201h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 16U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX16.MDL.all;
|
|
|
|
Rx201.PlayState = (Uint16)((uiMBOXMdl >> 24U) & 0x7U);
|
|
Rx201.State = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU);
|
|
}
|
|
// ---------------------------------------------------------
|
|
// MBOX17 - 210h (비트 필드 매핑 반전)
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 17U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX17.MDL.all;
|
|
|
|
Rx210.GcuWarning = (Uint16)(((uiMBOXMdl >> 24U) & 0xFFU) | (((uiMBOXMdl >> 16U) & 0xFFU) << 8U));
|
|
Rx210.GcuFault = (Uint16)(((uiMBOXMdl >> 8U) & 0xFFU) | ((uiMBOXMdl & 0xFFU) << 8U));
|
|
}
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX18 - 220h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 18U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX18.MDL.all;
|
|
uiMBOXMdh = ECanbMboxes.MBOX18.MDH.all;
|
|
|
|
// [Reverse]
|
|
// Byte 0(>>24), Byte 1(>>16)
|
|
Uint16 uiVoltL = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU);
|
|
Uint16 uiVoltH = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU);
|
|
Rx220.DcVoltage = uiVoltL | (uiVoltH << 8U);
|
|
|
|
// Byte 2(>>8), Byte 3(>>0)
|
|
Uint16 uiCurrL = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU);
|
|
Uint16 uiCurrH = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU);
|
|
Rx220.DcCurrent = uiCurrL | (uiCurrH << 8U);
|
|
|
|
// Byte 4(>>24), Byte 5(>>16)
|
|
Uint16 uiRpmL = (Uint16)((uiMBOXMdh >> 24U) & 0xFFU);
|
|
Uint16 uiRpmH = (Uint16)((uiMBOXMdh >> 16U) & 0xFFU);
|
|
Rx220.Rpm = uiRpmL | (uiRpmH << 8U);
|
|
|
|
// Byte 6(>>24), Byte 7(>>16)
|
|
Uint16 uiPwrL = (Uint16)((uiMBOXMdh >> 8U) & 0xFFU);
|
|
Uint16 uiPwrH = (Uint16)((uiMBOXMdh >> 0U) & 0xFFU);
|
|
Rx220.Power = uiPwrL | (uiPwrH << 8U);
|
|
}
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX19 - 221h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 19U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX19.MDL.all;
|
|
|
|
// [Reverse] 0(24), 1(16), 2(8), 3(0)
|
|
Rx221.PcbTemperature = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU);
|
|
Rx221.FetTemperature = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU);
|
|
Rx221.GenTemperature1 = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU);
|
|
Rx221.GenTemperature2 = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU);
|
|
}
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX25 - 300h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 25U)) != 0U)
|
|
{
|
|
GeneralOperValue.Conection.Ecu = 1U;
|
|
CommCheck.Ecu = 0U; // ECU 타임아웃 카운트 초기화
|
|
uiMBOXMdl = ECanbMboxes.MBOX25.MDL.all;
|
|
|
|
// [Reverse]
|
|
Rx300.VersionMajor = (Uint8)((uiMBOXMdl >> 24U) & 0xFFU);
|
|
Rx300.VersionMinor = (Uint8)((uiMBOXMdl >> 16U) & 0xFFU);
|
|
Rx300.VersionPatch = (Uint8)((uiMBOXMdl >> 8U) & 0xFFU);
|
|
}
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX26 - 301h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 26U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX26.MDL.all;
|
|
|
|
// [Reverse] Byte 0 -> >> 24U
|
|
Rx301.State = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU);
|
|
}
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX27 - 310h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 27U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX27.MDL.all;
|
|
|
|
// [Reverse] Byte 0 -> >> 24
|
|
Rx310.EcuWarning = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU);
|
|
Rx310.EcuFault = (Uint16)((uiMBOXMdl >> 8U) & 0x3FU);
|
|
}
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX28 - 320h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 28U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX28.MDL.all;
|
|
uiMBOXMdh = ECanbMboxes.MBOX28.MDH.all;
|
|
|
|
// [Reverse] Byte 0(>>24), 1(>>16)
|
|
Uint16 uiActRpmL = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU);
|
|
Uint16 uiActRpmH = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU);
|
|
Rx320.ActualRpm = uiActRpmL | (uiActRpmH << 8U);
|
|
|
|
// [Reverse] Byte 2(>>8), 3(>>0)
|
|
Uint16 uiSetRpmL = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU);
|
|
Uint16 uiSetRpmH = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU);
|
|
Rx320.SetRpm = uiSetRpmL | (uiSetRpmH << 8U);
|
|
|
|
// [Reverse] Byte 4(>>24), 5(>>16) (MDH)
|
|
Rx320.ActualTorque = (Uint16)((uiMBOXMdh >> 24U) & 0xFFU);
|
|
Rx320.SetTorque = (Uint16)((uiMBOXMdh >> 16U) & 0xFFU);
|
|
|
|
// [Reverse] Byte 6(>>8), 7(>>0)
|
|
Uint16 uiSysVoltL = (Uint16)((uiMBOXMdh >> 8U) & 0xFFU);
|
|
Uint16 uiSysVoltH = (Uint16)((uiMBOXMdh >> 0U) & 0xFFU);
|
|
Rx320.SystemVoltage = uiSysVoltL | (uiSysVoltH << 8U);
|
|
}
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX29 - 321h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 29U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX29.MDL.all;
|
|
uiMBOXMdh = ECanbMboxes.MBOX29.MDH.all;
|
|
|
|
// [Reverse]
|
|
Rx321.CoolantTemperature = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU);
|
|
Rx321.Fan1Speed = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU);
|
|
Rx321.Fan2Speed = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU);
|
|
Rx321.CoolantPumpSpeed = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU);
|
|
|
|
// Byte 4(>>24), 5(>>16)
|
|
Uint16 uiBarL = (Uint16)((uiMBOXMdh >> 24U) & 0xFFU);
|
|
Uint16 uiBarH = (Uint16)((uiMBOXMdh >> 16U) & 0xFFU);
|
|
Rx321.BarometricPressure = uiBarL | (uiBarH << 8U);
|
|
}
|
|
|
|
// ---------------------------------------------------------
|
|
// MBOX30 - 322h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 30U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX30.MDL.all;
|
|
|
|
// [Reverse] Byte 0(>>24), 1(>>16) -> TimeL
|
|
Uint16 uiTimeLL = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU);
|
|
Uint16 uiTimeLH = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU);
|
|
Rx322.TotalOperTimeL = uiTimeLL | (uiTimeLH << 8U);
|
|
|
|
// [Reverse] Byte 2(>>8), 3(>>0) -> TimeH
|
|
Uint16 uiTimeHL = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU);
|
|
Uint16 uiTimeHH = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU);
|
|
Rx322.TotalOperTimeH = uiTimeHL | (uiTimeHH << 8U);
|
|
}
|
|
|
|
#ifdef AUX_TEST
|
|
// ---------------------------------------------------------
|
|
// MBOX31 - 400h
|
|
// ---------------------------------------------------------
|
|
if ((ECanRMPbit & (1UL << 31U)) != 0U)
|
|
{
|
|
uiMBOXMdl = ECanbMboxes.MBOX31.MDL.all;
|
|
|
|
// [Reverse] Byte 0 -> >> 24
|
|
Rx400.AuxControl.EngineHeater = (Uint16)((uiMBOXMdl >> 24U) & 0x1U);
|
|
Rx400.AuxControl.GlowPlug = (Uint16)((uiMBOXMdl >> 25U) & 0x1U);
|
|
Rx400.AuxControl.Solenoid = (Uint16)((uiMBOXMdl >> 26U) & 0x1U);
|
|
Rx400.AuxControl.FuelPump = (Uint16)((uiMBOXMdl >> 27U) & 0x1U);
|
|
Rx400.AuxControl.CoolantPump = (Uint16)((uiMBOXMdl >> 28U) & 0x1U);
|
|
Rx400.AuxControl.Fan1 = (Uint16)((uiMBOXMdl >> 29U) & 0x1U);
|
|
Rx400.AuxControl.Fan2 = (Uint16)((uiMBOXMdl >> 30U) & 0x1U);
|
|
Rx400.AuxControl.AuxTestStart = (Uint16)((uiMBOXMdl >> 31U) & 0x1U);
|
|
}
|
|
#endif
|
|
|
|
ECanbRegs.CANRMP.all = ECanRMPbit;
|
|
PieCtrlRegs.PIEACK.all = PIEACK_GROUP9;
|
|
}
|
|
|
|
void CSendECanDataB(void)
|
|
{
|
|
struct ECAN_REGS ECanShadow;
|
|
static Uint16 uiTxDivid = 0U; // 분산 송신
|
|
float32 fTemp = 0.0F;
|
|
Uint16 uiTemp = 0U;
|
|
|
|
Uint16 EmergencySig = ((GeneralOperValue.uiEmergency > 0U) || (KeyOperValue.KeyList.Emergency > 0U)) ? 1U : 0U;
|
|
|
|
// 10ms
|
|
// [101h]
|
|
// --- BYTE 0 ---
|
|
Tx101.PlayState = GeneralOperValue.uiApuState;
|
|
|
|
// --- BYTE 1 ---
|
|
uiTemp = 0U;
|
|
uiTemp |= CPackBit(GeneralOperValue.uiFaultOccured, 0U);
|
|
uiTemp |= CPackBit(GeneralOperValue.uiEmergency, 1U);
|
|
uiTemp |= CPackBit(KeyOperValue.KeyList.MainPower, 2U);
|
|
uiTemp |= CPackBit((GPIO_FAIL_SAFE_READ() == false) ? 1U : 0U, 3U);
|
|
Tx101.DcuState = uiTemp;
|
|
|
|
ECanbMboxes.MBOX1.MDL.byte.BYTE0 = Tx101.PlayState;
|
|
ECanbMboxes.MBOX1.MDL.byte.BYTE1 = Tx101.DcuState;
|
|
ECanbMboxes.MBOX1.MDL.byte.BYTE2 = 0x0U;
|
|
ECanbMboxes.MBOX1.MDL.byte.BYTE3 = 0x0U;
|
|
ECanbMboxes.MBOX1.MDH.byte.BYTE4 = 0x0U;
|
|
ECanbMboxes.MBOX1.MDH.byte.BYTE5 = 0x0U;
|
|
ECanbMboxes.MBOX1.MDH.byte.BYTE6 = 0x0U;
|
|
ECanbMboxes.MBOX1.MDH.byte.BYTE7 = 0x0U;
|
|
|
|
// [102h]
|
|
// --- BYTE 0 ---
|
|
uiTemp = 0U;
|
|
uiTemp |= CPackField(GeneralOperValue.GcuCommand.PlayCmd, 0xFU, 0U);
|
|
uiTemp |= CPackBit(GeneralOperValue.uiAlarmReset, 4U);
|
|
uiTemp |= CPackBit(EmergencySig, 5U);
|
|
Tx102.GcuCommand = uiTemp;
|
|
|
|
ECanbMboxes.MBOX2.MDL.byte.BYTE0 = Tx102.GcuCommand;
|
|
ECanbMboxes.MBOX2.MDL.byte.BYTE1 = 0x0U;
|
|
ECanbMboxes.MBOX2.MDL.byte.BYTE2 = 0x0U;
|
|
ECanbMboxes.MBOX2.MDL.byte.BYTE3 = 0x0U;
|
|
ECanbMboxes.MBOX2.MDH.byte.BYTE4 = 0x0U;
|
|
ECanbMboxes.MBOX2.MDH.byte.BYTE5 = 0x0U;
|
|
ECanbMboxes.MBOX2.MDH.byte.BYTE6 = 0x0U;
|
|
ECanbMboxes.MBOX2.MDH.byte.BYTE7 = 0x0U;
|
|
|
|
// [103h]
|
|
// --- BYTE 0~7 ---
|
|
uiTemp = 0U;
|
|
Tx103.EngineStart = GeneralOperValue.EcuCommand.EngineStart;
|
|
Tx103.EngineStop = GeneralOperValue.EcuCommand.EngineStop;
|
|
Tx103.FaultReset = GeneralOperValue.uiAlarmReset;
|
|
Tx103.RpmSetpoint = GeneralOperValue.EcuCommand.RpmSetPoint;
|
|
Tx103.ActiveOverride = KeyOperValue.KeyList.BattleMode;
|
|
Tx103.EmergencyStop = EmergencySig;
|
|
|
|
ECanbMboxes.MBOX3.MDL.byte.BYTE0 = Tx103.EngineStart;
|
|
ECanbMboxes.MBOX3.MDL.byte.BYTE1 = Tx103.EngineStop;
|
|
ECanbMboxes.MBOX3.MDL.byte.BYTE2 = Tx103.FaultReset;
|
|
ECanbMboxes.MBOX3.MDL.byte.BYTE3 = 0x0U;
|
|
ECanbMboxes.MBOX3.MDH.byte.BYTE4 = ((Tx103.RpmSetpoint >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX3.MDH.byte.BYTE5 = ((Tx103.RpmSetpoint >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX3.MDH.byte.BYTE6 = Tx103.ActiveOverride;
|
|
ECanbMboxes.MBOX3.MDH.byte.BYTE7 = Tx103.EmergencyStop;
|
|
|
|
ECanShadow.CANTRS.all = ECanbRegs.CANTRS.all;
|
|
ECanShadow.CANTRS.bit.TRS1 = 1U; // 101h
|
|
ECanShadow.CANTRS.bit.TRS2 = 1U; // 102h
|
|
ECanShadow.CANTRS.bit.TRS3 = 1U; // 103h
|
|
ECanbRegs.CANTRS.all = ECanShadow.CANTRS.all;
|
|
|
|
ECanShadow.CANTA.all = ECanbRegs.CANTA.all;
|
|
ECanShadow.CANTA.bit.TA1 = 1U; // 101h
|
|
ECanShadow.CANTA.bit.TA2 = 1U; // 102h
|
|
ECanShadow.CANTA.bit.TA3 = 1U; // 103h
|
|
ECanbRegs.CANTA.all = ECanShadow.CANTA.all;
|
|
|
|
ECanShadow.CANTRS.all = ECanbRegs.CANTRS.all;
|
|
ECanShadow.CANTA.all = ECanbRegs.CANTA.all;
|
|
|
|
switch (uiTxDivid)
|
|
{
|
|
case 0U:
|
|
{
|
|
// [100h]
|
|
Tx100.Heartbit = (Tx100.Heartbit + 1U) % 65535U;
|
|
Tx100.VersionMajor = (Uint16)FIRMWARE_VERSION_MAJOR;
|
|
Tx100.VersionMinor = (Uint16)FIRMWARE_VERSION_MINOR;
|
|
Tx100.VersionPatch = (Uint16)FIRMWARE_VERSION_PATCH;
|
|
|
|
ECanbMboxes.MBOX0.MDL.byte.BYTE0 = ((Tx100.Heartbit >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX0.MDL.byte.BYTE1 = ((Tx100.Heartbit >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX0.MDL.byte.BYTE2 = 0x0U;
|
|
ECanbMboxes.MBOX0.MDL.byte.BYTE3 = 0x0U;
|
|
ECanbMboxes.MBOX0.MDH.byte.BYTE4 = 0x0U;
|
|
ECanbMboxes.MBOX0.MDH.byte.BYTE5 = Tx100.VersionMajor;
|
|
ECanbMboxes.MBOX0.MDH.byte.BYTE6 = Tx100.VersionMinor;
|
|
ECanbMboxes.MBOX0.MDH.byte.BYTE7 = Tx100.VersionPatch;
|
|
|
|
ECanShadow.CANTRS.bit.TRS0 = 1U;
|
|
ECanShadow.CANTA.bit.TA0 = 1U;
|
|
break;
|
|
}
|
|
case 1U:
|
|
{
|
|
// [110h]
|
|
Tx110.DcuFaultB0 = ((Uint16)(ulDcuTotalAlarm >> 0U) & 0xFFU); // Apu Fault Byte 0
|
|
Tx110.DcuFaultB1 = ((Uint16)(ulDcuTotalAlarm >> 8U) & 0xFFU); // Apu Fault Byte 1
|
|
Tx110.DcuFaultB2 = ((Uint16)(ulDcuTotalAlarm >> 16U) & 0xFFU); // Apu Fault Byte 2
|
|
Tx110.DcuFaultB3 = ((Uint16)(ulDcuTotalAlarm >> 24U) & 0xFFU); // Apu Fault Byte 3
|
|
|
|
ECanbMboxes.MBOX4.MDL.byte.BYTE0 = Tx110.DcuFaultB0;
|
|
ECanbMboxes.MBOX4.MDL.byte.BYTE1 = Tx110.DcuFaultB1;
|
|
ECanbMboxes.MBOX4.MDL.byte.BYTE2 = Tx110.DcuFaultB2;
|
|
ECanbMboxes.MBOX4.MDL.byte.BYTE3 = Tx110.DcuFaultB3;
|
|
ECanbMboxes.MBOX4.MDH.byte.BYTE4 = 0x0U;
|
|
ECanbMboxes.MBOX4.MDH.byte.BYTE5 = 0x0U;
|
|
ECanbMboxes.MBOX4.MDH.byte.BYTE6 = 0x0U;
|
|
ECanbMboxes.MBOX4.MDH.byte.BYTE7 = 0x0U;
|
|
|
|
ECanShadow.CANTRS.bit.TRS4 = 1U;
|
|
ECanShadow.CANTA.bit.TA4 = 1U;
|
|
break;
|
|
}
|
|
case 2U:
|
|
{
|
|
// [120h]
|
|
Tx120.AuxTotal = (Uint16)GET_ALL_AUX_STATUS();
|
|
|
|
ECanbMboxes.MBOX5.MDL.byte.BYTE0 = Tx120.AuxTotal;
|
|
ECanbMboxes.MBOX5.MDL.byte.BYTE1 = 0x0U;
|
|
ECanbMboxes.MBOX5.MDL.byte.BYTE2 = 0x0U;
|
|
ECanbMboxes.MBOX5.MDL.byte.BYTE3 = 0x0U;
|
|
ECanbMboxes.MBOX5.MDH.byte.BYTE4 = 0x0U;
|
|
ECanbMboxes.MBOX5.MDH.byte.BYTE5 = 0x0U;
|
|
ECanbMboxes.MBOX5.MDH.byte.BYTE6 = 0x0U;
|
|
ECanbMboxes.MBOX5.MDH.byte.BYTE7 = 0x0U;
|
|
|
|
ECanShadow.CANTRS.bit.TRS5 = 1U;
|
|
ECanShadow.CANTA.bit.TA5 = 1U;
|
|
break;
|
|
}
|
|
case 3U:
|
|
{
|
|
// [121h]
|
|
fTemp = Adc_EngineHeater_V.fLpfValue * 10.0F;
|
|
Tx121.EngHeatVoltage = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_EngineHeater_I.fLpfValue * 10.0F;
|
|
Tx121.EngHeatCurrent = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_GlowPlug_V.fLpfValue * 10.0F;
|
|
Tx121.GlowPlugVoltage = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_GlowPlug_I.fLpfValue * 10.0F;
|
|
Tx121.GlowPlugCurrent = (Uint16)fTemp;
|
|
|
|
ECanbMboxes.MBOX6.MDL.byte.BYTE0 = ((Tx121.EngHeatVoltage >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX6.MDL.byte.BYTE1 = ((Tx121.EngHeatVoltage >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX6.MDL.byte.BYTE2 = ((Tx121.EngHeatCurrent >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX6.MDL.byte.BYTE3 = ((Tx121.EngHeatCurrent >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX6.MDH.byte.BYTE4 = ((Tx121.GlowPlugVoltage >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX6.MDH.byte.BYTE5 = ((Tx121.GlowPlugVoltage >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX6.MDH.byte.BYTE6 = ((Tx121.GlowPlugCurrent >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX6.MDH.byte.BYTE7 = ((Tx121.GlowPlugCurrent >> 8U) & 0xFFU);
|
|
|
|
ECanShadow.CANTRS.bit.TRS6 = 1U;
|
|
ECanShadow.CANTA.bit.TA6 = 1U;
|
|
break;
|
|
}
|
|
case 4U:
|
|
{
|
|
// [122h]
|
|
fTemp = Adc_Solenoid_V.fLpfValue * 10.0F;
|
|
Tx122.SolenoidVoltage = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_Solenoid_I.fLpfValue * 10.0F;
|
|
Tx122.SolenoidCurrent = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_FuelPump_V.fLpfValue * 10.0F;
|
|
Tx122.FuelPumpVoltage = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_FuelPump_I.fLpfValue * 10.0F;
|
|
Tx122.FuelPumpCurrent = (Uint16)fTemp;
|
|
|
|
ECanbMboxes.MBOX7.MDL.byte.BYTE0 = ((Tx122.SolenoidVoltage >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX7.MDL.byte.BYTE1 = ((Tx122.SolenoidVoltage >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX7.MDL.byte.BYTE2 = ((Tx122.SolenoidCurrent >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX7.MDL.byte.BYTE3 = ((Tx122.SolenoidCurrent >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX7.MDH.byte.BYTE4 = ((Tx122.FuelPumpVoltage >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX7.MDH.byte.BYTE5 = ((Tx122.FuelPumpVoltage >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX7.MDH.byte.BYTE6 = ((Tx122.FuelPumpCurrent >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX7.MDH.byte.BYTE7 = ((Tx122.FuelPumpCurrent >> 8U) & 0xFFU);
|
|
|
|
ECanShadow.CANTRS.bit.TRS7 = 1U;
|
|
ECanShadow.CANTA.bit.TA7 = 1U;
|
|
break;
|
|
}
|
|
case 5U:
|
|
{
|
|
// [123h]
|
|
fTemp = Adc_CoolantPump_V.fLpfValue * 10.0F;
|
|
Tx123.CoolantPumpVoltage = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_CoolantPump_I.fLpfValue * 10.0F;
|
|
Tx123.CoolantPumpCurrent = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_Fan1_V.fLpfValue * 10.0F;
|
|
Tx123.Fan1Voltage = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_Fan1_I.fLpfValue * 10.0F;
|
|
Tx123.Fan1Current = (Uint16)fTemp;
|
|
|
|
ECanbMboxes.MBOX8.MDL.byte.BYTE0 = ((Tx123.CoolantPumpVoltage >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX8.MDL.byte.BYTE1 = ((Tx123.CoolantPumpVoltage >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX8.MDL.byte.BYTE2 = ((Tx123.CoolantPumpCurrent >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX8.MDL.byte.BYTE3 = ((Tx123.CoolantPumpCurrent >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX8.MDH.byte.BYTE4 = ((Tx123.Fan1Voltage >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX8.MDH.byte.BYTE5 = ((Tx123.Fan1Voltage >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX8.MDH.byte.BYTE6 = ((Tx123.Fan1Current >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX8.MDH.byte.BYTE7 = ((Tx123.Fan1Current >> 8U) & 0xFFU);
|
|
|
|
ECanShadow.CANTRS.bit.TRS8 = 1U;
|
|
ECanShadow.CANTA.bit.TA8 = 1U;
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
if (uiTxDivid == 6U)
|
|
{
|
|
// [124h]
|
|
fTemp = Adc_Fan2_V.fLpfValue * 10.0F;
|
|
Tx124.Fan2Voltage = (Uint16)fTemp;
|
|
|
|
fTemp = Adc_Fan2_I.fLpfValue * 10.0F;
|
|
Tx124.Fan2Current = (Uint16)fTemp;
|
|
|
|
ECanbMboxes.MBOX9.MDL.byte.BYTE0 = ((Tx124.Fan2Voltage >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX9.MDL.byte.BYTE1 = ((Tx124.Fan2Voltage >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX9.MDL.byte.BYTE2 = ((Tx124.Fan2Current >> 0U) & 0xFFU);
|
|
ECanbMboxes.MBOX9.MDL.byte.BYTE3 = ((Tx124.Fan2Current >> 8U) & 0xFFU);
|
|
ECanbMboxes.MBOX9.MDH.byte.BYTE4 = 0x0U;
|
|
ECanbMboxes.MBOX9.MDH.byte.BYTE5 = 0x0U;
|
|
ECanbMboxes.MBOX9.MDH.byte.BYTE6 = 0x0U;
|
|
ECanbMboxes.MBOX9.MDH.byte.BYTE7 = 0x0U;
|
|
|
|
ECanShadow.CANTRS.bit.TRS9 = 1U;
|
|
ECanShadow.CANTA.bit.TA9 = 1U;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
ECanbRegs.CANTRS.all = ECanShadow.CANTRS.all;
|
|
ECanbRegs.CANTA.all = ECanShadow.CANTA.all;
|
|
|
|
uiTxDivid = (uiTxDivid + 1U) % 10U;
|
|
}
|
|
|
|
static void CInitECanB(void)
|
|
{
|
|
/* Create a shadow register structure for the CAN control registers. This is
|
|
needed, since only 32-bit access is allowed to these registers. 16-bit access
|
|
to these registers could potentially corrupt the register contents or return
|
|
false data. This is especially true while writing to/reading from a bit
|
|
(or group of bits) among bits 16 - 31 */
|
|
|
|
struct ECAN_REGS ECanbShadow = {};
|
|
|
|
EALLOW; // EALLOW enables access to protected bits
|
|
|
|
/* Enable internal pull-up for the selected CAN pins */
|
|
// Pull-ups can be enabled or disabled by the user.
|
|
// This will enable the pullups for the specified pins.
|
|
// Comment out other unwanted lines.
|
|
|
|
GpioCtrlRegs.GPAPUD.bit.GPIO20 = 0x00U; // Enable pull-up CANTXB
|
|
GpioCtrlRegs.GPAPUD.bit.GPIO21 = 0x00U; // Enable pull-up CANRXB
|
|
|
|
/* Set qualification for selected CAN pins to asynch only */
|
|
// Inputs are synchronized to SYSCLKOUT by default.
|
|
// This will select asynch (no qualification) for the selected pins.
|
|
|
|
GpioCtrlRegs.GPAQSEL2.bit.GPIO21 = 0x03U; // Asynch qual for CANRXB
|
|
|
|
/* Configure eCAN-A pins using GPIO regs*/
|
|
// This specifies which of the possible GPIO pins will be eCAN functional pins.
|
|
|
|
GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 0x03U; // Configure CANTXB operation
|
|
GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 0x03U; // Configure CANRXB operation
|
|
|
|
/* Configure eCAN RX and TX pins for CAN operation using eCAN regs*/
|
|
|
|
ECanbShadow.CANTIOC.all = ECanbRegs.CANTIOC.all;
|
|
ECanbShadow.CANTIOC.bit.TXFUNC = 1U;
|
|
ECanbRegs.CANTIOC.all = ECanbShadow.CANTIOC.all;
|
|
|
|
ECanbShadow.CANRIOC.all = ECanbRegs.CANRIOC.all;
|
|
ECanbShadow.CANRIOC.bit.RXFUNC = 1U;
|
|
ECanbRegs.CANRIOC.all = ECanbShadow.CANRIOC.all;
|
|
|
|
/* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */
|
|
// HECC mode also enables time-stamping feature
|
|
|
|
ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
|
|
ECanbShadow.CANMC.bit.SCB = 1;
|
|
ECanbRegs.CANMC.all = ECanbShadow.CANMC.all;
|
|
|
|
// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
|
|
// as a matter of precaution.
|
|
|
|
ECanbRegs.CANTA.all = 0xFFFFFFFFU; /* Clear all TAn bits */
|
|
ECanbRegs.CANRMP.all = 0xFFFFFFFFU; /* Clear all RMPn bits */
|
|
ECanbRegs.CANGIF0.all = 0xFFFFFFFFU; /* Clear all interrupt flag bits */
|
|
ECanbRegs.CANGIF1.all = 0xFFFFFFFFU;
|
|
|
|
/* Configure bit timing parameters for eCANB*/
|
|
ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
|
|
ECanbShadow.CANMC.bit.CCR = 1U; // Set CCR = 1
|
|
ECanbRegs.CANMC.all = ECanbShadow.CANMC.all;
|
|
|
|
ECanbShadow.CANES.all = ECanbRegs.CANES.all;
|
|
|
|
do
|
|
{
|
|
ECanbShadow.CANES.all = ECanbRegs.CANES.all;
|
|
} while(ECanbShadow.CANES.bit.CCE != 1U); // Wait for CCE bit to be set..
|
|
|
|
ECanbShadow.CANBTC.all = 0U;
|
|
|
|
// 250 [kbps]
|
|
ECanbShadow.CANBTC.bit.BRPREG = 19U;
|
|
ECanbShadow.CANBTC.bit.TSEG1REG = 10U;
|
|
ECanbShadow.CANBTC.bit.TSEG2REG = 2U;
|
|
|
|
ECanbShadow.CANBTC.bit.SAM = 1U;
|
|
ECanbShadow.CANBTC.bit.SJWREG = 2U;
|
|
ECanbRegs.CANBTC.all = ECanbShadow.CANBTC.all;
|
|
|
|
ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
|
|
ECanbShadow.CANMC.bit.CCR = 0U;
|
|
ECanbRegs.CANMC.all = ECanbShadow.CANMC.all;
|
|
|
|
ECanbShadow.CANES.all = ECanbRegs.CANES.all;
|
|
|
|
do
|
|
{
|
|
ECanbShadow.CANES.all = ECanbRegs.CANES.all;
|
|
} while (ECanbShadow.CANES.bit.CCE != 0U); // Wait for CCE bit to be cleared..
|
|
|
|
/* Disable all Mailboxes */
|
|
ECanbRegs.CANME.all = 0U; // Required before writing the MSGIDs
|
|
|
|
EDIS;
|
|
CECanBSetMbox();
|
|
}
|
|
|
|
static void CECanBSetMbox(void)
|
|
{
|
|
struct ECAN_REGS ECanShadow = {};
|
|
|
|
/* Tx Can MBox */
|
|
ECanbMboxes.MBOX0.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX0.MSGID.bit.STDMSGID = 0x100U;
|
|
ECanbMboxes.MBOX0.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX0.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX0.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX0.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX0.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX1.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX1.MSGID.bit.STDMSGID = 0x101U;
|
|
ECanbMboxes.MBOX1.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX1.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX1.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX1.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX1.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX2.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX2.MSGID.bit.STDMSGID = 0x102U;
|
|
ECanbMboxes.MBOX2.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX2.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX2.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX2.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX2.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX3.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX3.MSGID.bit.STDMSGID = 0x103U;
|
|
ECanbMboxes.MBOX3.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX3.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX3.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX3.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX3.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX4.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX4.MSGID.bit.STDMSGID = 0x110U;
|
|
ECanbMboxes.MBOX4.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX4.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX4.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX4.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX4.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX5.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX5.MSGID.bit.STDMSGID = 0x120U;
|
|
ECanbMboxes.MBOX5.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX5.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX5.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX5.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX5.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX6.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX6.MSGID.bit.STDMSGID = 0x121U;
|
|
ECanbMboxes.MBOX6.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX6.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX6.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX6.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX6.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX7.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX7.MSGID.bit.STDMSGID = 0x122U;
|
|
ECanbMboxes.MBOX7.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX7.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX7.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX7.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX7.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX8.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX8.MSGID.bit.STDMSGID = 0x123U;
|
|
ECanbMboxes.MBOX8.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX8.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX8.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX8.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX8.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX9.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX9.MSGID.bit.STDMSGID = 0x124U;
|
|
ECanbMboxes.MBOX9.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX9.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX9.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX9.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX9.MDL.all = 0x00000000U;
|
|
|
|
/* Rx Can MBox(GCU)*/
|
|
ECanbMboxes.MBOX15.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX15.MSGID.bit.STDMSGID = 0x200U;
|
|
ECanbMboxes.MBOX15.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX15.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX15.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX15.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX15.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX16.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX16.MSGID.bit.STDMSGID = 0x201U;
|
|
ECanbMboxes.MBOX16.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX16.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX16.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX16.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX16.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX17.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX17.MSGID.bit.STDMSGID = 0x210U;
|
|
ECanbMboxes.MBOX17.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX17.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX17.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX17.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX17.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX18.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX18.MSGID.bit.STDMSGID = 0x220U;
|
|
ECanbMboxes.MBOX18.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX18.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX18.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX18.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX18.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX19.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX19.MSGID.bit.STDMSGID = 0x221U;
|
|
ECanbMboxes.MBOX19.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX19.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX19.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX19.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX19.MDL.all = 0x00000000U;
|
|
|
|
/* Rx Can MBox(ECU)*/
|
|
ECanbMboxes.MBOX25.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX25.MSGID.bit.STDMSGID = 0x300U;
|
|
ECanbMboxes.MBOX25.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX25.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX25.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX25.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX25.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX26.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX26.MSGID.bit.STDMSGID = 0x301U;
|
|
ECanbMboxes.MBOX26.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX26.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX26.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX26.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX26.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX27.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX27.MSGID.bit.STDMSGID = 0x310U;
|
|
ECanbMboxes.MBOX27.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX27.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX27.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX27.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX27.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX28.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX28.MSGID.bit.STDMSGID = 0x320U;
|
|
ECanbMboxes.MBOX28.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX28.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX28.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX28.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX28.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX29.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX29.MSGID.bit.STDMSGID = 0x321U;
|
|
ECanbMboxes.MBOX29.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX29.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX29.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX29.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX29.MDL.all = 0x00000000U;
|
|
|
|
ECanbMboxes.MBOX30.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX30.MSGID.bit.STDMSGID = 0x322U;
|
|
ECanbMboxes.MBOX30.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX30.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX30.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX30.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX30.MDL.all = 0x00000000U;
|
|
#ifdef AUX_TEST // ! Auxiliary Test
|
|
ECanbMboxes.MBOX31.MSGID.bit.IDE = 0U;
|
|
ECanbMboxes.MBOX31.MSGID.bit.STDMSGID = 0x400U;
|
|
ECanbMboxes.MBOX31.MSGID.bit.AME = 0U;
|
|
ECanbMboxes.MBOX31.MSGCTRL.bit.DLC = 8U;
|
|
ECanbMboxes.MBOX31.MSGCTRL.bit.RTR = 0U;
|
|
ECanbMboxes.MBOX31.MDH.all = 0x00000000U;
|
|
ECanbMboxes.MBOX31.MDL.all = 0x00000000U;
|
|
#endif
|
|
|
|
//0 is Transe, 1 is Receive
|
|
ECanShadow.CANMD.all = ECanbRegs.CANMD.all;
|
|
ECanShadow.CANMD.all = 0x7E0F8000UL; // USE MBOX15~19, 25~30 (31 제외)
|
|
#ifdef AUX_TEST // ! Auxiliary Test
|
|
ECanShadow.CANMD.bit.MD31 = 1U;
|
|
#endif
|
|
ECanbRegs.CANMD.all = ECanShadow.CANMD.all;
|
|
|
|
// MailBox Enable/Disable, 0 is Disable, 1 is Enable
|
|
ECanShadow.CANME.all = ECanbRegs.CANME.all;
|
|
ECanShadow.CANME.all = 0x7E0F83FFUL; // USE MBOX0~9, 15~19, 25~30 (31 제외)
|
|
#ifdef AUX_TEST // ! Auxiliary Test
|
|
ECanShadow.CANME.bit.ME31 = 1U;
|
|
#endif
|
|
ECanbRegs.CANME.all = ECanShadow.CANME.all;
|
|
|
|
EALLOW;
|
|
ECanShadow.CANMC.all = ECanbRegs.CANMC.all;
|
|
ECanShadow.CANMC.bit.STM = 0U; // '1' CAN Self-test Mode ¼³A¤
|
|
ECanShadow.CANMC.bit.ABO = 1U; // '1' CAN Auto Bus On
|
|
ECanbRegs.CANMC.all = ECanShadow.CANMC.all;
|
|
|
|
// Interrupt Enable(Receive Interrupt), 0 is Disable, 1 is Enable
|
|
ECanShadow.CANMIM.all = ECanbRegs.CANMIM.all;
|
|
ECanShadow.CANMIM.bit.MIM15 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM16 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM17 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM18 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM19 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM25 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM26 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM27 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM28 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM29 = 1U;
|
|
ECanShadow.CANMIM.bit.MIM30 = 1U;
|
|
#ifdef AUX_TEST // ! Auxiliary Test
|
|
ECanShadow.CANMIM.bit.MIM31 = 1U;
|
|
#endif
|
|
ECanbRegs.CANMIM.all = ECanShadow.CANMIM.all;
|
|
|
|
// Groble Interrupt
|
|
ECanShadow.CANGIM.all = ECanbRegs.CANGIM.all;
|
|
ECanShadow.CANGIM.bit.I0EN = 1U; // Line 0 Interrupt Enable
|
|
ECanShadow.CANGIM.bit.GIL = 0U; // All global interrupts are mapped to the ECAN0INT interrupt line.
|
|
ECanbRegs.CANGIM.all = ECanShadow.CANGIM.all;
|
|
EDIS;
|
|
}
|
|
|
|
void CInitEcan(void)
|
|
{
|
|
CInitECanA();
|
|
CInitECanB();
|
|
|
|
CInitECanStructure();
|
|
}
|
|
|
|
static void CInitECanStructure(void)
|
|
{
|
|
// Tx
|
|
(void)memset(&Tx100, 0, sizeof(CTx100));
|
|
(void)memset(&Tx101, 0, sizeof(CTx101));
|
|
(void)memset(&Tx102, 0, sizeof(CTx102));
|
|
(void)memset(&Tx103, 0, sizeof(CTx103));
|
|
(void)memset(&Tx110, 0, sizeof(CTx110));
|
|
(void)memset(&Tx120, 0, sizeof(CTx120));
|
|
(void)memset(&Tx121, 0, sizeof(CTx121));
|
|
(void)memset(&Tx122, 0, sizeof(CTx122));
|
|
(void)memset(&Tx123, 0, sizeof(CTx123));
|
|
(void)memset(&Tx124, 0, sizeof(CTx124));
|
|
|
|
(void)memset(&Tx700, 0, sizeof(CTx700));
|
|
(void)memset(&Tx701, 0, sizeof(CTx701));
|
|
(void)memset(&Tx710, 0, sizeof(CTx710));
|
|
(void)memset(&Tx720, 0, sizeof(CTx720));
|
|
(void)memset(&Tx730, 0, sizeof(CTx730));
|
|
(void)memset(&Tx731, 0, sizeof(CTx731));
|
|
(void)memset(&Tx732, 0, sizeof(CTx732));
|
|
(void)memset(&Tx733, 0, sizeof(CTx733));
|
|
(void)memset(&Tx734, 0, sizeof(CTx734));
|
|
(void)memset(&Tx740, 0, sizeof(CTx740));
|
|
(void)memset(&Tx741, 0, sizeof(CTx741));
|
|
(void)memset(&Tx750, 0, sizeof(CTx750));
|
|
(void)memset(&Tx751, 0, sizeof(CTx751));
|
|
(void)memset(&Tx752, 0, sizeof(CTx752));
|
|
|
|
// Rx - GCU
|
|
(void)memset(&Rx200, 0, sizeof(CRx200));
|
|
(void)memset(&Rx201, 0, sizeof(CRx201));
|
|
(void)memset(&Rx210, 0, sizeof(CRx210));
|
|
(void)memset(&Rx220, 0, sizeof(CRx220));
|
|
(void)memset(&Rx221, 0, sizeof(CRx221));
|
|
|
|
// Rx - ECU
|
|
(void)memset(&Rx300, 0, sizeof(CRx300));
|
|
(void)memset(&Rx301, 0, sizeof(CRx301));
|
|
(void)memset(&Rx310, 0, sizeof(CRx310));
|
|
(void)memset(&Rx320, 0, sizeof(CRx320));
|
|
(void)memset(&Rx321, 0, sizeof(CRx321));
|
|
(void)memset(&Rx322, 0, sizeof(CRx322));
|
|
|
|
#ifdef AUX_TEST // ! Auxiliary Test
|
|
// Rx - Auxiliary Test
|
|
(void)memset(&Rx400, 0, sizeof(CRx400));
|
|
#endif
|
|
}
|
|
|
|
static inline Uint16 CPackBit(Uint16 data, Uint16 pos)
|
|
{
|
|
Uint16 result = (data != 0U) ? 1U : 0U;
|
|
|
|
return result << pos;
|
|
}
|
|
|
|
static inline Uint16 CPackField(Uint16 data, Uint16 mask, Uint16 pos)
|
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{
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return ((data & mask) << pos);
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}
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