466 lines
16 KiB
C
466 lines
16 KiB
C
#include "MAIN.H"
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#include "temperature.H"
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#include <string.h>
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//RAM重启保存标志
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ubyte RestartDataFlg1 _at_ 0xF5E7;
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ubyte RestartDataFlg2 _at_ 0xF600;
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//KGF保存数据
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uword RestartDataKGF _at_ 0xF5E5;
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//can信息
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UnInfCan UnInfCan_1 _at_ 0xF5E8;
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UnSwOut UnSwOut_1 = {0};
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//CAN发送周期
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uword CntCan_1 = 0;
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bit FlgCan_1 = 0;
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//第一次采集到有效数据指示
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bit FlgOneTime = 0;
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uword RgCanPerid = 1000;
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//UnTimeOutput sleeptime = {0};
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//UnTimeOutput waketime = {0};
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//UnTimeOutput currenttime = {0};
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//UnTimeOutput un_time_output1 = {0};//接收设定时间
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//UnInfCanKGFOutput un_inf_can_kgf_output2 = {0};//kgf输出
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//UnTimeOutput waketimelast = {0};
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//UnTimeOutput wake_time_10min = {0};
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//SystemState sleepstate = STATE_INIT;
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//PWM 20181227
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ubyte PwmH[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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ubyte powerstate = 0;//电源状态
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ubyte vcu_can_cnt = 0; // 帧累加器
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ubyte vcu_can_last = 0; // 帧累加器过去值
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bool flg_wake_ecu = 0; //控制器唤醒标志
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//-----------------------------------------------------------------------
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//RTC定时器
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//-----------------------------------------------------------------------
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void RTCProcess(void)
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{
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//************************************************************************
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//////CAN发送周期
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if(FlgCan_1){CntCan_1++;if(CntCan_1 >= RgCanPerid){FlgCan_1=0; CntCan_1=0;}}else{CntCan_1=0;}
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//************************************************************************
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}
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//can错误处理
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void CanErrorProcess(void)
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{
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ubyte ubNSRL;
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ubyte ubNSRH;
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ubyte ubResetLEC = 0x3F;
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//-------------------------------------------
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EA = 0;
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CAN_pushAMRegs(); // push the CAN Access Mediator Registers
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SFR_PAGE(_su0, SST0); // switch to page 0
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CAN_vWriteCANAddress(CAN_NSR0);
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CAN_vReadEN();
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ubNSRL = CAN_DATA0;
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ubNSRH = CAN_DATA1;
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if (ubNSRL & 0x20) // if ALERT
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{
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CAN_vInit();
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}
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if (ubNSRL & 0x07) // if LEC
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{
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ubResetLEC = 0x38;
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}
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//// Reset LEC, TXOK, RXOK, ALERT, EWRN, BOFF, LLE, LOE (if set)
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CAN_vWriteCANAddress(CAN_NSR0); // Addressing CAN_NSR0
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CAN_DATA0 = ~(ubNSRL & ubResetLEC); // load CAN_NSR0 status register[7-0]
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CAN_DATA1 = ~(ubNSRH); // load CAN_NSR0 status register[15-8]
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CAN_vWriteEN(D0_VALID+D1_VALID); // Data0 and Data1 are Valid for
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SFR_PAGE(_su0, RST0); // restore the old SCU page
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CAN_popAMRegs(); // restore the CAN Access Mediator Registers
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EA = 1;
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}
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//输出PWM 20181227
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/*
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ubyte *pStt, 状态机变量
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bit Cmd, 状态机输入，1，根据PwmH的值来决定输出，0，输出0
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bit Out, 状态机输出
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ubyte *pCnt, 定时计数器
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ubyte *pPwmH 状态机参数，PWM的高电平时间
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*/
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bit funcPwmOut(ubyte *pStt,bit Cmd,ubyte *pCnt,ubyte *pPwmH)
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{
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ubyte PwmL = 0;
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bit Out = 0;
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//------------------------------------------------------------------------------------------------
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if((*pPwmH) > dfPwmH)(*pPwmH) = dfPwmH; //限制最大值
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PwmL = dfPwmH - (*pPwmH);//计算PWM低电平
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if((1 == Cmd) )
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{
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if(0 == (*pPwmH)) //高电平为0，表示PWM无效，由Cmd来控制，Cmd为1输出1，Cmd为0，输出0
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{
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Out = 1;
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(*pStt) = 0;
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}
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else
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{
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switch((*pStt))
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{
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case 0:
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(*pCnt) = 0;
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(*pStt) = 1;
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Out = 1;
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break;
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case 1:
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if((*pCnt) >= (*pPwmH))
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{
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(*pCnt) = 0;
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(*pStt) = 2;
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Out = 0;
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}
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else
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{
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(*pCnt)++;
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(*pStt) = 1;
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Out = 1;
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}
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break;
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case 2:
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if((*pCnt) >= PwmL)
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{
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(*pCnt) = 0;
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(*pStt) = 1;
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Out = 1;
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}
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else
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{
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(*pCnt)++;
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(*pStt) = 2;
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Out = 0;
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}
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break;
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//-----------------------------------------------------
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default:;
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}//switch
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}//else
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}//if
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else
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{
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Out = 0;
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(*pStt) = 0;
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}
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return Out;
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}
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//根据接收的CAN缓冲区数据驱动相应ＬＥＤ指示灯。
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void LedDr(void)
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{
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static ubyte RgSTT[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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static ubyte CntTime[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
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ubyte i = 0;
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//------------------------------------------------------------------------------------------------
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// dfOut_01 = funcPwmOut(&RgSTT[0 ],dfCmd_01,&CntTime[0 ],&PwmH[0 ]);
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// dfOut_02 = funcPwmOut(&RgSTT[1 ],dfCmd_02,&CntTime[1 ],&PwmH[1 ]);
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// dfOut_03 = funcPwmOut(&RgSTT[2 ],dfCmd_03,&CntTime[2 ],&PwmH[2 ]);
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// dfOut_04 = funcPwmOut(&RgSTT[3 ],dfCmd_04,&CntTime[3 ],&PwmH[3 ]);
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// dfOut_05 = funcPwmOut(&RgSTT[4 ],dfCmd_05,&CntTime[4 ],&PwmH[4 ]);
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// dfOut_06 = funcPwmOut(&RgSTT[5 ],dfCmd_06,&CntTime[5 ],&PwmH[5 ]);
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// dfOut_07 = funcPwmOut(&RgSTT[6 ],dfCmd_07,&CntTime[6 ],&PwmH[6 ]);
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// dfOut_08 = funcPwmOut(&RgSTT[7 ],dfCmd_08,&CntTime[7 ],&PwmH[7 ]);
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// dfOut_09 = funcPwmOut(&RgSTT[8 ],dfCmd_09,&CntTime[8 ],&PwmH[8 ]);
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// dfOut_10 = funcPwmOut(&RgSTT[9 ],dfCmd_10,&CntTime[9 ],&PwmH[9 ]);
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// dfOut_11 = funcPwmOut(&RgSTT[10],dfCmd_11,&CntTime[10],&PwmH[10]);
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// dfOut_12 = funcPwmOut(&RgSTT[11],dfCmd_12,&CntTime[11],&PwmH[11]);
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// dfOut_13 = funcPwmOut(&RgSTT[12],dfCmd_13,&CntTime[12],&PwmH[12]);
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// dfOut_14 = funcPwmOut(&RgSTT[13],dfCmd_14,&CntTime[13],&PwmH[13]);
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// dfOut_15 = funcPwmOut(&RgSTT[14],dfCmd_15,&CntTime[14],&PwmH[14]);
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// dfOut_16 = funcPwmOut(&RgSTT[15],dfCmd_16,&CntTime[15],&PwmH[15]);
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i = dfOut_02; //20210906保存IO口状态 解决KGF重启指示灯闪烁问题
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RestartDataKGF = dfOut_01;
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RestartDataKGF = RestartDataKGF + (i<<1);
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i = dfOut_03;
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RestartDataKGF = RestartDataKGF + (i<<2);
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i = dfOut_04;
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RestartDataKGF = RestartDataKGF + (i<<3);
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i = dfOut_05;
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RestartDataKGF = RestartDataKGF + (i<<4);
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i = dfOut_06;
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RestartDataKGF = RestartDataKGF + (i<<5);
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i = dfOut_07;
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RestartDataKGF = RestartDataKGF + (i<<6);
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i = dfOut_08;
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RestartDataKGF = RestartDataKGF + (i<<7);
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i = dfOut_09;
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RestartDataKGF = RestartDataKGF + (i<<8);
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i = dfOut_10;
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RestartDataKGF = RestartDataKGF + (i<<9);
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i = dfOut_11;
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RestartDataKGF = RestartDataKGF + (i<<10);
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i = dfOut_12;
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RestartDataKGF = RestartDataKGF + (i<<11);
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i = dfOut_13;
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RestartDataKGF = RestartDataKGF + (i<<12);
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i = dfOut_14;
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RestartDataKGF = RestartDataKGF + (i<<13);
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i = dfOut_15;
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RestartDataKGF = RestartDataKGF + (i<<14);
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i = dfOut_16;
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RestartDataKGF = RestartDataKGF + (i<<15);
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}
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void CanTransmit(void)
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{
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// ulong i;
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//----------------- --------
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CAN_waitTransmit(DF_SwTx);//发送前等待上一帧发送完毕，这样不会丢帧
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// Password();
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CAN_vLoadData(DF_SwTx, (ulong *)(&UnInfCan_1.ArrData.Arr[0][0])); // 装载数据
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CAN_vTransmit(DF_SwTx);
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}
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void canSendTo(ubyte index,ubyte *buf)
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{
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ubyte CanTransmitbuf[8] = {0,0,0,0,0,0,0,0};
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//----------------- --------
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CanTransmitbuf[2] = buf[0];
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CanTransmitbuf[3] = buf[1];
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CanTransmitbuf[0] = buf[2];
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CanTransmitbuf[1] = buf[3];
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CanTransmitbuf[6] = buf[4];
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CanTransmitbuf[7] = buf[5];
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CanTransmitbuf[4] = buf[6];
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CanTransmitbuf[5] = buf[7];
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CAN_waitTransmit(index);//发送前等待上一帧发送完毕，这样不会丢帧
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CAN_vLoadData(index, (ulong *)CanTransmitbuf);// 装载数据
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CAN_vTransmit(index);
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}
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//CAN发送一帧
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void CanTX(void)
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{
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//-----------------------------------
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if(1 == SwOut09)UnInfCan_1.ArrData.Arr[0][3] |= 0x01;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x01); //KGF1 //20200303修改为与接收到的数据一致，反馈与接收到时数据为一致
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if(1 == SwOut10)UnInfCan_1.ArrData.Arr[0][3] |= 0x02;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x02); //KGF2
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if(1 == SwOut04)UnInfCan_1.ArrData.Arr[0][3] |= 0x04;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x04); //KGF3
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if(1 == SwOut03)UnInfCan_1.ArrData.Arr[0][3] |= 0x08;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x08); //KGF4
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if(1 == SwOut06)UnInfCan_1.ArrData.Arr[0][3] |= 0x10;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x10); //KGF5
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if(1 == SwOut05)UnInfCan_1.ArrData.Arr[0][3] |= 0x20;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x20); //KGF6
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if(1 == SwOut15)UnInfCan_1.ArrData.Arr[0][3] |= 0x40;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x40); //KGF7
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if(1 == SwOut16)UnInfCan_1.ArrData.Arr[0][3] |= 0x80;else UnInfCan_1.ArrData.Arr[0][3] &= (~0x80); //KGF8
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if(1 == SwOut13)UnInfCan_1.ArrData.Arr[0][2] |= 0x01;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x01); //KGF9
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if(1 == SwOut14)UnInfCan_1.ArrData.Arr[0][2] |= 0x02;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x02); //KGF10
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if(1 == SwOut08)UnInfCan_1.ArrData.Arr[0][2] |= 0x04;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x04); //KGF11
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if(1 == SwOut07)UnInfCan_1.ArrData.Arr[0][2] |= 0x08;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x08); //KGF12
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if(1 == SwOut02)UnInfCan_1.ArrData.Arr[0][2] |= 0x10;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x10); //KGF13
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if(1 == SwOut01)UnInfCan_1.ArrData.Arr[0][2] |= 0x20;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x20); //KGF14
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if(1 == SwOut11)UnInfCan_1.ArrData.Arr[0][2] |= 0x40;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x40); //KGF15
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if(1 == SwOut12)UnInfCan_1.ArrData.Arr[0][2] |= 0x80;else UnInfCan_1.ArrData.Arr[0][2] &= (~0x80); //KGF16
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if(1 == SwIn01 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x01);else UnInfCan_1.ArrData.Arr[0][1] |= 0x01; //Dia01 20200225修改为0数据变为1,1数据变为0，这样大CPU方便处理
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if(1 == SwIn02 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x02);else UnInfCan_1.ArrData.Arr[0][1] |= 0x02; //Dia02
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if(1 == SwIn03 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x04);else UnInfCan_1.ArrData.Arr[0][1] |= 0x04; //Dia03
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if(1 == SwIn04 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x08);else UnInfCan_1.ArrData.Arr[0][1] |= 0x08; //Dia04
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if(1 == SwIn05 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x10);else UnInfCan_1.ArrData.Arr[0][1] |= 0x10; //Dia05
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if(1 == SwIn06 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x20);else UnInfCan_1.ArrData.Arr[0][1] |= 0x20; //Dia06
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if(1 == SwIn07 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x40);else UnInfCan_1.ArrData.Arr[0][1] |= 0x40; //Dia07
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if(1 == SwIn08 )UnInfCan_1.ArrData.Arr[0][1] &= (~0x80);else UnInfCan_1.ArrData.Arr[0][1] |= 0x80; //Dia08
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UnInfCan_1.ArrData.Arr[0][0] = 0;
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UnInfCan_1.ArrData.Arr[0][7] = 0;
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UnInfCan_1.ArrData.Arr[0][6] = RomNum;
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UnInfCan_1.ArrData.Arr[0][5] = (ubyte)(UnSwSample_1.bit_data.temperature[0]);
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UnInfCan_1.ArrData.Arr[0][4] = (ubyte)(UnSwSample_1.bit_data.temperature[0]>>8);
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CanTransmit();
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}
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//------------------------------------------------------------------
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// 三状态温度控制状态机
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// 参数说明：
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// current_state - 当前状态指针（需保持生命周期）
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// current_temp - 当前温度值（建议通过中断更新[6](@ref)）
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//------------------------------------------------------------------
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void tempStateMachine(SystemState *current_state, float current_temp)
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{
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switch (*current_state)
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{
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// 初始检测状态（网页5初始化逻辑强化）
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case STATE_INIT_CHECK:
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if(current_temp < INIT_THRESHOLD)
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{
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*current_state = STATE_INIT_HEATING;
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HERTER_CMD(1);
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PC_CMD(0);
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}
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else
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{
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// 非低温环境直接进入冷却状态
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*current_state = STATE_COOLING;
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HERTER_CMD(0);
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PC_CMD(1);
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}
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break;
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case STATE_INIT_HEATING://20250330初始加热状态，只有当温度大于设定才会，此状态未加热到设定温度会关闭计算机，后面的状态不会。
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if(current_temp > (HEATING_STOP + TEMP_HYSTERESIS))
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{
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*current_state = STATE_COOLING;
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HERTER_CMD(0);
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PC_CMD(1);
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}
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else
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{
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// 非低温环境直接进入冷却状态
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*current_state = STATE_INIT_HEATING;
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HERTER_CMD(1);
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PC_CMD(0);
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}
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break;
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// 加热状态（网页3加热阶段优化）
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case STATE_HEATING:
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if(current_temp > (HEATING_STOP + TEMP_HYSTERESIS))
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{
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*current_state = STATE_COOLING;
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HERTER_CMD(0);
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PC_CMD(1);
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}
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else
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{
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HERTER_CMD(1);
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PC_CMD(1);
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}
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break;
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// 冷却状态（网页6状态切换改进）
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case STATE_COOLING:
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if(current_temp < (COOLING_RESTART - TEMP_HYSTERESIS))
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{
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*current_state = STATE_HEATING;
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HERTER_CMD(1);
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PC_CMD(1);
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}
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else
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{
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HERTER_CMD(0);
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PC_CMD(1);
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}
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break;
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default:
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// 异常处理（网页1安全规范）
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*current_state = STATE_INIT_CHECK;
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break;
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}
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}
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//CAN发送接收
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void CanRXTX(void)
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{
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stCAN_SWObj StrCanRx = {0};
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uword tmp = 0;
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ubyte i = 0,j = 0;
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static SystemState temp_state = STATE_INIT_CHECK;
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float current_temp = 0.0f;
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//------------------------------------
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if(CAN_ubNewData(DF_SwRx))
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{
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CAN_vGetMsgObj(DF_SwRx, &StrCanRx);
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UnInfCan_1.ArrData.ArrRX[0][3] = StrCanRx.ulDATAL.ubDB[0];
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UnInfCan_1.ArrData.ArrRX[0][2] = StrCanRx.ulDATAL.ubDB[1];
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UnInfCan_1.ArrData.ArrRX[0][1] = StrCanRx.ulDATAL.ubDB[2];
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UnInfCan_1.ArrData.ArrRX[0][0] = StrCanRx.ulDATAL.ubDB[3];
|
||
UnInfCan_1.ArrData.ArrRX[0][7] = StrCanRx.ulDATAH.ubDB[0];
|
||
UnInfCan_1.ArrData.ArrRX[0][6] = StrCanRx.ulDATAH.ubDB[1];
|
||
UnInfCan_1.ArrData.ArrRX[0][5] = StrCanRx.ulDATAH.ubDB[2];
|
||
UnInfCan_1.ArrData.ArrRX[0][4] = StrCanRx.ulDATAH.ubDB[3];
|
||
|
||
CAN_vReleaseObj(DF_SwRx);
|
||
|
||
//CAN发送周期 50-5000ms
|
||
tmp = (uword)UnInfCan_1.ArrData.ArrRX[0][6];
|
||
tmp = (tmp << 8);
|
||
tmp |= ((uword)UnInfCan_1.ArrData.ArrRX[0][7]);
|
||
if(tmp >= 50)RgCanPerid = tmp;
|
||
if(tmp >= 5000)RgCanPerid = 5000;
|
||
|
||
// UnInfCan_1.ArrData.Arr[0][3] = UnInfCan_1.ArrData.ArrRX[0][0];
|
||
// UnInfCan_1.ArrData.Arr[0][2] = UnInfCan_1.ArrData.ArrRX[0][1];
|
||
// UnInfCan_1.ArrData.Arr[0][1] = UnInfCan_1.ArrData.ArrRX[0][2]; 20200225注释不更新诊断数据
|
||
// UnInfCan_1.ArrData.Arr[0][0] = UnInfCan_1.ArrData.ArrRX[0][3];
|
||
// UnInfCan_1.ArrData.Arr[0][7] = UnInfCan_1.ArrData.ArrRX[0][4];
|
||
// UnInfCan_1.ArrData.Arr[0][6] = UnInfCan_1.ArrData.ArrRX[0][5];
|
||
// UnInfCan_1.ArrData.Arr[0][5] = (ubyte)(RgCanPerid>>8);
|
||
// UnInfCan_1.ArrData.Arr[0][4] = (ubyte)(RgCanPerid);
|
||
// CanTransmit(); 20200730不发送干扰数据运行
|
||
}
|
||
|
||
if(CAN_ubNewData(DF_SwRxPwm))
|
||
{
|
||
CAN_vGetMsgObj(DF_SwRxPwm, &StrCanRx);
|
||
|
||
UnInfCan_1.ArrData.ArrRX[1][2] = StrCanRx.ulDATAL.ubDB[0];
|
||
UnInfCan_1.ArrData.ArrRX[1][3] = StrCanRx.ulDATAL.ubDB[1];
|
||
UnInfCan_1.ArrData.ArrRX[1][0] = StrCanRx.ulDATAL.ubDB[2];
|
||
UnInfCan_1.ArrData.ArrRX[1][1] = StrCanRx.ulDATAL.ubDB[3];
|
||
UnInfCan_1.ArrData.ArrRX[1][6] = StrCanRx.ulDATAH.ubDB[0];
|
||
UnInfCan_1.ArrData.ArrRX[1][7] = StrCanRx.ulDATAH.ubDB[1];
|
||
UnInfCan_1.ArrData.ArrRX[1][4] = StrCanRx.ulDATAH.ubDB[2];
|
||
UnInfCan_1.ArrData.ArrRX[1][5] = StrCanRx.ulDATAH.ubDB[3];
|
||
|
||
CAN_vReleaseObj(DF_SwRxPwm);
|
||
//接收的数据保存到PWM数据结构中20181227
|
||
PwmH[0 ] = (ubyte)UnInfCan_1.BitData.Pwm_01;
|
||
PwmH[1 ] = (ubyte)UnInfCan_1.BitData.Pwm_02;
|
||
PwmH[2 ] = (ubyte)UnInfCan_1.BitData.Pwm_03;
|
||
PwmH[3 ] = (ubyte)UnInfCan_1.BitData.Pwm_04;
|
||
PwmH[4 ] = (ubyte)UnInfCan_1.BitData.Pwm_05;
|
||
PwmH[5 ] = (ubyte)UnInfCan_1.BitData.Pwm_06;
|
||
PwmH[6 ] = (ubyte)UnInfCan_1.BitData.Pwm_07;
|
||
PwmH[7 ] = (ubyte)UnInfCan_1.BitData.Pwm_08;
|
||
PwmH[8 ] = (ubyte)UnInfCan_1.BitData.Pwm_09;
|
||
PwmH[9 ] = (ubyte)UnInfCan_1.BitData.Pwm_10;
|
||
PwmH[10] = (ubyte)UnInfCan_1.BitData.Pwm_11;
|
||
PwmH[11] = (ubyte)UnInfCan_1.BitData.Pwm_12;
|
||
PwmH[12] = (ubyte)UnInfCan_1.BitData.Pwm_13;
|
||
PwmH[13] = (ubyte)UnInfCan_1.BitData.Pwm_14;
|
||
PwmH[14] = (ubyte)UnInfCan_1.BitData.Pwm_15;
|
||
PwmH[15] = (ubyte)UnInfCan_1.BitData.Pwm_16;
|
||
|
||
}
|
||
|
||
//接收一帧，调用一次点灯程序。
|
||
LedDr();
|
||
|
||
|
||
|
||
//100ms发送一帧
|
||
if(!FlgCan_1)
|
||
{
|
||
FlgCan_1 = 1;
|
||
GetTemp();//1s采集一次温度
|
||
current_temp = (float)((int)UnSwSample_1.bit_data.temperature[0]);
|
||
current_temp = current_temp/10.0f;//
|
||
tempStateMachine(&temp_state, current_temp);
|
||
CanTX();
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
|