motor_ctl-1/1.FrameLayer/Source/app.c

//#include "api.h"
#include "board_config.h"
#include "tbc.h"
#include "tbs.h"
#include "sys_task.h"
#include "TimeTask_Event.h"
#include "InputCapture.h"

#include "syspar.h"
#include "user.h"
#include "TimeTask_Event.h"
#include "FSM_1st.h"
#include "FSM_2nd.h"
#include "usart.h"
#include "can.h"
#include "cmdgennew.h"
#include "canAppl.h"
#include "flash_master.h"
#include "torquesensor.h"
#include "power.h"
#include "FuncLayerAPI.h"
#include "MosResCalib.h"
void PeripheralInit();
void PeripheralStart();
void StartSelectAssistMode(void);

void AppInit()
{
    /* 初始化外设（Api层级配置）并配置调度逻辑 */

    PeripheralInit();

//    /* 1 电机控制环路初始化 */
//    /* 1.1 初始化PU值系统 */
//    /* 1.2 初始化参数系统 */
//    /* 1.3 算法模块初始化 */
//
//    McPipelineInit();
//    McModulesConfig();
//    McPipelineModulesInit();
//    McPipelineStaticCoef();
//
//    /* 2 控制组件初始化 */
//
//    SysCtrlInit();
//    McCtrlInit();
//
//    /* 状态机初始化 */
//
//    SysFsmInit();
//    CtrlFsmInit();
//    McFsmInit();
//
//    /* 故障处理初始化 */
//
//    AlmInit();
//
//    /* 串口调试初始化 */
//
//    uart_voMonitorInit();


    /* Code Para Init */
    CodeParaInit();
    ass_voParameterInit();
    /* AssitPara Init */
    AssitEEInit();

    /* Para Copy */

    mn_voParaSet();

    if(cp_stFlg.ParaFirstSetFlg == 0)
    {
         
        //clear Err Value
         //flash_voErrorClear();
         flash_voSysParaInit();
        CodeHistoryParaDelete();
        mn_voEEHistoryParaUpdate();
         flash_voSysParaWrite();
        flash_HistoryWrite();
        mn_voParaSet();
    }
     bikelight_voBikeLightCoef(ass_ParaCong.uwLightConfig); //灯压
    /* 上位机参数更新 */
    Can_voUpdateMC_UpcInfo();
    /* System parameter initial */
    mn_voSoftwareInit();
    /* 启动外设 */
    PeripheralStart();

}
void AppLoop()
{
    /* Control mode FSM reset */
    if (!sysfsm_stFlg.blFSMRstOvrFlg)
    {
        RUN_FSM_voInit();
        Switch_speed_FSMInit();
        sysfsm_stFlg.blFSMRstOvrFlg = TRUE;
    }

    /* Control mode variable clear */
    if (!sysfsm_stFlg.blCtrlMdVarClcOvrFlg)
    {
        sysfsm_stFlg.blCtrlMdVarClcOvrFlg = TRUE;
    }
    CanRx_Process();
    //ReadFrame_Poll2();
  //  uart_voMainDec();
    UsartRx_Process(&UART_RxBuff_Struct_OBC, &UART_TxBuff_Struct_OBC, &stUSART_FrameBuf_OBC);
    UsartRx_Process(&UART_RxBuff_Struct_BMS, &UART_TxBuff_Struct_BMS, &stUSART_FrameBuf_BMS);
    
    TimingTaskLoopServer();
     ReceiveCmdHandle();

  //  StartSelectAssistMode();

    if (cp_stFlg.ParaUpdateFlg == TRUE)
    {
        mn_voParaUpdate();
    }


    if (FSM2nd_Run_state.state == Exit)
    {        
        if (cp_stFlg.ParaHistorySaveEEFinishFlg == FALSE)
        {
            DISABLE_IRQ; /* MCU Core and GPIO configuration */
            cp_stHistoryPara.ulODOTime = MC_RideLog.ODO_Time;
            cp_stHistoryPara.ulTripSumTime = MC_RideLog.TRIP_Time;
            cp_stHistoryPara.ulRealODOTime+= (cp_stBikeRunInfoPara.ulRealODOTime >>10);
            cp_stBikeRunInfoPara.ulRiTime=0;
            cp_stBikeRunInfoPara.ulRiTirpTime=0;
            cp_stBikeRunInfoPara.ulRealODOTime =0;
            mn_voEEHistoryParaUpdate();
            /* Error Log Write */
            flash_voErrorWrite(); //故障日志+历史信息
            flash_HistoryWrite();

            if (cp_stFlg.ParaSaveEEFlg == TRUE)
            {
                mn_voEEUperParaUpdate();
                cp_stFlg.ParaSaveEEFinishFlg = TRUE;
                cp_stFlg.ParaSaveEEFlg = FALSE;
            }
            flash_voSysParaWrite();

            flash_voProductParaWrite();

            cp_stFlg.ParaHistorySaveEEFinishFlg = TRUE;
            ENABLE_IRQ; /* MCU Core and GPIO configuration */
        }
    }

}

void PeripheralInit()
{
    /* Pwm配置 */
//    iPwm_BindDeviceInterrupt(0, ApiPwm_CountZeroInt, tbc_voUpIsr);
//    iPwm_BindDeviceInterrupt(0, ApiPwm_CountMaxInt, tbc_voDownIsr);
//    iPwm_EnableDeviceInterrupt(0, ApiPwm_CountZeroInt);
//    iPwm_EnableDeviceInterrupt(0, ApiPwm_CountMaxInt);

    /* Tbs 定时器配置 */
    // iTimer_BindInterrupt(HW_TBS_TIMER, tbs_voIsr);
    //iTimer_EnableInterrupt(HW_TBS_TIMER);
    
    /* Event1ms 定时器配置 */
//    iTimer_BindInterrupt(HW_EVENT1MS_TIMER, Event_1ms);
//    iTimer_EnableInterrupt(HW_EVENT1MS_TIMER);
    
    /* 1ms 定时器配置 */
//    iTimer_BindInterrupt(HW_SYSTICK_TIMER, SysTask1Ms);
//    iTimer_EnableInterrupt(HW_SYSTICK_TIMER);
    
//    iCap_BindDeviceInterrupt(HW_BIKESPD_CAD_CAP,ic_voBikeSensorCntMaxIsr);
//    iCap_BindChannelInterrupt(HW_BIKESPD_CAD_CAP,CAP_CH(2),ic_voCadenceIsr);
//    iCap_BindChannelInterrupt(HW_BIKESPD_CAD_CAP,CAP_CH(3),ic_voBikeSpdIsr);
//    iCap_EnableDeviceInterrupt(HW_BIKESPD_CAD_CAP);
//    iCap_EnableChannelInterrupt(HW_BIKESPD_CAD_CAP,CAP_CH(2));
//    iCap_EnableChannelInterrupt(HW_BIKESPD_CAD_CAP,CAP_CH(3));
//
//    iCap_BindDeviceInterrupt(HW_MOTOR_HALL_CAP,ic_voHallCntMaxIsr);
//    iCap_BindChannelInterrupt(HW_MOTOR_HALL_CAP,CAP_CH(0),ic_voHallCh1Isr);
//    iCap_BindChannelInterrupt(HW_MOTOR_HALL_CAP,CAP_CH(1),ic_voHallCh2Isr);
//    iCap_BindChannelInterrupt(HW_MOTOR_HALL_CAP,CAP_CH(2),ic_voHallCh3Isr);
//    iCap_EnableDeviceInterrupt(HW_MOTOR_HALL_CAP);
//    iCap_EnableChannelInterrupt(HW_MOTOR_HALL_CAP,CAP_CH(0));
//    iCap_EnableChannelInterrupt(HW_MOTOR_HALL_CAP,CAP_CH(1));
//    iCap_EnableChannelInterrupt(HW_MOTOR_HALL_CAP,CAP_CH(2));
}

void PeripheralStart()
{
//    iPwm_EnableCount(0);
//    iTimer_Start(HW_TBS_TIMER);
//    iTimer_Start(HW_SYSTICK_TIMER);
}