motor_ctl-4/User project/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 "can.h"
#include "cmdgennew.h"
#include "canAppl.h"
#include "flash_master.h"
#include "torquesensor.h"
#include "power.h"
#include "STLmain.h"
#include "display.h"
#include "enviolo_can.h"

void PeripheralInit();
void PeripheralStart();

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();
    /* AssitPara Init */
    ass_voAssitEEInit();
    /* PowerInit */
    power_voPowerInit();
    /* DisplayInit */
    display_voDisplayInit();
#ifdef RUN_ARCH_SIM
    cp_stFlg.SpiOffsetFirstSetFlg = 1;
#else
    /* Para Copy */
    mn_voParaSet();
    //cp_stFlg.ParaFirstSetFlg = 0;  //eeprom save test
    if(cp_stFlg.ParaFirstSetFlg == 0)
    {
        flash_voParaInit();
        flash_voErrorClear();
        /* Parameter Default Value Write*/ 
        i2c_voDefaultWriteBuffer();
        i2c_voInfoWrite2EE(&i2c_stTXCoef, &i2c_stTXOut);
        /* History Default Value Write */ 
        i2c_voHistoryDefaultWriteBuffer();
        i2c_voHistoryWrite2EE(&i2c_stTXCoef, &i2c_stTXOut); 
        /* Read EE and Update code para */
        mn_voParaSet();
    }
#endif
    
    Can_voUpdateMC_UpcInfo();
    /* System parameter initial */
    mn_voSoftwareInit();


    /* 启动外设 */

    PeripheralStart();

}

void AppLoop()
{
    /* Uart Monitor Service */
//    ReadFrame_Poll2();
//    uart_voMainDec();

    /* 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();

    TimingTaskLoopServer();

    if(cp_stFlg.SpiOffsetFirstSetFinishFlg == TRUE && switch_flg.SysRun_Flag == FALSE && cp_stFlg.SpiOffsetFirstSetFlg==0 && FSM2nd_Run_state.state == Exit)
    {
        MC_UpcInfo.stMContorlInfo.uwSaveFlg = 1;
        cp_stFlg.SpiOffsetFirstSetFlg = 1;
        mn_voEEUperParaUpdate();
        
        DISABLE_IRQ;
        
        /* Parameter real value write*/ 
        i2c_voParaWriteBuffer();
        i2c_voInfoWrite2EE(&i2c_stTXCoef, &i2c_stTXOut);
        MC_UpcInfo.stMContorlInfo.uwSaveFlg = 0;
        
        ENABLE_IRQ;
    }

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

    if (power_stPowStateOut.powerstate == POWER_OFF)
    {
        if (FSM2nd_Run_state.state == Exit)
        {
            if (cp_stFlg.ParaHistorySaveEEFinishFlg == FALSE)
            {
                cp_stHistoryPara.uwOpenTimes++;
                cp_stHistoryPara.ulODOTime = MC_RideLog.ODO_Time;
                cp_stHistoryPara.ulTripSumTime = MC_RideLog.TRIP_Time;
                mn_voEEHistoryParaUpdate();
                
                DISABLE_IRQ;
                
                i2c_voHistoryWriteBuffer();
                i2c_voHistoryWrite2EE(&i2c_stTXCoef, &i2c_stTXOut);
                cp_stFlg.ParaHistorySaveEEFinishFlg = TRUE;
                
                flash_voWrite();
                /* Error Log Write */
                flash_voErrorWrite();
                if (cp_stFlg.ParaSaveEEFlg == TRUE)
                {
                    mn_voEEUperParaUpdate();
                    /* Parameter real value write*/ 
                    i2c_voParaWriteBuffer();
                    i2c_voInfoWrite2EE(&i2c_stTXCoef, &i2c_stTXOut);

                    cp_stFlg.ParaSaveEEFinishFlg = TRUE;
                    cp_stFlg.ParaSaveEEFlg = FALSE;
                }
                
                ENABLE_IRQ;
            }
        }
    }

    GearBox_Loop();
}

void PeripheralInit()
{
    /* Gpio配置 */
//    iGpio_SetMode(HW_GPIO_HALLA_PIN, ApiGpio_Output);
//    iGpio_SetMode(HW_GPIO_HALLB_PIN, ApiGpio_Output);
//    iGpio_SetMode(HW_GPIO_HALLC_PIN, ApiGpio_Output);

    /* 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 */
//    clock = iTimer_GetClock(HW_SYSTICK_TIMER);
//    iTimer_SetPeriod(HW_SYSTICK_TIMER, clock / 1000 - 1);
//    iTimer_EnableAutoReload(HW_SYSTICK_TIMER);
    iTimer_BindInterrupt(HW_SYSTICK_TIMER, SysTask1Ms);
    iTimer_EnableInterrupt(HW_SYSTICK_TIMER);
    
    iCap_BindDeviceInterrupt(0,IC_CountMaxISR);
    iCap_BindChannelInterrupt(0,CAP_CH(2),IC_CadenceISR);
    iCap_BindChannelInterrupt(0,CAP_CH(3),IC_BikeSpdISR);
    iCap_EnableDeviceInterrupt(0);
    iCap_EnableChannelInterrupt(0,CAP_CH(2));
    iCap_EnableChannelInterrupt(0,CAP_CH(3));
}

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