Cpu0_Main.c

#include "Ifx_Types.h"
#include "IfxCpu.h"
#include "IfxScuWdt.h"
#include "Ifx_Cfg_Ssw.h"
#include "IfxCan_Can.h"
#include "IfxPort.h"
#include "STM_Interrupt.h"

#include "Types.h"
#include "Input_Handler.h"
#include "State_Manager.h"
#include "HMI_Output.h"
#include "Actuator_Output.h"
#include "Log_Handler.h"

#define LED &MODULE_P00, 5

#define RX_SENSOR_MSG_ID 0x123u
#define TX_ACT_MSG_ID 0x201u
#define TX_HMI_MSG_ID 0x202u

#define CAN_STB_PORT (&MODULE_P20)
#define CAN_STB_PIN (6U)

IFX_ALIGN(4)
IfxCpu_syncEvent cpuSyncEvent = 0;

/* ===== 상태 ===== */
static InputData g_inputData;
static VehicleState g_vehicleState;
static OutputRuntimeState g_outputRuntime;
static ActuatorTxRuntime g_actuatorTxRuntime;

/* ===== CAN ===== */
static IfxCan_Can g_mcmcan;
static IfxCan_Can_Node g_canNode;
static IfxCan_Can_Pins g_canPins;
static IfxCan_Message g_rxMsg;
static IfxCan_Message g_txMsgHmi;
static IfxCan_Message g_txMsgAct;
static IfxCan_Filter g_rxFilter;

static uint32 g_rxData[2];
static uint32_t g_txDataHmi[2];
static uint32_t g_txDataAct[2];

static boolean g_rxInitialized = FALSE;

/*********************************************************************************************************************/
static void initCanTransceiver(void)
{
    IfxPort_setPinModeOutput(CAN_STB_PORT,
                             CAN_STB_PIN,
                             IfxPort_OutputMode_pushPull,
                             IfxPort_OutputIdx_general);

    IfxPort_setPinLow(CAN_STB_PORT, CAN_STB_PIN);
}

/*********************************************************************************************************************/

static void app_init_can(void)
{
    IfxCan_Can_Config canConfig;
    IfxCan_Can_NodeConfig nodeConfig;

    initCanTransceiver();

    IfxCan_Can_initModuleConfig(&canConfig, &MODULE_CAN0);
    IfxCan_Can_initModule(&g_mcmcan, &canConfig);

    IfxCan_Can_initNodeConfig(&nodeConfig, &g_mcmcan);
    nodeConfig.nodeId = IfxCan_NodeId_0;
    nodeConfig.frame.type = IfxCan_FrameType_transmitAndReceive;
    nodeConfig.frame.mode = IfxCan_FrameMode_standard;
    nodeConfig.baudRate.baudrate = 500000;
    nodeConfig.busLoopbackEnabled = FALSE;

    /* TX */
    nodeConfig.txConfig.txMode = IfxCan_TxMode_dedicatedBuffers;
    nodeConfig.txConfig.dedicatedTxBuffersNumber = 2;
    nodeConfig.txConfig.txBufferDataFieldSize = IfxCan_DataFieldSize_8;

    /* RX : FIFO0 */
    nodeConfig.rxConfig.rxMode = IfxCan_RxMode_fifo0;
    nodeConfig.rxConfig.rxFifo0Size = 8;
    nodeConfig.rxConfig.rxFifo0DataFieldSize = IfxCan_DataFieldSize_8;

    nodeConfig.filterConfig.messageIdLength = IfxCan_MessageIdLength_standard;
    nodeConfig.filterConfig.standardListSize = 1;
    nodeConfig.filterConfig.extendedListSize = 0;

    g_canPins.rxPin = &IfxCan_RXD00B_P20_7_IN;
    g_canPins.rxPinMode = IfxPort_InputMode_noPullDevice;
    g_canPins.txPin = &IfxCan_TXD00_P20_8_OUT;
    g_canPins.txPinMode = IfxPort_OutputMode_pushPull;
    g_canPins.padDriver = IfxPort_PadDriver_cmosAutomotiveSpeed1;
    nodeConfig.pins = &g_canPins;

    IfxCan_Can_initNode(&g_canNode, &nodeConfig);

    /* FIFO0로 수신되도록 필터 설정 */
    g_rxFilter.number = 0;
    g_rxFilter.elementConfiguration = IfxCan_FilterElementConfiguration_storeInRxFifo0;
    g_rxFilter.id1 = RX_SENSOR_MSG_ID;

    IfxCan_Can_setStandardFilter(&g_canNode, &g_rxFilter);

    /* RX message */
    IfxCan_Can_initMessage(&g_rxMsg);
    g_rxMsg.messageId = RX_SENSOR_MSG_ID;
    g_rxMsg.frameMode = IfxCan_FrameMode_standard;
    g_rxMsg.messageIdLength = IfxCan_MessageIdLength_standard;
    g_rxMsg.dataLengthCode = IfxCan_DataLengthCode_8;
    g_rxMsg.readFromRxFifo0 = TRUE;

    /* HMI TX */
    IfxCan_Can_initMessage(&g_txMsgHmi);
    g_txMsgHmi.messageId = TX_HMI_MSG_ID;
    g_txMsgHmi.bufferNumber = 0;
    g_txMsgHmi.frameMode = IfxCan_FrameMode_standard;
    g_txMsgHmi.messageIdLength = IfxCan_MessageIdLength_standard;
    g_txMsgHmi.dataLengthCode = IfxCan_DataLengthCode_8;

    /* ACT TX */
    IfxCan_Can_initMessage(&g_txMsgAct);
    g_txMsgAct.messageId = TX_ACT_MSG_ID;
    g_txMsgAct.bufferNumber = 1;
    g_txMsgAct.frameMode = IfxCan_FrameMode_standard;
    g_txMsgAct.messageIdLength = IfxCan_MessageIdLength_standard;
    g_txMsgAct.dataLengthCode = IfxCan_DataLengthCode_8;
}

/*********************************************************************************************************************/
static void process_rx_frame_words(const uint32 rxWords[2])
{
    uint8 rxBytes[8];

    rxBytes[0] = (uint8)(rxWords[0] & 0xFFu);
    rxBytes[1] = (uint8)((rxWords[0] >> 8) & 0xFFu);
    rxBytes[2] = (uint8)((rxWords[0] >> 16) & 0xFFu);
    rxBytes[3] = (uint8)((rxWords[0] >> 24) & 0xFFu);
    rxBytes[4] = (uint8)(rxWords[1] & 0xFFu);
    rxBytes[5] = (uint8)((rxWords[1] >> 8) & 0xFFu);
    rxBytes[6] = (uint8)((rxWords[1] >> 16) & 0xFFu);
    rxBytes[7] = (uint8)((rxWords[1] >> 24) & 0xFFu);

    input_handler_parse_can(rxBytes, &g_inputData);

    if (g_rxInitialized == FALSE)
    {
        input_handler_init(&g_vehicleState, &g_inputData);
        g_rxInitialized = TRUE;
    }
    else
    {
        input_handler_update(&g_vehicleState, &g_inputData);
    }

    classify_state(&g_vehicleState, &g_outputRuntime);
    // output_runtime_notify_input(&g_outputRuntime);
    actuator_tx_runtime_update(&g_actuatorTxRuntime, &g_vehicleState);
}

/*********************************************************************************************************************/
void core0_main(void)
{
    IfxCpu_enableInterrupts();

    IfxScuWdt_disableCpuWatchdog(IfxScuWdt_getCpuWatchdogPassword());
    IfxScuWdt_disableSafetyWatchdog(IfxScuWdt_getSafetyWatchdogPassword());

    IfxCpu_emitEvent(&cpuSyncEvent);
    IfxCpu_waitEvent(&cpuSyncEvent, 1);

    initPeripherals();
    app_init_can();
    log_handler_init();

    g_inputData.button = 0u;
    g_inputData.brake_value = 0u;
    g_inputData.accel_value = 0u;
    g_inputData.steer_value = 0u;

    input_handler_init(&g_vehicleState, &g_inputData);
    output_runtime_init(&g_outputRuntime);
    actuator_tx_runtime_init(&g_actuatorTxRuntime);

    while (1)
    {
        /* ===== RX ===== */
        if (stm_get_10msflag() != FALSE)
        {
            if (IfxCan_Can_getRxFifo0FillLevel(&g_canNode) > 0u)
            {
                IfxCan_Can_readMessage(&g_canNode, &g_rxMsg, (uint32 *)g_rxData);
                log_handler_reset_rx_timeout();
                process_rx_frame_words(g_rxData);
            }
            else
            {
                log_handler_increment_rx_timeout();
            }
            /* 10ms마다 할 작업*/
            // can통신 해서 데이터 구조 초기화
        }
        if (stm_get_50msflag() != FALSE)
        {
            /* 50ms마다 할 작업*/
            /* ===== 상태 분류 및 로그 판별 ===== */
            classify_state(&g_vehicleState, &g_outputRuntime);
            LogCode current_logcode = log_handler_evaluate(&g_vehicleState);
            log_handler_send_log(current_logcode);
        }

        /* ===== TX ===== */
        if (stm_get_100msflag() != FALSE)
        {

            output_build_can_words(&g_vehicleState,
                                   &g_outputRuntime,
                                   g_txDataHmi);

            actuator_build_can_words(&g_vehicleState,
                                     &g_outputRuntime,
                                     &g_actuatorTxRuntime,
                                     g_txDataAct);

            while (IfxCan_Can_sendMessage(&g_canNode, &g_txMsgHmi, (uint32 *)g_txDataHmi) == IfxCan_Status_notSentBusy)
            {
            }

            while (IfxCan_Can_sendMessage(&g_canNode, &g_txMsgAct, (uint32 *)g_txDataAct) == IfxCan_Status_notSentBusy)
            {
            }

            actuator_tx_runtime_on_periodic_send(&g_actuatorTxRuntime);
        }

        /* ===== LED ===== */
        if (stm_get_1000msflag() != FALSE)
        {
            output_runtime_tick1000ms(&g_vehicleState, &g_outputRuntime);
            /* 1000ms마다 할 작업 */
            // 토글 테스트
            // critical_response_timer_down();
        }
    }
}