Stand Übergabe
This commit is contained in:
Hannes
parent
c986807e75
commit
912c0f9a7a
280
mss/mss_main.c
280
mss/mss_main.c
@ -108,6 +108,8 @@
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#include <ti/drivers/uart/UART.h>
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#include <ti/drivers/uart/UART.h>
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#include <ti/utils/cli/cli.h>
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#include <ti/utils/cli/cli.h>
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#include <ti/utils/mathutils/mathutils.h>
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#include <ti/utils/mathutils/mathutils.h>
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#include <ti/drivers/canfd/canfd.h> //Einf<6E>gen des Drivers f<>r den Can Anschluss
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/* Demo Include Files */
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/* Demo Include Files */
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#include <people_counting/68xx_3D_people_counting/src/common/mmwdemo_rfparser.h>
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#include <people_counting/68xx_3D_people_counting/src/common/mmwdemo_rfparser.h>
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@ -182,6 +184,23 @@ uint8_t gDPCTCM[MMWDEMO_OBJDET_LOCALRAM_SIZE];
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#pragma DATA_SECTION(gMmwL3, ".l3ram");
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#pragma DATA_SECTION(gMmwL3, ".l3ram");
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uint8_t gMmwL3[MMWAVE_MSSUSED_L3RAM_SIZE];
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uint8_t gMmwL3[MMWAVE_MSSUSED_L3RAM_SIZE];
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/**************************************************************************
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*************************** MCAN Global Definitions ***********************
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**************************************************************************/
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volatile uint32_t gTxDoneFlag = 0, gRxDoneFlag = 0, gParityErrFlag = 0;
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volatile uint32_t gTxPkts = 0, gRxPkts = 0, gErrStatusInt = 0;
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volatile uint32_t iterationCount = 0U;
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uint32_t dataLength = 0U;
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uint32_t msgLstErrCnt = 0U;
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uint32_t gDisplayStats = 0;
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uint8_t rxData[64U];
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uint32_t txDataLength, rxDataLength;
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CANFD_MCANFrameType frameType = CANFD_MCANFrameType_CLASSIC; //frameType auf Classic festlegen f<>r kklassische CAN Kommunikation
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static void MCANAppInitParams(CANFD_MCANInitParams* mcanCfgParams);
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CANFD_Handle canHandle;
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CANFD_MsgObjHandle txMsgObjHandle;
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CANFD_MCANMsgObjCfgParams txMsgObjectParams;
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/**************************************************************************
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/**************************************************************************
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*************************** Extern Definitions ***************************
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*************************** Extern Definitions ***************************
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**************************************************************************/
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**************************************************************************/
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@ -245,7 +264,261 @@ static void Pcount3DDemo_EDMA_transferControllerErrorCallbackFxn(EDMA_Handle han
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EDMA_transferControllerErrorInfo_t *errorInfo);
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EDMA_transferControllerErrorInfo_t *errorInfo);
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static void Pcount3DDemo_EDMA_errorCallbackFxn(EDMA_Handle handle, EDMA_errorInfo_t *errorInfo);
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static void Pcount3DDemo_EDMA_errorCallbackFxn(EDMA_Handle handle, EDMA_errorInfo_t *errorInfo);
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/**************************************************************************
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*************************** CAN Driver Initialize Function ***********************--------------------------------------------------------------------
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****************************************************************************************CAN-Anbindung**************/
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void Can_Initalize(void)
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{
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int32_t errCode = 0;
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int32_t retVal = 0;
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CANFD_MCANInitParams mcanCfgParams;
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CANFD_MCANBitTimingParams mcanBitTimingParams;
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CANFD_MCANMsgObjCfgParams rxMsgObjectParams;
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CANFD_MsgObjHandle rxMsgObjHandle;
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gTxDoneFlag = 0;
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gRxDoneFlag = 0;
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/* Setup the PINMUX to bring out the XWR16xx CAN pins */
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Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PINE14_PADAE, PINMUX_OUTEN_RETAIN_HW_CTRL,
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PINMUX_INPEN_RETAIN_HW_CTRL);
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Pinmux_Set_FuncSel(SOC_XWR68XX_PINE14_PADAE, SOC_XWR68XX_PINE14_PADAE_CANFD_TX);
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Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PIND13_PADAD, PINMUX_OUTEN_RETAIN_HW_CTRL,
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PINMUX_INPEN_RETAIN_HW_CTRL);
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Pinmux_Set_FuncSel(SOC_XWR68XX_PIND13_PADAD, SOC_XWR68XX_PIND13_PADAD_CANFD_RX);
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/* Configure the divide value for MCAN source clock */
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SOC_setPeripheralClock(gMmwMssMCB.socHandle, SOC_MODULE_MCAN, SOC_CLKSOURCE_VCLK, 4U, &errCode);
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/* Initialize peripheral memory */
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SOC_initPeripheralRam(gMmwMssMCB.socHandle, SOC_MODULE_MCAN, &errCode);
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MCANAppInitParams (&mcanCfgParams);
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/* Initialize the CANFD driver */
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canHandle = CANFD_init(0U, &mcanCfgParams, &errCode);
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if (canHandle == NULL)
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{
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System_printf ("Error: CANFD Module Initialization failed [Error code %d]\n", errCode);
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return ;
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}
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/* Configuring 1Mbps and 5Mbps as nominal and data bit-rate respectively
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Prop seg: 8
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Ph seg 1: 6
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Ph Seg2 : 5
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Sync jump: 1
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BRP(Baud rate Prescaler): 2
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Nominal Bit rate = (40)/(((8+6+5)+1)*BRP) = 1Mhz
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Timing Params for Data Bit rate:
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Prop seg: 2
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Ph seg 1: 2
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Ph Seg2 : 3
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Sync jump: 1
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BRP(Baud rate Prescaler): 1
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Nominal Bit rate = (40)/(((2+2+3)+1)*BRP) = 5Mhz
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*/
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mcanBitTimingParams.nomBrp = 0x4U; //um vorgegebene Bitrate zu erreichen
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mcanBitTimingParams.nomPropSeg = 0x8U;
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mcanBitTimingParams.nomPseg1 = 0x6U;
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mcanBitTimingParams.nomPseg2 = 0x5U;
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mcanBitTimingParams.nomSjw = 0x1U;
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mcanBitTimingParams.dataBrp = 0x4U; //um vorgegebene Bitrate zu erreichen
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mcanBitTimingParams.dataPropSeg = 0x2U;
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mcanBitTimingParams.dataPseg1 = 0x2U;
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mcanBitTimingParams.dataPseg2 = 0x3U;
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mcanBitTimingParams.dataSjw = 0x1U;
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/* Configure the CAN driver */
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retVal = CANFD_configBitTime (canHandle, &mcanBitTimingParams, &errCode);
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if (retVal < 0)
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{
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System_printf ("Error: CANFD Module configure bit time failed [Error code %d]\n",
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errCode);
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return ;
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}
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/* Setup the transmit message object */
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txMsgObjectParams.direction = CANFD_Direction_TX;
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txMsgObjectParams.msgIdType = CANFD_MCANXidType_11_BIT; //ID Type wird ge<67>ndert
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txMsgObjectParams.msgIdentifier = 0xD1;
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txMsgObjHandle = CANFD_createMsgObject (canHandle, &txMsgObjectParams, &errCode);
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if (txMsgObjHandle == NULL)
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{
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System_printf ("Error: CANFD create Tx message object failed [Error code %d]\n",
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errCode);
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return ;
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}
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/* Setup the receive message object */
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rxMsgObjectParams.direction = CANFD_Direction_RX;
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rxMsgObjectParams.msgIdType = CANFD_MCANXidType_11_BIT; //ID Type wird ge<67>ndert
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rxMsgObjectParams.msgIdentifier = 0xD1;
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rxMsgObjHandle = CANFD_createMsgObject (canHandle, &rxMsgObjectParams, &errCode);
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if (rxMsgObjHandle == NULL)
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{
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System_printf ("Error: CANFD create Rx message object failed [Error code %d]\n",
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errCode);
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return ;
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}
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}
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/**************************************************************************
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******************** CAN Parameters initialize Function *****************
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**************************************************************************/
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static void MCANAppCallback(CANFD_MsgObjHandle handle, CANFD_Reason reason)
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{
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int32_t errCode, retVal;
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uint32_t id;
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CANFD_MCANFrameType rxFrameType;
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CANFD_MCANXidType rxIdType;
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if (reason == CANFD_Reason_TX_COMPLETION)
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{
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{
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gTxPkts++;
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gTxDoneFlag = 1;
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return;
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}
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}
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if (reason == CANFD_Reason_RX)
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{
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{
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/* Reset the receive buffer */
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memset(&rxData, 0, sizeof (rxData));
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dataLength = 0;
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retVal = CANFD_getData (handle, &id, &rxFrameType, &rxIdType, &rxDataLength,
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&rxData[0], &errCode);
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if (retVal < 0)
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{
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System_printf ("Error: CAN receive data for iteration %d failed [Error code %d]\n", iterationCount, errCode);
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return;
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}
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if (rxFrameType != frameType)
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{
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System_printf ("Error: CAN received incorrect frame type Sent %d Received %d for iteration %d failed\n", frameType, rxFrameType, iterationCount);
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return;
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}
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/* Validate the data */
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gRxPkts++;
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gRxDoneFlag = 1;
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return;
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}
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}
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if (reason == CANFD_Reason_TX_CANCELED)
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{
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{
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gTxPkts++;
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gTxDoneFlag = 1;
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gRxDoneFlag = 1;
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return;
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}
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}
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}
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static void MCANAppErrStatusCallback(CANFD_Handle handle, CANFD_Reason reason,
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CANFD_ErrStatusResp* errStatusResp)
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{
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/*Record the error count */
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gErrStatusInt++;
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return;
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}
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static void MCANAppInitParams(CANFD_MCANInitParams* mcanCfgParams)
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{
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/*Intialize MCAN Config Params*/
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memset (mcanCfgParams, sizeof (CANFD_MCANInitParams), 0);
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mcanCfgParams->fdMode = 0x1U;
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mcanCfgParams->brsEnable = 0x1U;
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mcanCfgParams->txpEnable = 0x0U;
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mcanCfgParams->efbi = 0x0U;
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mcanCfgParams->pxhddisable = 0x0U;
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mcanCfgParams->darEnable = 0x1U;
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mcanCfgParams->wkupReqEnable = 0x1U;
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mcanCfgParams->autoWkupEnable = 0x1U;
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mcanCfgParams->emulationEnable = 0x0U;
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mcanCfgParams->emulationFAck = 0x0U;
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mcanCfgParams->clkStopFAck = 0x0U;
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mcanCfgParams->wdcPreload = 0x0U;
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mcanCfgParams->tdcEnable = 0x1U;
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mcanCfgParams->tdcConfig.tdcf = 0U;
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mcanCfgParams->tdcConfig.tdco = 8U;
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mcanCfgParams->monEnable = 0x0U;
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mcanCfgParams->asmEnable = 0x0U;
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mcanCfgParams->tsPrescalar = 0x0U;
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mcanCfgParams->tsSelect = 0x0U;
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mcanCfgParams->timeoutSelect = CANFD_MCANTimeOutSelect_CONT;
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mcanCfgParams->timeoutPreload = 0x0U;
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mcanCfgParams->timeoutCntEnable = 0x0U;
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mcanCfgParams->filterConfig.rrfe = 0x1U;
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mcanCfgParams->filterConfig.rrfs = 0x1U;
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mcanCfgParams->filterConfig.anfe = 0x1U;
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mcanCfgParams->filterConfig.anfs = 0x1U;
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mcanCfgParams->msgRAMConfig.lss = 127U;
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mcanCfgParams->msgRAMConfig.lse = 64U;
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mcanCfgParams->msgRAMConfig.txBufNum = 32U;
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mcanCfgParams->msgRAMConfig.txFIFOSize = 0U;
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mcanCfgParams->msgRAMConfig.txBufMode = 0U;
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mcanCfgParams->msgRAMConfig.txEventFIFOSize = 0U;
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mcanCfgParams->msgRAMConfig.txEventFIFOWaterMark = 0U;
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mcanCfgParams->msgRAMConfig.rxFIFO0size = 0U;
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mcanCfgParams->msgRAMConfig.rxFIFO0OpMode = 0U;
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mcanCfgParams->msgRAMConfig.rxFIFO0waterMark = 0U;
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mcanCfgParams->msgRAMConfig.rxFIFO1size = 64U;
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mcanCfgParams->msgRAMConfig.rxFIFO1waterMark = 64U;
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mcanCfgParams->msgRAMConfig.rxFIFO1OpMode = 64U;
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mcanCfgParams->eccConfig.enable = 1;
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mcanCfgParams->eccConfig.enableChk = 1;
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mcanCfgParams->eccConfig.enableRdModWr = 1;
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mcanCfgParams->errInterruptEnable = 1U;
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mcanCfgParams->dataInterruptEnable = 1U;
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mcanCfgParams->appErrCallBack = MCANAppErrStatusCallback;
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mcanCfgParams->appDataCallBack = MCANAppCallback;
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}
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int32_t Can_Transmit_Schedule( uint32_t msg_id, uint8_t *txmsg, uint32_t len)
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{
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volatile uint32_t index = 0;
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int32_t retVal = 0;
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int32_t errCode = 0;
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if(frameType == CANFD_MCANFrameType_FD)
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{
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Task_sleep(1);
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while(len > 64U)
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{
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retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_FD, 64U, &txmsg[index],
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&errCode);
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index = index + 64U;
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len = len - 64U;
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Task_sleep(1);
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}
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retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_FD, len, &txmsg[index],
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&errCode);
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}
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else
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{
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while(len > 8U)
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{
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retVal = CANFD_transmitData (txMsgObjHandle, msg_id,
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CANFD_MCANFrameType_CLASSIC, 8U, &txmsg[index], &errCode);
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if (retVal < 0)
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{
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continue;
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}
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index = index + 8U;
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len = len - 8U;
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}
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retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_CLASSIC,
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len, &txmsg[index], &errCode);
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while(retVal < 0)
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{
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retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_CLASSIC, len,
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&txmsg[index], &errCode);
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}
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}
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return retVal;
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}
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//----------------------------------------------------------------------------------------------------------------------------------------------------------
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/**************************************************************************
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/**************************************************************************
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************************* Millimeter Wave Demo Functions **********************
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************************* Millimeter Wave Demo Functions **********************
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**************************************************************************/
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**************************************************************************/
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@ -2265,6 +2538,11 @@ static void Pcount3DDemo_initTask(UArg arg0, UArg arg1)
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DMA_Params dmaParams;
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DMA_Params dmaParams;
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DMA_Handle dmaHandle;
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DMA_Handle dmaHandle;
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UART_Handle uartHandle;
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char out = 'M';
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uartHandle = gMmwMssMCB.loggingUartHandle;
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UART_write(uartHandle, (uint8_t*)&out, sizeof(char));
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DPC_ObjectDetectionRangeHWA_InitParams objDetInitParams;
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DPC_ObjectDetectionRangeHWA_InitParams objDetInitParams;
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// int32_t i;
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// int32_t i;
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@ -2274,6 +2552,8 @@ static void Pcount3DDemo_initTask(UArg arg0, UArg arg1)
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/*****************************************************************************
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/*****************************************************************************
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* Initialize the mmWave SDK components:
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* Initialize the mmWave SDK components:
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*****************************************************************************/
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*****************************************************************************/
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Can_Initalize(); //Can Aufruf
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/* Initialize the UART */
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/* Initialize the UART */
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UART_init();
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UART_init();
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