/* * mss_CanYanyin.c * * Created on: 2018年1月2日 * */ /* * Can_Trans.c * * Created on: 2017年6月28日 * */ /************************************************************************** *************************** Include Files ******************************** **************************************************************************/ /* Standard Include Files. */ #include <stdint.h> #include <stdlib.h> #include <stddef.h> #include <string.h> #include <stdio.h> #include <math.h> /* Bios/XDC Include Files. */ #include <xdc/std.h> #include <xdc/cfg/global.h> #include <xdc/runtime/IHeap.h> #include <xdc/runtime/System.h> #include <xdc/runtime/Error.h> #include <xdc/runtime/Memory.h> #include <ti/sysbios/BIOS.h> #include <ti/sysbios/knl/Task.h> #include <ti/sysbios/knl/Event.h> #include <ti/sysbios/knl/Semaphore.h> #include <ti/sysbios/knl/Clock.h> #include <ti/sysbios/heaps/HeapBuf.h> #include <ti/sysbios/heaps/HeapMem.h> #include <ti/sysbios/knl/Event.h> #include <ti/sysbios/family/arm/v7a/Pmu.h> /* Can Drivers Files: */ #include <ti/common/sys_common.h> #include <ti/drivers/soc/soc.h> #include <ti/drivers/canfd/canfd.h> #include <ti/drivers/pinmux/pinmux.h> #include <ti/drivers/esm/esm.h> #include <ti/utils/testlogger/logger.h> #include <ti/drivers/osal/HwiP.h> #include "mss_Candriver.h" #include "mss_qspiflash.h" //#include "mss_alarm.h" //************************************************************************** // CAN 目标输出 //************************************************************************** void CANTargetOutput(TargetInfo* TargetImfomation,uint16_t DSPdoutlen) { uint16_t i , j; uint32_t CAN_id1; CAN_id1 = TARGETOUTTXID1; //500 uint16_t indextempidinfo[32]; uint16_t targetnumber = 0; memset(&indextempidinfo[0] , 0 , sizeof(uint16_t)*32); targetnumber = DSPdoutlen; for(i = 0 ; i < targetnumber ; i++) indextempidinfo[i] = TargetImfomation[i].Id; for(i = 0 ; i < 32 ; i++){ if(TargetTrackingMcb[i].FullEnptyFlag != 0){ TargetTrackingMcb[i].FullEnptyFlag = 0; for(j = 0 ; j < targetnumber; j++){ if(TargetTrackingMcb[i].TargetId == TargetImfomation[j].Id){ TargetTrackingMcb[i].FullEnptyFlag = 1; TargetTrackingMcb[i].TargetPtr = &TargetImfomation[j]; indextempidinfo[j] = 0; } } if(TargetTrackingMcb[i].FullEnptyFlag == 0) memset(&TargetTrackingMcb[i] , 0 , sizeof(TargetTrackingMcb_t)); } else{ TargetTrackingMcb[i].TargetPtr = (TargetInfo*)&enptytargetinfo[0]; } } i = 0 ; j = 0; for(i = 0 ; i < targetnumber ; i++){ if(indextempidinfo[i] != 0){ j = 0; while(TargetTrackingMcb[j].FullEnptyFlag == 1){ j++;} TargetTrackingMcb[j].FullEnptyFlag = 1; TargetTrackingMcb[j].TargetId = TargetImfomation[i].Id; TargetTrackingMcb[j].TargetPtr = &TargetImfomation[i]; } } for(i = 0; i < 32; i++) { memset(&ucTXMsgData[0] , 0 , sizeof(unsigned char)*8); //------------------------------------------------------------------------------------------------------------------------//ID1 //SG_ MMR_TARGET_RANGE_RATE : 53|[email protected]+ (0.02,-163.84) [-163.84|163.82] "m/s" Vector__XXX tempdata = TargetTrackingMcb[i].TargetPtr->Velocity*5; Htempdata = (tempdata >> 8); Ltempdata = tempdata; ucTXMsgData[6] = (Htempdata & 0x3F); ucTXMsgData[7] = Ltempdata; //bit 54 for reserve //SG_ MMR_TARGET_PITCH_ANGLE : 47|[email protected]+ (0.1,-25.6) [-25.6|25.5] "deg" Vector__XXX tempdata = 0; Htempdata = (tempdata >> 8); Ltempdata = tempdata; ucTXMsgData[5] = (Htempdata & 0x01); ucTXMsgData[5] = ucTXMsgData[5] << 7; ucTXMsgData[5] = ucTXMsgData[5] | (Ltempdata >> 1); ucTXMsgData[6] = ucTXMsgData[6] | ((Ltempdata&0x01)<<7); //SG_ MMR_TARGET_RANGE : 28|[email protected]+ (0.05,0) [0|300] "m" Vector__XXX tempdata = TargetTrackingMcb[i].TargetPtr->Distance*2; Htempdata = (tempdata >> 8); Ltempdata = tempdata; ucTXMsgData[3] = (Htempdata & 0x1F); ucTXMsgData[4] = Ltempdata; //SG_ MMR_TARGET_ANGLE : 23|[email protected]+ (0.1,-102.4) [-102.4|102.3] "deg" Vector__XXX tempdata = TargetTrackingMcb[i].TargetPtr->Angle; Htempdata = (tempdata >> 8); Ltempdata = tempdata; ucTXMsgData[2] = Htempdata & (0X07); ucTXMsgData[2] = ucTXMsgData[2] << 5; ucTXMsgData[2] = ucTXMsgData[2] | (Ltempdata >> 3); ucTXMsgData[3] = ucTXMsgData[3] | ((Ltempdata & (0X07)) << 5); //SG_ MMR_TARGET_RADARMODE : 15|[email protected]+ (1,0) [0|1] "" Vector__XXX ucTXMsgData[1] = ucTXMsgData[1] | SLMODEFLAG; //SG_ MMR_TARGET_CONFIDENCE : 14|[email protected]+ (1,0) [0|100] "%" Vector__XXX tempdata = 0; Htempdata = (tempdata >> 8); Ltempdata = tempdata; ucTXMsgData[1] = ucTXMsgData[1] | (Ltempdata >> 1); //SG_ MMR_TARGET_FRAME_INDEX : 7|[email protected]+ (1,0) [0|0] "count" Vector__XXX tempdata = framecnt & 0x0F; Htempdata = (tempdata >> 8); Ltempdata = tempdata; ucTXMsgData[0] = Ltempdata; ucTXMsgData[0] = ucTXMsgData[0] << 4; //SG_ MMR_TARGET_STATUS : 3|[email protected]+ (1,0) [0|15] "count" Vector__XXX tempdata = 0; Htempdata = (tempdata >> 8); Ltempdata = tempdata; ucTXMsgData[0] = ucTXMsgData[0] | (Ltempdata & 0x0F); retVal = CANFD_transmitData (txMsgObjHandle[i], CAN_id1+i , CANFD_MCANFrameType_CLASSIC, 8U, &ucTXMsgData[0], &errCode); } framecnt++; }