/******************************************************************************
*
*
*No_Feedback_EN START 不使用回授控制
*
*
******************************************************************************/
void main(void)
{
OSCCON = 0x70 ; //8Mhz
while(!HFIOFR); //INTOSC ready
// while(!PLLR); //PLL ready
//ANSELA = 0b00010000 ;
ANSELA = 0b00010000 ; //max2014
ANSELB = 0x00 ;
ANSELD = 0x00 ;
ANSELE = 0x00 ;
LATA = 0;
LATB = 0;
LATC = 0;
LATD = 0;
TRISA = 0b00101011;
TRISB = 0b00100001; //RB0 = RA2 input
//TRISC = 0b00011111;
TRISC = 0b01001111;
TRISBbits.TRISB0 = 0;
#if(_4WD_Test_EN)
TRISD = 0b00110111;
#else
TRISD = 0b00110011;
#endif
TRISE = 0b00000000; //RE0,RE1,RE2由input改為output
INTCON = 0b11000000; //GIE & PEIE
//T1G_RPM_Init();
//T0
IOCBF5 = 0;
//IOCBP5 = 1;
IOCBP5 = 0;
IOCBN5 = 1;
IOCIF = 0;
IOCIE = 1;
OPTION_REG = 0b11000001; //1:4
TMR0 = 0;
TMR0IF = 0;
//T2
T2CON = 0b01111011;
TMR2IF = 0;
TMR2IE = 1;
TMR2 = 0;
PR2 = 250 - 1;
T2_Start();
INTEDG = 0;
INTF = 0;
INTE = 0;
/******************************************************************************
*
*定位CHECK
*
******************************************************************************/
#if(Front_Position_EN)
Front_Position();
#endif
#if(Back_Position_EN)
Back_Position();
#endif
#if(_2WD_Position_EN)
_2WD_Position();
#endif
#if(_4WDL_Position_EN)
_4WDL_Position();
#endif
Check_Motor_Status();
Check_Hand_Status();
switch(Gear_Status_NEW)
{
case _4WDLOCK_1:
L1_Out = 0; L2_Out = 1; L3_Out = 1;
Handback_Error = 0;
break;
case _2WDLOCK:
L1_Out = 1; L2_Out = 0; L3_Out = 1;
Handback_Error = 0;
break;
case _4WD_1:
L1_Out = 0; L2_Out = 0; L3_Out = 1;
Handback_Error = 0;
break;
case _2WD:
L1_Out = 1; L2_Out = 0; L3_Out = 0;
Handback_Error = 0;
break;
default:
Handback_Error = 1;
}
// Gear_Status_OLD = Gear_Status_NEW; //將開機後初始狀態儲存
if( Error_Mode == 1)
{
// LED1 = 1;
// while(1);
Special = 1;
//Pull = 1;
Gear_Status_NEW = _2WD;
}
/******************************************************************************
*******************************************************************************
*******************************************************************************
*******************************************************************************
*******************************************************************************
*********************************LOOP 迴圈開始*********************************
*******************************************************************************
*******************************************************************************
*******************************************************************************
*******************************************************************************
******************************************************************************/
while(1)
{
IOCBP5 = 0;
IOCBN5 = 1;
if (Special == 1) //開機第一次會做
{
Special = 0;
}
else
{
Check_Hand_Status();
Check_Motor_Status();
}
if(Speed_rd)
{
Speed_rd = 0;
TMR0IE = 0;
Speed = (Speed_U * 100) + (Speed_H * 10) + Speed_L;
NOP();
NOP();
}
ADC_Func();
if( (RB5 == 1 && RPM_Zero ==1)||(RB5 == 0 && RPM_Zero ==1)) //轉速為"0"或接地時，RPM超速燈號關閉
Over_Speed_Error = 0;
/******************************************************************************
*
*LED 顯示控制區
*
******************************************************************************/
#if(LED_EN)
//if(Handback_Error == 1) { LED1_FLASH(3); }
//轉速為"0"、接地或轉速<1600rpm
if(RPM_Zero == 1 || Over_Speed_Error == 1)
{
LED3_FLASH(3);
}
else
{
LED3 = 0;
}
// if(Over_Speed_Error == 1)
// { LED13_FLASH(3);
//
// }
// else
// { if((Handback_Error == 0)&&(Voltage_Error == 0))
// LED1 = 0 ;
// if(RPM_Zero == 0)
// LED3 = 0;
// } //RPM超速
if((Error_Mode == 1)|| (Handback_Error == 1)) { LED2_FLASH(1); } else{ LED2 = 0; }
if(Voltage_Error == 1) { LED1 = 1; } else{ LED1 = 0; } //暫時關閉
#endif
while( Voltage_Error == 1)
{
ADC_Func();
}
if(((Speed < 15)&&(Voltage_Error == 0) && (Over_Speed_Error ==0)))
{
if(Pull_Error == 1 && Pull_Count < Pull_Value) //錯誤模式下
{ if( Pull ==1)
{
Pull_Count ++;
switch(Gear_Status_OLD)
{
case _4WDLOCK_1:
Error_Mode_Func(_4WDLOCK_1,Motor_4WL_Status);
break;
case _2WDLOCK:
Error_Mode_Func(_2WDLOCK,Motor_2WL_Status);
break;
case _4WD_1:
Error_Mode_Func(_4WD_1,Motor_4WD_Status);
break;
case _2WD:
Error_Mode_Func(_2WD,Motor_2WD_Status);
break;
}
Pull_5S_CNT = Pull_Count_Val;
}
}
if (Gear_Status_NEW != Gear_Status_OLD) //把手狀態
{ Pull_Error = 0; //把手有變化，拉的次數重新計數
Pull_Count = 0;
Pull_5S_CNT = Pull_Count_Val;
switch(Gear_Status_NEW)
{
case _4WDLOCK_1:
if(Speed < 3)
{
L1_Out = 0; L2_Out = 1; L3_Out = 1;
Change_Func(_4WDLOCK_1,Motor_4WL_Status);
Gear_Status_OLD = Gear_Status_NEW;
}
break;
case _2WDLOCK:
if(Speed < 3)
{
L1_Out = 1; L2_Out = 0; L3_Out = 1; //2WL輸出給ECU為"010"
Change_Func(_2WDLOCK,Motor_2WL_Status);
Gear_Status_OLD = Gear_Status_NEW;
}
break;
case _4WD_1:
if(Speed < 15)
{
if ((Moving_Status == Motor_2WD_Status) && (Speed >= 3))
{
L1_Out = 0; L2_Out = 0; L3_Out = 1;
Change_Func(_4WD_1,Motor_4WD_Status);
Gear_Status_OLD = Gear_Status_NEW;
}
else if (Speed < 3)
{
L1_Out = 0; L2_Out = 0; L3_Out = 1;
Change_Func(_4WD_1,Motor_4WD_Status);
Gear_Status_OLD = Gear_Status_NEW;
}
}
break;
case _2WD:
if(Speed < 15)
{
if ((Moving_Status == Motor_4WD_Status) && (Speed >= 3))
{
L1_Out = 1; L2_Out = 0; L3_Out = 0;
Change_Func(_2WD,Motor_2WD_Status);
Gear_Status_OLD = Gear_Status_NEW;
}
else if (Speed < 3)
{
L1_Out = 1; L2_Out = 0; L3_Out = 0;
Change_Func(_2WD,Motor_2WD_Status);
Gear_Status_OLD = Gear_Status_NEW;
}
}
break;
switch(Moving_Status)
{
case Motor_2WD_Status :
L1_Out = 1; L2_Out = 0; L3_Out = 0;
break;
case Motor_2WL_Status :
L1_Out = 1; L2_Out = 0; L3_Out = 1;
break;
case Motor_4WD_Status :
L1_Out = 0; L2_Out = 0; L3_Out = 1;
break;
case Motor_4WL_Status :
L1_Out = 0; L2_Out = 1; L3_Out = 1;
break;
}
}
}
Check_Status();
Output_ECU();
}
// if(Error_Mode == 1)
// {
// Pull_Count ++;
// if( Pull_Count >Pull_Value)
// Pull_Count = Pull_Value;
//
// }
}
}
/*
* function name: DRX_simulation
* brief: DRX simulation for TDD(c0~6)/FDD(c7) environment.
* param: none
* return: none
*/
void DRX_simulation(void)
{
srand((unsigned)time(NULL));
#ifdef RandomWayPoint
Read_RWP_CQI();
#endif
//Subframe RF;
UE_Status ue_status[UE_number];
for(int ntime = 0; ntime < 11; ntime++)
{
int runtime = 0;
DRX_initial(ue_status,UE_number);
system_initial();
Configure_Load(is_load,R_UE_num);
UE_initial(ue,system_load);
while(runtime < RunTime)
{printf("*");
ue_10ms_cqi(ue);
system_10ms_capacity(ue,system_capacity,system_load);
DRX_Mapping(radioframe);
for(int i = 0; i < 10; i++)
{
//transmit packet of ue in a subframe for DL or UL
/*u_len = radioframe[i].UE_num.size();*/
Check_Status(ue,ue_status,&radioframe[i]);
drt = radioframe[i].drt;
//RF.drt = drt;
/*sort_ue(&u_len,&drt,&radioframe[i]);*/
if(drt == S)
{
//create packet of UE in a subframe
/*UE_1ms_pkt(ue,system_load,runtime+i);*/
u_len = radioframe[i].UE_num.size();
for(int index = 0; index < u_len; index++)
ue[index].awake++;
Create_UE_pkt(ue,runtime+i);
continue;
}
tmpRF[drt].push_back(radioframe[i]);
tmpRF_len[drt] = tmpRF[drt].size();
tmp_sc = system_capacity[drt];
int send_packet = 0;
for(int index = 0; index < tmpRF_len[drt]; index++)
{
sort_ue(&u_len,&drt,&tmpRF[drt][index]);
for(int j = 0; j < u_len; j++)
{
/*ue_num = radioframe[i].UE_num[j];*/
ue_num = tmpRF[drt][index].UE_num[j];;
ue[ue_num].awake++;
if(tmp_sc <= 0)
continue;
/*p_len = ue[ue_num].pkt[drt].size();*/
p_len = ue[ue_num].pkt_buffer[drt];
for(int l = 0; l < p_len; l++)
{
tmp_pkt = ue[ue_num].pkt[drt][0];
if(tmp_pkt.pkt_size <= tmp_sc)
{
tmp_sc -= tmp_pkt.pkt_size;
ue[ue_num].delay[drt] += (runtime + i) - tmp_pkt.arr_time;
/*ue[ue_num].pkt[drt].erase(ue[ue_num].pkt[drt].begin());*/
ue[ue_num].pkt_buffer[drt]--;
ue[ue_num].pkt[drt].pop_front();
ue[ue_num].pkt_num[drt]++;
send_packet++;
}
else
{
ue[ue_num].pkt[drt][0].pkt_size -= tmp_sc;
tmp_sc = -1;
break;
}
}
}
//if(tmp_sc >= 0)
// CompletedRFSize[drt]++;
}
//for(int index = 0; index < CompletedRFSize[drt]; index++)
//{
tmpRF[drt].pop_front();
//}
//CompletedRFSize[drt] = 0;
#ifdef RN_1st
if(radioframe[i].is_RN || u_len > 0)
ue[UE_number].awake++;
#endif
//create packet of UE in a subframe
Create_UE_pkt(ue,runtime+i);
}
runtime += 10;
}
Print_value(ue);
}
}
