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実践！自動車組込み技術者講座 FPGAとマイコンの連携システム

Contents

1. TCB OS TCB OS
2. gt 4 1 1 4 1 2 PC
3. 4 Micros
4. ITM 8
5. 2 1 000 000 1 100 100 000 000 10 1 000
6. MISRA C MISRA C MISRA C 7 2 3 MSRA C 1 C90 ISO IEC9899 1990
7. E EF BIOS Basic Input Output System BIOS
8. 4 1 3 ECU Ge vazi
9. Debug_M32C_E8_SYSTEM OK 5 3 5 E B Debug Debug_M32G_E8_SYSTEM Release a2 Debug_M32C_E8_SYSTEM 0 7 ug M32C SYSTEM 5 3 5 5 3 6
10. 1 1 BI
11. 4 1 3 ROM ROM 39 40 HEX 4 2 1 TOPPERS Automotive Kernel HEX ROM 4 2 2 OS OS 4 2 2 OS 4 2 1 OS 1
12. 6 4 1 1 TOPPERS Automotive Kernel 6 4 1 ISR
13. 103 2 MISRA C 7 3 4 MISRA C 7 2 2 MISRA C 3 MISRA C 1998 MISRA C2004 7 2
14. 189 10 2 2 MCU CAN M32C 85 CAN2 0B Full CAN 2 CANO0 CAN1 10 2 4 10 2 1 CAN 10 2 2 i CAN i 0 1 0 15 G K 10 2 4 CAN 1 0 13
15. running WaitEvent Terminate1ask waiting suspended SetEvent ActivateTask ready 6 2 1 4 OIL TASK Task1 PRIORITY 5 ACTIVATION 1 SCHEDUKE FULL STACKSIZE 0x200 E E ActivateTask ActivateTask Task1 Taski 85 m 1
16. TCB First In First Out FIFO TCB
17. include Renesas M32C Standard Toolchain v Configurations Y 7 G Loaded Projects J z source file include Assembly source file 7 PROJDIR wORKSPDIR y include wORKSPDIR y kernel osek_text wORKSPDIR y WORKSEDIF confis m32c renesas s RO WWORKSPDIRN config m32c renesas m N nH SPTTRYY aa mnla lt gt
18. 2 O2 O EI 5 2 18 Renesas M32C Standard Toolcham 4 Debug Ej Loaded Projects Sx SAMPLE source file Assembly source EOC enste CEEA RRAS REEN ERRA i LOCBTWd O2 OFFTI O BBENI2U mFTTI khh h 7m Ia X RR 4Y OLU 325 gt
19. OS RE TTV OS http www t engine org ja wp content themes wp vicuna html ttv files ttv html ATIV TASK TRACE VIEW TTV ID PRI NAME T FCFS gt
20. S 5 OSEK Offene Systeme und deren Schnittstellen fur die Elektronik im Kraftfahrzeug Open system together with interfaces for automotive electronics VDX Vehicle Distributed eXecutive http www osek vdx org Herstellerinitiative Software http www automotive his de 7 LS 3 ECU 1
21. 1 A 1 4 3 U B B 1 4 ISR 2 A B 6 3 1 6 3 1 A B 1
22. PC OS 36 OS OS 4 1 2 4 1 3
23. 3
24. gt
25. 4 1 2 20 21 37 NOM 4 1 3 4 1 3 ROM
26. ISR 97 A B A B 6 4 2 6 4 2 A B B A A B B A B A B B B A B
27. ECU Electric Control Unit OS Operating System ECU OS ECU OSEK VDX OS OS CAN Controller Area Network LIN Local Interconnect Network
28. ECU 2 ECU 100 ECU ECU 100 ECU 5 ISO International Organization for Standardization IEC International Electrotechnical Commission OSEK VDX HIS
29. FLASH ROM UVEEPROM ROM ROM ROM ROM ROM ROM HEX HEX HEX S 2 ROM ROM
30. EL RI 3 4 2 OSEK OS E 3 4 2 16 24 TSS Kas
31. OS OS OS 2 5 2 OS 1 2 5 3 2 5 3 OS OS 15 OS
32. OSEK VDX OS MISRA C CAN OS TOPPERS Automotive Kernel TOPPERS OSEK CAN LIN CAN LIN FlexRay TOPPERS Platform TOPPERS Automotive Kernel TOPPERS Automotive Kernel CAN CAN CAN LIN
33. 11 GPL GNU http Www gnu org GNU 2 OS OS OS OS OS
34. EI 2 4 1 2 4 1 24 1 Windows Linux OS 9 QNX OSEK VxWORKS NUCLEUS 15 OSEK
35. MISRA C 1 2 MISRA C 112 unsigned int status define STATE1
36. MISRA C 7 1 2 C C C C C C90 ISO IEC9899 1990 CPU
37. OS 2 5 2 OS OS 14 2 5 3 OS
38. 6 3 9 1 4 a 127 128 127 255 9 1 4 153 9 1 10
39. 5 2 5 5 2 5 5 2 7 Next 51 New Project 5 6 Setting the Target System for Debugging SYSTEM M326 Simulator none External Debugger none Suu 5 2 7 New Project 5 6 Setting the Target System for Debugging 5 2 5 4 Targets M32C E8 SYSTEM M32C Simulator External Debugger M32C 80 5 2 8 New Project 6 7 Setting the Debugger Options Next New Project 6 Setting the Debugger Options Target name Configuration name Debug M32C_E8 SYSTEM m Detail options Item Setting lt Back Finish Cancel 5 2 8 New Proje
40. Activate Task SetEvent WaitEvent OS 3 4 5 27 OS 3 4 5
41. CAN 5 6 00000111100000 000001111100000100 5 NIZ 9 1 4 9 1 6 ECU
42. OS 2 5 2 OS 1
43. ROM RAM 30 100
44. 2 l mm 3 4 12 D A B B A B 32 3 4 5 6 3 z i RITTERA SignalCounter 2 2 H 1 ISR 2 3 4 13 3 4
45. s A a 225 meme 3 4 10 C B C B C C A A C C A C 31 2
46. sample oil nclude implementation oil CPU current nclude lt t100us_timer oil gt OS os STATUS STANDARD STARTUPHOOK TRUE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE POSTTASKHOOK FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER FALSE APPMODE AppMode1 TASK Led2Task AUTOSTART TRUE APPMODE AppMode1 PRIORITY 13 STACKSIZE 0x0100 ACTIVATION 1 SCHEDULE FULL j TASK Led3Task AUTOSTART FALSE PRIORITY 14 STACKSIZE 0x0100 ACTIVATION 1 SCHEDULE FULL sample h include kernel_id h DeclareTask Led2Task DeclareTask Led3Task 86 sample c include kernel h Include sample h include led h define WAIT_CNT UINT32 500000ul void main void TASK Led2Task TASK Led3Task Void main void TASK Led2Task StartOS AppMode1 volatile UINT32 wait cnt 0 while 1 LedRev LED2 for cnt 0 wait cnt lt WAIT_CNT wait cnt Activate Task Led3Task Terminate Task TASK Led3Task volatile UINT32 wait cnt 0 LedOn LED3 7 for cnt 0 wait lt WAIT_CNT wait cnt
47. 5 111 7 3 3 HAK k DREE
48. CAN CAN Ve ECU3 9 1 5 146 9 1 7 ECU
49. 2 6 2 OS OS OS OS OS 17 3 4 1
50. void main void DeclareTask ReceiveTask Declarelask SendTask DeclareEvent RxFinishEvt TASK MainTask TASK ReceiveTask TASK SendTask kkk kkk kkk kkk kkk int main void kkk Void main Void StartOS AppMode1 kkk kk kkk 209 TASK MainTask TASK MainTask InitSerial 0 ActivateTask ReceiveTask ActivateTask SendTask TerminateTask
51. FlexRay 2000 CAN 10M CAN 2 5M 5M 1 2 3 4 OS 2 1 OS OS
52. 5 2 4 R 5 2 4 5 2 5 Next 50 New Project 3 56 Setting the Contents of Files to be Generated What kind of initialization routine would you like to create Use Standard I C Generate main Function None None 5 2 5 New Project 3 6 Setting the Contents of Files to be Generated 5 2 4 3 Generate main Function None 5 2 6 New Project 4 6 Setting the Stack Area Next New Project 4 6 Setting the Stack Area 5 2 6 New Project 4 6 Setting the Stack Area New Project 5 6 Setting the Target System for Debugging M32C E8 SYSTEM M32C Simulator
53. CAN or 9 1 10 6 6 CAN 7 8 EOF ITM 2 3 ITM 2 I
54. DeclareAlarm LedOffAIm Declarelask LedOnTask DeclareTask LedOffTask 111 3 sample c oksokokokookokokokokokokokokokokokookokokokokokokokokokokokokokokokokokokkokokokokokokokokokokakokokokookkokokokokokookokokokokokokokokokookkok include kernel h include t100us_timer h include sample h include led h ekke kkk kkk define ALARM UINT32 3000 1 300ms 1 100s ekke kkk kkk kkk kkk kkk kkk AREE okskokokokokokokokokokokokokokokokokookokokokokokokokokokokokokokokokokokokokokokokokokokokokokokskokokokokokokokokokokokookokokokokokokokokokookkok void main void TASK LedOnTask TASK LedOfflask 198 void main void oksokokokokokokokokokokokokokokokokokokokokokokokokokkokokokokokokokokokokokokokokokokokokokokokakokokokookkokokokokokookoko
55. ECU ECU ECU 1 ECU ECU OS ECU
56. OS OS GPL The GNU General Public License GNU GNU s Not Unix GPL GNU OS OS OS OS
57. 105 void func2 Vvoid char val1 val2 vali 3 val2 1 if vali val2 lt 0 Q 6 1 char char 128 1 char 128 255 vall 3 val1 253 val2 1 val2 1 3 1 2 253 1 254 char char
58. CPU CPU CPU CPU CPU
59. 9 2 7 CAN hw_ can 166 9 2 5 API 9 2 8 CAN 9 2 8 API API CAN AFI Canlnit CAN CAN API CanSetTrm CAN 0 ID CAN API CanSetRec CAN ID 167 9 2 5 1 CAN API 9 2 9 CAN API 9 2 8 9 2 9 CAN API CanInit API void CanInit void
60. ICE In circuit emulator 5 High pertormance Embedded Workshop HEW OSEK OS OS 1 4 3 1
61. OS El 8 1 1 090XXXXXXXX 8 1 1 114 8 1 2
62. CAN 1 58 190 10 2 1 j i CPU j CAN 0 1 0 1 10 2 1 CAN 191 0 1 j CANi CAN 9 CAN 1
63. 157 9 2 3 158 9 2 4 9 2 3 CAN 9 2 3 API CAN hw_can_init CAN CAN hw_can_set trm 0 ID A ID CAN hw_can_rec_int CAN ID 9 2
64. 7 3 2 MISRA C MISRA C MISRA C MISRA C 110 7 3 2 MISRA MISRA C SQMint QA MISRA Programming Research PolySpace The Mathworks Review C Telelogic Logiscope Telelogic AB PGRelief CasePlayer2 GAIO CASE Development Assistant for C RistanCASE C test Parasoft Corp MISRA C
65. LED LCD 2 StartupHook 8 3 2 StartupHook LCD SwitchTASK 30msec DispTASK AUTOSTART 4 F j LED LCD 8 3 2 142 8 3 2 2 OIL 8 3 1 8 3 2 8 3 1 SwitchTASK SwitchTASK PRIORITY 6 SCHEDULE FULL ACTIVAT
66. OS E 3 4 4 f 3 4 3 TCB TCB TCB OS 17 18 OSEK OS
67. CAN 9 1 1 CAN CAN BasicCAN FuIICAN FuIICAN BasicCAN BasicCAN 9 1 2 2 0A 2 0B 2 0B 3 CAN ID 11 29 2 2 0A
68. for while TASK exsample for 6 2 e 1 84
69. OS OS OS OS OS E 3 4 3
70. UINT8 ret CAN E OK CAN E RUNNING UINT16 id ID 0x0000 0x07FF UINT8 dlc 0 8 UINT8 data S oy 2 S kkk UINT8 hw_can_set_trm UINT16 id UINT8 dlc UINT8 data UINT8 ret CAN E OK UINT8 cnt 0 if CAN CLEAR_8B st CanMsgSItTbI 0 amp CAN_SET_TRAMACTIVE ret CAN E RUNNING else 0 St CanMsgSItTbI O CAN_CLEAR_8B 0 0 COSBS CANCLEAR_8B COSBS amp OxfO 0 ID SIDH COSLOTO UINT8 id gt gt 6 amp OxIF SIDL_COSLOTO UINT8 id amp Ox3F 0 DLC COSLOTO dlc 0 for cnt 0 cnt lt dlc cntr c0slot0_addr mnb data cnt data data St Ca
71. 22 OS OS OS e 6 4 e OS OS OS OS OS
72. OS ROM OS 41 SG HEX HEX 4 2 2 TOPPERS Automotive Kernel HEX ROM 42 4 2 3
73. 3 gt 4 gt 5 gt 6 3 5 3 Rama CAN OIL h25 toppers_ex9 tx H25_toppers_ex9_tk SAMPLE hws HEW 3 CANOout OSF ITM 1 0 1 Id 11
74. CPU Central Processing Unit AR ROM Read Only Memory RAM Random Access Memory VO AD d PWM Pulse Width Modulation WD Watchdog timer CPU
75. 1 CPU CPU CPU current CPU current syslib OIL 100s 2 CPU current include lt serial oil gt nclude lt t100us_timer oil gt OS OS OS 66 CPU 1 OS 5 2 10 5 2 10 OS
76. 2 7 2 BAA 7 2 7 2 20 2 7 3 OS OS OS 2 4 OS 2 7 3 OS OS Task1 Task1 x Taski Task2 Task2 _
77. 8 2 4 118 8 2 3 1 API RecvPoISerialChar void RecvPolSerialChar UINT8 character character 0 void 1 UINT8 character RecvPolSerialChar amp c 8 2 5 1 YOZA 8 2 6 119 R 8 2 4 API SendSerialStr void SendSerialStr const UINT8 str str
78. 0127 Windows OSEK OS OS OS
79. ls ts OS ma 1 2 3 fonta 1 2 3 OS 2 3 3 OS OS 3 OS 12 2 4 LED LED LED LED
80. FA CT POS IC 1 2 1 4 1 1
81. include kernel_id h 208 define SERIAL_BUF_MAX 64 k Declarelask MainTask 11 5 3 sample c include kernel h include kernel_id h include serial h include sample h Pekk kkk kkk E E E E E E static char serial_buf SERIAL BUF_MAX static int serial_len 0 kkk kkk kkk
82. UINT8 const st_CanMsgSItTbI 16 amp COMCTLO amp COMCTL1 amp COMCTL2 amp COMCTL3 amp COMCTL4 amp COMCTL5 amp COMCTL6 amp COMCTL7 amp COMCTL8 amp COMCTL9 amp COMCTL10 amp COMCTL11 amp COMCTL12 amp COMCTL13 amp COMCTL14 amp COMCTL15 oksokokokokokokokokokokokokokokokokookokokokokokokokokokokokokokokokokokokokokokokokokokokookokkokokokookokokokokokokokokokokokokokokokokokokokkok void hw_can_init void CANO void can_init void CAN SLEEP_COSLPR CAN HIGH CAN COCTLRO CAN_RESET_MODE 1 while CAN HIGH STATE_RESET_COSTR CAN COMDR CAN LOOPBACK_COCTLRO CAN_LOOPBACK BASICCAN_COCTLRO CAN_
83. 3 IF IF 8 1 2 IF VO IF IF 8 1 3 I F 8 1 2
84. 13 2 5 OS 2 5 1 OS OS OS 2 5 1 s OS OS 2 5 1 2 OS
85. 102 2 MISRA C 1998 MISRA C 2004 MISRA C 2004 MISRA C MISRA C maana MISRA SA MISRA C 1998 MISRA C 2004 C MISRA 7 2 1 MISRA 7 2 1 MISRA C ECU
86. 34 1 BCC1 BCC2 ECC1 ECC2 BT BT BT ET BT ET x O x O ET BT ET 1 1 3 2 8 16 RES_SCHDULER 2 5 5 RES_SCHDULER 2 255 8 BT ET BT ET 3 4 1 ECC2 ECC1 RES_SCHDULER ECC1 ECC2 3
87. MISRA C 7 2 MSRA C MISRA Motor Industry Software Reliability Association MIRA Motor Industry Research Association MISRA MISRA Development Guidelines for Vehicle Based Software 1994 MISRA SA 1998 Guidelines for The Use Of The C Language In Vehicle Based Software C MISRA C 2004 Guidelines for the use of the C language in critical systems C 2
88. MISRA C 7 3 3 MISRA C MISRA C 7 3 4 7 3 1 MISRA C MISRA C 7 3 1 109
89. ID RTRIDLC CRC ACK EOF ITM 176 9 3 2 2 LCD LED CAN CAN StartubHook LCD 100msec LCD CAN StartupHook LCD CAN LCD CAN 4 DispTask 100msec CAN CanRecCbr CAN z Di ID amp ID LCD 9 3 3
90. g a30 E 5 2 16 Release Renesas 32 Standard Tonlchain Configurations All Loaded Projects E source file J ssembly source file 0 5 Y 07 Lc r30 gt D in K je je Ne gt EEA 1 ad genter enter 5 4 Deno ree dir
91. 1 ID 1 lt 13 ID define CAN GM SID UINT16 0x07ff 1 lt 13 ID define CAN GM EID UINT32 0x0003ffff A 14 ID define CAN LMA_SID UINT16 0x07ff A 14 ID define CAN LMA EID INT32 0x0003ffff B 15 1D define CAN LMB_SID UINT16 0x07ff B 15 ID define CAN LMB_EID UINT32 0x0003ffff ID 0 lt 15 0 ID 1 ID define CAN SET_ID UINT16 0x0000 0 lt 15 0
92. CANO ID CAN CANO 1 CAN 1 CANO 0 1 1 1 1 CAN 0 CANO 0 YES CANO 9 2 4 CAN hw 9 2 4 2 CAN 9 2 5 CAN 9 2 5 9 2 5 CAN hw_can set trm UINT8 hw_can_set_trm UINT16 id UINT8 dic UIN
93. 5 1 4 SG OIL OSEK Implementation Language OIL C OIL SG OL SG System Generator ID Kemel_cfg c kemelid h SG TOPPERS Automotive Kernel r 0S a C OSEK OIL 5 1 2
94. RTE Run Time Environment ECU ECU ECU
95. LCD 6 LCD LCD LED2 99 h25 toppers_ex6_res H25_toppers_ex6_res SAMPLE hws HEW
96. MISRA C 1998 15 8 18 20 28 44 55 58 79 80 84 104 105 107 113 121 NG 104 MISRA C 1998 7 2 4 MI SRA C MISRA C 2004 12 Appendix B MISRA C 5 2 void main void define status Y do unsigned char status 7 status RUN w
97. LCD_RET LED E OK LED E STS LED_E PRM 1 UINT8 led_no LED LED2 LED3 LED4 LED5 LedOn LED2 LED3 8 2 31 LED LED LED LED 8 2 32 LED 133 8 2 21 LED API LedOff RET LedOff UINT8 led LED led no LED2 LED3 LED4 LED5 LCD_RET LED E OK LED E STS LED_E PRM 1 UINT8 led_no LED LED2 LED3 LED4 LED5 LedOff LED2 LED3 8 2 33 LED LED LED LED 8 2 34 LED
98. OS OS OS OS
99. 2 3 1 OS OS B 1 1 1 2 3 2 OS OS
100. 95 h25 toppers_ex6_alm H25_toppers_ex6_alm SAMPLE hws HEW 96 6 4
101. 5 3 3 5 3 2 El 5 3 4 5 3 8 5 3 3 R 5 3 13 79 533 MCU M32C 85 Group M30855FJ M32C 8S Group IT 1b ARRE 7 MCLU MD 32 85 Group D Man855FJ 6 7597129 U TERENE US 5 M30855FJ CPU UD P 300m soen 0 5 3 13
102. 14 8 Switch while do while for 14 8 while do while for 1 int count int max_count int sum int vall for count 0 count lt max_count count sum val1 count nb for 107 int blood flag while blood_flag printf A Dy 14 9 f else if
103. 1 1 ID UINT8 CAN E OK RUNNING UINT16 id ID 0 0000 0 07 1 15 163 1 1 ID 9 ownuwMNGe CAN_E RUNNING i jual x 9 2 6 CAN hw set 164 9 2 4 4 9 2 7 CAN 9 2 7 9 2 7 CAN hw can int void hw_can_rec_int v
104. Void void CAN 9 2 8 CAN API CanInitt 168 9 2 5 2 R 9 2 10 CAN API 9 2 9 9 2 10 CAN API CanSetTrm UINT8 CanSetTrm UINT16 id UINT8 dic UINT8 data CAN CAN E CAN E PRM RUNNING UINT16 id ID 0x0000 0x07FF UINT8 dlc 0 8 UINT8 data CAN_E_ OK N hw_can_set trm 9 2 9 CAN API CanSetTrm 169 9 2 5 3 CAN API 9 2 11 CAN API 9 2 10 9 2 11 CAN APl CanSetRec API
105. OS OIL SG C C SG C OIL SG 4 2 3 OS C El 4 2 2 OS OS
106. 1 API RecvPolSerialChar character 0 API SendSerialStr str SendIntSerialStr str API TermSerial 8 2 2 API InitSerial void InitSerial void Void 117 1 void InitSerial 8 2 3
107. T F EI 5 3 18 FRAO FAN EF CPU OU U 82 R AM E
108. TASK SendTask RxFinishEvt TASK SendTask while 1 WaitEvent RxFinishEvt ClearEvent RxFinishEvt SendSerialStr serial_buf SendSerialStr serial_len 0 TerminateTask iokskokokokokokokokokskokokokokokokokokokoksokokokokokokokokokokokokokokokokokokokokokokokokookokkokokokookokokokokokokookokokokokokokokokokokskok TASK ReceiveTask Enter RxFinishEvt
109. 1Mbps 500Kbps PTS 5Tq PBS1 6Tq PBS2 4Tq SJW 3Tq 3 ACK CRC CAN 156 9 2 2
110. ENTRY M32C 85 11 5 2 172 UART0 UartSendlsr UartResorce CATEGORY1 PRIORITY7 ISR OS Nd 2 OS ISR UartSendlsr CATEGORY 2 RESOURCE UartResorce UartResorce PRIORTY 7 ENTRY 17 CATEGORY1 PRIORITY7 ISR M32C 85 11 5 2 UARTO 17 CAN
111. SystemGenerator PROJDIR sample_sg bat PROJDIR 5 2 4 SG sample_sg bat 5 2 9 El 5 2 34 64 3 4 AF52 d _ ystemGenerter UE 0 8 G PROJDIR sample_sg bat wa 0 PROJDIR gt SG 5 AANS 5 2 34 3 4
112. BIOS BIOS OS BIOS gt AV DVD PDA CD ROM OA FAX PBX
113. 8bit OIL 2 3 4 OSEK OS 3 4 1 OS OS TS 3 4 1 OS
114. A 4 3 B 5 N 94 OIL TASK Task1 ARIB PRIORITY 5 7 ACTIVATION 1 SCHEDUKE FULL STACKSIZE 0x200 E COUNTER Counter1 E MINCYCLE 10 MAXALLOWEDVALUE 99 TICKSPERBASE 10 1 AL
115. kernellh sample h include kernel h Include sample h 69 main main void main void TASK MainTask main main TOPPERS Automotive Kerel StartOS void main void StartOS AppMode1 SG TASK MainTask 7 TOPPERS Platform
116. 243 25 FPGA 26 3 980 0013 3 1 TEL 022 224 6501
117. Y source file 8 Assembly source file 8CWMORKSPDIR config m32c renesas sB1U 28 M gt T MORKSPDIR y confiWm92c renesas sB10 tpf 85J 5 2 20 5 2 7 WorkSpace directory confid m32c renesas s810 tpf 85 58 Include file directory 3 confie m32c renesas s810 tpf 85 5 2 21 Include file directory MSL 16 OK Renesas M32C
118. ECU MISRA 7 2 2 MISRA C MISRA C 2 1 MISRA C MISRA C
119. L 2385 h25 toppers_plattoem_v1 00 H25 toppers_platfoem_v1 00 SAMPLE hws HEW 193 10 4 OBD I OBD I On board diagnostics second generation ECU Erectric Control Unit OBDII 10 1 OBD Toppers Platform CAN O BD 10 1 OBD CAN OBD TOPPERS Platform OBD I adapter M30855FJPG
120. OK New Project 1 6 Select Target CPU Toolchain version 5 2 2 Toolchain CPU Series CPU Group 5 2 2 5 2 3 New Project 1 6 Select Target CPU Toolchain version Next New Project 1 6 Select Target CPU Toolchain version Toolchain version 5410 O OO 5 41 5410 Which CPU do you want to use for this project CPU Series u mmm _ a SSROMS12K If there is CPU group to selected select the CPU Group that a similar to hardware specification or select Other Next gt Finish Cancel 5 2 3 New Project 1 6 Select Target CPU Toolchain version F 80 CPU Group eg R
121. S810 TPF 85 M30855FJGP ARAM 24K ROM 512K SFR 1K 8MHz XIN 128 2 M5M51008DVP 55H 8 2 B 5V USB 100mA 150mm W x110mm D 45mm H 5 3 TOPPERS Platform CAN x 1 Ch HA13721FPK TJA1020 Philips 10BASETx 1 RTL8019AS RealTek SD MMC x 1 SPI 45 x1 FullSpeed FT232R FTDI 5 1 5 1 1 TOPPERS Automotive Kernel TOPPERS Automotive Kernel Root doc CEU
122. h25 9 rx H25_toppers_ex9_rx SAMPLE hws HEW 179 9 3 3 TOPPERS Platform TOPPERS Platform CAN SW7 ON LEDS Ene Sm B 5 Ch Rx Tx 2 rr x L HERE 2 HER l 74YHCT23AFT i 9 3 5 CAN 180 CAN TOPPERS Platform 9 3 6 CAN LCD 181 LCD ID ID ID CAN LCD 9 3 8 C
123. ACK EOF End of Frame 7 ITM intermission 3 ID11 ID18 29 ID CONTROL FILED 1bit 1bit Ibit 1bit E 9 1 8 ID BASE ID BASE ID 1 SRR Substitute Remote Request Bit amp IDE Identifier Extention Bit ID EXTENSION ID 18 CONTROL FIELD 500Kbps D 29 I D
124. 4 1 4 38 etc 4 1 4 ROM 4 2 OS 4 2 1 OS OS 4 2 1 4 2 1 ROM 1 C C C
125. 228 ZA Zna 220 2205 205 xs 29 x OS CPU CPU OS A CPU A B E 2 3 2 OS OS
126. LcdTask lt h25 toppers_ex6_eve H25 toppers_ex6_eve SAMPLE hws HEW 93 6 3
127. SQMIint MISRA C CASE MISRA C MISRA C 7 3 3 MISRA C 7 3 4 MISRA C
128. 2 6 3 OSEK OS A B El 2 6 2 A B
129. 43 Mark 00 00 00 000 442 00 00 01 347 055 00 00 01 846 612 Indicator 00 00 00 940 805 Scale 6 939931 Grid 00 00 01 850 572 Area Break D ENT task2 task3j task4 task task8 task9 tagk1 i 2 Unknown 4 3 1 TOPPERS Automotive Kernel TOPPERS Automotive Kernel 5 1 TOPPERS Automotive Kernel High performance Embedded Workshop TOPPERS Platform OS TOPPERS Automotive Kernel TOPPERS E8a M32C 5 2 TOPPERS Platform
130. El 5 3 11 debugger OK 78 High performance Embedded Workshop 27 7 F E AT P B FAAO SARE Y D 2 7m Ei a r 0 D r B Debua M32C Et SAMPLE SAMPLE H E osek_os Download modules 5 3 11 E8a 5 3 12 SAFRE Y r B CPUOD U F5 CE Shift F5 RR PC CtrhShifttY PARHAU F11 0 27271 10 F10 R O ShifttF11 kn EARED A 5 3 12 STOF E8a TOPPERS Platform
131. FILE sample DATE Fri Oct 03 2008 DESCRIPTION main program file CPU GROUP 85 ROM512K This file is generated by Renesas Project Generator Ver 4 8 kkk include kernel h include t100us_timer h include serial h include kernel_id h include sample h include h include sw h Pekk kkk kkk 7 oksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokookokakokokokookokokokokokokookokokokookokokokokokokkok 230 CAN static UINT8 can_trm flag CAN FLAG CLEAR CAN ID static const UINT16 trm_id 4 0x0001 0 0002 0x0003 0x0004 CAN static const UINT8 can_trm_dlc 4 CAN static const UINT8 can_trm_data 4 0x11 0x22 0x33 0x44 iS sa nu e oksokokokokokokokokokokokokokokokokokokokskokokokokokokokokokok
132. 149 9 1 8 2 SOF RTR CRC ACK ITM 1bit 1bit FIELD FIELD 3bit 16bit 2bit 9 1 9 RTR RTR ID ID DLC 150 9 1 8 3 CAN
133. Applicaton 2 E Annlication SAMPLE We source startup Application EJ Empty Application t5 Import Makefile AMP Library J Debugger only M320 SYSTE BC osek_os tools m32c renesas SAMPLE Debugger only M32G Simulator ma BU M32C M32G Standard Renasas M32C Standard M16C 80 M32C soen 5 2 2 48
134. Et ISR OIL 173 9 3 CAN CAN 9 3 1 TOPPERS Platform 2 1 1 4 ID ID 16 LCD O CAN ID ID OOOO DATA 9 3 1 CAN 9 3 2 9 3 2 1 CAN StartupHook
135. 14 9 If int blood_type int parents_blood_type if 1 blood_type if 3 parents_blood_type printf blood_type is AO else if 2 blood_type printf blood_type is else if 3 blood_type printf blood_type is else if 4 blood_type else printf blood type is AB elseif if else if 7 3 MISRA C MISRA C
136. A A B A B I like kats I like kats A I l I like cats I like cats B i i Ilike cats I like kats I like kats dogs A 2 6 2 2 7 2 7 1
137. VAR2 10 56 VAR3 10 53 VAR4 10 45 8 VAR5 lt VAR6 VAR5 10 9 2 VAR6 10 64 0 8 8 8 2 9 1 int count int max count 10 int sum int val1 1 for count 0 count lt Count count sum Val1 count
138. 17 6 18 1 x 18 2 18 3 18 4 19 1 include 19 2 include 19 3 filename gt filename 19 4 C 19 5 define undef 196 undef 19 7 19 8 19 9 Ke 19 11 1913 P define N 4 a K else elif endif 20 1
139. 218 void CanInit void CAN UINT8 CanSetTrm UINT16 id UINT8 dic UINT8 data CAN UINT8 CAN E OK CAN E PRM CAN_E_RUNNNIG UINT16 id ID Ox0000 0x07FF UINT8 dlc 0 8 UINT8 data UINT8 CanSetTrm UINT16 id UINT8 dic UINT8 data UINT8 ret OK UINT8 cnt if id gt CAN_SID_MAX dlc gt ret CAN else ret hw_can_set_trm id dlc data
140. CAN 9 1 11 CAN ID ID ID 154 9 2 CAN 9 1 CAN CAN 9 2 1 CAN CAN 9 2 1
141. CRC SOF ID SOF ID CRC CRC CRC ACK Acknowledgement ACK ACK ACK CRC ACK CAN ACK
142. CPU 2 7 1 2 7 1 C
143. FIFO TCB TCB 3 4 6 9 TCB TCB Q X TCB D 9 A A 3 4 6 3 4 7
144. define CAN_HIGH UINT8 1 define LOWM UINT8 0 define CAN_CLEAR_8B UINT8 0x00 8bit define CAN_CLEAR_16B UINT16 0 0000 16bit define CAN_RESET_MODE UINT16 0x0011 CAN define CAN_RUN_MODE UINT8 0x00 CAN define UINT8 0 80 CAN define CAN_REC_REQ UINT8 0x40 CAN define CAN_SET_NEWDATA UINT8 0x01 define CAN CLEAR_NEWDATA UINT8 0xfe define CAN_SET_TRAMACTIVE UINT8 0x02 define CAN_SET_INVALDATA UINT8 0x02 CAN define CAN_LOOPBACK UINT8 0 0 OFF 1 ON define CAN_BASICCAN UINT8 0 BasicCAN 0 OFF 1 ON TSPREO TSPRE1 y 0 0 CAN 0 1 CAN 2 1 0 CAN 3 1 Wa CAN 4 define CAN_TSPREO UINT8 0
145. void 1 m const UINT8 Str R 8 2 5 API SendIntSerialStr void SendIntSerialStr const UINT8 str str Void 1 const UINT8 str SendSerialStr Hello r n SendIntSerialStr Hello r n 8 2 7 0 8 2 8 120 8 2 6 TermSerial void TermSerial void void 1 void TermSerial 8 2 9 API 8 2 10 8 2 1 2 LCD API LCD
146. SMORKSPDIRA d WORKSPDID ivg Bo c finfa g dir v 5 2 18 Wall Wlarge_to_small Wno_used_argument 57 Renesas M32C Standard Toolchain Configurations z Me ES GS Loaded Projects x file Ka ji CWlarge_to_small Wno_used_argume source 2 FWLTS FWMT error warning
147. os CPU current STATUS STANDARD STARTUPHOOK FALSE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE POSTTASKHOOK FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER FALSE OS os APPMODE APPMODE CPU 1 AppMode1 CPU current APPMODE AppMode1 TASK TASK 5 2 11 67 5 2 11 TASK AUTOSTART TRUE APPMODE AppMode1 PRIORITY 14 STACKSIZE 0x0180 ACTIVATION 1 SCHEDULE NON AUTOSTART
148. SG TOPPERS Automotive Kernel 5 2 5 2 1 47 HEW HEW 5 2 1 PL B FAAO 0 G Pennea strelo l amp ale 3 at 8187 2 lt MM 1 build Debug A FndinFles 1 A FindinFies2 A Macro Test Version Control 5 2 1 HEW HEW El 5 2 2 OSEK OS
149. 3 4 2 25 OS OS 2 4 OS OS OS OS 7 OS OS
150. CAN UART Universal Asynchronous Receiver Transmitter 12V 1 2 1 20k 1 4 3 MOST MOST Media Oriented Systems Transport MOST 25M MOST25 50M MOST50 150M
151. CQ TECH1Vol 17 OS CQ TECH1Vol 19 OS Design Wave Magazine 2003 5 CQ Design Wave Magazine 2005 12 CQ Interface 2005 4 EE Times Japan LAN MISRA C MISRA C MISRA C MISRA C2004 C ITMONOist CAN URL http monoist atmarkit co jp fembedded index carele_index htm carnet TTV Task Trace View URL http www tengine org lawp contentthemes wp vicuna htmlttvfiles ttv html URL http en wikipedia ord wiki OBD I _PIDs TOPPERS Toyohashi OPen Platform for Embedded Real time System OSEK Offene Systeme und deren Schnittstellen fur die Elektronik im Kraftfahrzeug VDX Vehicle Distributed eXecutive FlexRay Daimler Chrysler AG
152. LargeStrTask LCD ABCDEFGHIJKLMNOP LCD ABCDEFGHIJUKLMNOP abcdefghiikimnop LCD ABCDEFGHIUKLMNOP LED2 LargeStrTask 500ms LargeStrAlm LargeStrTask LargeStrTask lt Sample h define USE_LCD_RESOURCE OO LargeStrAlm SmallStrAlm LCDWriteLine suspended LcdRes __ GetResource ReleaseResource LcdRes LcdRes SmallStrTa ask GetResource ReleaseResource LcdRes LcdRes LareeStrTask SetRelAlarm SmallStrrAlm ALARM_CNT 0 Led_On LED2 TerminateTask LedOff LED2 11 2 2
153. SFR SFR 140 8 3 8 2 1 LCD LED 8 3 1 LED LCD 8 3 1 LED LED LCD LED 8 3 1 LCD OFF SW3 SW4 SW5 SW6 LCD 8 3 1 141 8 3 2 8 3 2 1
154. extern UINT8 CanSetTrm UINT16 id UINT8 dlc UINT8 UINT8 CanSetRec UINT16 id UINT8 slot CAN UINT8 CAN E OK CAN E PRM CAN_E_RUNNNIG UINT16 id ID Ox0000 Ox07FF UINT8 slot 1 15 extern UINT8 CanSetRec UINT16 id UINT8 slot ELELEE void CanRecCbr UINT8 rec_err UINT16 id UINT8 dlc UINT8 data CAN CAN or 1D UINT8 rec_err
155. 4 2 3 1 SG OIL SG OSEK OS OIL OSEK Implementation Language OSEK OIL 5 TOPPERS Automotive Kernel 4 3 4 3 1 OSEK VDX
156. CAN ldentifier ID 9 1 6 CAN ECU1 ECU2 ECU3 ECU4 s L PL 9 1 6 147 9 1 8 CAN 4 9 1 8 1 2
157. B C B C OD 34 3 4 7 OSEK OS OS 5 3 4 2 OS OS ER 3 4 15 35 OS 4 1 4 1 1
158. 20 2 20 3 20 4 53542 20 5 errno 20 6 lt stddefh gt offsetof 20 7 setimp longjmp 20 8 lt signalh gt 20 9 lt stdio h gt 241 2010 stdlib h gt atofatoiatol 2011 stdlib h gt abort exitgetenv r CEA 2012 lt time h gt 21 1 242 TOPPERS TOPPERS Automotive Kernel Ver3 00 URL TOPPERS TOPPERS Automotive Kernel SG Ver5 00 OSEK VDX Operating System Ver2 2 3 OSEK VDX System Generation OIL Ver2 5 M32C 85 M32C 85 M32C 85T TECH1Vol 15
159. 148 SOF RTR CRC ACK ITM 1bit 1bit FIELD FIELD 3bit 16bit 2bit E 9 1 7 SOF Start Of Frame ID Identifier 11 RTR Remote Transmission Request RTR rO ri 4 DLC Data Length Code DLC CRC Cyaclic Redundancy Check CRC CRC
160. 177 CAN ID 9 3 2 4 9 3 2 CAN ID ID 1 0x0001 2 0x0002 3 0x0003 4 0x0004 LCD ID 16 9 3 4 9 3 4 LCD 1 ID 2 5 6 ID 16 0x0000 0x07FF LCD 16 4 CAN 1 LCD 16 2 LCD ID API 9 3 3 16bit gt 16 ConvShort2HexStr void ConvShort2HexStr UINT8 dst UINT16 src src
161. 5 2 1 5 2 1 Application SAMPLE SAMPLE C osek os tools m32c renesas SAMPLE CPU M16C 80 M32C Renesas M32C Standard CPU 5 2 1 C D 5 OSEK OS tools 5 1 1 5 2 1 5 2 2
162. TOPPERS Automotive Kernel M32C 85 9 2 1 CAN CAN 5 TOPPERS Automotive Kernel 9 2 1 9 2 1 TOPPERS Automotive Kernel High performance Embedded Workshop TOPPERS Platform OS TOPPERS Automotive Kernel TOPPERS E8a M32C 155 9 2 2 M32C 85 CAN 9 2 2 CAN CAN
163. CAN hw can_rec_int void CanRecCbr UINT8 rec_err UINT16 id UINT8 dic UINT8 data oksokokokokokokokokokokokokokokokokokokokskokokokokokokokokokokokokokokokokokokokokokokokokokokokakokokokookokokokokokokookokokokokokokokokokokokskok void StartupHook void 5 e oksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokookokokokokokokokokokokokookokakokokokookokokokokookookokokokkokkokokokookkok ifdef USE STARTUPHOOK void StartupHook void InitT100usTimer 0 SwInit0 CAN CanInit0 StartupHook endif USE STARTUPHOOK 11 94 OIL sample oil include implementation oil CPU current syslib include lt serial oil gt 100u sec i
164. 5 1 1 TOPPERS Automotive Kernel 5 1 2 TOPPERS Automotive Kernel CPU CPU 80 909 CPU CPU 46 5 1 3 OS
165. CISLOT1_15i 10 2 2 CiSBS 192 10 2 3 0 1 id 0x00040000 2 CANOin 1 I id 0 CAN CAN 10 2 3 0 0 1 4 ID I D29 1 1 10 3 FPGA Topper s c an Toppers
166. D FAHS Renesas M32G Standard Toolchain E B F E fE hE F M E U PL 5 2 30 SG M 5 2 31 B v M32G G Compiler M32G Assembler M32G Linker M32G Load Module Converter M32G Librarian M32G Gonfigurator OK 5 2 31 1 4
167. H UDI H UDI 83 6 1 2 C e TASK e DeclareTask 2 gm 1 C 1 TASK TerminateTask TASK exsample 7 Terminate Task m
168. 6 4 4 Ae 2 LCD 1 2 2 3 500ms 400 us 4 LCD ABCDEFGHIJKLMNOP abcdefghijkImnop 5 LED LED2 LED3 LCD
169. CAN PTS Phase Buffer Segment1 PBS1 Phase Buffer Segment2 SS PBS1 SS PBS2 PBS2 SS reSynchronization Jump Width SJW PBS1 2 1 4Tq Tq 1
170. D ID ID 0 13 A 14 15 500Kbps 1Mbps PTS 5Tq PBS1 6Tq PBS2 4Tq SJW 3Tq 3 ACK CRC CAN
171. El 7 3 1 MISRA C 108 MISRA C MISRA C 7 3 1 MISRA C MISRA C 7 3 1 MISRA C
172. gt FEWGMW 308 WEF gt c finfo dir CONFIGDIR 0 Il 5 2 19 H 5 2 20 AS308 5 2 7 Include file directory E 5 2 21 Renesas M32C Standard Toolchain PIR Configurations 7 X GS All Loaded Projects 8
173. 5 2 8 del u oil template l OIL BCC1 BCC2 ECC1 ECC2 del kernel_cfg9 cC del kernel_id h SG sg exe SG sample oil 5 2 6 OIL OIL SG 62 OIL 5 2 5 SG SG R 5 2 30 Edded Workshop
174. APPMODE AppMode1 AUTOSTART TRUE APPMODE AppMode1 PRIORITY 0 15 STACKSIZE ACTIVATION 1 SCHEDULE FULL NON MainTask CPU current TASK MainTask AUTOSTART TRUE APPMODE AppMode1 PRIORITY 14 STACKSIZE 0x0180 ACTIVATION 1 SCHEDULE NON 68 OIL nclude implementation oil CPU current include lt serial oil gt include lt t100us_timer oil g
175. EEE EEEE TASK SwitchTask UINT8 sw_state 4 static UINT8 pre_sw_state 4 SW_OFF SW OFF SW_OFF SM_OFF SwGetPush3 amp sw_state 0 SwGetPush4 amp sw_state 1 SwGetPush5 amp sw_state 2 SwGetPush6 amp sw_state 3 LED or if SW ON sw state 0 amp amp pre_sw_state 0 SW OFF SW OFF sw_state 0 amp amp pre_sw_state 0 SW ON led_state_buff LED5 if SW_ON sw_state 1 amp amp pre_sw_state 1 SW_OFF SW OFF sw_state 1 amp amp pre_sw_state 1 SW ON led_state_buff LED4 if SW ON sw_state 2 amp amp pre_sw_state 2 SW OFF SW_OFF sw_state 2 amp amp pre_sw_state 2 SW ON led_state_buff LED3 if SW ON sw_state 3 amp amp pre_sw_state 3 SW OFF SW_OFF sw_state 3 amp amp pre_sw_state 3 SW ON led_state_buff LED2 LED if led_state_buff LED_STATE_CLEAR SetEvent DispTask SwPushEvt pre_sw_state 0 sw_state 0 pre_sw_state 1 sw_state 1 pre_sw_state 2 sw_state 2 pre_sw_state 3
176. LCDCtDisplay 0 LCD_CTL CLRDISPLAY 8 2 15 LCD API 8 2 16 LCD 8 2 12 LCD API LCDSetCsrPos LCD_RET LCDSetCsrPos LCD_CH_NO ch UINT8 csr_line UINT8 csr_digit LCD LCD_RET LCD_E OK LCD_E_TMOUT LCD PRM LCD_E_STS 1 m LCD CH_NO ch_no 2 m UINT8 csr_line 1 or 2 3 UINT8 digit 1 16 LCDSetCsrPos 2 2 2 8 2 17 LCD API LCD 8 2 18 LCD 125 8 2 13 LCD 1 LCD_RET LCDRead LCD_CH_NO ch LCD_CHARACTER p_data
177. Led2Task Led2Task Led3Task Led3Task LED3 Led3Task LED3 Led3Task Led3Task Led2Task h25 toppers_ex6_act_ ter H25 toppers_ex6_act ter SAMPLE hws 88 H EW OIL TASK Task1 PRIORITY 5 ACTIVATION 1 SCHEDUKE FULL STACKSIZE 0x200 EVENT Event1 TASK Tas
178. STATUS STANDARD STARTUPHOOK FALSE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE POSTTASKHOOK FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER FALSE STATUS STANDARD EXTENDED STARTUPHOOK lt POSTTASKHOOK FALSE USEGETSERVICEID USEPARAMETERACCESS TOPPERS Automotive Kernel FALSE TRUE USERESSCHEDULER
179. 115 8 1 3 8 2 8 2 1 M32C 8 2 1 IF VF serial c API M32C M32C hw_serial c a att
180. UINT8 CanSetRec UINT16 id UINT8 slot CAN CAN E OK CAN E PRM CAN E RUNNING 3 UINT16 id ID 0x0000 0x07FF OK Ph CAN hw_can rec 9 2 10 CAN API CanSetRec 170 9 2 6 9 2 12 9 2 12 CAN CanRecCbr void CanRecCbr UINT8 rec_err UINT16 id UINT8 dic UINT8 CAN CAN or ID Void UINT8 rec_err or OK or CA
181. e Taski e Task2 21 Task2 Task1 Taski OS OS 22 OSEK VDX
182. 2 0B 2 0A 2 0B ID 2 0B 11 29 X 2 0B 2 0B O 9 1 1 CAN 144 9 1 3 CAN 1Mbps High Speed CAN 125kbps Low Speed CAN 2 2 Low Speed CAN High Speed CAN 1 2 CA
183. CAN 3 CAN 0 if sw state O can trm flag CAN FLAG O SetEvent CanTask CanTrmEvt 4 CAN 1 else if sw state 1 can trm flag CAN FLAG 1 SetEvent CanTask CanTrmEvt 5 CAN 2 else if sw state 2 can trm flag CAN_TRM_FLAG_2 SetEvent CanTask CanTrmEvt 6 CAN 3 else if sw state 3 can trm flag CAN FLAG 3 SetEvent CanTask CanTrmEvt else TerminateTask 0 KKK void CanRecCbr UINT8 UINT16 id UINT8 dic UINT8 data 232 CAN CAN CAN UINT8 rec_err CAN E OK CAN E OVERRUN E UINT16 id ID 0x0000 0x07FF UINT8 dlc 0 8 UINT8 data
184. OK CAN E OVERRUN E UINT16 id ID 0x0000 0x07FF UINT8 dlc 0 8 UINT8 data CAN hw can_rec_int EEE EE E E E E E E E E EE E void CanRecCbr UINT8 rec_err UINT16 id UINT8 dic UINT8 data ID if CAN E OK rec_err id data 0 else void StartupHook void LCD CAN 7 ifdef USE_STARTUPHOOK void StartupHook void InitT100usTimer 0 LCD LcdInit0 CAN CanInit0 LCD LcdCtIDisplay 0 LCD_CTL_CLRDISPLAY LED LcdWriteLine 0 0 LcdWriteLine 0 1 2 CAN CanSetRec CAN REC_ID_SLOT1 1 Can
185. D CPUD U 1700 F5 ZI E Shift F5 M 5 3 8 5 3 2 5 3 2 MCU M32C 85 Group M30855FJ 77 E8Ba TOPPERS Platform USB OK El 5 3 9 MCU MM M32G 85 Group Y DD M30855FJ Y e
186. OO VR Nin RN URN NERO th 167 926 VINIE E EE 171 172 9 3 U 4ZXZF54 7 27175 174 93 E E 174 9 522 174 9 3 3 TOPPERS Platform me 180 10 rr 185 TOE 185 185 0 186 10 1 3 CAN L141 186 187 10 2 1 TOPPERS Automotive 187 10 2 2 MCU CAN 4 190 10 3 T E 193 1034 194 11 a 197 a O E E AAA 197 A 8 197 198 198 Ieis 200 11 2 201 11 21 0 201 ERAO
187. amp DELIMITER d 8bit gt 6 12bit 9 1 3 6 8 6 CAN CAN 6 12
188. void can_init void kkk UINT8 hw_can_set_trm UINT16 id UINT8 dic UINT8 data 0 0 ID UINT8 ret E OK CAN_E_RUNNING UINT16 id ID 0x0000 0x07FF UINT8 dlc 0 8 UINT8 UINT8 hw_can_set_trm UINT16 id UINT8 dlc UINT8 data UINT8 hw_can_set_rec UINT16 id UINT8 slot 1 1 ID CAN E OK RUNN
189. LCD LCD 100msec TASK DispTask CAN ID if 10 ConvShort2HexStr amp lcd_str 0 5 ConvByte2HexStr amp lcd_str 1 5 can_rec_data LCD LcdWriteLine 0 lcd_str O 1 LcdWriteLine 0 lcd_str 1 2 else 236 TerminateTask 0 oksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokakokokokookokokokokokokookokokokokokokokokokokokkok void CanRecCbr UINT8 rec_err UINT16 id UINT8 dic UINT8 data CAN CAN or ID ID UINT8 rec_err
190. LED2 LcdTask LED2 LCD LED LedTask LcdTask A LcdTask LCD LED LedTask LcdTask sample oil TOPPERS Automotive LcdTask LcdTask LedTask LedTask LED2 LED LcdTask LedTask LcdTask LedTask LcdTask LedTask
191. 174 StartupHook CAN CAN CanTask SwitchTask AUTOSTART 30msec Bik A CAN 9 3 2 175 TOPPERS Platform 4 ID 9 3 1 9 3 1 CAN ID 0x0001 1Byte 1Byte POUA 1Byte 1Byte Ox0003 1Byte 1Byte 1Byte 1Byte
192. 8 2 23 LCD LCD 1 8 2 16 LCD API LCDWriteLine LCD_RET LCDWriteLine LCD CH_NOch_no LCD_CHARACTER row UINT8 line LCD 1 LCD_RET LCD OK LCD E TMOUT LCD PRM LCD_E STS 1 LCD CH_NO ch_no 2 LCD_CHARACTER row 3 UINT8 line 1 or 2 LCDWriteLine 0 Hello 1 8 2 25 LCD API 1 8 2 26 LCD 129 8 2 1 3 LED
193. 81 Debug 5 3 16 at 8 i r 2 Connected Flash memory writing Flash memory write end 4 gt Debug Find in Files 1 Find in Files 2 5 3 16 SW 5 3 17 void main void 37 FS81CCG 38 IF81EC5 F81CEE StartHS ppMode1 BHA TASK C MainTask je y Aukko kk k kkk k TASK MainTask i F8 1CCE 1CD0 F81CD4 F81CD8 54 IF81CD8 F8 1CDE UINT32 waitCnt 0 LedInit 997 far waitCnt 0 wait nt lt 500000 waitCnt 5 3 17
194. char signed char unsigned char 6 2 7 1 0 8 0 8 8 VAR1 100 10 VAR2 070 VAR3 065 0 VAR4 055 8 VAR5 109 VAR6 100 8 7 1 8 8 8 8 10 100 106 0 8 VAR2 lt VAR4
195. define CAN REC_ID_INIT OUINT16 Oxffff CAN ID define CAN REC_ID_SLOT1 UINT16 0x0001 define CAN REC_ID_SLOT2 UINT16 0x0002 define CAN REC_ID_SLOT3 UINT16 0x0003 define CAN REC_ID_SLOT4 UINT16 0x0004 okookokokokokokokokokokokokokokokokokokokokokokokokokkokokokokokokokokokokokokokokokokokokookokakokokokookokokokokokokokokookokokkokokaokokokkok kkk 11 9 6 sample c FILE sample DATE Fri Oct 03 2008 DESCRIPTION main program file CPU GROUP 85 ROM512K This file is generated by Renesas Project Generator Ver 4 8 include kernel h include t100us_timer h include serial h include kernel_id h include sample h include h include h ekke 235 oksokokokokokokokokokokokokokokokokokokokskokokokokokokokokokokokokokokokokokokokokokokokokooko
196. 0 CISLOTO_15 CANi 1 CAN 1 IDO CESLOT_O CAN 1 ID 0150071 1 CAN 1 IDO CSLOT_ 2 CAN 1 ID1 CSLOTI_ 3 CA 1 IDZ CISLOT_ 4 CA 05 0715 CA 0 Oson CA 1 ason CAN 1 2 SOT 8 CAN 1 CISLOTT 9 CAN 1 4 CSLOTI_ 0 CAN 1 54CISLOTI_11 CANN 1 64CSLOT_12 CA 7 CISLOT1_13 CAN 1 CISLOTY_14 CAN 1
197. 12 4 amp amp 12 5 amp amp 12 6 amp amp 12 7 12 8 12 9 TERESE EE 15 12 x 25 1213 G 13 1 13 2 0 13 3 13 4 for 13 5 for 3 13 6 for 13 7 14 1 14 2 14 3 14 4 goto 14 5 continue 14 6 break 14 7
198. 7 3 1 MISRA C N sea a A 123 MISRA C MISRA C MISRA C
199. RTL8019AS RealTek SD MMC x 1 SPI 5 1 Full Speed FT232R 188 R 9 2 2 M32C 85 CAN 10 2 3 CAN CAN CAN 2 EF 7_6 P7 7 16 0 15 0 1 lt 15 2 0 0 1 1 15
200. TASK CanTask while 1 WaitEvent CanTrmEvt ClearEvent CanTrmEvt CAN CanSetTrm can trm_id can trm_flag can trm dlc can_trm flag amp can trm_data can_trm flag 231 trm flag CAN_TRM FLAG_CLEAR TerminateTask 0 TASK SwitchTask CAN 3 gt 4 gt 5 gt 6 30msec TASK SwitchTask UINT8 sw_state 4 SwGetPush3 amp sw_state O SwGetPush4 amp sw_state 1 SwGetPush5 amp sw_state 2 SwGetPush6 amp sw_state 3
201. 202 112 9 9 202 1122 4 204 207 11 49 23 tam sa uma qusaywan usa lya qaa unn pakana qa a hawana kna 207 11 5 8283 L222 208 RA 208 11 5 2 208 95 209 11 6 842 212 212 Ne 213 213 11 7 94 CAN 217 11 8 9 2 CAN ee 217 11 81 O 217 218 183 220 164 JD ama 222 11 9 93 2 CAN 228 11 9 1 OIL 228 11 9 2 CE 721 O 230 11 9 3 230 11 9 4 OIL 233 11 9 5 O 235 109 6 ON E 235 12 Appendix MISRA C 239 IV
202. API 8 2 18 LED APl Ledlnit LED_RET LedInit void LED LED LCD_RET LED E OK LED E STS 1 m VOId LedlInit 8 2 27 LED API 130 LED 8 2 28 LED 131 8 2 19 LED API LedTerm LED_RET LedTerm void LED RYE LCD_RET LED OK LED E STS 1 m void LedTerm 132 LED 8 2 29 LED 8 2 30 LED 8 2 20 LED API LedOn LedOn UINT8 led LED led no LED2 LED3 LED4 LED5
203. FPG A UART 8 2 Ox00 BYTE 1 2 3 4 5 6 7 8 SOD 100Q 1001 10 1 EOD dummy dummy mm mm mm mm EndOfData 42 8cm _0x42 B BinaryData Binary 0x42 0x04 0x02 0x08 0x45 0x00 Decimal 0x44 0x30 0x34 0x32 0x38 0x45 0x00 0x00 10 1 2 10 2 10 2 1 TOPPERS Automotive Kernel TOPPERS Platform 10 2 1 TOPPERS Platform TOPPERS Platform S810 TPF 85 M32C 85 M30855FJGP ARAM 24K ROM 512K SFR 1K 8MHz XIN 128KBytex 2 M5M51008DVP 55H 5V USB 150mm W x110mm D 45mm H x 1 ch HA13721FPK TJA1020 Philips 187 i 10BASETx 1 tnerme
204. I IPROJDIR T wORKSPDIR X include T wOoRKSPDIR ykernel osek text T WMORKSPDIR kernel T wORKSPDIR yconfig m32c OK 5 2 14 1 5 2 6 Add include file directory 5 2 15 5 2 15 Add include file directory 55 5 2 6 Project directory WorkSpace directory WorkSpace directory WorkSpace directory WorkSpace directory WorkSpace directory include kernel ecc2 kernel config m32c renesas s810 tpf 85 cOnfig m32c renesas Sample SySIIiD m32c renesas s810 tpf 85 syslib driver led driver led s810 tpf 85 driver sw driver sw s810 tpf 85 WorkSpace directory WorkSpace directory WorkSpace directory WorkSpace directory WorkSpace directory WorkSpace directory WorkSpace director lt xxx k
205. S Record 5 3 1 OK 5 3 3 T IE SessionM32C_E8 SYSTEM y 9 SAMPLE M32C E8a SYSTEM gt S Record v DD C WarkSnace nsek 00000000 IEEE695_ RENESaS C MWorkSpace nsek 00000000 S Record 2 OK 5 3 3 5 3 2 5 3 4 75 D UO T FANG Renesas M32G Standard Toolchain SystemGenerator F PE PERTEJ ECM 5 L E U P EL O 5 3 4
206. m p 5 2 23 osek_os OK EI 5 2 24 E _ 5 2 24 osek os SAMPLE M 5 2 25 SAMPLE High performance Embeddd FE CE RT 2U2rDFO D B 5 2 25 OSEK OS osek_os EI 5 2 26 60 SAMPLE High performance Embedded Work 5 CE RTA P PE 5 Degas a m o mr amp es pesw INS 2 5 SAMPLE 5 2 26
207. 2 EF 7_6 7 7 16 0 15 0 1 lt 15 2 0 0 1 1 15 ID ID Z ID 0 13 A 14 15 H
208. 46 46 a I a 47 lt 47 52 47 5 2 1 eee 47 5 2 RNN 54 523 59 62 525 63 5 2 6 OIL 66 5 2 7 69 74 74 5832 SAA E i a a aan a a 75 252 PR 79 6 INFARI TOATI EI II ossessione 84 6 1 84 Suni 84 63 N ir a N E 94 EE 97 6 4 1 97 JRO a 98 6 4 3 99 6 4 4 1989 2 99 5 101 101 7 11 C 101 712 C 102 7 2 102 Tad MSRC 103 103 72 9 MISRA GO 103 7 2 4 _ MISRA C 1 105 7 3 _MISRA C AS
209. LCD abcdefghikImnop LCD abcdefghiikimnop LcdRes SmallStrTask LED3 SmallStrTask SmallStrTask I L Tt LargeStrTask ABCDEFGHIUKLMNOP abcdefghijklImnop LCD abcdefghiikimnop LargeStrTask LED2 LargeStrTask 500ms LargeStrAlm LargeStrTask LargeStrTask lt 206 11 3 73 1 unsigned int g_status 5 2 7 define STATE1 unsigned int 0U define STATE2 unsigned int 1U void func void unsidned int status 0 unsigned i
210. include lt serial oil gt 100u sec include lt t100us_timer oil gt OS 08 os STATUS STANDARD STARTUPHOOK TRUE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE POSTTASKHOOK FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER TRUE APPMODE AppMode1 CAN TASK CanTask AUTOSTART TRUE APPMODE AppMode1 1 PRIORITY 8 STACKSIZE 0 0180 ACTIVATION 1 SCHEDULE FULL EVENT CanTrmEvt 228 TASK SwitchTask AUTOSTART TRUE APPMODE AppMode1 PRIORITY 7 STACKSIZE 0x0180 ACTIVATION 1 SCHEDULE FULL CAN ISR hw_can_rec_int CATEGORY 1 ENTRY 53 PRIORITY 6 CAN EVENT CanTrmEvt MASK AUTO Can ALARM CanCycArm COUNTER T100usTimerCnt ACTION ACTIVATETASK TASK CanTask AUTOSTART TRUE APPMODE AppMode1 ALARMTIME 1 CYCLETIME 50 1 Switch ALARM SwitchCycArm COUNTER T100usTimerCnt ACT
211. osek_os config amp Rl 5 2 27 osek_os DAR FE RED RT SAANA YD gt 19 O B Orr Eam Er DISAMPLE Hieh performance Embeddd FE CE RT 5 mug s 2 Deun IYER x 5 2 27 config amp amp config OK 5 2 28 C osek_ os config m32c renesas cpu_sup C osek os config m32c renesas s810 tpt Cfosek_os canfig m32c renesas starta3H Assembly source file EC osek os config m32c renesas cpu_conft source file C osek_os config m32c renesas s810 tpf source file EF 5 2 28
212. 1 COSBS slot lt 4 COSBS amp OxOf NEWDATA LOW St CanMsgSItTbl slot amp CAN_CLEAR_NEWDATA 1 ID id buff SIDH_COSLOT1 amp lt lt 6 SIDL_COSLOT1 amp 0x3F dlc_buff DLC GOSLOT1 for cnt 0 cnt dlc_buffi cnt data_buff cnt cOslot1_addr mnb data cnt if CAN CLEAR_8B st_CanMsgSItTbl slot amp CAN_SET_NEWDATA rec_err E_OVERRUN st CanMsgSItTbl slot amp CAN_CLEAR_NEWDATA else CanRecCbr rec_err id buff dlc_buff data_buff COSISTR CAN_CLEAR_16B CANOOR CAN_LOW 227 11 9 93 CAN 11 9 1 OIL sample oil include implementation oil CPU current syslib
213. OSEK OS 6 4 7878508 B C 3 4 14 C C C B C A C A A B A C C
214. 239 8 10 8 11 static 8 12 9 1 9 2 9 3 10 1 10 2 2 t 10 3 104 10 5 lt lt 10 6 11 1 112 11 3 11 4 11 5 const volatile 12 1 122 12 3 sizeof
215. 5 3 4 OK 5 3 14 5 3 4 FFFO RAM 60 80 F LUIE y ERAS 800 Byte FFFO 00 MIN 80000 FFF700 EN WDT 1 RAM 100h 60 0 5 3 14 SAMPLE x30 00000000 5 3 15 ta SAMPLE High performance Embedded Workshop 15 F CE TAD P IL E B D U Y owens E sE t E E PPD Js ems idx SAMPLE ala SAMPLE Download modules J gt 7 mot 00000000 5 3 15
216. LED LED OR LED 2 h 8 2 38 LED 8214 API 8 2 24 8 2 30 LED API 8 2 39 8 2 44 API SwlInit 136 8 2 24 API Swlnit SwTerm SW3 SwGetPush3 SW3 SW4 SwGetPush4 SW4 SW5 SwGetPush5 SW5 SW6
217. 26 TCB OS 3 4 5 1 Task C Task C 3 4 4 OS
218. 3 1 OSEK VDX OSEK Offene Systeme und deren schnittstellen fur die Elektronik im raftfahrzeug ECU lt 1993 VDX Vehicle Distributed eX ecutive OSEK 1994 OSEK VDX 1995 10 OS ISO 17356 ISO 3 2 OSEK VDX OSEK VDX 3 OS COM Communication NM Network Management 3 2 1 3 2 1 OSEK VDX 1 5 API OIL OSEK Implementation Language ORTI OSEK Runtime Interface OSEK timeOS FT COM OSEK time Fault Tolerant Communication Layer MODISTARC 3 2 2 3 2 2 OSEK VDX 2 OIL _
219. GNU GNU Indian Hill Style Guide T amp TBell Laboratory Linux Kernel Cording Style Linux Google C Style Guide Google Code MISRA C MISRA C Indian Hill GNU ESCR GNU GNU Linux Linux Kernel Coding Style Indian Hill Style Guide C style Guide Google Google C Style Guide IPASEC ESCR MISRA C Indian Hil GNU
220. TASK i veTask char rcv_char 0 while 1 do RecvPolSerialChar amp rcv_char 210 if rcv char 0 serial_buf serial_len rcv_char serial_len while serial_len lt SERIAL_BUF_MAX 2 amp amp Crev char 1 k if serial_len SERIAL BUF MAX 2 serial_buf serial_len serial buf serial_len 1 0 else serial buf serial_len 0 SetEvent SendTask RxFinishEvt TerminateTask 211 11 6 8 4 11 6 1 OIL sample oil include implementation oil CPU current syslib include lt serial oil gt include lt t100us_timer oil gt OS 0S os STATUS STANDARD STARTUPHOOK TRUE ERRORHOOK FALSE
221. 1 define CAN_SLOT_INT OUINT16 Oxffff define CAN_BUSOFF_INT UINT8 0 0 1 define CAN ERRPAS_INT UINT8 0 def ine CAN_BUSERR_INT UINT8 0 ID 0 1 0 1 0 lt 15 0 1 define CAN_SINGLE_S UINT8 0x00 kkk ioksokokokokokokokokokokokokokokokokokokokskokokokokokokokokokokokokokokokokkokokokokokokokokokokakokokokokokokokokokokookokokokokokokokokokokokskok 221 oksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokookokokokokokokokokokokokokokokakokokokookookokokokokokokokokokokokokokkokokskkok void hw_can_init void CANO
222. 61 config 5 2 29 SAMPLE High performance Embeddd F RRD RTD P ET D SAMPLE E SAMPLE toppers_atk1 confie m32c renesas config c support a30 starta3H tppf sys_config c 8 sys_support a30 5 2 29 config osek_os driver kernel sample syslib tools 5 2 4 SG SG OIL SAMPLE sample_sg bat
223. B 6 4 2 OIL TASK Task1 PRIORITY 5 7 ACTIVATION 1 SCHEDUKE FULL STACKSIZE 0x200 E RESOURCE Resource1 TASK Task2 PRIORITY 3 7 ACTIVATION 1 SCHEDUKE FULL STACKSIZE 0x200 E RESOURCE Resource1 RESOURCE Resource1 EIJERRA RESOURCEPROPERTY STANDARD 98 GetResource Resource1 Resource1 ReleaseResource Resource1 Resource1 6 4 3 e e
224. 1 CAN 1 4 TimeQuantum Tq Tq 9 1 5 CAN 1 0 R 9 1 1 Tq R 9 1 1 Tq Synchronization Segment SS Propagation Time Segment
225. armene B C 3 4 11 C B C B C C C B B A B A B 3 4 4 ISR
226. driver 9 2 22 canc m32c TOPPERS Platform renesas hw_can c 9 2 2 5 2 9 2 3
227. LCD 1 1 LCD_RET LCD E OK TMOUT LCD E PRM LCD_E STS 1 LCD_CH_NO ch_no 2 LCD CHARACTER D_data 126 LCDRead 0 amp c 8 2 19 LCD 1 API LCD 1 LCD LCD 1 8 2 20 LCD 1 LCDRead 8 2 14 LCD 1 LCDWrite LCD_RET LCDWrite LCD CH_NOch_no CHARACTER data LCD 1 1 LCD_RET LCD E OK _ TMOUT LCD E PRM
228. MOST 150 1 N 5 1 7 1 DVD 1 4 4 1394 Automotive 1394 Automotive IEEE 1394 1 4 5 FlexRay 1990 CAN ECU
229. MISRA C MISRA C 7 3 2 MISRA C 1 MISRA C
230. dst 0 5 dst 5Byte 4 Void UINT8 dst UINT16 src 178 9 3 4 8bit gt 16 ConvByte2HexStr void ConvByte2HexStr UINT8 dst UINT8 src src dst 0 3 dst 3Byte 2 Void UINT8 dst UINT8 src CAN OIL
231. 2 7 1 19 2 7 2 CPU
232. B OS A B B TCB B TCB B TCB TCB B 3 4 2 OSEK OS OS 4 BCC1 BCC2 ECC1 ECC2
233. M30855FJ F CPU UD 300 CD 5 3 9 ID ID ID OK debugger 2 OK EI 5 3 10 ID ID 00000000000000 z lt ID 16 14 ASCIH ID 7 ID 5 3 10 ID SAMPLE mot 00000000
234. OS OS OS Windows Mac OS OS onn OS OS
235. void void 1 Void main Void StartOS AppMode1 05 TASK LargeStrTask LCD TASK LargeStrTask LedOn LED2 LED2 SetRelAlarm SmallStrAlIm ALARM CNT O LED ifdef USE LCD RESOURCE GetResource LcdRes USE LCD_RESOURCE LcdWriteLine 0 Icd_str O 1 LCD ifdef USE LCD RESOURCE ReleaseResource LcdRes USE LCD_RESOURCE LedOff LED2 LED3 TerminateTask 0 Pekk TASK SmallStrTask LCD kk TASK SmallStrTask LedOn LED3 LED3 ifdef USE LCD RESOURCE GetResource LcdRes endif USE
236. 2 14 15 a 1 _ MaxiMbms Tq X1 Tq 1 CAN 1 Tq 55 PTS PBS1 PBS2 Tq Tq Time quantum BRP COBRP C1BRP 1 255 SS Synchronization Segment 1 Tq PTS Propagation Time Segment 1 8Tq Phase Buffer Segment 1 2 8Tq Phase Buffer Segment 2 2 8Tq 16 CAN 1 2 3 4 1 CAN CAN 14 15 BasicCAN CAN CAN
237. 2 T2 amp FCFS 3 T3 IDLE 16 2 6 OS 2 6 1 OS OS OS OS OS 3 OS 2 6 1 OS
238. API LCD LCDWriteLine LCD 1 API 121 8 2 8 LCD API LCDInit LCD_RET LCDInit void LCD LCD LCD_RET LCD E OK LCD E TMOUT 1 m void LCDInit 122 8 2 11 LCD API LCD 8 2 12 LCD 8 2 9 LCD API LCDTerm LCD_RET LCDTerm void LCD LCD_RET LCD E OK LCD_E STS 1 VOId LCDTerm 8 2 13 LCD API 8 2 14 LCD
239. OS OS OS OS O OS 2 6 1 OS 100 OS OS OS
240. OS COM NM om Y ICE OSEK OS TADEL CE DIEE I AI lt OSEK timeOS OS IMODISTARC __ _ IOSEK VDX 23 3 3 OSEK OS OSEK OS RTOS RTOS 342
241. kshop PE PUL U D FAN B D 5 3 6 SessionM32C_E8_SYSTEM 76 OK 5 3 7 D DefaultSessi O spa S MG2O E SYSTEM 28004 SessionM32C_E8_SYSTE M P 0 G SessionM32C SYSTEM 5 3 7 5 3 8 T FARS B
242. SFR SFR SFR 8 2 3 1 RecvPolSerialChar SFR 1 SFR RecvPoISerialChar API SFR
243. SwGetPush6 SW6 8 2 25 Swlnit SW Swinit void SW SW_E OK SW_E STS void Swinit 8 2 39 API 8 2 40 137 8 2 26 SwTerm SW_RET SwTerm void SW _RET SW_E OK SW 575 Void Swlerm 138 8 2 41 8 2 42 8 2 27 SW3 SwGetPush3 SW_RET SwGetPush3 UINT8 sw3 state
244. Task2 2 7 3 OS 2 7 3 Task1 Task1 OS Taski Task Task2 Taski Task2 Task2 Task1 OS Taski Task2 OS OS 2 7 3
245. 100 MISRA C 7 1 7 1 1 C MISRA C 7 1 1 CO C 0 101 7 1 1 C
246. 3 4 7 A B A B 19 OSEk OS 28 94 ZIN CPU r ss 4 TO CPU TCB R 3 4 7 A OS A A A TCB OS B
247. El 5 2 32 63 1 74 AF52 gt 5 2 32 1 4 2 4 SG 1 M 5 2 33 2 4 Absolute file 3 1 E 5 2 33 2 4 3 4 5 2 9 5 2 9
248. 2 FPGA Content 0 es 1 1 2 2 12 3 13 kk 5 1 4 7 PAGAN aan ana n 7 7 TASE MOST ss n mn m am mami Sm Sm munana 8 1 4 4 1394 Automotive ee 8 SE Ra 8 2 OS kk 9 9 ee PS PS 9 2 3 0S 10 DAS E n ER a unakunaqa ua aaa 13 25 14 E E E E E E 14 252 a 14 2 5 3 15 2 6 OS ke 17 2 6 EE T T 17 202 ARAYIR S 17 HEB BIDIA E aan aaa a E AN AE E A NNNNA 18 27
249. 4 4 El 5 2 35 4 4 GB 5 2 35 4 4 SystemGenerator SG SG SystemGenerator SystemGenerator OK 5 2 36 65 E B v M32G Compiler 3BDD A v M32G Assembler M32C C Compailer lylM32G Linker M MM32C L
250. LedOff LED3 Terminate Task ifdef USE_STARTUPHOOK void StartupHook void LedInit SiartupHook endif USE_STARTUPHOOK 5 LED2 LED3 LED3 LED3 LED K 7 l 3 87 LedOfKCLED3 LedOn LED3 5 Led3Task soc AcvateTask Led3Task ActivateTask Led3Task EERIE S 1 s 6 2 2 Led2Task LED2 LED2 Led3Task Led3Task LED3 Led2Task Led3Task ODO Led2Task LED2 Led2Task sample oil TOPPERS Automotive Kernel Led2Task Led3Task Led3Task
251. kk 19 RN 19 IT AAE A a aa a a 20 2 7 3 OS 21 3 OSEK VDX 23 3 1 OSEK VDX 23 3 2 23 3 3 24 3 4 OREORE n a a S 24 3 4 1 24 425 u un n a u Au Qa a u nn a pan s 29 SAI ATS IAIA A 31 544 2 mun m a T a a 32 S45 33 EEE EE A E E EEE EE N E A 34 35 4 OS uuu 36 OR 36 4 1 1 36 412 JUARA RA n AA a qu Oi 36 0 ROMAE ns E E E A A AE O E A T E 38 42 OS 39 4 2 1 OS 39 422 OS 41 d E 43 N anasua un 43 43 5 TOPPERS Automotive Kernel 0187 5 45 5 1 ee 46
252. 006 CAN 106 CANi 0 CANI 0 DO CSLOI0_ 0 CANI 0 IDT 005 070 1 CA 0 IDO 151010 2 CAM 0 ID1 CSLOT0 3 CAM 0 IPz CSLOTO_ 4 CAW 0 s CA 0 9 6 CA 0 1 151070 7 CA 0 z S CANN 0 5 05 010 9 CAN 0 4 CISLOTD_ 30 CAN 0 5 CSLOTO_11 CA 0 5 151 070 12 CANI 0 0051070 13 CAN 0 CA
253. 123 8 2 10 LCD API LCDCtIDisplay LCD_RET LCDCtDisplay LCD CH_NOch_no CTL CODE ctl_code LCD 8 2 11 LCD_RET LCD E OK _ TMOUT LCD E PRM LCD_E STS 1 LCD_CH_NO ch 2 LCD_CTL CODE ctl code 8 2 11 124 8 2 11 LCD LCD_CTL CLRDISPLAY LCD_CTL CSROFF LCD CTL CSRON LCD CTL CSRBLINK LCD CTL CSRHOME 1 f 1 LCD_CTL CSRCRLF LCD CTL CSRCR LCD_CTL CSRLF LCD CTL CSRRIGHT LCD CTL CSRLEFT LCD CTL DSPRIGHT LCD CTL DSPLEFT
254. 14 8 14 9 HENA if else if else 14 10 15 1 switch 15 2 switch SG 15 3 switch 15 4 switch 240 15 5 switch X case 16 1 16 2 16 3 16 4 16 5 16 6 16 7 16 8 void 16 9 k 17 1 17 2 PSs z 17 3 7 4 17 5
255. SW3 RYE SW_ RET SW E OK SWE STS 1 UINT8 Sw3 state SW3 8 2 28 SW4 SwGetPush4 SW_RET SwGetPush4 UINT8 sw4 state SW4 SW_RET SW_E OK SWE STS 1 UINT8 Sw4 state SW4 8 2 29 SW5 SwGetPush5 SW_RET SwGetPush5 UINT8 sw5 state SW5 RYE SW SW E OK SWE STS 1 m UINT8 Sw5 state SW5 8 2 30 SW6 SwGetPush6 SW_RET Sw_Get_Push6 UINT8 sw6 state SW6 SW SW_E OK
256. 10 4 1 CU D ECU E CU ECU I D 29 ECU DLC 0x08 8 data1 lt data8 Data1 0 02 Data2 Mode 10 4 1 Data3 PID 10 4 2 Data4 data8 0x00 194 ECU I D 29 ECU DLC 0x08 8 datai 8 Data1 Ox PID Data2 0 40 10 4 1 D
257. 3 5 1 31 5 2 5 3 typedef 5 4 5 5 5 6 5 7 6 1 char 6 2 signed char unsigned char 6 3 typedef 6 4 6 5 signed int 7 1 0 8 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 8 9 MISRA C2004 C
258. LCD E STS 1 m LCD ch_no 2 m LCD CHARACTER data LCDWrite 0 S 8 2 21 LCD 1 API 1 OIDS B 1 8 2 22 LCD 1 127 8 2 15 LCD API LCDReadLine LCDReadLine LCD CH NO LCD_CHARACTER row UINT8 line LCD 1 LCD_RET LCD OK LCD E TMOUT LCD PRM LCD_E STS 1 LCD ch_no 2 LCD CHARACTER row 16byte 3 UINT8 line 1 or 2 LCDReadLine 0 str 1 128 8 2 24 LCD
259. MISRA C 2 1998 MISRA C 1998 2004 MISRA C 2004 2 MISRA C 2004 MISRA C 1998 NG MISRA C 2004 21 MISRA C 1998 MISRA C 2004 MISRA C 1998 MISRA C 2004 7 2 1 MISRA C 1998 MISRA C 2004 MISRA C 1998 MISRA C 2004 Version 1 Version 2 127 141 93 121 34 20 1 127 1 1 21 1
260. 5 OS OS http www witz inc co jp piipaward IPaward html 6 1 4 ECU EE Times Japan LAN http eetimes jp article 20492 0 5 25 1 4 1 1 4 1 CAN CAN CAN 500k SAE C 1M CAN CAN
261. 5 3 2 All Sessions 5 3 1 74 5 3 1 M32C E8 SYSTEM IEEE695_RENESAS CONFIGDIR PROJECTNAME x30 1 0 IEEE695_ RENESAS CONFIGDIR PROJECTNAME mot 2 0 S Record nc308 IEEE695 IEEE695 RENESAS IEEE695
262. SW STS 1 UINT8 sw6 state SW6 139 SwGet_Push3 amp sw3 SwGet_Push4 amp sw4 SwGet_Push5 amp sw5 SwGet_Push6 amp sw6 8 2 43 SW SW 8 2 44 SW AD 8 2 2 SFR SFR Special Function Register SFR
263. 5 152 ACK ACK CRC CRC CRC ACK EOF 9 1 9 CAN 3
264. API LCD 8 2 8 LCD API LCDIni 8 2 16 LCD 8 2 11 8 2 26 API LCDInit 8 2 7 LCD API LCD API LCDInit LCD LCD LCD API LCDTerm LCD LCD API LCDCtDisplay LCD LCD API LCDSetCsrPos LCD LCD 1 LCDRead LCD 1 1 LCD 1 LCDWrite LCD 1 API 1 LCD LCDReadLine LCD 1
265. L a F hw_serial V_SCTIJI C 8 2 1 API API 8 2 2 116 wu InitSerial wimun SendSerialStr s RecvPoISerialChar API 8 2 2 API API 8 2 1 1 API API 8 2 1 8 2 6 API E 8 2 3 8 2 10 API InitSerial 8 2 1 API API API InitSerial
266. LargeStrAlIm LargeStrTask LargeStrTask LargeStrTask LED2 SmallStrAlIm LargeStrTask LcdRes LargeStrTask SmallStrTask LCD ABCDEFGHIJJKLMNOP 400xs SmallStrAlm SmallStrTask SmallStrTask LcdRes LargeStrTask SmallStrTask CC LCD ABCDEFGHJKLMNOP LcdRes SmallStrTask LargeStrTask LargeStrTask SmallStrTask LED3 SmallStrTask LcdRes LcdRes SmallStrTask 205 SS SmallStrTask
267. execute SetRelAlarm LedOffAlm ALARM _CNT 0 Led_On LED2 TerminateTask LedOnTask Led_OfK LED2 11 1 1 100 us 300ms LedOnAlam LedOnTask LedOnTask LedOnTask LED3 LedOffAIm LedOnTask 300ms LedOffAlam LedOffTask LedOffTask LedOffTask LED3 LedOffTask 600ms LedOnAlam LedOnTask LedOnTask CO CO 200 11 2 644 Z 11 2 1 OIL sample oil include implementat
268. unsigned int 0U define STATE2 int 1U void func void int status unsigned char input func2 if func2 input 002 status STATE1 else status STATE2 return 2 define ARRAY_SIZE 100 void func void 1 unsigned int array ARRAY_SIZE for i 0 i lt ARRAY_SIZE i array i i return 113 8 1 device OS LAN Local Area Network 8 1 1
269. API LED API LED 8 2 17 8 2 23 LED API 8 2 27 8 2 38 API LedInit 8 2 17LED API API LED API LedInit LED LED LED API LedTerm LED LED API LedOn LED Led No LED2 LED3 LED4 LED5 LED API LedOf LED Led No LED2 LED3 LED4 LED5 LED API LedRev LED Led No LED2 LED3 LED4 LED5 LED LedRef LED2 LED3 LED4 LED5 OR
270. LED LED LED include led h LED API 8 5 2 12 LED API API LED RET LedInit void LED RET LedTerm void LED LED LED_RET LedOn UINT8 led_no LED LED_RETLedOff UINT8 led LED LED_RETLedRev UINT8 LED UINT8 LedRef void TOPPERS LED 4 Led LED2 LED3 LED4 LED5 LED2 LED No LED led no TASK MainTask UINT32 0 LedInit for LedRev LED2 for 0 cnt lt 500000 wait cnt sample h sample c sample h nclude kernel_id h Declare Task MainTask sample c include kernel h Include sample h include led h void main void TASK MainTask
271. UINT8 i LCD LED def ine LED_STATE_PATERN UINT8 16 DeclareTask SwitchTask DeclareTask DispTask DeclareEvent SwPushEvt 11 63 sample c 213 include kernel h include t100us_timer h include kernel_id h include sample h include sw h include led h include h ekke LED static UINT8 led_state_buff LCD static const UINT8 lcd_headline static const UINT8 lcd_state_led LED_STATE_PATERN OFF OFF OFF OFF OFF OFF OFF ON OFF OFF ON 0FF OFF OFF ON ON OFF ON OFF OFF OFF ON OFF ON OFF ON ON OFF OFF ON ON ON ON OFF OFF OFF ON OFF O
272. amp 1 ID SIDH_COSLOT1 UINT8 id gt gt 6 amp Ox1F SIDL_COSLOT1 UINT8 amp Ox3F st CanMsgSltTbl slot CAN REC_REQ return ret void hw_ can_rec_int void 1 void hw_can_rec_int void 226 UINT8 cnt 0 UINT8 slot 0 UINT8 rec_err E_OK UINT16 id_buff UINT8 dlc_buff UINT8 data_buff 8 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0 00 slot COSTRL
273. return ret UINT8 CanSetRec UINT16 id UINT8 slot CAN UINT8 ret CAN E OK CAN E PRM CAN_E_RUNNNIG UINT16 id ID 0 0000 0x07FF UINT8 slot 1 15 UINT8 CanSetRec UINT16 id UINT8 slot UINT8 ret CAN E OK if id gt CAN SID_MAX slot 0 slot gt 15 ret CAN_E_PRM else ret hw_can_set_rec id slot 219 return ret 11 8 3 hw_can h ifndef HW_CAN H_ def ine HW_CAN H_ include h include sfrm32c85 h Ookookokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokok J
274. 134 8 2 22 LED API LedRev LED_RET LedRev UINT8 led LED led no LED2 LED3 LED4 LED5 LCD RET LEDE OK LED E STS LED E 1 UINT8 led_no LED LED2 LED3 LED4 LED5 LedRev LED2 LED3 8 2 35 LED API LED LED LED LED 8 2 36 LED 8 2 23 LED API LedRef UINT8 LedRef void LED2 LED3 LED4 LED5 OR UINT8 LED2 LED3 LED4 LED5 OR void 135 UINT8 led 515 led_sts LedRef 8 2 37 LED API
275. 2 37 h25_toppers_ex5 H25_toppers_ ex5 SAMPLE hws HEW WorkSpace s nA T H 2 P P ELAD 3 C WorkSpace F234 toppers project RRO PACAN O temp VALUEADD x Jans E O WINDOWS 2 EH Work 89 h23_toppers_ex5 zs lt D B CD e Web AM 3 l Administrator 0 v 8 SAMPLE F GE BACANA Y I H i O P Orr E zans EJ P ELAD O C WorkSpace h23_toppers_ex5 tools SAMPLE x gt r N E VALUEADD a WINDOWS SAMPLE version l old version 9 old version 9 old version 9 SAMPLE Hbp 02 WorkSpace h23 toppers_ex5 H O config doc 8 O driver D include D
276. AUTOSAR Automotive Open System Architecture http www autosar org JasPar Japan Automotive Software Platform Architecture https Avww jaspar jp OS JasPar AUTOSAR BSW Basic Software
277. CAN Z CAN 3 CAN 4 CAN 5 CAN 65 CAN CAN 8 CAN 9 CAN 10 CAN 11 CAN 12 CAN 1 3 CAN 14 CAN 15 CANi Fj y t 70 HORSO CAN HSR y t 70 HORDO CAN y t 7Z07 HORO CAN y t 70 7 FORIO CAN 0 CAWN 0 CAW 0 1 CAMN 0 2 CA 0 CA 0 4 CANI 0 5 CANI 0 5 CA 0 CAN 0 CANI 0 CAN gt
278. FPGA 1 j 4 I 1608 ID Aus a ID OOOO JODO DATA OOOOOO FPGA Toppers 10 1 3 CAN 500Kbps ID 29 2 0B ID 29 ID ID 0 00040000 base id 1 10 1 2 DLC Data Length Code 8 FPGA 10 1 2 186 m CAN StartOfData 500Kbps 2 0 D 29 D 28 ID 1 2 DLC Data Length Code 8
279. OS Z 2 2 1 OS HAORA 2 3 OS Real Time OS 1 1 OS
280. SHUTDOWNHOOK FALSE PRETASKHOOK FALSE POSTTASKHOOK FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER TRUE APPMODE AppMode1 TASK SwitchTask AUTOSTART FALSE PRIORITY 6 ACTIVATION 1 SCHEDULE FULL TASK DispTask AUTOSTART TRUE APPMODE AppModel PRIORITY 7 212 ACTIVATION 1 SCHEDULE FULL EVENT SwPushEvt EVENT SwPushEvt MASK AUTO ALARM SwitchCycArm COUNTER T100usTimerCnt ACTION ACTIVATETASK TASK Switchlask AUTOSTART TRUE APPMODE AppMode1 ALARMTIME 9999 CYCLETIME 200 11 6 2 sample h include kernel_id h Kokskokkokokokkokokokokokokokokokokokokokkokokokokokokokokokokokokokkokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokok Kokskokskokokokkokokokokokokokokokokokokokkokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokok LED def ine LED STATE CLEAR UINT8 0x00 LED define LED_OFF UINT8 0 define LED_ON
281. Void main void TASK MainTask StartOS AppMode1 UINT32 waitCnt 0 LedInit for LedRev LED2 for waitCnt 0 waitCnt lt 500000 waitCnt 5 2 37 TOPPERS Platform MOT S 71 72 SAMPLE High performance Embedded Workshop FE 2DUDrDFO PAIRS 2005000 U T F7 D ki g Bs Renesas M320 Standard Toolchain SystemGenerator osek os E Download modules Dependencies ESTEI EEM E U EJ Fe EL O AEDE Phase M32G Load Module Converter finished Build Finished Errors 1 Warning 5
282. define CAN_TSPRE1 UINT8 0 define CAN_INTSEL UINT8 1 CAN 0 3 CAN 1 3 CAN define CAN_BRP UINT8 3 define CAN_SAM UINT8 1 0 1 1 3 PTS PTS2 PTS1 PTS0 000 1Tq 001 2Tq 010 3Tq 011 4Tq 100 5Tq 101 6Tq 110 7Tq 111 8Tq define 0 UINT8 0 define CAN_PTS1 UINT8 0 define CAN_PTS2 UINT8 1 PBS1 220 PBS12 PBS11 PBS10 000 NA 001 2Tq 010 3Tq 011 4Tq 100 5Tq 101 6Tq 110 7Tq 111 8Tq define CAN_PBS10 UINT8 1 define CAN_PBS11 UINT8 0 define CAN_PBS12 UINT8 1 PBS2 PBS22 PBS21 PBS20 000 NA 001 2Tq 010 3Tq 011 4Tq 100 5Tq 101 6Tq 110 7Tq 111 8Tq define CAN_PBS20 UINT8 1 define CAN_PBS21 UINT8 1 define CAN_PBS22 UINT8 0 SW SJW1 SJWO 00 1Tq 01 2Tq 10 3Tq 11 4Tq define CAN SJWO define CAN SJW1 UINT8 0 UINT8 1 ID IDO lt ID10 ID IDO ID17
283. generate the project or Cancel to abort Generate Readme txt as a summary file m the project directory 5 2 11 Summary 5 2 2 Runesus M32C Standard Toolchain M 5 2 12 Runesus M32C Standard Toolchain SAMPLE High performance Embedded Workshop 5 2 12 Runesus Standard Toolchain Runesus M32C Standard Toolchain AII Configurations 5 2 13 Renesas M32C Standard Toolchain Configurations Dehug_M32G_E8 SYSTEMJ gt 5 2 13 Runesus M32C Standard Toolchain 54 include 5 2 14 NC308
284. main void TASK LcdTask TASK LedTask Void main void TASK LcdTask StartOS AppMode1 while 1 if LedRef amp LED2 LCDWriteLine 0 Icd_str 0 1 else WaitEvent LedEvt ClearEvent LedEvt TerminateTask TASK LedTask volatile UINT32 wait cnt 0 while 1 LedRev LED2 SetEvent LcdTask LedEVt for 0 wait_cnt lt WAIT_CNT wait_cnt Terminate Task ifdef USE_STARTUPHOOK void StartupHook void LED LedInit LCD 7 LCDInit LCD 7 LCDCtDisplay 0 LCD_CTL _CLRDISPLAY SiartupHook endif USE_STARTUPHOOK 92 LCDWriteLine 0 lcd_strl1 1 OS LED2 t LED2 7 3 K 7 Y H 3 Y H 3 DLCDWriteLine 0 Icd_str i 1 1 LedEvt G 0 1 LcdTask ready running WaitEvent LedEvt SetEvent LcdTask LedEvt LedTask erasa epo 6 2 3 LedTask LED2
285. 0 E 3 4 8 3 4 3 OSEK OS 3 A EAE B SITTER W C PER 223 3 4 9 D C C B C B A A B Gi
286. 1 15 ENTRY CATEGORY OS OS OS OS API ISR ID OS RESOURCE 6 4 OS CATEGORY 2 OS MESSAGE TOPPERS Automotive PRIORITY CATEGORY1 CATEGORY
287. 108 733 109 7 3 2 OO 110 TEENE I a app 111 111 8 FF NA i Qs 114 114 li i 114 81 2 115 82 A A N NA Io 116 821 FEET AAFIN DUNC 116 140 SRCE wa AND A NA iE AYD AA o aA ODA AD 141 894 I S u EEE 141 8392 142 9 CAN 144 9 1 _CAN I 144 mama 144 IN 144 9 1 3 IT N S S 145 94 4 y aa Ta la A 145 9 1 5 146 9 1 6 ee 146 91 7 147 148 S 153 E S TS VI 154 9 1 11 154 9 2 CAN 4 155 9 2 1 CAN 155 922 157 157 9 24 ART i i EE i 159 API
288. 13 4 3 1 4 3 7 3 10 lt 3 33 3 4 6
289. 4 1 CAN 9 2 4 CAN 9 2 4 9 2 4 hw void init void CANO CAN CAN CAN CAN CAN CAN 0 1 CAN A0 1 CAN B0 1 CAN ID CAN CAN VOId Void 159 CAN0 CANO NO CANO 2 YES CAN0O 0 CANO
290. AN 182 9 3 9 CAN LED 9 3 10 CAN LED TOPPERS Platform CAN LED 9 3 10 CAN LED 183 184 1 10 1 CAN M32C 85 M30855FJGP CAN OBD II On board diagnostics T OS CAN 10 1 1 10 1 1 FPGA CAN TOPPERS Platform M30855FJPG CAN FPGA 10 1 1 FPGA 185 10 1 2
291. ARM Alarm1 4 COUNTER Counter1 ACTION 7 TASK Task1 J 10005 1 10005 syslib 5 1 100s ims nclude lt t100us_timer oi gt 100us ALARM Alarm2 ran lya COUNTER T100usTimerCnt ACTION ACTIVATETASK 7 TASK Task1 E SetAbsAlarm Alarm1 7 0 7 SetRelAlarm Alarm1 5 4 5 4 LED 2 300ms 1 22 100s TOPPERS TOPPERS Automotive
292. BASICCAN TSPRE0_COCTLRO _TSPREO TSPRE1_COCTLRO CAN_TSPRE1 INTSEL_COCTLR1 CAN INTSEL CAN COBRP CAN_BRP CAN SAM COCONR CAN SAM PTSO COCONR PTSO PTS1_COCONR PTS1 PTS2 COCONR PTS2 PBS10_COCONR CAN_PBS10 PBS11_COCONR CAN_PBS11 PBS12_COCONR CAN_PBS12 PBS20_COCONR CAN_PBS20 PBS21_COCONR CAN_PBS21 PBS22_COCONR CAN_PBS22 SJWO_COCONR CAN_SJMO 223 SJW1_COCONR CAN SJW1 CAN ID COIDR CAN 1 CAN COSIMKR CAN_SLOT_INT CAN BOIM_COEIMKR CAN_BUSOFF_INT EPIM_COEIMKR CAN_ERRPAS_INT BEIM_COEIMKR CAN_BUSERR_INT ILVLO_ CANOIC CAN HIGH ILVL1_CANOIC CAN HIGH ILVL2_CANOIC CAN HIGH CANOOE CAN_HIGH CANO BANKSEL_COCTLR1 CAN_HIGH CAN COGMRO UINT8 GM SID gt gt 6 amp Ox1F COGMR1 UINT8 CAN_GM_SID amp 0x3F CAN COLMARO U
293. C SAE B 125k CAN CAN B CAN 1 ECU 2 CSMA CA Carrier Sense Multiple Access Collision Avoidance 3 5 gt 1 4 2 LIN LIN CAN CAN 1 2 1 3 9 SAE SAE Society of Automotive Engineers http Wwwr sae org
294. CAN OK CAN E OVERRUN UINT16 id ID 0x0000 0x07FF UINT8 dlc 0 8 UINT8 CAN hw_ can rec_int extern void CanRecCbr UINT8 UINT16 id UINT8 dic UINT8 data endif CANH 11 8 2 can h oksookokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokakokokokookokokokokokokookokokokookokokokokokokkok include h Pekk kkk ERER oksokokokokokokokokokokokokokokokokokokokakokokokokokokokokokokokokokokokokkokokokokokokokokokokakokokokookokokokokokokookokokokookokokokokokokkok oksokokokokokokokokokokokokokokokokokokokskokokokokokokokokokokokokokokokokokokokokokokokokokokokkokokokokkokokokokokookokokokkokokokokokokokskok void Canlnit void CANO
295. CONFIGDIR 3154523213 CT Y oyslib I wOoRKSPDIR e x driver led WORKSPDIR tpf 8 T CONFIGDIR 5 2 16 dS C a30 5 2 17 56 Renesas M32C Standard Toolchain Configurations Loaded Projects SAMPLE C source file Assembly source file d 7 ls0 D 1154523213 D finfo dir CONFIGDIR 5 2 17
296. Display LCD ctl code LCD_CH_NOch_no LCD_CTL _CLRDISPLAY LCD CTL CODE ctl_code LCD_RET LcdWriteLine LCD line LCD_CH_NO ch_no row LCD CHARACTER row UINT8 line 90 sample oil include implementation oil CPU current nclude lt t100us_tmer oil gt OS os STATUS STANDARD STARTUPHOOK TRUE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE POSTTASKHOOK FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER FALSE APPMODE AppMode1 TASK LcdTask AUTOSTART TRUE APPMODE AppMode1 PRIORITY 14 STACKSIZE 0x0100 ACTIVATION 1 SCHEDULE FULL EVENT LedEvt J TASK LedTask AUTOSTART TRUE APPMODE AppMode1 PRIORITY 13 STACKSIZE 0x0100 ACTIVATION 1 SCHEDULE FULL EVENT LedEvt MASK AUTO sample h nclude kernel_id h DeclareEvent LedEvt Declare Task LcdTask Declare Task LedTask 91 sample c include kernel h Include sample h include led h include serial h include lcd h define WAIT_CNT UINT32 5000000ul static UINT8 lcd_strILCD_DEV_LINE IILCD_DEV_DIGIT 11 LED2 ON LED2 OFF 1 Void
297. FF ON ON OFF ON OFF ON OFF ON ON ON ON OFF OFF ON ON OFF ON ON ON ON OFF ON ON ON ON oksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokakokokokokokookokokokokookokokokokokokokokokokokok kk AREE void main void TASK SwitchTask TASK DispTask iokookokokokokokokokskokokokokokokokokokokakokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokookokokokokokokookokokokokokokokokokokokok void main void 7 kkk kkk void main void StartOS AppMode1 214 TASK SwitchTask 20ms SW3 SW6 SW sw_push
298. ING UINT16 id ID 0x0000 0x07FF UINT8 slot 1 15 E E EE E E E E E UINT8 hw_can_set_rec UINT16 UINT8 slot kkk kkk void hw_ can_rec_int void 1 void hw can rec_int void endif HM_CANH 11 8 4 hw_can c Include hw_can h oksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokookokakokokokokokokokokokokokookokokokookokokokokokokkok 222 E
299. INT8 CAN LMA SID gt gt 6 amp Ox1F COLMAR1 UINT8 CAN_LMA_SID amp Ox3F CAN B COLMBRO UINT8 CAN 10 gt 6 amp Ox1F COLMBR1 UINT8 CAN_LMB_SID amp 0x3F BANKSEL_COCTLR1 CAN LOW CAN COSSCTLR CAN_SINGLE_S COCTLRO amp CAN_RESET_MODE CAN 0 while CAN LOW STATE_RESET_COSTR P7_6 CANO P76 07 6 PSC_6 PSL1_6 PS1_6 P7_7 CANO0 PD7 7 0 PS1_7 0 IPS3 0 7 KOoksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokok 7 UINT8 hw_can_set_trm UINT16 id UINT8 dlc UINT8 data 0 0 224 R ID
300. ION ACTIVATETASK TASK Switchlask AUTOSTART TRUE APPMODE AppMode1 ALARMTIME 1 CYCLETIME 30 229 11 9 2 sample h kk oksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokakokokokookkokokokokokookokokokokokokokokokokokkok define CAN_TRM_ FLAG_CLEAR UINT8 9 CAN define CAN_TRM_FLAG_0 UINT8 0 CAN 0 define CAN TRM_FLAG_ 1 UINT8 1 CAN 1 define CAN TRM_FLAG 2 UINT8 2 CAN 2 define CAN_TRM_FLAG_3 UINT8 3 CAN 3 oksokokokokokokokokokokokokokokokokokokokskokokokokokokokokokokokokokokokokkokokokokokokokokokokakokokokaokokokookokokookokokokookokokokokokokskok 11 9 3 sample c
301. ION 1 AUTOSTART FALSE 8 3 2 DispTASK DispTASK PRIORITY 7 SCHEDULE FULL ACTIVATION 1 AUTOSTART TRUE 8 3 3 8 3 3 ARARM COUNTER SysTimerCnt ACTION ACTIVATETASK TASK SwitchTASK AUTOSTART TRUE APPMODE AppMode1 ALARMTIME 999 CYCLETIME 30 OIL h25_toppers_ex8_led_ lcd H25 toppers_ex8_led lcd SAMPLE hws HEW 143 CAN 9 1 CAN
302. LCD_RESOURCE LcdWriteLine 0 Icd_str 1 1 LO ifdef USE LCD RESOURCE ReleaseResource LcdRes 203 endif USE LCD_RESOURCE LedOff LED3 LED3 TerminateTask 0 Ookokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokkok kokokokokokokokokok void StartupHook void ifdef USE_STARTUPHOOK void StartupHook void InitT100usTimer LedInit LED LcdInit LCD LcdCtIDisplay 0 LCD_CTL_CLRDISPLAY LCD StartupHook endif USE STARTUPHOOK 11 2 4 Sample h define USE_LCD_RESOURCE 500ms 500ms 500ms LargeStrAlm l l SmallStrAlm 6 SmallStrTask LCDWriteLine ateta 0 Ied_str 1 1 TerminateTask0 LedOff LED3 LedOn LED3 LareeStrTask re C msn oo Wa LCDWriteLine 0 Icd_s
303. N High Speed CAN Speed CAN 1Mbps 125Kbps 1 ECU1 ECU2 ECU x ECU1 ECU2 ECU x AAA lt 1 9 1 2 High Speed CAN Low Speed CAN 9 1 4 0 1 2 CAN 0 Dominant 1 Resessive 9 1 3 High Speed CAN Low Speed CAN 145 9 1 5 CAN 1 0
304. N_E OVERRUN UINT16 Id ID 0x0000 0x07FF UINT8 Dic 0 8 UINT8 data CAN can h can h 171 9 2 7 OIL 59 CAN OIL ISR 5 2 11 ISR 9 2 13 ISR CATEGORY 1 OS 2 OS RESOURCE MESSAGE PRIORITY ISR
305. OM512K 49 5 2 2 1 Toolchain version 5 41 01 CPU Series M32C 80 CPU Group 85 ROM512K New Project 2 6 Select RTOS 5 2 3 OSEK OS 5 2 3 5 2 4 Next M32C 80 New Project 2 756 Select RTOS USER 05 none Y Startup file type artup tiles 5 Project J source file Assembly source file ssembly include file SN Show file path lt Back Finish Gancel 5 2 4 New Project 2 6 Select RTOS 5 2 3 2 Target Type M32C 80 RTOS None Startup file type USER Startup file Show file path New Project 3 6 Setting the Contents of Files to be Generated
306. SetRec REC_ID_SLOT2 2 2 237 CanSetRec REC ID_SLOT3 3 CanSetRec REC_ID_SLOT4 4 StartupHook endif USE_STARTUPHOOK 238 Appendix MSRA C MISRA C 2004 MISRA C No 1 1 ISO IEC 9899 1990 122 1 3 1 4 1 5 2 1 22 2 3 24 3 1 3 2 J4 3 3 3 4 pragma 3 5 3 6 DEA 4 1 42
307. Standard Toolchain gt Configurations pp All Loaded Projects FG 7 D J source file EU RRA D U Assembly source file Iu AER lo XL 25 0 E pk DG MSL gt 5 MSL ONFIGDIRY PRO JECTNAME x30 L ne382lib PRO ANA Rd _ w 5 2 22 5 2 3 TOPPERS Automotive Kernel SAMPLE EI 5 2 23 59 SAMPLE High performance Embedded Worksh F CE RTA P CLF
308. StrTask DeclareTask SmallStrTask 11 23 sample c include kernel h include t100us_timer h include sample h include led h include serial h include h define USE_LCD_RESOURCE define ALARM_CNT UINT32 4ul static UINT8 lcd_str LCD DEV LINE LCD_DEV DIGIT 1 ABCDEFGHIJKLMNOP abcdefzhi jk Imnop 1 kkk kkk kkk kkk 202 void main void TASK SmalIStrTask TASK LargeStrTask kkk
309. T8 data 0 0 D UINT8 _ RUNNING UINT16 id ID 0x0000 0x07FF UINT8 dlc 0 8 UINT8 data 161 R NO 0 gt gt 0 0 0 ID C aeeoe nmns 7 2 RUNNING i 9 2 5 CAN hw set trm 162 9 2 4 3 9 2 6 CAN 9 2 6 9 2 6 CAN hw can set_rec UINT8 hw_can_set UINT16 id UINT8 slot
310. TM 1 CAN 7 ITM 6 ITM ITM 151 9 1 8 4 or _ ES es
311. an Conditon 6 A 128 100 128 3 100 Subtracting Fuel 99 22 Adding Fuel 08 1 Short t fuel ti Bank 2 128 100 128 Rich Condition Lean Condition 2 100 Subtracting Fuel 99 22 Adding Fuel 09 1 Long fuel trim Bank 2 128 100 128 a I Rich Condition Lean Condition 0 1 Fuel pressure 0 765 kPa gauge 0C 2 Engine RPM 0 16 383 75 rpm A 256 B 4 speer m relative to 1 og 1 Timina advance 64 63 5 EEE SNAN 10 4 2 OBD II PID 195 10 4 1 Mode 0x01 Show current data 10 4 2 PID 0x0C Engine RPM ECU ID CAN 10 4 2 10 4 2 5 m 54 86 lt 18DB33F1 02 01 0C 00 00 00 00 00 18DB33F1 02 01 0C 00 00 00 00 00 180833F1 9 02 01 OC 00 00 00 00 00 196 11 1 63 11 1 1 OIL samp
312. ata3 PID 10 4 2 Data4 Data5 Data6 Data7 Data8 Mode hex Description 01 Show current data 02 Show freeze frame data 03 Show stored Diagnostic Trouble Codes 04 Clear Diagnostic Trouble Codes and stored values 05 Test results oxygen sensor monitoring non CAN only 06 Test results other component system monitoring Test results oxygen sensor monitoring for CAN only 07 Show pending Diagnostic Trouble Codes detected during current or last driving cycle 08 Control operation of on board component system 09 Request vehicle information 0A Permanent Diagnostic Trouble Codes DTCs Cleared DTCs 10 4 1 OBD I PID Data bytes Description Min value Max value Units Formula Bit encoded A7 D0 PID 01 PID 20 See 00 4 PID rted 01 20 S supported l 1 below Monitor status since DTCs cleared Includes malfunction indicator lamp 01 4 Bit See MIL status and number of DTCs 02 2 Freeze DTC 03 2 Fuel system status Bit encoded See below 04 1 Calculated engine load value 0 100 A 100 255 05 1 Engine coolant temperature 40 215 C A 40 100 Subtracting Fuel 99 22 Adding Fuel 06 1 Short term fuel trim Bank 1 Rich Condiion 6 A 128 100 128 100 Subtracting Fuel 99 22 Adding Fuel 07 9 1 Long term fuel trim Bank 1 Rich Condition Le
313. ct 6 7 Setting the Debugger Options 1 5 2 9 New Project 6 7 Setting the Debugger Options Next 52 New Project 6 Setting the Debugger Options Target M326 Simulator Configuration name Debug_M32C Si mulatar Detail options Setting lt Back Finish Cancel 5 2 9 New Project 6 7 Setting the Debugger Options 2 5 2 10 New Project 7 7 Changing the File Name to be Created Finish New _ Project Changing the File Names to be Created The following source files will be generated File Ext Descripti 5 2 10 New Project 7 7 Changing the File Name to be Created 5 2 11 Summary OK 53 Sum mary Project Summary PROJECT GENERATOR PROJECT NAME SAMPLE PROJECT DIRECTORY Cosek_os toolsWSAMPLEWSAMPLE CPU SERIES M32C 8n GROUP g5 ROM512K TOOLCHAIN NAME Renesas M320 Standard Toolchain TOOLCHAIN VERSION 101 GENERATION FILES SELECT TARGET Click OK to
314. g 407 gt FF Oygg lla AEE 1 YY h a 2 STt 9 gt S 2 r xt ECU e SRECU d Y ECU 1 3 1 ECU ECU 1 3 2 ECU ECU 3 8227 9390 ECU
315. hile 0 unsigned char status INIT 7 status_run if status RUN 7 5 2 3 uint16 tpri1_ui16_var 6 1 char char
316. ion oil CPU current include lt t100us_timer oi l gt 0S os STATUS STANDARD STARTUPHOOK TRUE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER FALSE APPMODE AppMode1 TASK LargeStrTask AUTOSTART FALSE PRIORITY 13 STACKSIZE 0x0100 ACTIVATION 1 SCHEDULE FULL RESOURCE LcdRes 1 TASK SmalIStrTask AUTOSTART FALSE PRIORITY 14 STACKSIZE 0x0100 ACTIVATION 1 SCHEDULE FULL RESOURCE LcdRes E ALARM LargeStrAlm COUNTER T100usTimerCnt ACTION ACTIVATETASK TASK LargeStrTask AUTOSTART TRUE APPMODE AppMode1 ALARMTIME 5000 CYCLETIME 5000 ALARM SmallStrAIm COUNTER T100usTimerCnt ACTION ACTIVATETASK TASK SmallStrTask AUTOSTART FALSE ju RESOURCE LcdRes 201 RESOURCEPROPERTY STANDARD 1 J 11 2 2 sample h include kernel_id h kkk kkk DeclareAlarm SmallStrAlm DeclareResource LcdRes DeclareTask Large
317. k2 PRIORITY 3 ACTIVATION 1 SCHEDUKE FULL STACKSIZE 0x200 EVENT Event1 MASK AUTO 7 7 7 7 1 I 89 WaitEvent API SetEvent ClearEvent TASK Task1 WaitEvent Event1 ClearEvent Event1 5 TASK Task2 SetEvent Task1 Event1 m 2 LCD API 6 2 1 8 1 6 2 1 LCD API API LCD_RET LcdInit void LCD LCD_RET LcdCtI
318. kakokokokokokokokokokokokokokokokokokokokokokokokokokok E E E E E E E E E E E E CAN ID static UINT16 rec_id CAN 10 CAN static UINT8 canrec_data 0x00 LCD static UINT8 Ilcd_str LCD_DEV_LINE LCD DEV_DIGIT ID DATA kkk kkk kkk oksokokokokokokokokokokokokokokokokokokokskokokokokokokokokokokokokokokokokkokokokokokokokokokokakokokokookkokokokokokookokokokookokokokokokokskok void main void DeclareTask DispTask TASK DispTask void main void kkk void main void StartOS AppMode1 TASK DispTask CAN ID ID
319. kernel O sample D sg syslib O tools AMPLE SAMPLE M Tutorial l SAMPLEhws SAMPLE top SAMPLEtwa SAMPLEtws e EJ 73 5 3 TOPPERS Platform E8a USB E8a TOPPERS Platform 5 3 1 PC USB PC USB 5 3 1 TOPPERS Platform 5 3 1 HEW HEW 5 3 2 EF CPU U
320. kokkokkokokokokokkok void main void StartOS AppMode1 0S TASK LedOnTask LED TASK LedOnTask LedOn LED2 LED2 SetRelAlarm LedOffAIm ALARM CNT 0 LED TerminateTask 0 okookokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokakokokokookokokokokokokookokokokokokkokokokokokkok TASK LedOffTask LED TASK LedOffTask LedOff LED2 LED2 TerminateTask 0 kkk void StartupHook void ifdef USE_STARTUPHOOK void StartupHook void InitT100usTimer 0 LedInit0 LED StartupHook endif USE_STARTUPHOOK 199 11 1 4 DInitT100usTimer LedOnAlm LedOffAlm TerminateTask
321. le oil include implementation oil CPU current include lt t100us_timer oil gt 0S os STATUS STANDARD STARTUPHOOK TRUE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER FALSE E APPMODE AppMode1 TASK LedOnTask AUTOSTART FALSE PRIORITY 14 STACKSIZE 0x0100 ACTIVATION 1 SCHEDULE FULL TASK LedOffTask AUTOSTART FALSE PRIORITY 14 STACKSIZE 0 0100 ACTIVATION 1 SCHEDULE FULL J ALARM LedOnAlm COUNTER T100usTimerCnt ms 1 ACTION ACTIVATETASK TASK LedOnTask AUTOSTART TRUE APPMODE AppMode1 ALARMTIME 3000 CYCLETIME 6000 197 1 ALARM LedOffAIm COUNTER T100usTimerCnt ACTION ACTIVATETASK TASK LedOffTask AUTOSTART FALSE 11 1 2 sample h kkk kkk include kernel_id h oksokokokokokokokokokokokokokokokokookokokokokokokokokokokokokokokokokokokakokokokokokokokookokkokokokookskokokokokokookokokokookokokokokokokskok
322. nMsgSItTbI O CAN TRM_REQ return ret Ooksokskokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokok UINT8 hw_can_set_rec UINT16 id UINT8 slot 1 1 ID UINT8 ret CAN E OK CAN E RUNNING UINT16 id ID 0 0000 0x07FF UINT8 slot 1 15 E E E E E E E UINT8 hw_can_set_rec UINT16 id UINT8 slot UINT8 ret CAN E OK 225 if CAN CLEAR 8B st_CanMsgSItTbl slot amp CAN_SET_INVALDATA ret CAN E RUNNING else st CanMsgSItTbl slot CAN_CLEAR_8B 1 COSBS slot lt 4 COSBS
323. nclude lt t100us_timer oil gt 0S 08 os 233 234 STATUS STANDARD STARTUPHOOK TRUE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE POSTTASKHOOK FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER TRUE 1 APPMODE AppMode1 TASK DispTask AUTOSTART TRUE APPMODE AppMode1 1 PRIORITY 7 STACKSIZE 0 0180 ACTIVATION 1 SCHEDULE FULL CAN ISR hw_can_ rec_int CATEGORY 1 ENTRY 53 PRIORITY 6 j Disp ALARM DispCycArm COUNTER T100usTimerCnt ACTION ACTIVATETASK TASK Displask 1 AUTOSTART TRUE APPMODE AppMode1 ALARMTIME 1 CYCLETIME 1000 11 9 5 sample h kkk oksokokokokokokokokokokokokokokokokookokokokokokokokokokokokokokokokokokokkokokokokokokokokokokkokokokokokokokokokokokookokokokokskokokokokokkok kkk CAN ID
324. nt input 0 9 1 func2 if func2 input 0x02 7 1 0 8 status STATE1 else 14 9 if status STATE2 return 11 4 7 2 define ARRAY_SIZE 100 void func void int i 6 1 char unsigned int arrayIARRAY_SIZE for i 0 ji lt ARRAY SIZE 14 8 array i i return 207 11 5 828 11 5 1 OIL sample oil include implementation oil CPU current include serial oil include t100us_timer oil 0S os STARTUPHOOK FALSE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE FALSE USERESSCHEDULER TRUE APPMODE TASK MainTask AUTOSTART TRUE APPMODE AppMode1 PRIORITY 8 1 SCHEDULE NON TASK SendTask PRIORITY 7 ACTIVATION 1 SCHEDULE FULL EVENT RxFinishEvt js TASK ReceiveTask AUTOSTART FALSE PRIORITY 6 ACTIVATION 1 SCHEDULE FULL E EVENT RxFinishEvt MASK AUTO 1 11 5 2 sample h
325. oad Module Converter IM32G Librarian M320 Configurator SystemGenerator 5 2 36 5 2 6 OIL OIL 1 OIL OIL SAMPLE sample oil OIL 3 OIL OIL CPU G include C OIL SG implementation oll lt OIL implementation ol nclude implementation oil
326. oft Windows OS OS OS X msec
327. oid CAN 1 ID void 1 void 165 1 1 D NO YES
328. okokokokokokokkokokokokokokokookokakokokokookokokokokokokookokokokookkokokokokokkok oksokokokokokokokokskokokokokokokokookokakokokokskokokokokokokokokokokokokokokokokokokokokokokokakokokokookokokokokookookokokokookokokokokokokkok kkk y ekke ekk void CanInit void CANO extern void CanInit void ekke UINT8 CanSetTrm UINT16 id UINT8 dic UINT8 data CAN UINT8 ret OK CAN E PRM CAN_E_RUNNNIG UINT16 id ID 0x0000 0x07FF UINT8 dlc 0 8 UINT8 data 217
329. okokokokokokokokokokokokokokokokokokokokokokokookokokookokokokokokokkokokkokokskkok k okskokokokokokokokokokokokokokokokokokokokokokokokskokokokokokokokokokokokokokokokokokokokokookokakokokoksokokokokokokokokokokokokokkokokokokoksok AREE 1 void main void DeclareTask CanTask DeclareTask SwitchTask DeclareEvent CanTrmEvt TASK CanTask TASK SwitchTask oksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokakokokokokokokokokokokokookokokokokokokokokokokokkok void main void kkk void main void StartOS AppMode1 oksokokokookokokokokokokokokokokokookokokokokokokokokokokokokokokokokokokokokokokokokokokookokakokokokookokokokokokokokokokokokokokokokokokokskok TASK CanTask CAN
330. sw _state 3 TerminateTask 0 oksokokokokokokokokokokokokokokokokokokokskokokokokokkokokokokokookokokokokokokokokokokokokokokakokokokookokokokokokokookokokokokokokokokokokskok TASK DispTask LED LO sw push sw LED LCD oksokokokokokokokokokokokokokokokokokokokskokokokokokokokokokokokookokokokokokokokokokokokokokokkokokokookokokookookookokokokokokokokokokskok 215 TASK DispTask UINT8 led patern 0x00 while 1 WaitEvent SwPushEvt ClearEvent SwPushEvt LED LedRev led_state_buff led patern led_state_buff LED LCD LcdWriteLine 0 Ilcd_state_led led patern gt gt 4 2 LED led_state_buff LED_STATE CLEAR TerminateTask KOoksokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokoktokskoksk 7 void StartupHook void Kk ifdef USE_STARTUPHOOK void StartupHook
331. t OS os STATUS STANDARD STARTUPHOOK FALSE ERRORHOOK FALSE SHUTDOWNHOOK FALSE PRETASKHOOK FALSE POSTTASKHOOK FALSE USEGETSERVICEID TRUE USEPARAMETERACCESS TRUE USERESSCHEDULER FALSE j APPMODE AppMode1 TASK MainTask AUTOSTART TRUE APPMODE AppMode1 E PRIORITY 14 STACKSIZE 0x0180 ACTIVATION 1 SCHEDULE NON 5 2 7 sample sample h sample c OIL MainTask sample h SG ID kernel_id h ID nclude kernel_id h OIL Declare Task MainTask sample c TOPPERS Automotive
332. tr 0 1 LED2 SetRelAlarm SmallStrAlm ALARM_CNT 0 Led_On LED2 11 2 1 LargeStrAlm LargeStrTask LargeStrTask LargeStrTask LED2 SmallStrAlIm LCD ABCDEFGHIJKLMNOP 400xs SmallStrAlm SmallStrTask SmallStrTask LargeStrTask LOD ABCDEFGHIUKLMNOP ODON 204 Q SmallStrTask LED3 LCD abcdefghikimnop LCD abcdefghiikimnop LED3 SmallStrTask SmallStrTask
333. void InitT100usTimer 0 LED LedInit0 SwInit0 LCD LcdInit0 LOD LcdCtIDisplay 0 LCD_CTL_CLRDISPLAY LCD LcdWriteLine O Icd headline 1 100 LcdWriteLine 0 lcd_state_led O 2 StartupHook endif USE STARTUPHOOK 216 11 7 9 4 CAN I D Ox18DB33F1 11 8 9 2 CAN 11 8 1 can h ifndef _ define H_ include kernel h include kernel_id h kk kkk y ekke 5E define CAN E OK UINT8 0x00 define CAN E PRM UINT8 0x01 define CAN E RUNNING UINT8 0x02 or define CAN E_OVERRUN UINT8 0x03 define CAN SID UINT16 0x07ff ID define CAN DLC UINT8 0x08 oksokokokokokokokokokokokokokokokokokokokkokokokokokokokokok

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