update code

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/app/app.c

@@ -3,11 +3,15 @@
 #include "os/timer.h"
 #include "os/co_task.h"
 #include "libs/logger.h"
+#include "libs/utils.h"
+#include "prot/can_foc_msg.h"
 #include "prot/can_message.h"
 #include "foc/foc_api.h"
+#include "bsp/timer_count32.h"
 
 static void _app_low_task(void *args);
-
+extern measure_time_t g_meas_hall;
+extern measure_time_t g_meas_foc;
 void app_start(void){
 	set_log_level(MOD_SYSTEM, L_debug);
 	can_message_init();
@@ -16,11 +20,18 @@ void app_start(void){
 	co_task_schedule();
 }
 
+static void _can_report_info(void) {
+	can_report_speed(0x45, foc_get_speed());
+	current_samp_t *s = foc_get_current_sample();
+	can_report_phase_current(0x45, F2I(s->Ia * 1000), F2I(s->Ib * 1000), F2I(s->Ic * 1000));
+}
 
 static void _app_low_task(void *args) {
 	while(1) {
 		wdog_reload();
-		sys_debug("speed %d RPM\n", foc_get_speed());
+		_can_report_info();
+		sys_debug("foc exec time %d, intval %d\n", g_meas_foc.exec_time, g_meas_foc.intval_time);
+		sys_debug("hall exec time %d, intval %d\n", g_meas_hall.exec_time, g_meas_hall.intval_time);
 		co_task_delay(500);
 	}
 }

Applications/bsp/bsp.h

@@ -27,7 +27,6 @@
 #define FOC_PWM_FS (30 * 1000)
 #define FOC_PWM_period (TIM_CLOCK/FOC_PWM_FS)
 #define FOC_PWM_Half_Period (FOC_PWM_period/2)
-#define MAX_VBUS (12.f) //12v
 
 #define ADC_TRIG_CONV_LATENCY_CYCLES 12.5f
 #define ADC_SAMPLING_CYCLES 7.5f

Applications/bsp/mc_hall_gpio.c

@@ -12,7 +12,7 @@ void mc_hall_init(void){
 
 int get_hall_stat(int samples) {
 	int h1 = 0, h2 = 0, h3 = 0;
-	int tres = samples / 2;
+	int tres = (samples + 1) / 2;
 
 	while (samples--) {
 		h1 += READ_HALL1();

Applications/foc/foc_api.c

@@ -52,6 +52,11 @@ static void foc_defulat_value(void){
 	pi_clear(&g_foc.speed_controller);	
 }
 
+current_samp_t *foc_get_current_sample(void) {
+	return &g_foc.current_samp;
+}
+
+
 float speed_to_voltage(u16 rpm) {
 	return foc_get_vbus_voltage() * rpm / MAX_SPEED_RPM;
 }

Applications/foc/foc_api.h

@@ -20,5 +20,7 @@ bool foc_motor_is_started(void);
 void foc_set_speed(u16 rpm, u32 delta_ms);
 float speed_to_voltage(u16 rpm);
 float speed_to_current(u16 rpm);
+current_samp_t *foc_get_current_sample(void);
+
 #endif /* _FOC_API_H__ */
 

Applications/foc/foc_cmd.c

@@ -93,9 +93,12 @@ static void process_foc_command(foc_cmd_body_t *command) {
 			s32 v_q = decode_s32(((u8 *)command->data) + 4);
 			sys_debug("set v_q %d\n", v_q);
 			foc_set_voltage_ramp(v_q);
+			can_send_ack(command->can_src, CMD_2_CAN_KEY(Foc_Set_Open_Dq_Vol), 1);
 			break;
 		}
 		default:
 			break;
 	}
 }
+
+

Applications/foc/hall_sensor.c

@@ -36,7 +36,7 @@ static u16 _hall_table[] = {0xFFFF, 121/*1*/, 240/*2*/, 190/*3*/, 13/*4*/, 58/*5
 static hall_t _hall;
 static hall_sample_t h_samples;
 static timer_t _hall_detect_timer = TIMER_INIT(_hall_detect_timer, _hall_timeout_handler);
-measure_time_t g_meas_hall = {.exec_max_time = 1,};
+measure_time_t g_meas_hall = {.exec_max_time = 6,};
 
 #define read_hall(h,t) {h = get_hall_stat(HALL_READ_TIMES); t = _hall_table[h];}
 #define us_2_s(tick) ((float)tick / 1000000.0f)
@@ -45,7 +45,7 @@ static float __inline _delta_seconds(u32 prev) {
 	return (float)timer_count32_delta_us(prev, NULL)/1000000.0f;
 }
 
-static void _hall_put_sample(float angle, u32 ticks) {
+static void __inline _hall_put_sample(float angle, u32 ticks) {
 	hall_sample_t *s = &h_samples;
 	s->index += 1;
 	if (s->index >= SAMPLE_MAX_COUNT) {
@@ -80,7 +80,7 @@ void hall_sensor_init(void) {
 void _hall_timeout_handler(timer_t *timer){
 
 	_hall.angle_speed = _hall.angle_speed_avg = 0;
-	_hall.rpm = _hall.rpm_avg = 0;
+	_hall.rpm = 0;
 	h_samples.index = 0;
 }
 
@@ -122,7 +122,7 @@ float hall_sensor_get_speed(void) {
 }
 
 float hall_sensor_avg_speed(void) {
-	return _hall.rpm_avg;
+	return _hall.angle_speed_avg / 360 * 60.0f;
 }
 
 int hall_offset_increase(int inc) {
@@ -284,12 +284,12 @@ void hall_sensor_handler(void) {
 	if (delta_time == 0.0f) { //may be errors ???
 		return;
 	}
-	
+	time_measure_end(&g_meas_hall);
 	float delta_theta = (_hall.direction == POSITIVE)?60.0f : -60.0f;
 	_hall_put_sample(delta_theta, timer_count32_delta_us(_hall.ticks, NULL));
-	_hall.angle_speed = delta_theta / delta_time;
 
 	os_disable_irq();
+	_hall.angle_speed = delta_theta / delta_time;
 
 	if (!h_samples.full) {
 		_hall.angle_speed_avg = _hall.angle_speed;
@@ -297,18 +297,14 @@ void hall_sensor_handler(void) {
 		_hall.angle_speed_avg = _hall_avg_speed();
 	}
 	_hall.ticks = timer_count32_get();
-	_hall.theta = theta_now;
-
-	os_enable_irq();
-	
+	_hall.theta = theta_now;	
 	_hall.state = state_now;
+	os_enable_irq();
 	
 	_hall.rpm = _hall.angle_speed / 360.0f * 60.0f;
-	_hall.rpm_avg = _hall.angle_speed_avg / 360 * 60.0f;
 	
 	timer_post(&_hall_detect_timer, 1500);
-
-	time_measure_end(&g_meas_hall);
+	
 }
 
 

Applications/foc/hall_sensor.h

@@ -28,7 +28,6 @@ typedef struct {
 	float theta;
 	float est_theta;
 	float rpm;        		//当前的电速度, 单位：RPM
-	float rpm_avg;    		//滤波后的电速度
 	float angle_speed; 		//当前的电角速度, 单位：rad/s
 	float angle_speed_avg;	//滤波后的电角速度
 	u8    state;

Applications/libs/utils.h

@@ -94,5 +94,6 @@ static __inline__ void encode_s32(u8 *buff, s32 value)
 #define min(a,b) (a>b?b:a)
 #define MAX(x, y) ((x)>(y)?(x):(y))
 
+#define F2I(f) ((int)(f))
 
 #endif /* _UTILS_H__ */

Applications/prot/can_foc_msg.c

@@ -0,0 +1,40 @@
+#include "libs/utils.h"
+#include "prot/can_message.h"
+#include "prot/can_foc_msg.h"
+#include "foc/foc_cmd.h"
+
+void can_report_speed(int can, int rpm) {
+	u8 data[6];
+	encoder_can_key(data, CMD_2_CAN_KEY(Foc_Report_Speed));
+	encode_u32(data + 2, rpm);
+	can_send_message(get_request_can_id(can, 1), data, sizeof(data), 100);
+}
+
+void can_report_phase_current(int can, int iA, int iB, int iC) {
+	u8 data[14];
+	encoder_can_key(data, CMD_2_CAN_KEY(Foc_Report_Phase_Current));
+	encode_u32(data + 2, iA);
+	encode_u32(data + 6, iB);
+	encode_u32(data + 10, iC);
+	can_send_message(get_request_can_id(can, 1), data, sizeof(data), 100);
+}
+
+void can_report_phase_voltage(int can, int vA, int vB, int vC) {
+	u8 data[14];
+	encoder_can_key(data, CMD_2_CAN_KEY(Foc_Report_Phase_Vol));
+	encode_u32(data + 2, vA);
+	encode_u32(data + 6, vB);
+	encode_u32(data + 10, vC);
+	can_send_message(get_request_can_id(can, 1), data, sizeof(data), 100);
+
+}
+
+void can_report_dq_current(int can, int id, int iq) {
+	u8 data[10];
+	encoder_can_key(data, CMD_2_CAN_KEY(Foc_Report_Dq_Current));
+	encode_u32(data + 2, id);
+	encode_u32(data + 6, iq);
+	can_send_message(get_request_can_id(can, 1), data, sizeof(data), 100);
+}
+
+

Applications/prot/can_foc_msg.h

@@ -0,0 +1,9 @@
+#ifndef _Can_Foc_Msg_H__
+#define _Can_Foc_Msg_H__
+
+void can_report_speed(int can, int rpm);
+void can_report_phase_current(int can, int iA, int iB, int iC);
+void can_report_phase_voltage(int can, int vA, int vB, int vC);
+void can_report_dq_current(int can, int id, int iq);
+#endif	/*_Can_Foc_Msg_H__ */
+

Project/MC100.uvoptx

@@ -1,931 +0,0 @@
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-<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
-
-  <SchemaVersion>1.0</SchemaVersion>
-
-  <Header>### uVision Project, (C) Keil Software</Header>
-
-  <Extensions>
-    <cExt>*.c</cExt>
-    <aExt>*.s*; *.src; *.a*</aExt>
-    <oExt>*.obj; *.o</oExt>
-    <lExt>*.lib</lExt>
-    <tExt>*.txt; *.h; *.inc</tExt>
-    <pExt>*.plm</pExt>
-    <CppX>*.cpp</CppX>
-    <nMigrate>0</nMigrate>
-  </Extensions>
-
-  <DaveTm>
-    <dwLowDateTime>0</dwLowDateTime>
-    <dwHighDateTime>0</dwHighDateTime>
-  </DaveTm>
-
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-    <TargetName>GD32F303CC</TargetName>
-    <ToolsetNumber>0x4</ToolsetNumber>
-    <ToolsetName>ARM-ADS</ToolsetName>
-    <TargetOption>
-      <CLKADS>12000000</CLKADS>
-      <OPTTT>
-        <gFlags>1</gFlags>
-        <BeepAtEnd>1</BeepAtEnd>
-        <RunSim>0</RunSim>
-        <RunTarget>1</RunTarget>
-        <RunAbUc>0</RunAbUc>
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-      <OPTHX>
-        <HexSelection>1</HexSelection>
-        <FlashByte>65535</FlashByte>
-        <HexRangeLowAddress>0</HexRangeLowAddress>
-        <HexRangeHighAddress>0</HexRangeHighAddress>
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-        <TabStop>8</TabStop>
-        <ListingPath>.\Listings\</ListingPath>
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-      <ListingPage>
-        <CreateCListing>1</CreateCListing>
-        <CreateAListing>1</CreateAListing>
-        <CreateLListing>1</CreateLListing>
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-        <CListInc>0</CListInc>
-        <CSymb>0</CSymb>
-        <LinkerCodeListing>0</LinkerCodeListing>
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-      <OPTXL>
-        <LMap>1</LMap>
-        <LComments>1</LComments>
-        <LGenerateSymbols>1</LGenerateSymbols>
-        <LLibSym>1</LLibSym>
-        <LLines>1</LLines>
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-        <LPubSym>1</LPubSym>
-        <LXref>0</LXref>
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-      <OPTFL>
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-      </OPTFL>
-      <CpuCode>255</CpuCode>
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-      <PathWithFileName>..\Librarys\GD32F30x_Drivers\source\gd32f30x_dbg.c</PathWithFileName>
-      <FilenameWithoutPath>gd32f30x_dbg.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
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-  </Group>
-
-  <Group>
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-    <tvExp>1</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>0</RteFlg>
-    <File>
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-      <FileNumber>53</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\Librarys\CMSIS\GD\GD32F30x\Source\system_gd32f30x.c</PathWithFileName>
-      <FilenameWithoutPath>system_gd32f30x.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
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-    <File>
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-      <FileNumber>54</FileNumber>
-      <FileType>2</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\Librarys\CMSIS\GD\GD32F30x\Source\ARM\startup_gd32f30x_hd.s</PathWithFileName>
-      <FilenameWithoutPath>startup_gd32f30x_hd.s</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-  </Group>
-
-</ProjectOpt>

Project/MC100_OS.uvoptx

@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
-          <Name>-U81480416 -O78 -S0 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO7 -FD20000000 -FC1000 -FN1 -FF0GD32F30x_HD.FLM -FS08000000 -FL010000 -FP0($$Device:GD32F303CC$Flash\GD32F30x_HD.FLM)</Name>
+          <Name>-U81480416 -O78 -S0 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO7 -FD20000000 -FC1000 -FN1 -FF0GD32F30x_HD.FLM -FS08000000 -FL010000 -FP0($$Device:GD32F303CC$Flash\GD32F30x_HD.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -149,41 +149,6 @@
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
-      <WatchWindow1>
-        <Ww>
-          <count>0</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>g_tcb_head</ItemText>
-        </Ww>
-        <Ww>
-          <count>1</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>g_meas_foc,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>SystemCoreClock,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>g_foc,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>_hall_table,0x0A</ItemText>
-        </Ww>
-      </WatchWindow1>
-      <MemoryWindow1>
-        <Mm>
-          <WinNumber>1</WinNumber>
-          <SubType>1</SubType>
-          <ItemText>0x20009240</ItemText>
-          <AccSizeX>0</AccSizeX>
-        </Mm>
-      </MemoryWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -226,42 +191,12 @@
       <pszMrulep></pszMrulep>
       <pSingCmdsp></pSingCmdsp>
       <pMultCmdsp></pMultCmdsp>
-      <SystemViewers>
-        <Entry>
-          <Name>System Viewer\ADC0</Name>
-          <WinId>35903</WinId>
-        </Entry>
-        <Entry>
-          <Name>System Viewer\ADC1</Name>
-          <WinId>35902</WinId>
-        </Entry>
-        <Entry>
-          <Name>System Viewer\AFIO</Name>
-          <WinId>35899</WinId>
-        </Entry>
-        <Entry>
-          <Name>System Viewer\GPIOA</Name>
-          <WinId>35900</WinId>
-        </Entry>
-        <Entry>
-          <Name>System Viewer\TIMER0</Name>
-          <WinId>35901</WinId>
-        </Entry>
-        <Entry>
-          <Name>System Viewer\TIMER1</Name>
-          <WinId>35905</WinId>
-        </Entry>
-        <Entry>
-          <Name>System Viewer\TIMER2</Name>
-          <WinId>35904</WinId>
-        </Entry>
-      </SystemViewers>
     </TargetOption>
   </Target>
 
   <Group>
     <GroupName>Application</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -305,7 +240,7 @@
 
   <Group>
     <GroupName>Foc</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -541,6 +476,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>22</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Applications\prot\can_foc_msg.c</PathWithFileName>
+      <FilenameWithoutPath>can_foc_msg.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -551,7 +498,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -563,7 +510,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -575,7 +522,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -587,7 +534,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -599,7 +546,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -611,7 +558,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -625,13 +572,13 @@
 
   <Group>
     <GroupName>Libs</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -643,7 +590,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -655,7 +602,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -667,7 +614,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -679,7 +626,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -691,7 +638,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -705,13 +652,13 @@
 
   <Group>
     <GroupName>BSP</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -723,7 +670,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -735,7 +682,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -747,7 +694,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>37</FileNumber>
+      <FileNumber>38</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -759,7 +706,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -771,7 +718,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -783,7 +730,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>41</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -795,7 +742,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>41</FileNumber>
+      <FileNumber>42</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -807,7 +754,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>42</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -819,7 +766,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>43</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -831,7 +778,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>44</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -843,7 +790,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>45</FileNumber>
+      <FileNumber>46</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -855,7 +802,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>47</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -875,7 +822,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>47</FileNumber>
+      <FileNumber>48</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -887,7 +834,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>48</FileNumber>
+      <FileNumber>49</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -899,7 +846,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>49</FileNumber>
+      <FileNumber>50</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -911,7 +858,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>51</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -923,7 +870,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>52</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -935,7 +882,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>53</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -947,7 +894,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -959,7 +906,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>55</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -971,7 +918,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>56</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -983,7 +930,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>57</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -995,7 +942,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>58</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1007,7 +954,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>59</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1019,7 +966,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>60</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1031,7 +978,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>60</FileNumber>
+      <FileNumber>61</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1043,7 +990,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>61</FileNumber>
+      <FileNumber>62</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1055,7 +1002,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>62</FileNumber>
+      <FileNumber>63</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1069,13 +1016,13 @@
 
   <Group>
     <GroupName>StartUp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>63</FileNumber>
+      <FileNumber>64</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1087,7 +1034,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>64</FileNumber>
+      <FileNumber>65</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

Project/MC100_OS.uvprojx

@@ -275,7 +275,7 @@
               </OCR_RVCT3>
               <OCR_RVCT4>
                 <Type>1</Type>
-                <StartAddress>0x8000000</StartAddress>
+                <StartAddress>0x8002000</StartAddress>
                 <Size>0x40000</Size>
               </OCR_RVCT4>
               <OCR_RVCT5>
@@ -503,6 +503,11 @@
               <FileType>1</FileType>
               <FilePath>..\Applications\prot\can_pc_message.c</FilePath>
             </File>
+            <File>
+              <FileName>can_foc_msg.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Applications\prot\can_foc_msg.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

Project/version.cfg

@@ -1,3 +1,3 @@
 project: MC100
 version: 01
-debug: 1
+debug: 0