BatterySwap/System/Vehicle/AccPedCD/AccPedCD.c

/********************************************************************************
* 常州易控汽车电子股份有限公司
* (c) Copyright 2009-2018 ECTEK
* 保留所有权利
********************************************************************************
* 工程名称：整车管理_车辆运动
* 文件名： AccPedCD.h
* 功能描述 ： 油门踏板模块驱动
* 引用记录：
* 备注： 
* 修订记录：
*		日期		      版本		  作者		描述
*   2018.01.12   00.01.00    李中               第一版
*******************************************************************************/
#include "HardwareLib.h"
#include "AccPedCD.h"

/*********************************************************************************************/
/*样例代码*/
#ifdef _SAMPLE_CODE_
    
uint16 AccPedCD_rFltUW,AccPedCD_rUW; //油门踏板位置
uint16 AccPedCD_rRawUW;              //类似bosch文档APPCD_rLinAPP1   
uint16 AccPedCD_uUW,AccPedCD_u2UW,AccPedCD_uFltUW;
uint16 AccPedCD_uOldUW;

uint8 AccPedCD_idxDeltaMonUB;
sint16 AccPedCD_drUnFltW; //油门踏板斜率
uint16 AccPedCD_rOldUW; //上一时刻油门踏板，用于斜率计算

uint8 AccPedCD_bIdleSwtUB; //怠速开关状态,0:怠速位置  1:全负荷位置
uint8 AccPedCD_bIdleRawUB; //怠速开关原始信号，怠速开关状态和怠速开关原始信号的关系与怠速开关类型相关

uint8 AccPedCD_stMaxUB,AccPedCD_stMinUB,AccPedCD_stNplUB;
uint8 AccPedCD_st2MaxUB,AccPedCD_st2MinUB;

uint16 AccPedCD_facT1UW;

uint8 Fid_APP1UB_mp;    //加速踏板1故障禁止状态
uint8 Fid_APP2UB_mp;    //加速踏板2故障禁止状态

uint16 AccPedCD_stAPPLatchUW;		//上一循环加速踏板诊断的状态  1 部分故障， 2 完全故障， 3 部分恢复， 4完全正常
uint16 AccPedCD_stRampUW;			//故障恢复的Ramp状态，0 Ramp结束， 1 Ramp使能 

/*************************************************************/
/*标定数据区开始（请不要在该区域加入非标定数据相关的内容）   */

    #define MAPDATA_START_SEC_VAR_CONST
    #include "MemMap.h"

    /*AccPedCD_Cal*/
    PRAGMA_MAPDATA const uint16 AccPedCD_uSRCMaxUW_C=18428; /*AccPedCD_uSRCMaxUW_C,最大值*/
    PRAGMA_MAPDATA const uint16 AccPedCD_uSRCMinUW_C=2048; /*AccPedCD_uSRCMinUW_C,最小值*/
    PRAGMA_MAPDATA const uint16 AccPedCD_uMaxDiffUW_C=2047; /*AccPedCD_uMaxDiffUW_C,AccPed2与AccPed1最大相差多少...*/
    PRAGMA_MAPDATA const uint16 AccPedCD_uHighLimIdleUW_C=18427; /*AccPedCD_uHighLimIdleUW_C，怠速开关高限*/
    PRAGMA_MAPDATA const uint16 AccPedCD_uLowLimIdleUW_C=819; /*AccPedCD_uLowLimIdleUW_C，怠速开关低限*/
    PRAGMA_MAPDATA const uint16 AccPedCD_bPlausEnUW_C=1; /*AccPedCD_bPlausEnUW_C，油门合理性检测是否启用*/
    PRAGMA_MAPDATA const uint16 AccPedCD_rFltUW_C=0; /*数字油门,AccPedCD_rFltUW_C*/
    PRAGMA_MAPDATA const uint16 AccPedCD_bDigEnUW_C=1; /*油门控制模式，AccPedCD_bDigEnUW_C, 1为正常控制， 0为数字油门*/
    PRAGMA_MAPDATA const uint16 AccPedCD_swtUseUW_C=1; /*AccPedCD_swtUseUW_C，油门传感器类型,1:双油门,2:怠速开关，3:单油门*/
    PRAGMA_MAPDATA const uint16 AccPedCD_idxIdleSwtTypeUW_C=0; /*AccPedCD_idxIdleSwtTypeUW_C，怠速开关类型 ，0：接电源常开，1：接电源常闭，2：接地常开，3：接地常闭*/
    PRAGMA_MAPDATA const AccPedCD_rUW_CUR_TYPE AccPedCD_rUW_CUR=
    {
        4,
        {
        4505,14169,16380,20475
        },
        {
        0,25600,25600,25600
        }
    }; /*油门标定,AccPedCD_rUW_CUR,系数256,单位%*/
    PRAGMA_MAPDATA const uint16 AccPedCD_rThresFltLowPosUW_C=3840; /*AccPedCD_rThresFltLowPosUW_C，小油门限*/
    PRAGMA_MAPDATA const uint16 AccPedCD_rThresFltMidPosUW_C=10240; /*AccPedCD_rThresFltMidPosUW_C,中油门限*/
    PRAGMA_MAPDATA const uint16 AccPedCD_facT1LowNegUW_C=0; /*AccPedCD_facT1LowNegUW_C，小油门负向滤波系数*/
    PRAGMA_MAPDATA const uint16 AccPedCD_facT1MidNegUW_C=0; /*AccPedCD_facT1MidNegUW_C,中油门负向滤波系数*/
    PRAGMA_MAPDATA const uint16 AccPedCD_facT1HighNegUW_C=0; /*AccPedCD_facT1HighNegUW_C,大油门负向滤波系数*/
    PRAGMA_MAPDATA const uint16 AccPedCD_facT1LowPosUW_C=750; /*AccPedCD_facT1LowPosUW_C,小油门正向滤波系数*/
    PRAGMA_MAPDATA const uint16 AccPedCD_facT1MidPosUW_C=250; /*AccPedCD_facT1MidPosUW_C，中油门正向滤波系数*/
    PRAGMA_MAPDATA const uint16 AccPedCD_facT1HighPosUW_C=250; /*AccPedCD_facT1HighPosUW_C，大油门正向滤波系数*/
    PRAGMA_MAPDATA const uint16 AccPedCD_duThresStationaryUW_C=123; /*AccPedCD_duThresStationaryUW_C,稳态油门变化范围*/
    PRAGMA_MAPDATA const uint16 AccPedCD_facT1StationaryUW_C=900; /*AccPedCD_facT1StationaryUW_C,稳态滤波系数*/
    PRAGMA_MAPDATA const uint16 AccPedCD_facDualRelUW_C=2; /*AccPedCD_facDualRelUW_C, 双油门两路信号的比例关系，第一路/第二路*/
    PRAGMA_MAPDATA const uint16 AccPedCD_drHealRmpUp_C=2560; /*AccPedCD_drHealRmpUp_C; 加速踏板故障恢复正向Ramp步长。APPCD_drHealRmpUp_C: healing ramp pos. slope<value>*/
    PRAGMA_MAPDATA const uint16 AccPedCD_drHealRmpDwn_C=2560; /*AccPedCD_drHealRmpDwn_C;  故障恢复时向下Ramp步长; APPCD_drHealRmpDwn_C: healing ramp neg. slope<value>*/

    #define MAPDATA_STOP_SEC_VAR_CONST
    #include "MemMap.h"

/*标定数据区结束                                             */
/*************************************************************/

/***********************************************
 * 函数：油门踏板驱动模块初始化
 * 功能：初始化模块中应用到的各变量。
***********************************************/
void AccPedCD_Init(void)
{   
    AccPedCD_uFltUW=0;
    AccPedCD_idxDeltaMonUB=0;
    AccPedCD_drUnFltW=0;
    AccPedCD_rOldUW=0;
    
    Fid_APP1UB_mp=0;
    Fid_APP2UB_mp=0; 
    AccPedCD_stAPPLatchUW = _DFC_INDEX_FINALLY_HEALED_STATUS;
    AccPedCD_stRampUW=0;
    
    if(1==AccPedCD_swtUseUW_C) 
    {
        //双油门
        
        //油门1
        AccPedCD_uUW=ATDDrv_GetChanResult(_ATD_INDEX_ACCPED1_CHAN);
        AccPedCD_uOldUW=AccPedCD_uUW;
        //油门2
        AccPedCD_u2UW=ATDDrv_GetChanResult(_ATD_INDEX_ACCPED2_CHAN);
    }
    else
    {
        if(2==AccPedCD_swtUseUW_C)
        {
             //带怠速开关的油门
        
            //油门1
            AccPedCD_uUW=ATDDrv_GetChanResult(_ATD_INDEX_ACCPED1_CHAN);
            AccPedCD_uOldUW=AccPedCD_uUW;
            
            //得到怠速开关状态
            AccPedCD_bIdleRawUB=DINDrv_GetChanState(_DIN_INDEX_BAK1_CHAN);
            

			if((0==AccPedCD_idxIdleSwtTypeUW_C)||(3==AccPedCD_idxIdleSwtTypeUW_C))
			{
				//接电常开或者接地常闭
				//AccPedCD_bIdleRawUB为1表明踏板踩下，在全负荷位置
				AccPedCD_bIdleSwtUB=AccPedCD_bIdleRawUB;
			}
			else
			{
				//接电常闭或者接地常开
				//AccPedCD_bIdleRawUB为0表明踏板踩下，在全负荷位置
				AccPedCD_bIdleSwtUB=(!AccPedCD_bIdleRawUB);
			}
                
        }
        else
        {
            //单油门
            AccPedCD_uUW=ATDDrv_GetChanResult(_ATD_INDEX_ACCPED1_CHAN);
            AccPedCD_uOldUW=AccPedCD_uUW;
        }
    }
    
             
    AccPedCD_Update();           
}

/***********************************************
 * 函数：油门信号滤波函数
 * 功能：判断油门为小中大油门及正负向，并进行滤波。
***********************************************/
void AccPedCD_Filter(void)
{    
    //参数选取
    if(AccPedCD_rFltUW>AccPedCD_rRawUW)
    {
        //下降,3段滤波
        if(AccPedCD_rFltUW<AccPedCD_rThresFltLowPosUW_C)
        {
            AccPedCD_facT1UW=AccPedCD_facT1LowNegUW_C;
        }
        else
        {
            if(AccPedCD_rFltUW<AccPedCD_rThresFltMidPosUW_C) 
            {
                AccPedCD_facT1UW=AccPedCD_facT1MidNegUW_C;
            }
            else
            {
                AccPedCD_facT1UW=AccPedCD_facT1HighNegUW_C;
            }
        }   
        
    }
    else                
    {                 
        //上升,3段滤波                 
        if(AccPedCD_rFltUW<AccPedCD_rThresFltLowPosUW_C)
        {
            AccPedCD_facT1UW=AccPedCD_facT1LowPosUW_C;
        }
        else
        {
            if(AccPedCD_rFltUW<AccPedCD_rThresFltMidPosUW_C) 
            {
                AccPedCD_facT1UW=AccPedCD_facT1MidPosUW_C;
            }
            else
            {
                AccPedCD_facT1UW=AccPedCD_facT1HighPosUW_C;
            }
        }
    } 
    
    //输出值计算
        
    ComLib_PT1U16(AccPedCD_uUW,(uint16)(_COMLIB_FACTOR_PT1-AccPedCD_facT1UW),AccPedCD_facT1UW,(uint16 *)&AccPedCD_uFltUW); 	//AD值滤波
    ComLib_PT1U16(AccPedCD_rUW,(uint16)(_COMLIB_FACTOR_PT1-AccPedCD_facT1UW),AccPedCD_facT1UW,(uint16 *)&AccPedCD_rFltUW);  //油门滤波
}

/***********************************************
 * 函数：计算油门信号数值
 * 功能：根据步长计算油门信号增大或减小的数值。
***********************************************/
void AccPedCD_Ramp(void)
{
	//ramp
	if(1==AccPedCD_stRampUW)
	{
		//ramp使能状态 Ramp start
	    if(AccPedCD_rRawUW>=AccPedCD_rUW)
	    {
	        //向上
	        if((AccPedCD_rRawUW - AccPedCD_rUW)<=AccPedCD_drHealRmpUp_C)
	        {
	            //差值小于最小步长限制
	            AccPedCD_rUW = AccPedCD_rRawUW; 
	            AccPedCD_stRampUW=0;//Ramp结束   
	        }
	        else
	        {
	            AccPedCD_rUW += AccPedCD_drHealRmpUp_C;        
	        }
	    }
	    else
	    {
	        //向下
	        if((AccPedCD_rUW - AccPedCD_rRawUW)<=AccPedCD_drHealRmpDwn_C)
	        {
	            //差值小于最小步长限制
	            AccPedCD_rUW = AccPedCD_rRawUW;
	            AccPedCD_stRampUW=0;//Ramp结束 Ramp end      
	        }
	        else
	        {
	            AccPedCD_rUW -= AccPedCD_drHealRmpDwn_C;        
	        }        
	    }
	}
	else
	{
		AccPedCD_rUW=AccPedCD_rRawUW;	
	}
}

/***********************************************
 * 函数：双油门信号处理
 * 功能：向DSM模块请求信息，判断当前状态为正常/部分正常/完全故障，根据状态进行更新操作。
 * 结构：请求故障状态信息，判断当前状态后，决定油门信号更新/清零/保持不变。
***********************************************/
void AccPedCD_DualAnalog(void)
{
    uint16 uDiffUW;

    /*获取油门相关FID状态：加速踏板1/2信号故障失效模式是否开启*/
    //双油门
    Fid_APP1UB_mp=DINH_GetFIDState(_DINH_INDEX_FID_APP1);
    Fid_APP2UB_mp=DINH_GetFIDState(_DINH_INDEX_FID_APP2); 

    /*获取油门相关DFC故障水平：油门踏板1/2信号过高/低、油门NPL故障*/
    //第一油门SRC HIGH故障
    AccPedCD_stMaxUB=DFC_GetDebState(_DFC_INDEX_ACCPED_SIGHIGH);
    
    //第一油门SRC LOW故障
    AccPedCD_stMinUB=DFC_GetDebState(_DFC_INDEX_ACCPED_SIGLOW);
    
    //第一油门NPL故障
    AccPedCD_stNplUB=DFC_GetDebState(_DFC_INDEX_ACCPED_SIGHNPL);
    
    //第二油门SRC HIGH故障
    AccPedCD_st2MaxUB=DFC_GetDebState(_DFC_INDEX_ACCPED2_SIGHIGH);
    
    //第二油门SRC LOW故障
    AccPedCD_st2MinUB=DFC_GetDebState(_DFC_INDEX_ACCPED2_SIGLOW);
    
    if((_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_stMaxUB)||
        (_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_st2MaxUB)||
        (_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_stMinUB)||
        (_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_st2MinUB)||
        (_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_stNplUB)||
        (Fid_APP1UB_mp==1)||
        (Fid_APP2UB_mp==1))
    {
        //完全故障
        AccPedCD_rUW=0;
        AccPedCD_rFltUW=0;      //赋油门值为0
        AccPedCD_stRampUW=1;	//Ramp start
        AccPedCD_stAPPLatchUW=_DFC_INDEX_FINALLY_DEFECTIVE_STATUS;
    }
    else
    {
        //非完全故障状态
	    //检查合理性
        if(AccPedCD_uUW>=AccPedCD_facDualRelUW_C*AccPedCD_u2UW)
        {
            uDiffUW=AccPedCD_uUW-AccPedCD_facDualRelUW_C*AccPedCD_u2UW;
        }
        else
        {
            uDiffUW=AccPedCD_facDualRelUW_C*AccPedCD_u2UW-AccPedCD_uUW;
        }
        
        if((AccPedCD_uUW>AccPedCD_uSRCMaxUW_C)
        ||(AccPedCD_uUW<AccPedCD_uSRCMinUW_C)
        ||(AccPedCD_facDualRelUW_C*AccPedCD_u2UW>AccPedCD_uSRCMaxUW_C)
        ||(AccPedCD_facDualRelUW_C*AccPedCD_u2UW<AccPedCD_uSRCMinUW_C)
        ||((DINH_GetFIDState(_DINH_INDEX_FID_ACCPED_NPL)==0)&&(uDiffUW>AccPedCD_uMaxDiffUW_C)))		//双油门合理性校验
		{
			//任何一项故障的状态,部分故障，则维持上一循环的值不动
			AccPedCD_stAPPLatchUW=_DFC_INDEX_PRELIMINARILY_DEFECTIVE_STATUS; 	
		}
		else
		{
			if((_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_stMaxUB)&&
            (_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_st2MaxUB)&&
            (_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_stMinUB)&&
            (_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_st2MinUB)&&
            (_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_stNplUB))
			{
				//完全正常的状态
				AccPedCD_stAPPLatchUW=_DFC_INDEX_FINALLY_HEALED_STATUS; 
				AccPedCD_Ramp();
	        }
	        else
	        {
	        	//或部分恢复
	        	AccPedCD_stAPPLatchUW=_DFC_INDEX_PRELIMINARILY_HEALED_STATUS; 
	        }
		}
		AccPedCD_Filter();
    }
}

/***********************************************
 * 函数：单油门信号处理
 * 功能：向DSM模块请求信息，判断当前状态为正常/部分正常/完全故障，根据状态进行更新操作。
 * 结构：请求故障状态信息，判断当前状态后，决定油门信号更新/清零/保持不变。
***********************************************/
void AccPedCD_SingleAnalog(void)
{    
    Fid_APP1UB_mp=DINH_GetFIDState(_DINH_INDEX_FID_APP1);
    
    //第一油门SRC HIGH故障
    AccPedCD_stMaxUB=DFC_GetDebState(_DFC_INDEX_ACCPED_SIGHIGH);
    
    //第一油门SRC LOW故障
    AccPedCD_stMinUB=DFC_GetDebState(_DFC_INDEX_ACCPED_SIGLOW);
        
    
    if((_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_stMaxUB)||        
        (_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_stMinUB)||
        (Fid_APP1UB_mp==1))
    {
        //完全故障
        AccPedCD_rUW=0;
        AccPedCD_rFltUW=0;      //赋油门值为0
        AccPedCD_stRampUW=1;	//Ramp start
        AccPedCD_stAPPLatchUW=_DFC_INDEX_FINALLY_DEFECTIVE_STATUS;
    }
    else
    {
        if((AccPedCD_uUW>AccPedCD_uSRCMaxUW_C)
        ||(AccPedCD_uUW<AccPedCD_uSRCMinUW_C))		//单油门合理性校验
		{
			//任何一项故障的状态,部分故障，则维持上一循环的值不动
			AccPedCD_stAPPLatchUW=_DFC_INDEX_PRELIMINARILY_DEFECTIVE_STATUS; 	
		}
		else
		{
			if(	(_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_stMaxUB)&&
            	(_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_stMinUB))
			{
				//完全正常的状态
				AccPedCD_stAPPLatchUW=_DFC_INDEX_FINALLY_HEALED_STATUS;
				AccPedCD_Ramp(); 
	        }
	        else
	        {
	        	//或部分恢复
	        	AccPedCD_stAPPLatchUW=_DFC_INDEX_PRELIMINARILY_HEALED_STATUS; 
	        }
		}
		AccPedCD_Filter();
    }
}

/***********************************************
 * 函数：怠速开关油门信号处理
 * 功能：向DSM模块请求信息，判断当前状态为正常/部分正常/完全故障，根据状态进行更新操作。
 * 结构：请求故障状态信息，判断当前状态后，决定油门信号更新/清零/保持不变。
***********************************************/
void AccPedCD_Switch(void)
{
    
    //带怠速开关的油门
    Fid_APP1UB_mp=DINH_GetFIDState(_DINH_INDEX_FID_APP1);
    //第一油门SRC HIGH故障
    AccPedCD_stMaxUB=DFC_GetDebState(_DFC_INDEX_ACCPED_SIGHIGH);
    
    //第一油门SRC LOW故障
    AccPedCD_stMinUB=DFC_GetDebState(_DFC_INDEX_ACCPED_SIGLOW);
    
    //第一油门NPL故障
    AccPedCD_stNplUB=DFC_GetDebState(_DFC_INDEX_ACCPED_SIGHNPL);
    
    if((_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_stMaxUB)||        
        (_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_stMinUB)||                
        (_DFC_INDEX_FINALLY_DEFECTIVE_STATUS==AccPedCD_stNplUB)||
        (Fid_APP1UB_mp==1))
    {
        //完全故障
        AccPedCD_rUW=0;
        AccPedCD_rFltUW=0;      //赋油门值为0
        AccPedCD_stRampUW=1;	//Ramp start
        AccPedCD_stAPPLatchUW=_DFC_INDEX_FINALLY_DEFECTIVE_STATUS;
    }
    else
    {
        if((AccPedCD_uUW>AccPedCD_uSRCMaxUW_C)
        ||(AccPedCD_uUW<AccPedCD_uSRCMinUW_C)	
        ||(	(1==AccPedCD_bPlausEnUW_C)&&
        	(((0==AccPedCD_bIdleSwtUB)&&(AccPedCD_uUW>AccPedCD_uHighLimIdleUW_C))||
            ((1==AccPedCD_bIdleSwtUB)&&(AccPedCD_uUW<AccPedCD_uLowLimIdleUW_C)))))
		{
			//任何一项故障的状态,部分故障，则维持上一循环的值不动
			AccPedCD_stAPPLatchUW=_DFC_INDEX_PRELIMINARILY_DEFECTIVE_STATUS; 	
		}
		else
		{
	        if((_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_stMaxUB)&&        
	           (_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_stMinUB)&&                        
	           (_DFC_INDEX_FINALLY_HEALED_STATUS==AccPedCD_stNplUB))
			{
				//完全正常的状态
				AccPedCD_stAPPLatchUW=_DFC_INDEX_FINALLY_HEALED_STATUS; 
				AccPedCD_Ramp(); 
	        }
	        else
	        {
	        	//或部分恢复
	        	AccPedCD_stAPPLatchUW=_DFC_INDEX_PRELIMINARILY_HEALED_STATUS; 
	        }
		}
		AccPedCD_Filter();
    }
}

/***********************************************
 * 函数：更新油门信号入口函数
 * 功能：根据不同模式，计算并更新油门信号值。
 * 结构：根据标定变量判断当前状态为单油门/双油门/带怠速开关/不使用，确定配置后，再对通过相应函数更新信号。
***********************************************/
void AccPedCD_Update(void)
{
    if(AccPedCD_bDigEnUW_C==1)
    {    
        AccPedCD_rFltUW=AccPedCD_rFltUW_C;  //数字油门模式 
        AccPedCD_rUW=AccPedCD_rFltUW_C;  //滤波前油门也用数字油门接管     
    }
    else
    {
		if(1==AccPedCD_swtUseUW_C)
		{
			//双油门

			//油门1
			AccPedCD_uOldUW=AccPedCD_uUW;
			AccPedCD_uUW=ATDDrv_GetChanResult(_ATD_INDEX_ACCPED1_CHAN);

			//油门2
			AccPedCD_u2UW=ATDDrv_GetChanResult(_ATD_INDEX_ACCPED2_CHAN);

			AccPedCD_rRawUW=Intpol_u16u16((uint16 *)&AccPedCD_rUW_CUR,AccPedCD_uUW);

			AccPedCD_DualAnalog();

		}
		else
		{
			if(2==AccPedCD_swtUseUW_C)
			{
				//油门和怠速开关

				//油门1
				AccPedCD_uOldUW=AccPedCD_uUW;
				AccPedCD_uUW=ATDDrv_GetChanResult(_ATD_INDEX_ACCPED1_CHAN);

				//得到怠速开关状态
				AccPedCD_bIdleRawUB=DINDrv_GetChanState(_DIN_INDEX_BAK1_CHAN);


				if(0==AccPedCD_idxIdleSwtTypeUW_C)
				{
					//常地型，AccPedCD_bIdleRawUB为1表明踏板踩下，在全负荷位置
					AccPedCD_bIdleSwtUB=AccPedCD_bIdleRawUB;
				}
				else
				{
					//常电型，AccPedCD_bIdleRawUB为0表明踏板踩下，在全负荷位置
					AccPedCD_bIdleSwtUB=(!AccPedCD_bIdleRawUB);
				}

				AccPedCD_rRawUW=Intpol_u16u16((uint16 *)&AccPedCD_rUW_CUR,AccPedCD_uUW);

				AccPedCD_Switch();
			}
			else
			{
				//单油门

				//油门1
				AccPedCD_uOldUW=AccPedCD_uUW;
				AccPedCD_uUW=ATDDrv_GetChanResult(_ATD_INDEX_ACCPED1_CHAN);

				AccPedCD_rRawUW=Intpol_u16u16((uint16 *)&AccPedCD_rUW_CUR,AccPedCD_uUW);

				AccPedCD_SingleAnalog();
			}

		}
    }
    
    
    AccPedCD_idxDeltaMonUB=(uint8)((AccPedCD_idxDeltaMonUB+1)%_ACCPED_DELTA_MONITOR_TIME);
    if(AccPedCD_idxDeltaMonUB==0)
    {        
        //加速踏板斜率计算
        
        AccPedCD_drUnFltW=AccPedCD_rFltUW-AccPedCD_rOldUW;        
        AccPedCD_rOldUW=AccPedCD_rFltUW;     
    }
          
}

/***********************************************
 * 函数：油门相关故障监控
 * 功能：检测油门信号是否超限值/相关功能是否被禁用/信号值是否合理，如出现异常向DSM模块报告异常水平。
 * 结构：根据标定变量判断当前状态为单油门/双油门/带怠速开关/不使用，确定配置后，再对相应油门信号进行检测。
***********************************************/
void AccPedCD_Monitor(void)
{
    uint16 uDiffUW;
    
        
    //AccPedCD_swtUseUW_C
    //0:  不使用
    //1:  双油门
    //2: 带怠速开关
    
    if(1==AccPedCD_swtUseUW_C) 
    {
         //双油门       
        if(AccPedCD_uUW>AccPedCD_uSRCMaxUW_C)
        {
        	/*对应DFC故障：油门踏板1信号过高*/
            DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHIGH,_DDRC_MASK_ANA_FT_LV_ERROR);    //Max Error     
        }
        else
        {
            DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHIGH,_DDRC_MASK_ANA_FT_LV_OK);  
        }
        
        if(AccPedCD_uUW<AccPedCD_uSRCMinUW_C)
        {
        	/*对应DFC故障：油门踏板1信号过低*/
            DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGLOW,_DDRC_MASK_ANA_FT_LV_ERROR);     //Min Error    
        }
        else
        {                   
            DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGLOW,_DDRC_MASK_ANA_FT_LV_OK);
        }
        
        
        if(AccPedCD_facDualRelUW_C*AccPedCD_u2UW>AccPedCD_uSRCMaxUW_C)
        {
        	/*对应DFC故障：油门踏板2信号过高*/
            DFC_ReportFaultLevel(_DFC_INDEX_ACCPED2_SIGHIGH,_DDRC_MASK_ANA_FT_LV_ERROR);    //Max Error     
        }
        else
        {
            DFC_ReportFaultLevel(_DFC_INDEX_ACCPED2_SIGHIGH,_DDRC_MASK_ANA_FT_LV_OK);  
        }
        
        if(AccPedCD_facDualRelUW_C*AccPedCD_u2UW<AccPedCD_uSRCMinUW_C)
        {
        	/*对应DFC故障：油门踏板2信号过低*/
            DFC_ReportFaultLevel(_DFC_INDEX_ACCPED2_SIGLOW,_DDRC_MASK_ANA_FT_LV_ERROR);     //Min Error    
        }
        else
        {                   
            DFC_ReportFaultLevel(_DFC_INDEX_ACCPED2_SIGLOW,_DDRC_MASK_ANA_FT_LV_OK);
        }
        
        //双油门合理性校验
        /*油门相关功能是否被禁用*/
        if(DINH_GetFIDState(_DINH_INDEX_FID_ACCPED_NPL)==0)
        {
            //检查合理性
            if(AccPedCD_uUW>=AccPedCD_facDualRelUW_C*AccPedCD_u2UW)
            {
                uDiffUW=AccPedCD_uUW-AccPedCD_facDualRelUW_C*AccPedCD_u2UW;
            }
            else
            {
                uDiffUW=AccPedCD_facDualRelUW_C*AccPedCD_u2UW-AccPedCD_uUW;
            }
            /*对应DFC故障：油门信号不合理*/
            if(uDiffUW>AccPedCD_uMaxDiffUW_C)
            {
                DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHNPL,_DDRC_MASK_ANA_FT_LV_ERROR);     //NPL Error   
            }
            else
            {
                DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHNPL,_DDRC_MASK_ANA_FT_LV_OK); 
            }
        }
        
    }
    else
    {
        if(2==AccPedCD_swtUseUW_C) 
        {
            //带怠速开关的油门
            
            if(AccPedCD_uUW>AccPedCD_uSRCMaxUW_C)
            {
                DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHIGH,_DDRC_MASK_ANA_FT_LV_ERROR);    //Max Error     
            }
            else
            {
                DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHIGH,_DDRC_MASK_ANA_FT_LV_OK);  
            }
            
            if(AccPedCD_uUW<AccPedCD_uSRCMinUW_C)
            {
                DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGLOW,_DDRC_MASK_ANA_FT_LV_ERROR);     //Min Error    
            }
            else
            {                   
                DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGLOW,_DDRC_MASK_ANA_FT_LV_OK);
            }
            
            //怠速开关和油门的诊断             
            if(1==AccPedCD_bPlausEnUW_C)
            {
                //如果合理性检测使能
                    
                if(((0==AccPedCD_bIdleSwtUB)&&(AccPedCD_uUW>AccPedCD_uHighLimIdleUW_C))||
                    ((1==AccPedCD_bIdleSwtUB)&&(AccPedCD_uUW<AccPedCD_uLowLimIdleUW_C)))
                {
                    //油门电压大于高限值后，怠速开关必须处于Full Load状态
                    //油门电压小于低限制后，怠速开关必须处于Low Idle状态
                    DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHNPL,_DDRC_MASK_ANA_FT_LV_ERROR);     //NPL Error     
                }
                else
                {
                    DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHNPL,_DDRC_MASK_ANA_FT_LV_OK); 
                }
            }
            
        }
        else
        {
            if(3==AccPedCD_swtUseUW_C) 
            {
                //单油门       
                
                if(AccPedCD_uUW>AccPedCD_uSRCMaxUW_C)
                {
                    DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHIGH,_DDRC_MASK_ANA_FT_LV_ERROR);    //Max Error     
                }
                else
                {
                    DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGHIGH,_DDRC_MASK_ANA_FT_LV_OK);  
                }
                
                if(AccPedCD_uUW<AccPedCD_uSRCMinUW_C)
                {
                    DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGLOW,_DDRC_MASK_ANA_FT_LV_ERROR);     //Min Error    
                }
                else
                {                   
                    DFC_ReportFaultLevel(_DFC_INDEX_ACCPED_SIGLOW,_DDRC_MASK_ANA_FT_LV_OK);
                }
            }
        }
    }
}

#endif //_SAMPLE_CODE_
/*********************************************************************************************/