SHENG-HEN HSIEH / Mbed 2 deprecated VDU_2021

Just a regular publish

Dependencies:   mbed imu_driver

main.cpp@9:c99eeafa6fa3, 2019-11-17 (annotated)

Committer:
open4416
Date:
Sun Nov 17 06:56:24 2019 +0000
Revision:
9:c99eeafa6fa3
Parent:
8:f8b1402c8f3c
Child:
13:ac024885d0bf
Add IMU lib initial release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
open4416 0:c4747ebbe0b4 1 #include "mbed.h"
open4416 8:f8b1402c8f3c 2 #include "main.h"
open4416 9:c99eeafa6fa3 3 #include "imu_driver.hpp"
open4416 8:f8b1402c8f3c 4 #define pi 3.14159265359f
open4416 8:f8b1402c8f3c 5 #define d2r 0.01745329252f
open4416 2:c7a3a8c1aeed 6 #define dt 0.01f
open4416 6:fbe401163489 7
open4416 5:8116016abee0 8 DigitalOut Aux_Rly(PC_10,0); //Control aux relay, 1 active
open4416 9:c99eeafa6fa3 9 DigitalOut Fault_Ind(PC_12,0); //Indicate fault bt flashing, 1 active
open4416 2:c7a3a8c1aeed 10 DigitalOut LED(D13, 0); //Internal LED output, general purpose
open4416 6:fbe401163489 11 AnalogIn AUX_1(PC_0); //Auxilaru analog sensor
open4416 6:fbe401163489 12 AnalogIn AUX_2(PC_4);
open4416 6:fbe401163489 13 AnalogIn AUX_3(PC_2);
open4416 6:fbe401163489 14 AnalogIn AUX_4(PC_1);
open4416 7:f674ef860c9c 15 AnalogIn SDn_sense(PB_0); //Shutdown circuit driving end detection
open4416 9:c99eeafa6fa3 16 CAN can1(PB_8, PB_9, 1000000); //1Mbps, contain critical torque command message
open4416 9:c99eeafa6fa3 17 SPI spi2(PB_15, PB_14, PB_13); //1Mbps default, MOSI MISO SCLK, forIMU
open4416 9:c99eeafa6fa3 18 ImuDriver <spi2, PA_13, PA_14, PA_15> imu; //SPI instance, reset, data ready, slave select
open4416 9:c99eeafa6fa3 19 Serial pc(USBTX, USBRX, 115200);
open4416 9:c99eeafa6fa3 20 Ticker ticker1; //100Hz task
open4416 5:8116016abee0 21 CANMessage can_msg_Rx;
open4416 5:8116016abee0 22 CANMessage can_msg_Tx;
open4416 2:c7a3a8c1aeed 23
open4416 2:c7a3a8c1aeed 24 void timer1_interrupt(void)
open4416 2:c7a3a8c1aeed 25 {
open4416 6:fbe401163489 26 HSTick += 1;
open4416 6:fbe401163489 27 LSTick += 1;
open4416 6:fbe401163489 28 if (HSTick > 9) { // 100Hz
open4416 6:fbe401163489 29 HST_EXFL = 1;
open4416 6:fbe401163489 30 HSTick = 0;
open4416 6:fbe401163489 31 }
open4416 6:fbe401163489 32 if (LSTick > 99) { // 10Hz
open4416 6:fbe401163489 33 LST_EXFL = 1;
open4416 6:fbe401163489 34 LSTick = 0;
open4416 6:fbe401163489 35 }
open4416 2:c7a3a8c1aeed 36 }
open4416 0:c4747ebbe0b4 37
open4416 0:c4747ebbe0b4 38 int main()
open4416 0:c4747ebbe0b4 39 {
open4416 6:fbe401163489 40 //Init CAN network
open4416 9:c99eeafa6fa3 41 CAN_init(); // Note now in Gloable test mode only for testing 2019/11/17
open4416 6:fbe401163489 42
open4416 6:fbe401163489 43 //Start House keeping task
open4416 6:fbe401163489 44 printf("VDU start up, pend for module online\n");
open4416 6:fbe401163489 45 ticker1.attach_us(&timer1_interrupt, 1000); //1 ms Systick
open4416 6:fbe401163489 46 while(1) {
open4416 6:fbe401163489 47
open4416 6:fbe401163489 48 // Do high speed loop
open4416 6:fbe401163489 49 if (HST_EXFL == 1) {
open4416 6:fbe401163489 50 HST_EXFL = 0;
open4416 6:fbe401163489 51
open4416 9:c99eeafa6fa3 52 // Get IMU, Auxs, Max Temperature
open4416 9:c99eeafa6fa3 53 Cooler();
open4416 6:fbe401163489 54 IMU_read();
open4416 6:fbe401163489 55 Aux_read();
open4416 9:c99eeafa6fa3 56 Module_WD();
open4416 6:fbe401163489 57
open4416 6:fbe401163489 58 // Run state machine
open4416 6:fbe401163489 59 switch (VDU_STAT) {
open4416 6:fbe401163489 60
open4416 6:fbe401163489 61 case VDU_PowerOn:
open4416 6:fbe401163489 62 /* Power on state
open4416 6:fbe401163489 63 * Description:
open4416 6:fbe401163489 64 * Simple start up sequence will be done here
open4416 6:fbe401163489 65 * Do:
open4416 6:fbe401163489 66 * VDU internal POST
open4416 6:fbe401163489 67 * Wait till modules + PSU online
open4416 6:fbe401163489 68 * To VDU_Idle (RTD off):
open4416 6:fbe401163489 69 * Prepare for 4WD main program
open4416 6:fbe401163489 70 * To VDU_Fault:
open4416 6:fbe401163489 71 * Run the error handling service
open4416 6:fbe401163489 72 */
open4416 6:fbe401163489 73
open4416 6:fbe401163489 74 //Basic IMU test
open4416 6:fbe401163489 75 POST();
open4416 6:fbe401163489 76
open4416 6:fbe401163489 77 //Check if state transition only when all module online
open4416 7:f674ef860c9c 78 // if((FL_online*FR_online*RL_online*RR_online*PSU_online)!= 0) {
open4416 7:f674ef860c9c 79 if(1) { //Force online check pass only for debug 2019/11/14
open4416 6:fbe401163489 80
open4416 6:fbe401163489 81 if ( //Check if any error
open4416 6:fbe401163489 82 (FL_DSM == 3U)||
open4416 6:fbe401163489 83 (FR_DSM == 3U)||
open4416 6:fbe401163489 84 (RL_DSM == 3U)||
open4416 6:fbe401163489 85 (RR_DSM == 3U)||
open4416 6:fbe401163489 86 (VDU_FLT != 0)) {
open4416 6:fbe401163489 87 VDU_STAT = VDU_Fault;
open4416 6:fbe401163489 88 FLT_print = 1;
open4416 6:fbe401163489 89 } else {
open4416 6:fbe401163489 90 //All module online & POST pass
open4416 6:fbe401163489 91 VDU_STAT = VDU_Idle;
open4416 6:fbe401163489 92 printf("All module online, VDU now Idle\n");
open4416 6:fbe401163489 93 }
open4416 6:fbe401163489 94 } //Else keep in state VDU_PowerOn
open4416 6:fbe401163489 95 break;
open4416 6:fbe401163489 96
open4416 6:fbe401163489 97 case VDU_Idle:
open4416 6:fbe401163489 98 /* Controller Idle state
open4416 6:fbe401163489 99 * Description:
open4416 6:fbe401163489 100 * Normal latched state, wait for RTD_HMI set from PSU
open4416 6:fbe401163489 101 * 4WD in running but output mask to 0
open4416 6:fbe401163489 102 * Do:
open4416 6:fbe401163489 103 * 4WD controller
open4416 6:fbe401163489 104 * Check:
open4416 6:fbe401163489 105 * RUN faults if any
open4416 6:fbe401163489 106 * To VDU_Run:
open4416 6:fbe401163489 107 * Initialize parameters for start up, set RTD_cmd
open4416 6:fbe401163489 108 * To VDU_Fault:
open4416 6:fbe401163489 109 * Run the error handling service
open4416 6:fbe401163489 110 */
open4416 6:fbe401163489 111
open4416 6:fbe401163489 112 //Forced RTD_HMI for debug purpose 2019/11/14
open4416 7:f674ef860c9c 113 RTD_HMI = 1; //Should be set if can bus received data
open4416 6:fbe401163489 114 //Forced RTD_HMI for debug purpose 2019/11/14
open4416 6:fbe401163489 115
open4416 6:fbe401163489 116 RUNT(); //Run test
open4416 6:fbe401163489 117 AWD(); //AWD main program
open4416 1:8a9ac822aab7 118
open4416 6:fbe401163489 119 if ( //Check if any error
open4416 6:fbe401163489 120 (FL_DSM == 3U)||
open4416 6:fbe401163489 121 (FR_DSM == 3U)||
open4416 6:fbe401163489 122 (RL_DSM == 3U)||
open4416 6:fbe401163489 123 (RR_DSM == 3U)||
open4416 6:fbe401163489 124 (VDU_FLT != 0)) {
open4416 6:fbe401163489 125 VDU_STAT = VDU_Fault;
open4416 7:f674ef860c9c 126 printf("Idle 2 Fault\n");
open4416 6:fbe401163489 127 FLT_print = 1;
open4416 6:fbe401163489 128 } else if (RTD_HMI != 0) { //Or command to run threw PSU
open4416 6:fbe401163489 129 //Prepare to send out RTD and start motor
open4416 6:fbe401163489 130 Idle2Run();
open4416 6:fbe401163489 131 VDU_STAT = VDU_Run;
open4416 6:fbe401163489 132 printf("Idle 2 Run\n");
open4416 6:fbe401163489 133 } //Else keep in state
open4416 6:fbe401163489 134 break;
open4416 6:fbe401163489 135
open4416 6:fbe401163489 136 case VDU_Run:
open4416 6:fbe401163489 137 /* Controller Run state
open4416 6:fbe401163489 138 * Description:
open4416 6:fbe401163489 139 * Normal latched state, after RTD_HMI is set from PSU
open4416 6:fbe401163489 140 * Same to Idle state except RTD_cmd is set
open4416 6:fbe401163489 141 * Do:
open4416 6:fbe401163489 142 * 4WD controller
open4416 6:fbe401163489 143 * Check:
open4416 6:fbe401163489 144 * RUN faults if any
open4416 6:fbe401163489 145 * To VDU_Idle:
open4416 6:fbe401163489 146 * Initialize parameters for idling, reset RTD_cmd
open4416 6:fbe401163489 147 * To VDU_Fault:
open4416 6:fbe401163489 148 * Run the error handling service
open4416 6:fbe401163489 149 */
open4416 6:fbe401163489 150
open4416 6:fbe401163489 151 RUNT(); //Run test
open4416 6:fbe401163489 152 AWD(); //AWD main program
open4416 6:fbe401163489 153
open4416 6:fbe401163489 154 //Temporary debug posting area 2019/11/14
open4416 6:fbe401163489 155 //printf("%d,%d\n", Encoder_cnt, Encoder_del);
open4416 6:fbe401163489 156 //printf("%d\n\r", (int16_t)Tmodule);//
open4416 6:fbe401163489 157 //printf("%d\n\r", (int16_t)Vbus);
open4416 0:c4747ebbe0b4 158
open4416 6:fbe401163489 159 if ( //Check if any error
open4416 6:fbe401163489 160 (FL_DSM == 3U)||
open4416 6:fbe401163489 161 (FR_DSM == 3U)||
open4416 6:fbe401163489 162 (RL_DSM == 3U)||
open4416 6:fbe401163489 163 (RR_DSM == 3U)||
open4416 6:fbe401163489 164 (VDU_FLT != 0)) {
open4416 6:fbe401163489 165 VDU_STAT = VDU_Fault;
open4416 7:f674ef860c9c 166 printf("Run 2 Fault\n");
open4416 6:fbe401163489 167 FLT_print = 1;
open4416 6:fbe401163489 168 } else if (RTD_HMI != 1) { //Or command to stop threw can bus
open4416 6:fbe401163489 169 Run2Idle();
open4416 6:fbe401163489 170 VDU_STAT = VDU_Idle;
open4416 6:fbe401163489 171 printf("Run 2 Idle\n");
open4416 6:fbe401163489 172 } //Else keep in state
open4416 6:fbe401163489 173 break;
open4416 6:fbe401163489 174
open4416 6:fbe401163489 175 case VDU_Fault:
open4416 6:fbe401163489 176 /* Controller Fault state
open4416 6:fbe401163489 177 * Description:
open4416 6:fbe401163489 178 * Fault latched state if any faults is detected
open4416 6:fbe401163489 179 * Same to Idle state except keep till RTD_HMI reset
open4416 6:fbe401163489 180 * Do:
open4416 6:fbe401163489 181 * Nothing, like a piece of shit
open4416 6:fbe401163489 182 * Check:
open4416 6:fbe401163489 183 * RUN faults if any
open4416 6:fbe401163489 184 * To VDU_PowerOn:
open4416 6:fbe401163489 185 * Restart VDU
open4416 6:fbe401163489 186 */
open4416 6:fbe401163489 187
open4416 6:fbe401163489 188 RUNT(); //Run test
open4416 6:fbe401163489 189
open4416 6:fbe401163489 190 if (RST_HMI == 1) { //PSU reset to clear error
open4416 6:fbe401163489 191 RST_cmd = 1;
open4416 6:fbe401163489 192 FLT_print = 0;
open4416 6:fbe401163489 193 VDU_STAT = VDU_PowerOn;
open4416 6:fbe401163489 194 printf("Module reset\nVDU restarting...\n");
open4416 6:fbe401163489 195 } //Else keep in state
open4416 6:fbe401163489 196 break;
open4416 6:fbe401163489 197 }
open4416 6:fbe401163489 198
open4416 7:f674ef860c9c 199 // Shit out torque distribution and special command
open4416 6:fbe401163489 200 if(VDU_STAT == VDU_Run) {
open4416 6:fbe401163489 201 //Allow output torque
open4416 6:fbe401163489 202 Tx_Tcmd_CAN1();
open4416 6:fbe401163489 203 } else if(RST_cmd != 0) {
open4416 7:f674ef860c9c 204 //Send out reset cmd once
open4416 6:fbe401163489 205 Tx_CLRerr_CAN1();
open4416 6:fbe401163489 206 } else {
open4416 6:fbe401163489 207 //Force RTD off when not in VDU_Run
open4416 6:fbe401163489 208 Tx_Estop_CAN1();
open4416 6:fbe401163489 209 }
open4416 6:fbe401163489 210
open4416 6:fbe401163489 211 }
open4416 7:f674ef860c9c 212 // End of high speed loop
open4416 6:fbe401163489 213
open4416 9:c99eeafa6fa3 214 // Do low speed state reporting 10 Hz
open4416 6:fbe401163489 215 if (LST_EXFL == 1) {
open4416 6:fbe401163489 216 LST_EXFL = 0;
open4416 8:f8b1402c8f3c 217 Cooler();
open4416 5:8116016abee0 218 Tx_Qdrv_CAN1();
open4416 6:fbe401163489 219
open4416 6:fbe401163489 220 // Print out error mesagge if exist, 1Hz repeative
open4416 6:fbe401163489 221 if(FLT_print != 0) {
open4416 7:f674ef860c9c 222 FLT_print_cnt += FLT_print;
open4416 6:fbe401163489 223 if(FLT_print_cnt > 19) {
open4416 6:fbe401163489 224 printf("POST FL,FR,RL,RR\n0x%04X 0x%04X 0x%04X 0x%04X\n", FL_FLT_Post,FR_FLT_Post,RL_FLT_Post,RR_FLT_Post);
open4416 7:f674ef860c9c 225 printf("RUN FL,FR,RL,RR\n0x%04X 0x%04X 0x%04X 0x%04X\n", FL_FLT_Run,FR_FLT_Run,RL_FLT_Run,RR_FLT_Run);
open4416 7:f674ef860c9c 226 printf("VDU\n0x%04X\n\n", VDU_FLT);
open4416 6:fbe401163489 227 FLT_print_cnt = 0;
open4416 6:fbe401163489 228 }
open4416 6:fbe401163489 229 }
open4416 7:f674ef860c9c 230 }
open4416 7:f674ef860c9c 231 // End of low speed state reporting
open4416 6:fbe401163489 232
open4416 7:f674ef860c9c 233 } // end of while
open4416 0:c4747ebbe0b4 234 }
open4416 0:c4747ebbe0b4 235
open4416 6:fbe401163489 236 void Idle2Run(void)
open4416 6:fbe401163489 237 {
open4416 6:fbe401163489 238 RTD_cmd = 1;
open4416 6:fbe401163489 239 }
open4416 6:fbe401163489 240
open4416 6:fbe401163489 241 void Run2Idle(void)
open4416 6:fbe401163489 242 {
open4416 6:fbe401163489 243 RTD_cmd = 0;
open4416 6:fbe401163489 244 }
open4416 6:fbe401163489 245
open4416 6:fbe401163489 246 void POST(void)
open4416 6:fbe401163489 247 {
open4416 8:f8b1402c8f3c 248 //Check IMU status abnormal
open4416 8:f8b1402c8f3c 249 if(fabsf(YR_imu) > pi) { //half turn per sec, strange
open4416 6:fbe401163489 250 VDU_FLT |= IMUSTA_VDUFLTCode; //IMU status error
open4416 6:fbe401163489 251 }
open4416 6:fbe401163489 252 }
open4416 6:fbe401163489 253
open4416 6:fbe401163489 254 void RUNT(void)
open4416 6:fbe401163489 255 {
open4416 8:f8b1402c8f3c 256 //POST
open4416 6:fbe401163489 257 POST();
open4416 6:fbe401163489 258
open4416 8:f8b1402c8f3c 259 //Check module response timeout
open4416 6:fbe401163489 260 if((FL_online*FR_online*RL_online*RR_online) == 0) {
open4416 6:fbe401163489 261 VDU_FLT |= MODOFL_VDUFLTCode; //Module timeout
open4416 6:fbe401163489 262 }
open4416 6:fbe401163489 263 if(PSU_online == 0) {
open4416 6:fbe401163489 264 VDU_FLT |= PSUOFL_VDUFLTCode; //PSU timeout
open4416 6:fbe401163489 265 }
open4416 6:fbe401163489 266
open4416 6:fbe401163489 267 //Check ShutDrv voltage
open4416 8:f8b1402c8f3c 268 if(VDU_STAT == VDU_Run) {
open4416 8:f8b1402c8f3c 269 if(SDn_voltage < 8.0f) {
open4416 8:f8b1402c8f3c 270 VDU_FLT |= ShDVol_VDUFLTCode; //Shutdown circuit unclosed or uv
open4416 8:f8b1402c8f3c 271 }
open4416 8:f8b1402c8f3c 272 }
open4416 6:fbe401163489 273 }
open4416 6:fbe401163489 274
open4416 6:fbe401163489 275 void Aux_read(void)
open4416 6:fbe401163489 276 {
open4416 7:f674ef860c9c 277 //Capture analog in at once
open4416 7:f674ef860c9c 278 AUX_1_u16 = AUX_1.read_u16();
open4416 7:f674ef860c9c 279 AUX_2_u16 = AUX_2.read_u16();
open4416 7:f674ef860c9c 280 AUX_3_u16 = AUX_3.read_u16();
open4416 7:f674ef860c9c 281 AUX_4_u16 = AUX_4.read_u16();
open4416 8:f8b1402c8f3c 282 SDn_voltage = 18.81f*SDn_sense.read(); //Read in Shutdown circuit voltage in output end
open4416 6:fbe401163489 283 }
open4416 6:fbe401163489 284
open4416 6:fbe401163489 285 void IMU_read(void)
open4416 6:fbe401163489 286 {
open4416 8:f8b1402c8f3c 287 //Get readings threw SPI, unfinished 2019/11/15
open4416 8:f8b1402c8f3c 288 YR_imu = 0.0f;
open4416 8:f8b1402c8f3c 289 Ax_imu = 0.0f;
open4416 8:f8b1402c8f3c 290 Ay_imu = 0.0f;
open4416 8:f8b1402c8f3c 291 Roll_imu = 0.0f;
open4416 8:f8b1402c8f3c 292 Pitch_imu = 0.0f;
open4416 6:fbe401163489 293 }
open4416 6:fbe401163489 294
open4416 6:fbe401163489 295 void AWD(void)
open4416 6:fbe401163489 296 {
open4416 8:f8b1402c8f3c 297 if(AWD_HMI) {
open4416 8:f8b1402c8f3c 298 // A simple version is put here for reading
open4416 8:f8b1402c8f3c 299 Vb_est = 0.25f * (FL_W_ele + FR_W_ele + RL_W_ele + RR_W_ele);
open4416 8:f8b1402c8f3c 300 YR_ref = Steer_HMI*d2r*Vb_est/(Base+EG*Vb_est*Vb_est);
open4416 8:f8b1402c8f3c 301 Mz_reg = (YR_ref - YR_imu) * K_yaw; //K_yaw unfinished 2019/11/15
open4416 8:f8b1402c8f3c 302 sig = 0.5f - HCG*Trq_HMI/(Base*Rwhl*Mtot*g0);
open4416 8:f8b1402c8f3c 303 FL_Tcmd = (0.5f*Trq_HMI - Mz_reg*Rwhl/Track)*sig;
open4416 8:f8b1402c8f3c 304 FR_Tcmd = (0.5f*Trq_HMI + Mz_reg*Rwhl/Track)*sig;
open4416 8:f8b1402c8f3c 305 RL_Tcmd = (0.5f*Trq_HMI - Mz_reg*Rwhl/Track)*(1.0f-sig);
open4416 8:f8b1402c8f3c 306 RR_Tcmd = (0.5f*Trq_HMI + Mz_reg*Rwhl/Track)*(1.0f-sig);
open4416 8:f8b1402c8f3c 307 } else {
open4416 8:f8b1402c8f3c 308 FL_Tcmd = 0.25f*Trq_HMI;
open4416 8:f8b1402c8f3c 309 FR_Tcmd = 0.25f*Trq_HMI;
open4416 8:f8b1402c8f3c 310 RL_Tcmd = 0.25f*Trq_HMI;
open4416 8:f8b1402c8f3c 311 RR_Tcmd = 0.25f*Trq_HMI;
open4416 8:f8b1402c8f3c 312 }
open4416 8:f8b1402c8f3c 313 }
open4416 6:fbe401163489 314
open4416 8:f8b1402c8f3c 315 void ASL(void)
open4416 8:f8b1402c8f3c 316 {
open4416 8:f8b1402c8f3c 317 //Filter out each motor W_ele and get approximate accel, compare with IMU
open4416 8:f8b1402c8f3c 318 //Policy is set as "degrade only" coefficient exp(K_ASL*delAccel)
open4416 8:f8b1402c8f3c 319 //Fill out if enough time
open4416 6:fbe401163489 320 }
open4416 6:fbe401163489 321
open4416 5:8116016abee0 322 void Rx_CAN1(void)
open4416 5:8116016abee0 323 {
open4416 5:8116016abee0 324 LED = 1;
open4416 7:f674ef860c9c 325 int16_t tmp;
open4416 7:f674ef860c9c 326
open4416 5:8116016abee0 327 if(can1.read(can_msg_Rx)) {
open4416 7:f674ef860c9c 328 switch(can_msg_Rx.id) { //Filtered input message
open4416 7:f674ef860c9c 329 // Start of 100Hz msg
open4416 8:f8b1402c8f3c 330 case FL_HSB_ID://1
open4416 7:f674ef860c9c 331 //HSB from FL motor drive
open4416 7:f674ef860c9c 332 FL_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT
open4416 7:f674ef860c9c 333 tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 7:f674ef860c9c 334 FL_W_ele = tmp*1.0f;
open4416 7:f674ef860c9c 335 tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 7:f674ef860c9c 336 FL_Trq_fil3 = tmp * 0.01f;
open4416 7:f674ef860c9c 337 tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 7:f674ef860c9c 338 FL_Trq_est = tmp * 0.01f;
open4416 7:f674ef860c9c 339 FL_online = 3;
open4416 7:f674ef860c9c 340 break;
open4416 7:f674ef860c9c 341
open4416 8:f8b1402c8f3c 342 case FR_HSB_ID://2
open4416 7:f674ef860c9c 343 //HSB from FR motor drive
open4416 7:f674ef860c9c 344 FR_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT
open4416 7:f674ef860c9c 345 tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 7:f674ef860c9c 346 FR_W_ele = tmp*1.0f;
open4416 7:f674ef860c9c 347 tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 7:f674ef860c9c 348 FR_Trq_fil3 = tmp * 0.01f;
open4416 7:f674ef860c9c 349 tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 7:f674ef860c9c 350 FR_Trq_est = tmp * 0.01f;
open4416 7:f674ef860c9c 351 FR_online = 3;
open4416 7:f674ef860c9c 352 break;
open4416 7:f674ef860c9c 353
open4416 8:f8b1402c8f3c 354 case RL_HSB_ID://3
open4416 7:f674ef860c9c 355 //HSB from RL motor drive
open4416 7:f674ef860c9c 356 RL_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT
open4416 7:f674ef860c9c 357 tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 7:f674ef860c9c 358 RL_W_ele = tmp*1.0f;
open4416 7:f674ef860c9c 359 tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 7:f674ef860c9c 360 RL_Trq_fil3 = tmp * 0.01f;
open4416 7:f674ef860c9c 361 tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 7:f674ef860c9c 362 RL_Trq_est = tmp * 0.01f;
open4416 7:f674ef860c9c 363 RL_online = 3;
open4416 7:f674ef860c9c 364 break;
open4416 7:f674ef860c9c 365
open4416 8:f8b1402c8f3c 366 case RR_HSB_ID://4
open4416 7:f674ef860c9c 367 //HSB from RR motor drive
open4416 7:f674ef860c9c 368 RR_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT
open4416 7:f674ef860c9c 369 tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 7:f674ef860c9c 370 RR_W_ele = tmp*1.0f;
open4416 7:f674ef860c9c 371 tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 7:f674ef860c9c 372 RR_Trq_fil3 = tmp * 0.01f;
open4416 7:f674ef860c9c 373 tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 7:f674ef860c9c 374 RR_Trq_est = tmp * 0.01f;
open4416 7:f674ef860c9c 375 RR_online = 3;
open4416 7:f674ef860c9c 376 break;
open4416 7:f674ef860c9c 377
open4416 8:f8b1402c8f3c 378 case HMI_cmd_ID://5
open4416 7:f674ef860c9c 379 //HMI command from PSU
open4416 7:f674ef860c9c 380 AWD_HMI = can_msg_Rx.data[6] & 0x01; //Get AWD switch
open4416 7:f674ef860c9c 381 RST_HMI = can_msg_Rx.data[5] & 0x01; //Get RST request
open4416 7:f674ef860c9c 382 RTD_HMI = can_msg_Rx.data[4] & 0x01; //Get RTD switch
open4416 7:f674ef860c9c 383 tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 7:f674ef860c9c 384 Steer_HMI = tmp * 0.01f;
open4416 7:f674ef860c9c 385 tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 7:f674ef860c9c 386 Trq_HMI = tmp * 0.01f;
open4416 7:f674ef860c9c 387 PSU_online = 3;
open4416 7:f674ef860c9c 388 break;
open4416 7:f674ef860c9c 389 // end of 100Hz msg
open4416 7:f674ef860c9c 390
open4416 7:f674ef860c9c 391 // Start of 10Hz msg
open4416 8:f8b1402c8f3c 392 case FL_LSB_ID://6
open4416 7:f674ef860c9c 393 //LSB from FL motor drive
open4416 7:f674ef860c9c 394 tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6];
open4416 7:f674ef860c9c 395 FL_Tmotor = tmp*0.01f;
open4416 7:f674ef860c9c 396 tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 7:f674ef860c9c 397 FL_Tmodule = tmp*0.01f;
open4416 7:f674ef860c9c 398 FL_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 7:f674ef860c9c 399 FL_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 7:f674ef860c9c 400 break;
open4416 7:f674ef860c9c 401
open4416 8:f8b1402c8f3c 402 case FR_LSB_ID://7
open4416 7:f674ef860c9c 403 //LSB from FR motor drive
open4416 7:f674ef860c9c 404 tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6];
open4416 7:f674ef860c9c 405 FR_Tmotor = tmp*0.01f;
open4416 7:f674ef860c9c 406 tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 7:f674ef860c9c 407 FR_Tmodule = tmp*0.01f;
open4416 7:f674ef860c9c 408 FR_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 7:f674ef860c9c 409 FR_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 7:f674ef860c9c 410 break;
open4416 7:f674ef860c9c 411
open4416 8:f8b1402c8f3c 412 case RL_LSB_ID://8
open4416 7:f674ef860c9c 413 //LSB from RL motor drive
open4416 7:f674ef860c9c 414 tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6];
open4416 7:f674ef860c9c 415 RL_Tmotor = tmp*0.01f;
open4416 7:f674ef860c9c 416 tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 7:f674ef860c9c 417 RL_Tmodule = tmp*0.01f;
open4416 7:f674ef860c9c 418 RL_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 7:f674ef860c9c 419 RL_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 7:f674ef860c9c 420 break;
open4416 7:f674ef860c9c 421
open4416 8:f8b1402c8f3c 422 case RR_LSB_ID://9
open4416 7:f674ef860c9c 423 //LSB from RR motor drive
open4416 7:f674ef860c9c 424 tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6];
open4416 8:f8b1402c8f3c 425 RR_Tmotor = tmp*0.01f;
open4416 7:f674ef860c9c 426 tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 8:f8b1402c8f3c 427 RR_Tmodule = tmp*0.01f;
open4416 8:f8b1402c8f3c 428 RR_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 8:f8b1402c8f3c 429 RR_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 7:f674ef860c9c 430 break;
open4416 7:f674ef860c9c 431 // end of 10Hz msg
open4416 7:f674ef860c9c 432 }
open4416 5:8116016abee0 433 }
open4416 5:8116016abee0 434 LED = 0;
open4416 5:8116016abee0 435 }
open4416 5:8116016abee0 436
open4416 6:fbe401163489 437 void Tx_CLRerr_CAN1(void)
open4416 2:c7a3a8c1aeed 438 {
open4416 9:c99eeafa6fa3 439 Tx_Estop_CAN1(); //disable as default
open4416 9:c99eeafa6fa3 440 RST_cmd = 0; //clear out on shot
open4416 6:fbe401163489 441 }
open4416 6:fbe401163489 442
open4416 6:fbe401163489 443 void Tx_Estop_CAN1(void)
open4416 6:fbe401163489 444 {
open4416 9:c99eeafa6fa3 445 RTD_cmd = 0; //force disable
open4416 6:fbe401163489 446 Tx_Tcmd_CAN1();
open4416 2:c7a3a8c1aeed 447 }
open4416 2:c7a3a8c1aeed 448
open4416 9:c99eeafa6fa3 449 void Tx_Tcmd_CAN1(void) // 100 Hz
open4416 2:c7a3a8c1aeed 450 {
open4416 7:f674ef860c9c 451 int16_t tmp;
open4416 7:f674ef860c9c 452 tmp = (int16_t) (FL_Tcmd * 100.0f);
open4416 7:f674ef860c9c 453 temp_msg[0] = tmp;
open4416 7:f674ef860c9c 454 temp_msg[1] = tmp >> 8U;
open4416 7:f674ef860c9c 455 temp_msg[2] = RTD_cmd;
open4416 7:f674ef860c9c 456 temp_msg[3] = RST_cmd;
open4416 8:f8b1402c8f3c 457 can_msg_Tx = CANMessage(FL_CMD_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 458 CANpendTX();
open4416 6:fbe401163489 459 can1.write(can_msg_Tx);
open4416 6:fbe401163489 460
open4416 7:f674ef860c9c 461 tmp = (int16_t) (FR_Tcmd * 100.0f);
open4416 7:f674ef860c9c 462 temp_msg[0] = tmp;
open4416 7:f674ef860c9c 463 temp_msg[1] = tmp >> 8U;
open4416 7:f674ef860c9c 464 temp_msg[2] = RTD_cmd;
open4416 7:f674ef860c9c 465 temp_msg[3] = RST_cmd;
open4416 8:f8b1402c8f3c 466 can_msg_Tx = CANMessage(FR_CMD_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 467 CANpendTX();
open4416 6:fbe401163489 468 can1.write(can_msg_Tx);
open4416 6:fbe401163489 469
open4416 7:f674ef860c9c 470 tmp = (int16_t) (RL_Tcmd * 100.0f);
open4416 7:f674ef860c9c 471 temp_msg[0] = tmp;
open4416 7:f674ef860c9c 472 temp_msg[1] = tmp >> 8U;
open4416 7:f674ef860c9c 473 temp_msg[2] = RTD_cmd;
open4416 7:f674ef860c9c 474 temp_msg[3] = RST_cmd;
open4416 8:f8b1402c8f3c 475 can_msg_Tx = CANMessage(RL_CMD_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 476 CANpendTX();
open4416 6:fbe401163489 477 can1.write(can_msg_Tx);
open4416 6:fbe401163489 478
open4416 7:f674ef860c9c 479 tmp = (int16_t) (RR_Tcmd * 100.0f);
open4416 7:f674ef860c9c 480 temp_msg[0] = tmp;
open4416 7:f674ef860c9c 481 temp_msg[1] = tmp >> 8U;
open4416 7:f674ef860c9c 482 temp_msg[2] = RTD_cmd;
open4416 7:f674ef860c9c 483 temp_msg[3] = RST_cmd;
open4416 8:f8b1402c8f3c 484 can_msg_Tx = CANMessage(RR_CMD_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 485 CANpendTX();
open4416 6:fbe401163489 486 can1.write(can_msg_Tx);
open4416 6:fbe401163489 487
open4416 2:c7a3a8c1aeed 488 }
open4416 2:c7a3a8c1aeed 489
open4416 6:fbe401163489 490 void Tx_Qdrv_CAN1(void) // 10 Hz
open4416 0:c4747ebbe0b4 491 {
open4416 8:f8b1402c8f3c 492 int16_t tmp;
open4416 6:fbe401163489 493 // Auxilary sensor reading shitting out
open4416 7:f674ef860c9c 494 temp_msg[0] = AUX_1_u16;
open4416 7:f674ef860c9c 495 temp_msg[1] = AUX_1_u16 >> 8U;
open4416 7:f674ef860c9c 496 temp_msg[2] = AUX_2_u16;
open4416 7:f674ef860c9c 497 temp_msg[3] = AUX_2_u16 >> 8U;
open4416 7:f674ef860c9c 498 temp_msg[4] = AUX_3_u16;
open4416 7:f674ef860c9c 499 temp_msg[5] = AUX_3_u16 >> 8U;
open4416 7:f674ef860c9c 500 temp_msg[6] = AUX_4_u16;
open4416 7:f674ef860c9c 501 temp_msg[7] = AUX_4_u16 >> 8U;
open4416 6:fbe401163489 502 can_msg_Tx = CANMessage(AUX_sense_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 503 CANpendTX();
open4416 6:fbe401163489 504 can1.write(can_msg_Tx);
open4416 6:fbe401163489 505
open4416 6:fbe401163489 506 // Qdrive internal state shitting out
open4416 8:f8b1402c8f3c 507 temp_msg[0] = VDU_FLT;
open4416 8:f8b1402c8f3c 508 temp_msg[1] = VDU_FLT >> 8U;
open4416 8:f8b1402c8f3c 509 temp_msg[2] = VDU_STAT;
open4416 6:fbe401163489 510 can_msg_Tx = CANMessage(Qdrv_stat_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 511 CANpendTX();
open4416 6:fbe401163489 512 can1.write(can_msg_Tx);
open4416 2:c7a3a8c1aeed 513
open4416 6:fbe401163489 514 // IMU attitude readings shitting out, 10Hz on CAN but 100Hz for internal use
open4416 8:f8b1402c8f3c 515 tmp = (int16_t) (YR_imu * 10000.0f);
open4416 8:f8b1402c8f3c 516 temp_msg[0] = tmp;
open4416 8:f8b1402c8f3c 517 temp_msg[1] = tmp >> 8U;
open4416 8:f8b1402c8f3c 518 tmp = (int16_t) (Roll_imu * 100.0f);
open4416 8:f8b1402c8f3c 519 temp_msg[2] = tmp;
open4416 8:f8b1402c8f3c 520 temp_msg[3] = tmp >> 8U;
open4416 8:f8b1402c8f3c 521 tmp = (int16_t) (Pitch_imu * 100.0f);
open4416 8:f8b1402c8f3c 522 temp_msg[4] = tmp;
open4416 8:f8b1402c8f3c 523 temp_msg[5] = tmp >> 8U;
open4416 8:f8b1402c8f3c 524 temp_msg[6] = (int8_t)Ax_imu;
open4416 8:f8b1402c8f3c 525 temp_msg[7] = (int8_t)Ay_imu;
open4416 6:fbe401163489 526 can_msg_Tx = CANMessage(IMU_sense_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 527 CANpendTX();
open4416 6:fbe401163489 528 can1.write(can_msg_Tx);
open4416 6:fbe401163489 529 }
open4416 6:fbe401163489 530
open4416 6:fbe401163489 531 void CANpendTX(void)
open4416 6:fbe401163489 532 {
open4416 6:fbe401163489 533 //Pend till TX box has empty slot, timeout will generate error
open4416 6:fbe401163489 534 uint32_t timeout = 0;
open4416 6:fbe401163489 535 while(!(CAN1->TSR & CAN_TSR_TME_Msk)) {
open4416 6:fbe401163489 536 //Wait till non empty
open4416 6:fbe401163489 537 timeout += 1;
open4416 6:fbe401163489 538 if(timeout > 10000) {
open4416 6:fbe401163489 539 // Put some timeout error handler
open4416 6:fbe401163489 540 break;
open4416 6:fbe401163489 541 }
open4416 0:c4747ebbe0b4 542 }
open4416 0:c4747ebbe0b4 543 }
open4416 1:8a9ac822aab7 544
open4416 6:fbe401163489 545 void CAN_init(void)
open4416 6:fbe401163489 546 {
open4416 6:fbe401163489 547 //Set CAN system
open4416 6:fbe401163489 548 SET_BIT(CAN1->MCR, CAN_MCR_ABOM); // Enable auto reboot after bus off
open4416 6:fbe401163489 549 can1.filter(FL_HSB_ID,0xFFFF,CANStandard,0); // ID filter listing mode
open4416 6:fbe401163489 550 can1.filter(FR_HSB_ID,0xFFFF,CANStandard,1);
open4416 6:fbe401163489 551 can1.filter(RL_HSB_ID,0xFFFF,CANStandard,2);
open4416 6:fbe401163489 552 can1.filter(RR_HSB_ID,0xFFFF,CANStandard,3);
open4416 6:fbe401163489 553 can1.filter(FL_LSB_ID,0xFFFF,CANStandard,4);
open4416 6:fbe401163489 554 can1.filter(FR_LSB_ID,0xFFFF,CANStandard,5);
open4416 6:fbe401163489 555 can1.filter(RL_LSB_ID,0xFFFF,CANStandard,6);
open4416 6:fbe401163489 556 can1.filter(RR_LSB_ID,0xFFFF,CANStandard,7);
open4416 8:f8b1402c8f3c 557 can1.filter(HMI_cmd_ID,0xFFFF,CANStandard,8); // PSU online monitoring
open4416 6:fbe401163489 558 can1.mode(CAN::GlobalTest); // Add only for testing 2019/11/13
open4416 8:f8b1402c8f3c 559 can1.attach(&Rx_CAN1, CAN::RxIrq); // CAN1 Recieve Irq
open4416 6:fbe401163489 560 }
open4416 2:c7a3a8c1aeed 561
open4416 6:fbe401163489 562 void Module_WD(void)
open4416 6:fbe401163489 563 {
open4416 9:c99eeafa6fa3 564 //Module online dissipitive indicator
open4416 6:fbe401163489 565 if (FL_online != 0) {
open4416 6:fbe401163489 566 FL_online -= 1;
open4416 6:fbe401163489 567 }
open4416 6:fbe401163489 568 if (FR_online != 0) {
open4416 6:fbe401163489 569 FR_online -= 1;
open4416 6:fbe401163489 570 }
open4416 6:fbe401163489 571 if (RL_online != 0) {
open4416 6:fbe401163489 572 RL_online -= 1;
open4416 6:fbe401163489 573 }
open4416 6:fbe401163489 574 if (RR_online != 0) {
open4416 6:fbe401163489 575 RR_online -= 1;
open4416 6:fbe401163489 576 }
open4416 6:fbe401163489 577 if (PSU_online != 0) {
open4416 6:fbe401163489 578 PSU_online -= 1;
open4416 6:fbe401163489 579 }
open4416 6:fbe401163489 580 }
open4416 6:fbe401163489 581
open4416 8:f8b1402c8f3c 582 void Cooler(void)
open4416 8:f8b1402c8f3c 583 {
open4416 8:f8b1402c8f3c 584 //Cooling auto control, unfinish 2019/11/15
open4416 9:c99eeafa6fa3 585 Max_Tmotor = max_fval(FL_Tmotor, FR_Tmotor, RL_Tmotor, RR_Tmotor);
open4416 9:c99eeafa6fa3 586 Max_Tmodule = max_fval(FL_Tmodule, FR_Tmodule, RL_Tmodule, RR_Tmodule);
open4416 8:f8b1402c8f3c 587 if(0) {
open4416 8:f8b1402c8f3c 588 Aux_Rly = 1;
open4416 8:f8b1402c8f3c 589 } else {
open4416 8:f8b1402c8f3c 590 Aux_Rly = 0;
open4416 8:f8b1402c8f3c 591 }
open4416 8:f8b1402c8f3c 592 }
open4416 8:f8b1402c8f3c 593
open4416 9:c99eeafa6fa3 594 int16_t max_uval(int16_t i1, int16_t i2, int16_t i3, int16_t i4)
open4416 2:c7a3a8c1aeed 595 {
open4416 2:c7a3a8c1aeed 596 int16_t max = i1;
open4416 2:c7a3a8c1aeed 597 if(i2 > max) max = i2;
open4416 2:c7a3a8c1aeed 598 if(i3 > max) max = i3;
open4416 6:fbe401163489 599 if(i4 > max) max = i4;
open4416 2:c7a3a8c1aeed 600 return max;
open4416 6:fbe401163489 601 }
open4416 9:c99eeafa6fa3 602
open4416 9:c99eeafa6fa3 603 float max_fval(float i1, float i2, float i3, float i4)
open4416 9:c99eeafa6fa3 604 {
open4416 9:c99eeafa6fa3 605 float max = i1;
open4416 9:c99eeafa6fa3 606 if(i2 > max) max = i2;
open4416 9:c99eeafa6fa3 607 if(i3 > max) max = i3;
open4416 9:c99eeafa6fa3 608 if(i4 > max) max = i4;
open4416 9:c99eeafa6fa3 609 return max;
open4416 9:c99eeafa6fa3 610 }
open4416 8:f8b1402c8f3c 611 // pc.printf("SOC: %.2f\n", Module_Total*0.01f);