SHENG-HEN HSIEH / Mbed 2 deprecated VDU_2021

Just a regular publish

Dependencies:   mbed imu_driver

main.cpp@8:f8b1402c8f3c, 2019-11-15 (annotated)

Committer:
open4416
Date:
Fri Nov 15 08:19:32 2019 +0000
Revision:
8:f8b1402c8f3c
Parent:
7:f674ef860c9c
Child:
9:c99eeafa6fa3
Initial release of workable version

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