SHENG-HEN HSIEH / Mbed 2 deprecated VDU_2021

Just a regular publish

Dependencies:   mbed imu_driver

main.cpp@6:fbe401163489, 2019-11-14 (annotated)

Committer:
open4416
Date:
Thu Nov 14 14:29:31 2019 +0000
Revision:
6:fbe401163489
Parent:
5:8116016abee0
Child:
7:f674ef860c9c
Main structure done, left blank to fill in

Who changed what in which revision?

UserRevisionLine numberNew contents of line
open4416 0:c4747ebbe0b4 1 #include "mbed.h"
open4416 2:c7a3a8c1aeed 2 #define dt 0.01f
open4416 2:c7a3a8c1aeed 3 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
open4416 5:8116016abee0 4 #define FL_HSB_ID 0xA0 // Rx, 100Hz
open4416 5:8116016abee0 5 #define FR_HSB_ID 0xA1 // Rx
open4416 5:8116016abee0 6 #define RL_HSB_ID 0xA2 // Rx
open4416 5:8116016abee0 7 #define RR_HSB_ID 0xA3 // Rx
open4416 5:8116016abee0 8 #define FL_LSB_ID 0xB0 // Rx, 10Hz
open4416 5:8116016abee0 9 #define FR_LSB_ID 0xB1 // Rx
open4416 5:8116016abee0 10 #define RL_LSB_ID 0xB2 // Rx
open4416 5:8116016abee0 11 #define RR_LSB_ID 0xB3 // Rx
open4416 5:8116016abee0 12 #define PSU_cmd_ID 0xC4 // Rx, 100Hz
open4416 2:c7a3a8c1aeed 13
open4416 5:8116016abee0 14 #define FL_CMD_ID 0xC0 // Tx, 100Hz
open4416 5:8116016abee0 15 #define FR_CMD_ID 0xC1 // Tx
open4416 5:8116016abee0 16 #define RL_CMD_ID 0xC2 // Tx
open4416 5:8116016abee0 17 #define RR_CMD_ID 0xC3 // Tx
open4416 5:8116016abee0 18 #define AUX_sense_ID 0xE0 // Tx, 10Hz
open4416 5:8116016abee0 19 #define Qdrv_stat_ID 0xE1 // Tx
open4416 5:8116016abee0 20 #define IMU_sense_ID 0xE2 // Tx
open4416 5:8116016abee0 21
open4416 6:fbe401163489 22 #define MODOFL_VDUFLTCode 0x0001U //Drive module timeout after once online
open4416 6:fbe401163489 23 #define PSUOFL_VDUFLTCode 0x0002U //Pedal unit timeout after once online
open4416 6:fbe401163489 24 #define IMUSTA_VDUFLTCode 0x0004U //IMU module abnormal
open4416 6:fbe401163489 25
open4416 6:fbe401163489 26
open4416 5:8116016abee0 27 DigitalOut Aux_Rly(PC_10,0); //Control aux relay, 1 active
open4416 5:8116016abee0 28 DigitalOut Fault_Ind(PC_10,0); //Indicate fault bt flashing, 1 active
open4416 2:c7a3a8c1aeed 29 DigitalOut LED(D13, 0); //Internal LED output, general purpose
open4416 6:fbe401163489 30 AnalogIn AUX_1(PC_0); //Auxilaru analog sensor
open4416 6:fbe401163489 31 AnalogIn AUX_2(PC_4);
open4416 6:fbe401163489 32 AnalogIn AUX_3(PC_2);
open4416 6:fbe401163489 33 AnalogIn AUX_4(PC_1);
open4416 6:fbe401163489 34 AnalogIn SD_sense(PB_0); //Shutdown circuit driving end detection
open4416 5:8116016abee0 35 CAN can1(PB_8, PB_9, 1000000); //1Mbps, contain critical torque command message
open4416 2:c7a3a8c1aeed 36 Serial pc(USBTX, USBRX, 115200);
open4416 5:8116016abee0 37 Ticker ticker1; //100Hz task
open4416 5:8116016abee0 38
open4416 5:8116016abee0 39 CANMessage can_msg_Rx;
open4416 5:8116016abee0 40 CANMessage can_msg_Tx;
open4416 2:c7a3a8c1aeed 41
open4416 5:8116016abee0 42 //Recive bank for HSB & LFB
open4416 5:8116016abee0 43 char temp_msg[8] = {0,0,0,0,0,0,0,0};
open4416 5:8116016abee0 44 char FL_HFB[8]; //data space to speed up can_Rx speed
open4416 5:8116016abee0 45 char FR_HFB[8];
open4416 5:8116016abee0 46 char RL_HFB[8];
open4416 5:8116016abee0 47 char RR_HFB[8];
open4416 5:8116016abee0 48 char FL_LFB[8];
open4416 5:8116016abee0 49 char FR_LFB[8];
open4416 5:8116016abee0 50 char RL_LFB[8];
open4416 5:8116016abee0 51 char RR_LFB[8];
open4416 0:c4747ebbe0b4 52
open4416 5:8116016abee0 53 //CAN to motor drive module, 100Hz
open4416 5:8116016abee0 54 //msg ID: 0xC0~0xC3
open4416 5:8116016abee0 55 float FL_Tcmd = 0; // *100 before sent in int16_t
open4416 5:8116016abee0 56 float FR_Tcmd = 0;
open4416 5:8116016abee0 57 float RL_Tcmd = 0;
open4416 5:8116016abee0 58 float RR_Tcmd = 0;
open4416 5:8116016abee0 59 uint8_t RTD_cmd = 0; // start inverter switching cmd
open4416 5:8116016abee0 60 uint8_t RST_cmd = 0; // send out once to reset module fault
open4416 5:8116016abee0 61
open4416 5:8116016abee0 62 //Module online flag
open4416 5:8116016abee0 63 uint8_t FL_online = 0; // 0 indicate detection timeout
open4416 5:8116016abee0 64 uint8_t FR_online = 0; // reset value is 10 to hold for 0.1sec
open4416 5:8116016abee0 65 uint8_t RL_online = 0; // -1 per 100Hz task
open4416 5:8116016abee0 66 uint8_t RR_online = 0;
open4416 6:fbe401163489 67 uint8_t PSU_online = 0;
open4416 0:c4747ebbe0b4 68
open4416 6:fbe401163489 69 //Feedback data decoded out storage
open4416 6:fbe401163489 70 float FL_Temp_mtr = 0; // motor temperature degC, 10Hz recieving
open4416 5:8116016abee0 71 float FR_Temp_mtr = 0;
open4416 5:8116016abee0 72 float RL_Temp_mtr = 0;
open4416 5:8116016abee0 73 float RR_Temp_mtr = 0;
open4416 6:fbe401163489 74 float FL_Temp_ivt = 0; // inverter temperature degC, 10Hz recieving
open4416 5:8116016abee0 75 float FR_Temp_ivt = 0;
open4416 5:8116016abee0 76 float RL_Temp_ivt = 0;
open4416 5:8116016abee0 77 float RR_Temp_ivt = 0;
open4416 6:fbe401163489 78 uint16_t FL_FLT_Run = 0; // RUN fault code, 10Hz recieving
open4416 5:8116016abee0 79 uint16_t FR_FLT_Run = 0;
open4416 5:8116016abee0 80 uint16_t RL_FLT_Run = 0;
open4416 5:8116016abee0 81 uint16_t RR_FLT_Run = 0;
open4416 6:fbe401163489 82 uint16_t FL_FLT_Post = 0; // POST fault code, 10Hz recieving
open4416 5:8116016abee0 83 uint16_t FR_FLT_Post = 0;
open4416 5:8116016abee0 84 uint16_t RL_FLT_Post = 0;
open4416 5:8116016abee0 85 uint16_t RR_FLT_Post = 0;
open4416 6:fbe401163489 86 float FL_Trq_fil3 = 0; // Internal Tcmd, 100Hz recieving
open4416 5:8116016abee0 87 float FR_Trq_fil3 = 0;
open4416 5:8116016abee0 88 float RL_Trq_fil3 = 0;
open4416 5:8116016abee0 89 float RR_Trq_fil3 = 0;
open4416 6:fbe401163489 90 float FL_Trq_est = 0; // Estimated Torque, 100Hz recieving
open4416 5:8116016abee0 91 float FR_Trq_est = 0;
open4416 5:8116016abee0 92 float RL_Trq_est = 0;
open4416 5:8116016abee0 93 float RR_Trq_est = 0;
open4416 6:fbe401163489 94 float FL_W_ele = 0; // Estimated W_ele, 100Hz recieving
open4416 5:8116016abee0 95 float FR_W_ele = 0;
open4416 5:8116016abee0 96 float RL_W_ele = 0;
open4416 5:8116016abee0 97 float RR_W_ele = 0;
open4416 6:fbe401163489 98 uint8_t FL_DSM = 0; // DSM state, 100Hz recieving
open4416 5:8116016abee0 99 uint8_t FR_DSM = 0;
open4416 5:8116016abee0 100 uint8_t RL_DSM = 0;
open4416 5:8116016abee0 101 uint8_t RR_DSM = 0;
open4416 2:c7a3a8c1aeed 102
open4416 5:8116016abee0 103 //From Pedal Box msg
open4416 6:fbe401163489 104 uint8_t RTD_HMI = 0; // 1 = HMI requesting
open4416 6:fbe401163489 105 uint8_t RST_HMI = 0; // 1 = HMI request once
open4416 6:fbe401163489 106 uint8_t AWD_HMI = 0; // 1 = HMI requesting
open4416 0:c4747ebbe0b4 107
open4416 6:fbe401163489 108 //10/100Hz tasking
open4416 6:fbe401163489 109 uint8_t HSTick = 5; // High speed tick
open4416 6:fbe401163489 110 uint8_t LSTick = 0;
open4416 6:fbe401163489 111 uint8_t HST_EXFL = 0; // High speed execution flag
open4416 6:fbe401163489 112 uint8_t LST_EXFL = 0;
open4416 6:fbe401163489 113 uint8_t FLT_print = 0; // Send repeative error message
open4416 6:fbe401163489 114 uint8_t FLT_print_cnt = 0;
open4416 2:c7a3a8c1aeed 115
open4416 6:fbe401163489 116 //VDU states
open4416 6:fbe401163489 117 typedef enum {
open4416 6:fbe401163489 118 VDU_PowerOn = 0U,
open4416 6:fbe401163489 119 VDU_Idle = 1U,
open4416 6:fbe401163489 120 VDU_Run = 2U,
open4416 6:fbe401163489 121 VDU_Fault = 3U
open4416 6:fbe401163489 122 } VDU_STATE_TYPE;
open4416 6:fbe401163489 123 VDU_STATE_TYPE VDU_STAT = VDU_PowerOn; //VDU current state
open4416 6:fbe401163489 124 uint16_t VDU_FLT = 0; //VDU internal fault code
open4416 2:c7a3a8c1aeed 125
open4416 6:fbe401163489 126 //Prototype
open4416 6:fbe401163489 127 void CAN_init(void); //Initial CAN frequency filter...
open4416 6:fbe401163489 128 void Module_WD(void); //Software watchdog indicate module state
open4416 6:fbe401163489 129 void IMU_read(void); //Update IMU readings by once
open4416 6:fbe401163489 130 void Aux_read(void); //Update AUX reafings by once
open4416 6:fbe401163489 131 void Idle2Run(void); //Initializing before running
open4416 6:fbe401163489 132 void Run2Idle(void); //Initializing before idling
open4416 6:fbe401163489 133 void POST(void); //Check IMU error
open4416 6:fbe401163489 134 void RUNT(void); //Check POST, timeout, ShutDrv voltage error
open4416 6:fbe401163489 135 void AWD(void); //AWD main program
open4416 6:fbe401163489 136 void Rx_CAN1(void); //CAN RX handler
open4416 6:fbe401163489 137 void Tx_CLRerr_CAN1(void); //Send reset cmd to modules
open4416 6:fbe401163489 138 void Tx_Estop_CAN1(void); //Send out heart beat but force RTD off
open4416 6:fbe401163489 139 void Tx_Tcmd_CAN1(void); //Send out heart beat command
open4416 6:fbe401163489 140 void Tx_Qdrv_CAN1(void); //Send out low speed heart beat for logging
open4416 6:fbe401163489 141 void CANpendTX(void); //Helper function for CAN Tx
open4416 6:fbe401163489 142 int16_t max_val(int16_t i1, int16_t i2, int16_t i3, int16_t i4);
open4416 2:c7a3a8c1aeed 143
open4416 2:c7a3a8c1aeed 144 void timer1_interrupt(void)
open4416 2:c7a3a8c1aeed 145 {
open4416 6:fbe401163489 146 HSTick += 1;
open4416 6:fbe401163489 147 LSTick += 1;
open4416 6:fbe401163489 148 if (HSTick > 9) { // 100Hz
open4416 6:fbe401163489 149 HST_EXFL = 1;
open4416 6:fbe401163489 150 HSTick = 0;
open4416 6:fbe401163489 151 }
open4416 6:fbe401163489 152 if (LSTick > 99) { // 10Hz
open4416 6:fbe401163489 153 LST_EXFL = 1;
open4416 6:fbe401163489 154 LSTick = 0;
open4416 6:fbe401163489 155 }
open4416 2:c7a3a8c1aeed 156 }
open4416 0:c4747ebbe0b4 157
open4416 0:c4747ebbe0b4 158 int main()
open4416 0:c4747ebbe0b4 159 {
open4416 6:fbe401163489 160 //Init CAN network
open4416 6:fbe401163489 161 CAN_init();
open4416 6:fbe401163489 162
open4416 6:fbe401163489 163 //Start House keeping task
open4416 6:fbe401163489 164 printf("VDU start up, pend for module online\n");
open4416 6:fbe401163489 165 ticker1.attach_us(&timer1_interrupt, 1000); //1 ms Systick
open4416 6:fbe401163489 166 while(1) {
open4416 6:fbe401163489 167
open4416 6:fbe401163489 168 // Do high speed loop
open4416 6:fbe401163489 169 if (HST_EXFL == 1) {
open4416 6:fbe401163489 170 HST_EXFL = 0;
open4416 6:fbe401163489 171
open4416 6:fbe401163489 172 // Get IMU, Auxs
open4416 6:fbe401163489 173 IMU_read();
open4416 6:fbe401163489 174 Aux_read();
open4416 6:fbe401163489 175 Module_WD(); // Module online watch dog
open4416 6:fbe401163489 176
open4416 6:fbe401163489 177 // Run state machine
open4416 6:fbe401163489 178 switch (VDU_STAT) {
open4416 6:fbe401163489 179
open4416 6:fbe401163489 180 case VDU_PowerOn:
open4416 6:fbe401163489 181 /* Power on state
open4416 6:fbe401163489 182 * Description:
open4416 6:fbe401163489 183 * Simple start up sequence will be done here
open4416 6:fbe401163489 184 * Do:
open4416 6:fbe401163489 185 * VDU internal POST
open4416 6:fbe401163489 186 * Wait till modules + PSU online
open4416 6:fbe401163489 187 * To VDU_Idle (RTD off):
open4416 6:fbe401163489 188 * Prepare for 4WD main program
open4416 6:fbe401163489 189 * To VDU_Fault:
open4416 6:fbe401163489 190 * Run the error handling service
open4416 6:fbe401163489 191 */
open4416 6:fbe401163489 192
open4416 6:fbe401163489 193 //Basic IMU test
open4416 6:fbe401163489 194 POST();
open4416 6:fbe401163489 195
open4416 6:fbe401163489 196 //Check if state transition only when all module online
open4416 6:fbe401163489 197 if((FL_online*FR_online*RL_online*RR_online*PSU_online)!= 0) {
open4416 6:fbe401163489 198 // if(1){ //Force online check pass only for debug 2019/11/14
open4416 6:fbe401163489 199
open4416 6:fbe401163489 200 if ( //Check if any error
open4416 6:fbe401163489 201 (FL_DSM == 3U)||
open4416 6:fbe401163489 202 (FR_DSM == 3U)||
open4416 6:fbe401163489 203 (RL_DSM == 3U)||
open4416 6:fbe401163489 204 (RR_DSM == 3U)||
open4416 6:fbe401163489 205 (VDU_FLT != 0)) {
open4416 6:fbe401163489 206 VDU_STAT = VDU_Fault;
open4416 6:fbe401163489 207 FLT_print = 1;
open4416 6:fbe401163489 208 } else {
open4416 6:fbe401163489 209 //All module online & POST pass
open4416 6:fbe401163489 210 VDU_STAT = VDU_Idle;
open4416 6:fbe401163489 211 printf("All module online, VDU now Idle\n");
open4416 6:fbe401163489 212 }
open4416 6:fbe401163489 213 } //Else keep in state VDU_PowerOn
open4416 6:fbe401163489 214 break;
open4416 6:fbe401163489 215
open4416 6:fbe401163489 216 case VDU_Idle:
open4416 6:fbe401163489 217 /* Controller Idle state
open4416 6:fbe401163489 218 * Description:
open4416 6:fbe401163489 219 * Normal latched state, wait for RTD_HMI set from PSU
open4416 6:fbe401163489 220 * 4WD in running but output mask to 0
open4416 6:fbe401163489 221 * Do:
open4416 6:fbe401163489 222 * 4WD controller
open4416 6:fbe401163489 223 * Check:
open4416 6:fbe401163489 224 * RUN faults if any
open4416 6:fbe401163489 225 * To VDU_Run:
open4416 6:fbe401163489 226 * Initialize parameters for start up, set RTD_cmd
open4416 6:fbe401163489 227 * To VDU_Fault:
open4416 6:fbe401163489 228 * Run the error handling service
open4416 6:fbe401163489 229 */
open4416 6:fbe401163489 230
open4416 6:fbe401163489 231 //Forced RTD_HMI for debug purpose 2019/11/14
open4416 6:fbe401163489 232 // RTD_HMI = 1; //Should be set if can bus received data
open4416 6:fbe401163489 233 //Forced RTD_HMI for debug purpose 2019/11/14
open4416 6:fbe401163489 234
open4416 6:fbe401163489 235 RUNT(); //Run test
open4416 6:fbe401163489 236 AWD(); //AWD main program
open4416 1:8a9ac822aab7 237
open4416 6:fbe401163489 238 if ( //Check if any error
open4416 6:fbe401163489 239 (FL_DSM == 3U)||
open4416 6:fbe401163489 240 (FR_DSM == 3U)||
open4416 6:fbe401163489 241 (RL_DSM == 3U)||
open4416 6:fbe401163489 242 (RR_DSM == 3U)||
open4416 6:fbe401163489 243 (VDU_FLT != 0)) {
open4416 6:fbe401163489 244 VDU_STAT = VDU_Fault;
open4416 6:fbe401163489 245 FLT_print = 1;
open4416 6:fbe401163489 246 } else if (RTD_HMI != 0) { //Or command to run threw PSU
open4416 6:fbe401163489 247 //Prepare to send out RTD and start motor
open4416 6:fbe401163489 248 Idle2Run();
open4416 6:fbe401163489 249 VDU_STAT = VDU_Run;
open4416 6:fbe401163489 250 printf("Idle 2 Run\n");
open4416 6:fbe401163489 251 } //Else keep in state
open4416 6:fbe401163489 252 break;
open4416 6:fbe401163489 253
open4416 6:fbe401163489 254 case VDU_Run:
open4416 6:fbe401163489 255 /* Controller Run state
open4416 6:fbe401163489 256 * Description:
open4416 6:fbe401163489 257 * Normal latched state, after RTD_HMI is set from PSU
open4416 6:fbe401163489 258 * Same to Idle state except RTD_cmd is set
open4416 6:fbe401163489 259 * Do:
open4416 6:fbe401163489 260 * 4WD controller
open4416 6:fbe401163489 261 * Check:
open4416 6:fbe401163489 262 * RUN faults if any
open4416 6:fbe401163489 263 * To VDU_Idle:
open4416 6:fbe401163489 264 * Initialize parameters for idling, reset RTD_cmd
open4416 6:fbe401163489 265 * To VDU_Fault:
open4416 6:fbe401163489 266 * Run the error handling service
open4416 6:fbe401163489 267 */
open4416 6:fbe401163489 268
open4416 6:fbe401163489 269 RUNT(); //Run test
open4416 6:fbe401163489 270 AWD(); //AWD main program
open4416 6:fbe401163489 271
open4416 6:fbe401163489 272 //Temporary debug posting area 2019/11/14
open4416 6:fbe401163489 273 //printf("%d,%d\n", Encoder_cnt, Encoder_del);
open4416 6:fbe401163489 274 //printf("%d\n\r", (int16_t)Tmodule);//
open4416 6:fbe401163489 275 //printf("%d\n\r", (int16_t)Vbus);
open4416 0:c4747ebbe0b4 276
open4416 6:fbe401163489 277 if ( //Check if any error
open4416 6:fbe401163489 278 (FL_DSM == 3U)||
open4416 6:fbe401163489 279 (FR_DSM == 3U)||
open4416 6:fbe401163489 280 (RL_DSM == 3U)||
open4416 6:fbe401163489 281 (RR_DSM == 3U)||
open4416 6:fbe401163489 282 (VDU_FLT != 0)) {
open4416 6:fbe401163489 283 VDU_STAT = VDU_Fault;
open4416 6:fbe401163489 284 FLT_print = 1;
open4416 6:fbe401163489 285 } else if (RTD_HMI != 1) { //Or command to stop threw can bus
open4416 6:fbe401163489 286 Run2Idle();
open4416 6:fbe401163489 287 VDU_STAT = VDU_Idle;
open4416 6:fbe401163489 288 printf("Run 2 Idle\n");
open4416 6:fbe401163489 289 } //Else keep in state
open4416 6:fbe401163489 290 break;
open4416 6:fbe401163489 291
open4416 6:fbe401163489 292 case VDU_Fault:
open4416 6:fbe401163489 293 /* Controller Fault state
open4416 6:fbe401163489 294 * Description:
open4416 6:fbe401163489 295 * Fault latched state if any faults is detected
open4416 6:fbe401163489 296 * Same to Idle state except keep till RTD_HMI reset
open4416 6:fbe401163489 297 * Do:
open4416 6:fbe401163489 298 * Nothing, like a piece of shit
open4416 6:fbe401163489 299 * Check:
open4416 6:fbe401163489 300 * RUN faults if any
open4416 6:fbe401163489 301 * To VDU_PowerOn:
open4416 6:fbe401163489 302 * Restart VDU
open4416 6:fbe401163489 303 */
open4416 6:fbe401163489 304
open4416 6:fbe401163489 305 RUNT(); //Run test
open4416 6:fbe401163489 306
open4416 6:fbe401163489 307 if (RST_HMI == 1) { //PSU reset to clear error
open4416 6:fbe401163489 308 RST_cmd = 1;
open4416 6:fbe401163489 309 FLT_print = 0;
open4416 6:fbe401163489 310 VDU_STAT = VDU_PowerOn;
open4416 6:fbe401163489 311 printf("Module reset\nVDU restarting...\n");
open4416 6:fbe401163489 312 } //Else keep in state
open4416 6:fbe401163489 313 break;
open4416 6:fbe401163489 314 }
open4416 6:fbe401163489 315
open4416 6:fbe401163489 316 // Shit out torque distribution
open4416 6:fbe401163489 317 if(VDU_STAT == VDU_Run) {
open4416 6:fbe401163489 318 //Allow output torque
open4416 6:fbe401163489 319 Tx_Tcmd_CAN1();
open4416 6:fbe401163489 320 } else if(RST_cmd != 0) {
open4416 6:fbe401163489 321 Tx_CLRerr_CAN1();
open4416 6:fbe401163489 322 } else {
open4416 6:fbe401163489 323 //Force RTD off when not in VDU_Run
open4416 6:fbe401163489 324 Tx_Estop_CAN1();
open4416 6:fbe401163489 325 }
open4416 6:fbe401163489 326
open4416 6:fbe401163489 327 }
open4416 6:fbe401163489 328
open4416 6:fbe401163489 329
open4416 6:fbe401163489 330 // Do low speed state reporting
open4416 6:fbe401163489 331 if (LST_EXFL == 1) {
open4416 6:fbe401163489 332 LST_EXFL = 0;
open4416 5:8116016abee0 333 Tx_Qdrv_CAN1();
open4416 6:fbe401163489 334
open4416 6:fbe401163489 335 // Print out error mesagge if exist, 1Hz repeative
open4416 6:fbe401163489 336 if(FLT_print != 0) {
open4416 6:fbe401163489 337 FLT_print_cnt += 1;
open4416 6:fbe401163489 338 if(FLT_print_cnt > 19) {
open4416 6:fbe401163489 339 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 6:fbe401163489 340 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 6:fbe401163489 341 printf("VDU Err:0x%04X\n\n", VDU_FLT);
open4416 6:fbe401163489 342 FLT_print_cnt = 0;
open4416 6:fbe401163489 343 }
open4416 6:fbe401163489 344 }
open4416 6:fbe401163489 345
open4416 0:c4747ebbe0b4 346 }
open4416 0:c4747ebbe0b4 347 }
open4416 0:c4747ebbe0b4 348 }
open4416 0:c4747ebbe0b4 349
open4416 6:fbe401163489 350 void Idle2Run(void)
open4416 6:fbe401163489 351 {
open4416 6:fbe401163489 352 RTD_cmd = 1;
open4416 6:fbe401163489 353 }
open4416 6:fbe401163489 354
open4416 6:fbe401163489 355 void Run2Idle(void)
open4416 6:fbe401163489 356 {
open4416 6:fbe401163489 357 RTD_cmd = 0;
open4416 6:fbe401163489 358 }
open4416 6:fbe401163489 359
open4416 6:fbe401163489 360 void POST(void)
open4416 6:fbe401163489 361 {
open4416 6:fbe401163489 362 //Check IMU status
open4416 6:fbe401163489 363 if(0) {
open4416 6:fbe401163489 364 VDU_FLT |= IMUSTA_VDUFLTCode; //IMU status error
open4416 6:fbe401163489 365 }
open4416 6:fbe401163489 366 }
open4416 6:fbe401163489 367
open4416 6:fbe401163489 368 void RUNT(void)
open4416 6:fbe401163489 369 {
open4416 6:fbe401163489 370 POST();
open4416 6:fbe401163489 371
open4416 6:fbe401163489 372 //Check timeout
open4416 6:fbe401163489 373 if((FL_online*FR_online*RL_online*RR_online) == 0) {
open4416 6:fbe401163489 374 VDU_FLT |= MODOFL_VDUFLTCode; //Module timeout
open4416 6:fbe401163489 375 }
open4416 6:fbe401163489 376 if(PSU_online == 0) {
open4416 6:fbe401163489 377 VDU_FLT |= PSUOFL_VDUFLTCode; //PSU timeout
open4416 6:fbe401163489 378 }
open4416 6:fbe401163489 379
open4416 6:fbe401163489 380 //Check IMU status
open4416 6:fbe401163489 381 //XXX
open4416 6:fbe401163489 382
open4416 6:fbe401163489 383 //Check ShutDrv voltage
open4416 6:fbe401163489 384 //XXX
open4416 6:fbe401163489 385 }
open4416 6:fbe401163489 386
open4416 6:fbe401163489 387 void Aux_read(void)
open4416 6:fbe401163489 388 {
open4416 6:fbe401163489 389 }
open4416 6:fbe401163489 390
open4416 6:fbe401163489 391 void IMU_read(void)
open4416 6:fbe401163489 392 {
open4416 6:fbe401163489 393 }
open4416 6:fbe401163489 394
open4416 6:fbe401163489 395 void AWD(void)
open4416 6:fbe401163489 396 {
open4416 6:fbe401163489 397
open4416 6:fbe401163489 398 }
open4416 6:fbe401163489 399
open4416 5:8116016abee0 400 void Rx_CAN1(void)
open4416 5:8116016abee0 401 {
open4416 5:8116016abee0 402 LED = 1;
open4416 5:8116016abee0 403 if(can1.read(can_msg_Rx)) {
open4416 5:8116016abee0 404 // switch(can_msg_Rx.id) { //Filtered the input message and do corresponding action
open4416 5:8116016abee0 405 // case 0xF0:
open4416 5:8116016abee0 406 // //Internal state address
open4416 5:8116016abee0 407 // RTD_State = can_msg_Rx.data[7] & 0x01; //get bit "0", result ( 1 = RTD, 0 = OFF )
open4416 5:8116016abee0 408 // CAN_flag_1 = 1;
open4416 5:8116016abee0 409 // break;
open4416 5:8116016abee0 410 //
open4416 5:8116016abee0 411 // case 0xA0 :
open4416 5:8116016abee0 412 // //Temperature infrom address 1
open4416 5:8116016abee0 413 // IGBT_Temp_A = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 5:8116016abee0 414 // IGBT_Temp_B = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 5:8116016abee0 415 // IGBT_Temp_C = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 5:8116016abee0 416 // IGBT_Temp = max_val(IGBT_Temp_A,IGBT_Temp_B,IGBT_Temp_C);
open4416 5:8116016abee0 417 // CAN_flag_1 = 1;
open4416 5:8116016abee0 418 // break;
open4416 5:8116016abee0 419 //
open4416 5:8116016abee0 420 // case 0xA2 :
open4416 5:8116016abee0 421 // //Temperature infrom address 3
open4416 5:8116016abee0 422 // Motor_Temp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4];
open4416 5:8116016abee0 423 // CAN_flag_1 = 1;
open4416 5:8116016abee0 424 // break;
open4416 5:8116016abee0 425 //
open4416 5:8116016abee0 426 // case 0xA5:
open4416 5:8116016abee0 427 // Motor_Speed = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2];
open4416 5:8116016abee0 428 // break;
open4416 5:8116016abee0 429 //
open4416 5:8116016abee0 430 // case 0xA6 :
open4416 5:8116016abee0 431 // //Current infrom address
open4416 5:8116016abee0 432 // DC_Current = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6];
open4416 5:8116016abee0 433 // CAN_flag_1 = 1;
open4416 5:8116016abee0 434 // break;
open4416 5:8116016abee0 435 //
open4416 5:8116016abee0 436 // case 0xA7 :
open4416 5:8116016abee0 437 // //Voltage infrom address
open4416 5:8116016abee0 438 // DC_Voltage = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0];
open4416 5:8116016abee0 439 // CAN_flag_1 = 1;
open4416 5:8116016abee0 440 // break;
open4416 5:8116016abee0 441 // }
open4416 5:8116016abee0 442 }
open4416 5:8116016abee0 443 LED = 0;
open4416 5:8116016abee0 444 }
open4416 5:8116016abee0 445
open4416 6:fbe401163489 446 void Tx_CLRerr_CAN1(void)
open4416 2:c7a3a8c1aeed 447 {
open4416 6:fbe401163489 448 RTD_cmd = 0; //disable as default
open4416 6:fbe401163489 449 Tx_Tcmd_CAN1();
open4416 6:fbe401163489 450 RST_cmd = 0; //on shot
open4416 6:fbe401163489 451 }
open4416 6:fbe401163489 452
open4416 6:fbe401163489 453 void Tx_Estop_CAN1(void)
open4416 6:fbe401163489 454 {
open4416 6:fbe401163489 455 RTD_cmd = 0; //force disable
open4416 6:fbe401163489 456 Tx_Tcmd_CAN1();
open4416 2:c7a3a8c1aeed 457 }
open4416 2:c7a3a8c1aeed 458
open4416 6:fbe401163489 459 void Tx_Tcmd_CAN1(void) // 100 Hz
open4416 2:c7a3a8c1aeed 460 {
open4416 6:fbe401163489 461 // Need to change ID for real case 2019/11/13
open4416 6:fbe401163489 462 temp_msg[0] = 1;
open4416 6:fbe401163489 463 temp_msg[1] = 2;
open4416 6:fbe401163489 464 temp_msg[2] = 3;
open4416 6:fbe401163489 465 temp_msg[3] = 4;
open4416 6:fbe401163489 466 temp_msg[4] = 5;
open4416 6:fbe401163489 467 temp_msg[5] = 6;
open4416 6:fbe401163489 468 temp_msg[6] = 7;
open4416 6:fbe401163489 469 temp_msg[7] = 8;
open4416 6:fbe401163489 470 can_msg_Tx = CANMessage(FL_HSB_ID,temp_msg,8,CANData,CANStandard); // FL_CMD_ID, now only for testing
open4416 6:fbe401163489 471 CANpendTX();
open4416 6:fbe401163489 472 can1.write(can_msg_Tx);
open4416 6:fbe401163489 473
open4416 6:fbe401163489 474 temp_msg[0] = 1;
open4416 6:fbe401163489 475 temp_msg[1] = 2;
open4416 6:fbe401163489 476 temp_msg[2] = 3;
open4416 6:fbe401163489 477 temp_msg[3] = 4;
open4416 6:fbe401163489 478 temp_msg[4] = 5;
open4416 6:fbe401163489 479 temp_msg[5] = 6;
open4416 6:fbe401163489 480 temp_msg[6] = 7;
open4416 6:fbe401163489 481 temp_msg[7] = 8;
open4416 6:fbe401163489 482 can_msg_Tx = CANMessage(FR_HSB_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 483 CANpendTX();
open4416 6:fbe401163489 484 can1.write(can_msg_Tx);
open4416 6:fbe401163489 485
open4416 6:fbe401163489 486 temp_msg[0] = 1;
open4416 6:fbe401163489 487 temp_msg[1] = 2;
open4416 6:fbe401163489 488 temp_msg[2] = 3;
open4416 6:fbe401163489 489 temp_msg[3] = 4;
open4416 6:fbe401163489 490 temp_msg[4] = 5;
open4416 6:fbe401163489 491 temp_msg[5] = 6;
open4416 6:fbe401163489 492 temp_msg[6] = 7;
open4416 6:fbe401163489 493 temp_msg[7] = 8;
open4416 6:fbe401163489 494 can_msg_Tx = CANMessage(RL_HSB_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 495 CANpendTX();
open4416 6:fbe401163489 496 can1.write(can_msg_Tx);
open4416 6:fbe401163489 497
open4416 6:fbe401163489 498 temp_msg[0] = 1;
open4416 6:fbe401163489 499 temp_msg[1] = 2;
open4416 6:fbe401163489 500 temp_msg[2] = 3;
open4416 6:fbe401163489 501 temp_msg[3] = 4;
open4416 6:fbe401163489 502 temp_msg[4] = 5;
open4416 6:fbe401163489 503 temp_msg[5] = 6;
open4416 6:fbe401163489 504 temp_msg[6] = 7;
open4416 6:fbe401163489 505 temp_msg[7] = 8;
open4416 6:fbe401163489 506 can_msg_Tx = CANMessage(RR_HSB_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 507 CANpendTX();
open4416 6:fbe401163489 508 can1.write(can_msg_Tx);
open4416 6:fbe401163489 509
open4416 2:c7a3a8c1aeed 510 }
open4416 2:c7a3a8c1aeed 511
open4416 6:fbe401163489 512 void Tx_Qdrv_CAN1(void) // 10 Hz
open4416 0:c4747ebbe0b4 513 {
open4416 6:fbe401163489 514 // Auxilary sensor reading shitting out
open4416 5:8116016abee0 515 temp_msg[0] = 1;
open4416 5:8116016abee0 516 temp_msg[1] = 2;
open4416 5:8116016abee0 517 temp_msg[2] = 3;
open4416 5:8116016abee0 518 temp_msg[3] = 4;
open4416 5:8116016abee0 519 temp_msg[4] = 5;
open4416 5:8116016abee0 520 temp_msg[5] = 6;
open4416 5:8116016abee0 521 temp_msg[6] = 7;
open4416 5:8116016abee0 522 temp_msg[7] = 8;
open4416 6:fbe401163489 523 can_msg_Tx = CANMessage(AUX_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 // Qdrive internal state shitting out
open4416 6:fbe401163489 528 temp_msg[0] = 1;
open4416 6:fbe401163489 529 temp_msg[1] = 2;
open4416 6:fbe401163489 530 temp_msg[2] = 3;
open4416 6:fbe401163489 531 temp_msg[3] = 4;
open4416 6:fbe401163489 532 temp_msg[4] = 5;
open4416 6:fbe401163489 533 temp_msg[5] = 6;
open4416 6:fbe401163489 534 temp_msg[6] = 7;
open4416 6:fbe401163489 535 temp_msg[7] = 8;
open4416 6:fbe401163489 536 can_msg_Tx = CANMessage(Qdrv_stat_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 537 CANpendTX();
open4416 6:fbe401163489 538 can1.write(can_msg_Tx);
open4416 2:c7a3a8c1aeed 539
open4416 6:fbe401163489 540 // IMU attitude readings shitting out, 10Hz on CAN but 100Hz for internal use
open4416 6:fbe401163489 541 temp_msg[0] = 1;
open4416 6:fbe401163489 542 temp_msg[1] = 2;
open4416 6:fbe401163489 543 temp_msg[2] = 3;
open4416 6:fbe401163489 544 temp_msg[3] = 4;
open4416 6:fbe401163489 545 temp_msg[4] = 5;
open4416 6:fbe401163489 546 temp_msg[5] = 6;
open4416 6:fbe401163489 547 temp_msg[6] = 7;
open4416 6:fbe401163489 548 temp_msg[7] = 8;
open4416 6:fbe401163489 549 can_msg_Tx = CANMessage(IMU_sense_ID,temp_msg,8,CANData,CANStandard);
open4416 6:fbe401163489 550 CANpendTX();
open4416 6:fbe401163489 551 can1.write(can_msg_Tx);
open4416 6:fbe401163489 552 }
open4416 6:fbe401163489 553
open4416 6:fbe401163489 554 void CANpendTX(void)
open4416 6:fbe401163489 555 {
open4416 6:fbe401163489 556 //Pend till TX box has empty slot, timeout will generate error
open4416 6:fbe401163489 557 uint32_t timeout = 0;
open4416 6:fbe401163489 558 while(!(CAN1->TSR & CAN_TSR_TME_Msk)) {
open4416 6:fbe401163489 559 //Wait till non empty
open4416 6:fbe401163489 560 timeout += 1;
open4416 6:fbe401163489 561 if(timeout > 10000) {
open4416 6:fbe401163489 562 // Put some timeout error handler
open4416 6:fbe401163489 563 break;
open4416 6:fbe401163489 564 }
open4416 0:c4747ebbe0b4 565 }
open4416 0:c4747ebbe0b4 566 }
open4416 1:8a9ac822aab7 567
open4416 6:fbe401163489 568 void CAN_init(void)
open4416 6:fbe401163489 569 {
open4416 6:fbe401163489 570 //Set CAN system
open4416 6:fbe401163489 571 SET_BIT(CAN1->MCR, CAN_MCR_ABOM); // Enable auto reboot after bus off
open4416 6:fbe401163489 572 can1.filter(FL_HSB_ID,0xFFFF,CANStandard,0); // ID filter listing mode
open4416 6:fbe401163489 573 can1.filter(FR_HSB_ID,0xFFFF,CANStandard,1);
open4416 6:fbe401163489 574 can1.filter(RL_HSB_ID,0xFFFF,CANStandard,2);
open4416 6:fbe401163489 575 can1.filter(RR_HSB_ID,0xFFFF,CANStandard,3);
open4416 6:fbe401163489 576 can1.filter(FL_LSB_ID,0xFFFF,CANStandard,4);
open4416 6:fbe401163489 577 can1.filter(FR_LSB_ID,0xFFFF,CANStandard,5);
open4416 6:fbe401163489 578 can1.filter(RL_LSB_ID,0xFFFF,CANStandard,6);
open4416 6:fbe401163489 579 can1.filter(RR_LSB_ID,0xFFFF,CANStandard,7);
open4416 6:fbe401163489 580 can1.filter(PSU_cmd_ID,0xFFFF,CANStandard,8);
open4416 6:fbe401163489 581 can1.mode(CAN::GlobalTest); // Add only for testing 2019/11/13
open4416 6:fbe401163489 582 can1.attach(&Rx_CAN1, CAN::RxIrq); //CAN1 Recieve Irq
open4416 6:fbe401163489 583 }
open4416 2:c7a3a8c1aeed 584
open4416 6:fbe401163489 585 void Module_WD(void)
open4416 6:fbe401163489 586 {
open4416 6:fbe401163489 587 if (FL_online != 0) {
open4416 6:fbe401163489 588 FL_online -= 1;
open4416 6:fbe401163489 589 }
open4416 6:fbe401163489 590 if (FR_online != 0) {
open4416 6:fbe401163489 591 FR_online -= 1;
open4416 6:fbe401163489 592 }
open4416 6:fbe401163489 593 if (RL_online != 0) {
open4416 6:fbe401163489 594 RL_online -= 1;
open4416 6:fbe401163489 595 }
open4416 6:fbe401163489 596 if (RR_online != 0) {
open4416 6:fbe401163489 597 RR_online -= 1;
open4416 6:fbe401163489 598 }
open4416 6:fbe401163489 599 if (PSU_online != 0) {
open4416 6:fbe401163489 600 PSU_online -= 1;
open4416 6:fbe401163489 601 }
open4416 6:fbe401163489 602 }
open4416 6:fbe401163489 603
open4416 6:fbe401163489 604 int16_t max_val(int16_t i1, int16_t i2, int16_t i3, int16_t i4)
open4416 2:c7a3a8c1aeed 605 {
open4416 2:c7a3a8c1aeed 606 int16_t max = i1;
open4416 2:c7a3a8c1aeed 607 if(i2 > max) max = i2;
open4416 2:c7a3a8c1aeed 608 if(i3 > max) max = i3;
open4416 6:fbe401163489 609 if(i4 > max) max = i4;
open4416 2:c7a3a8c1aeed 610 return max;
open4416 6:fbe401163489 611 }
open4416 6:fbe401163489 612 // pc.printf("SOC: %.2f\n", Module_Total*0.01f);