Team Bath Racing Electric / Mbed 2 deprecated TBRe19_Shutdown_Monitoring

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Dependencies:   mbed

main.cpp@0:b2e8c7b0bad9, 2019-06-24 (annotated)

Committer:
chd21
Date:
Mon Jun 24 14:22:46 2019 +0000
Revision:
0:b2e8c7b0bad9
Shutdown Board Monitoring code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chd21 0:b2e8c7b0bad9 1 #include "mbed.h"
chd21 0:b2e8c7b0bad9 2 #include <cmath>
chd21 0:b2e8c7b0bad9 3
chd21 0:b2e8c7b0bad9 4 DigitalOut myled(LED1);
chd21 0:b2e8c7b0bad9 5
chd21 0:b2e8c7b0bad9 6 // 18 Digitial In pins for monitoring system
chd21 0:b2e8c7b0bad9 7 // 16 are low when ok, high when fault
chd21 0:b2e8c7b0bad9 8 // 2 that aren't are brake and current, low when fault, high when ok
chd21 0:b2e8c7b0bad9 9 DigitalIn interlock_in(p5); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 10 DigitalIn tsms_in(p6); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 11 DigitalIn inertia_in(p7); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 12 DigitalIn bspd_latch_in(p8); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 13 DigitalIn pcb_in(p11); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 14 DigitalIn hvd_in(p12); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 15 DigitalIn e_stp_roll_in(p13);// LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 16 DigitalIn e_stp_dash_in(p14);// LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 17 DigitalIn ecu_in(p15); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 18 DigitalIn imd_latch_in(p16); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 19 DigitalIn bspd_in(p18); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 20 DigitalIn bms_in(p19); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 21 DigitalIn fuse_in(p20); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 22 DigitalIn imd_in(p21); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 23 DigitalIn bms_latch_in(p23); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 24 DigitalIn bots_in(p24); // LOW OK, HIGH FAULT
chd21 0:b2e8c7b0bad9 25
chd21 0:b2e8c7b0bad9 26 DigitalIn current_in(p17); // HIGH OK, LOW FAULT
chd21 0:b2e8c7b0bad9 27 DigitalIn brake_in(p22); // HIGH OK, LOW FAULT
chd21 0:b2e8c7b0bad9 28
chd21 0:b2e8c7b0bad9 29 CAN can1(p9,p10); // CAN bus
chd21 0:b2e8c7b0bad9 30 CANMessage shutdown_msg;
chd21 0:b2e8c7b0bad9 31
chd21 0:b2e8c7b0bad9 32 int main() {
chd21 0:b2e8c7b0bad9 33 while(1) {
chd21 0:b2e8c7b0bad9 34 int car_shutdown = 0;
chd21 0:b2e8c7b0bad9 35 int latched_shutdown = 0;
chd21 0:b2e8c7b0bad9 36 int any_fault = 0;
chd21 0:b2e8c7b0bad9 37
chd21 0:b2e8c7b0bad9 38 // fault array
chd21 0:b2e8c7b0bad9 39 int fault_array1[8] = {car_shutdown, latched_shutdown, any_fault, fuse_in, pcb_in, bots_in, e_stp_dash_in, inertia_in};
chd21 0:b2e8c7b0bad9 40 //printf("Fault array: %d %d %d %d %d %d %d %d\r\n",fault_array1[0],fault_array1[1],fault_array1[2],fault_array1[3],fault_array1[4],fault_array1[5],fault_array1[6],fault_array1[7]);
chd21 0:b2e8c7b0bad9 41 int fault_array2[8] = {e_stp_roll_in, tsms_in, hvd_in, interlock_in, ecu_in, bms_in, imd_in, !brake_in};
chd21 0:b2e8c7b0bad9 42 int fault_array3[5] = {!current_in, bspd_in, bms_latch_in, imd_latch_in, bspd_latch_in};
chd21 0:b2e8c7b0bad9 43
chd21 0:b2e8c7b0bad9 44 // find the sum of the faults, find if a shutdown fault has gone, find if a latch has gone
chd21 0:b2e8c7b0bad9 45 int fault_latch[3] = {bms_latch_in, imd_latch_in, bspd_latch_in};
chd21 0:b2e8c7b0bad9 46 int fault_shutdown[13] = {fuse_in, pcb_in, bots_in, e_stp_dash_in, inertia_in, e_stp_roll_in, tsms_in, hvd_in, interlock_in, ecu_in, bms_latch_in, imd_latch_in, bspd_latch_in};
chd21 0:b2e8c7b0bad9 47
chd21 0:b2e8c7b0bad9 48 // if any latched fault is detected then set flag high
chd21 0:b2e8c7b0bad9 49 for(int i=0;i<3;i++) {
chd21 0:b2e8c7b0bad9 50 latched_shutdown = latched_shutdown + fault_latch[i];
chd21 0:b2e8c7b0bad9 51 if (latched_shutdown>0) {
chd21 0:b2e8c7b0bad9 52 latched_shutdown = 1;
chd21 0:b2e8c7b0bad9 53 fault_array1[1] = latched_shutdown;
chd21 0:b2e8c7b0bad9 54 }
chd21 0:b2e8c7b0bad9 55 }
chd21 0:b2e8c7b0bad9 56 // if any shutdown fault is detected then set flag high
chd21 0:b2e8c7b0bad9 57 for(int j=0;j<5;j++) {
chd21 0:b2e8c7b0bad9 58 car_shutdown = car_shutdown + fault_shutdown[j];
chd21 0:b2e8c7b0bad9 59 printf("car shutdown = %d\r\n",car_shutdown);
chd21 0:b2e8c7b0bad9 60 if (car_shutdown>0) {
chd21 0:b2e8c7b0bad9 61 car_shutdown = 1;
chd21 0:b2e8c7b0bad9 62 fault_array1[0] = car_shutdown;
chd21 0:b2e8c7b0bad9 63 break;
chd21 0:b2e8c7b0bad9 64 }
chd21 0:b2e8c7b0bad9 65 }
chd21 0:b2e8c7b0bad9 66 printf("CAR SHUTDOWN %d\r\n",car_shutdown);
chd21 0:b2e8c7b0bad9 67 // if any fault is deteched set flag high
chd21 0:b2e8c7b0bad9 68 for (int l=0;l<3;l++) {
chd21 0:b2e8c7b0bad9 69 for (int k=0;k<8;k++) {
chd21 0:b2e8c7b0bad9 70 any_fault = any_fault + fault_array1[k];
chd21 0:b2e8c7b0bad9 71 if (any_fault>0) {
chd21 0:b2e8c7b0bad9 72 any_fault = 1;
chd21 0:b2e8c7b0bad9 73 fault_array1[2] = any_fault;
chd21 0:b2e8c7b0bad9 74 break;
chd21 0:b2e8c7b0bad9 75 }
chd21 0:b2e8c7b0bad9 76 }
chd21 0:b2e8c7b0bad9 77 for (int m=0;m<8;m++) {
chd21 0:b2e8c7b0bad9 78 any_fault = any_fault + fault_array2[m];
chd21 0:b2e8c7b0bad9 79 if (any_fault>0) {
chd21 0:b2e8c7b0bad9 80 any_fault = 1;
chd21 0:b2e8c7b0bad9 81 break;
chd21 0:b2e8c7b0bad9 82 }
chd21 0:b2e8c7b0bad9 83 }
chd21 0:b2e8c7b0bad9 84 for (int n=0;n<5;n++) {
chd21 0:b2e8c7b0bad9 85 any_fault = any_fault + fault_array3[n];
chd21 0:b2e8c7b0bad9 86 if (any_fault>0) {
chd21 0:b2e8c7b0bad9 87 any_fault = 1;
chd21 0:b2e8c7b0bad9 88 break;
chd21 0:b2e8c7b0bad9 89 }
chd21 0:b2e8c7b0bad9 90 }
chd21 0:b2e8c7b0bad9 91 }
chd21 0:b2e8c7b0bad9 92
chd21 0:b2e8c7b0bad9 93 for (int k=3;k<8;k++) {
chd21 0:b2e8c7b0bad9 94 any_fault = any_fault + fault_array1[k];
chd21 0:b2e8c7b0bad9 95 if (any_fault>0) {
chd21 0:b2e8c7b0bad9 96 any_fault = 1;
chd21 0:b2e8c7b0bad9 97 fault_array1[2] = any_fault;
chd21 0:b2e8c7b0bad9 98 break;
chd21 0:b2e8c7b0bad9 99 }
chd21 0:b2e8c7b0bad9 100 }
chd21 0:b2e8c7b0bad9 101 printf("ANY FAULT %d\r\n",any_fault);
chd21 0:b2e8c7b0bad9 102
chd21 0:b2e8c7b0bad9 103 int x = 2;
chd21 0:b2e8c7b0bad9 104 int byte1 = 0;
chd21 0:b2e8c7b0bad9 105 int byte2 = 0;
chd21 0:b2e8c7b0bad9 106 int byte3 = 0;
chd21 0:b2e8c7b0bad9 107 // Generate the CAN message
chd21 0:b2e8c7b0bad9 108 for (int b=0;b<8;b++) {
chd21 0:b2e8c7b0bad9 109 int power = pow((double)x,b);
chd21 0:b2e8c7b0bad9 110 //printf("Current val = %d, b = %d \r\n",fault_array1[b], power);
chd21 0:b2e8c7b0bad9 111 byte1 = byte1 + (fault_array1[b]*pow((double)x,b));
chd21 0:b2e8c7b0bad9 112 //printf("Byte 1 = %d\r\n",byte1);
chd21 0:b2e8c7b0bad9 113 byte2 = byte2 + (fault_array2[b]*pow((double)x,b));
chd21 0:b2e8c7b0bad9 114 byte3 = byte3 + (fault_array3[b]*pow((double)x,b));
chd21 0:b2e8c7b0bad9 115 }
chd21 0:b2e8c7b0bad9 116
chd21 0:b2e8c7b0bad9 117 shutdown_msg.id = 0x705;
chd21 0:b2e8c7b0bad9 118 shutdown_msg.data[0] = byte1;
chd21 0:b2e8c7b0bad9 119 shutdown_msg.data[1] = byte2;
chd21 0:b2e8c7b0bad9 120 shutdown_msg.data[2] = byte3;
chd21 0:b2e8c7b0bad9 121
chd21 0:b2e8c7b0bad9 122 printf("CAN Message, %X %X %X %X \r\n", shutdown_msg.id,shutdown_msg.data[0],shutdown_msg.data[1],shutdown_msg.data[2]);
chd21 0:b2e8c7b0bad9 123 //printf("CAN Message, %X %X \r\n", shutdown_msg.id,shutdown_msg.data[0]);
chd21 0:b2e8c7b0bad9 124
chd21 0:b2e8c7b0bad9 125 wait(1);
chd21 0:b2e8c7b0bad9 126 }
chd21 0:b2e8c7b0bad9 127 }