SHENG-HEN HSIEH
/
VDU_2021
Just a regular publish
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?
User | Revision | Line number | New 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); |