SHENG-HEN HSIEH
/
VDU_2021
Just a regular publish
main.cpp
- Committer:
- open4416
- Date:
- 2019-11-14
- Revision:
- 7:f674ef860c9c
- Parent:
- 6:fbe401163489
- Child:
- 8:f8b1402c8f3c
File content as of revision 7:f674ef860c9c:
#include "mbed.h" #define dt 0.01f #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) #define FL_HSB_ID 0xA0 // Rx, 100Hz #define FR_HSB_ID 0xA1 // Rx, 100Hz #define RL_HSB_ID 0xA2 // Rx, 100Hz #define RR_HSB_ID 0xA3 // Rx, 100Hz #define FL_LSB_ID 0xB0 // Rx, 10Hz #define FR_LSB_ID 0xB1 // Rx, 10Hz #define RL_LSB_ID 0xB2 // Rx, 10Hz #define RR_LSB_ID 0xB3 // Rx, 10Hz #define HMI_cmd_ID 0xC4 // Rx, 100Hz #define FL_CMD_ID 0xC0 // Tx, 100Hz #define FR_CMD_ID 0xC1 // Tx, 100Hz #define RL_CMD_ID 0xC2 // Tx, 100Hz #define RR_CMD_ID 0xC3 // Tx, 100Hz #define AUX_sense_ID 0xE0 // Tx, 10Hz #define Qdrv_stat_ID 0xE1 // Tx, 10Hz #define IMU_sense_ID 0xE2 // Tx, 10Hz #define MODOFL_VDUFLTCode 0x0001U //Drive module timeout after once online #define PSUOFL_VDUFLTCode 0x0002U //Pedal unit timeout after once online #define IMUSTA_VDUFLTCode 0x0004U //IMU module abnormal DigitalOut Aux_Rly(PC_10,0); //Control aux relay, 1 active DigitalOut Fault_Ind(PC_10,0); //Indicate fault bt flashing, 1 active DigitalOut LED(D13, 0); //Internal LED output, general purpose AnalogIn AUX_1(PC_0); //Auxilaru analog sensor AnalogIn AUX_2(PC_4); AnalogIn AUX_3(PC_2); AnalogIn AUX_4(PC_1); AnalogIn SDn_sense(PB_0); //Shutdown circuit driving end detection CAN can1(PB_8, PB_9, 1000000); //1Mbps, contain critical torque command message Serial pc(USBTX, USBRX, 115200); Ticker ticker1; //100Hz task CANMessage can_msg_Rx; CANMessage can_msg_Tx; //CAN msg bank char temp_msg[8] = {0,0,0,0,0,0,0,0}; //CAN to motor drive module, 100Hz //msg ID: 0xC0~0xC3 float FL_Tcmd = 0; // *100 before sent in int16_t float FR_Tcmd = 0; float RL_Tcmd = 0; float RR_Tcmd = 0; uint8_t RTD_cmd = 0; // start inverter switching cmd uint8_t RST_cmd = 0; // send out once to reset module fault //Module online flag uint8_t FL_online = 0; // 0 indicate detection timeout uint8_t FR_online = 0; // reset value is 3 to hold for 0.03sec uint8_t RL_online = 0; // -1 per 100Hz task uint8_t RR_online = 0; uint8_t PSU_online = 0; //Feedback data decoded out storage float FL_Tmotor = 0; // motor temperature degC, 10Hz recieving float FR_Tmotor = 0; float RL_Tmotor = 0; float RR_Tmotor = 0; float FL_Tmodule = 0; // inverter temperature degC, 10Hz recieving float FR_Tmodule = 0; float RL_Tmodule = 0; float RR_Tmodule = 0; uint16_t FL_FLT_Run = 0; // RUN fault code, 10Hz recieving uint16_t FR_FLT_Run = 0; uint16_t RL_FLT_Run = 0; uint16_t RR_FLT_Run = 0; uint16_t FL_FLT_Post = 0; // POST fault code, 10Hz recieving uint16_t FR_FLT_Post = 0; uint16_t RL_FLT_Post = 0; uint16_t RR_FLT_Post = 0; float FL_Trq_fil3 = 0; // Internal Tcmd, 100Hz recieving float FR_Trq_fil3 = 0; float RL_Trq_fil3 = 0; float RR_Trq_fil3 = 0; float FL_Trq_est = 0; // Estimated Torque, 100Hz recieving float FR_Trq_est = 0; float RL_Trq_est = 0; float RR_Trq_est = 0; float FL_W_ele = 0; // Estimated W_ele, 100Hz recieving float FR_W_ele = 0; float RL_W_ele = 0; float RR_W_ele = 0; uint8_t FL_DSM = 0; // DSM state, 100Hz recieving uint8_t FR_DSM = 0; uint8_t RL_DSM = 0; uint8_t RR_DSM = 0; //From Pedal Box msg uint8_t RTD_HMI = 0; // 1 = HMI requesting uint8_t RST_HMI = 0; // 1 = HMI request once uint8_t AWD_HMI = 0; // 1 = HMI requesting float Trq_HMI = 0.0f; // Nm user request total torque float Steer_HMI = 0.0f; // deg steering wheel angel //10/100Hz tasking uint8_t HSTick = 5; // High speed tick uint8_t LSTick = 0; uint8_t HST_EXFL = 0; // High speed execution flag uint8_t LST_EXFL = 0; uint8_t FLT_print = 0; // Send repeative error message uint8_t FLT_print_cnt = 0; uint16_t AUX_1_u16 = 0x0; // acquired data uint16_t AUX_2_u16 = 0x0; uint16_t AUX_3_u16 = 0x0; uint16_t AUX_4_u16 = 0x0; float SDn_voltage = 0.0f; //VDU states typedef enum { VDU_PowerOn = 0U, VDU_Idle = 1U, VDU_Run = 2U, VDU_Fault = 3U } VDU_STATE_TYPE; VDU_STATE_TYPE VDU_STAT = VDU_PowerOn; //VDU current state uint16_t VDU_FLT = 0; //VDU internal fault code //Prototype void CAN_init(void); //Initial CAN frequency filter... void Module_WD(void); //Software watchdog indicate module state void IMU_read(void); //Update IMU readings by once void Aux_read(void); //Update AUX reafings by once void Idle2Run(void); //Initializing before running void Run2Idle(void); //Initializing before idling void POST(void); //Check IMU error void RUNT(void); //Check POST, timeout, ShutDrv voltage error void AWD(void); //AWD main program void Rx_CAN1(void); //CAN RX handler void Tx_CLRerr_CAN1(void); //Send reset cmd to modules void Tx_Estop_CAN1(void); //Send out heart beat but force RTD off void Tx_Tcmd_CAN1(void); //Send out heart beat command void Tx_Qdrv_CAN1(void); //Send out low speed heart beat for logging void CANpendTX(void); //Helper function for CAN Tx int16_t max_val(int16_t i1, int16_t i2, int16_t i3, int16_t i4); void timer1_interrupt(void) { HSTick += 1; LSTick += 1; if (HSTick > 9) { // 100Hz HST_EXFL = 1; HSTick = 0; } if (LSTick > 99) { // 10Hz LST_EXFL = 1; LSTick = 0; } } int main() { //Init CAN network CAN_init(); //Start House keeping task printf("VDU start up, pend for module online\n"); ticker1.attach_us(&timer1_interrupt, 1000); //1 ms Systick while(1) { // Do high speed loop if (HST_EXFL == 1) { HST_EXFL = 0; // Get IMU, Auxs IMU_read(); Aux_read(); Module_WD(); // Module online watch dog // Run state machine switch (VDU_STAT) { case VDU_PowerOn: /* Power on state * Description: * Simple start up sequence will be done here * Do: * VDU internal POST * Wait till modules + PSU online * To VDU_Idle (RTD off): * Prepare for 4WD main program * To VDU_Fault: * Run the error handling service */ //Basic IMU test POST(); //Check if state transition only when all module online // if((FL_online*FR_online*RL_online*RR_online*PSU_online)!= 0) { if(1) { //Force online check pass only for debug 2019/11/14 if ( //Check if any error (FL_DSM == 3U)|| (FR_DSM == 3U)|| (RL_DSM == 3U)|| (RR_DSM == 3U)|| (VDU_FLT != 0)) { VDU_STAT = VDU_Fault; FLT_print = 1; } else { //All module online & POST pass VDU_STAT = VDU_Idle; printf("All module online, VDU now Idle\n"); } } //Else keep in state VDU_PowerOn break; case VDU_Idle: /* Controller Idle state * Description: * Normal latched state, wait for RTD_HMI set from PSU * 4WD in running but output mask to 0 * Do: * 4WD controller * Check: * RUN faults if any * To VDU_Run: * Initialize parameters for start up, set RTD_cmd * To VDU_Fault: * Run the error handling service */ //Forced RTD_HMI for debug purpose 2019/11/14 RTD_HMI = 1; //Should be set if can bus received data //Forced RTD_HMI for debug purpose 2019/11/14 RUNT(); //Run test AWD(); //AWD main program if ( //Check if any error (FL_DSM == 3U)|| (FR_DSM == 3U)|| (RL_DSM == 3U)|| (RR_DSM == 3U)|| (VDU_FLT != 0)) { VDU_STAT = VDU_Fault; printf("Idle 2 Fault\n"); FLT_print = 1; } else if (RTD_HMI != 0) { //Or command to run threw PSU //Prepare to send out RTD and start motor Idle2Run(); VDU_STAT = VDU_Run; printf("Idle 2 Run\n"); } //Else keep in state break; case VDU_Run: /* Controller Run state * Description: * Normal latched state, after RTD_HMI is set from PSU * Same to Idle state except RTD_cmd is set * Do: * 4WD controller * Check: * RUN faults if any * To VDU_Idle: * Initialize parameters for idling, reset RTD_cmd * To VDU_Fault: * Run the error handling service */ RUNT(); //Run test AWD(); //AWD main program //Temporary debug posting area 2019/11/14 //printf("%d,%d\n", Encoder_cnt, Encoder_del); //printf("%d\n\r", (int16_t)Tmodule);// //printf("%d\n\r", (int16_t)Vbus); if ( //Check if any error (FL_DSM == 3U)|| (FR_DSM == 3U)|| (RL_DSM == 3U)|| (RR_DSM == 3U)|| (VDU_FLT != 0)) { VDU_STAT = VDU_Fault; printf("Run 2 Fault\n"); FLT_print = 1; } else if (RTD_HMI != 1) { //Or command to stop threw can bus Run2Idle(); VDU_STAT = VDU_Idle; printf("Run 2 Idle\n"); } //Else keep in state break; case VDU_Fault: /* Controller Fault state * Description: * Fault latched state if any faults is detected * Same to Idle state except keep till RTD_HMI reset * Do: * Nothing, like a piece of shit * Check: * RUN faults if any * To VDU_PowerOn: * Restart VDU */ RUNT(); //Run test if (RST_HMI == 1) { //PSU reset to clear error RST_cmd = 1; FLT_print = 0; VDU_STAT = VDU_PowerOn; printf("Module reset\nVDU restarting...\n"); } //Else keep in state break; } // Shit out torque distribution and special command if(VDU_STAT == VDU_Run) { //Allow output torque Tx_Tcmd_CAN1(); } else if(RST_cmd != 0) { //Send out reset cmd once Tx_CLRerr_CAN1(); } else { //Force RTD off when not in VDU_Run Tx_Estop_CAN1(); } } // End of high speed loop // Do low speed state reporting if (LST_EXFL == 1) { LST_EXFL = 0; Tx_Qdrv_CAN1(); // Print out error mesagge if exist, 1Hz repeative if(FLT_print != 0) { FLT_print_cnt += FLT_print; if(FLT_print_cnt > 19) { 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); 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); printf("VDU\n0x%04X\n\n", VDU_FLT); FLT_print_cnt = 0; } } } // End of low speed state reporting } // end of while } void Idle2Run(void) { RTD_cmd = 1; } void Run2Idle(void) { RTD_cmd = 0; } void POST(void) { //Check IMU status if(0) { VDU_FLT |= IMUSTA_VDUFLTCode; //IMU status error } } void RUNT(void) { POST(); //Check timeout if((FL_online*FR_online*RL_online*RR_online) == 0) { VDU_FLT |= MODOFL_VDUFLTCode; //Module timeout } if(PSU_online == 0) { VDU_FLT |= PSUOFL_VDUFLTCode; //PSU timeout } //Check IMU status //XXX //Check ShutDrv voltage //XXX } void Aux_read(void) { //Capture analog in at once AUX_1_u16 = AUX_1.read_u16(); AUX_2_u16 = AUX_2.read_u16(); AUX_3_u16 = AUX_3.read_u16(); AUX_4_u16 = AUX_4.read_u16(); SDn_voltage = 18.81f*SDn_sense.read(); } void IMU_read(void) { } void AWD(void) { } void Rx_CAN1(void) { LED = 1; int16_t tmp; if(can1.read(can_msg_Rx)) { switch(can_msg_Rx.id) { //Filtered input message // Start of 100Hz msg case FL_HSB_ID: //HSB from FL motor drive FL_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; FL_W_ele = tmp*1.0f; tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; FL_Trq_fil3 = tmp * 0.01f; tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; FL_Trq_est = tmp * 0.01f; FL_online = 3; break; case FR_HSB_ID: //HSB from FR motor drive FR_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; FR_W_ele = tmp*1.0f; tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; FR_Trq_fil3 = tmp * 0.01f; tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; FR_Trq_est = tmp * 0.01f; FR_online = 3; break; case RL_HSB_ID: //HSB from RL motor drive RL_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; RL_W_ele = tmp*1.0f; tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; RL_Trq_fil3 = tmp * 0.01f; tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; RL_Trq_est = tmp * 0.01f; RL_online = 3; break; case RR_HSB_ID: //HSB from RR motor drive RR_DSM = can_msg_Rx.data[6] & 0x01; //Get DSM_STAT tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; RR_W_ele = tmp*1.0f; tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; RR_Trq_fil3 = tmp * 0.01f; tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; RR_Trq_est = tmp * 0.01f; RR_online = 3; break; case HMI_cmd_ID: //HMI command from PSU AWD_HMI = can_msg_Rx.data[6] & 0x01; //Get AWD switch RST_HMI = can_msg_Rx.data[5] & 0x01; //Get RST request RTD_HMI = can_msg_Rx.data[4] & 0x01; //Get RTD switch tmp = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; Steer_HMI = tmp * 0.01f; tmp = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; Trq_HMI = tmp * 0.01f; PSU_online = 3; break; // end of 100Hz msg // Start of 10Hz msg case FL_LSB_ID: //LSB from FL motor drive tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6]; FL_Tmotor = tmp*0.01f; tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; FL_Tmodule = tmp*0.01f; FL_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; FL_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; break; case FR_LSB_ID: //LSB from FR motor drive tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6]; FR_Tmotor = tmp*0.01f; tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; FR_Tmodule = tmp*0.01f; FR_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; FR_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; break; case RL_LSB_ID: //LSB from RL motor drive tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6]; RL_Tmotor = tmp*0.01f; tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; RL_Tmodule = tmp*0.01f; RL_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; RL_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; break; case RR_LSB_ID: //LSB from RR motor drive tmp = can_msg_Rx.data[7] << 8 | can_msg_Rx.data[6]; RL_Tmotor = tmp*0.01f; tmp = can_msg_Rx.data[5] << 8 | can_msg_Rx.data[4]; RL_Tmodule = tmp*0.01f; RL_FLT_Run = can_msg_Rx.data[3] << 8 | can_msg_Rx.data[2]; RL_FLT_Post = can_msg_Rx.data[1] << 8 | can_msg_Rx.data[0]; break; // end of 10Hz msg } } LED = 0; } void Tx_CLRerr_CAN1(void) { RTD_cmd = 0; //disable as default Tx_Tcmd_CAN1(); RST_cmd = 0; //on shot } void Tx_Estop_CAN1(void) { RTD_cmd = 0; //force disable Tx_Tcmd_CAN1(); } void Tx_Tcmd_CAN1(void) // 100 Hz { int16_t tmp; // Need to change ID for real case 2019/11/14 tmp = (int16_t) (FL_Tcmd * 100.0f); temp_msg[0] = tmp; temp_msg[1] = tmp >> 8U; temp_msg[2] = RTD_cmd; temp_msg[3] = RST_cmd; can_msg_Tx = CANMessage(FL_HSB_ID,temp_msg,8,CANData,CANStandard); // FL_CMD_ID, now only for testing // can_msg_Tx = CANMessage(FL_CMD_ID,temp_msg,8,CANData,CANStandard); CANpendTX(); can1.write(can_msg_Tx); tmp = (int16_t) (FR_Tcmd * 100.0f); temp_msg[0] = tmp; temp_msg[1] = tmp >> 8U; temp_msg[2] = RTD_cmd; temp_msg[3] = RST_cmd; can_msg_Tx = CANMessage(FR_HSB_ID,temp_msg,8,CANData,CANStandard); // can_msg_Tx = CANMessage(FR_CMD_ID,temp_msg,8,CANData,CANStandard); CANpendTX(); can1.write(can_msg_Tx); tmp = (int16_t) (RL_Tcmd * 100.0f); temp_msg[0] = tmp; temp_msg[1] = tmp >> 8U; temp_msg[2] = RTD_cmd; temp_msg[3] = RST_cmd; can_msg_Tx = CANMessage(RL_HSB_ID,temp_msg,8,CANData,CANStandard); // can_msg_Tx = CANMessage(RL_CMD_ID,temp_msg,8,CANData,CANStandard); CANpendTX(); can1.write(can_msg_Tx); tmp = (int16_t) (RR_Tcmd * 100.0f); temp_msg[0] = tmp; temp_msg[1] = tmp >> 8U; temp_msg[2] = RTD_cmd; temp_msg[3] = RST_cmd; can_msg_Tx = CANMessage(RR_HSB_ID,temp_msg,8,CANData,CANStandard); // can_msg_Tx = CANMessage(RR_CMD_ID,temp_msg,8,CANData,CANStandard); CANpendTX(); can1.write(can_msg_Tx); } void Tx_Qdrv_CAN1(void) // 10 Hz { // Auxilary sensor reading shitting out temp_msg[0] = AUX_1_u16; temp_msg[1] = AUX_1_u16 >> 8U; temp_msg[2] = AUX_2_u16; temp_msg[3] = AUX_2_u16 >> 8U; temp_msg[4] = AUX_3_u16; temp_msg[5] = AUX_3_u16 >> 8U; temp_msg[6] = AUX_4_u16; temp_msg[7] = AUX_4_u16 >> 8U; can_msg_Tx = CANMessage(AUX_sense_ID,temp_msg,8,CANData,CANStandard); CANpendTX(); can1.write(can_msg_Tx); // Qdrive internal state shitting out temp_msg[0] = 1; temp_msg[1] = 2; temp_msg[2] = 3; temp_msg[3] = 4; temp_msg[4] = 5; temp_msg[5] = 6; temp_msg[6] = 7; temp_msg[7] = 8; can_msg_Tx = CANMessage(Qdrv_stat_ID,temp_msg,8,CANData,CANStandard); CANpendTX(); can1.write(can_msg_Tx); // IMU attitude readings shitting out, 10Hz on CAN but 100Hz for internal use temp_msg[0] = 1; temp_msg[1] = 2; temp_msg[2] = 3; temp_msg[3] = 4; temp_msg[4] = 5; temp_msg[5] = 6; temp_msg[6] = 7; temp_msg[7] = 8; can_msg_Tx = CANMessage(IMU_sense_ID,temp_msg,8,CANData,CANStandard); CANpendTX(); can1.write(can_msg_Tx); } void CANpendTX(void) { //Pend till TX box has empty slot, timeout will generate error uint32_t timeout = 0; while(!(CAN1->TSR & CAN_TSR_TME_Msk)) { //Wait till non empty timeout += 1; if(timeout > 10000) { // Put some timeout error handler break; } } } void CAN_init(void) { //Set CAN system SET_BIT(CAN1->MCR, CAN_MCR_ABOM); // Enable auto reboot after bus off can1.filter(FL_HSB_ID,0xFFFF,CANStandard,0); // ID filter listing mode can1.filter(FR_HSB_ID,0xFFFF,CANStandard,1); can1.filter(RL_HSB_ID,0xFFFF,CANStandard,2); can1.filter(RR_HSB_ID,0xFFFF,CANStandard,3); can1.filter(FL_LSB_ID,0xFFFF,CANStandard,4); can1.filter(FR_LSB_ID,0xFFFF,CANStandard,5); can1.filter(RL_LSB_ID,0xFFFF,CANStandard,6); can1.filter(RR_LSB_ID,0xFFFF,CANStandard,7); can1.filter(HMI_cmd_ID,0xFFFF,CANStandard,8); can1.mode(CAN::GlobalTest); // Add only for testing 2019/11/13 can1.attach(&Rx_CAN1, CAN::RxIrq); //CAN1 Recieve Irq } void Module_WD(void) { if (FL_online != 0) { FL_online -= 1; } if (FR_online != 0) { FR_online -= 1; } if (RL_online != 0) { RL_online -= 1; } if (RR_online != 0) { RR_online -= 1; } if (PSU_online != 0) { PSU_online -= 1; } } int16_t max_val(int16_t i1, int16_t i2, int16_t i3, int16_t i4) { int16_t max = i1; if(i2 > max) max = i2; if(i3 > max) max = i3; if(i4 > max) max = i4; return max; } // pc.printf("SOC: %.2f\n", Module_Total*0.01f);