Revision 23:100661e2ad70, committed 2020-03-13

Comitter:

open4416

Date:

Fri Mar 13 15:25:57 2020 +0000

Parent:

22:4f764f7cd0b3

Child:

24:518ec8a4fb6d

Commit message:

Fix reset fail condition; Add reset state for pending; Remember to un-comment shit for all four module

Changed in this revision

--- a/main.cpp	Tue Mar 10 14:56:08 2020 +0000
+++ b/main.cpp	Fri Mar 13 15:25:57 2020 +0000
@@ -75,7 +75,7 @@
     //spi2.frequency();                             //As default
 #endif
 
-    wait_ms(2500);
+    wait_ms(100);
     ticker1.attach_us(&timer1_interrupt, 1000);     //1 ms Systick
     while(1) {
 
@@ -217,18 +217,54 @@
 //                        RR_online = 5;
 //                        PSU_online = 5;
                         VDU_FLT = 0;
-                        VDU_STAT = VDU_PowerOn;
+                        VDU_STAT = VDU_Reset;
                         printf("VDU rebooting...\n");
                         printf("QDrive rebooting...\n");
                     }                                   //Else keep in state
                     break;
+
+                case VDU_Reset:
+                    /* Controller Reset state
+                     * Description:
+                     *  A state after reset by HMI when Fault latched
+                     *  Wait till four driver processing, timeout protected
+                     * Do:
+                     *  Nothing, just a soft delay
+                     * Check:
+                     *  Timeout condition met
+                     * To VDU_Idle:
+                     *  A valid reset
+                     * To VDU_Fault:
+                     *  A fail reset
+                     */
+
+                    RUNT();                             //Run test
+                    if(!RL_DSM) {
+//                    if(!(FL_DSM|FR_DSM|RL_DSM|RR_DSM)) {  // 2020/3/13 for real case
+                        printf("...\n");
+                        VDU_FLT &= ~(DSM_VDUFLTCode);   //Clear if fine
+                    }
+
+                    Reset_to += 1;                      //Time out check
+                    if (Reset_to > 30) {
+                        Reset_to = 0;
+                        if (VDU_FLT != 0) {             //Check if any error
+                            VDU_STAT = VDU_Fault;       //Back to fault state wait for next reset
+                            printf("Reset fail 2 Fault\n");
+                            FLT_print = 1;
+                        } else {                        //A success reset
+                            VDU_STAT = VDU_Idle;
+                            printf("Reset ok 2 Idle\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) {
+            } else if(RST_cmd) {
                 //Send out reset cmd once
                 Tx_CLRerr_CAN1();
             } else {

--- a/main.h	Tue Mar 10 14:56:08 2020 +0000
+++ b/main.h	Fri Mar 13 15:25:57 2020 +0000
@@ -131,11 +131,13 @@
     VDU_PowerOn               = 0U,
     VDU_Idle                  = 1U,
     VDU_Run                   = 2U,
-    VDU_Fault                 = 3U
+    VDU_Fault                 = 3U,
+    VDU_Reset                 = 4U
 } VDU_STATE_TYPE;
 VDU_STATE_TYPE VDU_STAT = VDU_PowerOn;  // VDU current state
 uint16_t VDU_FLT = 0;                   // VDU internal fault code
 uint16_t VDU_FLT_ind = 0;               // A copy for indication
+uint8_t Reset_to = 0;                   // Timer for reset pending
 
 //Indicator pattern generation
 uint8_t Ind_refresh = 0;                // Flag to copy error bits for indicator