SHENG-HEN HSIEH
/
VDU_2021
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Revision 13:ac024885d0bf, committed 2019-11-19
- Comitter:
- open4416
- Date:
- Tue Nov 19 11:54:12 2019 +0000
- Parent:
- 12:2f229919b012
- Child:
- 14:bcf5cb4d08a5
- Commit message:
- Fix error after test & add brk sensor
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| main.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Nov 18 17:55:37 2019 +0000
+++ b/main.cpp Tue Nov 19 11:54:12 2019 +0000
@@ -9,10 +9,11 @@
DigitalOut Fault_Ind(PC_12,0); //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_2(PC_3);
AnalogIn AUX_3(PC_2);
AnalogIn AUX_4(PC_1);
AnalogIn SDn_sense(PB_0); //Shutdown circuit driving end detection
+AnalogIn Brk_sense(PA_4); //Brake sensor readings
CAN can1(PB_8, PB_9, 1000000); //1Mbps, contain critical torque command message
SPI spi2(PB_15, PB_14, PB_13); //1Mbps default, MOSI MISO SCLK, forIMU
ImuDriver <spi2, PA_13, PA_14, PA_15> imu; //SPI instance, reset, data ready, slave select
@@ -86,7 +87,7 @@
(VDU_FLT != 0)) {
VDU_STAT = VDU_Fault;
FLT_print = 1;
- } else {
+ } else if ((FL_online*FR_online*RL_online*RR_online*PSU_online)!=0) {
//All module online & POST pass
VDU_STAT = VDU_Idle;
printf("All module online, VDU now Idle\n");
@@ -110,7 +111,7 @@
*/
//Forced RTD_HMI for debug purpose 2019/11/14
- RTD_HMI = 1; //Should be set if can bus received data
+// RTD_HMI = 1; //Should be set if can bus received data
//Forced RTD_HMI for debug purpose 2019/11/14
RUNT(); //Run test
@@ -275,11 +276,12 @@
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();
+ AUX_1_u16 = AUX_1.read_u16() >> 4U;
+ AUX_2_u16 = AUX_2.read_u16() >> 4U;
+ AUX_3_u16 = AUX_3.read_u16() >> 4U;
+ AUX_4_u16 = AUX_4.read_u16() >> 4U;
SDn_voltage = 18.81f*SDn_sense.read(); //Read in Shutdown circuit voltage in output end
+ Brk_voltage = 5.5f*Brk_sense.read();
}
void IMU_read(void)
--- a/main.h Mon Nov 18 17:55:37 2019 +0000
+++ b/main.h Tue Nov 19 11:54:12 2019 +0000
@@ -116,7 +116,7 @@
uint16_t AUX_3_u16 = 0x0;
uint16_t AUX_4_u16 = 0x0;
float SDn_voltage = 0.0f;
-
+float Brk_voltage = 0.0f;
//VDU states
typedef enum {
VDU_PowerOn = 0U,