Revision 9:c99eeafa6fa3, committed 2019-11-17

Comitter:

open4416

Date:

Sun Nov 17 06:56:24 2019 +0000

Parent:

8:f8b1402c8f3c

Child:

10:0afeeb99f479

Commit message:

Add IMU lib initial release

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/imu_driver.lib	Sun Nov 17 06:56:24 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/Arithemetica/code/imu_driver/#9c07cc296819

--- a/main.cpp	Fri Nov 15 08:19:32 2019 +0000
+++ b/main.cpp	Sun Nov 17 06:56:24 2019 +0000
@@ -1,21 +1,23 @@
 #include "mbed.h"
 #include "main.h"
+#include "imu_driver.hpp"
 #define pi  3.14159265359f
 #define d2r 0.01745329252f
 #define dt  0.01f
 
 DigitalOut  Aux_Rly(PC_10,0);                       //Control aux relay, 1 active
-DigitalOut  Fault_Ind(PC_10,0);                     //Indicate fault bt flashing, 1 active
+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_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
-SPI     spi2(PB_15, PB_14, PB_13);                  //1Mbps, MOSI MISO SCLK, forIMU
-Serial  pc(USBTX, USBRX, 115200);
-Ticker  ticker1;                                    //100Hz task
+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
+Serial      pc(USBTX, USBRX, 115200);
+Ticker      ticker1;                                //100Hz task
 CANMessage  can_msg_Rx;
 CANMessage  can_msg_Tx;
 
@@ -36,7 +38,7 @@
 int main()
 {
     //Init CAN network
-    CAN_init();
+    CAN_init();                 // Note now in Gloable test mode only for testing 2019/11/17
 
     //Start House keeping task
     printf("VDU start up, pend for module online\n");
@@ -47,10 +49,11 @@
         if (HST_EXFL == 1) {
             HST_EXFL = 0;
 
-            // Get IMU, Auxs
+            // Get IMU, Auxs, Max Temperature
+            Cooler();
             IMU_read();
             Aux_read();
-            Module_WD();                            // Module online watch dog
+            Module_WD();
 
             // Run state machine
             switch (VDU_STAT) {
@@ -208,7 +211,7 @@
         }
         // End of high speed loop
 
-        // Do low speed state reporting
+        // Do low speed state reporting 10 Hz
         if (LST_EXFL == 1) {
             LST_EXFL = 0;
             Cooler();
@@ -433,17 +436,17 @@
 
 void Tx_CLRerr_CAN1(void)
 {
-    Tx_Estop_CAN1();    //disable as default
-    RST_cmd = 0;        //clear out on shot
+    Tx_Estop_CAN1();        //disable as default
+    RST_cmd = 0;            //clear out on shot
 }
 
 void Tx_Estop_CAN1(void)
 {
-    RTD_cmd = 0;        //force disable
+    RTD_cmd = 0;            //force disable
     Tx_Tcmd_CAN1();
 }
 
-void Tx_Tcmd_CAN1(void)   // 100 Hz
+void Tx_Tcmd_CAN1(void)     // 100 Hz
 {
     int16_t tmp;
     tmp = (int16_t) (FL_Tcmd * 100.0f);
@@ -558,6 +561,7 @@
 
 void Module_WD(void)
 {
+    //Module online dissipitive indicator
     if (FL_online != 0) {
         FL_online -= 1;
     }
@@ -578,6 +582,8 @@
 void Cooler(void)
 {
     //Cooling auto control, unfinish 2019/11/15
+    Max_Tmotor = max_fval(FL_Tmotor, FR_Tmotor, RL_Tmotor, RR_Tmotor);
+    Max_Tmodule = max_fval(FL_Tmodule, FR_Tmodule, RL_Tmodule, RR_Tmodule);
     if(0) {
         Aux_Rly = 1;
     } else {
@@ -585,7 +591,7 @@
     }
 }
 
-int16_t max_val(int16_t i1, int16_t i2, int16_t i3, int16_t i4)
+int16_t max_uval(int16_t i1, int16_t i2, int16_t i3, int16_t i4)
 {
     int16_t max = i1;
     if(i2 > max) max = i2;
@@ -593,4 +599,13 @@
     if(i4 > max) max = i4;
     return max;
 }
+
+float max_fval(float i1, float i2, float i3, float i4)
+{
+    float 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);
\ No newline at end of file

--- a/main.h	Fri Nov 15 08:19:32 2019 +0000
+++ b/main.h	Sun Nov 17 06:56:24 2019 +0000
@@ -66,10 +66,12 @@
 float FR_Tmotor = 0;
 float RL_Tmotor = 0;
 float RR_Tmotor = 0;
+float Max_Tmotor = 0;               // motor temperature degC, 10Hz recieving
 float FL_Tmodule = 0;               // inverter temperature degC, 10Hz recieving
 float FR_Tmodule = 0;
 float RL_Tmodule = 0;
 float RR_Tmodule = 0;
+float Max_Tmodule = 0;              // motor temperature degC, 10Hz recieving
 uint16_t FL_FLT_Run = 0;            // RUN fault code, 10Hz recieving
 uint16_t FR_FLT_Run = 0;
 uint16_t RL_FLT_Run = 0;
@@ -144,4 +146,5 @@
 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);
\ No newline at end of file
+int16_t max_uval(int16_t i1, int16_t i2, int16_t i3, int16_t i4);
+float max_fval(float i1, float i2, float i3, float i4);