finished code to process apps and update erpm
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164
src/main.cpp
164
src/main.cpp
@ -5,42 +5,69 @@
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void sendEnable(); // function to turn the inverter on DON'T FORGET TO EDIT THE ID OF THE DRIVE
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void sendERPM(); // function to change the speed DON'T FORGET TO EDIT THE ID OF THE DRIVE
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/* Invertor config */
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#define MC_L_ID 0x4F /* ID of the left invertor, to be used in CAN communication */
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#define MC_R_ID 0x4F /* ID of the right invertor, to be used in CAN communication */
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#define CAN_MC_TIMEOUT 100 /* Timeout of the invertors */
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/* Invertor CAN packet IDs */
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#define CAN_MC_ID_ERPM 0x03 /* Message to set ERPM */
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#define CAN_MC_ID_ENABLE 0x0C /* Message to enable/disable drive */
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/* CAN variables */
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FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> can_lv; /* LV CAN bus is connected to controller 1 */
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FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> can_mc; /* Motorcontroller/Invertor CAN bus is connected to controller 2 */
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#define CAN_LV_BAUD 1000000 /* Data rate of the LV CAN = 1Mbps */
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#define CAN_MC_BAUD 500000 /* Data rate of the MC CAN = 500kbps */
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uint64_t time_last_can_mc_send = 0; /* Timestamp of last message that was sent to motorcontrollers (because they have timeout safety shit) */
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uint64_t time_last_apps = 0; /* Timestamp of last message for APPS values */
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uint64_t time_last_rtd_state = 0; /* Timestamp of last message for Boot Sequence State stuff */
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/* CAN heartbeat stuff */
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uint64_t time_last_heartbeat = 0; /* Timestamp of last heartbeat message that was sent */
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#define HEARTBEAT_PERIOD 100 /* Send heartbeat message every 100ms */
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#define CAN_ID_HEARTBEAT 0x080 /* CAN ID of heartbeat messages (see spreadsheet) */
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#define CAN_MODULE_ID 0x05 /* Module ID of this system (see spreadsheet) */
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uint64_t time_last_heartbeat = 0; /* Timestamp of last heartbeat message that was sent */
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#define HEARTBEAT_PERIOD 100 /* Send heartbeat message every 100ms */
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#define HEARTBEAT_STATUS_OK 0x0 /* Everything is allright */
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#define HEARTBEAT_STATUS_SAFESTATE 0x1 /* I'm in a safe state */
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#define CAN_ID_HEARTBEAT 0x080 /* CAN ID of heartbeat messages (see spreadsheet) */
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#define CAN_MODULE_ID 0x05 /* Module ID of this system (see spreadsheet) */
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/* CAN config continued */
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#define CAN_ID_APPS 0x110 /* CAN ID of APPS values (not using Module ID of APPS) */
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#define CAN_ID_BOOT_SEQ 0x090 /* CAN ID of Boot Sequence Status (for RTD) values (using Module ID of ECU for safety) */
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#define CAN_ID_CRITICAL_FAULT 0x000 /* CAN ID of critical fault message (not using any Module ID) */
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#define CAN_ID_APPS_BPPS 0x110 /* CAN ID of APPS and BPPS values (not using Module ID of APPS/BPPS) */
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#define CAN_ID_BOOT_SEQ 0x090 /* CAN ID of Boot Sequence Status (for RTD) values (using Module ID of ECU for safety) */
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/* Torque Controller variables */
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uint8_t apps_value = 0; /* Value of the APPS sensor (0-255) */
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char rtd_state = 0; /* Whether or not RTD is actived */
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#define TC_OK 0b0
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#define TC_SAFE_STATE 0b1
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char tc_state = TC_OK; /* Status of the Torque Controller */
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uint8_t apps_value = 0; /* Value of the APPS sensor (0-255) */
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uint8_t bpps_value = 0; /* Value of the BPPS sensor (0-255) */
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uint64_t time_last_apps_bpps = 0; /* Timestamp of last message for APPS and BPPS values */
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#define RTD_INACTIVE 0b0
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#define RTD_ACTIVE 0b1
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char rtd_state = RTD_INACTIVE; /* Whether or not RTD is actived */
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uint64_t time_last_rtd_state = 0; /* Timestamp of last message for Boot Sequence State stuff */
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uint64_t time_last_can_mc_send_enable = 0; /* Timestamp of last enable/disable message that was sent to motorcontrollers (because they have timeout safety shit) */
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uint64_t time_last_can_mc_send_erpm = 0; /* Timestamp of last erpm message that was sent to motorcontrollers (to limit amount of messages) */
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#define CAN_MC_ERPM_PERIOD 25 /* Time between ERPM messages */
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void handle_can_lv_message(const CAN_message_t &msg) {
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/* Callback for LV CAN messages */
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if ((msg.id & 0xff0) == CAN_ID_APPS) {
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if ((msg.id & 0xff0) == CAN_ID_CRITICAL_FAULT) {
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/* Enter safe state */
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enter_safe_state(FAULT_EXTERNAL_CRITICAL);
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}
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else if ((msg.id & 0xff0) == CAN_ID_APPS_BPPS) {
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/* APPS value */
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apps_value = msg.buf[0];
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time_last_apps = millis();
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bpps_value = msg.buf[1];
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time_last_apps_bpps = millis();
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}
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else if ((msg.id & 0xfff) == CAN_ID_BOOT_SEQ) {
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/* Boot Sequence Status */
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char bs = msg.buf[0];
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rtd_state = (bs == 5) ? 0b1 : 0b0;
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rtd_state = (bs == 5) ? RTD_ACTIVE : RTD_INACTIVE;
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time_last_rtd_state = millis();
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}
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}
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@ -68,44 +95,49 @@ void can_setup() {
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can_mc.onReceive(handle_can_mc_message);
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}
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/* CAN MC subroutines */
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void can_mc_send_drive_allowed(char allowed) {
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/* Enable or disable left drive */
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CAN_message_t ml;
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ml.flags.extended = 1;
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ml.id = CAN_MC_ID_ENABLE << 8 | MC_L_ID;
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ml.buf[0] = allowed;
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can_mc.write(ml);
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// ID bij ons was 79 = 0x4F
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/* Enable or disable right drive */
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CAN_message_t mr;
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mr.flags.extended = 1;
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mr.id = CAN_MC_ID_ENABLE << 8 | MC_R_ID;
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mr.buf[0] = allowed;
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can_mc.write(mr);
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void sendEnable() {
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CAN_message_t msg_DriveEnable;
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msg_DriveEnable.flags.extended = 1;
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msg_DriveEnable.id = 0x24 << 8 | 0x4F; // INVERTER ID INSTELLEN VOLGENS VOLGEND FORMAT: 0x24 << 8 | 0x"ID"
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msg_DriveEnable.buf[0] = 1;
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msg_DriveEnable.buf[1] = 255;
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msg_DriveEnable.buf[2] = 0xFF;
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msg_DriveEnable.buf[3] = 0xFF;
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msg_DriveEnable.buf[4] = 0xFF;
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msg_DriveEnable.buf[5] = 0xFF;
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msg_DriveEnable.buf[6] = 0xFF;
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msg_DriveEnable.buf[7] = 0xFF;
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Can0.write(msg_DriveEnable);
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Serial.println();
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/* Update state */
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time_last_can_mc_send_enable = millis()
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}
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void can_mc_send_erpm(int32_t erpm_l, int32_t erpm_r) {
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/* Send ERPM to left drive */
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CAN_message_t ml;
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ml.flags.extended = 1;
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ml.id = CAN_MC_ID_ERPM << 8 | MC_L_ID;
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ml.buf[0] = (erpm_l >> 24) & 0xff;
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ml.buf[1] = (erpm_l >> 16) & 0xff;
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ml.buf[2] = (erpm_l >> 8) & 0xff;
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ml.buf[3] = erpm_l & 0xff;
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can_mc.write(ml);
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void sendERPM() {
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if ( millis() - time_last_update_can > 100 ) {
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sendEnable();
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Serial.print("Enable");
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/* Send ERPM to right drive */
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CAN_message_t mr;
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mr.flags.extended = 1;
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mr.id = CAN_MC_ID_ERPM << 8 | MC_R_ID;
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ml.buf[0] = (erpm_r >> 24) & 0xff;
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ml.buf[1] = (erpm_r >> 16) & 0xff;
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ml.buf[2] = (erpm_r >> 8) & 0xff;
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ml.buf[3] = erpm_r & 0xff;
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can_mc.write(mr);
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CAN_message_t msg_ERPM;
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msg_ERPM.flags.extended = 1;
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msg_ERPM.id = 0x1C << 8 | 0x4F; // INVERTER ID INSTELLEN VOLGENS VOLGEND FORMAT: 0x1C << 8 | 0x"ID"
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msg_ERPM.buf[0] = (speed >> 24);
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msg_ERPM.buf[1] = (speed >> 16) & 0xFF;
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msg_ERPM.buf[2] = (speed >> 8) & 0xFF;
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msg_ERPM.buf[3] = speed & 0xFF;
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Can0.write(msg_ERPM);
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Serial.println("ERPM");
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printMessage(msg_ERPM);
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time_last_update_can = millis();
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}
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/* Update state */
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time_last_can_mc_send_erpm = millis()
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}
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/* Subroutine to check if new heartbeat message needs to be sent and transmits it if needed */
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@ -116,7 +148,7 @@ void check_heartbeat() {
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/* Send heartbeat */
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CAN_message_t m;
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m.id = CAN_ID_HEARTBEAT | CAN_MODULE_ID;
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m.buf[0] = HEARTBEAT_STATUS_OK;
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m.buf[0] = (tc_state == TC_SAFE_STATE) ? HEARTBEAT_STATUS_SAFESTATE : HEARTBEAT_STATUS_OK;
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can_lv.write(m);
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/* Update stats */
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@ -125,23 +157,33 @@ void check_heartbeat() {
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/* Subroutine to update invertors */
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void update_drives() {
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/* TODO: Return if not needed yet */
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//if (millis() < time_last_heartbeat + HEARTBEAT_PERIOD) return;
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/* Check timeouts */
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if (millis() > time_last_rtd + RTD_TIMEOUT) enter_safe_state(FAULT_RTD_TIMEOUT);
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if (millis() > time_last_apps_bpps + APPS_BPPS_TIMEOUT) enter_safe_state(FAULT_APPS_BPPS_TIMEOUT);
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/* Check if needs to send enable message */
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if (millis() > time_last_can_mc_send_enable + CAN_MC_TIMEOUT-50) {
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/* Send enable signal to prevent safety timeout */
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char allowed = (tc_state == TC_OK && rtd_state == RTD_ACTIVE) ? 0b1 : 0b0;
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can_mc_send_drive_allowed(allowed);
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}
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/* Only continue if not recent enough */
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if (millis() < time_last_can_mc_send_erpm + CAN_MC_ERPM_PERIOD) return;
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/* Update speed */
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uint8_t speed = apps_value;
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int32_t rpm;
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if (rtd_state != RTD_ACTIVE) rpm = 0;
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else if (tc_state != TC_OK) rpm = 0;
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else if (apps_value < APPS_THRESHOLD) rpm = 0;
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else {
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/* Calculate RPM from APPS value (TODO: optimize this) */
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rpm = apps_value * 20;
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}
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int32_t erpm = rpm * 10; /* ERPM = RPM * Motor Poles, for Emrax this is equal to 10 */
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/* Check if data is recent enough */
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//if (millis() > time_last_apps
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/* Send heartbeat */
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CAN_message_t m;
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m.id = CAN_ID_HEARTBEAT | CAN_MODULE_ID;
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m.buf[0] = HEARTBEAT_STATUS_OK;
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can_lv.write(m);
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/* Update stats */
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time_last_heartbeat = millis();
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/* Send message */
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can_mc_send_erpm(erpm, erpm);
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}
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void setup() {
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