fix bugs; change behaviour auf user led

SoC-Lab · Mar 5, 2019 · 472d0e1 · 472d0e1
1 parent f18b5df
commit 472d0e1
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Showing 14 changed files with 92 additions and 65 deletions.
diff --git a/ECU/application/ECU.cpp b/ECU/application/ECU.cpp
@@ -1,6 +1,6 @@
 #include "ECU.h"
 
-ECU::ECU(Serial* uart, double t_period_s, double timeout_s) : uart(uart), t_period_s(t_period_s), timeout_s(timeout_s) {
+ECU::ECU(Serial* uart, DigitalOut* status, double t_period_s, double timeout_s) : uart(uart), status(status), t_period_s(t_period_s), timeout_s(timeout_s) {
   ini_ok = 0;
 	timer = new RtosTimer(callback(this, &ECU::statemachine), osTimerPeriodic);
 }
@@ -50,7 +50,7 @@ void ECU::statemachine()
 		else if(state == WAIT_FOR_SILENT_BUS && t > 0 && packet.validate_control_packet(THS_ID, ECU_ID, REQUEST, rx_data)) {
 			state = BUS_BUSY;
 		}			
-		else if(state == WAIT_FOR_SILENT_BUS && t > timeout_s) {
+		else if(state == WAIT_FOR_SILENT_BUS && t > 10 * timeout_s) {
 			state = START;
 		}
 		else if(state == BUS_BUSY && t > 0) {
@@ -103,8 +103,12 @@ void ECU::statemachine()
 
 	/*** output process image ***/
 	if(!ini_ok);
-	else if(state == REQUEST_TH_POS) { uart->putc(tx_data); }
-	else if(state == SEND_MOTOR_PAR) { uart->putc(tx_data); }
+	else if(state == WAIT_FOR_SILENT_BUS) { *status = 0;         }
+	else if(state == BUS_BUSY)            { *status = 1;         }
+	else if(state == REQUEST_TH_POS)      { uart->putc(tx_data); }
+	else if(state == RECEIVE_TH_POS)      { *status = 1;         }
+	else if(state == SEND_MOTOR_PAR)      { uart->putc(tx_data); }
+	else if(state == WAIT_FOR_MCU_ACK)    { *status = 0;         }
 	// else;
 
 	ini_ok = 1;

diff --git a/ECU/application/ECU.h b/ECU/application/ECU.h
@@ -18,7 +18,7 @@ typedef enum state_e
 
 class ECU {
 public:
-    ECU(Serial* uart, double t_period_s, double timeout_s);
+    ECU(Serial* uart, DigitalOut* status, double t_period_s, double timeout_s);
 		~ECU();
 		void start();
 		void stop();
@@ -29,6 +29,7 @@ class ECU {
 		Packet packet;
 		RtosTimer* timer;
 		Serial* uart;
+    DigitalOut* status;
 
     uint8_t ini_ok;
     state_t state;

diff --git a/ECU/application/main.cpp b/ECU/application/main.cpp
@@ -37,17 +37,16 @@
 
 /*******************************************************************/
 Serial uart(UART_TX, UART_RX, 9600);
-ECU ecu(&uart, 2e-3, 0.2);
 DigitalOut led(USER_LED);
+ECU ecu(&uart, &led, 1e-3, 0.05);
 
 int main (void)
 {
 	ecu.start();
 
   while(1)
   {
-		led = !led;
-		wait(0.25);
+
   }
 }
 
diff --git a/Engine/application/Engine.cpp b/Engine/application/Engine.cpp
@@ -1,6 +1,6 @@
 #include "Engine.h"
 
-Engine::Engine(Serial* uart, DigitalOut* engine, double t_period_s) : uart(uart), engine(engine), t_period_s(t_period_s) {
+Engine::Engine(Serial* uart, DigitalOut* engine, DigitalOut* status, double t_period_s) : uart(uart), engine(engine), status(status), t_period_s(t_period_s) {
   ini_ok = 0;
 	timer = new RtosTimer(callback(this, &Engine::statemachine), osTimerPeriodic);
 }
@@ -42,15 +42,26 @@ void Engine::statemachine()
         if(!ini_ok) { 
             state = IDLE;
             m_state = state;    
+            attempts = 0;
         }
         else if(state != IDLE && t > 0 && error != 0) {
             tx_data = packet.build_control_packet(ECU_ID, MCU_ID, ERROR_2);
             state = SEND_ERROR;
         }
-        else if(state == IDLE && t > 0 && packet.validate_data_packet(MCU_ID, rx_data)) {
-            state = WAIT_FOR_ECU_DATA;
+        else if(state == IDLE && t > 0 && attempts < 2 && packet.validate_data_packet(MCU_ID, rx_data)) {
+						attempts++;
+        }
+				else if(state == IDLE && t > 0 && packet.validate_data_packet(MCU_ID, rx_data)) {
+						attempts = 0;
+            tx_data = packet.build_control_packet(ECU_ID, MCU_ID, ACKNOWLEDGE);
+            state = SEND_ACK;
         }
-        else if(state == WAIT_FOR_ECU_DATA && t > 0 && packet.validate_control_packet(ECU_ID, MCU_ID, ACKNOWLEDGE, rx_data)) {
+				else if(state == IDLE && t > 0 && packet.validate_control_packet(ECU_ID, MCU_ID, ACKNOWLEDGE, rx_data)) {
+						state = BUS_BUSY;
+        }
+        else if(state == BUS_BUSY && t > 0)
+        {
+            attempts = 0;
             state = IDLE;
         }
         else if(state == WAIT_FOR_ECU_DATA && t > 0 && packet.validate_data_packet(MCU_ID, rx_data)) {
@@ -68,7 +79,17 @@ void Engine::statemachine()
 
     /*** output process image ***/
     if(!ini_ok);
+    else if(state == IDLE) { 
+        *status = 0;                        
+    }
+    else if(state == BUS_BUSY) { 
+        *status = 1;                        
+    }
+    else if(state == WAIT_FOR_ECU_DATA) {
+        *status = 1;
+    }
     else if(state == SEND_ACK) { 
+        *status = 0;
         *engine = rx_data & DATA_MASK; 
         uart->putc(tx_data);
     }

diff --git a/Engine/application/Engine.h b/Engine/application/Engine.h
@@ -7,14 +7,15 @@
 typedef enum state_e 
 {
 	IDLE = 1,
+	BUS_BUSY,
 	WAIT_FOR_ECU_DATA,
 	SEND_ACK,
 	SEND_ERROR,
 } state_t;
 
 class Engine {
 public:
-	Engine(Serial* uart, DigitalOut* engine, double t_period_s);
+	Engine(Serial* uart, DigitalOut* engine, DigitalOut* status, double t_period_s);
 	~Engine();
 	void start();
 	void stop();
@@ -26,7 +27,9 @@ class Engine {
 	RtosTimer* timer;
 	Serial* uart;
 	DigitalOut* engine;
+	DigitalOut *status;
 
+	uint8_t attempts;
 	uint8_t ini_ok;
 	state_t state;
 	state_t m_state;

diff --git a/Engine/application/main.cpp b/Engine/application/main.cpp
@@ -38,17 +38,16 @@
 /*******************************************************************/
 Serial uart(UART_TX, UART_RX, 9600);
 DigitalOut engine_pp(ENGINE_PP, 1);
-Engine engine(&uart, &engine_pp, 2e-3);
 DigitalOut led(USER_LED);
+Engine engine(&uart, &engine_pp, &led, 1e-3);
 
 int main (void)
 {
 	engine.start();
 
   while(1)
   {
-		led = !led;
-		wait(1.0);
+
   }
 }
 
diff --git a/Engine/keil_xilinx_cm1/engine_xilinx_cm1.uvoptx b/Engine/keil_xilinx_cm1/engine_xilinx_cm1.uvoptx
@@ -140,22 +140,6 @@
           <ExecCommand></ExecCommand>
           <Expression></Expression>
         </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>28</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
-          <Filename>D:\Projects\SoC_Lab\Firmware\Engine\Engine.cpp</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression></Expression>
-        </Bp>
       </Breakpoint>
       <Tracepoint>
         <THDelay>0</THDelay>

diff --git a/Throttle/application/Throttle.cpp b/Throttle/application/Throttle.cpp
@@ -1,6 +1,6 @@
 #include "Throttle.h"
 
-Throttle::Throttle(Serial* uart, DigitalIn* i_throttle, double t_period_s) : uart(uart), i_throttle(i_throttle), t_period_s(t_period_s) {
+Throttle::Throttle(Serial* uart, DigitalIn* i_throttle, DigitalOut* status, double t_period_s) : uart(uart), i_throttle(i_throttle), status(status), t_period_s(t_period_s) {
   ini_ok = 0;
 	timer = new RtosTimer(callback(this, &Throttle::statemachine), osTimerPeriodic);
 }
@@ -42,16 +42,27 @@ void Throttle::statemachine()
 
         if(!ini_ok) { 
             state = IDLE;
-            m_state = state;    
-        }
+            m_state = state; 
+						attempts = 0;
+				}
         else if(state != IDLE && t > 0 && error != 0) {
             tx_data = packet.build_control_packet(ECU_ID, THS_ID, ERROR_1);
             state = SEND_ERROR;
         }
-        else if(state == IDLE && t > 0 && packet.validate_control_packet(THS_ID, ECU_ID, REQUEST, rx_data)) {
-            state = WAIT_FOR_ECU_REQ;
+        else if(state == IDLE && t > 0 && attempts < 2 && packet.validate_control_packet(THS_ID, ECU_ID, REQUEST, rx_data)) {
+						attempts++;
+        }
+				else if(state == IDLE && t > 0 && packet.validate_control_packet(THS_ID, ECU_ID, REQUEST, rx_data)) {
+						attempts = 0;
+            tx_data = packet.build_data_packet(ECU_ID, throttle_pos);
+            state = SEND_TH_POS;
+        }
+				else if(state == IDLE && t > 0 && packet.validate_data_packet(ECU_ID, rx_data)) {
+						state = BUS_BUSY;
         }
-        else if(state == WAIT_FOR_ECU_REQ && t > 0 && packet.validate_data_packet(THS_ID, rx_data)) {
+        else if(state == BUS_BUSY && t > 0)
+        {
+            attempts = 0;
             state = IDLE;
         }
         else if(state == WAIT_FOR_ECU_REQ && t > 0 && packet.validate_control_packet(THS_ID, ECU_ID, REQUEST, rx_data)) {
@@ -69,8 +80,11 @@ void Throttle::statemachine()
 
     /*** output process image ***/
     if(!ini_ok);
-    else if(state == SEND_TH_POS) { uart->putc(tx_data);  }
-    else if(state == SEND_ERROR)  { uart->putc(tx_data);  }
+    else if(state == IDLE)             { *status = 0;                        }
+    else if(state == BUS_BUSY)         { *status = 1;                        }
+    else if(state == WAIT_FOR_ECU_REQ) { *status = 1;                        }
+    else if(state == SEND_TH_POS)      { *status = 0;  uart->putc(tx_data);  }
+    else if(state == SEND_ERROR)       { uart->putc(tx_data);                }
     // else;
 
     ini_ok = 1;

diff --git a/Throttle/application/Throttle.h b/Throttle/application/Throttle.h
@@ -7,14 +7,15 @@
 typedef enum state_e 
 {
     IDLE = 1,
+		BUS_BUSY,
     WAIT_FOR_ECU_REQ,
     SEND_TH_POS,
     SEND_ERROR,
 } state_t;
 
 class Throttle {
 public:
-	Throttle(Serial* uart, DigitalIn* i_throttle, double t_period_s);
+	Throttle(Serial* uart, DigitalIn* i_throttle, DigitalOut* status, double t_period_s);
 		~Throttle();
 		void start();
 		void stop();
@@ -26,7 +27,9 @@ class Throttle {
 		RtosTimer* timer;
 		Serial* uart;
 		DigitalIn* i_throttle;
+		DigitalOut* status;
 
+		uint8_t attempts;
     uint8_t ini_ok;
     state_t state;
     state_t m_state;

diff --git a/Throttle/application/main.cpp b/Throttle/application/main.cpp
@@ -38,17 +38,16 @@
 /*******************************************************************/
 Serial uart(UART_TX, UART_RX, 9600);
 DigitalIn i_throttle(THROTTLE_PP);
-Throttle throttle(&uart, &i_throttle, 2e-3);
 DigitalOut led(USER_LED);
+Throttle throttle(&uart, &i_throttle, &led, 1e-3);
 
 int main (void)
 {
 	throttle.start();
 
 	while(1) 
 	{
-		led = !led;
-		wait(0.5);
+
 	}
 }
 
diff --git a/Throttle/keil_stm32f072/throttle_stm32f072.uvoptx b/Throttle/keil_stm32f072/throttle_stm32f072.uvoptx
@@ -235,7 +235,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>3</FileNumber>
       <FileType>8</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\application\Throttle.cpp</PathWithFileName>

diff --git a/Throttle/keil_xilinx_cm1/throttle_xilinx_cm1.uvoptx b/Throttle/keil_xilinx_cm1/throttle_xilinx_cm1.uvoptx
@@ -387,8 +387,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\main.cpp</PathWithFileName>
-      <FilenameWithoutPath>main.cpp</FilenameWithoutPath>
+      <PathWithFileName>..\..\Library\Packet.cpp</PathWithFileName>
+      <FilenameWithoutPath>Packet.cpp</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -399,8 +399,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\..\Library\Packet.cpp</PathWithFileName>
-      <FilenameWithoutPath>Packet.cpp</FilenameWithoutPath>
+      <PathWithFileName>..\application\Throttle.cpp</PathWithFileName>
+      <FilenameWithoutPath>Throttle.cpp</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -411,8 +411,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Throttle.cpp</PathWithFileName>
-      <FilenameWithoutPath>Throttle.cpp</FilenameWithoutPath>
+      <PathWithFileName>..\application\main.cpp</PathWithFileName>
+      <FilenameWithoutPath>main.cpp</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>

diff --git a/Throttle/keil_xilinx_cm1/throttle_xilinx_cm1.uvprojx b/Throttle/keil_xilinx_cm1/throttle_xilinx_cm1.uvprojx
@@ -54,7 +54,7 @@
           <CreateLib>0</CreateLib>
           <CreateHexFile>0</CreateHexFile>
           <DebugInformation>1</DebugInformation>
-          <BrowseInformation>0</BrowseInformation>
+          <BrowseInformation>1</BrowseInformation>
           <ListingPath>.\objects\</ListingPath>
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
@@ -382,11 +382,6 @@
         <Group>
           <GroupName>application</GroupName>
           <Files>
-            <File>
-              <FileName>main.cpp</FileName>
-              <FileType>8</FileType>
-              <FilePath>..\main.cpp</FilePath>
-            </File>
             <File>
               <FileName>Packet.cpp</FileName>
               <FileType>8</FileType>
@@ -395,7 +390,12 @@
             <File>
               <FileName>Throttle.cpp</FileName>
               <FileType>8</FileType>
-              <FilePath>..\Throttle.cpp</FilePath>
+              <FilePath>..\application\Throttle.cpp</FilePath>
+            </File>
+            <File>
+              <FileName>main.cpp</FileName>
+              <FileType>8</FileType>
+              <FilePath>..\application\main.cpp</FilePath>
             </File>
           </Files>
         </Group>
@@ -1352,11 +1352,6 @@
         <Group>
           <GroupName>application</GroupName>
           <Files>
-            <File>
-              <FileName>main.cpp</FileName>
-              <FileType>8</FileType>
-              <FilePath>..\main.cpp</FilePath>
-            </File>
             <File>
               <FileName>Packet.cpp</FileName>
               <FileType>8</FileType>
@@ -1365,7 +1360,12 @@
             <File>
               <FileName>Throttle.cpp</FileName>
               <FileType>8</FileType>
-              <FilePath>..\Throttle.cpp</FilePath>
+              <FilePath>..\application\Throttle.cpp</FilePath>
+            </File>
+            <File>
+              <FileName>main.cpp</FileName>
+              <FileType>8</FileType>
+              <FilePath>..\application\main.cpp</FilePath>
             </File>
           </Files>
         </Group>