Klagarge/SummerSchool2-Controller
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add watchdog system

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Rémi Heredero 2023-08-25 18:43:22 +02:00 committed by GitHub
commit 70127bbb8d
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13 changed files with 1098 additions and 76 deletions
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99
306-controller_interface.X/app/can_message.c Normal file
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@ -0,0 +1,99 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file can_message.c
*/
#include "../middleware/can_interface.h"
#include "car.h"
#include "../app/factory/factory.h"
typedef union {
struct {
uint8_t byte0;
uint8_t byte1;
uint8_t byte2;
uint8_t byte3;
} separate;
struct {
uint32_t bytes;
} full;
} BYTES_4;
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
switch(idSender){
case 0: // Broadcast / Debug
break;
case 2: // Joystick
if(idMsg == 0x1) { // JOY_MESURE
}
if(idMsg == 0xF) { // JOY_ALIVE
ALIVE_CHECKER_ISALIVE(ACjoy());
}
break;
case 3: // Display
break;
case 4: // Drive
break;
case 5: // Steering
break;
case 6: // Supply
break;
case 7: // Undefined
break;
}
}
void CM_CONTROLLER_ALIVE(void* p) {
CAN_Send(0x0, 0xF, 0);
}
void CM_JOY_SETUP(void* p) {
BYTES_4 joy;
joy.separate.byte0 = CAR_CST.JOYSTICK_MODE;
joy.separate.byte1 = CAR_CST.JOYSTICK_PARAM1;
joy.separate.byte2 = CAR_CST.JOYSTICK_PARAM2;
joy.separate.byte3 = CAR_CST.JOYSTICK_ALIVE_TIME;
CAN_Send(2, 0, joy.full.bytes);
}
void CM_DISPLAY_SETUP(void* p) {
}
void CM_DISPLAY_SPEED(void* p) {
}
void CM_DISPLAY_DIRECTION(void* p) {
}
void CM_DRIVE_SETUP(void* p) {
}
void CM_DRIVE_POWER(void* p) {
}
void CM_STEERING_SETUP(void* p) {
}
void CM_STEERING_SET(void* p) {
}
void CM_SETUP_CONTROL(void* p) {
}

40
306-controller_interface.X/app/can_message.h Normal file
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@ -0,0 +1,40 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file can_message.h
*/
#ifndef CAN_MESSAGE_H
#define CAN_MESSAGE_H
/*
S R M
1 0 F CONTROL_ALIVE - - - -
1 2 0 JOY_SETUP Mode Param1 Param2 aliveTime
1 3 0 DISPLAY_SETUP reset - - aliveTime
1 3 2 DISPLAY_SPEED valH valL - -
1 3 3 DISPLAY_DIRECTION direction - - -
1 4 0 DRIVE_SETUP Reset/init speedTime stopTime aliveTime
1 4 1 DRIVE_POWER valH valL - -
1 5 0 STEERING_SETUP Reset/init homing setCenter aliveTime
1 5 1 STEERING_SET valHH valH valL valLL
1 6 0 SETUP_CONTROL batteryVoltTime batteryCurrentTime batteryEnergyTime aliveTime
*/
void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data);
void CM_CONTROLLER_ALIVE(void* p);
void CM_JOY_SETUP(void* p);
void CM_DISPLAY_SETUP(void* p);
void CM_DISPLAY_SPEED(void* p);
void CM_DISPLAY_DIRECTION(void* p);
void CM_DRIVE_SETUP(void* p);
void CM_DRIVE_POWER(void* p);
void CM_STEERING_SETUP(void* p);
void CM_STEERING_SET(void* p);
void CM_SETUP_CONTROL(void* p);
#endif /* CAN_MESSAGE_H */

35
306-controller_interface.X/app/car.h
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@ -23,20 +23,23 @@
/******************* /*******************
* MEMORY ADRESSES * * MEMORY ADRESSES *
*******************/ *******************/
#define MEMADD_CONTROL_STEERING_MODE 0x00 #define MEMADD_CONTROL_STEERING_MODE 0x01
#define MEMADD_CONTROL_ALIVE_TIME 0x01 #define MEMADD_CONTROL_ALIVE_TIME 0x02
#define MEMADD_CONTROL_SPEED_FACTOR 0x02 #define MEMADD_CONTROL_SPEED_FACTOR 0x03
#define MEMADD_CONTROL_POWER_FACTOR 0x06 #define MEMADD_CONTROL_POWER_FACTOR 0x07
#define MEMADD_CONTROL_STEERING_FACTOR 0x0A #define MEMADD_CONTROL_STEERING_FACTOR 0x0B
#define MEMADD_CONTROL_MAX_SPEED_FW 0x0E #define MEMADD_CONTROL_MAX_SPEED_FW 0x0F
#define MEMADD_CONTROL_MAX_SPEED_BW 0x0F #define MEMADD_CONTROL_MAX_SPEED_BW 0x10
#define MEMADD_JOYSTICK_ALIVE_TIME 0x10 #define MEMADD_JOYSTICK_MODE 0x11
#define MEMADD_DISPLAY_ALIVE_TIME 0x11 #define MEMADD_JOYSTICK_PARAM1 0x12
#define MEMADD_DRIVE_SPEED_TIME 0x12 #define MEMADD_JOYSTICK_PARAM2 0x13
#define MEMADD_DRIVE_STOP_TIME 0x13 #define MEMADD_JOYSTICK_ALIVE_TIME 0x14
#define MEMADD_DRIVE_ALIVE_TIME 0x14 #define MEMADD_DISPLAY_ALIVE_TIME 0x
#define MEMADD_STEERING_ALIVE_TIME 0x15 #define MEMADD_DRIVE_SPEED_TIME 0x
#define MEMADD_BATTERY_ALIVE_TIME 0x16 #define MEMADD_DRIVE_STOP_TIME 0x
#define MEMADD_DRIVE_ALIVE_TIME 0x
#define MEMADD_STEERING_ALIVE_TIME 0x
#define MEMADD_BATTERY_ALIVE_TIME 0x
typedef struct { typedef struct {
uint8_t CONTROL_STEERING_MODE; uint8_t CONTROL_STEERING_MODE;
@ -46,6 +49,10 @@ typedef struct {
uint32_t CONTROL_STEERING_FACTOR; uint32_t CONTROL_STEERING_FACTOR;
uint8_t CONTROL_MAX_SPEED_FW; uint8_t CONTROL_MAX_SPEED_FW;
uint8_t CONTROL_MAX_SPEED_BW; uint8_t CONTROL_MAX_SPEED_BW;
uint8_t JOYSTICK_MODE;
uint8_t JOYSTICK_PARAM1;
uint8_t JOYSTICK_PARAM2;
uint8_t JOYSTICK_ALIVE_TIME; uint8_t JOYSTICK_ALIVE_TIME;
uint8_t DISPLAY_ALIVE_TIME; uint8_t DISPLAY_ALIVE_TIME;
uint8_t DRIVE_SPEED_TIME; uint8_t DRIVE_SPEED_TIME;

45
306-controller_interface.X/app/factory/factory.c
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@ -30,6 +30,14 @@ LED* l8() {
return &theFactory.l8_; return &theFactory.l8_;
} }
WATCHDOG* WDcontroller(){
return &theFactory.WDcontroller_;
}
ALIVE_CHECKER* ACjoy() {
return &theFactory.ACjoy_;
}
//initialize all objects //initialize all objects
void Factory_init() { void Factory_init() {
@ -54,24 +62,41 @@ void Factory_init() {
CAN_init(); CAN_init();
CAN_setSender(1); CAN_setSender(1);
LED_off(l1()); LED_off(l1());
}
// TODO init EPROM interface
void foo(uint8_t a, uint8_t b, uint32_t c){
if(b){ // TODO init watchdog with EPROM CST
LED_on(l1()); WATCHDOG_init(WDcontroller());
} else { CAR_CST.CONTROL_ALIVE_TIME = 100;
LED_off(l1()); WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
}
CAN_Send(a, b, c); // TODO init ALIVE CHECKER with EPROM CST
CAR_CST.JOYSTICK_MODE = 0;
CAR_CST.JOYSTICK_PARAM1 = 100;
CAR_CST.JOYSTICK_PARAM2 = 1;
CAR_CST.JOYSTICK_ALIVE_TIME = 10;
ALIVE_CHECKER_init(ACjoy());
} }
//connect objects if required //connect objects if required
void Factory_build() { void Factory_build() {
ECAN_SetRXBnInterruptHandler(CAN_newMsg); ECAN_SetRXBnInterruptHandler(CAN_newMsg);
CAN_onReceiveCan(foo); CAN_onReceiveCan(CM_processIncome);
WATCHDOG_onAlive(WDcontroller(), CM_CONTROLLER_ALIVE, NULL);
ALIVE_CHECKER_onSetup(ACjoy(), CM_JOY_SETUP, NULL);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_onBorn(ACjoy(), LED_on, l1());
ALIVE_CHECKER_onDead(ACjoy(), LED_off, l1());
} }
//start all state machines //start all state machines
void Factory_start() { void Factory_start() {
CAN_startBehaviour(); CAN_startBehaviour();
WATCHDOG_startBehaviour(WDcontroller());
ALIVE_CHECKER_startBehaviour(ACjoy());
ALIVE_CHECKER_emitBorn(ACjoy(), 100, 0);
ALIVE_CHECKER_emitReady(ACjoy(), 200, 0);
} }

10
306-controller_interface.X/app/factory/factory.h
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@ -12,9 +12,13 @@
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#include "../car.h"
#include "../can_message.h"
#include "../../board/led/led.h" #include "../../board/led/led.h"
#include "../../board/button/button.h" #include "../../board/button/button.h"
#include "../../middleware/alive_checker.h"
#include "../../middleware/can_interface.h" #include "../../middleware/can_interface.h"
#include "../../middleware/watchdog.h"
typedef struct { typedef struct {
@ -26,6 +30,9 @@ typedef struct {
LED l6_; LED l6_;
LED l7_; LED l7_;
LED l8_; LED l8_;
WATCHDOG WDcontroller_;
ALIVE_CHECKER ACjoy_;
} Factory; } Factory;
@ -44,5 +51,8 @@ LED* l6();
LED* l7(); LED* l7();
LED* l8(); LED* l8();
WATCHDOG* WDcontroller();
ALIVE_CHECKER* ACjoy();
#endif #endif

4
306-controller_interface.X/middleware/alive_checker.c
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@ -56,6 +56,7 @@ bool ALIVE_CHECKER_processEvent(Event* ev) {
} else { } else {
me->state = STAC_DEAD; me->state = STAC_DEAD;
} }
me->isAlive = false;
} }
break; break;
@ -101,7 +102,6 @@ bool ALIVE_CHECKER_processEvent(Event* ev) {
break; break;
case STAC_WAIT: case STAC_WAIT:
me->isAlive = false;
if (me->wait.f != NULL) { if (me->wait.f != NULL) {
me->wait.f(me->wait.p); me->wait.f(me->wait.p);
} }
@ -168,7 +168,7 @@ void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v) {
} }
void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v) { void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v) {
me->aliveTime = v; me->isAlive = v;
} }
void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me) { void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me) {

8
306-controller_interface.X/middleware/can_interface.c
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@ -92,13 +92,13 @@ bool CAN_processEvent(Event* ev) {
canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B; // standard canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B; // standard
canMsg.frame.dlc = 4; // 4 bytes to send canMsg.frame.dlc = 4; // 4 bytes to send
canMsg.frame.rtr = 0; // no remote frame canMsg.frame.rtr = 0; // no remote frame
canMsg.frame.data3 = (uint8_t) data; canMsg.frame.data0 = (uint8_t) data;
data = data >> 8;
canMsg.frame.data2 = (uint8_t) data;
data = data >> 8; data = data >> 8;
canMsg.frame.data1 = (uint8_t) data; canMsg.frame.data1 = (uint8_t) data;
data = data >> 8; data = data >> 8;
canMsg.frame.data0 = (uint8_t) data; canMsg.frame.data2 = (uint8_t) data;
data = data >> 8;
canMsg.frame.data3 = (uint8_t) data;
data = data >> 8; data = data >> 8;
canMsg.frame.id = (uint32_t) data; canMsg.frame.id = (uint32_t) data;
CAN_transmit(&canMsg); CAN_transmit(&canMsg);

90
306-controller_interface.X/middleware/watchdog.c Normal file
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@ -0,0 +1,90 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file watchdog.c
*/
#include "watchdog.h"
void WATCHDOG_init(WATCHDOG* me){
me->state = STWD_INIT;
me->time = 10;
me->alive.f = NULL;
}
void WATCHDOG_startBehaviour(WATCHDOG* me){
POST(me, &WATCHDOG_processEvent, evWDinit, 0, 0);
}
bool WATCHDOG_processEvent(Event* ev) {
bool processed = false;
WATCHDOG* me = (WATCHDOG*)Event_getTarget(ev);
WATCHDOG_STATES oldState = me->state;
evIDT evid = Event_getId(ev);
uint64_t data = Event_getData(ev);
switch (me->state) { // onState
case STWD_INIT:
if (ev->id == evWDinit) {
me->state = STWD_ALIVE;
WATCHDOG_emitPoll(me, 10*me->time, 0);
}
break;
case STWD_ALIVE:
if (ev->id == evWDpoll) {
WATCHDOG_emitPoll(me, 10*me->time, 0);
if (me->alive.f != NULL) {
me->alive.f(me->alive.p);
}
}
break;
}
if(oldState != me->state){
switch (oldState) { // onExit
case STWD_INIT:
break;
case STWD_ALIVE:
break;
}
switch (me->state) { // onEntry
case STWD_INIT:
break;
case STWD_ALIVE:
break;
}
processed = true;
}
return processed;
}
/*************
* Callbacks *
*************/
void WATCHDOG_onAlive(WATCHDOG* me, WATCHDOG_CALLBACK_FUNCTION f, void* p) {
me->alive.f = f;
me->alive.p = p;
}
/************
* EMITTERS *
************/
void WATCHDOG_emitPoll(WATCHDOG* me, uint16_t t, int64_t data) {
POST(me, &WATCHDOG_processEvent, evWDpoll, t, data);
}
/***********
* SETTERS *
***********/
void WATCHDOG_setTime(WATCHDOG* me, uint8_t v) {
me->time = v;
}

83
306-controller_interface.X/middleware/watchdog.h Normal file
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@ -0,0 +1,83 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file watchdog.h
*/
#ifndef WATCHDOG_H
#define WATCHDOG_H
#include "../xf/xf.h"
typedef enum {
STWD_INIT,
STWD_ALIVE
} WATCHDOG_STATES;
typedef enum {
evWDinit = 20,
evWDpoll
} WATCHDOG_EVENTS;
typedef void (*WATCHDOG_CALLBACK_FUNCTION)(void*);
typedef struct {
WATCHDOG_CALLBACK_FUNCTION f; // function
void* p; // param(s)
} WATCHDOG_CALLBACK;
typedef struct {
WATCHDOG_STATES state;
uint8_t time;
WATCHDOG_CALLBACK alive;
} WATCHDOG;
/**
* Initialize the WATCHDOG
* @param me the WATCHDOG itself
*/
void WATCHDOG_init(WATCHDOG* me);
/**
* Start the WATCHDOG state machine
* @param me the WATCHDOG itself
*/
void WATCHDOG_startBehaviour(WATCHDOG* me);
/**
* Process the event
* @param ev the event to process
* @return true if the event is processed
*/
bool WATCHDOG_processEvent(Event* ev);
/*************
* Callbacks *
*************/
/**
* Set the callback function to call when the WATCHDOG is entering state alive
* @param me the WATCHDOG itself
* @param f the function to call
* @param p the param(s) to pass to the function
*/
void WATCHDOG_onAlive(WATCHDOG* me, WATCHDOG_CALLBACK_FUNCTION f, void* p);
/************
* EMITTERS *
************/
/**
* Emit the poll event
* @param me the WATCHDOG itself
* @param t time to wait in ms before triggering event
* @param data data to put on the event for XF
*/
void WATCHDOG_emitPoll(WATCHDOG* me, uint16_t t, int64_t data);
/***********
* SETTERS *
***********/
void WATCHDOG_setTime(WATCHDOG* me, uint8_t v);
#endif

10
306-controller_interface.X/nbproject/configurations.xml
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@ -7,6 +7,7 @@
<logicalFolder name="app" displayName="app" projectFiles="true"> <logicalFolder name="app" displayName="app" projectFiles="true">
<itemPath>app/factory/factory.h</itemPath> <itemPath>app/factory/factory.h</itemPath>
<itemPath>app/car.h</itemPath> <itemPath>app/car.h</itemPath>
<itemPath>app/can_message.h</itemPath>
</logicalFolder> </logicalFolder>
<logicalFolder name="board" displayName="board" projectFiles="true"> <logicalFolder name="board" displayName="board" projectFiles="true">
<itemPath>board/led/led.h</itemPath> <itemPath>board/led/led.h</itemPath>
@ -25,6 +26,7 @@
<logicalFolder name="middleware" displayName="middleware" projectFiles="true"> <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
<itemPath>middleware/can_interface.h</itemPath> <itemPath>middleware/can_interface.h</itemPath>
<itemPath>middleware/alive_checker.h</itemPath> <itemPath>middleware/alive_checker.h</itemPath>
<itemPath>middleware/watchdog.h</itemPath>
</logicalFolder> </logicalFolder>
<logicalFolder name="xf" displayName="xf" projectFiles="true"> <logicalFolder name="xf" displayName="xf" projectFiles="true">
<itemPath>xf/event.h</itemPath> <itemPath>xf/event.h</itemPath>
@ -41,6 +43,7 @@
projectFiles="true"> projectFiles="true">
<logicalFolder name="app" displayName="app" projectFiles="true"> <logicalFolder name="app" displayName="app" projectFiles="true">
<itemPath>app/factory/factory.c</itemPath> <itemPath>app/factory/factory.c</itemPath>
<itemPath>app/can_message.c</itemPath>
</logicalFolder> </logicalFolder>
<logicalFolder name="board" displayName="board" projectFiles="true"> <logicalFolder name="board" displayName="board" projectFiles="true">
<itemPath>board/led/led.c</itemPath> <itemPath>board/led/led.c</itemPath>
@ -59,6 +62,7 @@
<logicalFolder name="middleware" displayName="middleware" projectFiles="true"> <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
<itemPath>middleware/can_interface.c</itemPath> <itemPath>middleware/can_interface.c</itemPath>
<itemPath>middleware/alive_checker.c</itemPath> <itemPath>middleware/alive_checker.c</itemPath>
<itemPath>middleware/watchdog.c</itemPath>
</logicalFolder> </logicalFolder>
<logicalFolder name="xf" displayName="xf" projectFiles="true"> <logicalFolder name="xf" displayName="xf" projectFiles="true">
<itemPath>xf/event.c</itemPath> <itemPath>xf/event.c</itemPath>
@ -91,7 +95,7 @@
<platform>3</platform> <platform>3</platform>
</toolsSet> </toolsSet>
<packs> <packs>
<pack name="PIC18F-K_DFP" vendor="Microchip" version="1.5.114"/> <pack name="PIC18F-K_DFP" vendor="Microchip" version="1.7.134"/>
</packs> </packs>
<ScriptingSettings> <ScriptingSettings>
</ScriptingSettings> </ScriptingSettings>
@ -210,7 +214,6 @@
<property key="debugoptions.debug-startup" value="Use system settings"/> <property key="debugoptions.debug-startup" value="Use system settings"/>
<property key="debugoptions.reset-behaviour" value="Use system settings"/> <property key="debugoptions.reset-behaviour" value="Use system settings"/>
<property key="debugoptions.useswbreakpoints" value="false"/> <property key="debugoptions.useswbreakpoints" value="false"/>
<property key="firmware.download.all" value="false"/>
<property key="hwtoolclock.frcindebug" value="false"/> <property key="hwtoolclock.frcindebug" value="false"/>
<property key="memories.aux" value="false"/> <property key="memories.aux" value="false"/>
<property key="memories.bootflash" value="true"/> <property key="memories.bootflash" value="true"/>
@ -296,12 +299,15 @@
</XC8-CO> </XC8-CO>
<XC8-config-global> <XC8-config-global>
<property key="advanced-elf" value="true"/> <property key="advanced-elf" value="true"/>
<property key="constdata-progmem" value="true"/>
<property key="gcc-opt-driver-new" value="true"/> <property key="gcc-opt-driver-new" value="true"/>
<property key="gcc-opt-std" value="-std=c99"/> <property key="gcc-opt-std" value="-std=c99"/>
<property key="gcc-output-file-format" value="dwarf-3"/> <property key="gcc-output-file-format" value="dwarf-3"/>
<property key="mapped-progmem" value="false"/>
<property key="omit-pack-options" value="false"/> <property key="omit-pack-options" value="false"/>
<property key="omit-pack-options-new" value="1"/> <property key="omit-pack-options-new" value="1"/>
<property key="output-file-format" value="-mcof,+elf"/> <property key="output-file-format" value="-mcof,+elf"/>
<property key="smart-io-format" value=""/>
<property key="stack-size-high" value="auto"/> <property key="stack-size-high" value="auto"/>
<property key="stack-size-low" value="auto"/> <property key="stack-size-low" value="auto"/>
<property key="stack-size-main" value="auto"/> <property key="stack-size-main" value="auto"/>

88
306-controller_interface.X/ss22ep.mc3
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74
UML/watchdog.uxf Normal file
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@ -0,0 +1,74 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<diagram program="umlet" version="15.0.0">
<zoom_level>15</zoom_level>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>315</x>
<y>270</y>
<w>30</w>
<h>30</h>
</coordinates>
<panel_attributes>type=initial</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>315</x>
<y>285</y>
<w>120</w>
<h>105</h>
</coordinates>
<panel_attributes>lt=-&gt;
evWDinit</panel_attributes>
<additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>255</x>
<y>360</y>
<w>150</w>
<h>60</h>
</coordinates>
<panel_attributes>STWD_ALIVE</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>180</x>
<y>375</y>
<w>270</w>
<h>135</h>
</coordinates>
<panel_attributes>lt=-&gt;
m1=evWDpoll</panel_attributes>
<additional_attributes>100.0;30.0;100.0;70.0;10.0;70.0;10.0;10.0;50.0;10.0</additional_attributes>
</element>
<element>
<id>UMLNote</id>
<coordinates>
<x>480</x>
<y>360</y>
<w>150</w>
<h>60</h>
</coordinates>
<panel_attributes>send alive
by CAN</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLNote</id>
<coordinates>
<x>375</x>
<y>225</y>
<w>150</w>
<h>60</h>
</coordinates>
<panel_attributes>read time on
EPROM</panel_attributes>
<additional_attributes/>
</element>
</diagram>

588
busmaster_config.cfx Normal file
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@ -0,0 +1,588 @@
<?xml version="1.0" encoding="UTF-8"?>
<BUSMASTER_CONFIGURATION>
<Global_Configuration>
<BUSMASTER_Version>3.2.2</BUSMASTER_Version>
<IsMsgFilterEnabled>FALSE</IsMsgFilterEnabled>
<IsMsgFilterEnabledLin>FALSE</IsMsgFilterEnabledLin>
<IsReplayFilterEnabled>FALSE</IsReplayFilterEnabled>
<IsLogFilterEnabled>FALSE</IsLogFilterEnabled>
<IsLogFilterLINEnabled>FALSE</IsLogFilterLINEnabled>
<IsLoggingEnabled>FALSE</IsLoggingEnabled>
<IsMsgIntepretationEnabled>FALSE</IsMsgIntepretationEnabled>
<IsOverWriteEnabled>TRUE</IsOverWriteEnabled>
<DisplayTimeMode>SYSTEM</DisplayTimeMode>
<DisplayNumericMode>FALSE</DisplayNumericMode>
<LogOnConnect_CAN>FALSE</LogOnConnect_CAN>
<LogOnConnect_J1939>FALSE</LogOnConnect_J1939>
<LogOnConnect_LIN>FALSE</LogOnConnect_LIN>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>HIDE</WindowPlacement>
<Top>655</Top>
<Left>0</Left>
<Bottom>874</Bottom>
<Right>1532</Right>
</Window_Position>
</Global_Configuration>
<Module_Configuration>
<CAN_Database_Files>
<FilePath>threewheeler.DBF</FilePath>
</CAN_Database_Files>
<J1939_Database_Files/>
<CAN_DIL_Section>
<DriverName>MHS Tiny-CAN</DriverName>
<ControllerMode>Bus Off</ControllerMode>
<ControllerSettings>
<Channel>
<BaudRate>250</BaudRate>
<CNF1>7</CNF1>
<CNF2>B8</CNF2>
<CNF3>5</CNF3>
<BTR0>00</BTR0>
<BTR1>1C</BTR1>
<Clock>16</Clock>
<SamplePerc>75</SamplePerc>
<Sampling>1</Sampling>
<BTLCycles>10</BTLCycles>
<Warning_Limit>96</Warning_Limit>
<Propagation_Delay>ALL</Propagation_Delay>
<SJW>4</SJW>
<AccCodeByte1_0>0</AccCodeByte1_0>
<AccCodeByte1_1>0</AccCodeByte1_1>
<AccCodeByte2_0>0</AccCodeByte2_0>
<AccCodeByte2_1>0</AccCodeByte2_1>
<AccCodeByte3_0>0</AccCodeByte3_0>
<AccCodeByte3_1>0</AccCodeByte3_1>
<AccCodeByte4_0>0</AccCodeByte4_0>
<AccCodeByte4_1>0</AccCodeByte4_1>
<AccMaskByte1_0>FF</AccMaskByte1_0>
<AccMaskByte1_1>FF</AccMaskByte1_1>
<AccMaskByte2_0>FF</AccMaskByte2_0>
<AccMaskByte2_1>FF</AccMaskByte2_1>
<AccMaskByte3_0>FF</AccMaskByte3_0>
<AccMaskByte3_1>FF</AccMaskByte3_1>
<AccMaskByte4_0>FF</AccMaskByte4_0>
<AccMaskByte4_1>FF</AccMaskByte4_1>
<HardwareDesc>Simulation</HardwareDesc>
<ItemUnderFocus>64</ItemUnderFocus>
<BTR0BTR1>0</BTR0BTR1>
<AccFilterMode>0</AccFilterMode>
<ControllerMode>1</ControllerMode>
<SelfReception>1</SelfReception>
<HWFilterType_0>0</HWFilterType_0>
<HWFilterType_1>0</HWFilterType_1>
<Debug>0</Debug>
<PassiveMode>0</PassiveMode>
<HWTimestamps>0</HWTimestamps>
<Location/>
<LowSpeed>0</LowSpeed>
<CANFD_BaudRate>2000000</CANFD_BaudRate>
<CANFD_SamplePoint>70</CANFD_SamplePoint>
<CANFD_BTLCycles>10</CANFD_BTLCycles>
<CANFD_SJW>3</CANFD_SJW>
<CANFD_TxDelayCompensation>0</CANFD_TxDelayCompensation>
<CANFD_TxSecondarySamplePoint>0</CANFD_TxSecondarySamplePoint>
</Channel>
</ControllerSettings>
</CAN_DIL_Section>
<CAN_Signal_Watch>
<Message>
<Id>288</Id>
<Signal>DeltaY</Signal>
<Signal>aliveTime</Signal>
<Signal>timeMeasureOrDeltaX</Signal>
<Signal>mode</Signal>
</Message>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>HIDE</WindowPlacement>
<Top>622</Top>
<Left>86</Left>
<Right>816</Right>
<Bottom>998</Bottom>
</Window_Position>
<COLUMN_WIDTH>
<MESSAGE_COLUMN>142</MESSAGE_COLUMN>
<Raw_Val_Column>174</Raw_Val_Column>
<Physical_Val_Column>285</Physical_Val_Column>
<Signal_Column>142</Signal_Column>
</COLUMN_WIDTH>
</CAN_Signal_Watch>
<J1939_Signal_Watch>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>HIDE</WindowPlacement>
<Top>70</Top>
<Left>10</Left>
<Right>500</Right>
<Bottom>300</Bottom>
</Window_Position>
<COLUMN_WIDTH>
<MESSAGE_COLUMN>87</MESSAGE_COLUMN>
<Raw_Val_Column>87</Raw_Val_Column>
<Physical_Val_Column>174</Physical_Val_Column>
<Signal_Column>87</Signal_Column>
</COLUMN_WIDTH>
</J1939_Signal_Watch>
<LIN_Signal_Watch>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>HIDE</WindowPlacement>
<Top>70</Top>
<Left>10</Left>
<Right>500</Right>
<Bottom>300</Bottom>
</Window_Position>
<COLUMN_WIDTH>
<MESSAGE_COLUMN>87</MESSAGE_COLUMN>
<Raw_Val_Column>87</Raw_Val_Column>
<Physical_Val_Column>174</Physical_Val_Column>
<Signal_Column>87</Signal_Column>
</COLUMN_WIDTH>
</LIN_Signal_Watch>
<CAN_Signal_Graph>
<GRAPH_PARAMETERS>
<Buffer_Size>5000</Buffer_Size>
<Refresh_Rate>1000</Refresh_Rate>
<Frame_Color>21760</Frame_Color>
<Frame_Style>1</Frame_Style>
<Plot_Area_Color>0</Plot_Area_Color>
<Grid_Color>12632256</Grid_Color>
<Axis_Color>255</Axis_Color>
<X_Grid_Lines>10</X_Grid_Lines>
<Y_Grid_Lines>5</Y_Grid_Lines>
<Active_Axis>2</Active_Axis>
<Selected_Action>0</Selected_Action>
<Show_Grid>TRUE</Show_Grid>
<Display_Type>NORMAL</Display_Type>
</GRAPH_PARAMETERS>
<Window_Position>
<Visibility>HIDE</Visibility>
<Window_Position>HIDE</Window_Position>
<Top>-1</Top>
<Left>0</Left>
<Bottom>0</Bottom>
<Right>0</Right>
</Window_Position>
<Splitter_Window_Col_0>
<CxIdeal>-1</CxIdeal>
<CxMin>0</CxMin>
</Splitter_Window_Col_0>
<Splitter_Window_Col_1>
<CxIdeal>0</CxIdeal>
<CxMin>0</CxMin>
</Splitter_Window_Col_1>
<Splitter_Window_Row_0>
<CxIdeal>0</CxIdeal>
<CxMin>0</CxMin>
</Splitter_Window_Row_0>
<Splitter_Window_Row_1>
<CxIdeal>0</CxIdeal>
<CxMin>0</CxMin>
</Splitter_Window_Row_1>
</CAN_Signal_Graph>
<CAN_Log>
<LogOnConnect>0</LogOnConnect>
</CAN_Log>
<J1939_Log>
<LogOnConnect>0</LogOnConnect>
</J1939_Log>
<LIN_Log>
<LogOnConnect>0</LogOnConnect>
</LIN_Log>
<CAN_Simulated_Systems>
<Window_Position>
<Visibility>HIDE</Visibility>
<WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
<Top>0</Top>
<Left>0</Left>
<Bottom>0</Bottom>
<Right>0</Right>
</Window_Position>
</CAN_Simulated_Systems>
<J1939_Simulated_Systems>
<Window_Position>
<Visibility>HIDE</Visibility>
<WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
<Top>0</Top>
<Left>0</Left>
<Bottom>0</Bottom>
<Right>0</Right>
</Window_Position>
</J1939_Simulated_Systems>
<CAN_Replay/>
<CAN_Message_Window>
<Append_Buffer_Size>5000</Append_Buffer_Size>
<Overwrite_Buffer_Size>2000</Overwrite_Buffer_Size>
<Display_Update_Time>100</Display_Update_Time>
<COLUMN>
<ID/>
<Order>1</Order>
<IsVisible>0</IsVisible>
<Width>0</Width>
</COLUMN>
<COLUMN>
<ID>Time</ID>
<Order>2</Order>
<IsVisible>1</IsVisible>
<Width>138</Width>
</COLUMN>
<COLUMN>
<ID>Tx/Rx</ID>
<Order>3</Order>
<IsVisible>1</IsVisible>
<Width>85</Width>
</COLUMN>
<COLUMN>
<ID>Channel</ID>
<Order>4</Order>
<IsVisible>1</IsVisible>
<Width>92</Width>
</COLUMN>
<COLUMN>
<ID>Msg Type</ID>
<Order>5</Order>
<IsVisible>1</IsVisible>
<Width>71</Width>
</COLUMN>
<COLUMN>
<ID>ID</ID>
<Order>6</Order>
<IsVisible>1</IsVisible>
<Width>69</Width>
</COLUMN>
<COLUMN>
<ID>Message</ID>
<Order>7</Order>
<IsVisible>1</IsVisible>
<Width>174</Width>
</COLUMN>
<COLUMN>
<ID>DLC</ID>
<Order>8</Order>
<IsVisible>1</IsVisible>
<Width>75</Width>
</COLUMN>
<COLUMN>
<ID>Data Byte(s)</ID>
<Order>9</Order>
<IsVisible>1</IsVisible>
<Width>198</Width>
</COLUMN>
<IsHex>1</IsHex>
<IsAppend>0</IsAppend>
<IsInterpret>0</IsInterpret>
<Time_Mode>SYSTEM</Time_Mode>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
<Top>0</Top>
<Left>0</Left>
<Bottom>295</Bottom>
<Right>909</Right>
</Window_Position>
<Interpretation_Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
<Top>271</Top>
<Left>879</Left>
<Bottom>958</Bottom>
<Right>1552</Right>
</Interpretation_Window_Position>
</CAN_Message_Window>
<J1939_Message_Window>
<COLUMN>
<ID/>
<Order>1</Order>
<IsVisible>0</IsVisible>
<Width>0</Width>
</COLUMN>
<COLUMN>
<ID>Time</ID>
<Order>2</Order>
<IsVisible>1</IsVisible>
<Width>91</Width>
</COLUMN>
<COLUMN>
<ID>Channel</ID>
<Order>3</Order>
<IsVisible>1</IsVisible>
<Width>88</Width>
</COLUMN>
<COLUMN>
<ID>CAN ID</ID>
<Order>4</Order>
<IsVisible>1</IsVisible>
<Width>88</Width>
</COLUMN>
<COLUMN>
<ID>PGN</ID>
<Order>5</Order>
<IsVisible>1</IsVisible>
<Width>84</Width>
</COLUMN>
<COLUMN>
<ID>PGN Name</ID>
<Order>6</Order>
<IsVisible>1</IsVisible>
<Width>118</Width>
</COLUMN>
<COLUMN>
<ID>Type</ID>
<Order>7</Order>
<IsVisible>1</IsVisible>
<Width>75</Width>
</COLUMN>
<COLUMN>
<ID>Src</ID>
<Order>8</Order>
<IsVisible>1</IsVisible>
<Width>60</Width>
</COLUMN>
<COLUMN>
<ID>Dest</ID>
<Order>9</Order>
<IsVisible>1</IsVisible>
<Width>57</Width>
</COLUMN>
<COLUMN>
<ID>Priority</ID>
<Order>10</Order>
<IsVisible>1</IsVisible>
<Width>74</Width>
</COLUMN>
<COLUMN>
<ID>Tx/Rx</ID>
<Order>11</Order>
<IsVisible>1</IsVisible>
<Width>73</Width>
</COLUMN>
<COLUMN>
<ID>DLC</ID>
<Order>12</Order>
<IsVisible>1</IsVisible>
<Width>70</Width>
</COLUMN>
<COLUMN>
<ID>Data Byte(s)</ID>
<Order>13</Order>
<IsVisible>1</IsVisible>
<Width>720</Width>
</COLUMN>
<IsHex>1</IsHex>
<IsAppend>0</IsAppend>
<IsInterpret>0</IsInterpret>
<Time_Mode>SYSTEM</Time_Mode>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
<Top>0</Top>
<Left>0</Left>
<Bottom>543</Bottom>
<Right>1614</Right>
</Window_Position>
<Interpretation_Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
<Top>179</Top>
<Left>10</Left>
<Bottom>457</Bottom>
<Right>359</Right>
</Interpretation_Window_Position>
</J1939_Message_Window>
<LIN_Message_Window>
<Append_Buffer_Size>5000</Append_Buffer_Size>
<Overwrite_Buffer_Size>2000</Overwrite_Buffer_Size>
<Display_Update_Time>100</Display_Update_Time>
<COLUMN>
<ID/>
<Order>1</Order>
<IsVisible>0</IsVisible>
<Width>0</Width>
</COLUMN>
<COLUMN>
<ID>Time</ID>
<Order>2</Order>
<IsVisible>1</IsVisible>
<Width>95</Width>
</COLUMN>
<COLUMN>
<ID>Message</ID>
<Order>3</Order>
<IsVisible>1</IsVisible>
<Width>99</Width>
</COLUMN>
<COLUMN>
<ID>Message Type</ID>
<Order>4</Order>
<IsVisible>1</IsVisible>
<Width>135</Width>
</COLUMN>
<COLUMN>
<ID>Tx/Rx</ID>
<Order>5</Order>
<IsVisible>1</IsVisible>
<Width>85</Width>
</COLUMN>
<COLUMN>
<ID>Channel</ID>
<Order>6</Order>
<IsVisible>1</IsVisible>
<Width>80</Width>
</COLUMN>
<COLUMN>
<ID>DLC</ID>
<Order>7</Order>
<IsVisible>1</IsVisible>
<Width>70</Width>
</COLUMN>
<COLUMN>
<ID>ID</ID>
<Order>8</Order>
<IsVisible>1</IsVisible>
<Width>65</Width>
</COLUMN>
<COLUMN>
<ID>Data Byte(s)</ID>
<Order>9</Order>
<IsVisible>1</IsVisible>
<Width>235</Width>
</COLUMN>
<COLUMN>
<ID>Checksum</ID>
<Order>10</Order>
<IsVisible>1</IsVisible>
<Width>734</Width>
</COLUMN>
<IsHex>1</IsHex>
<IsAppend>0</IsAppend>
<IsInterpret>0</IsInterpret>
<Time_Mode>SYSTEM</Time_Mode>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
<Top>0</Top>
<Left>0</Left>
<Bottom>543</Bottom>
<Right>1614</Right>
</Window_Position>
<Interpretation_Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
<Top>179</Top>
<Left>10</Left>
<Bottom>457</Bottom>
<Right>359</Right>
</Interpretation_Window_Position>
</LIN_Message_Window>
<CAN_Tx_Window>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>SETMINPOSITION</WindowPlacement>
<Top>12</Top>
<Left>989</Left>
<Bottom>667</Bottom>
<Right>1849</Right>
</Window_Position>
<Message_List>
<Message>
<Channel>1</Channel>
<Message_ID>528</Message_ID>
<IsExtended>FALSE</IsExtended>
<IsRtr>FALSE</IsRtr>
<DLC>4</DLC>
<DataBytes>0,0,0,0</DataBytes>
<Repetion>10</Repetion>
<Repetition_Enabled>FALSE</Repetition_Enabled>
<Key_Value>a</Key_Value>
<Key_Enabled>FALSE</Key_Enabled>
</Message>
<Message>
<Channel>1</Channel>
<Message_ID>529</Message_ID>
<IsExtended>FALSE</IsExtended>
<IsRtr>FALSE</IsRtr>
<DLC>4</DLC>
<DataBytes>0,0,0,0</DataBytes>
<Repetion>10</Repetion>
<Repetition_Enabled>FALSE</Repetition_Enabled>
<Key_Value>a</Key_Value>
<Key_Enabled>FALSE</Key_Enabled>
</Message>
<Message>
<Channel>1</Channel>
<Message_ID>288</Message_ID>
<IsExtended>FALSE</IsExtended>
<IsRtr>FALSE</IsRtr>
<DLC>4</DLC>
<DataBytes>0,255,1,5</DataBytes>
<Repetion>10</Repetion>
<Repetition_Enabled>FALSE</Repetition_Enabled>
<Key_Value>a</Key_Value>
<Key_Enabled>FALSE</Key_Enabled>
</Message>
<Message>
<Channel>1</Channel>
<Message_ID>543</Message_ID>
<IsExtended>FALSE</IsExtended>
<IsRtr>FALSE</IsRtr>
<DLC>1</DLC>
<DataBytes>0</DataBytes>
<Repetion>10</Repetion>
<Repetition_Enabled>FALSE</Repetition_Enabled>
<Key_Value>a</Key_Value>
<Key_Enabled>FALSE</Key_Enabled>
</Message>
</Message_List>
</CAN_Tx_Window>
<CAN_Wave_Form_Genarator>
<Default_Sampling_Period>125</Default_Sampling_Period>
<SignalDefiner_AutoCorrect>1</SignalDefiner_AutoCorrect>
</CAN_Wave_Form_Genarator>
<LIN_Simulated_Systems>
<Window_Position>
<Visibility>HIDE</Visibility>
<WindowPlacement>RESTORETOMAXIMIZED</WindowPlacement>
<Top>0</Top>
<Left>0</Left>
<Bottom>0</Bottom>
<Right>0</Right>
</Window_Position>
</LIN_Simulated_Systems>
<LIN_Cluster_Config>
<CHANNEL>
<Index>0</Index>
<HWUri>Hardware</HWUri>
<BaudRate>19200</BaudRate>
<ProtocolVersion>LIN 2.0</ProtocolVersion>
<Overwrite_Settings>1</Overwrite_Settings>
<MasterMode>0</MasterMode>
<ECU/>
</CHANNEL>
</LIN_Cluster_Config>
<LIN_Tx_Window>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>SETMINPOSITION</WindowPlacement>
<Top>1</Top>
<Left>4</Left>
<Bottom>661</Bottom>
<Right>864</Right>
</Window_Position>
<Message_List/>
</LIN_Tx_Window>
<LIN_Schedule_Table>
<Window_Position>
<Visibility>SHOWNORMAL</Visibility>
<WindowPlacement>SETMINPOSITION</WindowPlacement>
<Top>183</Top>
<Left>535</Left>
<Bottom>716</Bottom>
<Right>1185</Right>
</Window_Position>
<Channel>
<Index>1</Index>
</Channel>
</LIN_Schedule_Table>
</Module_Configuration>
</BUSMASTER_CONFIGURATION>