Klagarge/SummerSchool2-Controller
Klagarge/SummerSchool2-Controller
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implement watchdog

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This commit is contained in:
Rémi Heredero 2023-08-25 14:13:51 +02:00
parent d6d667a3c4
commit e3f971bb18
7 changed files with 243 additions and 2 deletions
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12
306-controller_interface.X/app/can_message.c Normal file
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@ -0,0 +1,12 @@
/**
* @author Rémi Heredero
* @version 1.0.0
* @date August 2023
* @file can_message.c
*/
#include "../middleware/can_interface.h"
void CM_controller_alive(void* p) {
CAN_Send(0x0, 0xF, 0);
}

29
306-controller_interface.X/app/can_message.h Normal file
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@ -0,0 +1,29 @@
/**
* @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_controller_alive(void* p);
#endif /* CAN_MESSAGE_H */

14
306-controller_interface.X/app/factory/factory.c
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@ -30,6 +30,10 @@ LED* l8() {
return &theFactory.l8_;
}
WATCHDOG* WDcontroller(){
return &theFactory.WDcontroller_;
}
//initialize all objects
void Factory_init() {
@ -54,6 +58,13 @@ void Factory_init() {
CAN_init();
CAN_setSender(1);
LED_off(l1());
// TODO init EPROM interface
// TODO init watchdog with EPROM CST
WATCHDOG_init(WDcontroller());
CAR_CST.CONTROL_ALIVE_TIME = 10;
WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
}
void foo(uint8_t a, uint8_t b, uint32_t c){
@ -69,9 +80,12 @@ void foo(uint8_t a, uint8_t b, uint32_t c){
void Factory_build() {
ECAN_SetRXBnInterruptHandler(CAN_newMsg);
CAN_onReceiveCan(foo);
WATCHDOG_onAlive(WDcontroller(), CM_controller_alive, NULL);
}
//start all state machines
void Factory_start() {
CAN_startBehaviour();
WATCHDOG_startBehaviour(WDcontroller());
}

8
306-controller_interface.X/app/factory/factory.h
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@ -12,9 +12,13 @@
#include <stdint.h>
#include <stdbool.h>
#include "../car.h"
#include "../can_message.h"
#include "../../board/led/led.h"
#include "../../board/button/button.h"
#include "../../middleware/alive_checker.h"
#include "../../middleware/can_interface.h"
#include "../../middleware/watchdog.h"
typedef struct {
@ -26,6 +30,8 @@ typedef struct {
LED l6_;
LED l7_;
LED l8_;
WATCHDOG WDcontroller_;
} Factory;
@ -44,5 +50,7 @@ LED* l6();
LED* l7();
LED* l8();
WATCHDOG* WDcontroller();
#endif

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

9
306-controller_interface.X/nbproject/configurations.xml
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@ -7,6 +7,7 @@
<logicalFolder name="app" displayName="app" projectFiles="true">
<itemPath>app/factory/factory.h</itemPath>
<itemPath>app/car.h</itemPath>
<itemPath>app/can_message.h</itemPath>
</logicalFolder>
<logicalFolder name="board" displayName="board" projectFiles="true">
<itemPath>board/led/led.h</itemPath>
@ -25,6 +26,7 @@
<logicalFolder name="middleware" displayName="middleware" projectFiles="true">
<itemPath>middleware/can_interface.h</itemPath>
<itemPath>middleware/alive_checker.h</itemPath>
<itemPath>middleware/watchdog.h</itemPath>
</logicalFolder>
<logicalFolder name="xf" displayName="xf" projectFiles="true">
<itemPath>xf/event.h</itemPath>
@ -41,6 +43,7 @@
projectFiles="true">
<logicalFolder name="app" displayName="app" projectFiles="true">
<itemPath>app/factory/factory.c</itemPath>
<itemPath>app/can_message.c</itemPath>
</logicalFolder>
<logicalFolder name="board" displayName="board" projectFiles="true">
<itemPath>board/led/led.c</itemPath>
@ -59,6 +62,7 @@
<logicalFolder name="middleware" displayName="middleware" projectFiles="true">
<itemPath>middleware/can_interface.c</itemPath>
<itemPath>middleware/alive_checker.c</itemPath>
<itemPath>middleware/watchdog.c</itemPath>
</logicalFolder>
<logicalFolder name="xf" displayName="xf" projectFiles="true">
<itemPath>xf/event.c</itemPath>
@ -210,6 +214,7 @@
<property key="debugoptions.debug-startup" value="Use system settings"/>
<property key="debugoptions.reset-behaviour" value="Use system settings"/>
<property key="debugoptions.useswbreakpoints" value="false"/>
<property key="firmware.download.all" value="false"/>
<property key="hwtoolclock.frcindebug" value="false"/>
<property key="memories.aux" value="false"/>
<property key="memories.bootflash" value="true"/>
@ -240,7 +245,7 @@
<property key="programoptions.programcalmem" value="false"/>
<property key="programoptions.programuserotp" value="false"/>
<property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
<property key="programoptions.usehighvoltageonmclr" value="false"/>
<property key="programoptions.usehighvoltageonmclr" value="true"/>
<property key="programoptions.uselvpprogramming" value="false"/>
<property key="voltagevalue" value="5.0"/>
</PICkit3PlatformTool>
@ -285,7 +290,7 @@
<property key="programoptions.programcalmem" value="false"/>
<property key="programoptions.programuserotp" value="false"/>
<property key="programoptions.testmodeentrymethod" value="VDDFirst"/>
<property key="programoptions.usehighvoltageonmclr" value="false"/>
<property key="programoptions.usehighvoltageonmclr" value="true"/>
<property key="programoptions.uselvpprogramming" value="false"/>
<property key="voltagevalue" value="5.0"/>
</Tool>