fix bugs

andi-h · andi-h · commit b47fef67dbb8 · 2019-03-01T16:40:33.000+01:00
diff --git a/ECU/ECU.cpp b/ECU/ECU.cpp
@@ -65,6 +65,9 @@ void ECU::statemachine()
 			tx_data = packet.build_control_packet(THS_ID, ECU_ID, REQUEST); 
 			state = REQUEST_TH_POS;
 		}
+		else if(state == RECEIVE_TH_POS && t > timeout_s) {  
+			state = START;
+		}
 		else if(state == CALC_MOTOR_PAR && t > 0) {
 			motor_par = throttle_pos;
 			tx_data = packet.build_data_packet(MCU_ID, motor_par); 
@@ -74,22 +77,25 @@ void ECU::statemachine()
 			state = WAIT_FOR_MCU_ACK;  
 		}
 		else if(state == WAIT_FOR_MCU_ACK && t > 0 && packet.validate_control_packet(ECU_ID, MCU_ID, ACKNOWLEDGE, rx_data)) { 
+			attempt = 1; 
+			tx_data = packet.build_control_packet(THS_ID, ECU_ID, REQUEST); 
 			state = REQUEST_TH_POS; 
 		}
 		else if(state == WAIT_FOR_MCU_ACK && t > timeout_s && attempt < 4) { 
 			attempt++; 
 			tx_data = packet.build_data_packet(MCU_ID, throttle_pos);              
 			state = SEND_MOTOR_PAR;                    
 		}
+		else if(state == WAIT_FOR_MCU_ACK && t > timeout_s) {          
+			state = START;                   
+		}
 		// else;
 	} while(state != m_state);
 
 	/*** 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 == REQUEST_TH_POS) { uart->putc(tx_data); }
+	else if(state == SEND_MOTOR_PAR) { uart->putc(tx_data); }
 	// else;
 
 	ini_ok = 1;
diff --git a/ECU/keil_stm32f103/ecu_stm32f103.uvoptx b/ECU/keil_stm32f103/ecu_stm32f103.uvoptx
@@ -148,7 +148,31 @@
           <Name>-U-O206 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>36</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134229568</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\ECU.cpp</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\STM32F103RB\../ECU.cpp\36</Expression>
+        </Bp>
+      </Breakpoint>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>state</ItemText>
+        </Ww>
+      </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
diff --git a/ECU/keil_stm32f103/ecu_stm32f103.uvprojx b/ECU/keil_stm32f103/ecu_stm32f103.uvprojx
@@ -312,7 +312,7 @@
           </ArmAdsMisc>
           <Cads>
             <interw>0</interw>
-            <Optim>3</Optim>
+            <Optim>4</Optim>
             <oTime>0</oTime>
             <SplitLS>0</SplitLS>
             <OneElfS>1</OneElfS>
diff --git a/ECU/main.cpp b/ECU/main.cpp
@@ -31,7 +31,7 @@
 
 /*******************************************************************/
 Serial uart(UART_TX, UART_RX, 9600);
-ECU ecu(&uart, 0.1, 1.0);
+ECU ecu(&uart, 2e-3, 0.02);
 
 int main (void)
 {
diff --git a/Engine/Engine.cpp b/Engine/Engine.cpp
@@ -1,6 +1,6 @@
 #include "Engine.h"
 
-Engine::Engine(Serial* uart, DigitalOut* engine, double t_period_s, double timeout_s) : uart(uart), engine(engine), t_period_s(t_period_s), timeout_s(timeout_s) {
+Engine::Engine(Serial* uart, DigitalOut* engine, double t_period_s) : uart(uart), engine(engine), t_period_s(t_period_s) {
   ini_ok = 0;
 	timer = new RtosTimer(callback(this, &Engine::statemachine), osTimerPeriodic);
 }
diff --git a/Engine/Engine.h b/Engine/Engine.h
@@ -14,7 +14,7 @@ typedef enum state_e
 
 class Engine {
 public:
-	Engine(Serial* uart, DigitalOut* engine, double t_period_s, double timeout_s);
+	Engine(Serial* uart, DigitalOut* engine, double t_period_s);
 	~Engine();
 	void start();
 	void stop();
@@ -34,7 +34,6 @@ class Engine {
 	uint8_t tx_data;
 	uint8_t motor_param;
 	double t_period_s;
-	double timeout_s;
 };
 
 #endif // __ENGINE_H
diff --git a/Engine/keil_stm32f072/engine_stm32f072.uvprojx b/Engine/keil_stm32f072/engine_stm32f072.uvprojx
@@ -312,7 +312,7 @@
           </ArmAdsMisc>
           <Cads>
             <interw>0</interw>
-            <Optim>4</Optim>
+            <Optim>3</Optim>
             <oTime>0</oTime>
             <SplitLS>0</SplitLS>
             <OneElfS>1</OneElfS>
diff --git a/Engine/main.cpp b/Engine/main.cpp
@@ -33,7 +33,7 @@
 /*******************************************************************/
 Serial uart(UART_TX, UART_RX, 9600);
 DigitalOut engine_pp(ENGINE_PP, 0);
-Engine engine(&uart, &engine_pp, 0.1, 1.0);
+Engine engine(&uart, &engine_pp, 2e-3);
 
 int main (void)
 {
diff --git a/Throttle/Throttle.cpp b/Throttle/Throttle.cpp
@@ -1,6 +1,6 @@
 #include "Throttle.h"
 
-Throttle::Throttle(Serial* uart, DigitalIn* i_throttle, double t_period_s, double timeout_s) : uart(uart), i_throttle(i_throttle), t_period_s(t_period_s), timeout_s(timeout_s) {
+Throttle::Throttle(Serial* uart, DigitalIn* i_throttle, double t_period_s) : uart(uart), i_throttle(i_throttle), t_period_s(t_period_s) {
   ini_ok = 0;
 	timer = new RtosTimer(callback(this, &Throttle::statemachine), osTimerPeriodic);
 }
diff --git a/Throttle/Throttle.h b/Throttle/Throttle.h
@@ -14,7 +14,7 @@ typedef enum state_e
 
 class Throttle {
 public:
-	Throttle(Serial* uart, DigitalIn* i_throttle, double t_period_s, double timeout_s);
+	Throttle(Serial* uart, DigitalIn* i_throttle, double t_period_s);
 		~Throttle();
 		void start();
 		void stop();
@@ -33,7 +33,6 @@ class Throttle {
     double  t;
     uint8_t tx_data;
 		double t_period_s;
-		double timeout_s;
 };
 
 #endif // __THROTTLE_H
diff --git a/Throttle/keil_stm32f072/throttle_stm32f072.uvoptx b/Throttle/keil_stm32f072/throttle_stm32f072.uvoptx
@@ -223,7 +223,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>2</FileNumber>
       <FileType>8</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\Throttle.cpp</PathWithFileName>
diff --git a/Throttle/main.cpp b/Throttle/main.cpp
@@ -32,7 +32,7 @@
 /*******************************************************************/
 Serial uart(UART_TX, UART_RX, 9600);
 DigitalIn i_throttle(BUTTON1);
-Throttle throttle(&uart, &i_throttle, 0.1, 1.0);
+Throttle throttle(&uart, &i_throttle, 2e-3);
 
 int main (void)
 {

Original file line number	Diff line number	Diff line change
`@@ -31,7 +31,7 @@`
`31`	`31`
`32`	`32`	`/*******************************************************************/`
`33`	`33`	`Serial uart(UART_TX, UART_RX, 9600);`
`34`		`-ECU ecu(&uart, 0.1, 1.0);`
	`34`	`+ECU ecu(&uart, 2e-3, 0.02);`
`35`	`35`
`36`	`36`	`int main (void)`
`37`	`37`	`{`
Original file line number	Diff line number	Diff line change
`@@ -1,6 +1,6 @@`
`1`	`1`	`#include "Engine.h"`
`2`	`2`
`3`		`-Engine::Engine(Serial* uart, DigitalOut* engine, double t_period_s, double timeout_s) : uart(uart), engine(engine), t_period_s(t_period_s), timeout_s(timeout_s) {`
	`3`	`+Engine::Engine(Serial* uart, DigitalOut* engine, double t_period_s) : uart(uart), engine(engine), t_period_s(t_period_s) {`
`4`	`4`	`ini_ok = 0;`
`5`	`5`	`timer = new RtosTimer(callback(this, &Engine::statemachine), osTimerPeriodic);`
`6`	`6`	`}`
Original file line number	Diff line number	Diff line change
`@@ -33,7 +33,7 @@`
`33`	`33`	`/*******************************************************************/`
`34`	`34`	`Serial uart(UART_TX, UART_RX, 9600);`
`35`	`35`	`DigitalOut engine_pp(ENGINE_PP, 0);`
`36`		`-Engine engine(&uart, &engine_pp, 0.1, 1.0);`
	`36`	`+Engine engine(&uart, &engine_pp, 2e-3);`
`37`	`37`
`38`	`38`	`int main (void)`
`39`	`39`	`{`
Original file line number	Diff line number	Diff line change
`@@ -1,6 +1,6 @@`
`1`	`1`	`#include "Throttle.h"`
`2`	`2`
`3`		`-Throttle::Throttle(Serial* uart, DigitalIn* i_throttle, double t_period_s, double timeout_s) : uart(uart), i_throttle(i_throttle), t_period_s(t_period_s), timeout_s(timeout_s) {`
	`3`	`+Throttle::Throttle(Serial* uart, DigitalIn* i_throttle, double t_period_s) : uart(uart), i_throttle(i_throttle), t_period_s(t_period_s) {`
`4`	`4`	`ini_ok = 0;`
`5`	`5`	`timer = new RtosTimer(callback(this, &Throttle::statemachine), osTimerPeriodic);`
`6`	`6`	`}`