void DoA36225_500(void) {
// Check the status of these pins every time through the loop
if (PIN_D_IN_3_HEATER_OVER_VOLT_STATUS == ILL_HEATER_OV) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_HW_HEATER_OVER_VOLTAGE);
}
if (_T5IF) {
// 10ms Timer has expired so this code will executre once every 10ms
_T5IF = 0;
// Flash the operate LED
led_divider++;
if (led_divider >= 50) {
led_divider = 0;
if (PIN_LED_POWER) {
PIN_LED_POWER = 0;
} else {
PIN_LED_POWER = 1;
}
}
// Update the error counters that get returned
etm_can_system_debug_data.i2c_bus_error_count = 0; // There are no I2C devices on this board
etm_can_system_debug_data.spi_bus_error_count = etm_spi1_error_count + etm_spi2_error_count;
etm_can_system_debug_data.scale_error_count = etm_scale_saturation_etmscalefactor2_count + etm_scale_saturation_etmscalefactor16_count;
etm_can_system_debug_data.self_test_result_register = 0; // DPARKER NEED TO WORK ON THE SELF TEST
/*
The following are updated by the ETM_CAN module
can_bus_error_count
reset_count
*/
// Set the fault LED
if (etm_can_status_register.status_word_0 & 0x0003) {
// The board is faulted or inhibiting the system
PIN_LED_I2_C = 0;
} else {
PIN_LED_I2_C = 1;
}
// Update the digital input status pins
if (PIN_D_IN_0_ELECTROMAGENT_STATUS == ILL_POWER_SUPPLY_DISABLED) {
ETMCanSetBit(&etm_can_status_register.status_word_0, STATUS_BIT_READBACK_ELECTROMAGNET_STATUS);
} else {
ETMCanClearBit(&etm_can_status_register.status_word_0, STATUS_BIT_READBACK_ELECTROMAGNET_STATUS);
}
if (PIN_D_IN_4_TEMPERATURE_STATUS == ILL_TEMP_SWITCH_FAULT) {
ETMCanSetBit(&etm_can_status_register.status_word_0, STATUS_BIT_HW_TEMPERATURE_SWITCH);
} else {
ETMCanClearBit(&etm_can_status_register.status_word_0, STATUS_BIT_HW_TEMPERATURE_SWITCH);
}
if (PIN_D_IN_1_HEATER_STATUS == ILL_POWER_SUPPLY_DISABLED) {
ETMCanSetBit(&etm_can_status_register.status_word_0, STATUS_BIT_READBACK_HEATER_STATUS);
} else {
ETMCanClearBit(&etm_can_status_register.status_word_0, STATUS_BIT_READBACK_HEATER_STATUS);
}
if (PIN_D_IN_5_RELAY_STATUS == ILL_RELAY_OPEN) {
ETMCanSetBit(&etm_can_status_register.status_word_0, STATUS_BIT_READBACK_RELAY_STATUS);
} else {
ETMCanClearBit(&etm_can_status_register.status_word_0, STATUS_BIT_READBACK_RELAY_STATUS);
}
// Flash the Refresh
if (PIN_D_OUT_REFRESH) {
PIN_D_OUT_REFRESH = 0;
} else {
PIN_D_OUT_REFRESH = 1;
}
// Do Math on ADC inputs
// Scale the ADC readings to engineering units
ETMAnalogScaleCalibrateADCReading(&global_data_A36224_500.analog_input_electromagnet_current);
ETMAnalogScaleCalibrateADCReading(&global_data_A36224_500.analog_input_electromagnet_voltage);
ETMAnalogScaleCalibrateADCReading(&global_data_A36224_500.analog_input_heater_current);
ETMAnalogScaleCalibrateADCReading(&global_data_A36224_500.analog_input_heater_voltage);
// -------------------- CHECK FOR FAULTS ------------------- //
if (global_reset_faults) {
etm_can_system_debug_data.debug_0++;
etm_can_status_register.status_word_1 = 0x0000;
global_reset_faults = 0;
}
if (control_state == STATE_OPERATE) {
global_data_A36224_500.analog_input_electromagnet_current.target_value = global_data_A36224_500.analog_output_electromagnet_current.set_point;
global_data_A36224_500.analog_input_electromagnet_voltage.target_value = ETMScaleFactor16(global_data_A36224_500.analog_output_electromagnet_current.set_point,MACRO_DEC_TO_SCALE_FACTOR_16(NOMINAL_ELECTROMAGNET_RESISTANCE),0);
global_data_A36224_500.analog_input_heater_current.target_value = global_data_A36224_500.analog_output_heater_current.set_point;
global_data_A36224_500.analog_input_heater_voltage.target_value = ETMScaleFactor16(global_data_A36224_500.analog_output_heater_current.set_point,MACRO_DEC_TO_SCALE_FACTOR_16(NOMINAL_HEATER_RESISTANCE),0);
} else {
global_data_A36224_500.analog_input_electromagnet_current.target_value = 0;
global_data_A36224_500.analog_input_electromagnet_voltage.target_value = 0;
global_data_A36224_500.analog_input_heater_current.target_value = 0;
global_data_A36224_500.analog_input_heater_voltage.target_value = 0;
}
if (ETMAnalogCheckOverAbsolute(&global_data_A36224_500.analog_input_heater_current)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_HEATER_OVER_CUR_ABSOLUTE);
}
if (ETMAnalogCheckUnderAbsolute(&global_data_A36224_500.analog_input_heater_current)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_HEATER_UNDER_CUR_ABSOLUTE);
}
if (ETMAnalogCheckOverRelative(&global_data_A36224_500.analog_input_heater_current)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_HEATER_OVER_CUR_RELATIVE);
}
if (ETMAnalogCheckUnderRelative(&global_data_A36224_500.analog_input_heater_current)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_HEATER_UNDER_CUR_RELATIVE);
}
if (ETMAnalogCheckOverAbsolute(&global_data_A36224_500.analog_input_heater_voltage)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_HEATER_OVER_VOL_ABSOLUTE);
}
if (ETMAnalogCheckUnderRelative(&global_data_A36224_500.analog_input_heater_voltage)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_HEATER_UNDER_VOL_RELATIVE);
}
if (ETMAnalogCheckOverAbsolute(&global_data_A36224_500.analog_input_electromagnet_current)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_MAGNET_OVER_CUR_ABSOLUTE);
}
if (ETMAnalogCheckUnderAbsolute(&global_data_A36224_500.analog_input_electromagnet_current)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_MAGNET_UNDER_CUR_ABSOLUTE);
}
if (ETMAnalogCheckOverRelative(&global_data_A36224_500.analog_input_electromagnet_current)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_MAGNET_OVER_CUR_RELATIVE);
}
if (ETMAnalogCheckUnderRelative(&global_data_A36224_500.analog_input_electromagnet_current)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_MAGNET_UNDER_CUR_RELATIVE);
}
if (ETMAnalogCheckOverAbsolute(&global_data_A36224_500.analog_input_electromagnet_voltage)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_MAGNET_OVER_VOL_ABSOLUTE);
}
if (ETMAnalogCheckUnderRelative(&global_data_A36224_500.analog_input_electromagnet_voltage)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_BIT_MAGNET_UNDER_VOL_RELATIVE);
}
// Set DAC outputs
if (control_state == STATE_OPERATE) {
ETMAnalogScaleCalibrateDACSetting(&global_data_A36224_500.analog_output_heater_current);
WriteMCP4822(&U42_MCP4822, MCP4822_OUTPUT_A_4096, global_data_A36224_500.analog_output_electromagnet_current.dac_setting_scaled_and_calibrated>>4);
ETMAnalogScaleCalibrateDACSetting(&global_data_A36224_500.analog_output_electromagnet_current);
WriteMCP4822(&U42_MCP4822, MCP4822_OUTPUT_B_4096, global_data_A36224_500.analog_output_heater_current.dac_setting_scaled_and_calibrated>>4);
} else {
void InitializeA36444(void) {
unsigned int startup_counter;
// Initialize the status register and load the inhibit and fault masks
_FAULT_REGISTER = 0;
_CONTROL_REGISTER = 0;
etm_can_status_register.data_word_A = 0x0000;
etm_can_status_register.data_word_B = 0x0000;
etm_can_my_configuration.firmware_major_rev = FIRMWARE_AGILE_REV;
etm_can_my_configuration.firmware_branch = FIRMWARE_BRANCH;
etm_can_my_configuration.firmware_minor_rev = FIRMWARE_MINOR_REV;
// Configure Inhibit Interrupt
_INT3IP = 7; // This must be the highest priority interrupt
_INT3EP = 0; // Positive Transition
// Configure ADC Interrupt
_ADIP = 6; // This needs to be higher priority than the CAN interrupt (Which defaults to 4)
// Configure T1 Inetrrupt
_T1IP = 5;
// Initialize all I/O Registers
TRISA = A36444_TRISA_VALUE;
TRISB = A36444_TRISB_VALUE;
TRISC = A36444_TRISC_VALUE;
TRISD = A36444_TRISD_VALUE;
TRISF = A36444_TRISF_VALUE;
TRISG = A36444_TRISG_VALUE;
// Initialize TMR1
TMR1 = 0;
_T1IF = 0;
T1CON = T1CON_VALUE;
// Initialize TMR5
PR5 = PR5_VALUE_10_MILLISECONDS;
TMR5 = 0;
_T5IF = 0;
T5CON = T5CON_VALUE;
// Initialize LTC DAC
SetupLTC265X(&U14_LTC2654, ETM_SPI_PORT_1, FCY_CLK, LTC265X_SPI_2_5_M_BIT, _PIN_RG15, _PIN_RC1);
// Initialize the External EEprom
ETMEEPromConfigureExternalDevice(EEPROM_SIZE_8K_BYTES, FCY_CLK, 400000, EEPROM_I2C_ADDRESS_0, 1);
// Initialize the Can module
ETMCanSlaveInitialize();
// DPARKER REDO THIS ETMCanSelectExternalEEprom(&U3_M24LC64F);
// ETMCanSelectInternalEEprom();
// Initialize the Analog input data structures
ETMAnalogInitializeInput(&global_data_A36444.analog_input_lambda_vmon,
MACRO_DEC_TO_SCALE_FACTOR_16(VMON_SCALE_FACTOR),
OFFSET_ZERO,
ANALOG_INPUT_3,
NO_OVER_TRIP,
NO_UNDER_TRIP,
NO_TRIP_SCALE,
NO_FLOOR,
NO_COUNTER);
ETMAnalogInitializeInput(&global_data_A36444.analog_input_lambda_vpeak,
MACRO_DEC_TO_SCALE_FACTOR_16(VMON_SCALE_FACTOR),
OFFSET_ZERO,
ANALOG_INPUT_5,
NO_OVER_TRIP,
NO_UNDER_TRIP,
NO_TRIP_SCALE,
NO_FLOOR,
NO_COUNTER);
ETMAnalogInitializeInput(&global_data_A36444.analog_input_lambda_imon,
MACRO_DEC_TO_SCALE_FACTOR_16(.40179),
OFFSET_ZERO,
ANALOG_INPUT_6,
NO_OVER_TRIP,
NO_UNDER_TRIP,
NO_TRIP_SCALE,
NO_FLOOR,
NO_COUNTER);
ETMAnalogInitializeInput(&global_data_A36444.analog_input_lambda_heat_sink_temp,
MACRO_DEC_TO_SCALE_FACTOR_16(.78125),
10000,
ANALOG_INPUT_4,
LAMBDA_HEATSINK_OVER_TEMP,
NO_UNDER_TRIP,
NO_TRIP_SCALE,
NO_FLOOR,
TRIP_COUNTER_1Sec);
ETMAnalogInitializeInput(&global_data_A36444.analog_input_5v_mon,
MACRO_DEC_TO_SCALE_FACTOR_16(.12500),
OFFSET_ZERO,
ANALOG_INPUT_D,
PWR_5V_OVER_FLT,
PWR_5V_UNDER_FLT,
NO_TRIP_SCALE,
NO_FLOOR,
NO_COUNTER);
ETMAnalogInitializeInput(&global_data_A36444.analog_input_15v_mon,
MACRO_DEC_TO_SCALE_FACTOR_16(.25063),
OFFSET_ZERO,
ANALOG_INPUT_E,
PWR_15V_OVER_FLT,
PWR_15V_UNDER_FLT,
NO_TRIP_SCALE,
NO_FLOOR,
NO_COUNTER);
ETMAnalogInitializeInput(&global_data_A36444.analog_input_neg_15v_mon,
MACRO_DEC_TO_SCALE_FACTOR_16(.06250),
OFFSET_ZERO,
ANALOG_INPUT_F,
PWR_NEG_15V_OVER_FLT,
PWR_NEG_15V_UNDER_FLT,
NO_TRIP_SCALE,
NO_FLOOR,
NO_COUNTER);
ETMAnalogInitializeInput(&global_data_A36444.analog_input_pic_adc_test_dac,
MACRO_DEC_TO_SCALE_FACTOR_16(1),
OFFSET_ZERO,
ANALOG_INPUT_C,
ADC_DAC_TEST_OVER_FLT,
ADC_DAC_TEST_UNDER_FLT,
NO_TRIP_SCALE,
NO_FLOOR,
NO_COUNTER);
// Initialize the Analog Output Data Structures
ETMAnalogInitializeOutput(&global_data_A36444.analog_output_high_energy_vprog,
MACRO_DEC_TO_SCALE_FACTOR_16(VPROG_SCALE_FACTOR),
OFFSET_ZERO,
ANALOG_OUTPUT_2,
HV_LAMBDA_MAX_VPROG,
HV_LAMBDA_MIN_VPROG,
HV_LAMBDA_DAC_ZERO_OUTPUT);
ETMAnalogInitializeOutput(&global_data_A36444.analog_output_low_energy_vprog,
MACRO_DEC_TO_SCALE_FACTOR_16(VPROG_SCALE_FACTOR),
OFFSET_ZERO,
ANALOG_OUTPUT_3,
HV_LAMBDA_MAX_VPROG,
HV_LAMBDA_MIN_VPROG,
HV_LAMBDA_DAC_ZERO_OUTPUT);
ETMAnalogInitializeOutput(&global_data_A36444.analog_output_spare,
MACRO_DEC_TO_SCALE_FACTOR_16(5.33333),
OFFSET_ZERO,
ANALOG_OUTPUT_0,
10000,
0,
0);
ETMAnalogInitializeOutput(&global_data_A36444.analog_output_adc_test,
MACRO_DEC_TO_SCALE_FACTOR_16(1),
OFFSET_ZERO,
ANALOG_OUTPUT_NO_CALIBRATION,
0xFFFF,
0,
0);
ETMAnalogSetOutput(&global_data_A36444.analog_output_spare, 3000);
ETMAnalogSetOutput(&global_data_A36444.analog_output_adc_test, ADC_DAC_TEST_VALUE);
global_data_A36444.analog_output_spare.enabled = 1;
global_data_A36444.analog_output_adc_test.enabled = 1;
ETMAnalogScaleCalibrateDACSetting(&global_data_A36444.analog_output_spare);
ETMAnalogScaleCalibrateDACSetting(&global_data_A36444.analog_output_adc_test);
// Update the spare analog output and the DAC test output
WriteLTC265XTwoChannels(&U14_LTC2654,
LTC265X_WRITE_AND_UPDATE_DAC_A,
global_data_A36444.analog_output_spare.dac_setting_scaled_and_calibrated,
LTC265X_WRITE_AND_UPDATE_DAC_B,
global_data_A36444.analog_output_adc_test.dac_setting_scaled_and_calibrated);
//Initialize the internal ADC for Startup Power Checks
// ---- Configure the dsPIC ADC Module ------------ //
ADCON1 = ADCON1_SETTING; // Configure the high speed ADC module based on H file parameters
ADCON2 = ADCON2_SETTING; // Configure the high speed ADC module based on H file parameters
ADPCFG = ADPCFG_SETTING; // Set which pins are analog and which are digital I/O
ADCHS = ADCHS_SETTING; // Configure the high speed ADC module based on H file parameters
ADCON3 = ADCON3_SETTING_STARTUP; // Configure the high speed ADC module based on H file parameters
ADCSSL = ADCSSL_SETTING_STARTUP;
_ADIF = 0;
_ADIE = 1;
_ADON = 1;
// Flash LEDs at Startup
startup_counter = 0;
while (startup_counter <= 400) { // 4 Seconds total
ETMCanSlaveDoCan();
if (_T5IF) {
_T5IF =0;
startup_counter++;
}
switch (((startup_counter >> 4) & 0b11)) {
case 0:
PIN_LED_OPERATIONAL_GREEN = !OLL_LED_ON;
PIN_LED_A_RED = !OLL_LED_ON;
PIN_LED_B_GREEN = !OLL_LED_ON;
break;
case 1:
PIN_LED_OPERATIONAL_GREEN = OLL_LED_ON;
PIN_LED_A_RED = !OLL_LED_ON;
PIN_LED_B_GREEN = !OLL_LED_ON;
break;
case 2:
PIN_LED_OPERATIONAL_GREEN = OLL_LED_ON;
PIN_LED_A_RED = OLL_LED_ON;
PIN_LED_B_GREEN = !OLL_LED_ON;
break;
case 3:
PIN_LED_OPERATIONAL_GREEN = OLL_LED_ON;
PIN_LED_A_RED = OLL_LED_ON;
PIN_LED_B_GREEN = OLL_LED_ON;
break;
}
}
PIN_LED_OPERATIONAL_GREEN = OLL_LED_ON;
ETMAnalogScaleCalibrateADCReading(&global_data_A36444.analog_input_5v_mon);
ETMAnalogScaleCalibrateADCReading(&global_data_A36444.analog_input_15v_mon);
ETMAnalogScaleCalibrateADCReading(&global_data_A36444.analog_input_neg_15v_mon);
ETMAnalogScaleCalibrateADCReading(&global_data_A36444.analog_input_pic_adc_test_dac);
global_data_A36444.analog_input_neg_15v_mon.reading_scaled_and_calibrated = ETMScaleFactor16((15000 - global_data_A36444.analog_input_neg_15v_mon.reading_scaled_and_calibrated) , MACRO_DEC_TO_SCALE_FACTOR_16(2.5) ,0) - 15000;
_CONTROL_SELF_CHECK_ERROR = 0;
/*
if (ETMAnalogCheckOverAbsolute(&global_data_A36444.analog_input_5v_mon)) {
_CONTROL_SELF_CHECK_ERROR = 1;
ETMCanSetBit(&local_debug_data.self_test_result_register, SELF_TEST_5V_OV);
}
if (ETMAnalogCheckUnderAbsolute(&global_data_A36444.analog_input_5v_mon)) {
_CONTROL_SELF_CHECK_ERROR = 1;
ETMCanSetBit(&local_debug_data.self_test_result_register, SELF_TEST_5V_UV);
}
if (ETMAnalogCheckOverAbsolute(&global_data_A36444.analog_input_15v_mon)) {
_CONTROL_SELF_CHECK_ERROR = 1;
ETMCanSetBit(&local_debug_data.self_test_result_register, SELF_TEST_15V_OV);
}
if (ETMAnalogCheckUnderAbsolute(&global_data_A36444.analog_input_15v_mon)) {
_CONTROL_SELF_CHECK_ERROR = 1;
ETMCanSetBit(&local_debug_data.self_test_result_register, SELF_TEST_15V_UV);
}
if (ETMAnalogCheckOverAbsolute(&global_data_A36444.analog_input_neg_15v_mon)) {
_CONTROL_SELF_CHECK_ERROR = 1;
ETMCanSetBit(&local_debug_data.self_test_result_register, SELF_TEST_N15V_OV);
}
if (ETMAnalogCheckUnderAbsolute(&global_data_A36444.analog_input_neg_15v_mon)) {
_CONTROL_SELF_CHECK_ERROR = 1;
ETMCanSetBit(&local_debug_data.self_test_result_register, SELF_TEST_N15V_UV);
}
if (ETMAnalogCheckOverAbsolute(&global_data_A36444.analog_input_pic_adc_test_dac)) {
_CONTROL_SELF_CHECK_ERROR = 1;
ETMCanSetBit(&local_debug_data.self_test_result_register, SELF_TEST_ADC_OV);
}
if (ETMAnalogCheckUnderAbsolute(&global_data_A36444.analog_input_pic_adc_test_dac)) {
_CONTROL_SELF_CHECK_ERROR = 1;
ETMCanSetBit(&local_debug_data.self_test_result_register, SELF_TEST_ADC_UV);
}
*/
local_debug_data.debug_C = global_data_A36444.analog_input_5v_mon.reading_scaled_and_calibrated;
local_debug_data.debug_D = global_data_A36444.analog_input_15v_mon.reading_scaled_and_calibrated;
local_debug_data.debug_E = global_data_A36444.analog_input_neg_15v_mon.reading_scaled_and_calibrated;
local_debug_data.debug_F = global_data_A36444.analog_input_pic_adc_test_dac.reading_scaled_and_calibrated;
// Initialize interal ADC for Normal Operation
// ---- Configure the dsPIC ADC Module ------------ //
_ADON = 0;
ADCSSL = ADCSSL_SETTING_OPERATE;
ADCON3 = ADCON3_SETTING_OPERATE; // Configure the high speed ADC module based on H file parameters
_ADIF = 0;
_ADIE = 1;
_ADON = 1;
PIN_LAMBDA_VOLTAGE_SELECT = OLL_LAMBDA_VOLTAGE_SELECT_LOW_ENERGY;
}
void DoStateMachine(void) {
switch (global_data_A36444.control_state) {
case STATE_STARTUP:
InitializeA36444();
DisableHVLambda();
_CONTROL_NOT_CONFIGURED = 1;
_CONTROL_NOT_READY = 1;
_STATUS_STATE_FAULT = 0;
global_data_A36444.control_state = STATE_WAITING_FOR_CONFIG;
break;
case STATE_WAITING_FOR_CONFIG:
DisableHVLambda();
_CONTROL_NOT_READY = 1;
_STATUS_STATE_FAULT = 0;
while (global_data_A36444.control_state == STATE_WAITING_FOR_CONFIG) {
DoA36444();
ETMCanSlaveDoCan();
if (_CONTROL_NOT_CONFIGURED == 0) {
global_data_A36444.control_state = STATE_WAITING_FOR_POWER;
}
}
break;
case STATE_WAITING_FOR_POWER:
DisableHVLambda();
_CONTROL_NOT_READY = 1;
_STATUS_STATE_FAULT = 0;
while (global_data_A36444.control_state == STATE_WAITING_FOR_POWER) {
DoA36444();
ETMCanSlaveDoCan();
if (PIN_LAMBDA_NOT_POWERED != ILL_LAMBDA_NOT_POWERED) {
global_data_A36444.control_state = STATE_POWER_UP;
}
}
break;
case STATE_POWER_UP:
EnableHVLambda();
_CONTROL_NOT_READY = 1;
_STATUS_STATE_FAULT = 0;
global_data_A36444.power_up_delay_counter = 0;
while (global_data_A36444.control_state == STATE_POWER_UP) {
DoA36444();
ETMCanSlaveDoCan();
if (global_data_A36444.power_up_delay_counter >= POWER_UP_DELAY) {
global_data_A36444.control_state = STATE_POWER_TEST;
}
if (global_data_A36444.power_up_delay_counter >= POWER_UP_DELAY) {
if (_STATUS_LAMBDA_AT_EOC) {
global_data_A36444.control_state = STATE_OPERATE;
} else {
global_data_A36444.control_state = STATE_FAULT_WAIT;
_FAULT_POWER_UP_TIMEOUT = 1;
}
}
}
break;
case STATE_POWER_TEST:
global_data_A36444.control_state = STATE_OPERATE;
break;
case STATE_OPERATE:
_FAULT_REGISTER = 0;
_CONTROL_NOT_READY = 0;
_STATUS_STATE_FAULT = 0;
while (global_data_A36444.control_state == STATE_OPERATE) {
DoA36444();
ETMCanSlaveDoCan();
if (global_data_A36444.fault_active) {
global_data_A36444.control_state = STATE_FAULT_WAIT;
}
if (global_data_A36444.run_post_pulse_process) {
// Run this once after each pulse
// Send the pulse data up to the ECB for logging
if (_SYNC_CONTROL_HIGH_SPEED_LOGGING) {
ETMCanSlaveLogCustomPacketC();
}
// Update the HV Lambda Program Values
ETMAnalogScaleCalibrateDACSetting(&global_data_A36444.analog_output_high_energy_vprog);
ETMAnalogScaleCalibrateDACSetting(&global_data_A36444.analog_output_low_energy_vprog);
WriteLTC265XTwoChannels(&U14_LTC2654,
LTC265X_WRITE_AND_UPDATE_DAC_C, global_data_A36444.analog_output_high_energy_vprog.dac_setting_scaled_and_calibrated,
LTC265X_WRITE_AND_UPDATE_DAC_D, global_data_A36444.analog_output_low_energy_vprog.dac_setting_scaled_and_calibrated);
global_data_A36444.no_pulse_counter = 0;
global_data_A36444.run_post_pulse_process = 0;
}
}
break;
case STATE_FAULT_WAIT:
DisableHVLambda();
_CONTROL_NOT_READY = 1;
_STATUS_STATE_FAULT = 1;
global_data_A36444.fault_wait_time = 0;
while (global_data_A36444.control_state == STATE_FAULT_WAIT) {
DoA36444();
ETMCanSlaveDoCan();
if (global_data_A36444.fault_wait_time >= TIME_WAIT_FOR_LAMBDA_TO_SET_FAULT_OUTPUTS) {
global_data_A36444.control_state = STATE_FAULT;
}
}
break;
case STATE_FAULT:
DisableHVLambda();
_CONTROL_NOT_READY = 1;
_STATUS_STATE_FAULT = 1;
while (global_data_A36444.control_state == STATE_FAULT) {
DoA36444();
ETMCanSlaveDoCan();
if (PIN_LAMBDA_NOT_POWERED == ILL_LAMBDA_NOT_POWERED) {
global_data_A36444.control_state = STATE_WAITING_FOR_CONFIG;
}
}
break;
default:
global_data_A36444.control_state = STATE_FAULT;
break;
}
}
void DoA36444(void) {
if (etm_can_next_pulse_level) {
PIN_LAMBDA_VOLTAGE_SELECT = !OLL_LAMBDA_VOLTAGE_SELECT_LOW_ENERGY;
}
if (_T5IF) {
// Timer has expired so execute the scheduled code (should be once every 10ms unless the configuration file is changes
_T5IF = 0;
// If the system is faulted or inhibited set the red LED
if (_CONTROL_NOT_READY) {
PIN_LED_A_RED = OLL_LED_ON;
} else {
PIN_LED_A_RED = !OLL_LED_ON;
}
if (global_data_A36444.control_state == STATE_POWER_UP) {
global_data_A36444.power_up_delay_counter++;
if (global_data_A36444.power_up_delay_counter >= POWER_UP_DELAY) {
global_data_A36444.power_up_delay_counter = POWER_UP_DELAY;
}
}
// Update the digital input status pins
if (PIN_LAMBDA_EOC == ILL_LAMBDA_AT_EOC) {
_STATUS_LAMBDA_AT_EOC = 1;
} else {
_STATUS_LAMBDA_AT_EOC = 0;
}
global_data_A36444.fault_active = 0;
if (_CONTROL_CAN_COM_LOSS) {
_FAULT_CAN_COMMUNICATION_LATCHED = 1;
global_data_A36444.fault_active = 1;
}
if (PIN_LAMBDA_HV_ON_READBACK != ILL_LAMBDA_HV_ON) {
_STATUS_LAMBDA_READBACK_HV_OFF = 1;
} else {
_STATUS_LAMBDA_READBACK_HV_OFF = 0;
}
if (PIN_LAMBDA_NOT_POWERED == ILL_LAMBDA_NOT_POWERED) {
_STATUS_LAMBDA_NOT_POWERED = 1;
} else {
_STATUS_LAMBDA_NOT_POWERED = 0;
}
if (global_data_A36444.control_state == STATE_FAULT_WAIT) {
global_data_A36444.fault_wait_time++;
if (global_data_A36444.fault_wait_time >= TIME_WAIT_FOR_LAMBDA_TO_SET_FAULT_OUTPUTS) {
global_data_A36444.fault_wait_time = TIME_WAIT_FOR_LAMBDA_TO_SET_FAULT_OUTPUTS;
}
}
if ((global_data_A36444.control_state == STATE_OPERATE) || (global_data_A36444.control_state == STATE_FAULT_WAIT)) {
// Check for faults from Lambda
if (PIN_LAMBDA_SUM_FLT == ILL_LAMBDA_FAULT_ACTIVE) {
global_data_A36444.sum_flt_counter++;
if (global_data_A36444.sum_flt_counter >= PIN_COUNTER_FAULT) {
global_data_A36444.sum_flt_counter = PIN_COUNTER_FAULT;
_FAULT_LAMBDA_SUM_FAULT = 1;
global_data_A36444.fault_active = 1;
}
} else {
if (global_data_A36444.sum_flt_counter) {
global_data_A36444.sum_flt_counter--;
}
}
if (PIN_LAMBDA_HV_ON_READBACK != ILL_LAMBDA_HV_ON) {
global_data_A36444.hv_off_counter++;
if (global_data_A36444.hv_off_counter >= PIN_COUNTER_FAULT) {
global_data_A36444.hv_off_counter = PIN_COUNTER_FAULT;
_FAULT_LAMBDA_READBACK_HV_OFF = 1;
global_data_A36444.fault_active = 1;
}
} else {
if (global_data_A36444.hv_off_counter) {
global_data_A36444.hv_off_counter--;
}
}
#ifdef __LCS1202
if (PIN_LAMBDA_PHASE_LOSS_FLT == ILL_LAMBDA_FAULT_ACTIVE) {
global_data_A36444.phase_loss_counter++;
if (global_data_A36444.phase_loss_counter >= PIN_COUNTER_FAULT) {
global_data_A36444.phase_loss_counter = PIN_COUNTER_FAULT;
_FAULT_LAMBDA_PHASE_LOSS = 1;
global_data_A36444.fault_active = 1;
}
} else {
if (global_data_A36444.phase_loss_counter) {
global_data_A36444.phase_loss_counter--;
}
}
#endif
// DPARKER add these back in when you have the time
/*
if (PIN_LAMBDA_OVER_TEMP_FLT == ILL_LAMBDA_FAULT_ACTIVE) {
_FAULT_LAMBDA_OVER_TEMP = 1;
global_data_A36444.fault_active = 1;
}
if (PIN_LAMBDA_INTERLOCK_FLT == ILL_LAMBDA_FAULT_ACTIVE) {
_FAULT_LAMBDA_INTERLOCK = 1;
global_data_A36444.fault_active = 1;
}
if (PIN_LAMBDA_LOAD_FLT == ILL_LAMBDA_FAULT_ACTIVE) {
_FAULT_LAMBDA_LOAD_FLT = 1;
global_data_A36444.fault_active = 1;
}
*/
if (PIN_LAMBDA_NOT_POWERED == ILL_LAMBDA_NOT_POWERED) {
global_data_A36444.lambda_not_powered_counter++;
if (global_data_A36444.lambda_not_powered_counter >= PIN_COUNTER_FAULT) {
global_data_A36444.lambda_not_powered_counter = PIN_COUNTER_FAULT;
_FAULT_LAMBDA_NOT_POWERED = 1;
global_data_A36444.fault_active = 1;
}
} else {
if (global_data_A36444.lambda_not_powered_counter) {
global_data_A36444.lambda_not_powered_counter--;
}
}
// Look for faults on the Analog inputs
/*
DPARKER REMOVED FOR NOW
if (ETMAnalogCheckOverAbsolute(&global_data_A36444.analog_input_lambda_heat_sink_temp)) {
ETMCanSetBit(&etm_can_status_register.status_word_1, FAULT_LAMBDA_ANALOG_TEMP_OOR);
}
*/
}
// Do Math on the ADC inputs
ETMAnalogScaleCalibrateADCReading(&global_data_A36444.analog_input_lambda_vmon);
ETMAnalogScaleCalibrateADCReading(&global_data_A36444.analog_input_lambda_vpeak);
ETMAnalogScaleCalibrateADCReading(&global_data_A36444.analog_input_lambda_imon);
ETMAnalogScaleCalibrateADCReading(&global_data_A36444.analog_input_lambda_heat_sink_temp);
local_debug_data.debug_0 = global_data_A36444.analog_input_lambda_vmon.reading_scaled_and_calibrated;
local_debug_data.debug_1 = global_data_A36444.analog_input_lambda_vpeak.reading_scaled_and_calibrated;
local_debug_data.debug_2 = global_data_A36444.analog_input_lambda_imon.reading_scaled_and_calibrated;
local_debug_data.debug_3 = global_data_A36444.analog_input_lambda_heat_sink_temp.reading_scaled_and_calibrated;
local_debug_data.debug_4 = global_data_A36444.pulse_counter;
local_debug_data.debug_5 = global_data_A36444.post_pulse_did_not_run_counter;
local_debug_data.debug_6 = global_data_A36444.charge_period_error_counter;
local_debug_data.debug_7 = global_data_A36444.analog_output_low_energy_vprog.set_point;
local_debug_data.debug_8 = global_data_A36444.control_state;
local_debug_data.debug_F = global_data_A36444.lambda_not_powered_counter;
global_data_A36444.no_pulse_counter++;
if (global_data_A36444.control_state != STATE_OPERATE) {
// Update the HV Lambda Program Values
ETMAnalogScaleCalibrateDACSetting(&global_data_A36444.analog_output_high_energy_vprog);
ETMAnalogScaleCalibrateDACSetting(&global_data_A36444.analog_output_low_energy_vprog);
WriteLTC265XTwoChannels(&U14_LTC2654,
LTC265X_WRITE_AND_UPDATE_DAC_C, global_data_A36444.analog_output_high_energy_vprog.dac_setting_scaled_and_calibrated,
LTC265X_WRITE_AND_UPDATE_DAC_D, global_data_A36444.analog_output_low_energy_vprog.dac_setting_scaled_and_calibrated);
} else {
if (global_data_A36444.no_pulse_counter >= HV_ON_LAMBDA_SET_POINT_REFRESH_RATE_WHEN_NOT_PULSING) {
// A long time has passed without updating the Lambda Set points
// Update the HV Lambda Program Values
global_data_A36444.no_pulse_counter = 0;
ETMAnalogScaleCalibrateDACSetting(&global_data_A36444.analog_output_high_energy_vprog);
ETMAnalogScaleCalibrateDACSetting(&global_data_A36444.analog_output_low_energy_vprog);
WriteLTC265XTwoChannels(&U14_LTC2654,
LTC265X_WRITE_AND_UPDATE_DAC_C, global_data_A36444.analog_output_high_energy_vprog.dac_setting_scaled_and_calibrated,
LTC265X_WRITE_AND_UPDATE_DAC_D, global_data_A36444.analog_output_low_energy_vprog.dac_setting_scaled_and_calibrated);
}
}
}
}