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v08 - add error handling

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This commit is contained in:
pique_n
2024-10-18 10:54:47 +02:00
parent dc2dedf822
commit 2fbc3b3023
14 changed files with 3030 additions and 191 deletions
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37
Core/Application/INIT_Initialization.c
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@ -153,27 +153,40 @@ BOOL INIT_boCreateTask( VOID )
//-------------------------------------------------------------------------------------------------
PRIVATE VOID vTask( PVOID arg )
{
UNUSED( arg );
UNUSED( arg );
BOOL boOK = TRUE;
boOK &= ERRH_boInitializeModule();
boOK &= USFL_boInitializeModule();
boOK &= VARH_boInitializeModule();
BOOL boOK = TRUE;
boOK &= DIPO_boInitializeModule();
boOK &= ANPI_boInitializeModule();
uint32_t reset_flags = RCC->CSR;
boOK &= ERRH_boInitializeModule();
boOK &= USFL_boInitializeModule();
boOK &= VARH_boInitializeModule();
if (reset_flags & RCC_CSR_IWDGRSTF) {
// This was IWDG
ERRH_vSetError(HARDFAULT_ERROR_MASK | HARDFAULT_ERROR_IWDG);
}else if (reset_flags & RCC_CSR_SFTRSTF) {
// Software reset (NVIC_SystemReset or by debugger)
ERRH_vSetError(HARDFAULT_ERROR_MASK | HARDFAULT_ERROR_SWRST);
}
boOK &= DIPO_boInitializeModule();
boOK &= ANPI_boInitializeModule();
boOK &= ANPO_boInitializeModule();
boOK &= SPID_boInitializeModule();
boOK &= ADCD_boInitializeModule();
boOK &= SPID_boInitializeModule();
boOK &= ADCD_boInitializeModule();
boOK &= TEMP_boInitializeModule();
boOK &= CAND_boInitializeModule();
boOK &= PECO_boInitializeModule();
boOK &= MAIN_boInitializeModule();
boOK &= PECO_boInitializeModule();
boOK &= MAIN_boInitializeModule();
if( !boOK ){
osKernelLock(); // lock kernel to prevent task switch
PECO_Enable( FALSE );
while( 1 ){ // Toggle Error LED fast
DIPO_vToggleOutput( DIPO_eLED );
DELAY_MS( 100 );

132
Core/Application/MAIN_MainApplication.c
View File

@ -43,6 +43,8 @@
#include "../Drivers/ANPI_AnalogPortsIn.h"
#include "../Drivers/ANPO_AnalogPortsOut.h"
#include "../Drivers/ERRH_ErrorHandler.h"
// Toolbox
#include "../Toolbox/UTIL_Utility.h"
@ -57,7 +59,7 @@
//=================================================================================================
/* Software Version */
#define SW_VERSION 7
#define SW_VERSION 8
#define MSG_QUEUE_SIZE 8
@ -206,14 +208,14 @@ BOOL MAIN_boInitializeModule( VOID )
boOK &= ( ( m_pstEventID = osEventFlagsNew( &stEventAttribute ) ) == NULL ) ? FALSE : TRUE;
boOK &= ( ( m_pstThreadID = osThreadNew( vTask, NULL, &stTaskAttribute ) ) == NULL ) ? FALSE : TRUE;
boOK &= ( ( m_pstCANRxMsgQueueID = osMessageQueueNew( MSG_QUEUE_SIZE, sizeof( CAND_Message ), &stCANRxMsgQueueAttribute ) ) == NULL ) ? FALSE : TRUE;
boOK &= ( ( m_pstCANRxMsgQueueID = osMessageQueueNew( MSG_QUEUE_SIZE, sizeof( CAND_Message ), &stCANRxMsgQueueAttribute ) ) == NULL ) ? FALSE : TRUE;
boOK &= ( m_pstUpdateTimer = osTimerNew( vEventCallback, osTimerPeriodic, (PVOID)EVENT_TIMER_UPDATE, &stTimerAttribute ) ) == NULL ? FALSE : TRUE;
boOK &= ( m_pstWatchdogTimer = osTimerNew( vEventCallback, osTimerPeriodic, (PVOID)EVENT_WATCHDOG, &stWatchdogTimerAttribute ) ) == NULL ? FALSE : TRUE;
boOK &= (osTimerStart( m_pstUpdateTimer, 1000 ) == osOK ) ? TRUE : FALSE;
boOK &= (osTimerStart( m_pstWatchdogTimer, WATCHDOG ) == osOK ) ? TRUE : FALSE;
CAND_vSetRxCallback( vMsgRxCallback );
CAND_vSetRxCallback( vMsgRxCallback );
return( boOK );
}
@ -244,77 +246,81 @@ PRIVATE VOID vTask( PVOID arg )
if( u32Flags & EVENT_NEW_MESSAGE ) { // New message from CAN
CAND_Message stMessage;
osMessageQueueGet( m_pstCANRxMsgQueueID, &stMessage, NULL, 0 ); // get message from queue
osMessageQueueGet( m_pstCANRxMsgQueueID, &stMessage, NULL, 0 ); // get message from queue
U8 u8Register = stMessage.au8Data[0];
U8 u8Type = stMessage.u8Type;
U8 u8Register = stMessage.au8Data[0];
U8 u8Type = stMessage.u8Type;
if( u8Type == MESSAGE_TYPE_READ ){ // Message type read
if( u8Type == MESSAGE_TYPE_READ ){ // Message type read
if( u8Register >= VARH_eNumberOfVariables ){ // check register
// send register not found
au8Buffer[0] = 0xFF;
CAND_boSendMessage( au8Buffer, 1, stMessage.boIsPrivate, stMessage.u8Type );
} else {
VARH_UVariable uVariable = VARH_uGetVariableData(u8Register); // get data
au8Buffer[0] = u8Register;
UTIL_vMemCopy(&uVariable, &au8Buffer[1], 4); // copy data in buffer
if( u8Register >= VARH_eNumberOfVariables ){ // check register
// send register not found
ERRH_vSetError(MAIN_ERROR_MASK | MAIN_ERROR_REG_NOT_FOUND);
CAND_boSendMessage( au8Buffer, 5, stMessage.boIsPrivate, stMessage.u8Type );
}
} else if( u8Type == MESSAGE_TYPE_WRITE ){ // Message type write
VARH_UVariable uData;
UTIL_vMemCopy(&stMessage.au8Data[1], &uData, 4);
au8Buffer[0] = 0xFF;
CAND_boSendMessage( au8Buffer, 1, stMessage.boIsPrivate, stMessage.u8Type );
} else {
VARH_UVariable uVariable = VARH_uGetVariableData(u8Register); // get data
au8Buffer[0] = u8Register;
UTIL_vMemCopy(&uVariable, &au8Buffer[1], 4); // copy data in buffer
VARH_vSetVariableData(u8Register, uData);
} else if( u8Type == MESSAGE_TYPE_COMMAND ){ // Message type command
CAND_boSendMessage( au8Buffer, 5, stMessage.boIsPrivate, stMessage.u8Type );
}
switch (u8Register)
{
case COMMAND_ON:
PECO_Enable( TRUE );
break;
case COMMAND_OFF:
PECO_Enable( FALSE );
break;
case COMMAND_WATCHDOG:
osTimerStart( m_pstWatchdogTimer, WATCHDOG );
break;
case COMMAND_CLEAR_ERROR:
VARH_vSetVariableDataFromSystemU32( VARH_eError, 0x00000000 );
break;
case COMMAND_REBOOT:
PECO_Enable( FALSE );
HAL_NVIC_SystemReset();
break;
case COMMAND_GET_SW_VERSION:
au8Buffer[0] = COMMAND_GET_SW_VERSION;
au8Buffer[1] = SW_VERSION;
CAND_boSendMessage( au8Buffer, 2, stMessage.boIsPrivate, stMessage.u8Type );
break;
case COMMAND_SAVE_VARIABLES:
VARH_vSaveVariablestoFlash();
// @TODO Error handling Flash Save
break;
case COMMAND_LOAD_VARIABLES:
VARH_vLoadVariablesfromFlash();
break;
default:
break;
}
}
}
} else if( u8Type == MESSAGE_TYPE_WRITE ){ // Message type write
VARH_UVariable uData;
UTIL_vMemCopy(&stMessage.au8Data[1], &uData, 4);
VARH_vSetVariableData(u8Register, uData);
} else if( u8Type == MESSAGE_TYPE_COMMAND ){ // Message type command
switch (u8Register)
{
case COMMAND_ON:
PECO_Enable( TRUE );
break;
case COMMAND_OFF:
PECO_Enable( FALSE );
break;
case COMMAND_WATCHDOG:
osTimerStart( m_pstWatchdogTimer, WATCHDOG );
break;
case COMMAND_CLEAR_ERROR:
ERRH_vClearError();
break;
case COMMAND_REBOOT:
PECO_Enable( FALSE );
HAL_NVIC_SystemReset();
break;
case COMMAND_GET_SW_VERSION:
au8Buffer[0] = COMMAND_GET_SW_VERSION;
au8Buffer[1] = SW_VERSION;
CAND_boSendMessage( au8Buffer, 2, stMessage.boIsPrivate, stMessage.u8Type );
break;
case COMMAND_SAVE_VARIABLES:
if(!VARH_vSaveVariablestoFlash()){
ERRH_vSetError(MAIN_ERROR_MASK | MAIN_ERROR_SAVE_FLASH);
}
break;
case COMMAND_LOAD_VARIABLES:
VARH_vLoadVariablesfromFlash();
break;
default:
ERRH_vSetError(MAIN_ERROR_MASK | MAIN_ERROR_CMD_NOT_FOUND);
break;
}
}
}
if( u32Flags & EVENT_TIMER_UPDATE )
{
{
DIPO_vToggleOutput( DIPO_eLED );
}
if( u32Flags & EVENT_WATCHDOG )
{
if( u32Flags & EVENT_WATCHDOG )
{
PECO_Enable( FALSE );
// TODO: WATCHDOG: what else?
// ERRH_vSetError(MAIN_ERROR_MASK | MAIN_ERROR_WATCHDOG);
}
}
@ -339,7 +345,7 @@ PRIVATE VOID vEventCallback( PVOID pvData )
//-------------------------------------------------------------------------------------------------
PRIVATE VOID vMsgRxCallback( CAND_Message stMessage )
{
osMessageQueuePut( m_pstCANRxMsgQueueID, &stMessage, 0, 0 );
osMessageQueuePut( m_pstCANRxMsgQueueID, &stMessage, 0, 0 );
osEventFlagsSet( m_pstEventID, EVENT_NEW_MESSAGE );
}

10
Core/Application/PECO_PeltierController.c
View File

@ -33,6 +33,8 @@
// Application
#include "../Application/VARH_VariableHandler.h"
#include "ERRH_ErrorHandler.h"
// Driver
#include "ANPO_AnalogPortsOut.h"
#include "DIPO_DigitalPorts.h"
@ -56,7 +58,7 @@
#define EVENT_FLAGS_ALL (EVENT_TIMER_UPDATE)
#define MAX_POWER_PELTIER 100
#define MAX_POWER_PELTIER 110 // safety for pid regulations
//=================================================================================================
// Section: MACROS
@ -234,9 +236,9 @@ VOID vTask(PVOID arg)
FLOAT power = VARH_flGetVariableData(VARH_ePeltier_P);
if(power > MAX_POWER_PELTIER){
PECO_Enable(FALSE);
ERRH_vSetError(PELTIER_ERROR_MASK | PELTIER_ERROR_MAX_POWER);
}
// PID Regelung
FLOAT Kp = VARH_flGetVariableData(VARH_ePID_kp);
@ -285,11 +287,11 @@ VOID vTask(PVOID arg)
d_prev = D;
i_prev = I;
boSetPeltierVoltage(Uout); // set the output
if(!boSetPeltierVoltage(Uout)) ERRH_vSetError(PELTIER_ERROR_MASK | PELTIER_ERROR_SETVOLTAGE_PID); // set the output
}
else if (VARH_u32GetVariableData(VARH_eMode) == PECO_eConst_Voltage)
{
boSetPeltierVoltage(VARH_flGetVariableData(VARH_eControlVoltage)); // set the output
if(!boSetPeltierVoltage(VARH_flGetVariableData(VARH_eControlVoltage))) ERRH_vSetError(PELTIER_ERROR_MASK | PELTIER_ERROR_SETVOLTAGE); // set the output
// reset PID Vars
error_prev = 0;

13
Core/Application/VARH_VariableHandler.c
View File

@ -32,6 +32,8 @@
#include "USFL_UserFlash.h"
#include "ERRH_ErrorHandler.h"
// Toolbox
#include "../Toolbox/UTIL_Utility.h"
@ -153,7 +155,7 @@ BOOL VARH_boInitializeModule( VOID )
{
BOOL boOK = TRUE;
boOK &= ( ( m_pstMutexID = osMutexNew( &m_stMutexAttr ) ) == NULL ) ? FALSE : TRUE;
boOK &= ( ( m_pstMutexID = osMutexNew( &m_stMutexAttr ) ) == NULL ) ? FALSE : TRUE;
VARH_vSetAllVariablesToInitData();
@ -172,11 +174,14 @@ VOID VARH_vSetVariableData( U8 u8Variable, VARH_UVariable uData )
// check parameters
if( m_astVarInfo[u8Variable].u8Flags & VARH_FLAGINFO_READONLY )
{
return;
ERRH_vSetError(VARH_ERROR_MASK | VARH_ERROR_READONLY);
return;
}
osMutexAcquire( m_pstMutexID, osWaitForever ); // aquire mutex
if( boCheckRange( u8Variable, uData ) ) { m_auVariable[u8Variable].uData = uData; } // store new value
if( boCheckRange( u8Variable, uData ) ) {
m_auVariable[u8Variable].uData = uData; // store new value
} else ERRH_vSetError(VARH_ERROR_MASK | VARH_ERROR_OUTOFRANGE);
osMutexRelease( m_pstMutexID ); // release mutex
}
@ -231,6 +236,7 @@ VOID VARH_vSetVariableDataFromSystem( U8 u8Variable, VARH_UVariable uData )
if( !boCheckRange( u8Variable, uData ) )
{
m_auVariable[u8Variable].u8Flags |= VARH_FLAG_OUTOFRANGE; // check the value
ERRH_vSetError(VARH_ERROR_MASK | VARH_ERROR_OUTOFRANGE_INT);
}
m_auVariable[u8Variable].uData = uData; // store new value
osMutexRelease( m_pstMutexID ); // release mutex
@ -401,6 +407,7 @@ VOID VARH_vLoadVariablesfromFlash( VOID )
}
}
if( !boOK ){
ERRH_vSetError(VARH_ERROR_MASK | VARH_ERROR_LOAD_FLASH);
for( U8 u8Var = 0; u8Var < VARH_eNumberOfVariables; u8Var++ )
{
if( (m_astVarInfo[u8Var].u8Flags & VARH_FLAGINFO_FLASH) == VARH_FLAGINFO_FLASH ){