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void GS450H::UpdateHTMState1Ms(int8_t gear, int16_t torque)
{


switch(htm_state){

case 0:{
dma_read(mth_data,100);//read in mth data via dma. Probably need some kind of check dma complete flag here
 DigIo::req_out.Clear(); //HAL_GPIO_WritePin(HTM_SYNC_GPIO_Port, HTM_SYNC_Pin, 0);
htm_state++;
}break;

case 1:{
 DigIo::req_out.Set();  //HAL_GPIO_WritePin(HTM_SYNC_GPIO_Port, HTM_SYNC_Pin, 1);

if(inv_status==0){
        if (dma_get_interrupt_flag(DMA1, DMA_CHANNEL7, DMA_TCIF))// if the transfer complete flag is set then send another packet
        {
        dma_clear_interrupt_flags(DMA1, DMA_CHANNEL7, DMA_TCIF);//clear the flag.
          dma_write(htm_data,80); //HAL_UART_Transmit_IT(&huart2, htm_data, 80);
        }

}
else {
dma_write(htm_data_setup,80);   //HAL_UART_Transmit_IT(&huart2, htm_data_setup, 80);
if(mth_data[1]!=0)
inv_status--;
}
htm_state++;
break;

case 2:
htm_state++;
}break;

case 3:{
    //
   // dma_get_interrupt_flag(DMA1, DMA_CHANNEL6, DMA_TCIF);
if(CalcMTHChecksum()==0 || dma_get_interrupt_flag(DMA1, DMA_CHANNEL6, DMA_TCIF)==0){
//HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, 1 );
statusInv=0;
}
else{
//HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, 0 );
//exchange data and prepare next HTM frame
dma_clear_interrupt_flags(DMA1, DMA_CHANNEL6, DMA_TCIF);
statusInv=1;
dc_bus_voltage=(((mth_data[82]|mth_data[83]<<8)-5)/2);
temp_inv_water=(mth_data[42]|mth_data[43]<<8);
temp_inv_inductor=(mth_data[86]|mth_data[87]<<8);
mg1_speed=mth_data[6]|mth_data[7]<<8;
mg2_speed=mth_data[31]|mth_data[32]<<8;
}

mth_data[98]=0;
mth_data[99]=0;

htm_state++;
}break;

case 4:{

    // -3500 (reverse) to 3500 (forward)
    if(gear==0) mg2_torque=0;//Neutral
    if(gear==32) mg2_torque=torque;//Drive
    if(gear==-32) mg2_torque=torque*-1;//Reverse

  mg1_torque=((mg2_torque*5)/4);
  if(gear=-32) mg1_torque=0; //no mg1 torque in reverse.
  Param::SetInt(Param::torque,mg2_torque);//post processed final torue value sent to inv to web interface

	//speed feedback
	speedSum=mg2_speed+mg1_speed;
	speedSum/=113;
    uint8_t speedSum2=speedSum;
    htm_data[0]=speedSum2;
	htm_data[75]=(mg1_torque*4)&0xFF;
	htm_data[76]=((mg1_torque*4)>>8);

	//mg1
	htm_data[5]=(mg1_torque*-1)&0xFF;  //negative is forward
	htm_data[6]=((mg1_torque*-1)>>8);
	htm_data[11]=htm_data[5];
	htm_data[12]=htm_data[6];

	//mg2
	htm_data[26]=(mg2_torque)&0xFF; //positive is forward
	htm_data[27]=((mg2_torque)>>8);
	htm_data[32]=htm_data[26];
	htm_data[33]=htm_data[27];

	//checksum
	htm_checksum=0;
	for(int i=0;i<78;i++)htm_checksum+=htm_data[i];
	htm_data[78]=htm_checksum&0xFF;
	htm_data[79]=htm_checksum>>8;

if(counter>100){
//HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin );
counter = 0;
}
else{
counter++;
}

htm_state=0;
}break;

case 5:{

}break;


}
}

Code: Select all

src/stm32_vcu.cpp:476:8: error: Array 'mTemps[2]' accessed at index 2, which is out of bounds. [arrayIndexOutOfBounds]
 mTemps[2] = TempMeas::Lookup(tmpmg2, TempMeas::TEMP_TOYOTA);
       ^

Code: Select all

ake[1]: *** [../../Makefile.include:41: vector.o] Error 1
  BUILD   lib/vf6xx
  CC      vector.c
In file included from ../cm3/vector.c:22:
../../include/libopencm3/cm3/vector.h:41:10: fatal error: libopencm3/cm3/nvic.h: No such file or directory
   41 | #include <libopencm3/cm3/nvic.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~

Code: Select all

mdrobnak@dell-cp2-md-ubuntu:~/vcs/git/mdrobnak-stm32-vcu$ make
  CPP     obj/stm32_vcu.o
src/stm32_vcu.cpp: In function 's32fp ProcessUdc()':
src/stm32_vcu.cpp:231:10: warning: unused variable 'udcmin' [-Wunused-variable]
  231 |    s32fp udcmin = Param::Get(Param::udcmin);
      |          ^~~~~~
src/stm32_vcu.cpp: In function 'void Ms100Task()':
src/stm32_vcu.cpp:517:27: error: 'Can_VAG' has not been declared
  517 |   if(Module_Vehicle==VAG) Can_VAG::SendVAG100msMessage();
      |                           ^~~~~~~
src/stm32_vcu.cpp: In function 's32fp ProcessThrottle()':
src/stm32_vcu.cpp:560:11: warning: unused variable 'throtSpnt' [-Wunused-variable]
  560 |     s32fp throtSpnt, finalSpnt;
      |           ^~~~~~~~~
src/stm32_vcu.cpp: In function 'void Ms10Task()':
src/stm32_vcu.cpp:660:5: error: 'Can_E39' has not been declared
  660 |     Can_E39::SendE39(speed, Param::Get(Param::tmphs)); //send rpm and heatsink temp to e39 cluster
      |     ^~~~~~~
src/stm32_vcu.cpp:655:10: warning: unused variable 'tmpm' [-Wunused-variable]
  655 |    s32fp tmpm = Param::Get(Param::tmpm);
      |          ^~~~
src/stm32_vcu.cpp: At global scope:
src/stm32_vcu.cpp:320:13: warning: 'void ProcessCruiseControlButtons()' defined but not used [-Wunused-function]
  320 | static void ProcessCruiseControlButtons()
      |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~
make: *** [Makefile:84: obj/stm32_vcu.o] Error 1

Code: Select all

dma_set_peripheral_size(DMA1, DMA_CHANNEL7, DMA_CCR_PSIZE_8BIT);
dma_set_memory_size(DMA1, DMA_CHANNEL7, DMA_CCR_MSIZE_8BIT);

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htm_data[5]=(mg1_torque*-1)&0xFF;  //negative is forward
htm_data[6]=((mg1_torque*-1)>>8);

Code: Select all

	htm_data[26]=(mg2_torque)&0xFF; //positive is forward
	htm_data[27]=((mg2_torque)>>8);

Code: Select all

htm_data[26]=(mg2_torque) &0xFF; //positive is forward
htm_data[27]=((mg2_torque)>>8) & 0xFF;