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Add PSU diagnostic logging for setpoints and state transitions (v1.0.26).

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
raduet
2026-07-06 09:19:36 +02:00
co-authored by Cursor
parent 49a4fd8ee1
commit 96826da0e0
6 changed files with 7644 additions and 7341 deletions
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Core/Src/psu_control.c
+96
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@@ -26,13 +26,90 @@ PSU_t PSU0;
#define PSU_VOLTAGE_THRESHOLD 20 // Порог напряжения для определения состояния (В)
#define PSU_ONLINE_TIMEOUT 500 // Таймаут для определения состояния (мс)
#define PSU_STARTUP_DELAY 4000 // Задержка 2 секунды перед включением
#define PSU_DIAG_LOG_MS 2000u
uint32_t can_lastpacket;
extern CAN_HandleTypeDef hcan2;
static uint16_t psu_last_can_v;
static uint16_t psu_last_can_i_0p1A;
static void PSU_SendCmd(uint8_t source, uint8_t destination, uint8_t cmd, void *data);
static const char *PSU_StateName(PSU_State_t state)
{
switch (state) {
case PSU_UNREADY: return "UNREADY";
case PSU_INITIALIZING: return "INIT";
case PSU_READY: return "READY";
case PSU_WAIT_ACK_ON: return "WAIT_ON";
case PSU_CONT_WAIT_ACK_ON: return "CONT_ON";
case PSU_CONNECTED: return "CONNECTED";
case PSU_FAST_DISCHARGE_OFF: return "FD_OFF";
case PSU_FAST_DISCHARGE_WAIT: return "FD_WAIT";
case PSU_FAST_DISCHARGE_SET: return "FD_SET";
case PSU_FAST_DISCHARGE_ON: return "FD_ON";
case PSU_FAST_DISCHARGE_ON_WAIT: return "FD_ON_WAIT";
case PSU_CURRENT_DROP: return "CUR_DROP";
case PSU_CONT_WAIT_ACK_OFF: return "CONT_OFF";
case PSU_WAIT_ACK_OFF: return "WAIT_OFF";
case PSU_OFF_PAUSE: return "OFF_PAUSE";
default: return "?";
}
}
static void PSU_LogPeriodicDiag(void)
{
static uint32_t last_log_ms;
uint32_t now = HAL_GetTick();
uint8_t block_setpoint;
if ((now - last_log_ms) < PSU_DIAG_LOG_MS) {
return;
}
last_log_ms = now;
#if PSD_ENABLE
block_setpoint = PowerSetpoint_HasPending() || PowerSetpoint_IsBusy();
#else
block_setpoint = 0u;
#endif
log_printf(LOG_INFO,
"PSU diag st=%s req=%uV/%u.%uA want=%uV/%u.%uA "
"can=%uV/%u.%uA meas=%uV/%d.%uA "
"enOut=%u out=%u rdy=%u on=%u cont=%u ac=%u hv=%u psd_blk=%u "
"err=%u s0=0x%02x s1=0x%02x s2=0x%02x can_age=%lums\n",
PSU_StateName(PSU0.state),
(unsigned)CONN.RequestedVoltage,
(unsigned)(CONN.RequestedCurrent / 10u),
(unsigned)(CONN.RequestedCurrent % 10u),
(unsigned)CONN.RequestedVoltage,
(unsigned)(CONN.WantedCurrent / 10u),
(unsigned)(CONN.WantedCurrent % 10u),
(unsigned)psu_last_can_v,
(unsigned)(psu_last_can_i_0p1A / 10u),
(unsigned)(psu_last_can_i_0p1A % 10u),
(unsigned)CONN.MeasuredVoltage,
(int)(CONN.MeasuredCurrent / 10),
(unsigned)(((CONN.MeasuredCurrent < 0) ?
-CONN.MeasuredCurrent : CONN.MeasuredCurrent) % 10),
(unsigned)CONN.EnableOutput,
(unsigned)CONN.outputEnabled,
(unsigned)PSU0.ready,
(unsigned)PSU0.PSU_enabled,
(unsigned)PSU0.CONT_enabled,
(unsigned)PSU0.enableAC,
(unsigned)CONN.hv_limit,
(unsigned)block_setpoint,
(unsigned)CONN.chargingError,
(unsigned)PSU0.status0.raw,
(unsigned)PSU0.status1.raw,
(unsigned)PSU0.status2.raw,
(unsigned long)(can_lastpacket ? (now - can_lastpacket) : 9999u));
}
static void PSU_HvControl(void)
{
if (CONN.EnableOutput == 0u) {
@@ -97,6 +174,17 @@ static void PSU_HvControl(void)
}
static void PSU_SwitchState(PSU_State_t state){
if (PSU0.state != state) {
log_printf(LOG_INFO,
"PSU st %s->%s enOut=%u rdy=%u on=%u cont=%u err=%u\n",
PSU_StateName(PSU0.state),
PSU_StateName(state),
(unsigned)CONN.EnableOutput,
(unsigned)PSU0.ready,
(unsigned)PSU0.PSU_enabled,
(unsigned)PSU0.CONT_enabled,
(unsigned)CONN.chargingError);
}
PSU0.state = state;
PSU0.statetick = HAL_GetTick();
}
@@ -281,6 +369,8 @@ void PSU_SetVoltageCurrent(uint8_t addr, uint16_t voltage, uint16_t current){
data.moduleVoltage[2] = (voltage_mv >> 8) & 0xFF;
data.moduleVoltage[3] = (voltage_mv >> 0) & 0xFF;
psu_last_can_v = voltage;
psu_last_can_i_0p1A = current;
PSU_SendCmd(0xF0, addr, 0x1C, &data);
}
@@ -381,6 +471,10 @@ void PSU_Task(void){
// Обновляем ONLINE/READY по таймауту
if((HAL_GetTick() - can_lastpacket) > PSU_ONLINE_TIMEOUT){
if (PSU0.online) {
log_printf(LOG_WARN, "PSU CAN timeout age=%lums -> offline\n",
(unsigned long)(HAL_GetTick() - can_lastpacket));
}
PSU0.online = 0;
PSU0.PSU_enabled = 0;
PSU_04.moduleTemperature = 0;
@@ -637,6 +731,8 @@ void PSU_Task(void){
PSU_SwitchState(PSU_UNREADY);
break;
}
PSU_LogPeriodicDiag();
}