Plz
Dependencies: mbed CANMsg Adafruit_LEDBackpack
main.cpp@10:ea96b4c09854, 2019-08-16 (annotated)
- Committer:
- fconboy
- Date:
- Fri Aug 16 16:01:22 2019 +0000
- Revision:
- 10:ea96b4c09854
- Parent:
- 9:42ded201dcdd
- Child:
- 11:6d6e8aea3112
With printing to 7-segment display included but not tested
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
StrawberryAubrey | 0:db7d127e9819 | 1 | #include "mbed.h" |
StrawberryAubrey | 0:db7d127e9819 | 2 | #include "CANMsg.h" |
fconboy | 7:060be032c57a | 3 | #include "Adafruit_LEDBackpack.h" |
StrawberryAubrey | 0:db7d127e9819 | 4 | |
fconboy | 6:be28839a8221 | 5 | Ticker ticker; |
fconboy | 6:be28839a8221 | 6 | Timer timer; |
fconboy | 1:6c993d149edc | 7 | AnalogIn currentPot(p15); |
fconboy | 7:060be032c57a | 8 | float curr_val = 0; |
fconboy | 7:060be032c57a | 9 | float curr_reading = 0; |
fconboy | 1:6c993d149edc | 10 | AnalogIn speedPot(p16); |
fconboy | 7:060be032c57a | 11 | float speed_val = 0; |
fconboy | 7:060be032c57a | 12 | float speed_reading = 0; |
fconboy | 7:060be032c57a | 13 | float speed_reading_ms = 0; |
fconboy | 7:060be032c57a | 14 | float speed_reading_kmh = 0; |
fconboy | 4:e687888fa056 | 15 | DigitalIn ignition(p21); |
fconboy | 4:e687888fa056 | 16 | DigitalIn regen(p22); |
fconboy | 7:060be032c57a | 17 | DigitalIn rev(p23); |
fconboy | 7:060be032c57a | 18 | DigitalIn brake(p24); |
fconboy | 7:060be032c57a | 19 | DigitalIn accel(p25); |
fconboy | 7:060be032c57a | 20 | float maxBusCurrent = 1.0; |
fconboy | 7:060be032c57a | 21 | |
fconboy | 7:060be032c57a | 22 | I2C i2c(p28,p27); |
fconboy | 7:060be032c57a | 23 | Adafruit_LEDBackpack display(&i2c); |
StrawberryAubrey | 0:db7d127e9819 | 24 | |
fconboy | 7:060be032c57a | 25 | DigitalOut debug1(LED1); |
fconboy | 7:060be032c57a | 26 | DigitalOut debug2(LED2); |
fconboy | 7:060be032c57a | 27 | DigitalOut debug3(LED3); |
fconboy | 7:060be032c57a | 28 | DigitalOut debug4(LED4); |
fconboy | 7:060be032c57a | 29 | |
fconboy | 7:060be032c57a | 30 | //CAN can1(p9, p10); |
fconboy | 7:060be032c57a | 31 | CAN can1(p30, p29); |
fconboy | 7:060be032c57a | 32 | |
StrawberryAubrey | 0:db7d127e9819 | 33 | const uint16_t SIGNAL_ID = 0x501; |
StrawberryAubrey | 0:db7d127e9819 | 34 | const uint16_t BUS_ID = 0x502; |
fconboy | 10:ea96b4c09854 | 35 | //const uint8_t DISPLAY_ADDR = 0x70; |
StrawberryAubrey | 0:db7d127e9819 | 36 | char counter = 0; |
StrawberryAubrey | 0:db7d127e9819 | 37 | Serial pc(USBTX, USBRX); // tx, rx |
StrawberryAubrey | 0:db7d127e9819 | 38 | |
StrawberryAubrey | 0:db7d127e9819 | 39 | CANMsg driverControls; |
StrawberryAubrey | 0:db7d127e9819 | 40 | CANMsg busCurrent; |
StrawberryAubrey | 0:db7d127e9819 | 41 | |
StrawberryAubrey | 0:db7d127e9819 | 42 | //==================================================================== |
StrawberryAubrey | 0:db7d127e9819 | 43 | |
StrawberryAubrey | 0:db7d127e9819 | 44 | void printMsg(CANMessage& msg) |
StrawberryAubrey | 0:db7d127e9819 | 45 | { |
StrawberryAubrey | 0:db7d127e9819 | 46 | pc.printf("-------------------------------------\r\n"); |
StrawberryAubrey | 0:db7d127e9819 | 47 | pc.printf(" ID = 0x%.3x\r\n", msg.id); |
StrawberryAubrey | 0:db7d127e9819 | 48 | pc.printf(" Type = %d\r\n", msg.type); |
StrawberryAubrey | 0:db7d127e9819 | 49 | pc.printf(" Format = %d\r\n", msg.format); |
StrawberryAubrey | 0:db7d127e9819 | 50 | pc.printf(" Length = %d\r\n", msg.len); |
StrawberryAubrey | 0:db7d127e9819 | 51 | pc.printf(" Data ="); |
StrawberryAubrey | 0:db7d127e9819 | 52 | pc.printf("-------------------------------------\r\n"); |
StrawberryAubrey | 0:db7d127e9819 | 53 | for(int i = 0; i < msg.len; i++) |
StrawberryAubrey | 0:db7d127e9819 | 54 | pc.printf(" 0x%.2X", msg.data[i]); |
StrawberryAubrey | 0:db7d127e9819 | 55 | pc.printf("\r\n"); |
StrawberryAubrey | 0:db7d127e9819 | 56 | } |
StrawberryAubrey | 0:db7d127e9819 | 57 | |
StrawberryAubrey | 0:db7d127e9819 | 58 | //===================================================================== |
StrawberryAubrey | 0:db7d127e9819 | 59 | /* |
StrawberryAubrey | 0:db7d127e9819 | 60 | void onCanReceived(CANMessage& msg) |
StrawberryAubrey | 0:db7d127e9819 | 61 | { |
StrawberryAubrey | 0:db7d127e9819 | 62 | can1.read(msg); |
StrawberryAubrey | 0:db7d127e9819 | 63 | pc.printf("-------------------------------------\r\n"); |
StrawberryAubrey | 0:db7d127e9819 | 64 | pc.printf("CAN message received\r\n"); |
StrawberryAubrey | 0:db7d127e9819 | 65 | pc.printf("-------------------------------------\r\n"); |
StrawberryAubrey | 0:db7d127e9819 | 66 | printMsg(msg); |
StrawberryAubrey | 0:db7d127e9819 | 67 | |
StrawberryAubrey | 0:db7d127e9819 | 68 | if (msg.id == MY_ID) { |
StrawberryAubrey | 0:db7d127e9819 | 69 | // extract data from the received CAN message |
StrawberryAubrey | 0:db7d127e9819 | 70 | // in the same order as it was added on the transmitter side |
StrawberryAubrey | 0:db7d127e9819 | 71 | msg >> counter; |
StrawberryAubrey | 0:db7d127e9819 | 72 | msg >> voltage; |
StrawberryAubrey | 0:db7d127e9819 | 73 | pc.printf(" counter = %d\r\n", counter); |
StrawberryAubrey | 0:db7d127e9819 | 74 | pc.printf(" voltage = %e V\r\n", voltage); |
StrawberryAubrey | 0:db7d127e9819 | 75 | } |
StrawberryAubrey | 0:db7d127e9819 | 76 | timer.start(); // to transmit next message in main |
StrawberryAubrey | 0:db7d127e9819 | 77 | } |
StrawberryAubrey | 0:db7d127e9819 | 78 | */ |
StrawberryAubrey | 0:db7d127e9819 | 79 | //====================================================================== |
StrawberryAubrey | 0:db7d127e9819 | 80 | |
fconboy | 10:ea96b4c09854 | 81 | void displayDigit(uint8_t digit, uint8_t position) |
fconboy | 10:ea96b4c09854 | 82 | { |
fconboy | 10:ea96b4c09854 | 83 | // if (position > 4) |
fconboy | 10:ea96b4c09854 | 84 | // {} |
fconboy | 10:ea96b4c09854 | 85 | //printf("digit = %d\t position = %d\r\n", digit, position); |
fconboy | 10:ea96b4c09854 | 86 | if (digit > 9) { |
fconboy | 10:ea96b4c09854 | 87 | display.displaybuffer[position] = 0; |
fconboy | 10:ea96b4c09854 | 88 | } else if (digit == 0) { |
fconboy | 10:ea96b4c09854 | 89 | display.displaybuffer[position] = 63; |
fconboy | 10:ea96b4c09854 | 90 | } else if (digit == 1) { |
fconboy | 10:ea96b4c09854 | 91 | display.displaybuffer[position] = 48; |
fconboy | 10:ea96b4c09854 | 92 | } else if (digit == 2) { |
fconboy | 10:ea96b4c09854 | 93 | display.displaybuffer[position] = 91; |
fconboy | 10:ea96b4c09854 | 94 | } else if (digit == 3) { |
fconboy | 10:ea96b4c09854 | 95 | display.displaybuffer[position] = 79; |
fconboy | 10:ea96b4c09854 | 96 | } else if (digit == 4) { |
fconboy | 10:ea96b4c09854 | 97 | display.displaybuffer[position] = 102; |
fconboy | 10:ea96b4c09854 | 98 | } else if (digit == 5) { |
fconboy | 10:ea96b4c09854 | 99 | display.displaybuffer[position] = 109; |
fconboy | 10:ea96b4c09854 | 100 | } else if (digit == 6) { |
fconboy | 10:ea96b4c09854 | 101 | display.displaybuffer[position] = 125; |
fconboy | 10:ea96b4c09854 | 102 | } else if (digit == 7) { |
fconboy | 10:ea96b4c09854 | 103 | display.displaybuffer[position] = 7; |
fconboy | 10:ea96b4c09854 | 104 | } else if (digit == 8) { |
fconboy | 10:ea96b4c09854 | 105 | display.displaybuffer[position] = 127; |
fconboy | 10:ea96b4c09854 | 106 | } else if (digit == 9) { |
fconboy | 10:ea96b4c09854 | 107 | display.displaybuffer[position] = 103; |
fconboy | 10:ea96b4c09854 | 108 | } |
fconboy | 10:ea96b4c09854 | 109 | timer.start(); |
fconboy | 10:ea96b4c09854 | 110 | display.writeDisplay(); |
fconboy | 10:ea96b4c09854 | 111 | timer.stop(); |
fconboy | 10:ea96b4c09854 | 112 | printf("Time to writeDisplay() is %dus\r\n", timer.read_us()); |
fconboy | 10:ea96b4c09854 | 113 | timer.reset(); |
fconboy | 10:ea96b4c09854 | 114 | } |
fconboy | 10:ea96b4c09854 | 115 | |
fconboy | 10:ea96b4c09854 | 116 | void displayNumber(uint8_t number, bool position) |
fconboy | 10:ea96b4c09854 | 117 | { |
fconboy | 10:ea96b4c09854 | 118 | //timer.start(); |
fconboy | 10:ea96b4c09854 | 119 | for (int n = 0; n < 100; (n = n + 10)) |
fconboy | 10:ea96b4c09854 | 120 | { |
fconboy | 10:ea96b4c09854 | 121 | if (number >= n && number < n + 10) |
fconboy | 10:ea96b4c09854 | 122 | { |
fconboy | 10:ea96b4c09854 | 123 | dig1 = n/10; |
fconboy | 10:ea96b4c09854 | 124 | dig2 = number - n; |
fconboy | 10:ea96b4c09854 | 125 | } |
fconboy | 10:ea96b4c09854 | 126 | } |
fconboy | 10:ea96b4c09854 | 127 | |
fconboy | 10:ea96b4c09854 | 128 | if (number > 99) |
fconboy | 10:ea96b4c09854 | 129 | {dig1 = 0; |
fconboy | 10:ea96b4c09854 | 130 | dig2 = 0;} |
fconboy | 10:ea96b4c09854 | 131 | |
fconboy | 10:ea96b4c09854 | 132 | if (position) |
fconboy | 10:ea96b4c09854 | 133 | { |
fconboy | 10:ea96b4c09854 | 134 | displayDigit(dig1, 3); |
fconboy | 10:ea96b4c09854 | 135 | displayDigit(dig2, 4); |
fconboy | 10:ea96b4c09854 | 136 | } |
fconboy | 10:ea96b4c09854 | 137 | else if (!position) |
fconboy | 10:ea96b4c09854 | 138 | { |
fconboy | 10:ea96b4c09854 | 139 | displayDigit(dig1, 0); |
fconboy | 10:ea96b4c09854 | 140 | displayDigit(dig2, 1); |
fconboy | 10:ea96b4c09854 | 141 | } |
fconboy | 10:ea96b4c09854 | 142 | //timer.stop(); |
fconboy | 10:ea96b4c09854 | 143 | //printf("time taken to print number %d is %dus\r\n", number, timer.read_us()); |
fconboy | 10:ea96b4c09854 | 144 | //timer.reset(); |
fconboy | 10:ea96b4c09854 | 145 | } |
fconboy | 10:ea96b4c09854 | 146 | |
fconboy | 10:ea96b4c09854 | 147 | |
fconboy | 7:060be032c57a | 148 | void flash(int light) //Turns on one of the 4 mbed LEDs |
fconboy | 7:060be032c57a | 149 | { if (light == 1) |
fconboy | 7:060be032c57a | 150 | {debug1 = 1; |
fconboy | 7:060be032c57a | 151 | wait(0.2); |
fconboy | 7:060be032c57a | 152 | debug1 = 0;} |
fconboy | 7:060be032c57a | 153 | else if (light == 2) |
fconboy | 7:060be032c57a | 154 | {debug2 = 1; |
fconboy | 7:060be032c57a | 155 | wait(0.2); |
fconboy | 7:060be032c57a | 156 | debug2 = 0;} |
fconboy | 7:060be032c57a | 157 | else if (light == 3) |
fconboy | 7:060be032c57a | 158 | {debug3 = 1; |
fconboy | 7:060be032c57a | 159 | wait(0.2); |
fconboy | 7:060be032c57a | 160 | debug3 = 0;} |
fconboy | 7:060be032c57a | 161 | else if (light == 4) |
fconboy | 7:060be032c57a | 162 | {debug4 = 1; |
fconboy | 7:060be032c57a | 163 | wait(0.2); |
fconboy | 7:060be032c57a | 164 | debug4 = 0;} |
fconboy | 7:060be032c57a | 165 | else if (light == 5) |
fconboy | 7:060be032c57a | 166 | {debug1 = 1; |
fconboy | 7:060be032c57a | 167 | debug2 = 1; |
fconboy | 7:060be032c57a | 168 | debug3 = 1; |
fconboy | 7:060be032c57a | 169 | debug4 = 1; |
fconboy | 7:060be032c57a | 170 | wait(0.2); |
fconboy | 7:060be032c57a | 171 | debug1 = 0; |
fconboy | 7:060be032c57a | 172 | debug2 = 0; |
fconboy | 7:060be032c57a | 173 | debug3 = 0; |
fconboy | 7:060be032c57a | 174 | debug4 = 0;}} |
fconboy | 7:060be032c57a | 175 | |
fconboy | 6:be28839a8221 | 176 | void setDriverControls() |
fconboy | 6:be28839a8221 | 177 | { |
fconboy | 6:be28839a8221 | 178 | driverControls.clear(); |
fconboy | 6:be28839a8221 | 179 | driverControls.id = SIGNAL_ID; |
fconboy | 6:be28839a8221 | 180 | driverControls << speed_val; |
fconboy | 6:be28839a8221 | 181 | driverControls << curr_val; |
fconboy | 7:060be032c57a | 182 | |
fconboy | 7:060be032c57a | 183 | busCurrent.clear(); |
fconboy | 7:060be032c57a | 184 | busCurrent.id = BUS_ID; |
fconboy | 7:060be032c57a | 185 | busCurrent << 0; |
fconboy | 7:060be032c57a | 186 | busCurrent << maxBusCurrent; |
fconboy | 6:be28839a8221 | 187 | } |
fconboy | 6:be28839a8221 | 188 | |
fconboy | 7:060be032c57a | 189 | void sendCAN() |
StrawberryAubrey | 0:db7d127e9819 | 190 | { |
fconboy | 6:be28839a8221 | 191 | setDriverControls(); |
fconboy | 7:060be032c57a | 192 | //printMsg(driverControls); |
fconboy | 7:060be032c57a | 193 | //printMsg(busCurrent); |
StrawberryAubrey | 0:db7d127e9819 | 194 | if(can1.write(driverControls)) |
fconboy | 7:060be032c57a | 195 | { |
fconboy | 9:42ded201dcdd | 196 | //debug1 = !debug1; |
fconboy | 7:060be032c57a | 197 | } |
StrawberryAubrey | 0:db7d127e9819 | 198 | else |
fconboy | 7:060be032c57a | 199 | { |
fconboy | 7:060be032c57a | 200 | //wait(0.5); |
fconboy | 8:3eb4fcab8ede | 201 | flash(3); |
fconboy | 7:060be032c57a | 202 | } |
fconboy | 7:060be032c57a | 203 | |
fconboy | 9:42ded201dcdd | 204 | if(can1.write(busCurrent)) |
fconboy | 9:42ded201dcdd | 205 | { |
fconboy | 9:42ded201dcdd | 206 | //debug2 = !debug2; |
fconboy | 9:42ded201dcdd | 207 | } |
fconboy | 9:42ded201dcdd | 208 | else |
fconboy | 9:42ded201dcdd | 209 | { |
fconboy | 7:060be032c57a | 210 | //wait(0.5); |
fconboy | 9:42ded201dcdd | 211 | flash(4); |
fconboy | 9:42ded201dcdd | 212 | } |
StrawberryAubrey | 0:db7d127e9819 | 213 | } |
StrawberryAubrey | 0:db7d127e9819 | 214 | |
StrawberryAubrey | 0:db7d127e9819 | 215 | int main() |
StrawberryAubrey | 0:db7d127e9819 | 216 | { |
fconboy | 7:060be032c57a | 217 | |
StrawberryAubrey | 0:db7d127e9819 | 218 | pc.baud(9600); |
StrawberryAubrey | 0:db7d127e9819 | 219 | can1.frequency(1000000); |
fconboy | 8:3eb4fcab8ede | 220 | ticker.attach(&sendCAN, 0.1); |
fconboy | 7:060be032c57a | 221 | ignition.mode(PullUp); |
fconboy | 7:060be032c57a | 222 | regen.mode(PullUp); |
fconboy | 7:060be032c57a | 223 | rev.mode(PullUp); |
fconboy | 7:060be032c57a | 224 | brake.mode(PullUp); |
fconboy | 7:060be032c57a | 225 | accel.mode(PullUp); |
fconboy | 10:ea96b4c09854 | 226 | display.begin(DISPLAY_ADDR); |
fconboy | 10:ea96b4c09854 | 227 | display.setBrightness(10); |
fconboy | 7:060be032c57a | 228 | |
fconboy | 7:060be032c57a | 229 | //pc.printf("-------------------------------------\r\n"); |
fconboy | 7:060be032c57a | 230 | //printf("Attempting to send a CAN message\n"); |
fconboy | 7:060be032c57a | 231 | //printf("Current and Speed: %f and %f\n", currentPot.read(), speedPot.read()); |
fconboy | 7:060be032c57a | 232 | //pc.printf("-------------------------------------\r\n"); |
fconboy | 8:3eb4fcab8ede | 233 | |
fconboy | 8:3eb4fcab8ede | 234 | while(1) { |
fconboy | 7:060be032c57a | 235 | |
fconboy | 9:42ded201dcdd | 236 | //curr_val = 0.2; |
fconboy | 9:42ded201dcdd | 237 | //speed_val = 5.0; |
fconboy | 10:ea96b4c09854 | 238 | |
fconboy | 7:060be032c57a | 239 | curr_reading = currentPot.read(); |
fconboy | 7:060be032c57a | 240 | speed_reading = speedPot.read(); |
fconboy | 7:060be032c57a | 241 | speed_reading_ms = speed_reading * 30; |
fconboy | 7:060be032c57a | 242 | speed_reading_kmh = speed_reading_ms*3.6; |
fconboy | 7:060be032c57a | 243 | |
fconboy | 10:ea96b4c09854 | 244 | |
fconboy | 10:ea96b4c09854 | 245 | |
fconboy | 7:060be032c57a | 246 | bool ignition_reading = ignition.read(); |
fconboy | 7:060be032c57a | 247 | bool regen_reading = regen.read(); |
fconboy | 7:060be032c57a | 248 | bool rev_reading = rev.read(); |
fconboy | 7:060be032c57a | 249 | bool brake_reading = brake.read(); |
fconboy | 7:060be032c57a | 250 | bool accel_reading = accel.read(); |
fconboy | 7:060be032c57a | 251 | |
fconboy | 7:060be032c57a | 252 | //pc.printf("Current reading: %f\r\n", curr_reading); |
fconboy | 7:060be032c57a | 253 | //pc.printf("Speed reading: %f\r\n", speed_reading); |
fconboy | 7:060be032c57a | 254 | //pc.printf("Ignition reading: %d\r\n", ignition_reading); |
fconboy | 7:060be032c57a | 255 | //pc.printf("Regen reading: %d\r\n", regen_reading); |
fconboy | 7:060be032c57a | 256 | //pc.printf("Forward/reverse reading: %d\r\n", rev_reading); |
fconboy | 7:060be032c57a | 257 | //pc.printf("Brake reading: %d\r\n", brake_reading); |
fconboy | 10:ea96b4c09854 | 258 | //flash(1); |
fconboy | 7:060be032c57a | 259 | //pc.printf("Accelerator reading: %d\r\n\r\n", accel_reading); |
fconboy | 7:060be032c57a | 260 | //wait(2); |
fconboy | 7:060be032c57a | 261 | |
fconboy | 7:060be032c57a | 262 | if (ignition) |
fconboy | 7:060be032c57a | 263 | { |
fconboy | 7:060be032c57a | 264 | curr_val = 0; |
fconboy | 7:060be032c57a | 265 | speed_val = 0; |
fconboy | 7:060be032c57a | 266 | } |
fconboy | 7:060be032c57a | 267 | else |
StrawberryAubrey | 0:db7d127e9819 | 268 | { |
fconboy | 7:060be032c57a | 269 | if (!brake && !regen) |
fconboy | 7:060be032c57a | 270 | { |
fconboy | 7:060be032c57a | 271 | speed_val = 0; |
fconboy | 7:060be032c57a | 272 | curr_val = curr_reading; |
fconboy | 7:060be032c57a | 273 | } |
fconboy | 7:060be032c57a | 274 | else if(!brake && regen) |
fconboy | 7:060be032c57a | 275 | { |
fconboy | 7:060be032c57a | 276 | speed_val = 0; |
fconboy | 7:060be032c57a | 277 | curr_val = 0; |
fconboy | 7:060be032c57a | 278 | } |
fconboy | 7:060be032c57a | 279 | else |
fconboy | 7:060be032c57a | 280 | { |
fconboy | 9:42ded201dcdd | 281 | if (rev) |
fconboy | 7:060be032c57a | 282 | { |
fconboy | 7:060be032c57a | 283 | speed_val = (-1)*speed_reading_ms; |
fconboy | 7:060be032c57a | 284 | } |
fconboy | 7:060be032c57a | 285 | else |
fconboy | 7:060be032c57a | 286 | { |
fconboy | 7:060be032c57a | 287 | speed_val = speed_reading_ms; |
fconboy | 7:060be032c57a | 288 | } |
fconboy | 7:060be032c57a | 289 | |
fconboy | 7:060be032c57a | 290 | if (!accel) |
fconboy | 7:060be032c57a | 291 | { |
fconboy | 7:060be032c57a | 292 | curr_val = curr_reading; |
fconboy | 7:060be032c57a | 293 | } |
fconboy | 7:060be032c57a | 294 | else |
fconboy | 7:060be032c57a | 295 | { |
fconboy | 7:060be032c57a | 296 | curr_val = 0; |
fconboy | 7:060be032c57a | 297 | } |
fconboy | 9:42ded201dcdd | 298 | } |
fconboy | 9:42ded201dcdd | 299 | |
StrawberryAubrey | 0:db7d127e9819 | 300 | } |
fconboy | 7:060be032c57a | 301 | //pc.printf("speed_val: %f\r\n", speed_val); |
fconboy | 7:060be032c57a | 302 | //pc.printf("curr_val: %f\r\n\r\n", curr_val); |
fconboy | 7:060be032c57a | 303 | //sendCAN(); |
fconboy | 7:060be032c57a | 304 | //pc.printf("\r\n\r\n"); |
fconboy | 7:060be032c57a | 305 | //wait(3); |
fconboy | 8:3eb4fcab8ede | 306 | } |
StrawberryAubrey | 0:db7d127e9819 | 307 | } |