Penn Electric Racing / Mbed 2 deprecated REVO_Updated_Steering

The Code Repository for the REV0 Steering Wheel.

Dependencies:   CANBuffer KS0108_fork mbed-rtos mbed CAN Addresses

Fork of REVO_Updated_Steering by Penn Electric

Steering.cpp@42:701df58e923a, 2015-03-23 (annotated)

Committer:
kiran_mbed
Date:
Mon Mar 23 19:36:37 2015 +0000
Revision:
42:701df58e923a
Parent:
41:7c5ea411fad2
Child:
44:80d821b5a0e7
Child:
47:5d3c6f85fa29
Removed Blocking of Start CAN Message.; Removed Sending of START Message bug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kiran_mbed 0:313541d8f8be 1 #include "Steering.h"
kiran_mbed 0:313541d8f8be 2
tmccurbin 36:8544a8900884 3 // To-Do:
tmccurbin 38:d04a430d7fe3 4 // Look at SYS management CAN translations: shutdown switches, DCDC status, & IMD (this is a resistance, in ohms)
tmccurbin 38:d04a430d7fe3 5 // Figure out screen/variable updating options (hardware filter), NVIC_SetPriority(CAN_IRQn,####)LPC17xx.h
tmccurbin 36:8544a8900884 6 // Firgure out fault protocall
tmccurbin 36:8544a8900884 7
tmccurbin 36:8544a8900884 8 void Init();
tmccurbin 36:8544a8900884 9 void ProcessButtons(void const *args);
tmccurbin 36:8544a8900884 10 void RequestStatusChange();
tmccurbin 36:8544a8900884 11 void ResetSteeringWheel();
tmccurbin 36:8544a8900884 12 void ResetCar();
tmccurbin 36:8544a8900884 13 void ProcessCANMsg(CANMessage& msg);
tmccurbin 36:8544a8900884 14 void UpdateDisplay();
tmccurbin 36:8544a8900884 15 void ProcessButtons(void const *args);
tmccurbin 36:8544a8900884 16 void ConnectedStatusCANMsg();
tmccurbin 36:8544a8900884 17
tmccurbin 36:8544a8900884 18 float CANFloat;
tmccurbin 36:8544a8900884 19 float CANFloat2;
tmccurbin 36:8544a8900884 20
tmccurbin 36:8544a8900884 21 Ticker StatusMsg;
kiran_mbed 0:313541d8f8be 22
tmccurbin 36:8544a8900884 23 int main()
tmccurbin 36:8544a8900884 24 {
tmccurbin 36:8544a8900884 25 Init();
tmccurbin 36:8544a8900884 26
tmccurbin 39:e6aa6dcf3f75 27 CANMessage Rxmsg;
tmccurbin 36:8544a8900884 28
tmccurbin 36:8544a8900884 29 Thread Thread2(ProcessButtons);
tmccurbin 36:8544a8900884 30 Thread Thread1(DisplayCurrScreen);
tmccurbin 36:8544a8900884 31
tmccurbin 36:8544a8900884 32 while(1) {
tmccurbin 36:8544a8900884 33 if (SteeringCANPort.rxRead(Rxmsg)) {
tmccurbin 36:8544a8900884 34 ProcessCANMsg(Rxmsg);
tmccurbin 32:535acb159709 35 }
tmccurbin 32:535acb159709 36 }
tmccurbin 32:535acb159709 37 }
tmccurbin 32:535acb159709 38
kiran_mbed 0:313541d8f8be 39
kiran_mbed 0:313541d8f8be 40 void Init()
kiran_mbed 0:313541d8f8be 41 {
tmccurbin 36:8544a8900884 42 StatusMsg.attach(&ConnectedStatusCANMsg,0.1);
palimar 23:6681a38918c6 43 pc.baud(921600);
tmccurbin 36:8544a8900884 44 BLButtonRed;
tmccurbin 36:8544a8900884 45 BRButtonGreen;
tmccurbin 36:8544a8900884 46 TLButtonGreen;
tmccurbin 36:8544a8900884 47 TRButtonGreen;
tmccurbin 36:8544a8900884 48 //initialize screen Startup Process
tmccurbin 36:8544a8900884 49 wait(2);
kiran_mbed 0:313541d8f8be 50 }
kiran_mbed 0:313541d8f8be 51
tmccurbin 36:8544a8900884 52
tmccurbin 36:8544a8900884 53 void ProcessButtons(void const *args)
tmccurbin 36:8544a8900884 54 {
tmccurbin 36:8544a8900884 55 while(1) {
tmccurbin 36:8544a8900884 56 Thread::wait(50);
tmccurbin 36:8544a8900884 57 if(biSWBR.read()) {
tmccurbin 36:8544a8900884 58 Thread::wait(750);
tmccurbin 36:8544a8900884 59 if (biSWBR.read()) {
tmccurbin 36:8544a8900884 60 ResetCar();
tmccurbin 36:8544a8900884 61 }
tmccurbin 36:8544a8900884 62 NVIC_SystemReset();
tmccurbin 36:8544a8900884 63 ResetSteeringWheel();
tmccurbin 36:8544a8900884 64 }
tmccurbin 36:8544a8900884 65
tmccurbin 36:8544a8900884 66 if(biSWBL.read()) {
tmccurbin 36:8544a8900884 67 Thread::wait(1000);
tmccurbin 36:8544a8900884 68 if (biSWBL.read()) {
tmccurbin 36:8544a8900884 69 RequestStatusChange();
palimar 23:6681a38918c6 70 }
palimar 21:56890c41ecf1 71 }
tmccurbin 36:8544a8900884 72
tmccurbin 36:8544a8900884 73 if(biSWTR.read() && CurrScreen != 5) {
tmccurbin 36:8544a8900884 74 //If the toggle button is pressed and the screen isn't on Fault_Screen
tmccurbin 36:8544a8900884 75 ToggleScreen();
tmccurbin 36:8544a8900884 76 Thread::wait(250);
tmccurbin 36:8544a8900884 77 } else if (biSWTR.read() && CurrScreen == 5) {// If the screen was on Fault, go to Home
tmccurbin 36:8544a8900884 78 CurrScreen = 0;
tmccurbin 36:8544a8900884 79 Thread::wait(250);
tmccurbin 36:8544a8900884 80 }
tmccurbin 36:8544a8900884 81
tmccurbin 36:8544a8900884 82 if(biSWTL.read() && CurrScreen != 0) {
tmccurbin 36:8544a8900884 83 //If the Home button is pressed and the screen isn't on Fault_Screen
tmccurbin 36:8544a8900884 84 CurrScreen = 0;
tmccurbin 36:8544a8900884 85 Thread::wait(250);
tmccurbin 36:8544a8900884 86 } else if (biSWTL.read() && CurrScreen == 0) {// If the screen was on Fault, go to Home
tmccurbin 36:8544a8900884 87 CurrScreen = 5;
tmccurbin 36:8544a8900884 88 Thread::wait(250);
tmccurbin 36:8544a8900884 89 }
palimar 21:56890c41ecf1 90 }
palimar 35:b42afc973902 91 }
palimar 21:56890c41ecf1 92
tmccurbin 36:8544a8900884 93
tmccurbin 36:8544a8900884 94 void UpdateDisplay()
tmccurbin 36:8544a8900884 95 {
tmccurbin 36:8544a8900884 96 }
tmccurbin 36:8544a8900884 97
tmccurbin 36:8544a8900884 98
tmccurbin 36:8544a8900884 99 void ProcessCANMsg(CANMessage& Rxmsg)
tmccurbin 36:8544a8900884 100 {
tmccurbin 36:8544a8900884 101 if (SteeringCANPort.rxRead(Rxmsg)) {
tmccurbin 39:e6aa6dcf3f75 102 // Printing CAN message data:
tmccurbin 39:e6aa6dcf3f75 103 // printf("Message ID: 0x%x len: %d hex: 0x%x float: %f\r\n", Rxmsg.id, Rxmsg.len, *((int*)((void*)(&Rxmsg.data[0]))), *((float*)((void*)(&Rxmsg.data[0]))));
tmccurbin 39:e6aa6dcf3f75 104 // for (int i=0; i < Rxmsg.len; i++) printf("D[%d]: %x ", i, Rxmsg.data[i]);
tmccurbin 40:92f08fdc32df 105 if (Rxmsg.id == MODE_TX_ID) {
kiran_mbed 42:701df58e923a 106 if(Rxmsg.data[0] != (1<<3))
kiran_mbed 42:701df58e923a 107 DriveStatusRequestBuffer=1;
kiran_mbed 42:701df58e923a 108 else
kiran_mbed 42:701df58e923a 109 DriveStatusRequestBuffer=0;
tmccurbin 40:92f08fdc32df 110 }
tmccurbin 40:92f08fdc32df 111
tmccurbin 41:7c5ea411fad2 112 if (Rxmsg.id == POWER_TX_ID) {
tmccurbin 41:7c5ea411fad2 113 CANFloat = GetFloat;
tmccurbin 41:7c5ea411fad2 114 LEDBar = (CANFloat/85.0)*(2.6/3.3);
tmccurbin 41:7c5ea411fad2 115 }
tmccurbin 41:7c5ea411fad2 116
tmccurbin 40:92f08fdc32df 117 switch (CurrScreen) {
tmccurbin 40:92f08fdc32df 118 case HOME_SCREEN:
tmccurbin 40:92f08fdc32df 119 switch (Rxmsg.id) {
palimar 4:a4fb060e7840 120
tmccurbin 40:92f08fdc32df 121 // HOME SCREEN *******************************************************************************************
tmccurbin 40:92f08fdc32df 122 // Pedal Test
tmccurbin 41:7c5ea411fad2 123 /*case PCM_PEDALS_ID:
tmccurbin 41:7c5ea411fad2 124 CANFloat = GetFloat;
tmccurbin 41:7c5ea411fad2 125 if (abs(CANFloat*100 - float (*AccPedalBuffer)) >= 1) {
tmccurbin 41:7c5ea411fad2 126 sprintf(AccPedalBuffer,"%3.2d", int(CANFloat*100));
tmccurbin 41:7c5ea411fad2 127 display.PutString(1,40,AccPedalBuffer);
tmccurbin 41:7c5ea411fad2 128 }
tmccurbin 41:7c5ea411fad2 129 CANFloat2 = GetFloat4;
tmccurbin 41:7c5ea411fad2 130 if (abs(CANFloat2*100 - float (*BrkPedalBuffer)) >= 1) {
tmccurbin 41:7c5ea411fad2 131 sprintf(BrkPedalBuffer,"%3.2d", int(CANFloat2*100));
tmccurbin 41:7c5ea411fad2 132 display.PutString(1,60,BrkPedalBuffer);
tmccurbin 41:7c5ea411fad2 133 }
tmccurbin 41:7c5ea411fad2 134 break;*/
tmccurbin 41:7c5ea411fad2 135
tmccurbin 41:7c5ea411fad2 136 case SOC_TX_ID:
tmccurbin 40:92f08fdc32df 137 CANFloat = GetFloat;
tmccurbin 41:7c5ea411fad2 138 if (abs(CANFloat*100 - *BigBatLifeBuffer) >= 1) {
tmccurbin 41:7c5ea411fad2 139 sprintf(BigBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Big battery life percentage
tmccurbin 41:7c5ea411fad2 140 display.PutString(1,40,BigBatLifeBuffer);
tmccurbin 40:92f08fdc32df 141 }
tmccurbin 41:7c5ea411fad2 142 break;
tmccurbin 41:7c5ea411fad2 143 case SYS_GLV_SOC_ID:
tmccurbin 41:7c5ea411fad2 144 CANFloat = GetFloat;
tmccurbin 41:7c5ea411fad2 145 if (abs(CANFloat*100 - *SmallBatLifeBuffer) >= 1) {
tmccurbin 41:7c5ea411fad2 146 sprintf(SmallBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Small battery life percentage
tmccurbin 41:7c5ea411fad2 147 display.PutString(1,60,SmallBatLifeBuffer);
tmccurbin 41:7c5ea411fad2 148 }
tmccurbin 41:7c5ea411fad2 149 break;
tmccurbin 40:92f08fdc32df 150 case PCM_FRPM_ID:
tmccurbin 40:92f08fdc32df 151 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 152 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 153 if (abs((CANFloat+CANFloat2)*WheelCircumference*30 - *CarSpdBuffer) >= 1) {
tmccurbin 40:92f08fdc32df 154 sprintf(CarSpdBuffer,"%3.2d", int((CANFloat+CANFloat2)*WheelCircumference*30)); // Miles per hour
tmccurbin 40:92f08fdc32df 155 display.PutString(1,108,CarSpdBuffer);
tmccurbin 40:92f08fdc32df 156 }
tmccurbin 40:92f08fdc32df 157 break;
tmccurbin 40:92f08fdc32df 158 case TEMP_MMA_TX_ID_BASE2:
tmccurbin 40:92f08fdc32df 159 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 160 if (abs((CANFloat*9.0/5.0)+32 - *AvgBatTBuffer) >=1) {
tmccurbin 40:92f08fdc32df 161 sprintf(AvgBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
tmccurbin 40:92f08fdc32df 162 display.PutString(3,39,AvgBatTBuffer);
tmccurbin 40:92f08fdc32df 163 }
tmccurbin 40:92f08fdc32df 164 break;
tmccurbin 40:92f08fdc32df 165 case TEMP_MMA_TX_ID_BASE:
tmccurbin 40:92f08fdc32df 166 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 167 if (abs((CANFloat2*9.0/5.0)+32 - *MaxBatTBuffer) >=1) {
tmccurbin 41:7c5ea411fad2 168 sprintf(MaxBatTBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
tmccurbin 40:92f08fdc32df 169 display.PutString(3,103,MaxBatTBuffer);
tmccurbin 40:92f08fdc32df 170 }
tmccurbin 40:92f08fdc32df 171 break;
tmccurbin 40:92f08fdc32df 172 case MOC_MOTEMP_ID:
tmccurbin 40:92f08fdc32df 173 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 174 if (abs((CANFloat*9.0/5.0)+32 - *LMtrTmpBuffer) >= 1) {
tmccurbin 41:7c5ea411fad2 175 sprintf(LMtrTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
tmccurbin 40:92f08fdc32df 176 display.PutString(5,34,LMtrTmpBuffer);
tmccurbin 40:92f08fdc32df 177 }
tmccurbin 40:92f08fdc32df 178 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 179 if (abs((CANFloat2*9.0/5.0)+32 - *RMtrTmpBuffer) >= 1) {
tmccurbin 41:7c5ea411fad2 180 sprintf(RMtrTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
tmccurbin 40:92f08fdc32df 181 display.PutString(5,34,RMtrTmpBuffer);
tmccurbin 40:92f08fdc32df 182 }
tmccurbin 40:92f08fdc32df 183 break;
tmccurbin 40:92f08fdc32df 184 default:
tmccurbin 40:92f08fdc32df 185 break;
tmccurbin 39:e6aa6dcf3f75 186 }
tmccurbin 39:e6aa6dcf3f75 187 break;
tmccurbin 40:92f08fdc32df 188 // BATTERY SCREEN***********************************************************************************
tmccurbin 40:92f08fdc32df 189 case BATTERY_SCREEN:
tmccurbin 40:92f08fdc32df 190 switch (Rxmsg.id) {
tmccurbin 40:92f08fdc32df 191 case VOLTAGE_TX_ID:
tmccurbin 40:92f08fdc32df 192 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 193 if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
tmccurbin 40:92f08fdc32df 194 sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
tmccurbin 40:92f08fdc32df 195 display.PutString(1,10,BigBatVoltBuffer);
tmccurbin 40:92f08fdc32df 196 }
tmccurbin 40:92f08fdc32df 197 break;
tmccurbin 40:92f08fdc32df 198 case POWER_TX_ID:
tmccurbin 40:92f08fdc32df 199 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 200 LEDBar = (CANFloat/85.0)*(2.6/3.3);
tmccurbin 40:92f08fdc32df 201 if (abs(CANFloat - *BigBatPowerBuffer) >= 1) {
tmccurbin 40:92f08fdc32df 202 sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat)); // Watts
tmccurbin 40:92f08fdc32df 203 display.PutString(1,55,BigBatPowerBuffer);
tmccurbin 40:92f08fdc32df 204 }
tmccurbin 40:92f08fdc32df 205 break;
tmccurbin 40:92f08fdc32df 206 case CURRENT_TX_ID:
tmccurbin 40:92f08fdc32df 207 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 208 if (abs(CANFloat - *BigBatCurrentBuffer) >= 0.2) {
tmccurbin 40:92f08fdc32df 209 sprintf(BigBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
tmccurbin 40:92f08fdc32df 210 display.PutString(1,100,BigBatCurrentBuffer);
tmccurbin 40:92f08fdc32df 211 }
tmccurbin 40:92f08fdc32df 212 break;
tmccurbin 40:92f08fdc32df 213 case CELLV_MMA_TX_ID_BASE:
tmccurbin 40:92f08fdc32df 214 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 215 if (abs(CANFloat2 - *VmaxBuffer) >= 0.1) {
tmccurbin 41:7c5ea411fad2 216 sprintf(VmaxBuffer,"%3.2d", int(CANFloat2));
tmccurbin 40:92f08fdc32df 217 display.PutString(3,20,VmaxBuffer);
tmccurbin 40:92f08fdc32df 218 }
tmccurbin 40:92f08fdc32df 219 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 220 if (abs(CANFloat - *VminBuffer) >= 0.1) {
tmccurbin 40:92f08fdc32df 221 sprintf(VminBuffer,"%3.2d", int(CANFloat));
tmccurbin 40:92f08fdc32df 222 display.PutString(3,67,VminBuffer);
tmccurbin 40:92f08fdc32df 223 }
tmccurbin 40:92f08fdc32df 224 break;
tmccurbin 40:92f08fdc32df 225 case CELLV_MMA_TX_ID_BASE2:
tmccurbin 40:92f08fdc32df 226 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 227 if (abs(CANFloat - *VavgBuffer) >= 0.1) {
tmccurbin 40:92f08fdc32df 228 sprintf(VavgBuffer,"%3.2d", int(CANFloat)); // Volts
tmccurbin 40:92f08fdc32df 229 display.PutString(3,108,VavgBuffer);
tmccurbin 40:92f08fdc32df 230 }
tmccurbin 40:92f08fdc32df 231 break;
tmccurbin 40:92f08fdc32df 232 case TEMP_MMA_TX_ID_BASE:
tmccurbin 40:92f08fdc32df 233 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 234 if (abs((CANFloat*9.0/5.0)+32 - *MinBatTBuffer) >= 1) {
tmccurbin 40:92f08fdc32df 235 sprintf(MinBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
tmccurbin 40:92f08fdc32df 236 display.PutString(5,67,MinBatTBuffer);
tmccurbin 40:92f08fdc32df 237 }
tmccurbin 40:92f08fdc32df 238 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 239 if (abs((CANFloat2*9.0/5.0)+32 - *MaxBatTBuffer) >=1) {
tmccurbin 41:7c5ea411fad2 240 sprintf(MaxBatTBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
tmccurbin 40:92f08fdc32df 241 display.PutString(5,20,MaxBatTBuffer);
tmccurbin 40:92f08fdc32df 242 }
tmccurbin 40:92f08fdc32df 243 break;
tmccurbin 40:92f08fdc32df 244 case TEMP_MMA_TX_ID_BASE2:
tmccurbin 40:92f08fdc32df 245 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 246 if (abs((CANFloat*9.0/5.0)+32 - *AvgBatTBuffer) >=1) {
tmccurbin 40:92f08fdc32df 247 sprintf(AvgBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
tmccurbin 40:92f08fdc32df 248 display.PutString(5,108,AvgBatTBuffer);
tmccurbin 40:92f08fdc32df 249 }
tmccurbin 40:92f08fdc32df 250 break;
tmccurbin 40:92f08fdc32df 251 case BOARDTEMP_TX_ID:
tmccurbin 40:92f08fdc32df 252 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 253 if (abs((CANFloat*9.0/5.0)+32 - *BoardTempBuffer) >= 1) {
tmccurbin 40:92f08fdc32df 254 sprintf(BoardTempBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
tmccurbin 40:92f08fdc32df 255 display.PutString(7,87,BoardTempBuffer);
tmccurbin 40:92f08fdc32df 256 }
tmccurbin 40:92f08fdc32df 257 break;
tmccurbin 40:92f08fdc32df 258 default:
tmccurbin 40:92f08fdc32df 259 break;
tmccurbin 39:e6aa6dcf3f75 260 }
tmccurbin 39:e6aa6dcf3f75 261 break;
tmccurbin 36:8544a8900884 262 // MOTOR SCREEN*****************************************************************
tmccurbin 40:92f08fdc32df 263 case MOTOR_SCREEN:
tmccurbin 40:92f08fdc32df 264 switch (Rxmsg.id) {
tmccurbin 40:92f08fdc32df 265 case MOC_MOTEMP_ID:
tmccurbin 40:92f08fdc32df 266 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 267 if (abs((CANFloat*9.0/5.0)+32 - *LMtrTmpBuffer) >= 1) {
tmccurbin 41:7c5ea411fad2 268 sprintf(LMtrTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
tmccurbin 40:92f08fdc32df 269 display.PutString(1,34,LMtrTmpBuffer);
tmccurbin 40:92f08fdc32df 270 }
tmccurbin 40:92f08fdc32df 271 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 272 if (abs((CANFloat2*9.0/5.0)+32 - *RMtrTmpBuffer) >= 1) {
tmccurbin 41:7c5ea411fad2 273 sprintf(RMtrTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
tmccurbin 40:92f08fdc32df 274 display.PutString(1,98,LMtrTmpBuffer);
tmccurbin 40:92f08fdc32df 275 }
tmccurbin 40:92f08fdc32df 276 break;
tmccurbin 40:92f08fdc32df 277 case MOC_AIRTEMP_ID:
tmccurbin 40:92f08fdc32df 278 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 279 if (abs((CANFloat*9.0/5.0)+32 - *LAirTmpBuffer) >= 1) {
tmccurbin 41:7c5ea411fad2 280 sprintf(LAirTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
tmccurbin 40:92f08fdc32df 281 display.PutString(2,34,LAirTmpBuffer);
tmccurbin 40:92f08fdc32df 282 }
tmccurbin 40:92f08fdc32df 283 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 284 if (abs((CANFloat2*9.0/5.0)+32 - *RAirTmpBuffer) >= 1) {
tmccurbin 40:92f08fdc32df 285 sprintf(RAirTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
tmccurbin 40:92f08fdc32df 286 display.PutString(2,98,RAirTmpBuffer);
tmccurbin 40:92f08fdc32df 287 }
tmccurbin 40:92f08fdc32df 288 break;
tmccurbin 40:92f08fdc32df 289 case MOC_IGBTTEMP_ID:
tmccurbin 40:92f08fdc32df 290 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 291 if (abs((CANFloat*9.0/5.0)+32 - *LIGBTmpBuffer) >= 1) {
tmccurbin 41:7c5ea411fad2 292 sprintf(LIGBTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
tmccurbin 40:92f08fdc32df 293 display.PutString(3,34,LIGBTmpBuffer);
tmccurbin 40:92f08fdc32df 294 }
tmccurbin 40:92f08fdc32df 295 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 296 if (abs((CANFloat2*9.0/5.0)+32 - *RIGBTmpBuffer) >= 1) {
tmccurbin 40:92f08fdc32df 297 sprintf(RIGBTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
tmccurbin 40:92f08fdc32df 298 display.PutString(3,98,RIGBTmpBuffer);
tmccurbin 40:92f08fdc32df 299 }
tmccurbin 40:92f08fdc32df 300 break;
tmccurbin 40:92f08fdc32df 301 case MOC_RPM_ID:
tmccurbin 40:92f08fdc32df 302 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 303 if (abs(CANFloat - *Rpm_LBuffer) >= 1) {
tmccurbin 41:7c5ea411fad2 304 sprintf(Rpm_LBuffer,"%3.2d", int(CANFloat));
tmccurbin 40:92f08fdc32df 305 display.PutString(5,30,Rpm_LBuffer);
tmccurbin 40:92f08fdc32df 306 }
tmccurbin 40:92f08fdc32df 307 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 308 if (abs(CANFloat2 - *Rpm_RBuffer) >= 1) {
tmccurbin 40:92f08fdc32df 309 sprintf(Rpm_RBuffer,"%3.2d", int(CANFloat2));
tmccurbin 40:92f08fdc32df 310 display.PutString(5,107,Rpm_RBuffer);
tmccurbin 40:92f08fdc32df 311 }
tmccurbin 40:92f08fdc32df 312 break;
tmccurbin 40:92f08fdc32df 313 case PCM_TORQUERQ_ID:
tmccurbin 40:92f08fdc32df 314 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 315 if (abs(CANFloat*100 - *TRequestBufferL) >= 1) {
tmccurbin 40:92f08fdc32df 316 sprintf(TRequestBufferL,"%3.2d", int(CANFloat*100)); // Percentage
tmccurbin 40:92f08fdc32df 317 display.PutString(7,89,TRequestBufferL);
tmccurbin 40:92f08fdc32df 318 }
tmccurbin 40:92f08fdc32df 319 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 320 if (abs(CANFloat2*100 - *TRequestBufferR) >= 1) {
tmccurbin 40:92f08fdc32df 321 sprintf(TRequestBufferR,"%3.2d", int(CANFloat2*100)); // Percentage
tmccurbin 40:92f08fdc32df 322 display.PutString(7,89,TRequestBufferR);
tmccurbin 40:92f08fdc32df 323 }
tmccurbin 40:92f08fdc32df 324 break;
tmccurbin 40:92f08fdc32df 325 default:
tmccurbin 40:92f08fdc32df 326 break;
tmccurbin 39:e6aa6dcf3f75 327 }
tmccurbin 39:e6aa6dcf3f75 328 break;
tmccurbin 36:8544a8900884 329
tmccurbin 36:8544a8900884 330 // SYSTEM MANAGEMENT SCREEN***************************************************
tmccurbin 40:92f08fdc32df 331 case SYS_MGMT_SCREEN:
tmccurbin 40:92f08fdc32df 332 switch (Rxmsg.id) {
tmccurbin 40:92f08fdc32df 333 case SYS_GLV_CURRENT_ID:
tmccurbin 40:92f08fdc32df 334 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 335 if (abs(CANFloat - *SmallBatCurrentBuffer) >= 0.2) {
tmccurbin 40:92f08fdc32df 336 sprintf(SmallBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
tmccurbin 40:92f08fdc32df 337 display.PutString(1,30,SmallBatCurrentBuffer);
tmccurbin 40:92f08fdc32df 338 }
tmccurbin 40:92f08fdc32df 339 break;
tmccurbin 40:92f08fdc32df 340 case SYS_SWITCHES_ID:
tmccurbin 40:92f08fdc32df 341 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 342 sprintf(ShtdSwtchBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
tmccurbin 40:92f08fdc32df 343 display.PutString(1,108,ShtdSwtchBuffer);
tmccurbin 40:92f08fdc32df 344 break;
tmccurbin 40:92f08fdc32df 345 case SYS_PWM_FAN_ID:
tmccurbin 40:92f08fdc32df 346 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 347 if (abs(CANFloat*100 - *Fan1Buffer) >= 1) {
tmccurbin 41:7c5ea411fad2 348 sprintf(Fan1Buffer,"%3.2d", int(CANFloat*100));
tmccurbin 40:92f08fdc32df 349 display.PutString(3,30,Fan1Buffer);
tmccurbin 40:92f08fdc32df 350 }
tmccurbin 40:92f08fdc32df 351 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 352 if (abs(CANFloat2*100 - *Fan1Buffer) >= 1) {
tmccurbin 40:92f08fdc32df 353 sprintf(Fan2Buffer,"%3.2d", int(CANFloat2*100));
tmccurbin 40:92f08fdc32df 354 display.PutString(3,107,Fan2Buffer);
tmccurbin 40:92f08fdc32df 355 }
tmccurbin 40:92f08fdc32df 356 break;
tmccurbin 40:92f08fdc32df 357 case SYS_PWM_PUMP_ID:
tmccurbin 40:92f08fdc32df 358 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 359 if (abs(CANFloat*100 - *Pump1Buffer) >= 1) {
tmccurbin 41:7c5ea411fad2 360 sprintf(Pump1Buffer,"%3.2d", int(CANFloat*100));
tmccurbin 40:92f08fdc32df 361 display.PutString(5,30,Pump1Buffer);
tmccurbin 40:92f08fdc32df 362 }
tmccurbin 40:92f08fdc32df 363 CANFloat2 = GetFloat4;
tmccurbin 40:92f08fdc32df 364 if (abs(CANFloat2*100 - *Pump2Buffer) >= 1) {
tmccurbin 40:92f08fdc32df 365 sprintf(Pump2Buffer,"%3.2d", int(CANFloat2*100));
tmccurbin 40:92f08fdc32df 366 display.PutString(5,107,Pump2Buffer);
tmccurbin 40:92f08fdc32df 367 }
tmccurbin 40:92f08fdc32df 368 break;
tmccurbin 40:92f08fdc32df 369 case SYS_DCDC_STATUS_ID:
tmccurbin 40:92f08fdc32df 370 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 371 sprintf(DCDCBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
tmccurbin 40:92f08fdc32df 372 display.PutString(7,30,DCDCBuffer);
tmccurbin 40:92f08fdc32df 373 break;
tmccurbin 40:92f08fdc32df 374 case SYS_IMD_RESIST_ID:
tmccurbin 40:92f08fdc32df 375 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 376 if (abs(CANFloat - *IMDRBuffer) >= 1) {
tmccurbin 40:92f08fdc32df 377 sprintf(IMDRBuffer,"%3.2d", int(CANFloat));
tmccurbin 40:92f08fdc32df 378 display.PutString(7,82,IMDRBuffer);
tmccurbin 40:92f08fdc32df 379 }
tmccurbin 40:92f08fdc32df 380 break;
tmccurbin 40:92f08fdc32df 381 default:
tmccurbin 40:92f08fdc32df 382 break;
tmccurbin 39:e6aa6dcf3f75 383 }
tmccurbin 39:e6aa6dcf3f75 384 break;
tmccurbin 36:8544a8900884 385
tmccurbin 40:92f08fdc32df 386 // CHARGE SCREEN *************************************************************
tmccurbin 40:92f08fdc32df 387 case CHARGE_SCREEN:
tmccurbin 40:92f08fdc32df 388 switch (Rxmsg.id) {
tmccurbin 40:92f08fdc32df 389 case CHARGECURR_TX_ID:
tmccurbin 40:92f08fdc32df 390 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 391 if (abs(CANFloat - *ChargeCurrBuffer) >= 0.1) {
tmccurbin 40:92f08fdc32df 392 sprintf(ChargeCurrBuffer,"%3.2d", int(CANFloat)); // Amps
tmccurbin 40:92f08fdc32df 393 display.PutString(3,94,ChargeCurrBuffer);
tmccurbin 40:92f08fdc32df 394 }
tmccurbin 40:92f08fdc32df 395 break;
tmccurbin 40:92f08fdc32df 396 case VOLTAGE_TX_ID:
tmccurbin 40:92f08fdc32df 397 CANFloat = GetFloat;
tmccurbin 40:92f08fdc32df 398 if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
tmccurbin 40:92f08fdc32df 399 sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
tmccurbin 40:92f08fdc32df 400 display.PutString(3,94,BigBatVoltBuffer);
tmccurbin 40:92f08fdc32df 401 }
tmccurbin 40:92f08fdc32df 402 break;
tmccurbin 40:92f08fdc32df 403 default:
tmccurbin 40:92f08fdc32df 404 break;
tmccurbin 36:8544a8900884 405 }
tmccurbin 39:e6aa6dcf3f75 406 break;
tmccurbin 36:8544a8900884 407 default:
tmccurbin 36:8544a8900884 408 break;
kiran_mbed 0:313541d8f8be 409 }
tmccurbin 36:8544a8900884 410 }
tmccurbin 36:8544a8900884 411 }
tmccurbin 36:8544a8900884 412
tmccurbin 36:8544a8900884 413 void ConnectedStatusCANMsg()
tmccurbin 36:8544a8900884 414 {
tmccurbin 36:8544a8900884 415 CANMessage ConnectedStatus(0x600, &ConnectedStatusBuffer,1);
tmccurbin 36:8544a8900884 416 SteeringCANPort.txWrite(ConnectedStatus);
tmccurbin 36:8544a8900884 417 }
tmccurbin 36:8544a8900884 418
palimar 23:6681a38918c6 419
tmccurbin 36:8544a8900884 420 void RequestStatusChange()
tmccurbin 36:8544a8900884 421 {
tmccurbin 36:8544a8900884 422 CANMessage TxDriveStatusRequest(0x601, &DriveStatusRequestBuffer,1);
tmccurbin 36:8544a8900884 423 for (int j=0; j<10; j++) {
tmccurbin 36:8544a8900884 424 SteeringCANPort.txWrite(TxDriveStatusRequest);
tmccurbin 36:8544a8900884 425 }
tmccurbin 36:8544a8900884 426 display.PutString(7,0," DRIVE REQUEST SENT ");
tmccurbin 36:8544a8900884 427 Thread::wait(750);
tmccurbin 36:8544a8900884 428 PrevScreen = !CurrScreen; // To force a screen update
tmccurbin 36:8544a8900884 429 }
tmccurbin 36:8544a8900884 430
tmccurbin 36:8544a8900884 431
tmccurbin 36:8544a8900884 432 void ResetSteeringWheel()
tmccurbin 36:8544a8900884 433 {
tmccurbin 36:8544a8900884 434 NVIC_SystemReset();
tmccurbin 36:8544a8900884 435 }
tmccurbin 36:8544a8900884 436
tmccurbin 36:8544a8900884 437
tmccurbin 36:8544a8900884 438 void ResetCar()
tmccurbin 36:8544a8900884 439 {
tmccurbin 36:8544a8900884 440 CANMessage TxCarReset(0x602,&TxResetBuffer,1);
tmccurbin 36:8544a8900884 441 for (int k=0; k<10; k++) {
tmccurbin 36:8544a8900884 442 SteeringCANPort.txWriteDirect(TxCarReset);
tmccurbin 36:8544a8900884 443 }
tmccurbin 36:8544a8900884 444 }