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@36:8544a8900884, 2015-01-29 (annotated)

Committer:
tmccurbin
Date:
Thu Jan 29 04:27:19 2015 +0000
Revision:
36:8544a8900884
Parent:
35:b42afc973902
Child:
38:d04a430d7fe3
MAJOR UPDATE; New libraries added for screens, buffers, & CAN addresses.; CAN data displays in real-time.

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 36:8544a8900884 4 // Look at SYS management CAN translations: shutdown switches, DCDC status, & IMD status
tmccurbin 36:8544a8900884 5 // Figure out screen/variable updating options
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 36:8544a8900884 27 display.GotoXY(10,16);
tmccurbin 36:8544a8900884 28 display.SelectFont(Arial_14,BLACK,ReadData);
tmccurbin 36:8544a8900884 29 display.PrintString("Penn Electric Racing");
tmccurbin 36:8544a8900884 30 wait(2);
tmccurbin 36:8544a8900884 31 display.ClearScreen();
tmccurbin 36:8544a8900884 32 display.GotoXY(10,16);
tmccurbin 36:8544a8900884 33 display.PrintString("Live the dream.");
tmccurbin 36:8544a8900884 34 wait(2);
tmccurbin 36:8544a8900884 35
tmccurbin 36:8544a8900884 36 Thread Thread2(ProcessButtons);
tmccurbin 36:8544a8900884 37 Thread Thread1(DisplayCurrScreen);
tmccurbin 36:8544a8900884 38
tmccurbin 36:8544a8900884 39 while(1) {
tmccurbin 36:8544a8900884 40 CANMessage Rxmsg;
tmccurbin 36:8544a8900884 41 if (SteeringCANPort.rxRead(Rxmsg)) {
tmccurbin 36:8544a8900884 42 ProcessCANMsg(Rxmsg);
tmccurbin 32:535acb159709 43 }
tmccurbin 32:535acb159709 44 }
tmccurbin 32:535acb159709 45 }
tmccurbin 32:535acb159709 46
kiran_mbed 0:313541d8f8be 47
kiran_mbed 0:313541d8f8be 48 void Init()
kiran_mbed 0:313541d8f8be 49 {
tmccurbin 36:8544a8900884 50 StatusMsg.attach(&ConnectedStatusCANMsg,0.1);
palimar 23:6681a38918c6 51 pc.baud(921600);
tmccurbin 36:8544a8900884 52 BLButtonRed;
tmccurbin 36:8544a8900884 53 BRButtonGreen;
tmccurbin 36:8544a8900884 54 TLButtonGreen;
tmccurbin 36:8544a8900884 55 TRButtonGreen;
tmccurbin 36:8544a8900884 56 DriveStatus = 0; // Off
tmccurbin 36:8544a8900884 57 //initialize screen Startup Process
tmccurbin 36:8544a8900884 58 wait(2);
kiran_mbed 0:313541d8f8be 59 }
kiran_mbed 0:313541d8f8be 60
tmccurbin 36:8544a8900884 61
tmccurbin 36:8544a8900884 62 void ProcessButtons(void const *args)
tmccurbin 36:8544a8900884 63 {
tmccurbin 36:8544a8900884 64 while(1) {
tmccurbin 36:8544a8900884 65 Thread::wait(50);
tmccurbin 36:8544a8900884 66 if(biSWBR.read()) {
tmccurbin 36:8544a8900884 67 Thread::wait(750);
tmccurbin 36:8544a8900884 68 if (biSWBR.read()) {
tmccurbin 36:8544a8900884 69 ResetCar();
tmccurbin 36:8544a8900884 70 }
tmccurbin 36:8544a8900884 71 NVIC_SystemReset();
tmccurbin 36:8544a8900884 72 ResetSteeringWheel();
tmccurbin 36:8544a8900884 73 }
tmccurbin 36:8544a8900884 74
tmccurbin 36:8544a8900884 75 if(biSWBL.read()) {
tmccurbin 36:8544a8900884 76 Thread::wait(1000);
tmccurbin 36:8544a8900884 77 if (biSWBL.read()) {
tmccurbin 36:8544a8900884 78 RequestStatusChange();
palimar 23:6681a38918c6 79 }
palimar 21:56890c41ecf1 80 }
tmccurbin 36:8544a8900884 81
tmccurbin 36:8544a8900884 82 if(biSWTR.read() && CurrScreen != 5) {
tmccurbin 36:8544a8900884 83 //If the toggle button is pressed and the screen isn't on Fault_Screen
tmccurbin 36:8544a8900884 84 ToggleScreen();
tmccurbin 36:8544a8900884 85 Thread::wait(250);
tmccurbin 36:8544a8900884 86 } else if (biSWTR.read() && CurrScreen == 5) {// If the screen was on Fault, go to Home
tmccurbin 36:8544a8900884 87 CurrScreen = 0;
tmccurbin 36:8544a8900884 88 Thread::wait(250);
tmccurbin 36:8544a8900884 89 }
tmccurbin 36:8544a8900884 90
tmccurbin 36:8544a8900884 91 if(biSWTL.read() && CurrScreen != 0) {
tmccurbin 36:8544a8900884 92 //If the Home button is pressed and the screen isn't on Fault_Screen
tmccurbin 36:8544a8900884 93 CurrScreen = 0;
tmccurbin 36:8544a8900884 94 Thread::wait(250);
tmccurbin 36:8544a8900884 95 } else if (biSWTL.read() && CurrScreen == 0) {// If the screen was on Fault, go to Home
tmccurbin 36:8544a8900884 96 CurrScreen = 5;
tmccurbin 36:8544a8900884 97 Thread::wait(250);
tmccurbin 36:8544a8900884 98 }
palimar 21:56890c41ecf1 99 }
palimar 35:b42afc973902 100 }
palimar 21:56890c41ecf1 101
tmccurbin 36:8544a8900884 102
tmccurbin 36:8544a8900884 103 void UpdateDisplay()
tmccurbin 36:8544a8900884 104 {
tmccurbin 36:8544a8900884 105 }
tmccurbin 36:8544a8900884 106
tmccurbin 36:8544a8900884 107
tmccurbin 36:8544a8900884 108 void ProcessCANMsg(CANMessage& Rxmsg)
tmccurbin 36:8544a8900884 109 {
tmccurbin 36:8544a8900884 110 if (SteeringCANPort.rxRead(Rxmsg)) {
tmccurbin 36:8544a8900884 111 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 36:8544a8900884 112 for (int i=0; i < Rxmsg.len; i++) printf("D[%d]: %x ", i, Rxmsg.data[i]);
tmccurbin 36:8544a8900884 113 switch (Rxmsg.id) {
palimar 4:a4fb060e7840 114
tmccurbin 36:8544a8900884 115 // HOME SCREEN *******************************************************************************************
tmccurbin 36:8544a8900884 116 case SOC_TX_ID:
tmccurbin 36:8544a8900884 117 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 118 sprintf(BigBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Big battery life percentage
tmccurbin 36:8544a8900884 119 display.PutString(1,40,BigBatLifeBuffer);
tmccurbin 36:8544a8900884 120 break;
tmccurbin 36:8544a8900884 121 case SYS_GLV_SOC_ID:
tmccurbin 36:8544a8900884 122 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 123 sprintf(SmallBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Small battery life percentage
tmccurbin 36:8544a8900884 124 display.PutString(1,60,SmallBatLifeBuffer);
tmccurbin 36:8544a8900884 125 break;
tmccurbin 36:8544a8900884 126 case PCM_FRPM_ID:
tmccurbin 36:8544a8900884 127 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 128 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 129 sprintf(CarSpdBuffer,"%3.2d", int((CANFloat+CANFloat2)*WheelCircumference*30)); // Miles per hour
tmccurbin 36:8544a8900884 130 display.PutString(1,108,CarSpdBuffer);
tmccurbin 36:8544a8900884 131 case TEMP_MMA_TX_ID_BASE2:
tmccurbin 36:8544a8900884 132 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 133 sprintf(AvgBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
tmccurbin 36:8544a8900884 134 display.PutString(3,39,AvgBatTBuffer);
tmccurbin 36:8544a8900884 135 //display.PutString(5,108,AvgBatTBuffer); this is for the battery screen
tmccurbin 36:8544a8900884 136 case TEMP_MMA_TX_ID_BASE:
tmccurbin 36:8544a8900884 137 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 138 sprintf(MaxBatTBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Figure out Max/Min and Figure out various screen display
tmccurbin 36:8544a8900884 139 display.PutString(3,103,MaxBatTBuffer);
tmccurbin 36:8544a8900884 140 //display.PutString(5,20,MaxBatTBuffer); this is for the battery screen
tmccurbin 36:8544a8900884 141 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 142 sprintf(MinBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
tmccurbin 36:8544a8900884 143 //display.PutString(5,67,MinBatTBuffer); this is for the battery screen
tmccurbin 36:8544a8900884 144 case MOC_MOTEMP_ID:
tmccurbin 36:8544a8900884 145 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 146 sprintf(LMtrTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // We need to figure out how to handle the bytes for left and right motors
tmccurbin 36:8544a8900884 147 display.PutString(5,34,LMtrTmpBuffer);
tmccurbin 36:8544a8900884 148 // display.PutString(1,34,LMtrTmpBuffer); this is for the motor screen
tmccurbin 36:8544a8900884 149 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 150 sprintf(RMtrTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // We need to figure out how to handle the bytes for left and right motors
tmccurbin 36:8544a8900884 151 display.PutString(5,34,RMtrTmpBuffer);
tmccurbin 36:8544a8900884 152 //display.PutString(1,98,LMtrTmpBuffer); this is for the motor screen
tmccurbin 36:8544a8900884 153 // BATTERY SCREEN***********************************************************************************
tmccurbin 36:8544a8900884 154 case VOLTAGE_TX_ID:
tmccurbin 36:8544a8900884 155 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 156 sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
tmccurbin 36:8544a8900884 157 //display.PutString(1,10,BigBatVoltBuffer);
tmccurbin 36:8544a8900884 158 //display.PutString(3,94,BigBatVoltBuffer); this is for the charging screen
tmccurbin 36:8544a8900884 159 case POWER_TX_ID:
tmccurbin 36:8544a8900884 160 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 161 sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat)); // Watts
tmccurbin 36:8544a8900884 162 //display.PutString(1,55,BigBatPowerBuffer);
tmccurbin 36:8544a8900884 163 case CURRENT_TX_ID:
tmccurbin 36:8544a8900884 164 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 165 sprintf(BigBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
tmccurbin 36:8544a8900884 166 //display.PutString(1,100,BigBatCurrentBuffer);
tmccurbin 36:8544a8900884 167 case CELLV_MMA_TX_ID_BASE:
tmccurbin 36:8544a8900884 168 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 169 sprintf(VmaxBuffer,"%3.2d", int(CANFloat2)); // We need to figure out how to handle max and min
tmccurbin 36:8544a8900884 170 //display.PutString(3,20,VmaxBuffer);
tmccurbin 36:8544a8900884 171 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 172 sprintf(VminBuffer,"%3.2d", int(CANFloat));
tmccurbin 36:8544a8900884 173 //display.PutString(3,67,VminBuffer);
tmccurbin 36:8544a8900884 174 case CELLV_MMA_TX_ID_BASE2:
tmccurbin 36:8544a8900884 175 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 176 sprintf(VavgBuffer,"%3.2d", int(CANFloat)); // Volts
tmccurbin 36:8544a8900884 177 //display.PutString(3,108,VavgBuffer);
tmccurbin 36:8544a8900884 178 case BOARDTEMP_TX_ID:
tmccurbin 36:8544a8900884 179 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 180 sprintf(BoardTempBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
tmccurbin 36:8544a8900884 181 //display.PutString(7,87,BoardTempBuffer);
tmccurbin 36:8544a8900884 182
tmccurbin 36:8544a8900884 183 // MOTOR SCREEN*****************************************************************
tmccurbin 36:8544a8900884 184 case MOC_AIRTEMP_ID:
tmccurbin 36:8544a8900884 185 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 186 sprintf(LAirTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Figure out the left and the right
tmccurbin 36:8544a8900884 187 //display.PutString(2,34,LAirTmpBuffer);
tmccurbin 36:8544a8900884 188 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 189 sprintf(RAirTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
tmccurbin 36:8544a8900884 190 //display.PutString(2,98,RAirTmpBuffer);
tmccurbin 36:8544a8900884 191 case MOC_IGBTTEMP_ID:
tmccurbin 36:8544a8900884 192 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 193 sprintf(LIGBTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Figure out the left and the right
tmccurbin 36:8544a8900884 194 //display.PutString(3,34,LIGBTmpBuffer);
tmccurbin 36:8544a8900884 195 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 196 sprintf(RIGBTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
tmccurbin 36:8544a8900884 197 //display.PutString(3,98,RIGBTmpBuffer);
tmccurbin 36:8544a8900884 198 case MOC_RPM_ID:
tmccurbin 36:8544a8900884 199 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 200 sprintf(Rpm_LBuffer,"%3.2d", int(CANFloat)); // Figure out the left and the right
tmccurbin 36:8544a8900884 201 //display.PutString(5,30,Rpm_LBuffer);
tmccurbin 36:8544a8900884 202 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 203 sprintf(Rpm_RBuffer,"%3.2d", int(CANFloat2));
tmccurbin 36:8544a8900884 204 //display.PutString(5,107,Rpm_RBuffer);
tmccurbin 36:8544a8900884 205 case PCM_TORQUERQ_ID:
tmccurbin 36:8544a8900884 206 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 207 sprintf(TRequestBufferL,"%3.2d", int(CANFloat*100)); // Percentage
tmccurbin 36:8544a8900884 208 //display.PutString(7,89,TRequestBufferL);
tmccurbin 36:8544a8900884 209 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 210 sprintf(TRequestBufferR,"%3.2d", int(CANFloat2*100)); // Percentage
tmccurbin 36:8544a8900884 211 //display.PutString(7,89,TRequestBufferR);
tmccurbin 36:8544a8900884 212
tmccurbin 36:8544a8900884 213 // SYSTEM MANAGEMENT SCREEN***************************************************
tmccurbin 36:8544a8900884 214 case SYS_GLV_CURRENT_ID:
tmccurbin 36:8544a8900884 215 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 216 sprintf(SmallBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
tmccurbin 36:8544a8900884 217 //display.PutString(1,30,SmallBatCurrentBuffer);
tmccurbin 36:8544a8900884 218 case SYS_SWITCHES_ID:
tmccurbin 36:8544a8900884 219 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 220 sprintf(ShtdSwtchBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
tmccurbin 36:8544a8900884 221 //display.PutString(1,108,ShtdSwtchBuffer);
tmccurbin 36:8544a8900884 222 case SYS_PWM_FAN_ID:
tmccurbin 36:8544a8900884 223 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 224 sprintf(Fan1Buffer,"%3.2d", int(CANFloat*100)); // Duty Cycle. Figure out the left and the right
tmccurbin 36:8544a8900884 225 //display.PutString(3,30,Fan1Buffer);
tmccurbin 36:8544a8900884 226 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 227 sprintf(Fan2Buffer,"%3.2d", int(CANFloat2*100));
tmccurbin 36:8544a8900884 228 //display.PutString(3,107,Fan2Buffer);
tmccurbin 36:8544a8900884 229 case SYS_PWM_PUMP_ID:
tmccurbin 36:8544a8900884 230 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 231 sprintf(Pump1Buffer,"%3.2d", int(CANFloat*100)); // Duty Cycle. Figure out the left and the right
tmccurbin 36:8544a8900884 232 //display.PutString(5,30,Pump1Buffer);
tmccurbin 36:8544a8900884 233 CANFloat2 = GetFloat4;
tmccurbin 36:8544a8900884 234 sprintf(Pump2Buffer,"%3.2d", int(CANFloat2*100));
tmccurbin 36:8544a8900884 235 //display.PutString(5,107,Pump2Buffer);
tmccurbin 36:8544a8900884 236 case SYS_DCDC_STATUS_ID:
tmccurbin 36:8544a8900884 237 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 238 sprintf(DCDCBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
tmccurbin 36:8544a8900884 239 //display.PutString(7,30,DCDCBuffer);
tmccurbin 36:8544a8900884 240 case SYS_IMD_RESIST_ID:
tmccurbin 36:8544a8900884 241 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 242 sprintf(IMDRBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
tmccurbin 36:8544a8900884 243 //display.PutString(7,107,IMDRBuffer);
tmccurbin 36:8544a8900884 244
tmccurbin 36:8544a8900884 245 // CHARGER SCREEN *************************************************************
tmccurbin 36:8544a8900884 246 case CHARGECURR_TX_ID:
tmccurbin 36:8544a8900884 247 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 248 sprintf(ChargeCurrBuffer,"%3.2d", int(CANFloat)); // Amps
tmccurbin 36:8544a8900884 249 //display.PutString(3,94,ChargeCurrBuffer);
tmccurbin 36:8544a8900884 250 // OTHER **********************************************************************
tmccurbin 36:8544a8900884 251 case MODE_TX_ID:
tmccurbin 36:8544a8900884 252 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 253 sprintf(&DriveStatus,"%3.2d", int(CANFloat)); //confirm that I am interpreting this correctly
tmccurbin 36:8544a8900884 254 if (DriveStatus == 1) {
tmccurbin 36:8544a8900884 255 BLButtonGreen;
tmccurbin 36:8544a8900884 256 } else {
tmccurbin 36:8544a8900884 257 BLButtonRed;
tmccurbin 36:8544a8900884 258 }
tmccurbin 36:8544a8900884 259 default:
tmccurbin 36:8544a8900884 260 break;
kiran_mbed 0:313541d8f8be 261 }
tmccurbin 36:8544a8900884 262 }
tmccurbin 36:8544a8900884 263 }
tmccurbin 36:8544a8900884 264
tmccurbin 36:8544a8900884 265 void ConnectedStatusCANMsg()
tmccurbin 36:8544a8900884 266 {
tmccurbin 36:8544a8900884 267 CANMessage ConnectedStatus(0x600, &ConnectedStatusBuffer,1);
tmccurbin 36:8544a8900884 268 SteeringCANPort.txWrite(ConnectedStatus);
tmccurbin 36:8544a8900884 269 }
tmccurbin 36:8544a8900884 270
palimar 23:6681a38918c6 271
tmccurbin 36:8544a8900884 272 void RequestStatusChange()
tmccurbin 36:8544a8900884 273 {
tmccurbin 36:8544a8900884 274 DriveStatusRequestBuffer = !DriveStatus;
tmccurbin 36:8544a8900884 275 CANMessage TxDriveStatusRequest(0x601, &DriveStatusRequestBuffer,1);
tmccurbin 36:8544a8900884 276 for (int j=0; j<10; j++) {
tmccurbin 36:8544a8900884 277 SteeringCANPort.txWrite(TxDriveStatusRequest);
tmccurbin 36:8544a8900884 278 }
tmccurbin 36:8544a8900884 279 display.PutString(7,0," DRIVE REQUEST SENT ");
tmccurbin 36:8544a8900884 280 Thread::wait(750);
tmccurbin 36:8544a8900884 281 PrevScreen = !CurrScreen; // To force a screen update
tmccurbin 36:8544a8900884 282 }
tmccurbin 36:8544a8900884 283
tmccurbin 36:8544a8900884 284
tmccurbin 36:8544a8900884 285 void ResetSteeringWheel()
tmccurbin 36:8544a8900884 286 {
tmccurbin 36:8544a8900884 287 NVIC_SystemReset();
tmccurbin 36:8544a8900884 288 }
tmccurbin 36:8544a8900884 289
tmccurbin 36:8544a8900884 290
tmccurbin 36:8544a8900884 291 void ResetCar()
tmccurbin 36:8544a8900884 292 {
tmccurbin 36:8544a8900884 293 CANMessage TxCarReset(0x602,&TxResetBuffer,1);
tmccurbin 36:8544a8900884 294 for (int k=0; k<10; k++) {
tmccurbin 36:8544a8900884 295 SteeringCANPort.txWriteDirect(TxCarReset);
tmccurbin 36:8544a8900884 296 }
tmccurbin 36:8544a8900884 297 }