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@35:b42afc973902, 2014-11-22 (annotated)

Committer:
palimar
Date:
Sat Nov 22 22:24:53 2014 +0000
Revision:
35:b42afc973902
Parent:
32:535acb159709
Child:
36:8544a8900884
Added linked list, also graphics updates only when variables change.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kiran_mbed 0:313541d8f8be 1 #include "Steering.h"
kiran_mbed 0:313541d8f8be 2
palimar 23:6681a38918c6 3 bool NOT_biSWBL_HELD;
tmccurbin 32:535acb159709 4 bool NOT_biSWTR_HELD;
kiran_mbed 0:313541d8f8be 5
tmccurbin 32:535acb159709 6 void update_display(void const *args){
palimar 35:b42afc973902 7
tmccurbin 32:535acb159709 8 while(true){
tmccurbin 32:535acb159709 9
palimar 35:b42afc973902 10 if(screen_flags[curr_screen] || should_redraw){
palimar 35:b42afc973902 11 screen_flags[curr_screen] = 0;
palimar 35:b42afc973902 12 should_redraw = false;
tmccurbin 32:535acb159709 13 switch(curr_screen){
palimar 26:e0256fd314eb 14
palimar 35:b42afc973902 15 case HOME_SCREEN:{
palimar 35:b42afc973902 16
tmccurbin 32:535acb159709 17 display.ClearScreen();
tmccurbin 32:535acb159709 18 display.SelectFont(Arial10,BLACK,ReadData);
tmccurbin 32:535acb159709 19 display.GotoXY(37,0);
palimar 35:b42afc973902 20 display.PrintString(" Home Screen");
palimar 35:b42afc973902 21
palimar 35:b42afc973902 22 display.GotoXY(22,30);
palimar 35:b42afc973902 23 if(vars_list->get_value(PCM_STATE_ID) == 0){
palimar 35:b42afc973902 24 display.PutString(17, 30, "Drive Status: OFF");
palimar 35:b42afc973902 25 }
palimar 35:b42afc973902 26 else{
palimar 35:b42afc973902 27 display.PrintString("Drive Status: ON");
palimar 35:b42afc973902 28 }
tmccurbin 32:535acb159709 29 break;
palimar 35:b42afc973902 30 }
palimar 26:e0256fd314eb 31
tmccurbin 32:535acb159709 32 case BATTERY_SCREEN:
tmccurbin 32:535acb159709 33
tmccurbin 32:535acb159709 34 display.ClearScreen();
tmccurbin 32:535acb159709 35 display.SelectFont(Arial10,BLACK,ReadData);
tmccurbin 32:535acb159709 36 display.GotoXY(33,0);
palimar 35:b42afc973902 37 display.PrintString(" Battery Screen");
tmccurbin 32:535acb159709 38 break;
palimar 26:e0256fd314eb 39
tmccurbin 32:535acb159709 40 default:
tmccurbin 32:535acb159709 41 break;
palimar 26:e0256fd314eb 42
palimar 35:b42afc973902 43 }
tmccurbin 32:535acb159709 44 }
tmccurbin 32:535acb159709 45 wait(2);
tmccurbin 32:535acb159709 46 }
tmccurbin 32:535acb159709 47 }
tmccurbin 32:535acb159709 48
tmccurbin 32:535acb159709 49 void toggle_screen(){
palimar 35:b42afc973902 50 should_redraw = true;
palimar 35:b42afc973902 51 curr_screen = (curr_screen+1) % NUM_SCREEN;
palimar 26:e0256fd314eb 52 }
palimar 26:e0256fd314eb 53
palimar 23:6681a38918c6 54 void request_status_change(){
palimar 23:6681a38918c6 55
palimar 23:6681a38918c6 56 char drive_status_request;
palimar 23:6681a38918c6 57 ds_mutex.lock();
palimar 35:b42afc973902 58 drive_status_request = !(vars_list->get_value(PCM_STATE_ID));
palimar 35:b42afc973902 59
palimar 23:6681a38918c6 60 ds_mutex.unlock();
palimar 23:6681a38918c6 61 char * status_string;
kiran_mbed 0:313541d8f8be 62
palimar 13:1f05dcd9ae0e 63 if(drive_status_request){
palimar 13:1f05dcd9ae0e 64 status_string = "ON";
palimar 13:1f05dcd9ae0e 65 }
palimar 13:1f05dcd9ae0e 66 else{
palimar 13:1f05dcd9ae0e 67 status_string = "OFF";
palimar 13:1f05dcd9ae0e 68 }
palimar 23:6681a38918c6 69
palimar 23:6681a38918c6 70 CANMessage Txmsg_drive_status_request(0x501,&drive_status_request,1);
palimar 13:1f05dcd9ae0e 71 for(int i = 0; i < 10; i++){
palimar 16:d2953809fb31 72 CAN_Steering_Buffer.txWrite(Txmsg_drive_status_request);
palimar 13:1f05dcd9ae0e 73 }
palimar 6:99e754ac888f 74
palimar 21:56890c41ecf1 75 printf("%s\n\r", status_string);
kiran_mbed 0:313541d8f8be 76 return;
kiran_mbed 0:313541d8f8be 77 }
kiran_mbed 0:313541d8f8be 78
palimar 9:e946cafa3cae 79 void reset()
kiran_mbed 0:313541d8f8be 80 {
palimar 23:6681a38918c6 81 reset_body = 1;
palimar 23:6681a38918c6 82 CANMessage Txmsg_reset(0x502,&reset_body,1);
palimar 23:6681a38918c6 83 for(int i = 0; i < 10; i++){
palimar 23:6681a38918c6 84 CAN_Steering_Buffer.txWriteDirect(Txmsg_reset);
tmccurbin 22:ab33195882e3 85 }
palimar 23:6681a38918c6 86 NVIC_SystemReset();
kiran_mbed 0:313541d8f8be 87 display.ClearScreen();
kiran_mbed 0:313541d8f8be 88 display.SelectFont(Arial12,BLACK,ReadData);
kiran_mbed 0:313541d8f8be 89 display.GotoXY(16,16);
kiran_mbed 0:313541d8f8be 90 printf("Reset Initiated\n\r");
kiran_mbed 0:313541d8f8be 91
kiran_mbed 0:313541d8f8be 92 return;
kiran_mbed 0:313541d8f8be 93 }
kiran_mbed 0:313541d8f8be 94
kiran_mbed 0:313541d8f8be 95 void Init()
kiran_mbed 0:313541d8f8be 96 {
palimar 35:b42afc973902 97 should_redraw = true;
palimar 23:6681a38918c6 98 pc.baud(921600);
palimar 26:e0256fd314eb 99 curr_screen = HOME_SCREEN;
palimar 9:e946cafa3cae 100 drive_status = 0;
palimar 13:1f05dcd9ae0e 101 drive_status_request = 1;
palimar 9:e946cafa3cae 102 reset_body = 0;
kiran_mbed 0:313541d8f8be 103 ledstream.write(0);
palimar 23:6681a38918c6 104 NOT_biSWBL_HELD = true;
tmccurbin 32:535acb159709 105 NOT_biSWTR_HELD = true;
palimar 35:b42afc973902 106
palimar 35:b42afc973902 107 vars_list = new variables();
palimar 35:b42afc973902 108
palimar 35:b42afc973902 109 vars_list->add(PCM_STATE_ID, HOME_SCREEN);
palimar 35:b42afc973902 110 vars_list->add(BATTERY_VOLTAGE_ID, BATTERY_SCREEN);
palimar 35:b42afc973902 111 vars_list->add(BATTERY_POWER_ID, BATTERY_SCREEN);
palimar 35:b42afc973902 112 vars_list->add(BATTERY_CURRENT_ID, BATTERY_SCREEN);
palimar 35:b42afc973902 113
kiran_mbed 0:313541d8f8be 114 }
kiran_mbed 0:313541d8f8be 115
palimar 23:6681a38918c6 116 void read_messages(void const *args) {
palimar 24:ba3428215006 117
palimar 21:56890c41ecf1 118 while (true) {
palimar 35:b42afc973902 119
palimar 21:56890c41ecf1 120 CANMessage Rxmsg;
palimar 35:b42afc973902 121 if(CAN_Steering_Buffer.rxRead(Rxmsg)){
palimar 35:b42afc973902 122 id_node = vars_list->get_node(Rxmsg.id);
palimar 35:b42afc973902 123 if(id_node != NULL){
palimar 35:b42afc973902 124 if(id_node->value != Rxmsg.data[0]){
palimar 35:b42afc973902 125 screen_flags[id_node->screen] = 1;
palimar 21:56890c41ecf1 126 }
palimar 35:b42afc973902 127 id_node->value = Rxmsg.data[0];
palimar 23:6681a38918c6 128 }
palimar 21:56890c41ecf1 129 }
palimar 21:56890c41ecf1 130 }
palimar 35:b42afc973902 131 }
palimar 21:56890c41ecf1 132
palimar 23:6681a38918c6 133 int main(){
palimar 23:6681a38918c6 134 // Initialize, set all variables.
kiran_mbed 0:313541d8f8be 135 Init();
kiran_mbed 0:313541d8f8be 136 wait(0.1);
palimar 4:a4fb060e7840 137
palimar 4:a4fb060e7840 138 //Init Display
kiran_mbed 0:313541d8f8be 139 display.GotoXY(10,16);
kiran_mbed 0:313541d8f8be 140 display.SelectFont(Arial_14,BLACK,ReadData);
kiran_mbed 0:313541d8f8be 141 display.PrintString("Penn Electric Racing");
palimar 23:6681a38918c6 142 CAN_Steering_Buffer.mode(NoAck);
palimar 6:99e754ac888f 143
tmccurbin 32:535acb159709 144 wait(2);
palimar 26:e0256fd314eb 145
palimar 23:6681a38918c6 146 //New thread to read messages.
tmccurbin 32:535acb159709 147 Thread update_thread(read_messages);
palimar 26:e0256fd314eb 148
palimar 26:e0256fd314eb 149 // display the screen.
tmccurbin 32:535acb159709 150 Thread display_thread(update_display);
palimar 26:e0256fd314eb 151
palimar 4:a4fb060e7840 152
palimar 4:a4fb060e7840 153 // Start to read buttons on main thread
kiran_mbed 0:313541d8f8be 154 while(1)
kiran_mbed 0:313541d8f8be 155 {
palimar 23:6681a38918c6 156 if(biSWBL.read() && NOT_biSWBL_HELD){
palimar 9:e946cafa3cae 157 request_status_change();
palimar 23:6681a38918c6 158 NOT_biSWBL_HELD = false;
kiran_mbed 0:313541d8f8be 159 }
palimar 23:6681a38918c6 160
palimar 23:6681a38918c6 161 else if(!biSWBL.read()){
palimar 23:6681a38918c6 162 NOT_biSWBL_HELD = true;
kiran_mbed 0:313541d8f8be 163 }
palimar 23:6681a38918c6 164
palimar 23:6681a38918c6 165 else{
palimar 23:6681a38918c6 166 // ignore BiSWBL.read()
palimar 23:6681a38918c6 167 }
palimar 23:6681a38918c6 168
tmccurbin 32:535acb159709 169 if(biSWTR.read() && NOT_biSWTR_HELD){
tmccurbin 32:535acb159709 170 toggle_screen();
tmccurbin 32:535acb159709 171 NOT_biSWTR_HELD = false;
tmccurbin 32:535acb159709 172 }
tmccurbin 32:535acb159709 173
tmccurbin 32:535acb159709 174 else if(!biSWTR.read()){
tmccurbin 32:535acb159709 175 NOT_biSWTR_HELD = true;
tmccurbin 32:535acb159709 176 }
tmccurbin 32:535acb159709 177
tmccurbin 32:535acb159709 178 else{
tmccurbin 32:535acb159709 179 // ignore BiSWTR.read()
tmccurbin 32:535acb159709 180 }
tmccurbin 32:535acb159709 181
palimar 23:6681a38918c6 182 if(biSWBR.read()){
palimar 9:e946cafa3cae 183 reset();
kiran_mbed 0:313541d8f8be 184 }
kiran_mbed 0:313541d8f8be 185 }
kiran_mbed 0:313541d8f8be 186 }
palimar 23:6681a38918c6 187