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@26:e0256fd314eb, 2014-11-14 (annotated)

Committer:
palimar
Date:
Fri Nov 14 01:43:42 2014 +0000
Revision:
26:e0256fd314eb
Parent:
25:fc63a5bffffc
Child:
32:535acb159709
rudimentary display methods added

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;
kiran_mbed 0:313541d8f8be 4
palimar 26:e0256fd314eb 5 void display_screen(int screen){
palimar 26:e0256fd314eb 6
palimar 26:e0256fd314eb 7 switch(screen){
palimar 26:e0256fd314eb 8
palimar 26:e0256fd314eb 9 case HOME_SCREEN:
palimar 26:e0256fd314eb 10
palimar 26:e0256fd314eb 11 display.ClearScreen();
palimar 26:e0256fd314eb 12 display.SelectFont(Arial12,BLACK,ReadData);
palimar 26:e0256fd314eb 13 display.GotoXY(0,64);
palimar 26:e0256fd314eb 14 display.PrintString("Chg Drv Stat");
palimar 26:e0256fd314eb 15
palimar 26:e0256fd314eb 16 default:
palimar 26:e0256fd314eb 17 break;
palimar 26:e0256fd314eb 18
palimar 26:e0256fd314eb 19 }
palimar 26:e0256fd314eb 20
palimar 26:e0256fd314eb 21 }
palimar 26:e0256fd314eb 22
palimar 23:6681a38918c6 23 void request_status_change(){
palimar 23:6681a38918c6 24
palimar 23:6681a38918c6 25 char drive_status_request;
palimar 23:6681a38918c6 26 ds_mutex.lock();
palimar 23:6681a38918c6 27 drive_status_request = !drive_status;
palimar 23:6681a38918c6 28 ds_mutex.unlock();
palimar 23:6681a38918c6 29 char * status_string;
kiran_mbed 0:313541d8f8be 30
palimar 13:1f05dcd9ae0e 31 if(drive_status_request){
palimar 13:1f05dcd9ae0e 32 status_string = "ON";
palimar 13:1f05dcd9ae0e 33 }
palimar 13:1f05dcd9ae0e 34 else{
palimar 13:1f05dcd9ae0e 35 status_string = "OFF";
palimar 13:1f05dcd9ae0e 36 }
palimar 23:6681a38918c6 37
palimar 23:6681a38918c6 38 CANMessage Txmsg_drive_status_request(0x501,&drive_status_request,1);
palimar 13:1f05dcd9ae0e 39 for(int i = 0; i < 10; i++){
palimar 16:d2953809fb31 40 CAN_Steering_Buffer.txWrite(Txmsg_drive_status_request);
palimar 13:1f05dcd9ae0e 41 }
palimar 6:99e754ac888f 42
kiran_mbed 0:313541d8f8be 43 display.ClearScreen();
kiran_mbed 0:313541d8f8be 44 display.SelectFont(Arial12,BLACK,ReadData);
kiran_mbed 0:313541d8f8be 45 display.GotoXY(26,16);
palimar 21:56890c41ecf1 46 display.PrintString("DRIVE STATUS REQUEST");
palimar 23:6681a38918c6 47
palimar 21:56890c41ecf1 48 printf("%s\n\r", status_string);
kiran_mbed 0:313541d8f8be 49 return;
kiran_mbed 0:313541d8f8be 50 }
kiran_mbed 0:313541d8f8be 51
palimar 9:e946cafa3cae 52 void reset()
kiran_mbed 0:313541d8f8be 53 {
palimar 23:6681a38918c6 54 reset_body = 1;
palimar 23:6681a38918c6 55 CANMessage Txmsg_reset(0x502,&reset_body,1);
palimar 23:6681a38918c6 56 for(int i = 0; i < 10; i++){
palimar 23:6681a38918c6 57 CAN_Steering_Buffer.txWriteDirect(Txmsg_reset);
tmccurbin 22:ab33195882e3 58 }
palimar 23:6681a38918c6 59 NVIC_SystemReset();
kiran_mbed 0:313541d8f8be 60 display.ClearScreen();
kiran_mbed 0:313541d8f8be 61 display.SelectFont(Arial12,BLACK,ReadData);
kiran_mbed 0:313541d8f8be 62 display.GotoXY(16,16);
kiran_mbed 0:313541d8f8be 63 display.PrintString(" RESET INITIATED");
kiran_mbed 0:313541d8f8be 64 printf("Reset Initiated\n\r");
kiran_mbed 0:313541d8f8be 65
kiran_mbed 0:313541d8f8be 66 return;
kiran_mbed 0:313541d8f8be 67 }
kiran_mbed 0:313541d8f8be 68
kiran_mbed 0:313541d8f8be 69 void Init()
kiran_mbed 0:313541d8f8be 70 {
palimar 23:6681a38918c6 71 pc.baud(921600);
palimar 26:e0256fd314eb 72 curr_screen = HOME_SCREEN;
palimar 9:e946cafa3cae 73 drive_status = 0;
palimar 13:1f05dcd9ae0e 74 drive_status_request = 1;
palimar 9:e946cafa3cae 75 reset_body = 0;
kiran_mbed 0:313541d8f8be 76 ledstream.write(0);
palimar 23:6681a38918c6 77 NOT_biSWBL_HELD = true;
kiran_mbed 0:313541d8f8be 78 }
kiran_mbed 0:313541d8f8be 79
palimar 23:6681a38918c6 80 void read_messages(void const *args) {
palimar 24:ba3428215006 81
palimar 21:56890c41ecf1 82 while (true) {
palimar 21:56890c41ecf1 83 CANMessage Rxmsg;
palimar 23:6681a38918c6 84
palimar 23:6681a38918c6 85 if(CAN_Steering_Buffer.rxRead(Rxmsg))
palimar 23:6681a38918c6 86 if(Rxmsg.id == PCM_STATE_ID){
palimar 23:6681a38918c6 87
palimar 23:6681a38918c6 88 // Mutex to protex shared variables
palimar 23:6681a38918c6 89 ds_mutex.lock();
palimar 23:6681a38918c6 90 drive_status = Rxmsg.data[0];
palimar 23:6681a38918c6 91 ds_mutex.unlock();
palimar 23:6681a38918c6 92 }
palimar 23:6681a38918c6 93
palimar 23:6681a38918c6 94 if(Rxmsg.id == BATTERY_POWER_ID)
palimar 23:6681a38918c6 95 {
palimar 23:6681a38918c6 96 float power_ratio;
palimar 23:6681a38918c6 97 ftc rcv;
palimar 23:6681a38918c6 98 rcv.FLOAT=0.0;
palimar 23:6681a38918c6 99
palimar 23:6681a38918c6 100 for(int i=0; i<4; i++){
palimar 23:6681a38918c6 101 rcv.C_FLOAT[i] = Rxmsg.data[i];
palimar 21:56890c41ecf1 102 }
palimar 23:6681a38918c6 103 power_ratio=rcv.FLOAT/80000;
palimar 23:6681a38918c6 104 ledstream.write(power_ratio);
palimar 23:6681a38918c6 105 }
palimar 21:56890c41ecf1 106 }
palimar 21:56890c41ecf1 107 }
palimar 24:ba3428215006 108
palimar 21:56890c41ecf1 109
palimar 23:6681a38918c6 110 int main(){
palimar 23:6681a38918c6 111 // Initialize, set all variables.
kiran_mbed 0:313541d8f8be 112 Init();
kiran_mbed 0:313541d8f8be 113 wait(0.1);
palimar 4:a4fb060e7840 114
palimar 4:a4fb060e7840 115 //Init Display
kiran_mbed 0:313541d8f8be 116 display.GotoXY(10,16);
kiran_mbed 0:313541d8f8be 117 display.SelectFont(Arial_14,BLACK,ReadData);
kiran_mbed 0:313541d8f8be 118 display.PrintString("Penn Electric Racing");
palimar 23:6681a38918c6 119 CAN_Steering_Buffer.mode(NoAck);
palimar 6:99e754ac888f 120
palimar 26:e0256fd314eb 121 wait(2);
palimar 26:e0256fd314eb 122
palimar 23:6681a38918c6 123 //New thread to read messages.
palimar 23:6681a38918c6 124 Thread update_thread(read_messages);
palimar 26:e0256fd314eb 125
palimar 26:e0256fd314eb 126 // display the screen.
palimar 26:e0256fd314eb 127 display_screen(curr_screen);
palimar 26:e0256fd314eb 128
palimar 4:a4fb060e7840 129
palimar 4:a4fb060e7840 130 // Start to read buttons on main thread
kiran_mbed 0:313541d8f8be 131 while(1)
kiran_mbed 0:313541d8f8be 132 {
palimar 23:6681a38918c6 133 if(biSWBL.read() && NOT_biSWBL_HELD){
palimar 9:e946cafa3cae 134 request_status_change();
palimar 23:6681a38918c6 135 NOT_biSWBL_HELD = false;
kiran_mbed 0:313541d8f8be 136 }
palimar 23:6681a38918c6 137
palimar 23:6681a38918c6 138 else if(!biSWBL.read()){
palimar 23:6681a38918c6 139 NOT_biSWBL_HELD = true;
kiran_mbed 0:313541d8f8be 140 }
palimar 23:6681a38918c6 141
palimar 23:6681a38918c6 142 else{
palimar 23:6681a38918c6 143 // ignore BiSWBL.read()
palimar 23:6681a38918c6 144 }
palimar 23:6681a38918c6 145
palimar 23:6681a38918c6 146 if(biSWBR.read()){
palimar 9:e946cafa3cae 147 reset();
kiran_mbed 0:313541d8f8be 148 }
kiran_mbed 0:313541d8f8be 149 }
kiran_mbed 0:313541d8f8be 150 }
palimar 23:6681a38918c6 151