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@39:e6aa6dcf3f75, 2015-02-08 (annotated)

Committer:
tmccurbin
Date:
Sun Feb 08 05:47:05 2015 +0000
Revision:
39:e6aa6dcf3f75
Parent:
38:d04a430d7fe3
Child:
40:92f08fdc32df
Fixed filters. Implemented thresholds for variable updates.

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 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 39:e6aa6dcf3f75 30 wait(1);
tmccurbin 39:e6aa6dcf3f75 31
tmccurbin 39:e6aa6dcf3f75 32 CANMessage Rxmsg;
tmccurbin 36:8544a8900884 33
tmccurbin 36:8544a8900884 34 Thread Thread2(ProcessButtons);
tmccurbin 36:8544a8900884 35 Thread Thread1(DisplayCurrScreen);
tmccurbin 36:8544a8900884 36
tmccurbin 36:8544a8900884 37 while(1) {
tmccurbin 36:8544a8900884 38 if (SteeringCANPort.rxRead(Rxmsg)) {
tmccurbin 36:8544a8900884 39 ProcessCANMsg(Rxmsg);
tmccurbin 32:535acb159709 40 }
tmccurbin 32:535acb159709 41 }
tmccurbin 32:535acb159709 42 }
tmccurbin 32:535acb159709 43
kiran_mbed 0:313541d8f8be 44
kiran_mbed 0:313541d8f8be 45 void Init()
kiran_mbed 0:313541d8f8be 46 {
tmccurbin 36:8544a8900884 47 StatusMsg.attach(&ConnectedStatusCANMsg,0.1);
palimar 23:6681a38918c6 48 pc.baud(921600);
tmccurbin 36:8544a8900884 49 BLButtonRed;
tmccurbin 36:8544a8900884 50 BRButtonGreen;
tmccurbin 36:8544a8900884 51 TLButtonGreen;
tmccurbin 36:8544a8900884 52 TRButtonGreen;
tmccurbin 36:8544a8900884 53 DriveStatus = 0; // Off
tmccurbin 36:8544a8900884 54 //initialize screen Startup Process
tmccurbin 36:8544a8900884 55 wait(2);
kiran_mbed 0:313541d8f8be 56 }
kiran_mbed 0:313541d8f8be 57
tmccurbin 36:8544a8900884 58
tmccurbin 36:8544a8900884 59 void ProcessButtons(void const *args)
tmccurbin 36:8544a8900884 60 {
tmccurbin 36:8544a8900884 61 while(1) {
tmccurbin 36:8544a8900884 62 Thread::wait(50);
tmccurbin 36:8544a8900884 63 if(biSWBR.read()) {
tmccurbin 36:8544a8900884 64 Thread::wait(750);
tmccurbin 36:8544a8900884 65 if (biSWBR.read()) {
tmccurbin 36:8544a8900884 66 ResetCar();
tmccurbin 36:8544a8900884 67 }
tmccurbin 36:8544a8900884 68 NVIC_SystemReset();
tmccurbin 36:8544a8900884 69 ResetSteeringWheel();
tmccurbin 36:8544a8900884 70 }
tmccurbin 36:8544a8900884 71
tmccurbin 36:8544a8900884 72 if(biSWBL.read()) {
tmccurbin 36:8544a8900884 73 Thread::wait(1000);
tmccurbin 36:8544a8900884 74 if (biSWBL.read()) {
tmccurbin 36:8544a8900884 75 RequestStatusChange();
palimar 23:6681a38918c6 76 }
palimar 21:56890c41ecf1 77 }
tmccurbin 36:8544a8900884 78
tmccurbin 36:8544a8900884 79 if(biSWTR.read() && CurrScreen != 5) {
tmccurbin 36:8544a8900884 80 //If the toggle button is pressed and the screen isn't on Fault_Screen
tmccurbin 36:8544a8900884 81 ToggleScreen();
tmccurbin 36:8544a8900884 82 Thread::wait(250);
tmccurbin 36:8544a8900884 83 } else if (biSWTR.read() && CurrScreen == 5) {// If the screen was on Fault, go to Home
tmccurbin 36:8544a8900884 84 CurrScreen = 0;
tmccurbin 36:8544a8900884 85 Thread::wait(250);
tmccurbin 36:8544a8900884 86 }
tmccurbin 36:8544a8900884 87
tmccurbin 36:8544a8900884 88 if(biSWTL.read() && CurrScreen != 0) {
tmccurbin 36:8544a8900884 89 //If the Home button is pressed and the screen isn't on Fault_Screen
tmccurbin 36:8544a8900884 90 CurrScreen = 0;
tmccurbin 36:8544a8900884 91 Thread::wait(250);
tmccurbin 36:8544a8900884 92 } else if (biSWTL.read() && CurrScreen == 0) {// If the screen was on Fault, go to Home
tmccurbin 36:8544a8900884 93 CurrScreen = 5;
tmccurbin 36:8544a8900884 94 Thread::wait(250);
tmccurbin 36:8544a8900884 95 }
palimar 21:56890c41ecf1 96 }
palimar 35:b42afc973902 97 }
palimar 21:56890c41ecf1 98
tmccurbin 36:8544a8900884 99
tmccurbin 36:8544a8900884 100 void UpdateDisplay()
tmccurbin 36:8544a8900884 101 {
tmccurbin 36:8544a8900884 102 }
tmccurbin 36:8544a8900884 103
tmccurbin 36:8544a8900884 104
tmccurbin 36:8544a8900884 105 void ProcessCANMsg(CANMessage& Rxmsg)
tmccurbin 36:8544a8900884 106 {
tmccurbin 36:8544a8900884 107 if (SteeringCANPort.rxRead(Rxmsg)) {
tmccurbin 39:e6aa6dcf3f75 108 // Printing CAN message data:
tmccurbin 39:e6aa6dcf3f75 109 // 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 110 // for (int i=0; i < Rxmsg.len; i++) printf("D[%d]: %x ", i, Rxmsg.data[i]);
tmccurbin 36:8544a8900884 111 switch (Rxmsg.id) {
palimar 4:a4fb060e7840 112
tmccurbin 36:8544a8900884 113 // HOME SCREEN *******************************************************************************************
tmccurbin 36:8544a8900884 114 case SOC_TX_ID:
tmccurbin 36:8544a8900884 115 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 116 if (abs(CANFloat*100 - *BigBatLifeBuffer) >= 1) {
tmccurbin 39:e6aa6dcf3f75 117 sprintf(BigBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Big battery life percentage
tmccurbin 39:e6aa6dcf3f75 118 display.PutString(1,40,BigBatLifeBuffer);
tmccurbin 39:e6aa6dcf3f75 119 }
tmccurbin 36:8544a8900884 120 break;
tmccurbin 36:8544a8900884 121 case SYS_GLV_SOC_ID:
tmccurbin 36:8544a8900884 122 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 123 if (abs(CANFloat*100 - *SmallBatLifeBuffer) >= 1) {
tmccurbin 39:e6aa6dcf3f75 124 sprintf(SmallBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Small battery life percentage
tmccurbin 39:e6aa6dcf3f75 125 display.PutString(1,60,SmallBatLifeBuffer);
tmccurbin 39:e6aa6dcf3f75 126 }
tmccurbin 36:8544a8900884 127 break;
tmccurbin 36:8544a8900884 128 case PCM_FRPM_ID:
tmccurbin 36:8544a8900884 129 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 130 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 131 if (abs((CANFloat+CANFloat2)*WheelCircumference*30 - *CarSpdBuffer) >= 1) {
tmccurbin 39:e6aa6dcf3f75 132 sprintf(CarSpdBuffer,"%3.2d", int((CANFloat+CANFloat2)*WheelCircumference*30)); // Miles per hour
tmccurbin 39:e6aa6dcf3f75 133 display.PutString(1,108,CarSpdBuffer);
tmccurbin 39:e6aa6dcf3f75 134 }
tmccurbin 39:e6aa6dcf3f75 135 break;
tmccurbin 36:8544a8900884 136 case TEMP_MMA_TX_ID_BASE2:
tmccurbin 36:8544a8900884 137 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 138 if (abs((CANFloat*9.0/5.0)+32 - *AvgBatTBuffer) >=1) {
tmccurbin 39:e6aa6dcf3f75 139 sprintf(AvgBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
tmccurbin 39:e6aa6dcf3f75 140 display.PutString(3,39,AvgBatTBuffer);
tmccurbin 39:e6aa6dcf3f75 141 //display.PutString(5,108,AvgBatTBuffer); this is for the battery screen
tmccurbin 39:e6aa6dcf3f75 142 }
tmccurbin 39:e6aa6dcf3f75 143 break;
tmccurbin 36:8544a8900884 144 case TEMP_MMA_TX_ID_BASE:
tmccurbin 36:8544a8900884 145 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 146 if (abs((CANFloat2*9.0/5.0)+32 - *MaxBatTBuffer) >=1) {
tmccurbin 39:e6aa6dcf3f75 147 sprintf(MaxBatTBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Figure out Max/Min and Figure out various screen display
tmccurbin 39:e6aa6dcf3f75 148 display.PutString(3,103,MaxBatTBuffer);
tmccurbin 39:e6aa6dcf3f75 149 //display.PutString(5,20,MaxBatTBuffer); this is for the battery screen
tmccurbin 39:e6aa6dcf3f75 150 }
tmccurbin 36:8544a8900884 151 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 152 if (abs((CANFloat*9.0/5.0)+32 - *MinBatTBuffer) >= 1) {
tmccurbin 39:e6aa6dcf3f75 153 sprintf(MinBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
tmccurbin 39:e6aa6dcf3f75 154 //display.PutString(5,67,MinBatTBuffer); this is for the battery screen
tmccurbin 39:e6aa6dcf3f75 155 }
tmccurbin 39:e6aa6dcf3f75 156 break;
tmccurbin 36:8544a8900884 157 case MOC_MOTEMP_ID:
tmccurbin 36:8544a8900884 158 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 159 if (abs((CANFloat*9.0/5.0)+32 - *LMtrTmpBuffer) >= 1) {
tmccurbin 39:e6aa6dcf3f75 160 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 39:e6aa6dcf3f75 161 display.PutString(5,34,LMtrTmpBuffer);
tmccurbin 39:e6aa6dcf3f75 162 // display.PutString(1,34,LMtrTmpBuffer); this is for the motor screen
tmccurbin 39:e6aa6dcf3f75 163 }
tmccurbin 36:8544a8900884 164 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 165 if (abs((CANFloat2*9.0/5.0)+32 - *RMtrTmpBuffer) >= 1) {
tmccurbin 39:e6aa6dcf3f75 166 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 39:e6aa6dcf3f75 167 display.PutString(5,34,RMtrTmpBuffer);
tmccurbin 39:e6aa6dcf3f75 168 //display.PutString(1,98,LMtrTmpBuffer); this is for the motor screen
tmccurbin 39:e6aa6dcf3f75 169 }
tmccurbin 39:e6aa6dcf3f75 170 break;
tmccurbin 39:e6aa6dcf3f75 171
tmccurbin 36:8544a8900884 172 // BATTERY SCREEN***********************************************************************************
tmccurbin 36:8544a8900884 173 case VOLTAGE_TX_ID:
tmccurbin 36:8544a8900884 174 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 175 if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
tmccurbin 39:e6aa6dcf3f75 176 sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
tmccurbin 39:e6aa6dcf3f75 177 //display.PutString(1,10,BigBatVoltBuffer);
tmccurbin 39:e6aa6dcf3f75 178 //display.PutString(3,94,BigBatVoltBuffer); this is for the charging screen
tmccurbin 39:e6aa6dcf3f75 179 }
tmccurbin 39:e6aa6dcf3f75 180 break;
tmccurbin 36:8544a8900884 181 case POWER_TX_ID:
tmccurbin 36:8544a8900884 182 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 183 if (abs(CANFloat - *BigBatPowerBuffer) >= 1) {
tmccurbin 39:e6aa6dcf3f75 184 sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat)); // Watts
tmccurbin 39:e6aa6dcf3f75 185 //display.PutString(1,55,BigBatPowerBuffer);
tmccurbin 39:e6aa6dcf3f75 186 }
tmccurbin 39:e6aa6dcf3f75 187 break;
tmccurbin 36:8544a8900884 188 case CURRENT_TX_ID:
tmccurbin 36:8544a8900884 189 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 190 if (abs(CANFloat - *BigBatCurrentBuffer) >= 0.2) {
tmccurbin 39:e6aa6dcf3f75 191 sprintf(BigBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
tmccurbin 39:e6aa6dcf3f75 192 //display.PutString(1,100,BigBatCurrentBuffer);
tmccurbin 39:e6aa6dcf3f75 193 }
tmccurbin 39:e6aa6dcf3f75 194 break;
tmccurbin 36:8544a8900884 195 case CELLV_MMA_TX_ID_BASE:
tmccurbin 36:8544a8900884 196 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 197 if (abs(CANFloat2 - *VmaxBuffer) >= 0.1) {
tmccurbin 39:e6aa6dcf3f75 198 sprintf(VmaxBuffer,"%3.2d", int(CANFloat2)); // We need to figure out how to handle max and min
tmccurbin 39:e6aa6dcf3f75 199 //display.PutString(3,20,VmaxBuffer);
tmccurbin 39:e6aa6dcf3f75 200 }
tmccurbin 36:8544a8900884 201 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 202 if (abs(CANFloat - *VminBuffer) >= 0.1) {
tmccurbin 39:e6aa6dcf3f75 203 sprintf(VminBuffer,"%3.2d", int(CANFloat));
tmccurbin 39:e6aa6dcf3f75 204 //display.PutString(3,67,VminBuffer);
tmccurbin 39:e6aa6dcf3f75 205 }
tmccurbin 39:e6aa6dcf3f75 206 break;
tmccurbin 36:8544a8900884 207 case CELLV_MMA_TX_ID_BASE2:
tmccurbin 36:8544a8900884 208 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 209 if (abs(CANFloat - *VavgBuffer) >= 0.1) {
tmccurbin 39:e6aa6dcf3f75 210 sprintf(VavgBuffer,"%3.2d", int(CANFloat)); // Volts
tmccurbin 39:e6aa6dcf3f75 211 //display.PutString(3,108,VavgBuffer);
tmccurbin 39:e6aa6dcf3f75 212 }
tmccurbin 39:e6aa6dcf3f75 213 break;
tmccurbin 36:8544a8900884 214 case BOARDTEMP_TX_ID:
tmccurbin 36:8544a8900884 215 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 216 if (abs((CANFloat*9.0/5.0)+32 - *BoardTempBuffer) >= 1) {
tmccurbin 39:e6aa6dcf3f75 217 sprintf(BoardTempBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
tmccurbin 39:e6aa6dcf3f75 218 //display.PutString(7,87,BoardTempBuffer);
tmccurbin 39:e6aa6dcf3f75 219 }
tmccurbin 39:e6aa6dcf3f75 220 break;
tmccurbin 36:8544a8900884 221
tmccurbin 36:8544a8900884 222 // MOTOR SCREEN*****************************************************************
tmccurbin 36:8544a8900884 223 case MOC_AIRTEMP_ID:
tmccurbin 36:8544a8900884 224 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 225 if (abs((CANFloat*9.0/5.0)+32 - *LAirTmpBuffer) >= 1) {
tmccurbin 36:8544a8900884 226 sprintf(LAirTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Figure out the left and the right
tmccurbin 36:8544a8900884 227 //display.PutString(2,34,LAirTmpBuffer);
tmccurbin 39:e6aa6dcf3f75 228 }
tmccurbin 36:8544a8900884 229 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 230 if (abs((CANFloat2*9.0/5.0)+32 - *RAirTmpBuffer) >= 1) {
tmccurbin 36:8544a8900884 231 sprintf(RAirTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
tmccurbin 36:8544a8900884 232 //display.PutString(2,98,RAirTmpBuffer);
tmccurbin 39:e6aa6dcf3f75 233 }
tmccurbin 39:e6aa6dcf3f75 234 break;
tmccurbin 36:8544a8900884 235 case MOC_IGBTTEMP_ID:
tmccurbin 36:8544a8900884 236 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 237 if (abs((CANFloat*9.0/5.0)+32 - *LIGBTmpBuffer) >= 1) {
tmccurbin 36:8544a8900884 238 sprintf(LIGBTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Figure out the left and the right
tmccurbin 36:8544a8900884 239 //display.PutString(3,34,LIGBTmpBuffer);
tmccurbin 39:e6aa6dcf3f75 240 }
tmccurbin 36:8544a8900884 241 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 242 if (abs((CANFloat2*9.0/5.0)+32 - *RIGBTmpBuffer) >= 1) {
tmccurbin 36:8544a8900884 243 sprintf(RIGBTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
tmccurbin 36:8544a8900884 244 //display.PutString(3,98,RIGBTmpBuffer);
tmccurbin 39:e6aa6dcf3f75 245 }
tmccurbin 39:e6aa6dcf3f75 246 break;
tmccurbin 36:8544a8900884 247 case MOC_RPM_ID:
tmccurbin 36:8544a8900884 248 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 249 if (abs(CANFloat - *Rpm_LBuffer) >= 1) {
tmccurbin 36:8544a8900884 250 sprintf(Rpm_LBuffer,"%3.2d", int(CANFloat)); // Figure out the left and the right
tmccurbin 36:8544a8900884 251 //display.PutString(5,30,Rpm_LBuffer);
tmccurbin 39:e6aa6dcf3f75 252 }
tmccurbin 36:8544a8900884 253 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 254 if (abs(CANFloat2 - *Rpm_RBuffer) >= 1) {
tmccurbin 36:8544a8900884 255 sprintf(Rpm_RBuffer,"%3.2d", int(CANFloat2));
tmccurbin 36:8544a8900884 256 //display.PutString(5,107,Rpm_RBuffer);
tmccurbin 39:e6aa6dcf3f75 257 }
tmccurbin 39:e6aa6dcf3f75 258 break;
tmccurbin 36:8544a8900884 259 case PCM_TORQUERQ_ID:
tmccurbin 36:8544a8900884 260 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 261 if (abs(CANFloat*100 - *TRequestBufferL) >= 1) {
tmccurbin 36:8544a8900884 262 sprintf(TRequestBufferL,"%3.2d", int(CANFloat*100)); // Percentage
tmccurbin 36:8544a8900884 263 //display.PutString(7,89,TRequestBufferL);
tmccurbin 39:e6aa6dcf3f75 264 }
tmccurbin 36:8544a8900884 265 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 266 if (abs(CANFloat2*100 - *TRequestBufferR) >= 1) {
tmccurbin 36:8544a8900884 267 sprintf(TRequestBufferR,"%3.2d", int(CANFloat2*100)); // Percentage
tmccurbin 36:8544a8900884 268 //display.PutString(7,89,TRequestBufferR);
tmccurbin 39:e6aa6dcf3f75 269 }
tmccurbin 39:e6aa6dcf3f75 270 break;
tmccurbin 36:8544a8900884 271
tmccurbin 36:8544a8900884 272 // SYSTEM MANAGEMENT SCREEN***************************************************
tmccurbin 36:8544a8900884 273 case SYS_GLV_CURRENT_ID:
tmccurbin 36:8544a8900884 274 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 275 if (abs(CANFloat - *SmallBatCurrentBuffer) >= 0.2) {
tmccurbin 36:8544a8900884 276 sprintf(SmallBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
tmccurbin 36:8544a8900884 277 //display.PutString(1,30,SmallBatCurrentBuffer);
tmccurbin 39:e6aa6dcf3f75 278 }
tmccurbin 39:e6aa6dcf3f75 279 break;
tmccurbin 36:8544a8900884 280 case SYS_SWITCHES_ID:
tmccurbin 36:8544a8900884 281 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 282 sprintf(ShtdSwtchBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
tmccurbin 36:8544a8900884 283 //display.PutString(1,108,ShtdSwtchBuffer);
tmccurbin 39:e6aa6dcf3f75 284 break;
tmccurbin 36:8544a8900884 285 case SYS_PWM_FAN_ID:
tmccurbin 36:8544a8900884 286 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 287 if (abs(CANFloat*100 - *Fan1Buffer) >= 1) {
tmccurbin 36:8544a8900884 288 sprintf(Fan1Buffer,"%3.2d", int(CANFloat*100)); // Duty Cycle. Figure out the left and the right
tmccurbin 36:8544a8900884 289 //display.PutString(3,30,Fan1Buffer);
tmccurbin 39:e6aa6dcf3f75 290 }
tmccurbin 36:8544a8900884 291 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 292 if (abs(CANFloat2*100 - *Fan1Buffer) >= 1) {
tmccurbin 36:8544a8900884 293 sprintf(Fan2Buffer,"%3.2d", int(CANFloat2*100));
tmccurbin 36:8544a8900884 294 //display.PutString(3,107,Fan2Buffer);
tmccurbin 39:e6aa6dcf3f75 295 }
tmccurbin 39:e6aa6dcf3f75 296 break;
tmccurbin 36:8544a8900884 297 case SYS_PWM_PUMP_ID:
tmccurbin 36:8544a8900884 298 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 299 if (abs(CANFloat*100 - *Pump1Buffer) >= 1) {
tmccurbin 36:8544a8900884 300 sprintf(Pump1Buffer,"%3.2d", int(CANFloat*100)); // Duty Cycle. Figure out the left and the right
tmccurbin 36:8544a8900884 301 //display.PutString(5,30,Pump1Buffer);
tmccurbin 39:e6aa6dcf3f75 302 }
tmccurbin 36:8544a8900884 303 CANFloat2 = GetFloat4;
tmccurbin 39:e6aa6dcf3f75 304 if (abs(CANFloat2*100 - *Pump2Buffer) >= 1) {
tmccurbin 36:8544a8900884 305 sprintf(Pump2Buffer,"%3.2d", int(CANFloat2*100));
tmccurbin 36:8544a8900884 306 //display.PutString(5,107,Pump2Buffer);
tmccurbin 39:e6aa6dcf3f75 307 }
tmccurbin 39:e6aa6dcf3f75 308 break;
tmccurbin 36:8544a8900884 309 case SYS_DCDC_STATUS_ID:
tmccurbin 36:8544a8900884 310 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 311 sprintf(DCDCBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
tmccurbin 36:8544a8900884 312 //display.PutString(7,30,DCDCBuffer);
tmccurbin 39:e6aa6dcf3f75 313 break;
tmccurbin 36:8544a8900884 314 case SYS_IMD_RESIST_ID:
tmccurbin 36:8544a8900884 315 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 316 if (abs(CANFloat - *IMDRBuffer) >= 1) {
tmccurbin 39:e6aa6dcf3f75 317 sprintf(IMDRBuffer,"%3.2d", int(CANFloat));
tmccurbin 36:8544a8900884 318 //display.PutString(7,107,IMDRBuffer);
tmccurbin 39:e6aa6dcf3f75 319 }
tmccurbin 39:e6aa6dcf3f75 320 break;
tmccurbin 36:8544a8900884 321
tmccurbin 36:8544a8900884 322 // CHARGER SCREEN *************************************************************
tmccurbin 36:8544a8900884 323 case CHARGECURR_TX_ID:
tmccurbin 36:8544a8900884 324 CANFloat = GetFloat;
tmccurbin 39:e6aa6dcf3f75 325 if (abs(CANFloat - *ChargeCurrBuffer) >= 0.1) {
tmccurbin 36:8544a8900884 326 sprintf(ChargeCurrBuffer,"%3.2d", int(CANFloat)); // Amps
tmccurbin 36:8544a8900884 327 //display.PutString(3,94,ChargeCurrBuffer);
tmccurbin 39:e6aa6dcf3f75 328 }
tmccurbin 39:e6aa6dcf3f75 329 break;
tmccurbin 39:e6aa6dcf3f75 330
tmccurbin 36:8544a8900884 331 // OTHER **********************************************************************
tmccurbin 36:8544a8900884 332 case MODE_TX_ID:
tmccurbin 36:8544a8900884 333 CANFloat = GetFloat;
tmccurbin 36:8544a8900884 334 sprintf(&DriveStatus,"%3.2d", int(CANFloat)); //confirm that I am interpreting this correctly
tmccurbin 36:8544a8900884 335 if (DriveStatus == 1) {
tmccurbin 36:8544a8900884 336 BLButtonGreen;
tmccurbin 36:8544a8900884 337 } else {
tmccurbin 36:8544a8900884 338 BLButtonRed;
tmccurbin 36:8544a8900884 339 }
tmccurbin 39:e6aa6dcf3f75 340 break;
tmccurbin 36:8544a8900884 341 default:
tmccurbin 36:8544a8900884 342 break;
kiran_mbed 0:313541d8f8be 343 }
tmccurbin 36:8544a8900884 344 }
tmccurbin 36:8544a8900884 345 }
tmccurbin 36:8544a8900884 346
tmccurbin 36:8544a8900884 347 void ConnectedStatusCANMsg()
tmccurbin 36:8544a8900884 348 {
tmccurbin 36:8544a8900884 349 CANMessage ConnectedStatus(0x600, &ConnectedStatusBuffer,1);
tmccurbin 36:8544a8900884 350 SteeringCANPort.txWrite(ConnectedStatus);
tmccurbin 36:8544a8900884 351 }
tmccurbin 36:8544a8900884 352
palimar 23:6681a38918c6 353
tmccurbin 36:8544a8900884 354 void RequestStatusChange()
tmccurbin 36:8544a8900884 355 {
tmccurbin 36:8544a8900884 356 DriveStatusRequestBuffer = !DriveStatus;
tmccurbin 36:8544a8900884 357 CANMessage TxDriveStatusRequest(0x601, &DriveStatusRequestBuffer,1);
tmccurbin 36:8544a8900884 358 for (int j=0; j<10; j++) {
tmccurbin 36:8544a8900884 359 SteeringCANPort.txWrite(TxDriveStatusRequest);
tmccurbin 36:8544a8900884 360 }
tmccurbin 36:8544a8900884 361 display.PutString(7,0," DRIVE REQUEST SENT ");
tmccurbin 36:8544a8900884 362 Thread::wait(750);
tmccurbin 36:8544a8900884 363 PrevScreen = !CurrScreen; // To force a screen update
tmccurbin 36:8544a8900884 364 }
tmccurbin 36:8544a8900884 365
tmccurbin 36:8544a8900884 366
tmccurbin 36:8544a8900884 367 void ResetSteeringWheel()
tmccurbin 36:8544a8900884 368 {
tmccurbin 36:8544a8900884 369 NVIC_SystemReset();
tmccurbin 36:8544a8900884 370 }
tmccurbin 36:8544a8900884 371
tmccurbin 36:8544a8900884 372
tmccurbin 36:8544a8900884 373 void ResetCar()
tmccurbin 36:8544a8900884 374 {
tmccurbin 36:8544a8900884 375 CANMessage TxCarReset(0x602,&TxResetBuffer,1);
tmccurbin 36:8544a8900884 376 for (int k=0; k<10; k++) {
tmccurbin 36:8544a8900884 377 SteeringCANPort.txWriteDirect(TxCarReset);
tmccurbin 36:8544a8900884 378 }
tmccurbin 36:8544a8900884 379 }