Penn Electric Racing
/
REVO_Updated_Steering
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: CANBuffer KS0108_fork mbed-rtos mbed CAN Addresses
Fork of
REVO_Updated_Steering
by 
Penn Electric
Diff: Steering.cpp.orig
- Revision:
- 44:80d821b5a0e7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Steering.cpp.orig Thu May 14 18:49:05 2015 +0000
@@ -0,0 +1,444 @@
+#include "Steering.h"
+
+// To-Do:
+// Look at SYS management CAN translations: shutdown switches, DCDC status, & IMD (this is a resistance, in ohms)
+// Figure out screen/variable updating options (hardware filter), NVIC_SetPriority(CAN_IRQn,####)LPC17xx.h
+// Firgure out fault protocall
+
+void Init();
+void ProcessButtons(void const *args);
+void RequestStatusChange();
+void ResetSteeringWheel();
+void ResetCar();
+void ProcessCANMsg(CANMessage& msg);
+void UpdateDisplay();
+void ProcessButtons(void const *args);
+void ConnectedStatusCANMsg();
+
+float CANFloat;
+float CANFloat2;
+
+Ticker StatusMsg;
+
+int main()
+{
+ Init();
+
+ CANMessage Rxmsg;
+
+ Thread Thread2(ProcessButtons);
+ Thread Thread1(DisplayCurrScreen);
+
+ while(1) {
+ if (SteeringCANPort.rxRead(Rxmsg)) {
+ ProcessCANMsg(Rxmsg);
+ }
+ }
+}
+
+
+void Init()
+{
+ StatusMsg.attach(&ConnectedStatusCANMsg,0.1);
+ pc.baud(921600);
+ BLButtonRed;
+ BRButtonGreen;
+ TLButtonGreen;
+ TRButtonGreen;
+ //initialize screen Startup Process
+ wait(2);
+}
+
+
+void ProcessButtons(void const *args)
+{
+ while(1) {
+ Thread::wait(50);
+ if(biSWBR.read()) {
+ Thread::wait(750);
+ if (biSWBR.read()) {
+ ResetCar();
+ }
+ NVIC_SystemReset();
+ ResetSteeringWheel();
+ }
+
+ if(biSWBL.read()) {
+ Thread::wait(1000);
+ if (biSWBL.read()) {
+ RequestStatusChange();
+ }
+ }
+
+ if(biSWTR.read() && CurrScreen != 5) {
+ //If the toggle button is pressed and the screen isn't on Fault_Screen
+ ToggleScreen();
+ Thread::wait(250);
+ } else if (biSWTR.read() && CurrScreen == 5) {// If the screen was on Fault, go to Home
+ CurrScreen = 0;
+ Thread::wait(250);
+ }
+
+ if(biSWTL.read() && CurrScreen != 0) {
+ //If the Home button is pressed and the screen isn't on Fault_Screen
+ CurrScreen = 0;
+ Thread::wait(250);
+ } else if (biSWTL.read() && CurrScreen == 0) {// If the screen was on Fault, go to Home
+ CurrScreen = 5;
+ Thread::wait(250);
+ }
+ }
+}
+
+
+void UpdateDisplay()
+{
+}
+
+
+void ProcessCANMsg(CANMessage& Rxmsg)
+{
+ if (SteeringCANPort.rxRead(Rxmsg)) {
+ // Printing CAN message data:
+ // 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]))));
+ // for (int i=0; i < Rxmsg.len; i++) printf("D[%d]: %x ", i, Rxmsg.data[i]);
+ if (Rxmsg.id == MODE_TX_ID) {
+ if(Rxmsg.data[0] != (1<<3))
+ DriveStatusRequestBuffer=1;
+ else
+ DriveStatusRequestBuffer=0;
+ }
+
+ if (Rxmsg.id == POWER_TX_ID) {
+ CANFloat = GetFloat;
+ LEDBar = (CANFloat/85.0)*(2.6/3.3);
+ }
+
+ switch (CurrScreen) {
+ case HOME_SCREEN:
+ switch (Rxmsg.id) {
+
+ // HOME SCREEN *******************************************************************************************
+ // Pedal Test
+ /*case PCM_PEDALS_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat*100 - float (*AccPedalBuffer)) >= 1) {
+ sprintf(AccPedalBuffer,"%3.2d", int(CANFloat*100));
+ display.PutString(1,40,AccPedalBuffer);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs(CANFloat2*100 - float (*BrkPedalBuffer)) >= 1) {
+ sprintf(BrkPedalBuffer,"%3.2d", int(CANFloat2*100));
+ display.PutString(1,60,BrkPedalBuffer);
+ }
+ break;*/
+
+ case SOC_TX_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat*100 - *BigBatLifeBuffer) >= 1) {
+ sprintf(BigBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Big battery life percentage
+ display.PutString(1,40,BigBatLifeBuffer);
+ }
+ break;
+ case SYS_GLV_SOC_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat*100 - *SmallBatLifeBuffer) >= 1) {
+ sprintf(SmallBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Small battery life percentage
+ display.PutString(1,60,SmallBatLifeBuffer);
+ }
+ break;
+ case PCM_FRPM_ID:
+ CANFloat = GetFloat;
+ CANFloat2 = GetFloat4;
+ if (abs((CANFloat+CANFloat2)*WheelCircumference*30 - *CarSpdBuffer) >= 1) {
+ sprintf(CarSpdBuffer,"%3.2d", int((CANFloat+CANFloat2)*WheelCircumference*30)); // Miles per hour
+ display.PutString(1,108,CarSpdBuffer);
+ }
+ break;
+ case TEMP_MMA_TX_ID_BASE2:
+ CANFloat = GetFloat;
+ if (abs((CANFloat*9.0/5.0)+32 - *AvgBatTBuffer) >=1) {
+ sprintf(AvgBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
+ display.PutString(3,39,AvgBatTBuffer);
+ }
+ break;
+ case TEMP_MMA_TX_ID_BASE:
+ CANFloat2 = GetFloat4;
+ if (abs((CANFloat2*9.0/5.0)+32 - *MaxBatTBuffer) >=1) {
+ sprintf(MaxBatTBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
+ display.PutString(3,103,MaxBatTBuffer);
+ }
+ break;
+ case MOC_MOTEMP_ID:
+ CANFloat = GetFloat;
+ if (abs((CANFloat*9.0/5.0)+32 - *LMtrTmpBuffer) >= 1) {
+ sprintf(LMtrTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
+ display.PutString(5,34,LMtrTmpBuffer);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs((CANFloat2*9.0/5.0)+32 - *RMtrTmpBuffer) >= 1) {
+ sprintf(RMtrTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
+ display.PutString(5,34,RMtrTmpBuffer);
+ }
+ break;
+ default:
+ break;
+ }
+ break;
+ // BATTERY SCREEN***********************************************************************************
+ case BATTERY_SCREEN:
+ switch (Rxmsg.id) {
+ case VOLTAGE_TX_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
+ sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
+ display.PutString(1,10,BigBatVoltBuffer);
+ }
+ break;
+ case POWER_TX_ID:
+ CANFloat = GetFloat;
+ LEDBar = (CANFloat/85.0)*(2.6/3.3);
+ if (abs(CANFloat - *BigBatPowerBuffer) >= 1) {
+ sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat)); // Watts
+ display.PutString(1,55,BigBatPowerBuffer);
+ }
+ break;
+ case CURRENT_TX_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat - *BigBatCurrentBuffer) >= 0.2) {
+ sprintf(BigBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
+ display.PutString(1,100,BigBatCurrentBuffer);
+ }
+ break;
+ case CELLV_MMA_TX_ID_BASE:
+ CANFloat2 = GetFloat4;
+ if (abs(CANFloat2 - *VmaxBuffer) >= 0.1) {
+ sprintf(VmaxBuffer,"%3.2d", int(CANFloat2));
+ display.PutString(3,20,VmaxBuffer);
+ }
+ CANFloat = GetFloat;
+ if (abs(CANFloat - *VminBuffer) >= 0.1) {
+ sprintf(VminBuffer,"%3.2d", int(CANFloat));
+ display.PutString(3,67,VminBuffer);
+ }
+ break;
+ case CELLV_MMA_TX_ID_BASE2:
+ CANFloat = GetFloat;
+ if (abs(CANFloat - *VavgBuffer) >= 0.1) {
+ sprintf(VavgBuffer,"%3.2d", int(CANFloat)); // Volts
+ display.PutString(3,108,VavgBuffer);
+ }
+ break;
+ case TEMP_MMA_TX_ID_BASE:
+ CANFloat = GetFloat;
+ if (abs((CANFloat*9.0/5.0)+32 - *MinBatTBuffer) >= 1) {
+ sprintf(MinBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
+ display.PutString(5,67,MinBatTBuffer);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs((CANFloat2*9.0/5.0)+32 - *MaxBatTBuffer) >=1) {
+ sprintf(MaxBatTBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
+ display.PutString(5,20,MaxBatTBuffer);
+ }
+ break;
+ case TEMP_MMA_TX_ID_BASE2:
+ CANFloat = GetFloat;
+ if (abs((CANFloat*9.0/5.0)+32 - *AvgBatTBuffer) >=1) {
+ sprintf(AvgBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
+ display.PutString(5,108,AvgBatTBuffer);
+ }
+ break;
+ case BOARDTEMP_TX_ID:
+ CANFloat = GetFloat;
+ if (abs((CANFloat*9.0/5.0)+32 - *BoardTempBuffer) >= 1) {
+ sprintf(BoardTempBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
+ display.PutString(7,87,BoardTempBuffer);
+ }
+ break;
+ default:
+ break;
+ }
+ break;
+ // MOTOR SCREEN*****************************************************************
+ case MOTOR_SCREEN:
+ switch (Rxmsg.id) {
+ case MOC_MOTEMP_ID:
+ CANFloat = GetFloat;
+ if (abs((CANFloat*9.0/5.0)+32 - *LMtrTmpBuffer) >= 1) {
+ sprintf(LMtrTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
+ display.PutString(1,34,LMtrTmpBuffer);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs((CANFloat2*9.0/5.0)+32 - *RMtrTmpBuffer) >= 1) {
+ sprintf(RMtrTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
+ display.PutString(1,98,LMtrTmpBuffer);
+ }
+ break;
+ case MOC_AIRTEMP_ID:
+ CANFloat = GetFloat;
+ if (abs((CANFloat*9.0/5.0)+32 - *LAirTmpBuffer) >= 1) {
+ sprintf(LAirTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
+ display.PutString(2,34,LAirTmpBuffer);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs((CANFloat2*9.0/5.0)+32 - *RAirTmpBuffer) >= 1) {
+ sprintf(RAirTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
+ display.PutString(2,98,RAirTmpBuffer);
+ }
+ break;
+ case MOC_IGBTTEMP_ID:
+ CANFloat = GetFloat;
+ if (abs((CANFloat*9.0/5.0)+32 - *LIGBTmpBuffer) >= 1) {
+ sprintf(LIGBTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
+ display.PutString(3,34,LIGBTmpBuffer);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs((CANFloat2*9.0/5.0)+32 - *RIGBTmpBuffer) >= 1) {
+ sprintf(RIGBTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
+ display.PutString(3,98,RIGBTmpBuffer);
+ }
+ break;
+ case MOC_RPM_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat - *Rpm_LBuffer) >= 1) {
+ sprintf(Rpm_LBuffer,"%3.2d", int(CANFloat));
+ display.PutString(5,30,Rpm_LBuffer);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs(CANFloat2 - *Rpm_RBuffer) >= 1) {
+ sprintf(Rpm_RBuffer,"%3.2d", int(CANFloat2));
+ display.PutString(5,107,Rpm_RBuffer);
+ }
+ break;
+ case PCM_TORQUERQ_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat*100 - *TRequestBufferL) >= 1) {
+ sprintf(TRequestBufferL,"%3.2d", int(CANFloat*100)); // Percentage
+ display.PutString(7,89,TRequestBufferL);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs(CANFloat2*100 - *TRequestBufferR) >= 1) {
+ sprintf(TRequestBufferR,"%3.2d", int(CANFloat2*100)); // Percentage
+ display.PutString(7,89,TRequestBufferR);
+ }
+ break;
+ default:
+ break;
+ }
+ break;
+
+ // SYSTEM MANAGEMENT SCREEN***************************************************
+ case SYS_MGMT_SCREEN:
+ switch (Rxmsg.id) {
+ case SYS_GLV_CURRENT_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat - *SmallBatCurrentBuffer) >= 0.2) {
+ sprintf(SmallBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
+ display.PutString(1,30,SmallBatCurrentBuffer);
+ }
+ break;
+ case SYS_SWITCHES_ID:
+ CANFloat = GetFloat;
+ sprintf(ShtdSwtchBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
+ display.PutString(1,108,ShtdSwtchBuffer);
+ break;
+ case SYS_PWM_FAN_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat*100 - *Fan1Buffer) >= 1) {
+ sprintf(Fan1Buffer,"%3.2d", int(CANFloat*100));
+ display.PutString(3,30,Fan1Buffer);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs(CANFloat2*100 - *Fan1Buffer) >= 1) {
+ sprintf(Fan2Buffer,"%3.2d", int(CANFloat2*100));
+ display.PutString(3,107,Fan2Buffer);
+ }
+ break;
+ case SYS_PWM_PUMP_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat*100 - *Pump1Buffer) >= 1) {
+ sprintf(Pump1Buffer,"%3.2d", int(CANFloat*100));
+ display.PutString(5,30,Pump1Buffer);
+ }
+ CANFloat2 = GetFloat4;
+ if (abs(CANFloat2*100 - *Pump2Buffer) >= 1) {
+ sprintf(Pump2Buffer,"%3.2d", int(CANFloat2*100));
+ display.PutString(5,107,Pump2Buffer);
+ }
+ break;
+ case SYS_DCDC_STATUS_ID:
+ CANFloat = GetFloat;
+ sprintf(DCDCBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
+ display.PutString(7,30,DCDCBuffer);
+ break;
+ case SYS_IMD_RESIST_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat - *IMDRBuffer) >= 1) {
+ sprintf(IMDRBuffer,"%3.2d", int(CANFloat));
+ display.PutString(7,82,IMDRBuffer);
+ }
+ break;
+ default:
+ break;
+ }
+ break;
+
+ // CHARGE SCREEN *************************************************************
+ case CHARGE_SCREEN:
+ switch (Rxmsg.id) {
+ case CHARGECURR_TX_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat - *ChargeCurrBuffer) >= 0.1) {
+ sprintf(ChargeCurrBuffer,"%3.2d", int(CANFloat)); // Amps
+ display.PutString(3,94,ChargeCurrBuffer);
+ }
+ break;
+ case VOLTAGE_TX_ID:
+ CANFloat = GetFloat;
+ if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
+ sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
+ display.PutString(3,94,BigBatVoltBuffer);
+ }
+ break;
+ default:
+ break;
+ }
+ break;
+ default:
+ break;
+ }
+ }
+}
+
+void ConnectedStatusCANMsg()
+{
+ CANMessage ConnectedStatus(0x600, &ConnectedStatusBuffer,1);
+ SteeringCANPort.txWrite(ConnectedStatus);
+}
+
+
+void RequestStatusChange()
+{
+ CANMessage TxDriveStatusRequest(0x601, &DriveStatusRequestBuffer,1);
+ for (int j=0; j<10; j++) {
+ SteeringCANPort.txWrite(TxDriveStatusRequest);
+ }
+ display.PutString(7,0," DRIVE REQUEST SENT ");
+ Thread::wait(750);
+ PrevScreen = !CurrScreen; // To force a screen update
+}
+
+
+void ResetSteeringWheel()
+{
+ NVIC_SystemReset();
+}
+
+
+void ResetCar()
+{
+ CANMessage TxCarReset(0x602,&TxResetBuffer,1);
+ for (int k=0; k<10; k++) {
+ SteeringCANPort.txWriteDirect(TxCarReset);
+ }
+}
\ No newline at end of file