Penn Electric Racing
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
Diff: Steering.cpp
- Revision:
- 36:8544a8900884
- Parent:
- 35:b42afc973902
- Child:
- 38:d04a430d7fe3
--- a/Steering.cpp Sat Nov 22 22:24:53 2014 +0000
+++ b/Steering.cpp Thu Jan 29 04:27:19 2015 +0000
@@ -1,187 +1,297 @@
#include "Steering.h"
-bool NOT_biSWBL_HELD;
-bool NOT_biSWTR_HELD;
+// To-Do:
+// Look at SYS management CAN translations: shutdown switches, DCDC status, & IMD status
+// Figure out screen/variable updating options
+// 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;
-void update_display(void const *args){
-
- while(true){
-
- if(screen_flags[curr_screen] || should_redraw){
- screen_flags[curr_screen] = 0;
- should_redraw = false;
- switch(curr_screen){
-
- case HOME_SCREEN:{
-
- display.ClearScreen();
- display.SelectFont(Arial10,BLACK,ReadData);
- display.GotoXY(37,0);
- display.PrintString(" Home Screen");
-
- display.GotoXY(22,30);
- if(vars_list->get_value(PCM_STATE_ID) == 0){
- display.PutString(17, 30, "Drive Status: OFF");
- }
- else{
- display.PrintString("Drive Status: ON");
- }
- break;
- }
-
- case BATTERY_SCREEN:
-
- display.ClearScreen();
- display.SelectFont(Arial10,BLACK,ReadData);
- display.GotoXY(33,0);
- display.PrintString(" Battery Screen");
- break;
-
- default:
- break;
-
- }
+int main()
+{
+ Init();
+
+ display.GotoXY(10,16);
+ display.SelectFont(Arial_14,BLACK,ReadData);
+ display.PrintString("Penn Electric Racing");
+ wait(2);
+ display.ClearScreen();
+ display.GotoXY(10,16);
+ display.PrintString("Live the dream.");
+ wait(2);
+
+ Thread Thread2(ProcessButtons);
+ Thread Thread1(DisplayCurrScreen);
+
+ while(1) {
+ CANMessage Rxmsg;
+ if (SteeringCANPort.rxRead(Rxmsg)) {
+ ProcessCANMsg(Rxmsg);
}
- wait(2);
}
}
-void toggle_screen(){
- should_redraw = true;
- curr_screen = (curr_screen+1) % NUM_SCREEN;
-}
-
-void request_status_change(){
-
- char drive_status_request;
- ds_mutex.lock();
- drive_status_request = !(vars_list->get_value(PCM_STATE_ID));
-
- ds_mutex.unlock();
- char * status_string;
-
- if(drive_status_request){
- status_string = "ON";
- }
- else{
- status_string = "OFF";
- }
-
- CANMessage Txmsg_drive_status_request(0x501,&drive_status_request,1);
- for(int i = 0; i < 10; i++){
- CAN_Steering_Buffer.txWrite(Txmsg_drive_status_request);
- }
-
- printf("%s\n\r", status_string);
- return;
-}
-
-void reset()
-{
- reset_body = 1;
- CANMessage Txmsg_reset(0x502,&reset_body,1);
- for(int i = 0; i < 10; i++){
- CAN_Steering_Buffer.txWriteDirect(Txmsg_reset);
- }
- NVIC_SystemReset();
- display.ClearScreen();
- display.SelectFont(Arial12,BLACK,ReadData);
- display.GotoXY(16,16);
- printf("Reset Initiated\n\r");
-
- return;
-}
void Init()
{
- should_redraw = true;
+ StatusMsg.attach(&ConnectedStatusCANMsg,0.1);
pc.baud(921600);
- curr_screen = HOME_SCREEN;
- drive_status = 0;
- drive_status_request = 1;
- reset_body = 0;
- ledstream.write(0);
- NOT_biSWBL_HELD = true;
- NOT_biSWTR_HELD = true;
-
- vars_list = new variables();
-
- vars_list->add(PCM_STATE_ID, HOME_SCREEN);
- vars_list->add(BATTERY_VOLTAGE_ID, BATTERY_SCREEN);
- vars_list->add(BATTERY_POWER_ID, BATTERY_SCREEN);
- vars_list->add(BATTERY_CURRENT_ID, BATTERY_SCREEN);
-
+ BLButtonRed;
+ BRButtonGreen;
+ TLButtonGreen;
+ TRButtonGreen;
+ DriveStatus = 0; // Off
+ //initialize screen Startup Process
+ wait(2);
}
-void read_messages(void const *args) {
-
- while (true) {
-
- CANMessage Rxmsg;
- if(CAN_Steering_Buffer.rxRead(Rxmsg)){
- id_node = vars_list->get_node(Rxmsg.id);
- if(id_node != NULL){
- if(id_node->value != Rxmsg.data[0]){
- screen_flags[id_node->screen] = 1;
- }
- id_node->value = Rxmsg.data[0];
+
+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);
+ }
}
}
-int main(){
- // Initialize, set all variables.
- Init();
- wait(0.1);
-
- //Init Display
- display.GotoXY(10,16);
- display.SelectFont(Arial_14,BLACK,ReadData);
- display.PrintString("Penn Electric Racing");
- CAN_Steering_Buffer.mode(NoAck);
-
- wait(2);
-
- //New thread to read messages.
- Thread update_thread(read_messages);
-
- // display the screen.
- Thread display_thread(update_display);
-
+
+void UpdateDisplay()
+{
+}
+
+
+void ProcessCANMsg(CANMessage& Rxmsg)
+{
+ if (SteeringCANPort.rxRead(Rxmsg)) {
+ 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]);
+ switch (Rxmsg.id) {
- // Start to read buttons on main thread
- while(1)
- {
- if(biSWBL.read() && NOT_biSWBL_HELD){
- request_status_change();
- NOT_biSWBL_HELD = false;
+ // HOME SCREEN *******************************************************************************************
+ case SOC_TX_ID:
+ CANFloat = GetFloat;
+ sprintf(BigBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Big battery life percentage
+ display.PutString(1,40,BigBatLifeBuffer);
+ break;
+ case SYS_GLV_SOC_ID:
+ CANFloat = GetFloat;
+ 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;
+ sprintf(CarSpdBuffer,"%3.2d", int((CANFloat+CANFloat2)*WheelCircumference*30)); // Miles per hour
+ display.PutString(1,108,CarSpdBuffer);
+ case TEMP_MMA_TX_ID_BASE2:
+ CANFloat = GetFloat;
+ sprintf(AvgBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
+ display.PutString(3,39,AvgBatTBuffer);
+ //display.PutString(5,108,AvgBatTBuffer); this is for the battery screen
+ case TEMP_MMA_TX_ID_BASE:
+ CANFloat2 = GetFloat4;
+ sprintf(MaxBatTBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Figure out Max/Min and Figure out various screen display
+ display.PutString(3,103,MaxBatTBuffer);
+ //display.PutString(5,20,MaxBatTBuffer); this is for the battery screen
+ CANFloat = GetFloat;
+ sprintf(MinBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
+ //display.PutString(5,67,MinBatTBuffer); this is for the battery screen
+ case MOC_MOTEMP_ID:
+ CANFloat = GetFloat;
+ 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
+ display.PutString(5,34,LMtrTmpBuffer);
+ // display.PutString(1,34,LMtrTmpBuffer); this is for the motor screen
+ CANFloat2 = GetFloat4;
+ 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
+ display.PutString(5,34,RMtrTmpBuffer);
+ //display.PutString(1,98,LMtrTmpBuffer); this is for the motor screen
+ // BATTERY SCREEN***********************************************************************************
+ case VOLTAGE_TX_ID:
+ CANFloat = GetFloat;
+ sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
+ //display.PutString(1,10,BigBatVoltBuffer);
+ //display.PutString(3,94,BigBatVoltBuffer); this is for the charging screen
+ case POWER_TX_ID:
+ CANFloat = GetFloat;
+ sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat)); // Watts
+ //display.PutString(1,55,BigBatPowerBuffer);
+ case CURRENT_TX_ID:
+ CANFloat = GetFloat;
+ sprintf(BigBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
+ //display.PutString(1,100,BigBatCurrentBuffer);
+ case CELLV_MMA_TX_ID_BASE:
+ CANFloat2 = GetFloat4;
+ sprintf(VmaxBuffer,"%3.2d", int(CANFloat2)); // We need to figure out how to handle max and min
+ //display.PutString(3,20,VmaxBuffer);
+ CANFloat = GetFloat;
+ sprintf(VminBuffer,"%3.2d", int(CANFloat));
+ //display.PutString(3,67,VminBuffer);
+ case CELLV_MMA_TX_ID_BASE2:
+ CANFloat = GetFloat;
+ sprintf(VavgBuffer,"%3.2d", int(CANFloat)); // Volts
+ //display.PutString(3,108,VavgBuffer);
+ case BOARDTEMP_TX_ID:
+ CANFloat = GetFloat;
+ sprintf(BoardTempBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
+ //display.PutString(7,87,BoardTempBuffer);
+
+ // MOTOR SCREEN*****************************************************************
+ case MOC_AIRTEMP_ID:
+ CANFloat = GetFloat;
+ sprintf(LAirTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Figure out the left and the right
+ //display.PutString(2,34,LAirTmpBuffer);
+ CANFloat2 = GetFloat4;
+ sprintf(RAirTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
+ //display.PutString(2,98,RAirTmpBuffer);
+ case MOC_IGBTTEMP_ID:
+ CANFloat = GetFloat;
+ sprintf(LIGBTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Figure out the left and the right
+ //display.PutString(3,34,LIGBTmpBuffer);
+ CANFloat2 = GetFloat4;
+ sprintf(RIGBTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32)); // Degrees F
+ //display.PutString(3,98,RIGBTmpBuffer);
+ case MOC_RPM_ID:
+ CANFloat = GetFloat;
+ sprintf(Rpm_LBuffer,"%3.2d", int(CANFloat)); // Figure out the left and the right
+ //display.PutString(5,30,Rpm_LBuffer);
+ CANFloat2 = GetFloat4;
+ sprintf(Rpm_RBuffer,"%3.2d", int(CANFloat2));
+ //display.PutString(5,107,Rpm_RBuffer);
+ case PCM_TORQUERQ_ID:
+ CANFloat = GetFloat;
+ sprintf(TRequestBufferL,"%3.2d", int(CANFloat*100)); // Percentage
+ //display.PutString(7,89,TRequestBufferL);
+ CANFloat2 = GetFloat4;
+ sprintf(TRequestBufferR,"%3.2d", int(CANFloat2*100)); // Percentage
+ //display.PutString(7,89,TRequestBufferR);
+
+ // SYSTEM MANAGEMENT SCREEN***************************************************
+ case SYS_GLV_CURRENT_ID:
+ CANFloat = GetFloat;
+ sprintf(SmallBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
+ //display.PutString(1,30,SmallBatCurrentBuffer);
+ 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);
+ case SYS_PWM_FAN_ID:
+ CANFloat = GetFloat;
+ sprintf(Fan1Buffer,"%3.2d", int(CANFloat*100)); // Duty Cycle. Figure out the left and the right
+ //display.PutString(3,30,Fan1Buffer);
+ CANFloat2 = GetFloat4;
+ sprintf(Fan2Buffer,"%3.2d", int(CANFloat2*100));
+ //display.PutString(3,107,Fan2Buffer);
+ case SYS_PWM_PUMP_ID:
+ CANFloat = GetFloat;
+ sprintf(Pump1Buffer,"%3.2d", int(CANFloat*100)); // Duty Cycle. Figure out the left and the right
+ //display.PutString(5,30,Pump1Buffer);
+ CANFloat2 = GetFloat4;
+ sprintf(Pump2Buffer,"%3.2d", int(CANFloat2*100));
+ //display.PutString(5,107,Pump2Buffer);
+ 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);
+ case SYS_IMD_RESIST_ID:
+ CANFloat = GetFloat;
+ sprintf(IMDRBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
+ //display.PutString(7,107,IMDRBuffer);
+
+ // CHARGER SCREEN *************************************************************
+ case CHARGECURR_TX_ID:
+ CANFloat = GetFloat;
+ sprintf(ChargeCurrBuffer,"%3.2d", int(CANFloat)); // Amps
+ //display.PutString(3,94,ChargeCurrBuffer);
+ // OTHER **********************************************************************
+ case MODE_TX_ID:
+ CANFloat = GetFloat;
+ sprintf(&DriveStatus,"%3.2d", int(CANFloat)); //confirm that I am interpreting this correctly
+ if (DriveStatus == 1) {
+ BLButtonGreen;
+ } else {
+ BLButtonRed;
+ }
+ default:
+ break;
}
-
- else if(!biSWBL.read()){
- NOT_biSWBL_HELD = true;
- }
-
- else{
- // ignore BiSWBL.read()
- }
-
- if(biSWTR.read() && NOT_biSWTR_HELD){
- toggle_screen();
- NOT_biSWTR_HELD = false;
- }
-
- else if(!biSWTR.read()){
- NOT_biSWTR_HELD = true;
- }
-
- else{
- // ignore BiSWTR.read()
- }
-
- if(biSWBR.read()){
- reset();
- }
- }
-}
+ }
+}
+
+void ConnectedStatusCANMsg()
+{
+ CANMessage ConnectedStatus(0x600, &ConnectedStatusBuffer,1);
+ SteeringCANPort.txWrite(ConnectedStatus);
+}
+
+void RequestStatusChange()
+{
+ DriveStatusRequestBuffer = !DriveStatus;
+ 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