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:
- 39:e6aa6dcf3f75
- Parent:
- 38:d04a430d7fe3
- Child:
- 40:92f08fdc32df
--- a/Steering.cpp Sun Feb 08 02:47:05 2015 +0000
+++ b/Steering.cpp Sun Feb 08 05:47:05 2015 +0000
@@ -27,17 +27,14 @@
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);
+ wait(1);
+
+ CANMessage Rxmsg;
Thread Thread2(ProcessButtons);
Thread Thread1(DisplayCurrScreen);
while(1) {
- CANMessage Rxmsg;
if (SteeringCANPort.rxRead(Rxmsg)) {
ProcessCANMsg(Rxmsg);
}
@@ -108,145 +105,229 @@
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]);
+ // 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]);
switch (Rxmsg.id) {
// HOME SCREEN *******************************************************************************************
case SOC_TX_ID:
CANFloat = GetFloat;
- sprintf(BigBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Big battery life percentage
- display.PutString(1,40,BigBatLifeBuffer);
+ 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;
- sprintf(SmallBatLifeBuffer,"%3.2d", int(CANFloat*100)); // Small battery life percentage
- display.PutString(1,60,SmallBatLifeBuffer);
+ 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;
- sprintf(CarSpdBuffer,"%3.2d", int((CANFloat+CANFloat2)*WheelCircumference*30)); // Miles per hour
- display.PutString(1,108,CarSpdBuffer);
+ 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;
- 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
+ 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);
+ //display.PutString(5,108,AvgBatTBuffer); this is for the battery screen
+ }
+ break;
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
+ if (abs((CANFloat2*9.0/5.0)+32 - *MaxBatTBuffer) >=1) {
+ 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
+ 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); this is for the battery screen
+ }
+ break;
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
+ if (abs((CANFloat*9.0/5.0)+32 - *LMtrTmpBuffer) >= 1) {
+ 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
+ if (abs((CANFloat2*9.0/5.0)+32 - *RMtrTmpBuffer) >= 1) {
+ 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
+ }
+ break;
+
// 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
+ if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
+ sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
+ //display.PutString(1,10,BigBatVoltBuffer);
+ //display.PutString(3,94,BigBatVoltBuffer); this is for the charging screen
+ }
+ break;
case POWER_TX_ID:
CANFloat = GetFloat;
- sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat)); // Watts
- //display.PutString(1,55,BigBatPowerBuffer);
+ if (abs(CANFloat - *BigBatPowerBuffer) >= 1) {
+ sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat)); // Watts
+ //display.PutString(1,55,BigBatPowerBuffer);
+ }
+ break;
case CURRENT_TX_ID:
CANFloat = GetFloat;
- sprintf(BigBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
- //display.PutString(1,100,BigBatCurrentBuffer);
+ 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;
- sprintf(VmaxBuffer,"%3.2d", int(CANFloat2)); // We need to figure out how to handle max and min
- //display.PutString(3,20,VmaxBuffer);
+ if (abs(CANFloat2 - *VmaxBuffer) >= 0.1) {
+ 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);
+ 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;
- sprintf(VavgBuffer,"%3.2d", int(CANFloat)); // Volts
- //display.PutString(3,108,VavgBuffer);
+ if (abs(CANFloat - *VavgBuffer) >= 0.1) {
+ sprintf(VavgBuffer,"%3.2d", int(CANFloat)); // Volts
+ //display.PutString(3,108,VavgBuffer);
+ }
+ break;
case BOARDTEMP_TX_ID:
CANFloat = GetFloat;
- sprintf(BoardTempBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
- //display.PutString(7,87,BoardTempBuffer);
+ 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;
// MOTOR SCREEN*****************************************************************
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)); // Figure out the left and the right
//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)); // Figure out the left and the right
//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)); // Figure out the left and the right
//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;
// SYSTEM MANAGEMENT SCREEN***************************************************
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)); // Duty Cycle. Figure out the left and the right
//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)); // Duty Cycle. Figure out the left and the right
//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;
- sprintf(IMDRBuffer,"%3.2d", int(CANFloat)); // How the heck are we interpreting this data
+ if (abs(CANFloat - *IMDRBuffer) >= 1) {
+ sprintf(IMDRBuffer,"%3.2d", int(CANFloat));
//display.PutString(7,107,IMDRBuffer);
+ }
+ break;
// CHARGER SCREEN *************************************************************
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;
+
// OTHER **********************************************************************
case MODE_TX_ID:
CANFloat = GetFloat;
@@ -256,6 +337,7 @@
} else {
BLButtonRed;
}
+ break;
default:
break;
}