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.h@35:b42afc973902, 2014-11-22 (annotated)

Committer:
palimar
Date:
Sat Nov 22 22:24:53 2014 +0000
Revision:
35:b42afc973902
Parent:
32:535acb159709
Child:
36:8544a8900884
Added linked list, also graphics updates only when variables change.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kiran_mbed 0:313541d8f8be 1 #ifndef _STEERING_H
kiran_mbed 0:313541d8f8be 2 #define _STEERING_H
kiran_mbed 0:313541d8f8be 3
kiran_mbed 0:313541d8f8be 4 #include "mbed.h"
palimar 3:fcec60c7f2c6 5 #include "rtos.h"
kiran_mbed 0:313541d8f8be 6 #include "KS0108.h"
kiran_mbed 0:313541d8f8be 7
tmccurbin 32:535acb159709 8 #include "Arial10.h"
kiran_mbed 0:313541d8f8be 9 #include "Arial12.h"
kiran_mbed 0:313541d8f8be 10 #include "Arial14.h"
kiran_mbed 0:313541d8f8be 11 #include "Comic24.h"
kiran_mbed 0:313541d8f8be 12 #include "vivaldi16.h"
palimar 16:d2953809fb31 13 #include "CANBuffer.h"
palimar 35:b42afc973902 14 #include "variables.h"
palimar 35:b42afc973902 15
kiran_mbed 0:313541d8f8be 16
palimar 17:e97c889873e2 17 #include "LPCDigitalIn.h"
palimar 17:e97c889873e2 18
kiran_mbed 0:313541d8f8be 19 #define SWITCH_ID 410
kiran_mbed 0:313541d8f8be 20
kiran_mbed 0:313541d8f8be 21 #define BATTERY_VOLTAGE_ID 0x304
kiran_mbed 0:313541d8f8be 22 #define BATTERY_POWER_ID 0x306
kiran_mbed 0:313541d8f8be 23 #define BATTERY_CURRENT_ID 0x305
kiran_mbed 0:313541d8f8be 24
palimar 21:56890c41ecf1 25 #define PCM_STATE_ID 0x201
kiran_mbed 0:313541d8f8be 26
kiran_mbed 0:313541d8f8be 27 #define BATTERY_MIN_CELLVOLTAGE_ID 0x301
kiran_mbed 0:313541d8f8be 28 #define BATTERY_MAX_CELLVOLTAGE_ID 0x300
kiran_mbed 0:313541d8f8be 29 #define BATTERY_AVG_CELLVOLTAGE_ID 0x302
kiran_mbed 0:313541d8f8be 30
kiran_mbed 0:313541d8f8be 31 #define BATTERY_MIN_CELLTEMPERATURE_ID 0x30A
kiran_mbed 0:313541d8f8be 32 #define BATTERY_MAX_CELLTEMPERATURE_ID 0x309
kiran_mbed 0:313541d8f8be 33 #define BATTERY_AVG_CELLTEMPERATURE_ID 0x30B
kiran_mbed 0:313541d8f8be 34 #define AMS_BATTERY_STATE 0x30E // AIRS 7 and 6 // Precharge 3
kiran_mbed 0:313541d8f8be 35
palimar 35:b42afc973902 36 #define NUM_SCREEN 2
palimar 35:b42afc973902 37
palimar 26:e0256fd314eb 38 #define HOME_SCREEN 0
tmccurbin 32:535acb159709 39 #define BATTERY_SCREEN 1
palimar 26:e0256fd314eb 40
kiran_mbed 0:313541d8f8be 41 Serial pc(USBTX,USBRX);
palimar 23:6681a38918c6 42 CANBuffer CAN_Steering_Buffer(CAN1, MEDIUM, p3_26);
palimar 16:d2953809fb31 43
kiran_mbed 0:313541d8f8be 44
kiran_mbed 0:313541d8f8be 45 KS0108 display(p26, p21, p22, p23, p25, p24, p8, p7, p6, p5, p13, p14, p12, p11);
palimar 23:6681a38918c6 46 //Ticker call_ledstream;
kiran_mbed 0:313541d8f8be 47
palimar 16:d2953809fb31 48 LPCDigitalOut l1(p1_28,1);// SW2
palimar 16:d2953809fb31 49 LPCDigitalOut l2(p1_26,1);// SW4
kiran_mbed 0:313541d8f8be 50
palimar 16:d2953809fb31 51 LPCDigitalOut l3(p1_24,1);// SW6
palimar 16:d2953809fb31 52 LPCDigitalOut l4(p0_24,1);// SW8
kiran_mbed 0:313541d8f8be 53
palimar 16:d2953809fb31 54 LPCDigitalOut u1(p1_14,0);// SW9
palimar 16:d2953809fb31 55 LPCDigitalOut u2(p1_9,0);// SW11
kiran_mbed 0:313541d8f8be 56
palimar 16:d2953809fb31 57 LPCDigitalOut u3(p1_4,0);// SW13
palimar 16:d2953809fb31 58 LPCDigitalOut u4(p1_0,0);// SW15
kiran_mbed 0:313541d8f8be 59
kiran_mbed 0:313541d8f8be 60 AnalogOut ledstream(p18);
kiran_mbed 0:313541d8f8be 61
kiran_mbed 0:313541d8f8be 62 //SW1 - SW3
palimar 16:d2953809fb31 63 LPCDigitalOut boSW1(p1_29,1);
palimar 18:674450a9d98d 64 LPCDigitalIn biSWBR(p1_27, PullDown); //BRight
kiran_mbed 0:313541d8f8be 65
palimar 16:d2953809fb31 66 LPCDigitalOut boSW5(p1_25,1);
palimar 18:674450a9d98d 67 LPCDigitalIn biSWBL(p1_22, PullDown); //BLeft
kiran_mbed 0:313541d8f8be 68
palimar 16:d2953809fb31 69 LPCDigitalOut boSW10(p1_10,1);
palimar 18:674450a9d98d 70 LPCDigitalIn biSWTR(p1_8, PullDown); //TRight
kiran_mbed 0:313541d8f8be 71
palimar 16:d2953809fb31 72 LPCDigitalOut boSW14(p1_1,1);
palimar 18:674450a9d98d 73 LPCDigitalIn biSWTL(p0_25, PullDown); //TLeft
kiran_mbed 0:313541d8f8be 74
kiran_mbed 0:313541d8f8be 75 typedef union convert{
kiran_mbed 0:313541d8f8be 76 float FLOAT;
kiran_mbed 0:313541d8f8be 77 char C_FLOAT[4];
kiran_mbed 0:313541d8f8be 78 }ftc;
kiran_mbed 0:313541d8f8be 79
kiran_mbed 0:313541d8f8be 80 char SwitchName[15][13]={
kiran_mbed 0:313541d8f8be 81 "fuse",
kiran_mbed 0:313541d8f8be 82 "ams",
kiran_mbed 0:313541d8f8be 83 "imd",
kiran_mbed 0:313541d8f8be 84 "pcm",
kiran_mbed 0:313541d8f8be 85 "brkp",
kiran_mbed 0:313541d8f8be 86 "lft",
kiran_mbed 0:313541d8f8be 87 "intl",
kiran_mbed 0:313541d8f8be 88 "brko",
kiran_mbed 0:313541d8f8be 89 "ckpt",
kiran_mbed 0:313541d8f8be 90 "rgt",
kiran_mbed 0:313541d8f8be 91 "hvd",
kiran_mbed 0:313541d8f8be 92 "tsms"
kiran_mbed 0:313541d8f8be 93 };
kiran_mbed 0:313541d8f8be 94
kiran_mbed 0:313541d8f8be 95 int SwitchPosition[13][2]={
kiran_mbed 0:313541d8f8be 96 {0,16}, //fuse
kiran_mbed 0:313541d8f8be 97 {25,16}, //ams
kiran_mbed 0:313541d8f8be 98 {50,16}, //imd
kiran_mbed 0:313541d8f8be 99 {70,16}, //pcm
kiran_mbed 0:313541d8f8be 100 {93,16}, //brkp
kiran_mbed 0:313541d8f8be 101 {117,16}, //lft
kiran_mbed 0:313541d8f8be 102 {0,32}, //intl
kiran_mbed 0:313541d8f8be 103 {17,32}, //brko
kiran_mbed 0:313541d8f8be 104 {42,32}, //ckpt
kiran_mbed 0:313541d8f8be 105 {65,32}, //rgt
kiran_mbed 0:313541d8f8be 106 {81,32}, //hvd
kiran_mbed 0:313541d8f8be 107 {102,32}, //tsm
kiran_mbed 0:313541d8f8be 108 };
kiran_mbed 0:313541d8f8be 109
palimar 35:b42afc973902 110 int curr_screen;
palimar 35:b42afc973902 111 int screen_flags[NUM_SCREEN];
palimar 35:b42afc973902 112 bool should_redraw;
palimar 9:e946cafa3cae 113
palimar 9:e946cafa3cae 114 char drive_status;
palimar 13:1f05dcd9ae0e 115 char drive_status_request;
palimar 9:e946cafa3cae 116 char reset_body;
palimar 9:e946cafa3cae 117
palimar 35:b42afc973902 118 node * id_node = NULL;
palimar 35:b42afc973902 119 variables * vars_list;
palimar 23:6681a38918c6 120
palimar 9:e946cafa3cae 121
palimar 21:56890c41ecf1 122 Mutex ds_mutex;
palimar 21:56890c41ecf1 123
palimar 35:b42afc973902 124 /*
palimar 35:b42afc973902 125 void read_messages(void const *args) {
palimar 35:b42afc973902 126
palimar 35:b42afc973902 127 while (true) {
palimar 35:b42afc973902 128 CANMessage Rxmsg;
palimar 35:b42afc973902 129
palimar 35:b42afc973902 130 if(CAN_Steering_Buffer.rxRead(Rxmsg))
palimar 35:b42afc973902 131 if(Rxmsg.id == PCM_STATE_ID){
palimar 35:b42afc973902 132
palimar 35:b42afc973902 133 // Mutex to protex shared variables
palimar 35:b42afc973902 134 ds_mutex.lock();
palimar 35:b42afc973902 135 drive_status = Rxmsg.data[0];
palimar 35:b42afc973902 136 ds_mutex.unlock();
palimar 35:b42afc973902 137 }
palimar 35:b42afc973902 138
palimar 35:b42afc973902 139 if(Rxmsg.id == BATTERY_POWER_ID)
palimar 35:b42afc973902 140 {
palimar 35:b42afc973902 141 float power_ratio;
palimar 35:b42afc973902 142 ftc rcv;
palimar 35:b42afc973902 143 rcv.FLOAT=0.0;
palimar 35:b42afc973902 144
palimar 35:b42afc973902 145 for(int i=0; i<4; i++){
palimar 35:b42afc973902 146 rcv.C_FLOAT[i] = Rxmsg.data[i];
palimar 35:b42afc973902 147 }
palimar 35:b42afc973902 148 power_ratio=rcv.FLOAT/80000;
palimar 35:b42afc973902 149 ledstream.write(power_ratio);
palimar 35:b42afc973902 150 }
palimar 35:b42afc973902 151 }
palimar 35:b42afc973902 152 }
palimar 35:b42afc973902 153 */
palimar 35:b42afc973902 154
kiran_mbed 0:313541d8f8be 155 #endif /* STEERING_H */