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:
- 0:313541d8f8be
- Child:
- 4:a4fb060e7840
diff -r 000000000000 -r 313541d8f8be Steering.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Steering.cpp Sat Sep 27 18:43:15 2014 +0000
@@ -0,0 +1,293 @@
+#include "Steering.h"
+
+void HomeScreen()
+{
+ CANMessage Rxmsg;
+ ftc rcv;
+ rcv.FLOAT=0.0;
+ char dat[4];
+ float power_ratio=0.0;
+ printf("Homescreen\n\r");
+ display.ClearScreen();
+ display.SelectFont(Arial12,BLACK,ReadData);
+ display.GotoXY(0,0);
+ display.PrintString(" HOME SCREEN");
+ while( !(biSWTL.read() || biSWTR.read() || biSWBR.read()) )
+ {
+ if(CAN_Steering.read(Rxmsg))
+ {
+ for(int i=0; i<4; i++)
+ rcv.C_FLOAT[i]=Rxmsg.data[i];
+ if(Rxmsg.id == BATTERY_VOLTAGE_ID)
+ {
+ display.GotoXY(0,16);
+ display.PrintString(" PV: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ display.PrintString("V");
+ }
+ if(Rxmsg.id == BATTERY_POWER_ID)
+ {
+ display.GotoXY(64,16);
+ display.PrintString(" PP: ");
+ power_ratio=rcv.FLOAT/10000;
+ sprintf(dat,"%2.2f",power_ratio);
+ display.PrintString(dat);
+ display.PrintString("kW");
+ }
+ if(Rxmsg.id == PCM_STATE_ID)
+ {
+ display.GotoXY(0,32);
+ display.PrintString(" STATE: ");
+ display.PrintNumber(rcv.FLOAT);
+ }
+ }
+ }
+ return;
+}
+
+void AMSScreen1()
+{
+ CANMessage Rxmsg;
+ ftc rcv;
+ char dat[4];
+ rcv.FLOAT=0.0;
+ printf("AMSScreen1");
+ display.ClearScreen();
+ display.SelectFont(Arial12,BLACK,ReadData);
+ while( !(biSWTL.read() || biSWTR.read() || biSWBL.read()) )
+ {
+ printf("iN LOOP1");
+ if(CAN_Steering.read(Rxmsg))
+ {
+ for(int i=0; i<4; i++)
+ rcv.C_FLOAT[i]=Rxmsg.data[i];
+ if(Rxmsg.id == BATTERY_VOLTAGE_ID)
+ {
+ display.GotoXY(0,0);
+ display.PrintString(" pv: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ }
+ if(Rxmsg.id == BATTERY_POWER_ID)
+ {
+ display.GotoXY(0,16);
+ display.PrintString(" pp: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ }
+ if(Rxmsg.id == BATTERY_CURRENT_ID)
+ {
+ display.GotoXY(0,32);
+ display.PrintString(" pi: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ }
+
+ //Column 2
+ if(Rxmsg.id == BATTERY_MIN_CELLVOLTAGE_ID)
+ {
+ display.GotoXY(49,0);
+ display.PrintString(" min cell V: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ }
+ if(Rxmsg.id == BATTERY_MAX_CELLVOLTAGE_ID)
+ {
+ display.GotoXY(49,16);
+ display.PrintString(" max cell V: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ }
+ if(Rxmsg.id == BATTERY_AVG_CELLVOLTAGE_ID)
+ {
+ display.GotoXY(49,32);
+ display.PrintString(" avg cell V: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ }
+ }
+ screen=1;
+ }
+ return;
+}
+
+void AMSScreen2()
+{
+ CANMessage Rxmsg;
+ ftc rcv;
+ char dat[4];
+ //ftc send;
+ rcv.FLOAT=0.0;
+ //send.FLOAT=65.6432;
+ printf("AMSScreen2\n\r");
+ display.ClearScreen();
+ display.SelectFont(Arial12,BLACK,ReadData);
+ while( !(biSWTL.read() || biSWTR.read() || biSWBL.read()) )
+ {
+ printf("iN LOOP2");
+ if(CAN_Steering.read(Rxmsg))
+ {
+ for(int i=0; i<4; i++)
+ rcv.C_FLOAT[i]=Rxmsg.data[i];
+ if(Rxmsg.id == BATTERY_MIN_CELLTEMPERATURE_ID)
+ {
+ display.GotoXY(0,0);
+ display.PrintString(" mn cll T: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ }
+ if(Rxmsg.id == BATTERY_MAX_CELLTEMPERATURE_ID)
+ {
+ display.GotoXY(0,16);
+ display.PrintString(" mx cll T: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ }
+ if(Rxmsg.id == BATTERY_AVG_CELLTEMPERATURE_ID)
+ {
+ display.GotoXY(0,32);
+ display.PrintString(" avg cell T: ");
+ sprintf(dat,"%2.2f",rcv.FLOAT);
+ display.PrintString(dat);
+ }
+
+ //Column 2
+ if(Rxmsg.id == AMS_BATTERY_STATE)
+ {
+ if((rcv.C_FLOAT[0] & 0xC0) == 0xC0)
+ {
+ display.GotoXY(70,0);
+ display.PrintString(" AIRS: ");
+ display.PrintString("CLOS");
+ }
+ else
+ {
+ display.GotoXY(70,0);
+ display.PrintString(" AIRS: ");
+ display.PrintString("OPEN");
+ }
+
+ if((rcv.C_FLOAT[0] & 0x04) == 0x04)
+ {
+ display.GotoXY(70,16);
+ display.PrintString(" Prchrg: ");
+ display.PrintString("on");
+ }
+ else
+ {
+ display.GotoXY(70,16);
+ display.PrintString(" Prchrg: ");
+ display.PrintString("off");
+ }
+ }
+ if(Rxmsg.id == AMS_BATTERY_STATE)
+ {
+ display.GotoXY(70,16);
+ display.PrintString(" Prchrg: ");
+ display.PrintString("off");
+ }
+ }
+ screen=0;
+ }
+ return;
+}
+
+void ON()
+{
+ Txmsg_Drive.data[0]|=(1<<0);
+ wait(0.1);
+
+ display.ClearScreen();
+ display.SelectFont(Arial12,BLACK,ReadData);
+ display.GotoXY(26,16);
+ display.PrintString(" ON INITIATED");
+ printf("ON Initiated\n\r");
+ //screen=0;
+ return;
+}
+
+void ResetCommand()
+{
+ Txmsg_Drive.data[0]&=~(1<<0);
+ wait(0.1);
+
+ display.ClearScreen();
+ display.SelectFont(Arial12,BLACK,ReadData);
+ display.GotoXY(16,16);
+ display.PrintString(" RESET INITIATED");
+ printf("Reset Initiated\n\r");
+ //screen=0;
+
+ return;
+}
+
+void Powerstream()
+{
+ CANMessage Rxmsg;
+ float power_ratio;
+ ftc rcv;
+ rcv.FLOAT=0.0;
+ if(CAN_Steering.read(Rxmsg))
+ {
+ if(Rxmsg.id == BATTERY_POWER_ID)
+ {
+ for(int i=0; i<4; i++)
+ rcv.C_FLOAT[i]=Rxmsg.data[i];
+ power_ratio=rcv.FLOAT/80000;
+ ledstream.write(power_ratio);
+ }
+ }
+}
+
+void Init()
+{
+ pc.baud(230400);
+ CAN_Steering.frequency(500000);
+ for(int i = 0; i<4; i++)
+ drive[i] = (0x00);
+ ledstream.write(0);
+ call_ledstream.attach(&Powerstream,0.1);
+}
+
+int main()
+{
+ Init();
+ //int flag=1;
+ wait(0.1);
+ display.GotoXY(10,16);
+ display.SelectFont(Arial_14,BLACK,ReadData);
+ display.PrintString("Penn Electric Racing");
+ display.GotoXY(20,32);
+ display.PrintString("Live The Dream");
+ screen=0;
+ wait(1);
+
+ while(1)
+ {
+ if(biSWBL.read())
+ HomeScreen();
+
+ if(biSWTR.read())
+ {
+ ON();
+ wait(1);
+ HomeScreen();
+ }
+ if(biSWTL.read())
+ {
+ ResetCommand();
+ wait(1);
+ HomeScreen();
+ }
+ if(biSWBR.read())
+ {
+ if(screen)
+ AMSScreen2();
+ else
+ AMSScreen1();
+ }
+ CAN_Steering.write(Txmsg_Drive);
+ wait(0.3);
+ }
+}