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:
- 47:5d3c6f85fa29
- Parent:
- 42:701df58e923a
diff -r 701df58e923a -r 5d3c6f85fa29 Steering.cpp
--- a/Steering.cpp Mon Mar 23 19:36:37 2015 +0000
+++ b/Steering.cpp Sat May 30 02:26:23 2015 +0000
@@ -1,5 +1,4 @@
#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
@@ -17,7 +16,6 @@
float CANFloat;
float CANFloat2;
-
Ticker StatusMsg;
int main()
@@ -33,6 +31,8 @@
if (SteeringCANPort.rxRead(Rxmsg)) {
ProcessCANMsg(Rxmsg);
}
+ else
+ Thread::yield();
}
}
@@ -102,14 +102,14 @@
// 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.id == AMS_MODE_ID) {
if(Rxmsg.data[0] != (1<<3))
DriveStatusRequestBuffer=1;
else
DriveStatusRequestBuffer=0;
}
- if (Rxmsg.id == POWER_TX_ID) {
+ if (Rxmsg.id == AMS_POWER_ID) {
CANFloat = GetFloat;
LEDBar = (CANFloat/85.0)*(2.6/3.3);
}
@@ -133,53 +133,51 @@
}
break;*/
- case SOC_TX_ID:
+ case AMS_SOC_ID:
CANFloat = GetFloat;
- if (abs(CANFloat*100 - *BigBatLifeBuffer) >= 1) {
+ //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:
+ case SYS_MGMT_GLV_SOC_ID:
CANFloat = GetFloat;
- if (abs(CANFloat*100 - *SmallBatLifeBuffer) >= 1) {
+ //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) {
+ //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) {
+ case AMS_TEMP_MMA_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);
+ //}
+ CANFloat = GetFloat8;
+ //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:
+ case PCM_MOTEMP_ID:
CANFloat = GetFloat;
- if (abs((CANFloat*9.0/5.0)+32 - *LMtrTmpBuffer) >= 1) {
+ //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) {
+ //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;
@@ -188,72 +186,68 @@
// BATTERY SCREEN***********************************************************************************
case BATTERY_SCREEN:
switch (Rxmsg.id) {
- case VOLTAGE_TX_ID:
+ case AMS_VOLTAGE_ID:
CANFloat = GetFloat;
- if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
+ //if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
display.PutString(1,10,BigBatVoltBuffer);
- }
+ //}
break;
- case POWER_TX_ID:
+ case AMS_POWER_ID:
CANFloat = GetFloat;
LEDBar = (CANFloat/85.0)*(2.6/3.3);
- if (abs(CANFloat - *BigBatPowerBuffer) >= 1) {
+ //if (abs(CANFloat - *BigBatPowerBuffer) >= 1) {
sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat)); // Watts
display.PutString(1,55,BigBatPowerBuffer);
- }
+ //}
break;
- case CURRENT_TX_ID:
+ case AMS_CURRENT_ID:
CANFloat = GetFloat;
- if (abs(CANFloat - *BigBatCurrentBuffer) >= 0.2) {
+ //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:
+ case AMS_CELLV_MMA_ID_BASE:
CANFloat2 = GetFloat4;
- if (abs(CANFloat2 - *VmaxBuffer) >= 0.1) {
+ //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) {
+ //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) {
+ //}
+ CANFloat = GetFloat8;
+ //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:
+ case AMS_TEMP_MMA_ID_BASE:
CANFloat = GetFloat;
- if (abs((CANFloat*9.0/5.0)+32 - *MinBatTBuffer) >= 1) {
+ //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) {
+ //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) {
+ //}
+ CANFloat = GetFloat8;
+ //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:
+ case AMS_BOARDTEMP_ID:
CANFloat = GetFloat;
- if (abs((CANFloat*9.0/5.0)+32 - *BoardTempBuffer) >= 1) {
+ //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;
@@ -262,65 +256,65 @@
// MOTOR SCREEN*****************************************************************
case MOTOR_SCREEN:
switch (Rxmsg.id) {
- case MOC_MOTEMP_ID:
+ case PCM_MOTEMP_ID:
CANFloat = GetFloat;
- if (abs((CANFloat*9.0/5.0)+32 - *LMtrTmpBuffer) >= 1) {
+ //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) {
+ //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:
+ case PCM_AIRTEMP_ID:
CANFloat = GetFloat;
- if (abs((CANFloat*9.0/5.0)+32 - *LAirTmpBuffer) >= 1) {
+ //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) {
+ //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:
+ case PCM_IGBTTEMP_ID:
CANFloat = GetFloat;
- if (abs((CANFloat*9.0/5.0)+32 - *LIGBTmpBuffer) >= 1) {
+ //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) {
+ //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:
+ case PCM_RPM_ID:
CANFloat = GetFloat;
- if (abs(CANFloat - *Rpm_LBuffer) >= 1) {
+ //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) {
+ //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) {
+ //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) {
+ //if (abs(CANFloat2*100 - *TRequestBufferR) >= 1) {
sprintf(TRequestBufferR,"%3.2d", int(CANFloat2*100)); // Percentage
display.PutString(7,89,TRequestBufferR);
- }
+ //}
break;
default:
break;
@@ -330,53 +324,53 @@
// SYSTEM MANAGEMENT SCREEN***************************************************
case SYS_MGMT_SCREEN:
switch (Rxmsg.id) {
- case SYS_GLV_CURRENT_ID:
+ case SYS_MGMT_GLV_CURRENT_ID:
CANFloat = GetFloat;
- if (abs(CANFloat - *SmallBatCurrentBuffer) >= 0.2) {
+ //if (abs(CANFloat - *SmallBatCurrentBuffer) >= 0.2) {
sprintf(SmallBatCurrentBuffer,"%3.2d", int(CANFloat)); // Amps
display.PutString(1,30,SmallBatCurrentBuffer);
- }
+ //}
break;
- case SYS_SWITCHES_ID:
+ case SYS_MGMT_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:
+ case SYS_MGMT_PWM_FAN_ID:
CANFloat = GetFloat;
- if (abs(CANFloat*100 - *Fan1Buffer) >= 1) {
+ //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) {
+ //if (abs(CANFloat2*100 - *Fan1Buffer) >= 1) {
sprintf(Fan2Buffer,"%3.2d", int(CANFloat2*100));
display.PutString(3,107,Fan2Buffer);
- }
+ //}
break;
- case SYS_PWM_PUMP_ID:
+ case SYS_MGMT_PWM_PUMP_ID:
CANFloat = GetFloat;
- if (abs(CANFloat*100 - *Pump1Buffer) >= 1) {
+ //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) {
+ //if (abs(CANFloat2*100 - *Pump2Buffer) >= 1) {
sprintf(Pump2Buffer,"%3.2d", int(CANFloat2*100));
display.PutString(5,107,Pump2Buffer);
- }
+ //}
break;
- case SYS_DCDC_STATUS_ID:
+ case SYS_MGMT_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:
+ case SYS_MGMT_IMD_RESIST_ID:
CANFloat = GetFloat;
- if (abs(CANFloat - *IMDRBuffer) >= 1) {
+ //if (abs(CANFloat - *IMDRBuffer) >= 1) {
sprintf(IMDRBuffer,"%3.2d", int(CANFloat));
display.PutString(7,82,IMDRBuffer);
- }
+ //}
break;
default:
break;
@@ -386,19 +380,19 @@
// CHARGE SCREEN *************************************************************
case CHARGE_SCREEN:
switch (Rxmsg.id) {
- case CHARGECURR_TX_ID:
+ case CHARGER_CHARGING_CURRENT_ID:
CANFloat = GetFloat;
- if (abs(CANFloat - *ChargeCurrBuffer) >= 0.1) {
+ //if (abs(CANFloat - *ChargeCurrBuffer) >= 0.1) {
sprintf(ChargeCurrBuffer,"%3.2d", int(CANFloat)); // Amps
display.PutString(3,94,ChargeCurrBuffer);
- }
+ //}
break;
- case VOLTAGE_TX_ID:
+ case CHARGER_CHARGING_VOLTAGE_ID:
CANFloat = GetFloat;
- if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
+ //if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
display.PutString(3,94,BigBatVoltBuffer);
- }
+ //}
break;
default:
break;
@@ -412,14 +406,14 @@
void ConnectedStatusCANMsg()
{
- CANMessage ConnectedStatus(0x600, &ConnectedStatusBuffer,1);
+ CANMessage ConnectedStatus(STEERING_WHEEL_STATUS_ID, &ConnectedStatusBuffer,1);
SteeringCANPort.txWrite(ConnectedStatus);
}
void RequestStatusChange()
{
- CANMessage TxDriveStatusRequest(0x601, &DriveStatusRequestBuffer,1);
+ CANMessage TxDriveStatusRequest(STEERING_WHEEL_DRIVE_STATUS_REQUEST_ID , &DriveStatusRequestBuffer,1);
for (int j=0; j<10; j++) {
SteeringCANPort.txWrite(TxDriveStatusRequest);
}
@@ -437,7 +431,7 @@
void ResetCar()
{
- CANMessage TxCarReset(0x602,&TxResetBuffer,1);
+ CANMessage TxCarReset(STEERING_WHEEL_CAR_RESET_ID,&TxResetBuffer,1);
for (int k=0; k<10; k++) {
SteeringCANPort.txWriteDirect(TxCarReset);
}