Penn Electric Racing
/
REVO_Updated_Steering
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Dependencies: CANBuffer KS0108_fork mbed-rtos mbed CAN Addresses
Fork of
REVO_Updated_Steering
by 
Penn Electric
Diff: Steering.cpp.orig
- Revision:
- 45:aea289639d6b
- Parent:
- 44:80d821b5a0e7
diff -r 80d821b5a0e7 -r aea289639d6b Steering.cpp.orig
--- a/Steering.cpp.orig Thu May 14 18:49:05 2015 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,444 +0,0 @@
-#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
-// 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;
-
-int main()
-{
- Init();
-
- CANMessage Rxmsg;
-
- Thread Thread2(ProcessButtons);
- Thread Thread1(DisplayCurrScreen);
-
- while(1) {
- if (SteeringCANPort.rxRead(Rxmsg)) {
- ProcessCANMsg(Rxmsg);
- }
- }
-}
-
-
-void Init()
-{
- StatusMsg.attach(&ConnectedStatusCANMsg,0.1);
- pc.baud(921600);
- BLButtonRed;
- BRButtonGreen;
- TLButtonGreen;
- TRButtonGreen;
- //initialize screen Startup Process
- wait(2);
-}
-
-
-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);
- }
- }
-}
-
-
-void UpdateDisplay()
-{
-}
-
-
-void ProcessCANMsg(CANMessage& Rxmsg)
-{
- if (SteeringCANPort.rxRead(Rxmsg)) {
- // 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.data[0] != (1<<3))
- DriveStatusRequestBuffer=1;
- else
- DriveStatusRequestBuffer=0;
- }
-
- if (Rxmsg.id == POWER_TX_ID) {
- CANFloat = GetFloat;
- LEDBar = (CANFloat/85.0)*(2.6/3.3);
- }
-
- switch (CurrScreen) {
- case HOME_SCREEN:
- switch (Rxmsg.id) {
-
- // HOME SCREEN *******************************************************************************************
- // Pedal Test
- /*case PCM_PEDALS_ID:
- CANFloat = GetFloat;
- if (abs(CANFloat*100 - float (*AccPedalBuffer)) >= 1) {
- sprintf(AccPedalBuffer,"%3.2d", int(CANFloat*100));
- display.PutString(1,40,AccPedalBuffer);
- }
- CANFloat2 = GetFloat4;
- if (abs(CANFloat2*100 - float (*BrkPedalBuffer)) >= 1) {
- sprintf(BrkPedalBuffer,"%3.2d", int(CANFloat2*100));
- display.PutString(1,60,BrkPedalBuffer);
- }
- break;*/
-
- case SOC_TX_ID:
- CANFloat = GetFloat;
- 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;
- 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) {
- 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) {
- 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:
- CANFloat = GetFloat;
- 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) {
- sprintf(RMtrTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
- display.PutString(5,34,RMtrTmpBuffer);
- }
- break;
- default:
- break;
- }
- break;
- // BATTERY SCREEN***********************************************************************************
- case BATTERY_SCREEN:
- switch (Rxmsg.id) {
- case VOLTAGE_TX_ID:
- CANFloat = GetFloat;
- if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
- sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
- display.PutString(1,10,BigBatVoltBuffer);
- }
- break;
- case POWER_TX_ID:
- CANFloat = GetFloat;
- LEDBar = (CANFloat/85.0)*(2.6/3.3);
- if (abs(CANFloat - *BigBatPowerBuffer) >= 1) {
- sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat)); // Watts
- display.PutString(1,55,BigBatPowerBuffer);
- }
- break;
- case CURRENT_TX_ID:
- CANFloat = GetFloat;
- 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;
- 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) {
- 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) {
- sprintf(VavgBuffer,"%3.2d", int(CANFloat)); // Volts
- display.PutString(3,108,VavgBuffer);
- }
- break;
- case TEMP_MMA_TX_ID_BASE:
- CANFloat = GetFloat;
- 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) {
- 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) {
- sprintf(AvgBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32)); // Degrees F
- display.PutString(5,108,AvgBatTBuffer);
- }
- break;
- case BOARDTEMP_TX_ID:
- CANFloat = GetFloat;
- 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;
- }
- break;
- // MOTOR SCREEN*****************************************************************
- case MOTOR_SCREEN:
- switch (Rxmsg.id) {
- case MOC_MOTEMP_ID:
- CANFloat = GetFloat;
- 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) {
- sprintf(RMtrTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));
- display.PutString(1,98,LMtrTmpBuffer);
- }
- break;
- 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));
- 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));
- 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));
- 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;
- default:
- break;
- }
- break;
-
- // SYSTEM MANAGEMENT SCREEN***************************************************
- case SYS_MGMT_SCREEN:
- switch (Rxmsg.id) {
- 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));
- 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));
- 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;
- if (abs(CANFloat - *IMDRBuffer) >= 1) {
- sprintf(IMDRBuffer,"%3.2d", int(CANFloat));
- display.PutString(7,82,IMDRBuffer);
- }
- break;
- default:
- break;
- }
- break;
-
- // CHARGE SCREEN *************************************************************
- case CHARGE_SCREEN:
- switch (Rxmsg.id) {
- 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;
- case VOLTAGE_TX_ID:
- CANFloat = GetFloat;
- if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
- sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat)); // Volts
- display.PutString(3,94,BigBatVoltBuffer);
- }
- break;
- default:
- break;
- }
- break;
- default:
- break;
- }
- }
-}
-
-void ConnectedStatusCANMsg()
-{
- CANMessage ConnectedStatus(0x600, &ConnectedStatusBuffer,1);
- SteeringCANPort.txWrite(ConnectedStatus);
-}
-
-
-void RequestStatusChange()
-{
- 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