Revision 47:5d3c6f85fa29, committed 2015-05-30

Comitter:

jayf

Date:

Sat May 30 02:26:23 2015 +0000

Parent:

42:701df58e923a

Commit message:

Fixed all known steering wheel issues

Changed in this revision

diff -r 701df58e923a -r 5d3c6f85fa29 CAN-Addresses.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN-Addresses.lib	Sat May 30 02:26:23 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/teams/Penn-Electric-Racing/code/CAN-Addresses/#9016aa7b1888

diff -r 701df58e923a -r 5d3c6f85fa29 CAN_Address.h
--- a/CAN_Address.h	Mon Mar 23 19:36:37 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,90 +0,0 @@
-#define TX_BASE                 0x300       // TX IDs start at 0x300
-#define TX_DUMP_OFFSET          0x100       // Bulk data dumps start at ID 0x300+0x100 = 0x400 for dumping current RAM and freezeFrames
-
-// Home Screen Addresses
-#define SOC_TX_ID               TX_BASE + 0x0B
-#define SYS_GLV_SOC_ID          0x513
-#define PCM_FRPM_ID             0x222
-#define TEMP_MMA_TX_ID_BASE     TX_BASE + 0x18
-#define TEMP_MMA_TX_ID_BASE2    TX_BASE + 0x19 
-#define MOC_MOTEMP_ID           0x212
-
-// Battery Screen Addresses
-#define VOLTAGE_TX_ID           TX_BASE + 0x08
-#define POWER_TX_ID             TX_BASE + 0x14
-#define CURRENT_TX_ID           TX_BASE + 0x06
-#define CELLV_MMA_TX_ID_BASE    TX_BASE + 0x16
-#define CELLV_MMA_TX_ID_BASE2   TX_BASE + 0x17
-#define BOARDTEMP_TX_ID         TX_BASE + 0x0E
-
-// Motor Screen Addresses
-#define MOC_AIRTEMP_ID          0x213
-#define MOC_IGBTTEMP_ID         0x214
-#define MOC_RPM_ID              0x211
-#define PCM_TORQUERQ_ID         0x231     
-
-// System Management Addresses
-#define SYS_GLV_CURRENT_ID      0x510
-#define SYS_SWITCHES_ID         0x560
-#define SYS_PWM_FAN_ID          0x530
-#define SYS_PWM_PUMP_ID         0x531
-#define SYS_DCDC_STATUS_ID      0x521
-#define SYS_IMD_RESIST_ID       0x541
-
-// Charger Addresses
-#define CHARGECURR_TX_ID        TX_BASE + 0x07
-
-// Faults, Flags, & Errors (CURRENTLY BEING FILTERED)
-#define PCM_FLAGS_ID            0x202
-#define MOC_FAULTS_ID           0x210
-#define PCM_FAULTS_ID           0x221
-#define FAULTCODE_TX_ID         TX_BASE + 0x00
-#define CELLFLAGS_TX_ID_BASE    TX_BASE + 0x47
-#define TEMPFLAGS_TX_ID_BASE    TX_BASE + 0x5B
-#define DIETEMPFLAGS_TX_ID_BASE TX_BASE + 0x74
-
-
-// Filtered Addresses
-#define SIGNALS_TX_ID           TX_BASE + 0x03
-#define PROFILE_TX_ID           TX_BASE + 0x04
-#define PACKERRS_TX_ID          TX_BASE + 0x05
-#define AH_TX_ID                TX_BASE + 0x0C
-#define SUPPLY_TX_ID            TX_BASE + 0x0D
-#define VMISMATCH_TX_ID         TX_BASE + 0x0F
-#define FANSPEED_TX_ID          TX_BASE + 0x10
-#define STACK_OPDATA_TX_ID      TX_BASE + 0x15
-#define INTREF_MMA_TX_ID_BASE   TX_BASE + 0x1A
-#define DIETEMP_MMA_TX_ID_BASE  TX_BASE + 0x1C
-#define VA_MMA_TX_ID_BASE       TX_BASE + 0x1C
-#define VDD_MMA_TX_ID_BASE      TX_BASE + 0x20
-#define SOC_MMA_TX_ID_BASE      TX_BASE + 0x22
-#define CELLV_TX_ID_BASE        TX_BASE + 0x23
-#define TEMP_TX_ID_BASE         TX_BASE + 0x4B
-#define IC_REF_SOC_TX_ID_BASE   TX_BASE + 0x5C
-#define IC_VA_VDD_TX_ID_BASE    TX_BASE + 0x64
-#define IC_DIETEMP_TX_ID_BASE   TX_BASE + 0x6C
-#define IC_OPDATA_TX_ID_BASE    TX_BASE + 0x7C
-#define PCM_ERROR_ID            0x200
-#define PCM_MODE_ID             0x201
-#define LEFT_MOC_TXID           0x205
-#define RIGHT_MOC_TXID          0x206
-#define MOC_CURRENT_ID          0x215
-#define MOC_VBUS_ID             0x216
-#define PCM_DIGIOUT_ID          0x230
-#define SYSMGMT_PUMPCMD_ID      0x580
-#define SYSMGMT_FANCMD_ID       0x581
-#define SYS_ERROR_ID            0x500
-#define SYS_XBEE1_ID            0x501
-#define SYS_XBEE2_ID            0x502
-#define SYS_TEMP_ID             0x503
-#define SYS_GLV_CAPACITY_ID     0x511
-#define SYS_GLV_AH_ID           0x512
-#define SYS_DCDC_CURRENT_ID     0x520
-#define SYS_IMD_STATUS_ID       0x521
-#define SYS_IMD_LATCH_ID        0x550
-#define SYS_AMS_LATCH_ID        0x551
-
-
-// Other Addresses
-#define MODE_TX_ID              TX_BASE + 0x01
-#define PCM_PEDALS_ID           0x220           //MOSTLY USED FOR TESTING PROGRAM SPEED
\ No newline at end of file

diff -r 701df58e923a -r 5d3c6f85fa29 CAN_Filter_LUT.h
--- a/CAN_Filter_LUT.h	Mon Mar 23 19:36:37 2015 +0000
+++ b/CAN_Filter_LUT.h	Sat May 30 02:26:23 2015 +0000
@@ -11,7 +11,9 @@
 #ifndef _FILE_CAN_FILTER_LUT_H
 #define _FILE_CAN_FILTER_LUT_H
 
-#include "CAN_Address.h"
+#include "PCM_CAN_IDs.h"
+#include "AMS_CAN_IDs.h"
+#include "SYS_MGMT_CAN_IDs.h"
 
 #define STDMASK 0x7FF
 #define EXTMASK 0x1FFFFFFF
@@ -28,13 +30,13 @@
 // STANDARD EXPLICIT IDs - CAN CONTROLLER 1
 //( 0xID                            & STDMASK),
 
-( MOC_RPM_ID                        & STDMASK), // 0x211
+( PCM_RPM_ID                        & STDMASK), // 0x211
 
-( MOC_MOTEMP_ID                     & STDMASK), // 0x212
+( PCM_MOTEMP_ID                     & STDMASK), // 0x212
 
-( MOC_AIRTEMP_ID                    & STDMASK), // 0x213
+( PCM_AIRTEMP_ID                    & STDMASK), // 0x213
 
-( MOC_IGBTTEMP_ID                   & STDMASK), // 0x214
+( PCM_IGBTTEMP_ID                   & STDMASK), // 0x214
 
 ( PCM_PEDALS_ID                     & STDMASK), // 0x220
 
@@ -42,41 +44,41 @@
 
 ( PCM_TORQUERQ_ID                   & STDMASK), // 0x231
 
-( FAULTCODE_TX_ID                   & STDMASK), // 0x300
+( AMS_FAULTCODE_ID                   & STDMASK), // 0x300
 
-( MODE_TX_ID                        & STDMASK), // 0x301
+( AMS_MODE_ID                        & STDMASK), // 0x301
 
-( CURRENT_TX_ID                     & STDMASK), // 0x306
+( AMS_CURRENT_ID                     & STDMASK), // 0x306
 
-( CHARGECURR_TX_ID                  & STDMASK), // 0x307
+( AMS_CHARGECURR_ID                  & STDMASK), // 0x307
 
-( VOLTAGE_TX_ID                     & STDMASK), // 0x308
+( AMS_VOLTAGE_ID                     & STDMASK), // 0x308
 
-( SOC_TX_ID                         & STDMASK), // 0x30B
+( AMS_SOC_ID                         & STDMASK), // 0x30B
 
-( BOARDTEMP_TX_ID                   & STDMASK), // 0x30E
+( AMS_BOARDTEMP_ID                   & STDMASK), // 0x30E
 
-( CELLV_MMA_TX_ID_BASE              & STDMASK), // 0x316
+( AMS_CELLV_MMA_ID_BASE              & STDMASK), // 0x316
 
-( CELLV_MMA_TX_ID_BASE2             & STDMASK), // 0x317
+//( CELLV_MMA_ID_BASE2             & STDMASK), // 0x317
 
-( TEMP_MMA_TX_ID_BASE               & STDMASK), // 0x318
+( AMS_TEMP_MMA_ID_BASE               & STDMASK), // 0x318
 
-( TEMP_MMA_TX_ID_BASE2              & STDMASK), // 0x319
+//( TEMP_MMA_TX_ID_BASE2              & STDMASK), // 0x319
 
-( SYS_GLV_CURRENT_ID                & STDMASK), // 0x510
+( SYS_MGMT_GLV_CURRENT_ID                & STDMASK), // 0x510
 
-( SYS_GLV_SOC_ID                    & STDMASK), // 0x513
+( SYS_MGMT_GLV_SOC_ID                    & STDMASK), // 0x513
 
-( SYS_DCDC_STATUS_ID                & STDMASK), // 0x521
+( SYS_MGMT_DCDC_STATUS_ID                & STDMASK), // 0x521
 
-( SYS_PWM_FAN_ID                    & STDMASK), // 0x530
+( SYS_MGMT_PWM_FAN_ID                    & STDMASK), // 0x530
 
-( SYS_PWM_PUMP_ID                   & STDMASK), // 0x531
+( SYS_MGMT_PWM_PUMP_ID                   & STDMASK), // 0x531
 
-( SYS_IMD_RESIST_ID                 & STDMASK), // 0x541
+( SYS_MGMT_IMD_RESIST_ID                 & STDMASK), // 0x541
 
-( SYS_SWITCHES_ID                   & STDMASK) // 0x560
+( SYS_MGMT_SWITCHES_ID                   & STDMASK) // 0x560
   
 // STANDARD EXPLICIT IDs - CAN CONTROLLER 2
 //( 0xID                              & STDMASK),

diff -r 701df58e923a -r 5d3c6f85fa29 Screens.h
--- a/Screens.h	Mon Mar 23 19:36:37 2015 +0000
+++ b/Screens.h	Sat May 30 02:26:23 2015 +0000
@@ -173,6 +173,7 @@
             }
             PrevScreen = CurrScreen;
         }
+        Thread::yield();
     }
     
 }
\ No newline at end of file

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);
     }

diff -r 701df58e923a -r 5d3c6f85fa29 Steering.h
--- a/Steering.h	Mon Mar 23 19:36:37 2015 +0000
+++ b/Steering.h	Sat May 30 02:26:23 2015 +0000
@@ -9,9 +9,15 @@
 #include "Screens.h"
 #include "CANQueue.h"
 #include "CANBuffer.h"
+#include "PCM_CAN_IDs.h"
+#include "AMS_CAN_IDs.h"
+#include "SYS_MGMT_CAN_IDs.h"
+#include "Charger_CAN_IDs.h"
+#include "Steering_Wheel_CAN_IDs.h"
 
 #define GetFloat  *(float*)((void*)(&Rxmsg.data[0]))
 #define GetFloat4 *(float*)((void*)(&Rxmsg.data[4]))
+#define GetFloat8 *(float*)((void*)(&Rxmsg.data[8]))
 
 #define BLButtonGreen   DigitalOut l3(P1_24,1);  DigitalOut l4(P0_24,0);  // SW6,  SW8  respectively
 #define BLButtonRed     DigitalOut l3(P1_24,0);  DigitalOut l4(P0_24,1);