Revision 27:3a6d5243e5e7, committed 2014-10-18

Comitter:

tmccurbin

Date:

Sat Oct 18 17:21:36 2014 +0000

Parent:

14:3e21d6c764a5

Commit message:

Re-added soft reset functionality

Changed in this revision

--- a/CANBuffer.lib	Sat Oct 18 17:17:02 2014 +0000
+++ b/CANBuffer.lib	Sat Oct 18 17:21:36 2014 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/Penn-Electric-Racing/code/CANBuffer/#fbfd7c8a93b5
+http://developer.mbed.org/teams/Penn-Electric-Racing/code/CANBuffer/#110f268af846

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN_FILTER_LUT.h	Sat Oct 18 17:21:36 2014 +0000
@@ -0,0 +1,65 @@
+/*
+Code by Parth Patel, Penn Electric Racing 2014, 9/23/2014
+ 
+This library provides an easy to use, buffered, hardware-filtered CAN interface for
+high performance CAN applications.  Provides automatic reception of messages via CAN RX interrupt
+into a rx ring buffer.  Provides automatic transmission of messages via CAN TX interrupt.
+ 
+@File CAN_Filter_LUT.h: Contains the formatted lookup tables to program the onboard CAN acceptance filters
+ 
+*/
+#ifndef _FILE_CAN_FILTER_LUT_H
+#define _FILE_CAN_FILTER_LUT_H
+ 
+#define STDMASK 0x7FF
+#define EXTMASK 0x1FFFFFFF
+ 
+// These arrays defines the CAN Controller Acceptance Filter Lookup Table.
+// Follow notes below or else the chip's behaviour will be undefined
+// MAX SIZE PERMITTED = 512 32bit ints total across all tables
+// Note that AF_LUT_SEI is 16bit, divide #entries by 2 for this one
+// Note that AF_LUT_EIR is 64bit, multipy #entries by 2 for this one
+ 
+const uint16_t AF_LUT_SEI[] = {
+// !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00) !!
+ 
+// STANDARD EXPLICIT IDs - CAN CONTROLLER 1
+//( 0xID                              & STDMASK),
+ 
+// STANDARD EXPLICIT IDs - CAN CONTROLLER 2
+//( 0xID                              & STDMASK) | 1<<13,
+};
+ 
+const uint32_t AF_LUT_SIR[] = {
+// !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00), NO OVERLAPPING RANGES !!
+ 
+// STANDARD ID RANGES - CAN CONTROLLER 1
+//( 0xLOWERBOUND & STDMASK) << 16         | ( 0xUPPERBOUND & STDMASK),          lower/upperbounds are inclusive
+ 
+// STANDARD ID RANGES - CAN CONTROLLER 2
+//( 0xLOWERBOUND & STDMASK | 1<<13) << 16 | ( 0xUPPERBOUND & STDMASK | 1<<13),  lower/upperbounds are inclusive
+  ( 0x400        & STDMASK | 1<<13) << 16 | ( 0x4FF        & STDMASK | 1<<13),  // Index1
+};
+ 
+const uint32_t AF_LUT_EEI[] = {
+// !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00) !!
+ 
+// EXTENDED EXPLICIT IDs - CAN CONTROLLER 1
+//( 0xID                              & EXTMASK),
+ 
+// EXTENDED EXPLICIT IDs - CAN CONTROLLER 2
+//( 0xID                              & EXTMASK) | 1<<29,
+};
+ 
+const uint64_t AF_LUT_EIR[] = {
+// !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00), NO OVERLAPPING RANGES !!
+ 
+// EXTENDED ID RANGES - CAN CONTROLLER 1
+//( 0xLOWERBOUND & EXTMASK) << 32         | ( 0xUPPERBOUND & EXTMASK), lower/upperbounds are inclusive
+ 
+// EXTENDED ID RANGES - CAN CONTROLLER 2
+//( 0xLOWERBOUND & EXTMASK | 1<<29) << 32 | ( 0xUPPERBOUND & EXTMASK | 1<<29), lower/upperbounds are inclusive
+ 
+};
+ 
+#endif
\ No newline at end of file

--- a/CAN_Filter_LUT.h	Sat Oct 18 17:17:02 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,65 +0,0 @@
-/*
-Code by Parth Patel, Penn Electric Racing 2014, 9/23/2014
- 
-This library provides an easy to use, buffered, hardware-filtered CAN interface for
-high performance CAN applications.  Provides automatic reception of messages via CAN RX interrupt
-into a rx ring buffer.  Provides automatic transmission of messages via CAN TX interrupt.
- 
-@File CAN_Filter_LUT.h: Contains the formatted lookup tables to program the onboard CAN acceptance filters
- 
-*/
-#ifndef _FILE_CAN_FILTER_LUT_H
-#define _FILE_CAN_FILTER_LUT_H
- 
-#define STDMASK 0x7FF
-#define EXTMASK 0x1FFFFFFF
- 
-// These arrays defines the CAN Controller Acceptance Filter Lookup Table.
-// Follow notes below or else the chip's behaviour will be undefined
-// MAX SIZE PERMITTED = 512 32bit ints total across all tables
-// Note that AF_LUT_SEI is 16bit, divide #entries by 2 for this one
-// Note that AF_LUT_EIR is 64bit, multipy #entries by 2 for this one
- 
-const uint16_t AF_LUT_SEI[] = {
-// !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00) !!
- 
-// STANDARD EXPLICIT IDs - CAN CONTROLLER 1
-//( 0xID                              & STDMASK),
- 
-// STANDARD EXPLICIT IDs - CAN CONTROLLER 2
-//( 0xID                              & STDMASK) | 1<<13,
-};
- 
-const uint32_t AF_LUT_SIR[] = {
-// !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00), NO OVERLAPPING RANGES !!
- 
-// STANDARD ID RANGES - CAN CONTROLLER 1
-//( 0xLOWERBOUND & STDMASK) << 16         | ( 0xUPPERBOUND & STDMASK),          lower/upperbounds are inclusive
- 
-// STANDARD ID RANGES - CAN CONTROLLER 2
-//( 0xLOWERBOUND & STDMASK | 1<<13) << 16 | ( 0xUPPERBOUND & STDMASK | 1<<13),  lower/upperbounds are inclusive
-  ( 0x400        & STDMASK | 1<<13) << 16 | ( 0x4FF        & STDMASK | 1<<13),  // Index1
-};
- 
-const uint32_t AF_LUT_EEI[] = {
-// !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00) !!
- 
-// EXTENDED EXPLICIT IDs - CAN CONTROLLER 1
-//( 0xID                              & EXTMASK),
- 
-// EXTENDED EXPLICIT IDs - CAN CONTROLLER 2
-//( 0xID                              & EXTMASK) | 1<<29,
-};
- 
-const uint64_t AF_LUT_EIR[] = {
-// !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00), NO OVERLAPPING RANGES !!
- 
-// EXTENDED ID RANGES - CAN CONTROLLER 1
-//( 0xLOWERBOUND & EXTMASK) << 32         | ( 0xUPPERBOUND & EXTMASK), lower/upperbounds are inclusive
- 
-// EXTENDED ID RANGES - CAN CONTROLLER 2
-//( 0xLOWERBOUND & EXTMASK | 1<<29) << 32 | ( 0xUPPERBOUND & EXTMASK | 1<<29), lower/upperbounds are inclusive
- 
-};
- 
-#endif
\ No newline at end of file

--- a/Steering.cpp	Sat Oct 18 17:17:02 2014 +0000
+++ b/Steering.cpp	Sat Oct 18 17:21:36 2014 +0000
@@ -209,39 +209,32 @@
 
 void request_status_change()
 {
-    
-    char drive_status_request = !drive_status;
-    char * status_string;
+    //drive_status != drive_status;   
+    //wait(0.1);
     
-    if(drive_status_request){
-        status_string = "ON";
-    }
-    else{
-        status_string = "OFF";
-    }
-    
-    for(int i = 0; i < 10; i++){
-        CAN_Steering.write(Txmsg_drive_status_request);
-    }
+    //char status_string = (drive_status == 1 ? "ON" : "OFF");
 
     display.ClearScreen();
     display.SelectFont(Arial12,BLACK,ReadData);
     display.GotoXY(26,16);
-    display.PrintString("REQUEST SENT TO CHANGE DRIVE STATUS TO: ");
-    display.PrintString(status_string);
-    display.PrintString(".\n");
+    display.PrintString("REQUEST SENT TO CHANGE DRIVE STATUS TO ");
+    printf("DRIVE STATUS CHANGE Initiated\n\r");
     
-    printf("DRIVE STATUS CHANGE Initiated\n\r");
+    
+    
     return;
 }
 
 void reset()
 {
-    display.ClearScreen();
-    display.SelectFont(Arial12,BLACK,ReadData);
-    display.GotoXY(16,16);
-    display.PrintString(" RESET INITIATED");
-    printf("Reset Initiated\n\r");
+    txWriteDirect(Txmsg_reset);
+    mbed_reset();
+    
+//    display.ClearScreen();
+//    display.SelectFont(Arial12,BLACK,ReadData);
+//    display.GotoXY(16,16);
+//    display.PrintString(" RESET INITIATED");
+//    printf("Reset Initiated\n\r");
     
     return;
 }    
@@ -270,7 +263,6 @@
     pc.baud(230400);
     CAN_Steering.frequency(500000);
     drive_status = 0;
-    drive_status_request = 1;
     reset_body = 0;
     ledstream.write(0);
     call_ledstream.attach(&Powerstream,0.1);

--- a/Steering.h	Sat Oct 18 17:17:02 2014 +0000
+++ b/Steering.h	Sat Oct 18 17:21:36 2014 +0000
@@ -104,10 +104,11 @@
 int screen; 
 
 char drive_status;
-char drive_status_request;
 char reset_body;
 
-CANMessage Txmsg_drive_status_request(0x501,&drive_status_request,1);
+CANMessage Txmsg_drive_status(0x501,&drive_status,1);
 CANMessage Txmsg_reset(0x502,&reset_body,1);
 
+extern "C" void mbed_reset();
+
 #endif /* STEERING_H */    
\ No newline at end of file