Penn Electric Racing / Mbed 2 deprecated REVO_Updated_Steering

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Dependencies:   CANBuffer KS0108_fork mbed-rtos mbed CAN Addresses

Fork of REVO_Updated_Steering by Penn Electric

Files at this revision

API Documentation at this revision

Revision 21:56890c41ecf1, committed 2014-10-25

Comitter:
palimar
Date:
Sat Oct 25 17:24:58 2014 +0000
Parent:
20:c3f4828f3cbc
Child:
22:ab33195882e3
Child:
23:6681a38918c6
Commit message:
Added new thread to update drive status variable

Changed in this revision

Steering.cpp Show annotated file Show diff for this revision Revisions of this file
Steering.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Steering.cpp	Sat Oct 25 16:53:34 2014 +0000
+++ b/Steering.cpp	Sat Oct 25 17:24:58 2014 +0000
@@ -2,7 +2,7 @@
 
 void HomeScreen()
 {
-    CANMessage Rxmsg;
+   
     ftc rcv;
     rcv.FLOAT=0.0;
     char dat[4];
@@ -14,6 +14,7 @@
     display.PrintString(" HOME SCREEN");
     while( !(biSWTL.read() || biSWTR.read() || biSWBR.read()) )
     {
+        CANMessage Rxmsg;
         if(CAN_Steering_Buffer.rxRead(Rxmsg))
         {
             for(int i=0; i<4; i++)
@@ -227,11 +228,9 @@
     display.ClearScreen();
     display.SelectFont(Arial12,BLACK,ReadData);
     display.GotoXY(26,16);
-    display.PrintString("REQUEST SENT TO CHANGE\n\r DRIVE STATUS TO: \n\r");
-    display.PrintString(status_string);
-    display.PrintString(".\n\r");
+    display.PrintString("DRIVE STATUS REQUEST");
     
-    printf(status_string);
+    printf("%s\n\r", status_string);
     return;
 }
 
@@ -277,6 +276,19 @@
     call_ledstream.attach(&Powerstream,0.1);
 }
 
+void update_vars(void const *args) {
+    while (true) {
+        CANMessage Rxmsg;
+        if(CAN_Steering_Buffer.rxRead(Rxmsg)){
+               if(Rxmsg.id == PCM_STATE_ID){
+                    ds_mutex.lock();
+                    drive_status = Rxmsg.data[0];
+                    ds_mutex.unlock();
+                }
+        }
+    }
+}
+
 int main()
 {
     // Init all
@@ -288,6 +300,8 @@
     display.SelectFont(Arial_14,BLACK,ReadData);
     display.PrintString("Penn Electric Racing");
     
+    Thread update_thread(update_vars);
+    
     wait(1);
 
     // Start to read buttons on main thread

--- a/Steering.h	Sat Oct 25 16:53:34 2014 +0000
+++ b/Steering.h	Sat Oct 25 17:24:58 2014 +0000
@@ -19,7 +19,7 @@
 #define BATTERY_POWER_ID 0x306
 #define BATTERY_CURRENT_ID 0x305
 
-#define PCM_STATE_ID 20
+#define PCM_STATE_ID 0x201
 
 #define BATTERY_MIN_CELLVOLTAGE_ID 0x301
 #define BATTERY_MAX_CELLVOLTAGE_ID 0x300
@@ -111,4 +111,6 @@
 CANMessage Txmsg_drive_status_request(0x501,&drive_status_request,1);
 CANMessage Txmsg_reset(0x502,&reset_body,1);
 
+Mutex ds_mutex;
+
 #endif /* STEERING_H */    
\ No newline at end of file