REVO_Updated_Steering

Penn Electric Racing » Code » REVO_Updated_Steering

Revision 23:6681a38918c6, committed 2014-11-13

Comitter:: palimar
Date:: Thu Nov 13 23:45:12 2014 +0000
Parent:: 21:56890c41ecf1
Child:: 24:ba3428215006
Commit message:: Major Milestone 1: Reset and Start/Stop Functionality works!

Changed in this revision

--- a/CANBuffer.lib	Sat Oct 25 17:24:58 2014 +0000
+++ b/CANBuffer.lib	Thu Nov 13 23:45:12 2014 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/Penn-Electric-Racing/code/CANBuffer/#110f268af846
+http://developer.mbed.org/teams/Penn-Electric-Racing/code/CANBuffer/#4baa7251c6c0

--- a/CAN_Filter_LUT.h	Sat Oct 25 17:24:58 2014 +0000
+++ b/CAN_Filter_LUT.h	Thu Nov 13 23:45:12 2014 +0000
@@ -38,7 +38,7 @@
  
 // 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
+//( 0x400        & STDMASK | 1<<13) << 16 | ( 0x4FF        & STDMASK | 1<<13),  // Index1
 };
  
 const uint32_t AF_LUT_EEI[] = {

--- a/Steering.cpp	Sat Oct 25 17:24:58 2014 +0000
+++ b/Steering.cpp	Thu Nov 13 23:45:12 2014 +0000
@@ -1,226 +1,23 @@
 #include "Steering.h"
 
-void HomeScreen()
-{
-   
-    ftc rcv;
-    rcv.FLOAT=0.0;
-    char dat[4];
-    float power_ratio=0.0;
-    printf("Homescreen\n\r");
-    display.ClearScreen();
-    display.SelectFont(Arial12,BLACK,ReadData);
-    display.GotoXY(0,0);
-    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++)
-                rcv.C_FLOAT[i]=Rxmsg.data[i];
-            if(Rxmsg.id == BATTERY_VOLTAGE_ID)
-            {
-                display.GotoXY(0,16);
-                display.PrintString(" PV: ");     
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-                display.PrintString("V");
-            }
-            if(Rxmsg.id == BATTERY_POWER_ID)
-            {
-                display.GotoXY(64,16);
-                display.PrintString(" PP: ");
-                power_ratio=rcv.FLOAT/10000;        
-                sprintf(dat,"%2.2f",power_ratio);
-                display.PrintString(dat);
-                display.PrintString("kW");
-            }
-            if(Rxmsg.id == PCM_STATE_ID)
-            {
-                display.GotoXY(0,32);
-                display.PrintString(" STATE: ");      
-                display.PrintNumber(rcv.FLOAT);
-            }
-        }
-    }    
-    return;    
-}
+bool NOT_biSWBL_HELD;
 
-void AMSScreen1()
-{
-    CANMessage Rxmsg;
-    ftc rcv;
-    char dat[4];
-    rcv.FLOAT=0.0;
-    printf("AMSScreen1");
-    display.ClearScreen();
-    display.SelectFont(Arial12,BLACK,ReadData);
-    while( !(biSWTL.read() || biSWTR.read() || biSWBL.read()) )
-    {
-        printf("iN LOOP1");
-        if(CAN_Steering_Buffer.rxRead(Rxmsg))
-        {
-            for(int i=0; i<4; i++)
-                rcv.C_FLOAT[i]=Rxmsg.data[i];
-            if(Rxmsg.id == BATTERY_VOLTAGE_ID)
-            {
-                display.GotoXY(0,0);
-                display.PrintString(" pv: ");
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-            }
-            if(Rxmsg.id == BATTERY_POWER_ID)
-            {
-                display.GotoXY(0,16);
-                display.PrintString(" pp: ");
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-            }
-            if(Rxmsg.id == BATTERY_CURRENT_ID)
-            {
-                display.GotoXY(0,32);
-                display.PrintString(" pi: ");
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-            }
-            
-            //Column 2
-            if(Rxmsg.id == BATTERY_MIN_CELLVOLTAGE_ID)
-            {
-                display.GotoXY(49,0);
-                display.PrintString(" min cell V: ");
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-            }
-            if(Rxmsg.id == BATTERY_MAX_CELLVOLTAGE_ID)
-            {
-                display.GotoXY(49,16);
-                display.PrintString(" max cell V: ");
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-            }
-            if(Rxmsg.id == BATTERY_AVG_CELLVOLTAGE_ID)
-            {
-                display.GotoXY(49,32);
-                display.PrintString(" avg cell V: ");
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-            }
-        }
-        screen=1;                 
-    }   
-    return;   
-}    
+void request_status_change(){
+    
+    char drive_status_request;
+    ds_mutex.lock();
+    drive_status_request = !drive_status;
+    ds_mutex.unlock();
+    char * status_string;
 
-void AMSScreen2()
-{
-    CANMessage Rxmsg;
-    ftc rcv;
-    char dat[4];
-    //ftc send;
-    rcv.FLOAT=0.0;
-    //send.FLOAT=65.6432;
-    printf("AMSScreen2\n\r");
-    display.ClearScreen();
-    display.SelectFont(Arial12,BLACK,ReadData);
-    while( !(biSWTL.read() || biSWTR.read() || biSWBL.read()) )
-    {
-        printf("iN LOOP2");
-        if(CAN_Steering_Buffer.rxRead(Rxmsg))
-        {
-            for(int i=0; i<4; i++)
-                rcv.C_FLOAT[i]=Rxmsg.data[i];
-            if(Rxmsg.id == BATTERY_MIN_CELLTEMPERATURE_ID)
-            {
-                display.GotoXY(0,0);
-                display.PrintString(" mn cll T: ");
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-            }
-            if(Rxmsg.id == BATTERY_MAX_CELLTEMPERATURE_ID)
-            {
-                display.GotoXY(0,16);
-                display.PrintString(" mx cll T: ");
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-            }
-            if(Rxmsg.id == BATTERY_AVG_CELLTEMPERATURE_ID)
-            {
-                display.GotoXY(0,32);
-                display.PrintString(" avg cell T: ");
-                sprintf(dat,"%2.2f",rcv.FLOAT);
-                display.PrintString(dat);
-            }
-            
-            //Column 2
-            if(Rxmsg.id == AMS_BATTERY_STATE)
-            {
-                if((rcv.C_FLOAT[0] & 0xC0) == 0xC0)
-                {
-                    display.GotoXY(70,0);
-                    display.PrintString(" AIRS: ");
-                    display.PrintString("CLOS");
-                }
-                else
-                {
-                    display.GotoXY(70,0);
-                    display.PrintString(" AIRS: ");
-                    display.PrintString("OPEN");
-                }
-                
-                if((rcv.C_FLOAT[0] & 0x04) == 0x04)
-                {
-                    display.GotoXY(70,16);
-                    display.PrintString(" Prchrg: ");
-                    display.PrintString("on");
-                }
-                else
-                {
-                    display.GotoXY(70,16);
-                    display.PrintString(" Prchrg: ");
-                    display.PrintString("off");
-                }                
-            }
-            if(Rxmsg.id == AMS_BATTERY_STATE)
-            {
-                display.GotoXY(70,16);
-                display.PrintString(" Prchrg: ");
-                display.PrintString("off");
-            }
-        }
-        screen=0;         
-    }
-    return;        
-}
-
-void display_speed_data(void const *args) {
-    while (true) {
-        display.GotoXY(10,16);
-        display.SelectFont(Arial_14,BLACK,ReadData);
-        char buf[10];
-        int a = rand()%100;
-        sprintf(buf, "%d", a);
-        display.PrintString("Speed: ");
-        display.PrintString(buf);
-        display.PrintString("mph");
-    }
-}
-
-
-void request_status_change()
-{
-    
-    char drive_status_request = !drive_status;
-    char * status_string;
-    
     if(drive_status_request){
         status_string = "ON";
     }
     else{
         status_string = "OFF";
     }
-    
+
+    CANMessage Txmsg_drive_status_request(0x501,&drive_status_request,1);
     for(int i = 0; i < 10; i++){
         CAN_Steering_Buffer.txWrite(Txmsg_drive_status_request);
     }
@@ -229,69 +26,69 @@
     display.SelectFont(Arial12,BLACK,ReadData);
     display.GotoXY(26,16);
     display.PrintString("DRIVE STATUS REQUEST");
-    
+
     printf("%s\n\r", status_string);
     return;
 }
 
 void reset()
 {
-    CAN_Steering_Buffer.txWriteDirect(Txmsg_reset);
-    mbed_reset();
+    reset_body = 1;
+    CANMessage Txmsg_reset(0x502,&reset_body,1);
+    for(int i = 0; i < 10; i++){
+        CAN_Steering_Buffer.txWriteDirect(Txmsg_reset);
+    }
+    NVIC_SystemReset();
     display.ClearScreen();
     display.SelectFont(Arial12,BLACK,ReadData);
     display.GotoXY(16,16);
     display.PrintString(" RESET INITIATED");
     printf("Reset Initiated\n\r");
-    
+
     return;
 }    
 
-void Powerstream()
-{
-    CANMessage Rxmsg;
-    float power_ratio;
-    ftc rcv;
-    rcv.FLOAT=0.0;
-    if(CAN_Steering_Buffer.rxRead(Rxmsg))
-    {   
-        if(Rxmsg.id == BATTERY_POWER_ID)
-        {
-            for(int i=0; i<4; i++){
-                rcv.C_FLOAT[i]=Rxmsg.data[i];
-            }
-            power_ratio=rcv.FLOAT/80000;
-            ledstream.write(power_ratio);
-        }
-    }   
-}
-
 void Init()
 {
-    pc.baud(230400);
+    pc.baud(921600);
     drive_status = 0;
     drive_status_request = 1;
     reset_body = 0;
     ledstream.write(0);
-    call_ledstream.attach(&Powerstream,0.1);
+    NOT_biSWBL_HELD = true;
 }
 
-void update_vars(void const *args) {
+void read_messages(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();
+     
+        if(CAN_Steering_Buffer.rxRead(Rxmsg))
+            if(Rxmsg.id == PCM_STATE_ID){
+              
+                // Mutex to protex shared variables
+                ds_mutex.lock();
+                drive_status = Rxmsg.data[0];
+                ds_mutex.unlock();
+            }
+            
+            if(Rxmsg.id == BATTERY_POWER_ID)
+            {
+                float power_ratio;
+                ftc rcv;
+                rcv.FLOAT=0.0;
+                
+                for(int i=0; i<4; i++){
+                    rcv.C_FLOAT[i] = Rxmsg.data[i];
                 }
+                power_ratio=rcv.FLOAT/80000;
+                ledstream.write(power_ratio);
+            }
         }
     }
 }
 
-int main()
-{
-    // Init all
+int main(){
+    // Initialize, set all variables.
     Init();
     wait(0.1);
     
@@ -299,23 +96,35 @@
     display.GotoXY(10,16);
     display.SelectFont(Arial_14,BLACK,ReadData);
     display.PrintString("Penn Electric Racing");
+    CAN_Steering_Buffer.mode(NoAck);
     
-    Thread update_thread(update_vars);
-    
+     //New thread to read messages.
+     Thread update_thread(read_messages);
+     update_thread.set_priority(osPriorityLow
+     
+
     wait(1);
 
     // Start to read buttons on main thread
-    
     while(1)
     {
-        if(biSWBL.read())
-        {
+        if(biSWBL.read() && NOT_biSWBL_HELD){
             request_status_change();
+            NOT_biSWBL_HELD = false;
         }
-        if(biSWBR.read())
-        { 
+        
+        else if(!biSWBL.read()){
+            NOT_biSWBL_HELD = true;
+        }
+        
+        else{
+            // ignore BiSWBL.read()
+        }
+        
+        
+        if(biSWBR.read()){ 
             reset();
         }
-         
     }        
 }    
+

--- a/Steering.h	Sat Oct 25 17:24:58 2014 +0000
+++ b/Steering.h	Thu Nov 13 23:45:12 2014 +0000
@@ -31,13 +31,11 @@
 #define AMS_BATTERY_STATE 0x30E          // AIRS 7 and 6 // Precharge 3
 
 Serial pc(USBTX,USBRX);
-CANBuffer CAN_Steering_Buffer(CAN1,MEDIUM);
-LPCDigitalOut CAN_Silent(p3_26, 0);
+CANBuffer CAN_Steering_Buffer(CAN1, MEDIUM, p3_26);
 
-extern "C" void mbed_reset();
 
 KS0108 display(p26, p21, p22, p23, p25, p24, p8, p7, p6, p5, p13, p14, p12, p11); 
-Ticker call_ledstream;
+//Ticker call_ledstream;
 
 LPCDigitalOut l1(p1_28,1);//    SW2
 LPCDigitalOut l2(p1_26,1);//    SW4
@@ -108,8 +106,7 @@
 char drive_status_request;
 char reset_body;
 
-CANMessage Txmsg_drive_status_request(0x501,&drive_status_request,1);
-CANMessage Txmsg_reset(0x502,&reset_body,1);
+
 
 Mutex ds_mutex;

--- a/mbed.bld	Sat Oct 25 17:24:58 2014 +0000
+++ b/mbed.bld	Thu Nov 13 23:45:12 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/552587b429a1
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/031413cf7a89
\ No newline at end of file

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	02 Oct 2014
Imports:	10
Forks:	0
Commits:	48
Dependents:	0
Dependencies:	5
Followers:	39

CANBuffer.lib	Show annotated file Show diff for this revision Revisions of this file
CAN_Filter_LUT.h	Show annotated file Show diff for this revision Revisions of this file
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
mbed.bld	Show annotated file Show diff for this revision Revisions of this file

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Revision 23:6681a38918c6, committed 2014-11-13

Changed in this revision

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