Revision 16:d2953809fb31, committed 2014-10-18

Comitter:

palimar

Date:

Sat Oct 18 18:26:44 2014 +0000

Parent:

15:da14227cdd1d

Child:

17:e97c889873e2

Child:

28:3ebe6db73fe0

Commit message:

Removed Digital_InOut.h, rewrote all code to handle input and code with LPCDigitalOut.h, added Tyrell's reset code and added CANBuffer.

Changed in this revision

--- a/CANBuffer.lib	Sat Oct 18 17:19:43 2014 +0000
+++ b/CANBuffer.lib	Sat Oct 18 18:26:44 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

--- a/Digital_InOut.lib	Sat Oct 18 17:19:43 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/kiran_mbed/code/Digital_InOut/#b4bc3430a055

--- a/Digital_Out.h	Sat Oct 18 17:19:43 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,315 +0,0 @@
-/*
-Test Code
-#include "Digital_Out.h"
-
-//Serial pc(USBTX,USBRX);
-
-int main()
-{
-    Digital_Out ledPin1(p1_18,1);
-    Digital_Out ledPin2(p1_20,0);
-    Digital_Out ledPin3(p1_21,1);
-    Digital_Out ledPin4(p1_23,0);
-     
-    
-    wait(0.5);
-    while(1)
-    {
-        ledPin1= !ledPin1;
-        ledPin2= !ledPin2;
-        ledPin3= !ledPin3;
-        ledPin4= !ledPin4;
-         
-        wait(0.5);
-        ledPin1= !ledPin1;
-        ledPin2= !ledPin2;
-        ledPin3= !ledPin3;
-        ledPin4= !ledPin4;
-        
-        wait(0.5);
-    }
-
-Digital_Out pin(p0_0);
-
-DigitalOut myled(LED1);
-
-Timer t;
-int main() {
-   t.reset();
-   t.start();
-   for (int i = 0; i < 1000000; i++){
-    pin = 1;
-    pin = 0;
-   }
-       t.stop();
-
-   unsigned int time1 = t.read_us(); 
-    
-    t.reset();
-    t.start();
-    for (int i = 0; i < 1000000; i++) {
-    myled = 1;
-    myled = 0;
-    }
-    t.stop();
-    unsigned int time2 = t.read_us();
-    printf("Library time: %d, mbed time: %d\r\n", time1, time2);
-    while(1) {
-
-    }
-}
-*/
-
-#ifndef DIGITAL_OUT_H
-    #define DIGITAL_OUT_H
-    
-    #include"mbed.h"
-        
-    #define _PINSEL_BASE 0x4002C000
-    #define _FIODIR_BASE 0x2009C000
-    #define _FIOSET_BASE 0x2009C018
-    #define _FIOCLR_BASE 0x2009C01C
-    #define _FIOPIN_BASE 0x2009C014
-    
-    #ifndef _PIN_
-        #define _PIN_
-        typedef struct
-        {
-            int port;
-            int pin;
-        }Pin;
-    #endif /* _PIN_ */
-    
-    #ifndef _PIN_NAME_
-        #define _PIN_NAME_
-        // Note many pins are not available as fully functional GPIOs, they are ommitted below
-        enum Pin_Name
-        {
-            p0_0 = 0,
-            p0_1 = 1,
-            p0_2 = 2,
-            p0_3 = 3,
-            p0_4 = 4,
-            p0_5 = 5,
-            p0_6 = 6,
-            p0_7 = 7,
-            p0_8 = 8,
-            p0_9 = 9,
-            p0_10 = 10,
-            p0_11 = 11,
-            /*p0_12 = 12,
-            p0_13 = 13,
-            p0_14 = 14,*/
-            p0_15 = 15,
-            p0_16 = 16,
-        
-            p0_17 = 17,
-            p0_18 = 18,
-            p0_19 = 19,
-            p0_20 = 20,
-            p0_21 = 21,
-            p0_22 = 22,
-            p0_23 = 23,
-            p0_24 = 24,
-            p0_25 = 25,
-            p0_26 = 26,
-          /*  p0_27 = 27,
-            p0_28 = 28,
-            p0_29 = 29,
-            p0_30 = 30,*/
-        
-        
-            p1_0 = 100,
-            p1_1 = 101,
-           /* p1_2 = 102,
-            p1_3 = 103,*/
-            p1_4 = 104,
-           /* p1_5 = 105,
-            p1_6 = 106,
-            p1_7 = 107,*/
-            p1_8 = 108,
-            p1_9 = 109,
-            p1_10 = 110,
-           /* p1_11 = 111,
-            p1_12 = 112,
-            p1_13 = 113,*/
-            p1_14 = 114,
-            p1_15 = 115,
-        
-            p1_16 = 116,
-            p1_17 = 117,
-            p1_18 = 118,
-            p1_19 = 119,
-            p1_20 = 120,
-            p1_21 = 121,
-            p1_22 = 122,
-            p1_23 = 123,
-            p1_24 = 124,
-            p1_25 = 125,
-            p1_26 = 126,
-            p1_27 = 127,
-            p1_28 = 128,
-            p1_29 = 129,
-            p1_30 = 130,
-        
-        
-            p2_0 = 200,
-            p2_1 = 201,
-            p2_2 = 202,
-            p2_3 = 203,
-            p2_4 = 204,
-            p2_5 = 205,
-            p2_6 = 206,
-            p2_7 = 207,
-            p2_8 = 208,
-            p2_9 = 209,
-            p2_10 = 210,
-            p2_11 = 211,
-            p2_12 = 212,
-            p2_13 = 213,
-           /* p2_14 = 214,
-            p2_15 = 215,
-        
-            p2_16 = 216,
-            p2_17 = 217,
-            p2_18 = 218,
-            p2_19 = 219,
-            p2_20 = 220,
-            p2_21 = 221,
-            p2_22 = 222,
-            p2_23 = 223,
-            p2_24 = 224,
-            p2_25 = 225,
-            p2_26 = 226,
-            p2_27 = 227,
-            p2_28 = 228,
-            p2_29 = 229,
-            p2_30 = 230,*/
-        
-        
-           /* p3_0 = 300,
-            p3_1 = 301,
-            p3_2 = 302,
-            p3_3 = 303,
-            p3_4 = 304,
-            p3_5 = 305,
-            p3_6 = 306,
-            p3_7 = 307,
-            p3_8 = 308,
-            p3_9 = 309,
-            p3_10 = 310,
-            p3_11 = 311,
-            p3_12 = 312,
-            p3_13 = 313,
-            p3_14 = 314,
-            p3_15 = 315,
-        
-            p3_16 = 316,
-            p3_17 = 317,
-            p3_18 = 318,
-            p3_19 = 319,
-            p3_20 = 320,
-            p3_21 = 321,
-            p3_22 = 322,
-            p3_23 = 323,
-            p3_24 = 324,*/
-            p3_25 = 325,
-            p3_26 = 326,
-            /*p3_27 = 327,
-            p3_28 = 328,
-            p3_29 = 329,
-            p3_30 = 330,*/
-        
-            /*p4_0 = 400,
-            p4_1 = 401,
-            p4_2 = 402,
-            p4_3 = 403,
-            p4_4 = 404,
-            p4_5 = 405,
-            p4_6 = 406,
-            p4_7 = 407,
-            p4_8 = 408,
-            p4_9 = 409,
-            p4_10 = 410,
-            p4_11 = 411,
-            p4_12 = 412,
-            p4_13 = 413,
-            p4_14 = 414,
-            p4_15 = 415,
-        
-            p4_16 = 416,
-            p4_17 = 417,
-            p4_18 = 418,
-            p4_19 = 419,
-            p4_20 = 420,
-            p4_21 = 421,
-            p4_22 = 422,
-            p4_23 = 423,
-            p4_24 = 424,
-            p4_25 = 425,
-            p4_26 = 426,
-            p4_27 = 427,*/
-            p4_28 = 428,
-            p4_29 = 429,
-            /*p4_30 = 430*/
-        
-        };
-    #endif /* _PIN_NAME_ */
-    
-    
-    class Digital_Out
-    {
-        private:    Pin _pin;
-        public:     Digital_Out(Pin_Name IPin)
-                    {
-                        _pin.port=(IPin/100);
-                        _pin.pin=(IPin%100);
-                        const int PINSELx = ((_pin.port*2) + (1* (_pin.pin > 15) ? 1:0));
-                        const int FIODIRx = _pin.port;
-                        
-                        *(uint32_t*)(_PINSEL_BASE + (PINSELx*4)) &= ~(1 << ((_pin.pin%16)*2) | (1 << (((_pin.pin%16)*2)+1)));          //GPIO
-                        *(uint32_t*)(_FIODIR_BASE + (FIODIRx*0x20)) |= (1 << _pin.pin);                                        //Output
-                    }
-                    
-                    Digital_Out(Pin_Name IPin, int value)
-                    {
-                        _pin.port=(IPin/100);
-                        _pin.pin=(IPin%100);
-                        const int PINSELx = ((_pin.port*2) + (1* (_pin.pin > 15) ? 1:0));
-                        const int FIODIRx = _pin.port;
-                        
-                        *(uint32_t*)(_PINSEL_BASE + (PINSELx*4)) &= ~(1 << ((_pin.pin%16)*2) | (1 << (((_pin.pin%16)*2)+1)));           //GPIO
-                        *(uint32_t*)(_FIODIR_BASE + (FIODIRx*0x20)) |= (1 << _pin.pin);                                        //Output
-                        *(uint32_t*)((_FIOSET_BASE*value) + (_FIOCLR_BASE*(1-value)) + (_pin.port*0x20)) |= (1 << _pin.pin);   //Write     
-                    }
-                    
-                    void write(int value)
-                    {
-                        if (value != 1 && value != 0) return;
-                        *(uint32_t*)((_FIOSET_BASE*value)+(_FIOCLR_BASE*(1-value)) + (_pin.port*0x20)) |= (1 << _pin.pin);     //Write     
-                    }
-                    
-                    int read()
-                    {
-                        return ((*(uint32_t*)(_FIOPIN_BASE +_pin.port*0x20) & (1 << _pin.pin)) >> _pin.pin);                          //Read
-                    }
-                    
-                    Digital_Out& operator= (int value)
-                    {
-                        write(value);
-                        return *this;
-                    }
-                    
-                    Digital_Out& operator= (Digital_Out& rhs)
-                    {
-                        write(rhs.read());
-                        return *this;
-                    }
-                    
-                    operator int()
-                    {
-                        return read();
-                    }
-    };
-
-#endif /*DIGITAL_OUT_H*/
\ No newline at end of file

--- a/Steering.cpp	Sat Oct 18 17:19:43 2014 +0000
+++ b/Steering.cpp	Sat Oct 18 18:26:44 2014 +0000
@@ -14,7 +14,7 @@
     display.PrintString(" HOME SCREEN");
     while( !(biSWTL.read() || biSWTR.read() || biSWBR.read()) )
     {
-        if(CAN_Steering.read(Rxmsg))
+        if(CAN_Steering_Buffer.rxRead(Rxmsg))
         {
             for(int i=0; i<4; i++)
                 rcv.C_FLOAT[i]=Rxmsg.data[i];
@@ -58,7 +58,7 @@
     while( !(biSWTL.read() || biSWTR.read() || biSWBL.read()) )
     {
         printf("iN LOOP1");
-        if(CAN_Steering.read(Rxmsg))
+        if(CAN_Steering_Buffer.rxRead(Rxmsg))
         {
             for(int i=0; i<4; i++)
                 rcv.C_FLOAT[i]=Rxmsg.data[i];
@@ -126,7 +126,7 @@
     while( !(biSWTL.read() || biSWTR.read() || biSWBL.read()) )
     {
         printf("iN LOOP2");
-        if(CAN_Steering.read(Rxmsg))
+        if(CAN_Steering_Buffer.rxRead(Rxmsg))
         {
             for(int i=0; i<4; i++)
                 rcv.C_FLOAT[i]=Rxmsg.data[i];
@@ -221,7 +221,7 @@
     }
     
     for(int i = 0; i < 10; i++){
-        CAN_Steering.write(Txmsg_drive_status_request);
+        CAN_Steering_Buffer.txWrite(Txmsg_drive_status_request);
     }
 
     display.ClearScreen();
@@ -237,6 +237,8 @@
 
 void reset()
 {
+    CAN_Steering_Buffer.txWriteDirect(Txmsg_reset);
+    mbed_reset();
     display.ClearScreen();
     display.SelectFont(Arial12,BLACK,ReadData);
     display.GotoXY(16,16);
@@ -252,7 +254,7 @@
     float power_ratio;
     ftc rcv;
     rcv.FLOAT=0.0;
-    if(CAN_Steering.read(Rxmsg))
+    if(CAN_Steering_Buffer.rxRead(Rxmsg))
     {   
         if(Rxmsg.id == BATTERY_POWER_ID)
         {
@@ -268,7 +270,6 @@
 void Init()
 {
     pc.baud(230400);
-    CAN_Steering.frequency(500000);
     drive_status = 0;
     drive_status_request = 1;
     reset_body = 0;

--- a/Steering.h	Sat Oct 18 17:19:43 2014 +0000
+++ b/Steering.h	Sat Oct 18 18:26:44 2014 +0000
@@ -3,13 +3,13 @@
 
 #include "mbed.h"
 #include "rtos.h"
-#include "Digital_InOut.h"
 #include "KS0108.h"
 
 #include "Arial12.h"
 #include "Arial14.h"
 #include "Comic24.h"
 #include "vivaldi16.h"
+#include "CANBuffer.h"
 
 #define SWITCH_ID 410
 
@@ -29,41 +29,40 @@
 #define AMS_BATTERY_STATE 0x30E          // AIRS 7 and 6 // Precharge 3
 
 Serial pc(USBTX,USBRX);
-CAN CAN_Steering(p9,p10);
-Digital_InOut CAN_Silent(p3_26, 0, output);
+CANBuffer CAN_Steering_Buffer(CAN1,MEDIUM);
+LPCDigitalOut CAN_Silent(p3_26, 0);
+
+extern "C" void mbed_reset();
 
 KS0108 display(p26, p21, p22, p23, p25, p24, p8, p7, p6, p5, p13, p14, p12, p11); 
 Ticker call_ledstream;
 
-Digital_InOut l1(p1_28,1,output);//    SW2
-Digital_InOut l2(p1_26,1,output);//    SW4
+LPCDigitalOut l1(p1_28,1);//    SW2
+LPCDigitalOut l2(p1_26,1);//    SW4
     
-Digital_InOut l3(p1_24,1,output);//    SW6
-Digital_InOut l4(p0_24,1,output);//    SW8
+LPCDigitalOut l3(p1_24,1);//    SW6
+LPCDigitalOut l4(p0_24,1);//    SW8
 
-Digital_InOut u1(p1_14,0,output);//    SW9 
-Digital_InOut u2(p1_9,0,output);//     SW11
+LPCDigitalOut u1(p1_14,0);//    SW9 
+LPCDigitalOut u2(p1_9,0);//     SW11
 
-Digital_InOut u3(p1_4,0,output);//     SW13
-Digital_InOut u4(p1_0,0,output);//     SW15
+LPCDigitalOut u3(p1_4,0);//     SW13
+LPCDigitalOut u4(p1_0,0);//     SW15
 
 AnalogOut ledstream(p18);
 
 //SW1 - SW3
-Digital_InOut boSW1(p1_29,1,output);
-Digital_InOut biSWBR(p1_27,pull_down,input);     //BRight
+LPCDigitalOut boSW1(p1_29,1);
+LPCDigitalOut biSWBR(p1_27,1);     //BRight
 
-Digital_InOut boSW5(p1_25,1,output);
-Digital_InOut biSWBL(p1_22,pull_down,input);     //BLeft
+LPCDigitalOut boSW5(p1_25,1);
+LPCDigitalOut biSWBL(p1_22,1);     //BLeft
 
-//Digital_InOut boSW5(P1_25,1,output);
-//Digital_InOut biSW7(P1_22,pull_down,input);
+LPCDigitalOut boSW10(p1_10,1);
+LPCDigitalOut biSWTR(p1_8,1);     //TRight
 
-Digital_InOut boSW10(p1_10,1,output);
-Digital_InOut biSWTR(p1_8,pull_down,input);     //TRight
-
-Digital_InOut boSW14(p1_1,1,output);
-Digital_InOut biSWTL(p0_25,pull_down,input);    //TLeft
+LPCDigitalOut boSW14(p1_1,1);
+LPCDigitalOut biSWTL(p0_25,1);    //TLeft
 
 typedef union convert{
         float FLOAT;