Revision 39:e6aa6dcf3f75, committed 2015-02-08

Comitter:

tmccurbin

Date:

Sun Feb 08 05:47:05 2015 +0000

Parent:

38:d04a430d7fe3

Child:

40:92f08fdc32df

Commit message:

Fixed filters. Implemented thresholds for variable updates.

Changed in this revision

--- a/CAN_Address.h	Sun Feb 08 02:47:05 2015 +0000
+++ b/CAN_Address.h	Sun Feb 08 05:47:05 2015 +0000
@@ -15,12 +15,9 @@
 #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 TEMP_MMA_TX_ID_BASE     TX_BASE + 0x18
-#define TEMP_MMA_TX_ID_BASE2    TX_BASE + 0x19
 #define BOARDTEMP_TX_ID         TX_BASE + 0x0E
 
 // Motor Screen Addresses
-#define MOC_MOTEMP_ID           0x212
 #define MOC_AIRTEMP_ID          0x213
 #define MOC_IGBTTEMP_ID         0x214
 #define MOC_RPM_ID              0x211

--- a/CAN_Filter_LUT.h	Sun Feb 08 02:47:05 2015 +0000
+++ b/CAN_Filter_LUT.h	Sun Feb 08 05:47:05 2015 +0000
@@ -24,12 +24,65 @@
  
 const uint16_t AF_LUT_SEI[] = {
 // !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00) !!
- 
+  
 // STANDARD EXPLICIT IDs - CAN CONTROLLER 1
-//( 0xID                              & STDMASK),
- 
+//( 0xID                            & STDMASK),
+  
 // STANDARD EXPLICIT IDs - CAN CONTROLLER 2
 //( 0xID                              & STDMASK) | 1<<13,
+
+( MOC_RPM_ID                        & STDMASK) | 1<<13, // 0x211
+
+( MOC_MOTEMP_ID                     & STDMASK) | 1<<13, // 0x212
+
+( MOC_AIRTEMP_ID                    & STDMASK) | 1<<13, // 0x213
+
+( MOC_IGBTTEMP_ID                   & STDMASK) | 1<<13, // 0x214
+
+( PCM_PEDALS_ID                     & STDMASK) | 1<<13, // 0x220
+
+( PCM_FRPM_ID                       & STDMASK) | 1<<13, // 0x222
+
+( PCM_TORQUERQ_ID                   & STDMASK) | 1<<13, // 0x231
+
+( FAULTCODE_TX_ID                   & STDMASK) | 1<<13, // 0x300
+
+( MODE_TX_ID                        & STDMASK) | 1<<13, // 0x301
+
+( CURRENT_TX_ID                     & STDMASK) | 1<<13, // 0x306
+
+( CHARGECURR_TX_ID                  & STDMASK) | 1<<13, // 0x307
+
+( VOLTAGE_TX_ID                     & STDMASK) | 1<<13, // 0x308
+
+( POWER_TX_ID                       & STDMASK) | 1<<13, // 0x309
+
+( SOC_TX_ID                         & STDMASK) | 1<<13, // 0x30B
+
+( BOARDTEMP_TX_ID                   & STDMASK) | 1<<13, // 0x30E
+
+( CELLV_MMA_TX_ID_BASE              & STDMASK) | 1<<13, // 0x316
+
+( CELLV_MMA_TX_ID_BASE2             & STDMASK) | 1<<13, // 0x317
+
+( TEMP_MMA_TX_ID_BASE               & STDMASK) | 1<<13, // 0x318
+
+( TEMP_MMA_TX_ID_BASE2              & STDMASK) | 1<<13, // 0x319
+
+( SYS_GLV_CURRENT_ID                & STDMASK) | 1<<13, // 0x510
+
+( SYS_GLV_SOC_ID                    & STDMASK) | 1<<13, // 0x513
+
+( SYS_DCDC_STATUS_ID                & STDMASK) | 1<<13, // 0x521
+
+( SYS_PWM_FAN_ID                    & STDMASK) | 1<<13, // 0x530
+
+( SYS_PWM_PUMP_ID                   & STDMASK) | 1<<13, // 0x531
+
+( SYS_IMD_RESIST_ID                 & STDMASK) | 1<<13, // 0x541
+
+( SYS_SWITCHES_ID                   & STDMASK) | 1<<13, // 0x560
+
 };
  
 const uint32_t AF_LUT_SIR[] = {
@@ -55,51 +108,6 @@
  
 const uint64_t AF_LUT_EIR[] = {
 // !! ID's MUST BE IN ASCENDING ORDER (starting at 0x00), NO OVERLAPPING RANGES !!
-( SIGNALS_TX_ID                     & EXTMASK),
-( PROFILE_TX_ID                     & EXTMASK),
-( PACKERRS_TX_ID                    & EXTMASK),
-( AH_TX_ID                          & EXTMASK),
-( SUPPLY_TX_ID                      & EXTMASK),
-( VMISMATCH_TX_ID                   & EXTMASK),
-( FANSPEED_TX_ID                    & EXTMASK),
-( STACK_OPDATA_TX_ID                & EXTMASK),
-( INTREF_MMA_TX_ID_BASE             & EXTMASK),
-( DIETEMP_MMA_TX_ID_BASE            & EXTMASK),
-( VA_MMA_TX_ID_BASE                 & EXTMASK),
-( VDD_MMA_TX_ID_BASE                & EXTMASK),
-( SOC_MMA_TX_ID_BASE                & EXTMASK),
-( CELLV_TX_ID_BASE                  & EXTMASK),
-( CELLFLAGS_TX_ID_BASE              & EXTMASK),
-( TEMP_TX_ID_BASE                   & EXTMASK),
-( TEMPFLAGS_TX_ID_BASE              & EXTMASK),
-( IC_REF_SOC_TX_ID_BASE             & EXTMASK),
-( IC_VA_VDD_TX_ID_BASE              & EXTMASK),
-( IC_DIETEMP_TX_ID_BASE             & EXTMASK),
-( DIETEMPFLAGS_TX_ID_BASE           & EXTMASK),
-( IC_OPDATA_TX_ID_BASE              & EXTMASK),
-( PCM_ERROR_ID                      & EXTMASK),
-( PCM_MODE_ID                       & EXTMASK),
-( PCM_FLAGS_ID                      & EXTMASK),
-( LEFT_MOC_TXID                     & EXTMASK),
-( RIGHT_MOC_TXID                    & EXTMASK),
-( MOC_CURRENT_ID                    & EXTMASK),
-( MOC_VBUS_ID                       & EXTMASK),
-( PCM_DIGIOUT_ID                    & EXTMASK),
-( SYSMGMT_PUMPCMD_ID                & EXTMASK),
-( SYSMGMT_FANCMD_ID                 & EXTMASK),
-( MOC_FAULTS_ID                     & EXTMASK),
-( PCM_FAULTS_ID                     & EXTMASK),
-( FAULTCODE_TX_ID                   & EXTMASK),
-( SYS_ERROR_ID                      & EXTMASK),
-( SYS_XBEE1_ID                      & EXTMASK),
-( SYS_XBEE2_ID                      & EXTMASK),
-( SYS_TEMP_ID                       & EXTMASK),
-( SYS_GLV_CAPACITY_ID               & EXTMASK),
-( SYS_GLV_AH_ID                     & EXTMASK),
-( SYS_DCDC_CURRENT_ID               & EXTMASK),
-( SYS_IMD_STATUS_ID                 & EXTMASK),
-( SYS_IMD_LATCH_ID                  & EXTMASK),
-( SYS_AMS_LATCH_ID                  & EXTMASK),
 
 // EXTENDED ID RANGES - CAN CONTROLLER 1
 //( 0xLOWERBOUND & EXTMASK) << 32         | ( 0xUPPERBOUND & EXTMASK), lower/upperbounds are inclusive

--- a/Steering.cpp	Sun Feb 08 02:47:05 2015 +0000
+++ b/Steering.cpp	Sun Feb 08 05:47:05 2015 +0000
@@ -27,17 +27,14 @@
     display.GotoXY(10,16);
     display.SelectFont(Arial_14,BLACK,ReadData);
     display.PrintString("Penn Electric Racing");
-    wait(2);
-    display.ClearScreen();
-    display.GotoXY(10,16);
-    display.PrintString("Live the dream.");
-    wait(2);
+    wait(1);
+
+    CANMessage Rxmsg;
 
     Thread Thread2(ProcessButtons);
     Thread Thread1(DisplayCurrScreen);
 
     while(1) {
-        CANMessage Rxmsg;
         if (SteeringCANPort.rxRead(Rxmsg)) {
             ProcessCANMsg(Rxmsg);
         }
@@ -108,145 +105,229 @@
 void ProcessCANMsg(CANMessage& Rxmsg)
 {
     if (SteeringCANPort.rxRead(Rxmsg)) {
-        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]);
+        // 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]);
         switch (Rxmsg.id) {
 
                 // HOME SCREEN *******************************************************************************************
             case SOC_TX_ID:
                 CANFloat = GetFloat;
-                sprintf(BigBatLifeBuffer,"%3.2d", int(CANFloat*100));                   // Big battery life percentage
-                display.PutString(1,40,BigBatLifeBuffer);
+                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:
                 CANFloat = GetFloat;
-                sprintf(SmallBatLifeBuffer,"%3.2d", int(CANFloat*100));                 // Small battery life percentage 
-                display.PutString(1,60,SmallBatLifeBuffer);
+                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;
-                sprintf(CarSpdBuffer,"%3.2d", int((CANFloat+CANFloat2)*WheelCircumference*30));     // Miles per hour
-                display.PutString(1,108,CarSpdBuffer);
+                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;
-                sprintf(AvgBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));          // Degrees F
-                display.PutString(3,39,AvgBatTBuffer);
-                //display.PutString(5,108,AvgBatTBuffer); this is for the battery screen
+                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);
+                    //display.PutString(5,108,AvgBatTBuffer); this is for the battery screen
+                }
+                break;
             case TEMP_MMA_TX_ID_BASE:
                 CANFloat2 = GetFloat4;
-                sprintf(MaxBatTBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));          // Figure out Max/Min and Figure out various screen display
-                display.PutString(3,103,MaxBatTBuffer);
-                //display.PutString(5,20,MaxBatTBuffer); this is for the battery screen
+                if (abs((CANFloat2*9.0/5.0)+32 - *MaxBatTBuffer) >=1) {
+                    sprintf(MaxBatTBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));          // Figure out Max/Min and Figure out various screen display
+                    display.PutString(3,103,MaxBatTBuffer);
+                    //display.PutString(5,20,MaxBatTBuffer); this is for the battery screen
+                }
                 CANFloat = GetFloat;
-                sprintf(MinBatTBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));
-                //display.PutString(5,67,MinBatTBuffer); this is for the battery screen
+                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); this is for the battery screen
+                }
+                break;
             case MOC_MOTEMP_ID:
                 CANFloat = GetFloat;
-                sprintf(LMtrTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));          // We need to figure out how to handle the bytes for left and right motors
-                display.PutString(5,34,LMtrTmpBuffer);
-                // display.PutString(1,34,LMtrTmpBuffer); this is for the motor screen
+                if (abs((CANFloat*9.0/5.0)+32 - *LMtrTmpBuffer) >= 1) {
+                    sprintf(LMtrTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));          // We need to figure out how to handle the bytes for left and right motors
+                    display.PutString(5,34,LMtrTmpBuffer);
+                    // display.PutString(1,34,LMtrTmpBuffer); this is for the motor screen
+                }
                 CANFloat2 = GetFloat4;
-                sprintf(RMtrTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));          // We need to figure out how to handle the bytes for left and right motors
-                display.PutString(5,34,RMtrTmpBuffer);
-                //display.PutString(1,98,LMtrTmpBuffer); this is for the motor screen
+                if (abs((CANFloat2*9.0/5.0)+32 - *RMtrTmpBuffer) >= 1) {
+                    sprintf(RMtrTmpBuffer,"%3.2d", int((CANFloat2*9.0/5.0)+32));          // We need to figure out how to handle the bytes for left and right motors
+                    display.PutString(5,34,RMtrTmpBuffer);
+                    //display.PutString(1,98,LMtrTmpBuffer); this is for the motor screen
+                }
+                break;
+
                 // BATTERY SCREEN***********************************************************************************
             case VOLTAGE_TX_ID:
                 CANFloat = GetFloat;
-                sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat));                       // Volts
-                //display.PutString(1,10,BigBatVoltBuffer);
-                //display.PutString(3,94,BigBatVoltBuffer); this is for the charging screen
+                if (abs(CANFloat - *BigBatVoltBuffer) >= 0.1) {
+                    sprintf(BigBatVoltBuffer,"%3.2d", int(CANFloat));                       // Volts
+                    //display.PutString(1,10,BigBatVoltBuffer);
+                    //display.PutString(3,94,BigBatVoltBuffer); this is for the charging screen
+                }
+                break;
             case POWER_TX_ID:
                 CANFloat = GetFloat;
-                sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat));                       // Watts
-                //display.PutString(1,55,BigBatPowerBuffer);
+                if (abs(CANFloat - *BigBatPowerBuffer) >= 1) {
+                    sprintf(BigBatPowerBuffer,"%3.2d", int(CANFloat));                       // Watts
+                    //display.PutString(1,55,BigBatPowerBuffer);
+                }
+                break;
             case CURRENT_TX_ID:
                 CANFloat = GetFloat;
-                sprintf(BigBatCurrentBuffer,"%3.2d", int(CANFloat));                       // Amps
-                //display.PutString(1,100,BigBatCurrentBuffer);
+                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:
                 CANFloat2 = GetFloat4;
-                sprintf(VmaxBuffer,"%3.2d", int(CANFloat2));                                 // We need to figure out how to handle max and min
-                //display.PutString(3,20,VmaxBuffer);
+                if (abs(CANFloat2 - *VmaxBuffer) >= 0.1) {
+                    sprintf(VmaxBuffer,"%3.2d", int(CANFloat2));                                 // We need to figure out how to handle max and min
+                    //display.PutString(3,20,VmaxBuffer);
+                }
                 CANFloat = GetFloat;
-                sprintf(VminBuffer,"%3.2d", int(CANFloat));
-                //display.PutString(3,67,VminBuffer);
+                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;
-                sprintf(VavgBuffer,"%3.2d", int(CANFloat));                                 // Volts
-                //display.PutString(3,108,VavgBuffer);
+                if (abs(CANFloat - *VavgBuffer) >= 0.1) {
+                    sprintf(VavgBuffer,"%3.2d", int(CANFloat));                                 // Volts
+                    //display.PutString(3,108,VavgBuffer);
+                }
+                break;
             case BOARDTEMP_TX_ID:
                 CANFloat = GetFloat;
-                sprintf(BoardTempBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));                                 // Degrees F
-                //display.PutString(7,87,BoardTempBuffer);
+                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;
 
                 // MOTOR SCREEN*****************************************************************
             case MOC_AIRTEMP_ID:
                 CANFloat = GetFloat;
+                if (abs((CANFloat*9.0/5.0)+32 - *LAirTmpBuffer) >= 1) {
                 sprintf(LAirTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));                   // Figure out the left and the right
                 //display.PutString(2,34,LAirTmpBuffer);
+                }
                 CANFloat2 = GetFloat4;
+                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:
                 CANFloat = GetFloat;
+                if (abs((CANFloat*9.0/5.0)+32 - *LIGBTmpBuffer) >= 1) {
                 sprintf(LIGBTmpBuffer,"%3.2d", int((CANFloat*9.0/5.0)+32));                   // Figure out the left and the right
                 //display.PutString(3,34,LIGBTmpBuffer);
+                }
                 CANFloat2 = GetFloat4;
+                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:
                 CANFloat = GetFloat;
+                if (abs(CANFloat - *Rpm_LBuffer) >= 1) {
                 sprintf(Rpm_LBuffer,"%3.2d", int(CANFloat));                   // Figure out the left and the right
                 //display.PutString(5,30,Rpm_LBuffer);
+                }
                 CANFloat2 = GetFloat4;
+                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) {
                 sprintf(TRequestBufferL,"%3.2d", int(CANFloat*100));             // Percentage
                 //display.PutString(7,89,TRequestBufferL);
+                }
                 CANFloat2 = GetFloat4;
+                if (abs(CANFloat2*100 - *TRequestBufferR) >= 1) {
                 sprintf(TRequestBufferR,"%3.2d", int(CANFloat2*100));             // Percentage
                 //display.PutString(7,89,TRequestBufferR);
+                }
+                break;
 
                 // SYSTEM MANAGEMENT SCREEN***************************************************
             case SYS_GLV_CURRENT_ID:
                 CANFloat = GetFloat;
+                if (abs(CANFloat - *SmallBatCurrentBuffer) >= 0.2) {
                 sprintf(SmallBatCurrentBuffer,"%3.2d", int(CANFloat));             // Amps
                 //display.PutString(1,30,SmallBatCurrentBuffer);
+                }
+                break;
             case SYS_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:
                 CANFloat = GetFloat;
+                if (abs(CANFloat*100 - *Fan1Buffer) >= 1) {
                 sprintf(Fan1Buffer,"%3.2d", int(CANFloat*100));                   // Duty Cycle. Figure out the left and the right
                 //display.PutString(3,30,Fan1Buffer);
+                }
                 CANFloat2 = GetFloat4;
+                if (abs(CANFloat2*100 - *Fan1Buffer) >= 1) {
                 sprintf(Fan2Buffer,"%3.2d", int(CANFloat2*100));
                 //display.PutString(3,107,Fan2Buffer);
+                }
+                break;
             case SYS_PWM_PUMP_ID:
                 CANFloat = GetFloat;
+                if (abs(CANFloat*100 - *Pump1Buffer) >= 1) {
                 sprintf(Pump1Buffer,"%3.2d", int(CANFloat*100));                   // Duty Cycle. Figure out the left and the right
                 //display.PutString(5,30,Pump1Buffer);
+                }
                 CANFloat2 = GetFloat4;
+                if (abs(CANFloat2*100 - *Pump2Buffer) >= 1) {
                 sprintf(Pump2Buffer,"%3.2d", int(CANFloat2*100));
                 //display.PutString(5,107,Pump2Buffer);
+                }
+                break;
             case SYS_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:
                 CANFloat = GetFloat;
-                sprintf(IMDRBuffer,"%3.2d", int(CANFloat));             // How the heck are we interpreting this data
+                if (abs(CANFloat - *IMDRBuffer) >= 1) {
+                sprintf(IMDRBuffer,"%3.2d", int(CANFloat));
                 //display.PutString(7,107,IMDRBuffer);
+                }
+                break;
 
                 // CHARGER SCREEN *************************************************************
             case CHARGECURR_TX_ID:
                 CANFloat = GetFloat;
+                if (abs(CANFloat - *ChargeCurrBuffer) >= 0.1) {
                 sprintf(ChargeCurrBuffer,"%3.2d", int(CANFloat));                       // Amps
                 //display.PutString(3,94,ChargeCurrBuffer);
+                }
+                break;
+
                 // OTHER **********************************************************************
             case MODE_TX_ID:
                 CANFloat = GetFloat;
@@ -256,6 +337,7 @@
                 } else {
                     BLButtonRed;
                 }
+                break;
             default:
                 break;
         }

--- a/Steering.h	Sun Feb 08 02:47:05 2015 +0000
+++ b/Steering.h	Sun Feb 08 05:47:05 2015 +0000
@@ -26,8 +26,8 @@
 #define TRButtonRed     DigitalOut u1(P1_14,1);  DigitalOut u2(P1_9,0);
 
 float pi =                  3.14159;
-float WheelRadius =         5/6;              // In feet; same as 10 inches
-float WheelCircumference =  2*pi*WheelRadius; //In feet     
+float WheelRadius =         5.0/6.0;              // In feet; same as 10 inches
+float WheelCircumference =  2.0*pi*WheelRadius; //In feet     
 
 Serial pc(USBTX,USBRX);