Revision 9:e946cafa3cae, committed 2014-10-18

Comitter:

palimar

Date:

Sat Oct 18 16:36:44 2014 +0000

Parent:

8:57f279f486d9

Child:

10:493f2151d5f1

Child:

13:1f05dcd9ae0e

Commit message:

Added preliminary code to send drive status requests.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN_FILTER_LUT.h	Sat Oct 18 16:36:44 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/Steering.cpp	Thu Oct 16 22:37:28 2014 +0000
+++ b/Steering.cpp	Sat Oct 18 16:36:44 2014 +0000
@@ -1,6 +1,5 @@
 #include "Steering.h"
 
-
 void HomeScreen()
 {
     CANMessage Rxmsg;
@@ -208,25 +207,26 @@
 }
 
 
-void ON()
+void request_status_change()
 {
-    Txmsg_Drive.data[0]|=(1<<0);   
-    wait(0.1);
+    //drive_status != drive_status;   
+    //wait(0.1);
+    
+    //char status_string = (drive_status == 1 ? "ON" : "OFF");
 
     display.ClearScreen();
     display.SelectFont(Arial12,BLACK,ReadData);
     display.GotoXY(26,16);
-    display.PrintString(" ON    INITIATED");
-    printf("ON Initiated\n\r");
-    //screen=0;
+    display.PrintString("REQUEST SENT TO CHANGE DRIVE STATUS TO ");
+    printf("DRIVE STATUS CHANGE Initiated\n\r");
+    
+    
+    
     return;
 }
 
-void ResetCommand()
+void reset()
 {
-    Txmsg_Drive.data[0]&=~(1<<0);
-    wait(0.1);
-    
     display.ClearScreen();
     display.SelectFont(Arial12,BLACK,ReadData);
     display.GotoXY(16,16);
@@ -259,9 +259,8 @@
 {
     pc.baud(230400);
     CAN_Steering.frequency(500000);
-    for(int i = 0; i<4; i++){
-        drive[i] = (0x00);
-    }
+    drive_status = 0;
+    reset_body = 0;
     ledstream.write(0);
     call_ledstream.attach(&Powerstream,0.1);
 }
@@ -278,26 +277,19 @@
     display.PrintString("Penn Electric Racing");
     
     wait(1);
-    
-    Thread thread(display_speed_data);
 
     // Start to read buttons on main thread
-    screen=0;
-    wait(1);
     
     while(1)
     {
         if(biSWBL.read())
         {
-            ON();
-            //wait(1);
-           // HomeScreen();
+            request_status_change();
         }
         if(biSWBR.read())
         { 
-            ResetCommand();
+            reset();
         }
-        CAN_Steering.write(Txmsg_Drive);        
-        wait(0.3);    
+         
     }        
 }    

--- a/Steering.h	Thu Oct 16 22:37:28 2014 +0000
+++ b/Steering.h	Sat Oct 18 16:36:44 2014 +0000
@@ -102,6 +102,11 @@
     
 int maxScreen=5;
 int screen; 
-char drive[4];
-CANMessage Txmsg_Drive(0x601,drive,sizeof(drive));
+
+char drive_status;
+char reset_body;
+
+CANMessage Txmsg_drive_status(0x501,&drive_status,1);
+CANMessage Txmsg_reset(0x502,&reset_body,1);
+
 #endif /* STEERING_H */    
\ No newline at end of file