Diff: outDiagnostics/outDiagnostics.cpp

Revision:

31:7eaa5e881b56

Parent:

30:91af74a299e1

Child:

33:6bc82b6b62e5

--- a/outDiagnostics/outDiagnostics.cpp	Thu Nov 13 10:53:10 2014 +0000
+++ b/outDiagnostics/outDiagnostics.cpp	Fri Nov 14 06:05:59 2014 +0000
@@ -1,4 +1,5 @@
 #include "outDiagnostics.h"
+#include "CAN_TxIDs.h"
 
 // Macros for working with the string
 #define ADD_LINE                  len+=sprintf(buff+len,"%s\r\n",line);                                                    // Add newlines, add it to the working buffer 
@@ -69,17 +70,17 @@
 
         char switches = data.switchState;
         const char switchNames[12][26] = {"FUSE","AMS LATCH","IMD LATCH","PCM RELAY","BRAKE PLAUSIBILITY RELAY","LEFT E-STOP","INERTIA SWITCH","BRAKE OVER-TRAVEL SWITCH","COCKPIT E-STOP","RIGHT E-STOP","HVD","TSMS"};
-        padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE     // Generate blank line 
+        padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE     // Generate blank line
         padCenter(line, max_charsPerLine-2, " Shutdown Switches ", '*'); ADD_LINE
         if (switches == 0) sprintf(temp, "All switches are CLOSED.");
         else sprintf(temp, "%s is OPEN.", switchNames[switches-1]);
         ADD_SPRINTF_LINE
         
-        padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE     // Generate blank line 
+    /*    padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE   // Generate blank line
         padCenter(line, max_charsPerLine-2, " Telemetry ", '*'); ADD_LINE
         sprintf(temp, "Channel 1: MessagesIn: %d MessagesOut: %d", data.xbee1MessagesIn, data.xbee1MessagesOut); ADD_SPRINTF_LINE
         sprintf(temp, "Channel 2: MessagesIn: %d MessagesOut: %d", data.xbee2MessagesIn, data.xbee2MessagesOut); ADD_SPRINTF_LINE
-
+*/
         padCenter(line, max_charsPerLine-2, " ", ' '); ADD_LINE     // Generate blank line 
         padCenter(line, max_charsPerLine-2, " Miscellaneous ", '*'); ADD_LINE
         sprintf(temp, "Temp: %5.1fC OverTemp: %s canFault: %s WatchdogReset: %s ErrorFrame: 0x%x", data.internalTemp, BOOL(data.internalOverTemp), BOOL(data.canFault), BOOL(data.watchdogReset), data.errorFrame); ADD_SPRINTF_LINE
@@ -88,14 +89,89 @@
         for (int i = 0; i < strlen(buff); i++) {
             pc.putc(buff[i]);   
         }
+        // Erase screen every 5sec to remove glitches
+        static int count=0;
+        if (count%50==0) {
+            pc.printf("\033[2J");        // Clear the screen
+        }
+        count++;
         Thread::wait(100);
     }
 }
 
+template <typename T>
+void sendCAN(int ID, T dat) {
+    CANMessage msg;
+    msg.id = ID;
+    msg.len = sizeof(T);
+    memcpy(&msg.data[0], (void*)&dat, sizeof(T));
+    if (!can.txWrite(msg)) data.canFault = true;
+    xbee.receive(msg);
+}
+
 void outDiagnostics::thread_canOut(void const *args) {
+
     while(1) {
         CANMessage msg;
 
+        // Sys Mgmt Error Frame
+        sendCAN(SYS_ERROR_ID, data.errorFrame);
+        
+        // Xbee1 Counter
+        msg.id = SYS_XBEE1_ID;
+        msg.len = 2*sizeof(int);
+        memcpy(&msg.data[0], (void*)&data.xbee1MessagesIn, sizeof(int));
+        memcpy(&msg.data[4], (void*)&data.xbee1MessagesOut, sizeof(int));
+        if (!can.txWrite(msg)) data.canFault = true;
+        xbee.receive(msg);
+
+        // Xbee2 Counter
+        msg.id = SYS_XBEE2_ID;
+        msg.len = 2*sizeof(int);
+        memcpy(&msg.data[0], (void*)&data.xbee2MessagesIn, sizeof(int));
+        memcpy(&msg.data[4], (void*)&data.xbee2MessagesOut, sizeof(int));
+        if (!can.txWrite(msg)) data.canFault = true;
+        xbee.receive(msg);
+        
+        // Internal temperature
+        sendCAN(SYS_TEMP_ID, data.internalTemp);
+
+        // GLV Battery
+        sendCAN(SYS_GLV_CURRENT_ID, data.glvCurrent);
+        sendCAN(SYS_GLV_CAPACITY_ID, data.glvCapacity);
+        sendCAN(SYS_GLV_AH_ID, data.glvAmphours);
+        sendCAN(SYS_GLV_SOC_ID, data.glvSOC);
+
+        // DC-DC Converter
+        sendCAN(SYS_DCDC_CURRENT_ID, data.dcdcCurrent);
+        sendCAN(SYS_DCDC_STATUS_ID, data.dcdcStatus);
+
+        // PWM Channels        
+        msg.id = SYS_PWM_FAN_ID;
+        msg.len = 2*sizeof(float);
+        memcpy(&msg.data[0], (void*)&data.dcdcFan1Duty, sizeof(float));
+        memcpy(&msg.data[4], (void*)&data.dcdcFan2Duty, sizeof(float));
+        if (!can.txWrite(msg)) data.canFault = true;
+        xbee.receive(msg);
+
+        msg.id = SYS_PWM_PUMP_ID;
+        msg.len = 2*sizeof(float);
+        memcpy(&msg.data[0], (void*)&data.dcdcPump1Duty, sizeof(float));
+        memcpy(&msg.data[4], (void*)&data.dcdcPump2Duty, sizeof(float));
+        if (!can.txWrite(msg)) data.canFault = true;
+        xbee.receive(msg);
+        
+        // IMD
+        sendCAN(SYS_IMD_STATUS_ID, data.imdStatus);
+        sendCAN(SYS_IMD_RESIST_ID, data.imdResistance);
+
+        // Latches
+        sendCAN(SYS_IMD_LATCH_ID, data.IMDlatchError);
+        sendCAN(SYS_AMS_LATCH_ID, data.AMSlatchError);
+
+        // Shutdown Switches
+        sendCAN(SYS_SWITCHES_ID, data.switchState);
+
         Thread::wait(100);
     }   
 }
\ No newline at end of file