Diff: main.cpp
- Revision:
- 0:c6ed639a9fae
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Feb 16 03:04:26 2012 +0000
@@ -0,0 +1,412 @@
+#include "mbed.h"
+#include "MSCFileSystem.h"
+
+class Watchdog {
+public:
+ void kick(float s) {
+ LPC_WDT->WDCLKSEL = 0x1; // Set CLK src to PCLK
+ uint32_t clk = SystemCoreClock / 16; // WD has a fixed /4 prescaler, PCLK default is /4
+ LPC_WDT->WDTC = s * (float)clk;
+ LPC_WDT->WDMOD = 0x3; // Enabled and Reset
+ kick();
+ }
+
+ void kick() {
+ LPC_WDT->WDFEED = 0xAA;
+ LPC_WDT->WDFEED = 0x55;
+ }
+};
+
+//Declare interrupt pin
+InterruptIn killSwitch(p21);
+
+//USB Setup
+DigitalOut USBSelect(p24);
+
+//Stopwatch timer
+Timer toothTime;
+Timer loopTime;
+
+//Watchdog
+Watchdog wdt;
+
+//Battery Level Input
+AnalogIn battery(p20);
+
+//Indicator Lights
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+
+CANMessage msg;
+
+//Analog Mux
+AnalogIn analogIn(p15);
+//AnalogOut analogOut (p18);
+
+DigitalOut enA (p10);
+BusOut selectAnalog (p11,p12,p13,p14);
+
+//Digital Mux
+DigitalIn digitalIn (p16);
+//DigitalOut digitalOut (p17);
+
+DigitalOut enD (p5);
+BusOut selectDigital (p6,p7,p8,p9);
+
+//CAN communication
+CAN can1 (p30,p29);
+DigitalOut canEn (p26);
+
+//Variables
+
+int gearH, gearL, gearR, gearPos, fuel1, fuel2, fuel3, fuel4, fuel5, fuelLev;
+int teethMotor, teethB;
+int dataCollectTime;
+int count, i,j,x,y;
+int variable=0;
+int timeCAN = 0;
+int TIME_CAN_MAX = 1000;
+
+double x1, y1, z1, x2, y2, z2;
+double temp, clutch,vBatt, vBattery, batteryVoltage;
+double susp1, susp2, susp3, susp4;
+double circumfB,diameter, backSpeed, frontSpeed, rpmMotor, motorRPM;
+double timeA, timeout1, timeLoop;
+
+char filename[64];
+char date[32];
+char time1[32];
+char time2[32];
+char time3[32];
+char dataCAN[8];
+char batLev, gearPosition, fuelLevel, rpm_motor, temperature, wheelSpeed;
+
+
+//Interrupt Routine
+void trigger() {
+ FILE *fp = fopen(filename, "a+"); //open file and add to it
+ if(fp){
+ fprintf(fp,"%s,%d,%d,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f \n",time3, gearPos,fuelLev,backSpeed,frontSpeed,motorRPM,x1,y1,z1,x2,y2,z2,temp,clutch,batteryVoltage);
+ fclose(fp);
+ }
+ wait(5); //wait for power to turn off
+}
+
+
+void countTeeth(){
+ count = 8;
+ timeout1 = 1;
+ toothTime.start();
+ x = digitalIn.read();
+ y = digitalIn.read();
+ while(count > 0 & toothTime.read() < timeout1){
+ if (x != y){
+ count--;
+ x=y;
+ }
+ y = digitalIn.read();
+ }
+ timeA = toothTime.read();
+}
+
+
+//Polling Routine
+void Polling(){
+
+ //Speed 1 - back wheel
+ diameter = 0.58; //in kilometers
+ teethB = 4;
+ selectDigital = 12;
+ wait_us(0.05);
+
+ countTeeth();
+ if(timeA > timeout1){
+ backSpeed = 0; //car not moving!!!
+ }else{
+ backSpeed = (1/timeA)*3.14*diameter*3.6; //km/hr
+ }
+ toothTime.reset();
+
+ //Reverse Gear
+ selectDigital = 0;
+ wait_us(0.05);
+ gearR = digitalIn.read();
+
+ //Low Gear
+ selectDigital = 1;
+ wait_us(0.05);
+ gearL = digitalIn.read();
+
+ //High Gear
+ selectDigital = 2;
+ wait_us(0.05);
+ gearH = digitalIn.read();
+
+ //Fuel 5
+ selectDigital = 3;
+ wait_us(0.05);
+ fuel5 = digitalIn.read();
+
+ //Fuel 4
+ selectDigital = 4;
+ wait_us(0.05);
+ fuel4 = digitalIn.read();
+
+ //Fuel 3
+ selectDigital = 5;
+ wait_us(0.05);
+ fuel3 = digitalIn.read();
+
+ //Fuel 2
+ selectDigital = 6;
+ wait_us(0.05);
+ fuel2 = digitalIn.read();
+
+ //Fuel 1
+ selectDigital = 7;
+ wait_us(0.05);
+ fuel1 = digitalIn.read();
+
+ //Motor rpm
+ circumfB = 0.58/1000; //in kilometers
+ teethMotor = 12;
+ selectDigital = 11;
+ wait_us(0.05);
+
+ countTeeth();
+ if(timeA > timeout1){
+ motorRPM = 0; //motor not moving!!!
+ }else{
+ motorRPM = 60/(timeA*3); //rev/min
+ }
+ toothTime.reset();
+
+
+ //Clutch
+ selectAnalog = 15;
+ wait_us(0.05);
+ clutch = analogIn.read();
+
+ //Accelerometer x1
+ selectAnalog = 0;
+ wait_us(0.05);
+ x1 = analogIn.read();
+
+ //Accelerometer y1
+ selectAnalog = 1;
+ wait_us(0.05);
+ y1 = analogIn.read();
+
+ //Accelerometer z1
+
+ selectAnalog = 2;
+ wait_us(0.05);
+ z1 = analogIn.read();
+
+ //Temperature (sig4)
+ selectAnalog = 8;
+ wait_us(0.05);
+ temp = analogIn.read();
+
+ //Battery Level
+ vBatt = battery.read();
+
+/*
+ //Suspension 1
+ selectAnalog = 11;
+ wait_us(0.05);
+ susp1 = analogIn.read();
+
+ //Suspension 2
+ selectAnalog = 12;
+ wait_us(0.05);
+ susp2 = analogIn.read();
+
+ //Suspension 3
+ selectAnalog = 13;
+ wait_us(0.05);
+ susp3 = analogIn.read();
+
+ //Suspension 4
+ selectAnalog = 14;
+ wait_us(0.05);
+ susp4 = analogIn.read();
+*/
+}
+
+void translateData(){
+
+//convert to gear
+ gearPos = 0; // N
+ if (gearL==0){
+ gearPos = 1;
+ }
+ if (gearH==0){
+ gearPos = 2;
+ }
+ if (gearR==0){
+ gearPos = 3;
+ }
+
+//convert to fuel level 1-4 (1=Empty 5=Full)
+ fuelLev = 5; //Full
+
+ if (fuel1==1){
+ fuelLev = 4;
+ }
+ if (fuel2==1){
+ fuelLev = 3;
+ }
+ if (fuel3==1){
+ fuelLev = 2;
+ }
+ if (fuel4==1){
+ fuelLev = 1;
+ }
+ if (fuel5==1){
+ fuelLev = 0; //Empty
+ }
+
+//convert battery voltage (82=10V & 100=15V)
+ vBattery = vBatt * 100;
+ if(vBattery < 82){
+ vBattery = 82;
+ }
+ batteryVoltage = vBatt * 14.8; //change battery % to volts
+
+//convert motor rpm 0-40 thousand rpm
+ rpmMotor = motorRPM/100; //0-40
+ if(rpmMotor > 40){
+ rpmMotor = 40;
+ }
+
+//convert wheel speed (0-150 km/hr)
+ if(backSpeed > 150){
+ backSpeed = 150;
+ }
+
+//convert temperature (0-180 degrees C)
+
+//convert clutch position
+
+//convert accelerometer values
+
+}
+
+void getCAN(){
+ //Request Data from Display
+ while(!can1.read(msg) && (timeCAN < TIME_CAN_MAX) ){
+ timeCAN++;//wait until data is received
+ }
+
+ if(timeCAN < TIME_CAN_MAX){
+ variable = msg.data[0];//if data is received store (x2, y2, z2, frontSpeed)
+ printf("CAN message received: %d, %d, %d, %d id:%d\r\n", variable, msg.data[1],msg.data[2],msg.data[3],msg.id);
+ x2 = msg.data[1];
+ y2 = msg.data[2];
+ z2 = msg.data[3];
+ frontSpeed = msg.data[4];
+
+ }else{
+ printf("CAN message timeout\r\n");
+ x2 = NULL;//if no data timeout and store as null
+ y2 = NULL;
+ z2 = NULL;
+ frontSpeed = NULL;
+ }
+
+ timeCAN = 0;
+}
+
+//Send data to Display
+void sendCAN(){
+
+ //Cast to char
+ batLev = (char) vBattery; //82-100
+ gearPosition = (char) gearPos; //0-3
+ fuelLevel = (char) fuelLev; //0-5
+ rpm_motor = (char) rpmMotor; //0-40
+ temperature = (char) temp; //0-180
+ wheelSpeed = (char) backSpeed; //0-150
+
+ char dataCAN[8] = {rpm_motor,fuelLevel,gearPosition,batLev,temperature, wheelSpeed,0,0};
+
+//send data to display (gearPos, fuelLev, backSpeed, rpmMotor, batLev, temp)
+ if (can1.write(CANMessage(0xFF01FF, dataCAN, 8, CANData, CANExtended))){
+ //CAN message sent
+ }else{
+ //CAN message not sent
+ }
+ timeLoop = loopTime.read();
+ j--;
+ wait(0.1);
+
+}
+
+//*****************************************************************Main Program*************************************************************************************************
+
+int main() {
+ wdt.kick(5.0);
+ killSwitch.rise(&trigger);
+ loopTime.start();
+ USBSelect = 0; //enable USB channel 1
+ enA = 1; //enable analog mux
+ enD = 1; //enable digital mux
+ canEn = 0; //enable CAN
+ can1.frequency(250000);
+
+//Set Time and Date
+//*****DO THIS THE FIRST TIME ONLY!********
+ //set_time(1328382900); //seconds since Jan. 1, 1970 - use Unix Time Converter http://www.epochconverter.com/
+ //started on Feb. 4, 2012 at 19:15:00
+
+ while(1){ //while forever
+
+//Create File
+ time_t seconds = time(NULL);
+ strftime(time1, 32, "%H_%M_%S", localtime(&seconds));
+ strftime(date, 32, "%m/%d/%y", localtime(&seconds));
+ sprintf(filename, "/fs/%s.csv", time1);
+ MSCFileSystem fs("fs");
+ FILE *fp = fopen(filename, "w");
+ if(fp){
+ fprintf(fp,"Date(MM/DD/YY): %s \n", date);
+ strftime(time2, 32, "%H:%M:%S", localtime(&seconds));
+ fprintf(fp,"Start Time: %s \n", time2);
+ fprintf(fp,"Time, Gear Position, Fuel Level,Back Wheel Speed(km/h),Front Wheel Speed(km/h),Motor RPM,x1,y1,z1,x2,y2,z2,Temperature(C),Clutch Position(cm),Battery(V) \n");
+ fclose(fp);
+ }else{//no USB
+ }
+
+ i=100; //print to USB file 100 times before opening a new file
+ while(i > 0){
+ //Get a CAN message
+ getCAN();
+ //Get sensor data
+ Polling();
+ //Translate raw sensor data
+ translateData();
+ //Print to USB
+ if(fp != NULL){
+ FILE *fp = fopen("/fs/data.csv", "a+");
+ time_t seconds = time(NULL);
+ strftime(time3, 32, "%H:%M:%S", localtime(&seconds));
+ fprintf(fp,"%s,%d,%d,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f \n",time3, gearPos,fuelLev,backSpeed,frontSpeed,motorRPM,x1,y1,z1,x2,y2,z2,temp,clutch,batteryVoltage);
+ fclose(fp);
+ fp = NULL;
+
+ }else{//no USB
+ }
+
+ //Send a CAN message
+ sendCAN();
+ i--;
+ } //close while i loop
+
+ timeLoop = loopTime.read();
+ loopTime.reset();
+
+ wdt.kick();
+ }//close forever while loop
+}//close main
\ No newline at end of file
KAT MFL