File content as of revision 0:c6ed639a9fae:
#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
KAT MFL