Stefan Vukcevic / Mbed 2 deprecated MAIN_UNIT_FSRA

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Dependencies:   BNO055 GPS IntegrationCAN SD_CARD_TWO mbed

Fork of BNO055 by Dave Turner

Files at this revision

API Documentation at this revision

Revision 8:03e50b5d9d10, committed 2018-06-17

Comitter:
Tafkal
Date:
Sun Jun 17 11:59:39 2018 +0000
Parent:
7:83d56dc36f01
Commit message:
LOL

Changed in this revision

BNO055.lib Show annotated file Show diff for this revision Revisions of this file
GPS.lib Show annotated file Show diff for this revision Revisions of this file
IntegrationCAN.lib Show annotated file Show diff for this revision Revisions of this file
SD_CARD_TWO.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/BNO055.lib	Fri May 25 08:43:42 2018 +0000
+++ b/BNO055.lib	Sun Jun 17 11:59:39 2018 +0000
@@ -1,1 +1,1 @@
-BNO055#8c87b083091a
+https://os.mbed.com/users/Tafkal/code/BNO055/#8c87b083091a

--- a/GPS.lib	Fri May 25 08:43:42 2018 +0000
+++ b/GPS.lib	Sun Jun 17 11:59:39 2018 +0000
@@ -1,1 +1,1 @@
-http://os.mbed.com/users/tylerjw/code/GPS/#24e0699d784f
+https://os.mbed.com/users/Tafkal/code/GPS/#24e0699d784f

--- a/IntegrationCAN.lib	Fri May 25 08:43:42 2018 +0000
+++ b/IntegrationCAN.lib	Sun Jun 17 11:59:39 2018 +0000
@@ -1,1 +1,1 @@
-http://os.mbed.com/users/formulas/code/IntegrationCAN/#884c10989f0d
+https://os.mbed.com/users/Tafkal/code/IntegrationCAN/#c9a444d3fe1b

--- a/SD_CARD_TWO.lib	Fri May 25 08:43:42 2018 +0000
+++ b/SD_CARD_TWO.lib	Sun Jun 17 11:59:39 2018 +0000
@@ -1,1 +1,1 @@
-http://os.mbed.com/teams/Elec351-MMB/code/SD_CARD_TWO/#bda10ba41e15
+https://os.mbed.com/users/Tafkal/code/SD_CARD_TWO/#bda10ba41e15

--- a/main.cpp	Fri May 25 08:43:42 2018 +0000
+++ b/main.cpp	Sun Jun 17 11:59:39 2018 +0000
@@ -18,7 +18,7 @@
 //SD Card Object
 SDBlockDevice sd(PB_5, PB_4, PB_3, PA_4);
 //CAN
-CAN can(PD_0, PD_1);
+CAN can(PD_0, PD_1, 500000);
 //tRF
 Serial tRF(PC_12, PD_2, 19200);
 
@@ -32,10 +32,12 @@
 CANMessage msgLVDTFront;    // Left, Right, Steering Wheel 
 CANMessage msgLVDTRear;     // Left, Right
 CANMessage msgBrakes;       // Brake system preassure, Braking On/Off
+CANMessage msgKm;           // KM
 CANMessage msgGPS;          // GPS position data
 CANMessage msgGForce;       // Accel data
 CANMessage msgGyro;         // Gyro data
-char* temp_string;         // Temp data
+CANMessage msgTest;
+char* temp_string;          // Temp data
 int CANlen = 0;
 //Some stuff for CAN
 // Variables received from DTA, LVDTs and brakes
@@ -46,10 +48,10 @@
 int FL_LVDT_Ref,FR_LVDT_Ref,RL_LVDT_Ref,RR_LVDT_Ref;
 uint16_t rx_flag=0x0000;        // Receive specific CAN data message
 uint8_t lvdtref=0x0F;          // Flag if refferent LVDT value is received (first received LVDT value, 1=no, 0=yes). From highest to lowest bit: LL,LR,RL,RR.
-
+float kilometraza;
 /*-----------tRF Send Telemetry-----------*/
 void tRF_sendCAN(CANMessage SendMe) {
-    tRF.printf("%x%s%d%d%d", SendMe.id, SendMe.data, SendMe.len, SendMe.format,SendMe.type);
+    tRF.printf("S%x%x\n", SendMe.id, SendMe.data);
 }
 
 /*------------------MAIN------------------*/
@@ -59,28 +61,28 @@
     
 //10DOF INIT
     imu.reset();
-    pc.printf("RESET DONE!");
+   // pc.printf("RESET DONE!");
     while(!imu.check()){
-        pc.printf("ejbg");
+        //pc.printf("ejbg");
             }
-    pc.printf("CHECK DONE!");
+    //pc.printf("CHECK DONE!");
 //10DOF SET MODE AND CALIBRATE
     imu.setmode(OPERATION_MODE_IMUPLUS);
     imu.get_calib();
 // Display sensor information
-    pc.printf("BNO055 found\r\n\r\n");
+    /*pc.printf("BNO055 found\r\n\r\n");
     pc.printf("Chip          ID: %0z\r\n",imu.ID.id);
     pc.printf("Accelerometer ID: %0z\r\n",imu.ID.accel);
     pc.printf("Gyroscope     ID: %0z\r\n",imu.ID.gyro);
     pc.printf("Magnetometer  ID: %0z\r\n\r\n",imu.ID.mag);
     pc.printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
-    pc.printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
+    pc.printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);*/
 // Display chip serial number
-    for (int i = 0; i<4; i++){
+    /*for (int i = 0; i<4; i++){
         pc.printf("%0z.%0z.%0z.%0z\r\n",imu.ID.serial[i*4],imu.ID.serial[i*4+1],imu.ID.serial[i*4+2],imu.ID.serial[i*4+3]);
-    }
+    }*/
     
-    pc.printf("\r\n");
+    //pc.printf("\r\n");
     
 //tRF INIT
   tRF.printf("+++");
@@ -95,15 +97,15 @@
   tRF.printf("S201=4\r");
   // Go to send mode
   tRF.printf("ATO\r");
-  pc.printf("tRF INIT END\n");
+ // pc.printf("tRF INIT END\n");
   
 //SD CARD
-    printf("Initialise\n");
+    //printf("Initialise\n");
     //FileSystemLike(*sd);
 
 // call the SDBlockDevice instance initialisation method. (not needed)
     if ( sd.init() != 0) {
-        printf("Init failed \n");
+        //printf("Init failed \n");
         errorCode(FATAL);
     }    
     
@@ -111,16 +113,20 @@
     FATFileSystem fs("sd", &sd);
     
 // Open to WRITE
-    printf("Write to a file\n");
-    FILE* fp = fopen("/sd/WriteMeBaby.txt","a");
-    
+    //printf("Write to a file\n");
+    FILE* fp = fopen("/sd/Test.txt","a");
+    //FILE* km = fopen("/sd/kilometraza.txt","r+");
     if (fp == NULL) {
         error("Could not open file for read\n");
         errorCode(FATAL);
     }   
-    
+    /*if (km == NULL) {
+        error("Could not open file for read\n");
+        errorCode(FATAL);
+    }  
+    fscanf(km, "%f", &kilometraza);*/
 //Write something to SD
-    fputs("Drumska Strela!\r\n", fp);
+    //fputs("Drumska Strela!\r\n", fp);
 /*
 //Close File
     fclose(fp);
@@ -132,24 +138,27 @@
 */
 /*----------------MAIN LOOP----------------*/
     while (true) {
+        //printf("In while\n");
 //GET YPR
         imu.get_angles();
-        pc.printf("Yaw: %5.1f Pitch: %5.1f Roll: %5.1f\r\n", imu.euler.yaw, imu.euler.pitch, imu.euler.roll);
+        //pc.printf("Yaw: %5.1f Pitch: %5.1f Roll: %5.1f\r\n", imu.euler.yaw, imu.euler.pitch, imu.euler.roll);
         fprintf(fp, "Yaw: %5.1f Pitch: %5.1f Roll: %5.1f\r\n", imu.euler.yaw, imu.euler.pitch, imu.euler.roll);
 //GET ACCEL
         imu.get_accel();
-        pc.printf("ACX: %5.1f ACY: %5.1f ACZ: %5.1f\r\n", imu.accel.x, imu.accel.y, imu.accel.z);
+        //pc.printf("ACX: %5.1f ACY: %5.1f ACZ: %5.1f\r\n", imu.accel.x, imu.accel.y, imu.accel.z);
         fprintf(fp, "ACX: %5.1f ACY: %5.1f ACZ: %5.1f\r\n", imu.accel.x, imu.accel.y, imu.accel.z);
 //GET GPS DATA
+        //printf("GPS\n");
         NMEA_TYPE = gps.sample();
         if (1) {
-            pc.printf("LON: %f, LAT: %f, SIV: %d, TYPE: %d\r\n",gps.get_nmea_longitude(), gps.get_dec_latitude(), gps.get_satelites(), NMEA_TYPE);
+            //pc.printf("LON: %f, LAT: %f, SIV: %d, TYPE: %d\r\n",gps.get_nmea_longitude(), gps.get_dec_latitude(), gps.get_satelites(), NMEA_TYPE);
             fprintf(fp, "LON: %f, LAT: %f, SIV: %d, TYPE: %d\r\n",gps.get_nmea_longitude(), gps.get_dec_latitude(), gps.get_satelites(), NMEA_TYPE);
         }
 //CAN TEST
+        //printf("CANUpdate\n");
         UpdateInfo();
         //Send telemetry data
-        tRF.printf("POYY KEJTERI\n");
+        //tRF.printf("POYY KEJTERI\n");
         //Store data
         fprintf(fp, "Rpm0: %d, Speed0: %d, Gear0: %d, Water_Temp0: %d, Oil_Temp0: %d, TPS0: %d, Brakes0: %d, Oil_P0: %d, MAP0: %d, Air_Temp0: %d, Lambda0: %d, Volts0: %d, Crank0%d\r\n",\
         Rpm0,Speed0,Gear0,Water_Temp0,Oil_Temp0,TPS0,Brakes0,Oil_P0,MAP0,Air_Temp0,Lambda0,Volts0,Crank0);
@@ -159,6 +168,7 @@
         FL_LVDT0,FR_LVDT0,RL_LVDT0,RR_LVDT0,FL_LVDT,FR_LVDT,RL_LVDT,RR_LVDT);
         
 //tRF SendAll
+        //printf("sendCAN\n");
        tRF_sendCAN(msgDTA1);
        tRF_sendCAN(msgDTA2);
        tRF_sendCAN(msgDTA3);
@@ -167,8 +177,15 @@
        tRF_sendCAN(msgDTA6);
        tRF_sendCAN(msgLVDTFront);
        tRF_sendCAN(msgLVDTRear);
-       tRF_sendCAN(msgBrakes);
-       sprintf(temp_string, "%.5fN%.5fE", gps.get_nmea_longitude(), gps.get_dec_latitude());
+       tRF_sendCAN(msgBrakes);/*
+       while(1) {
+       sprintf(temp_string, "401236789");
+       CANlen = strlen(temp_string);
+       tRF_sendCAN(CANMessage(0x2001, temp_string, CANlen));
+       wait(1);
+       tRF.printf("S20012D123678\n");
+       }*/
+       /*sprintf(temp_string, "%.5fN%.5fE", gps.get_nmea_longitude(), gps.get_dec_latitude());
        CANlen = strlen(temp_string);
        msgGPS = CANMessage(0x0009, temp_string, CANlen);
        tRF_sendCAN(msgGPS);
@@ -178,7 +195,7 @@
        tRF_sendCAN(msgGForce);
        sprintf(temp_string, "%.5fX%.5fY%.5fZ", imu.accel.x, imu.accel.y, imu.accel.z);
        CANlen = strlen(temp_string);
-       msgGyro= CANMessage(0x0011, temp_string, CANlen);
+       msgGyro= CANMessage(0x0011, temp_string, CANlen);*/
        
     }
 }
\ No newline at end of file