Nenad Djalovic
Konacan kod
Dependencies: BSP_DISCO_F469NIa EEPROM_DISCO_F469NI LCD_DISCO_F469NIa SD_DISCO_F469NI mbed
Fork of
IntegrationCAN
by 
Nenad Djalovic
Revision 2:f54f01527ebb, committed 2018-06-28
- Comitter:
- formulas
- Date:
- Thu Jun 28 16:33:23 2018 +0000
- Parent:
- 1:ed6a402be3e3
- Commit message:
- a
Changed in this revision
--- a/CAN_library.cpp Wed May 16 14:55:13 2018 +0000
+++ b/CAN_library.cpp Thu Jun 28 16:33:23 2018 +0000
@@ -2,8 +2,12 @@
extern CAN can;
extern Serial pc;
-extern CANMessage msgDTA1, msgDTA2, msgDTA3, msgDTA4, msgDTA5, msgDTA6, msgLVDTFront, msgLVDTRear, msgBrakes;
+extern SD_DISCO_F469NI sd;
+//extern EEPROM_DISCO_F469NI eep;
+extern Timer t_int,t_store;
+extern CANMessage msgDTA1, msgDTA2, msgDTA3, msgDTA4, msgDTA5, msgDTA6, msgLVDTFront, msgLVDTRear, msgBrakes, msgDistance;
extern uint16_t rx_flag;
+extern uint8_t distance_flag;
extern uint8_t lvdtref;
extern uint16_t Rpm0, Speed0, Gear0, Water_Temp0, Oil_Temp0, TPS0, Brakes0, Oil_P0, MAP0, Air_Temp0, Lambda0, Volts0, Crank0;
@@ -11,6 +15,7 @@
extern int FL_LVDT0, FR_LVDT0, RL_LVDT0, RR_LVDT0, FL_LVDT, FR_LVDT, RL_LVDT, RR_LVDT;
extern int FL_LVDT_Ref,FR_LVDT_Ref,RL_LVDT_Ref,RR_LVDT_Ref;
int LVDT_Max=150;
+extern float Meter_counter,Meter_counter0;
void CANMsgReceive(){ // CAN RX Interrupt Function
CANMessage tmpMsg;
@@ -54,13 +59,16 @@
rx_flag|=(1<<8);
msgBrakes=tmpMsg;
break;
+ case(9):
+ rx_flag|=(1<<9);
+ msgDistance=tmpMsg;
};
//pc.printf("rx_flag=%d\n",rx_flag);
};
};
-void UpdateInfo(){ // Update info for DTA values
- int noID=9;
+void UpdateInfo(){ // Update info for received values
+ int noID=10;
uint16_t *newData;
for (int i=0;i<noID;i++){ //For loop goes trough Message IDs
uint16_t flagBit;
@@ -112,10 +120,18 @@
UpdateInfoBrakes(newData);
rx_flag = rx_flag ^ (1<<8);
break;
+ case(9):
+ newData=AllocData(msgDistance);
+ if(distance_flag==0){
+ InitDistanceMeter(newData);
+ distance_flag=1;
+ };
+ rx_flag = rx_flag ^ (1<<9);
// for each new id add new case statement
};
};
};
+ UpdateMeterCounter();
};
uint16_t * AllocData(CANMessage msg){ //Unpack CAN message
@@ -127,6 +143,33 @@
return newData;
};
+void InitDistanceMeter(uint16_t newData[4]){
+ uint32_t DistanceBuffer;
+ DistanceBuffer=(uint32_t)((newData[1]<<16) | (newData[0]));
+ Meter_counter=float(DistanceBuffer)*10;
+ pc.printf("Init success, start km=%d,%f\n",DistanceBuffer,Meter_counter);
+ t_int.start();
+ t_store.start();
+};
+/*void InitDistanceMeter(){
+ uint32_t distance_buffer;
+ if(sd.ReadBlocks((uint32_t*)distance_buffer,DISTANCE_MEMORY_ADDR ,1,SD_DATATIMEOUT)){
+ Meter_counter=(float(distance_buffer))/100;
+
+
+};*/
+/*void InitDistanceMeter(){
+
+ uint8_t DistanceBuffer8[4];
+ uint32_t DistanceBuffer32;
+ if(eep.ReadBuffer(DistanceBuffer8, 0, (uint16_t*)4)){
+ pc.printf("Read success\n");
+ }
+ DistanceBuffer32=(DistanceBuffer8[0]<<24) | (DistanceBuffer8[1]<<16) | (DistanceBuffer8[2]<<8) | DistanceBuffer8[3];
+ Meter_counter=(float(DistanceBuffer32))/100;
+ pc.printf("Meter_counter=%f\n",Meter_counter);
+};*/
+
void UpdateInfoDTA1(uint16_t newData[4]){ //Update values for DTA1 message
Rpm0=Rpm;
Rpm=newData[0];
@@ -170,6 +213,59 @@
Crank=newData[2];
};
+void UpdateMeterCounter(){
+ float ti=t_int.read();
+ if(ti>0.1){
+ Meter_counter0=Meter_counter;
+ Meter_counter=Meter_counter+(float)(Speed*0.0277778); // 0.1*1000/3600
+ t_int.reset();
+ };
+ if(t_store>2){
+ char DistanceBuffer8[8];
+ uint32_t DistanceBuffer32=uint32_t(Meter_counter);
+ DistanceBuffer32=uint32_t(Meter_counter);
+ DistanceBuffer8[0]=uint8_t(DistanceBuffer32>>24);
+ DistanceBuffer8[1]=uint8_t((DistanceBuffer32 & (uint32_t)0x00FF0000)>>16);
+ DistanceBuffer8[2]=uint8_t((DistanceBuffer32 & (uint32_t)0x0000FF00)>>8);
+ DistanceBuffer8[3]=uint8_t((DistanceBuffer32 & (uint32_t)0x000000FF));
+ CANMessage msg;
+ if(can.write(CANMessage((uint16_t)DISTANCE,DistanceBuffer8, 8))) {
+ pc.printf("%d\n",DistanceBuffer32);
+ };
+ t_store.reset();
+
+ /*uint32_t distance_buffer;
+ //distance_buffer=uint32_t(Meter_counter) ;
+ pc.printf("distance=%d\n",distance_buffer);
+ distance_buffer=0xFF000000;
+ if(sd.WriteBlocks((uint32_t*)distance_buffer,DISTANCE_MEMORY_ADDR,1,SD_DATATIMEOUT)){
+ pc.printf("Storage success\n");
+ }else{
+ pc.printf("Storage failed\n");
+ };*/
+
+ /*uint32_t DistanceBuffer32;
+ uint8_t DistanceBuffer8[4];
+ DistanceBuffer32=uint32_t(Meter_counter);
+ DistanceBuffer8[0]=DistanceBuffer32>>24;
+ DistanceBuffer8[1]=(DistanceBuffer32 & (uint32_t)0x00FF0000)>>16;
+ DistanceBuffer8[2]=(DistanceBuffer32 & (uint32_t)0x0000FF00)>>8;
+ DistanceBuffer8[3]=(DistanceBuffer32 & (uint32_t)0x000000FF);
+ if(eep.WriteBuffer(DistanceBuffer8,0,4)){
+ pc.printf("Write success,Distance=%d\n",DistanceBuffer32);
+ };*/
+ };
+};
+
+void send(uint16_t ID, char dta[8]) {
+ if(can.write(CANMessage((uint16_t)ID,dta, 8))) {
+ printf("%x\n",ID);
+ printf("Message sent: info1=%x%x, info2=%x%x, info3=%x%x, info4=%x%x\n", dta[1],dta[0],dta[3],dta[2],dta[5],dta[4],dta[7],dta[6]);
+ }else{
+ printf("Shit\n");
+ }
+};
+
void UpdateInfoLVDTFront(uint16_t newData[4]){ //Update values for LVDTFront message
FL_LVDT0=FL_LVDT; //LVDTs are firstly written their voltage value, then overwritten by calculated pertentage value.
FL_LVDT=newData[0];
@@ -181,15 +277,15 @@
}else{
FL_LVDT=(FL_LVDT-FL_LVDT_Ref)*100/FL_LVDT_Ref;
};
- pc.printf("Im in 1\n");
+ //pc.printf("Im in 1\n");
}else{
FL_LVDT_Ref=FL_LVDT;
FL_LVDT=0;
lvdtref=lvdtref^(1<<3);
- pc.printf("Ref=%d\n",FL_LVDT_Ref);
+ //pc.printf("Ref=%d\n",FL_LVDT_Ref);
};
- pc.printf("FL_LVDT=%d, FL_LVDT0=%d\n",abs(FL_LVDT),abs(FL_LVDT0));
- pc.printf("FR_LVDT=%d, FR_LVDT0=%d\n",abs(FR_LVDT),abs(FR_LVDT0));
+ //pc.printf("FL_LVDT=%d, FL_LVDT0=%d\n",abs(FL_LVDT),abs(FL_LVDT0));
+ //pc.printf("FR_LVDT=%d, FR_LVDT0=%d\n",abs(FR_LVDT),abs(FR_LVDT0));
if(!(lvdtref & (1<<2))){
if (FR_LVDT>FR_LVDT_Ref){
@@ -233,8 +329,8 @@
RR_LVDT=0;
lvdtref=lvdtref^(1<<0);
};
- pc.printf("RL_LVDT=%d, RL_LVDT0=%d\n",abs(RL_LVDT),abs(RL_LVDT0));
- pc.printf("RR_LVDT=%d, RR_LVDT0=%d\n",abs(RR_LVDT),abs(RR_LVDT0));
+ //pc.printf("RL_LVDT=%d, RL_LVDT0=%d\n",abs(RL_LVDT),abs(RL_LVDT0));
+ //pc.printf("RR_LVDT=%d, RR_LVDT0=%d\n",abs(RR_LVDT),abs(RR_LVDT0));
};
--- a/CAN_library.h Wed May 16 14:55:13 2018 +0000 +++ b/CAN_library.h Thu Jun 28 16:33:23 2018 +0000 @@ -1,4 +1,7 @@ #include "mbed.h" +#include "SD_DISCO_F469NI.h" +#include "EEPROM_DISCO_F469NI.h" + //CAN Identificators #define DTA_1 0x2000 @@ -6,21 +9,27 @@ #define DTA_3 0x2002 #define DTA_4 0x2003 #define DTA_5 0x2004 -#define DTA_6 0x2006 +#define DTA_6 0x2005 // This IDs can be changed as they are our own IDs -#define LVDT_FRONT 0x1000 -#define LVDT_REAR 0x1001 -#define BRAKES 0x1002 +#define LVDT_FRONT 0x1006 +#define LVDT_REAR 0x1007 +#define BRAKES 0x1008 +#define DISTANCE 0x0009 // If we add some other IDs in the vehicle add them here +#define DISTANCE_MEMORY_ADDR 3592960 //Start address in SD card memory reserved for Distance Statistics. + //List of functions -void CANMsgReceive(); // CAN RX Interrupt Function + +void CANMsgReceive(); // CAN RX Interrupt Function void UpdateInfo(); // Update info for DTA values uint16_t * AllocData(CANMessage msg); // Unpack CAN message +void InitDistanceMeter(uint16_t newData[4]); // Initialise Distance Meter + //Update values void UpdateInfoDTA1(uint16_t newData[4]); // Update values for DTA1 message void UpdateInfoDTA2(uint16_t newData[4]); // Update values for DTA2 message @@ -28,6 +37,8 @@ void UpdateInfoDTA4(uint16_t newData[4]); // Update values for DTA4 message void UpdateInfoDTA5(uint16_t newData[4]); // Update values for DTA5 message void UpdateInfoDTA6(uint16_t newData[4]); // Update values for DTA6 message +void UpdateMeterCounter(); +void send(uint16_t ID, char dta[8]); void UpdateInfoLVDTFront(uint16_t newData[4]); // Update values for LVDTFront message void UpdateInfoLVDTRear(uint16_t newData[4]); // Update values for LVDTRear message void UpdateInfoBrakes(uint16_t newData[4]); // Update values for Brakes message \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EEPROM_DISCO_F469NI.lib Thu Jun 28 16:33:23 2018 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/EEPROM_DISCO_F469NI/#cd22055cbc4b
--- a/draw_print_library.cpp Wed May 16 14:55:13 2018 +0000
+++ b/draw_print_library.cpp Thu Jun 28 16:33:23 2018 +0000
@@ -363,7 +363,7 @@
};
void ChangeCrank(int Crank){
- PrintString(" ",50,350,400,LCD_COLOR_GREEN);
+ PrintString(" ",50,350,400,LCD_COLOR_GREEN);
if (Crank){
PrintString("ERROR",50,CrankXPos,CrankYPos,LCD_COLOR_RED);
lcd.SetTextColor(LCD_COLOR_BLACK);
--- a/draw_print_library.h Wed May 16 14:55:13 2018 +0000
+++ b/draw_print_library.h Thu Jun 28 16:33:23 2018 +0000
@@ -1,7 +1,7 @@
#include "LCD_DISCO_F469NI.h"
#include "SD_DISCO_F469NI.h"
-#define PI 3.14159265358979323846
+#define PI 3.14159265358979323846
#define BYTE_TO_BINARY_PATTERN "%c%c%c%c%c%c%c%c" //Pattern which converts uint8_t to binary(array of 8 chars)
#define BYTE_TO_BINARY(byte)\
(byte & 0x80 ? '1' : '0'),\
@@ -28,12 +28,13 @@
const uint16_t LogoSmallXPos=635,LogoSmallYPos=5; //Small Logo, all three screens
const uint16_t WaterTempXPos=15,WaterTempYPos=350; //Water Temperature in Main
const uint16_t TPSXPos=569,TPSYPos=200; //TPS in Main
-const uint16_t OilPXPos=330,OilPYPos=25; //Oil Pressure in First Auxiliary
-const uint16_t MAPXPos=330,MAPYPos=100; //MAP in First Auxiliary
-const uint16_t AirTempXPos=330,AirTempYPos=175; //Air Temperature in First Auxiliary
-const uint16_t LambdaXPos=330,LambdaYPos=250; //Lambda Sensor value in First Auxiliary
-const uint16_t VoltsXPos=330,VoltsYPos=325; //Volts in Accumulator in First Auxiliary
-const uint16_t CrankXPos=330,CrankYPos=400; //Crank Error Message in First Auxiliary
+const uint16_t OilPXPos=330,OilPYPos=30; //Oil Pressure in First Auxiliary
+const uint16_t MAPXPos=330,MAPYPos=90; //MAP in First Auxiliary
+const uint16_t AirTempXPos=330,AirTempYPos=150; //Air Temperature in First Auxiliary
+const uint16_t LambdaXPos=330,LambdaYPos=210; //Lambda Sensor value in First Auxiliary
+const uint16_t VoltsXPos=330,VoltsYPos=270; //Volts in Accumulator in First Auxiliary
+const uint16_t CrankXPos=330,CrankYPos=330; //Crank Error Message in First Auxiliary
+const uint16_t Meter_counterXPos=330,Meter_counterYPos=390; //Kilometer counter in First Auxiliary
//YPos in bottom position for LVDTs
const uint16_t FLLVDTBarXPos=280,FLLVDTBarYPos=200; //Front Left Bar LVDT in Second Auxiliary
const uint16_t FRLVDTBarXPos=440,FRLVDTBarYPos=200; //Front Right Bar LVDT in Second Auxiliary
@@ -45,18 +46,19 @@
const uint16_t RRLVDTXPos=534,RRLVDTYPos=310; //Rear Right LVDT in Second Auxiliary
-typedef struct BWImage{ //Black-White Image Structure. These are stored on the controller
+typedef struct BWImage { //Black-White Image Structure. These are stored on the controller
char name;
uint16_t width;
uint16_t height;
uint8_t *bitmap;
- } GEAR,CHAR;
+} GEAR,CHAR;
-typedef struct RGBImage{ //RGB Coloured Image Structure. These are stored on SD Card
+typedef struct RGBImage { //RGB Coloured Image Structure. These are stored on SD Card
uint16_t width;
uint16_t height;
uint32_t START_ADDR;
- }IMAGE;
+} IMAGE;
+
void DrawSpeedMeter(); //Draw Speedmeter function
void PrintChar(CHAR Char,uint16_t StartXPos,uint16_t StartYPos,uint32_t TextColor); //Print Char function
--- a/main.cpp Wed May 16 14:55:13 2018 +0000
+++ b/main.cpp Thu Jun 28 16:33:23 2018 +0000
@@ -1,11 +1,15 @@
#include "CAN_library.h"
#include "screen_library.h"
+#include "EEPROM_DISCO_F469NI.h"
+
LCD_DISCO_F469NI lcd; //Initialize LCD Display
SD_DISCO_F469NI sd; //Initialize SD Card
-Serial pc(USBTX, USBRX); //Initialize Serial. This is used only while debuging code.
+//EEPROM_DISCO_F469NI eep; //Initialize EEPROM Internal memory
+Serial pc(USBTX, USBRX); //Initialize Serial. This is used only while debuging code.
CAN can(PB_5, PB_13); //Initialize CAN.
InterruptIn change_screen_input(D0); //Initialize Digital input for Change screen button
+Timer t_int,t_store;
// Variables received from DTA, LVDTs and brakes
uint16_t Rpm0=0,Speed0=0,Gear0=0,Water_Temp0=0,Oil_Temp0=0,TPS0=0,Brakes0=0,Oil_P0=0,MAP0=0,Air_Temp0=0,Lambda0=0,Volts0=0,Crank0=0;
@@ -13,10 +17,12 @@
int FL_LVDT0=0,FR_LVDT0=0,RL_LVDT0=0,RR_LVDT0=0,FL_LVDT=0,FR_LVDT=0,RL_LVDT=0,RR_LVDT=0;
//Referrent LVDT values. First received value is referrent.
int FL_LVDT_Ref,FR_LVDT_Ref,RL_LVDT_Ref,RR_LVDT_Ref;
+float Meter_counter=0,Meter_counter0=0;
uint8_t change_flag=0;
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.
+uint8_t distance_flag=0;
+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.
uint8_t screen_flag=0x01; // Current screen flag. 1=Main, 2=First Aux, 3=Second Aux.
uint8_t ft_main_flag=1; // Detect first time Main screne in loop
uint8_t ft_2aux_flag=1; // Detect first time Second Aux screne in loop
@@ -32,6 +38,7 @@
CANMessage msgLVDTFront; // Left, Right, Steering Wheel
CANMessage msgLVDTRear; // Left, Right
CANMessage msgBrakes; // Brake system preassure, Braking On/Off
+CANMessage msgDistance; // Total distance
int main(){
@@ -39,6 +46,7 @@
change_screen_input.rise(&ChangeCommand); //Attach interrupt function to rising edge of DigitalIn for changing screen.
SetIntro(); // Display logo when starting display
SetMain(); // First screen is main by default
+ //sd.Init();
while(1){
if(change_flag){ // Check if screen is changed
ChangeScreen();
--- a/screen_library.cpp Wed May 16 14:55:13 2018 +0000
+++ b/screen_library.cpp Thu Jun 28 16:33:23 2018 +0000
@@ -13,6 +13,7 @@
extern int FL_LVDT0, FR_LVDT0, RL_LVDT0, RR_LVDT0, FL_LVDT, FR_LVDT, RL_LVDT, RR_LVDT;
extern int FL_LVDT_Ref,FR_LVDT_Ref,RL_LVDT_Ref,RR_LVDT_Ref;
extern int LVDT_Max;
+extern float Meter_counter,Meter_counter0;
void ChangeCommand(){ //Interrupt function for registering change command
change_flag=1;
@@ -86,17 +87,19 @@
lcd.FillRect(0,0,800,480);
lcd.SetTextColor(LCD_COLOR_BLACK);
//Draw First Auxiliary screen
- PrintString("Oil P",50,20,25,LCD_COLOR_BLACK);
- PrintString("MAP",50,20,100,LCD_COLOR_BLACK);
- PrintString("Air Temp",50,20,175,LCD_COLOR_BLACK);
- PrintString("Lambda",50,20,250,LCD_COLOR_BLACK);
- PrintString("Volts",50,20,325,LCD_COLOR_BLACK);
- PrintString("Crank",50,20,400,LCD_COLOR_BLACK);
- PrintString("kPa",50,470,25,LCD_COLOR_BLACK);
- PrintString("kPa",50,470,100,LCD_COLOR_BLACK);
- PrintString("C",50,470,175,LCD_COLOR_BLACK);
- PrintString("Ratio",50,470,250,LCD_COLOR_BLACK);
- PrintString("V",50,470,325,LCD_COLOR_BLACK);
+ PrintString("Oil P",50,20,30,LCD_COLOR_BLACK);
+ PrintString("MAP",50,20,90,LCD_COLOR_BLACK);
+ PrintString("Air Temp",50,20,150,LCD_COLOR_BLACK);
+ PrintString("Lambda",50,20,210,LCD_COLOR_BLACK);
+ PrintString("Volts",50,20,270,LCD_COLOR_BLACK);
+ PrintString("Crank",50,20,330,LCD_COLOR_BLACK);
+ PrintString("Distance:",50,20,390,LCD_COLOR_BLACK);
+ PrintString("kPa",50,470,30,LCD_COLOR_BLACK);
+ PrintString("kPa",50,470,90,LCD_COLOR_BLACK);
+ PrintString("C",50,470,150,LCD_COLOR_BLACK);
+ PrintString("Ratio",50,470,210,LCD_COLOR_BLACK);
+ PrintString("V",50,470,270,LCD_COLOR_BLACK);
+ PrintString("km",50,550,390,LCD_COLOR_BLACK);
DrawRGBImage(LogoSmall,LogoSmallXPos,LogoSmallYPos);
//Display initial values
SetNumber(Oil_P,50,OilPXPos,OilPYPos,3,0,0);
@@ -104,7 +107,8 @@
SetNumber(Air_Temp,50,AirTempXPos,AirTempYPos,3,0,0);
SetNumber(Lambda,50,LambdaXPos,LambdaYPos,3,0,0);
SetNumber(Volts,50,VoltsXPos,VoltsYPos,3,0,0);
- ChangeCrank(Crank);
+ ChangeCrank(Crank);
+ SetNumber((int)(Meter_counter/10),50,Meter_counterXPos,Meter_counterYPos,5,3,0);
};
@@ -184,6 +188,9 @@
if (Crank!=Crank0){
ChangeCrank(Crank);
};
+ if (Meter_counter!=Meter_counter0){
+ ChangeNumber((int)(Meter_counter/10),(int)(Meter_counter0/10),50,Meter_counterXPos,Meter_counterYPos,5,3,0);
+ };
};
void SecondAuxUpdate(){ // Update information in Second Auxiliary screen