Revision 12:3c500a06c5f3, committed 2018-06-24

Comitter:

nemanja1994

Date:

Sun Jun 24 15:51:36 2018 +0000

Parent:

11:3b7653c58b63

Commit message:

sa

Changed in this revision

--- a/IntegrationCAN.lib	Wed Jun 20 21:29:59 2018 +0000
+++ b/IntegrationCAN.lib	Sun Jun 24 15:51:36 2018 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/formulas/code/IntegrationCANajnovije/#53d7dbb8503c
+https://os.mbed.com/users/nemanja1994/code/IntegrationCAN/#f646d685b613

--- a/main.cpp	Wed Jun 20 21:29:59 2018 +0000
+++ b/main.cpp	Sun Jun 24 15:51:36 2018 +0000
@@ -40,11 +40,12 @@
 char* temp_string;          // Temp data
 char* msgGyro1;          // Temp data
 char* msgGForce1;          // Temp data
+char* msgGps1;
 int CANlen = 0;
 //Some stuff for CAN
 // 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,BF_Oil_P0,BR_Oil_P0;
-uint16_t Rpm=0,Speed=0,Gear=0,Water_Temp=0,Oil_Temp=0,TPS=0,Brakes=0,Oil_P=0,MAP=0,Air_Temp=0,Lambda=0,Volts=0,Crank=0,BF_Oil_P,BR_Oil_P;
+uint16_t Steer0, 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,BF_Oil_P0,BR_Oil_P0;
+uint16_t Steer, Rpm=0,Speed=0,Gear=0,Water_Temp=0,Oil_Temp=0,TPS=0,Brakes=0,Oil_P=0,MAP=0,Air_Temp=0,Lambda=0,Volts=0,Crank=0,BF_Oil_P,BR_Oil_P;
 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;
@@ -117,7 +118,8 @@
     
 // Open to WRITE
     //printf("Write to a file\n");
-    FILE* fp = fopen("/sd/Test.txt","a");
+    FILE* fp = fopen("/sd/FSRA18_LOG.txt","a");
+    fprintf(fp, "\nNovi Podaci\n");
     //FILE* km = fopen("/sd/kilometraza.txt","r+");
     if (fp == NULL) {
         error("Could not open file for read\n");
@@ -143,14 +145,14 @@
     while (true) {
         UpdateInfo();
 
-        printf("In while\n");
+        //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");
@@ -168,8 +170,8 @@
         //Rpm0,Speed0,Gear0,Water_Temp0,Oil_Temp0,TPS0,Brakes0,Oil_P0,MAP0,Air_Temp0,Lambda0,Volts0,Crank0);
         fprintf(fp, "Rpm: %d, Speed: %d, Gear: %d, Water_Temp: %d, Oil_Temp: %d, TPS: %d, MAP: %d, Air_Temp: %d, Lambda: %d, Volts: %d, \r\n",\
         Rpm,Speed,Gear,Water_Temp,Oil_Temp,TPS,MAP,Air_Temp,Lambda,Volts);
-        fprintf(fp, "FL_LVDT: %d, FR_LVDT: %d, RL_LVDT: %d, RR_LVDT: %d, BF_Oil_P: %d, BR_Oil_P: %d Brakes= %d\r\n",\
-        FL_LVDT,FR_LVDT,RL_LVDT,RR_LVDT,BF_Oil_P,BR_Oil_P,Brakes);
+        fprintf(fp, "Steer: %d, FL_LVDT: %d, FR_LVDT: %d, RL_LVDT: %d, RR_LVDT: %d, BF_Oil_P: %d, BR_Oil_P: %d Brakes= %d\r\n",\
+        Steer, FL_LVDT,FR_LVDT,RL_LVDT,RR_LVDT,BF_Oil_P,BR_Oil_P,Brakes);
         
         
         //pc.printf("id=2001, MAP= %d, Lambda= %d, Speed= %d, Oil_P= %d",Lambda,Speed,Oil_P);
@@ -191,12 +193,13 @@
        
        
        
-        sprintf(msgGyro1, "S1011%.5fY%.5fP%.5fR", imu.euler.yaw, imu.euler.pitch, imu.euler.roll);
+        sprintf(msgGyro1, "S1011%.2fY%.2fP%.2fR", imu.euler.yaw, imu.euler.pitch, imu.euler.roll);
        //pc.printf("%s\n",temp_string);
        tRF.printf("%s\n",msgGyro1);
-       sprintf(msgGForce1, "S1010%.5fX%.5fY%.5fZ", imu.accel.x, imu.accel.y, imu.accel.z);
+       sprintf(msgGForce1, "S1010%.2fX%.2fY%.2fZ", imu.accel.x, imu.accel.y, imu.accel.z);
        tRF.printf("%s\n",msgGForce1);
-    
+       //sprintf(msgGps1, "S1012%.5fN%.5fE%dSIV", gps.get_nmea_longitude(), gps.get_dec_latitude(),gps.get_satelites());
+        //tRF.printf("%s\n",msgGps1);
        /*while(1) {
        sprintf(temp_string, "401236789");
        CANlen = strlen(temp_string);