Diff: main.cpp

Revision:

5:ee37889edcab

Parent:

4:66b2a94a607f

Child:

6:58bd138f08af

--- a/main.cpp	Fri Mar 08 21:54:08 2013 +0000
+++ b/main.cpp	Sat Mar 09 06:10:08 2013 +0000
@@ -80,16 +80,16 @@
 void PopulateData(void)
 {
     CANdataSet1[0] = (char)((steering + 110) /220 * 255);
-    CANdataSet1[1] = (char)(throttle/5 * 255);
+    CANdataSet1[1] = (char)((throttle)/5 * 255);
     CANdataSet1[2] = (char)(((uint16_t)wratio_actual) >> 8);           //Check range later. 
     CANdataSet1[3] = (char)(((uint16_t)wratio_actual));                //For now assumed to be 16 bit 0 - 65535
     CANdataSet1[4] = (char)((wratio_desired - 0.5) / 1.4);
     CANdataSet1[5] = (char)(throttle_Left/5 * 255);
-    CANdataSet1[6] = (char)(throttle_Right/5 * 255);
+    CANdataSet1[6] = (char)((throttle_Right)/5 * 255);
     CANdataSet1[7] = 0;    
     
     CANdataSet2[0] = (char)((steering2 + 110) /220 * 255);
-    CANdataSet2[1] = (char)(throttle2/5 * 255);
+    CANdataSet2[1] = (char)((throttle2)/5 * 255);
     CANdataSet2[2] = (char)(rpm_Left/1000 * 255);
     CANdataSet2[3] = (char)(rpm_Right/1000 * 255);
     CANdataSet2[4] = (char)(rpm_FrontLeft/1000 * 255);
@@ -121,7 +121,7 @@
 #define SPI_BYTE_ARRAY_SIZE 13
 uint8_t SPIDataFromICAP[SPI_BYTE_ARRAY_SIZE];
 uint8_t startByte, endByte;
-uint8_t flagsFromICAP;
+uint8_t volatile flagsFromICAP;
 int SPIByteCounter = 0;
 bool SPIError = false;
 Ticker PullDataFromICAP;
@@ -141,8 +141,8 @@
     
     steering = -110 + SPIDataFromICAP[1]*220/255;
     steering2 = -110 + SPIDataFromICAP[2]*220/255;
-    throttle = SPIDataFromICAP[3]*5/255;
-    throttle2 = SPIDataFromICAP[4]*5/255;
+    throttle = ((float)(SPIDataFromICAP[3])/255*4+0.5);
+    throttle2 = ((float)(SPIDataFromICAP[4])*4/255+0.5);
     brake = SPIDataFromICAP[5];                                                 //Abhi ke liye let be be 0 to 255 only                                 
     brake2 = SPIDataFromICAP[6];                                                //Abhi ke liye let be be 0 to 255 only
     rpm_Left = SPIDataFromICAP[7]*1000/255;
@@ -150,6 +150,9 @@
     rpm_FrontLeft = SPIDataFromICAP[9]*1000/255;
     rpm_FrontRight = SPIDataFromICAP[10]*1000/255;
     flagsFromICAP = SPIDataFromICAP[11];        
+    //printf("Steering = %f \n", steering);
+    //printf("Throttle 1, 2 = %f \t %f \n", throttle, throttle2);
+    //printf("Throttle 1, 2 = %f \t %f \n", throttle, throttle2);
 }
 
 void SPIPullData()
@@ -159,11 +162,11 @@
     {
         cs=0;
         spi.write(0xFF);
-        SPIDataFromICAP[SPIByteCounter] = spi.write(0xAA);
+        SPIDataFromICAP[SPIByteCounter] = (uint8_t)spi.write(0xAA);
         //pc.printf("%u",SPIDataFromICAP[SPIByteCounter]);
         SPIByteCounter++;        
         cs = 1;
-        wait(0.0001);
+        wait(0.001);
     }
     UpdateData();
 }
@@ -237,7 +240,9 @@
 // - - - - FMEA OUTPUT - - - - //
 
 //Openloop Flag
-volatile bool openloop_lowrpm = true;
+///////////////////Made FALSE deliberately for OFFLINE Testing//////////////////////
+///////////////////Should ideally be true at startup as the car is at standstill.///
+volatile bool openloop_lowrpm = false; 
 volatile bool openloop_driver = false;
 const float rpm_openloop_limit = 100;
 
@@ -286,7 +291,7 @@
 ////////////////////////////////////////////////////MAIN////////////////////////////////////////////////////
 int main()
 {   
-    for_FmeaCall.attach(&FmeaCall,1);
+    //for_FmeaCall.attach(&FmeaCall,1);
     for_algo.attach_us(&ediff_func,(algoperiod));                   //call ediff func every "algoperiod" sec  
     SendDataToDAQ.attach(&SendData, 0.05);
         
@@ -316,7 +321,8 @@
         if (useBoschSteeringRequest)
         {
             //send message to DASH that asks driver permission for using Bosch Steering
-        }  
+        }        
+         
     }    
 }