Thomas Milburn / Mbed 2 deprecated FBRDash-tom

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Fork of FBRDash by Michael Allan

main.cpp@5:177520d43c87, 2012-10-14 (annotated)

Committer:
tomontoast
Date:
Sun Oct 14 21:09:49 2012 +0000
Revision:
5:177520d43c87
Parent:
4:53b28844b594 
14/10/12

Who changed what in which revision?

UserRevisionLine numberNew contents of line
intrinseca 0:1f422ed56e0f 1 #include "mbed.h"
intrinseca 0:1f422ed56e0f 2 #include "TextLCD.h"
intrinseca 1:b3907b8d9f65 3 #include "PinDetect.h"
intrinseca 1:b3907b8d9f65 4 #include "Menu.h"
intrinseca 1:b3907b8d9f65 5 #include "Comms.h"
intrinseca 1:b3907b8d9f65 6 #include "PCComms.h"
intrinseca 1:b3907b8d9f65 7 #include "Gears.h"
intrinseca 1:b3907b8d9f65 8 #include "LEDS.h"
intrinseca 1:b3907b8d9f65 9 #include "bigchar.h"
tomontoast 4:53b28844b594 10 //Test comment 2
intrinseca 2:825f572902c6 11 //Refresh interval for LCD
intrinseca 1:b3907b8d9f65 12 #define LCD_REFRESH_TIME 150000
intrinseca 2:825f572902c6 13
intrinseca 2:825f572902c6 14 //Refresh interval for rev LEDs
intrinseca 1:b3907b8d9f65 15 #define REV_REFRESH_TIME 50000
intrinseca 1:b3907b8d9f65 16
intrinseca 2:825f572902c6 17 //Warning lights
intrinseca 1:b3907b8d9f65 18 DigitalOut warn[] = { (p20), (p19), (p27), (p18) };
intrinseca 2:825f572902c6 19
intrinseca 2:825f572902c6 20 //mBED LEDs
intrinseca 1:b3907b8d9f65 21 DigitalOut debug[] = { (LED1), (LED2), (LED3) };
intrinseca 0:1f422ed56e0f 22
intrinseca 2:825f572902c6 23 //Heartbeat LED
intrinseca 1:b3907b8d9f65 24 DigitalOut heartbeat(LED4);
intrinseca 1:b3907b8d9f65 25
intrinseca 2:825f572902c6 26 //Rev LEDS
intrinseca 1:b3907b8d9f65 27 PwmOut leds[] = { (p24), (p25), (p26), (p23), (p22), (p21) };
intrinseca 1:b3907b8d9f65 28
intrinseca 2:825f572902c6 29 //LCD
intrinseca 1:b3907b8d9f65 30 TextLCD lcd(p5, p6, p7, p8, p9, p10, p11);
intrinseca 0:1f422ed56e0f 31
intrinseca 2:825f572902c6 32 //Tickers for refreshing
intrinseca 1:b3907b8d9f65 33 Ticker lcdRefreshTicker;
intrinseca 1:b3907b8d9f65 34 Ticker revRefreshTicker;
intrinseca 2:825f572902c6 35
intrinseca 2:825f572902c6 36 //Used to animate LEDs for testing
intrinseca 1:b3907b8d9f65 37 Ticker increment;
intrinseca 1:b3907b8d9f65 38
intrinseca 2:825f572902c6 39 //Main car state structure
intrinseca 1:b3907b8d9f65 40 State car;
intrinseca 0:1f422ed56e0f 41
tomontoast 5:177520d43c87 42 //Initialise CAN
tomontoast 5:177520d43c87 43 CAN can(p30, p29);
tomontoast 5:177520d43c87 44
intrinseca 2:825f572902c6 45 //Classes for various parts of the firmware
tomontoast 5:177520d43c87 46 Menu dashMenu(&lcd, p16, p17, p12); //*LCD, OK, Left, Right
intrinseca 1:b3907b8d9f65 47 PCComms pc(&car);
tomontoast 5:177520d43c87 48 Gears gearButtons(p14, p13, p15, &car.gear, &pc); //Up, Neutral, Down, *Current Gear
intrinseca 1:b3907b8d9f65 49 LEDS revs(leds);
intrinseca 0:1f422ed56e0f 50
intrinseca 2:825f572902c6 51 //Refresh the rev LEDs and warning LEDs
intrinseca 1:b3907b8d9f65 52 void revRefresh()
intrinseca 0:1f422ed56e0f 53 {
tomontoast 5:177520d43c87 54 CANMessage msg;
intrinseca 1:b3907b8d9f65 55 revs.refresh(car.rpm);
intrinseca 1:b3907b8d9f65 56
tomontoast 5:177520d43c87 57 if(car.voltage<12){
tomontoast 5:177520d43c87 58 warn[0]=1;
tomontoast 5:177520d43c87 59 }else{
tomontoast 5:177520d43c87 60 warn[0]=0;
tomontoast 5:177520d43c87 61 }
tomontoast 5:177520d43c87 62 if(car.coolant_temp>110){
tomontoast 5:177520d43c87 63 warn[1]=1;
tomontoast 5:177520d43c87 64 }else{
tomontoast 5:177520d43c87 65 warn[1]=0;
tomontoast 5:177520d43c87 66 }
tomontoast 5:177520d43c87 67 if(car.rpm==0 and car.gear!=0){
tomontoast 5:177520d43c87 68 warn[2]=1;
tomontoast 5:177520d43c87 69 }else{
tomontoast 5:177520d43c87 70 warn[2]=0;
intrinseca 1:b3907b8d9f65 71 }
tomontoast 5:177520d43c87 72 if(can.read(msg)) {
tomontoast 5:177520d43c87 73 if(msg.id==100 and msg.len==8){
tomontoast 5:177520d43c87 74 car.rpm = msg.data[0] + (msg.data[1] << 8);
tomontoast 5:177520d43c87 75 car.throttle_pos = msg.data[2];
tomontoast 5:177520d43c87 76 car.manifold_pres = msg.data[3];
tomontoast 5:177520d43c87 77 car.air_temp = msg.data[4];
tomontoast 5:177520d43c87 78 car.coolant_temp = msg.data[5];
tomontoast 5:177520d43c87 79 car.lambda = msg.data[6];
tomontoast 5:177520d43c87 80 }
tomontoast 5:177520d43c87 81 else if(msg.id==200 and msg.len==8){
tomontoast 5:177520d43c87 82 car.speed = msg.data[0];
tomontoast 5:177520d43c87 83 car.accel_x = msg.data[1];
tomontoast 5:177520d43c87 84 car.accel_y = msg.data[2];
tomontoast 5:177520d43c87 85 car.gear = msg.data[3];
tomontoast 5:177520d43c87 86 car.oil_temp = msg.data[4];
tomontoast 5:177520d43c87 87 car.voltage = msg.data[5]/16.0;
tomontoast 5:177520d43c87 88 }
tomontoast 5:177520d43c87 89 }
tomontoast 5:177520d43c87 90
intrinseca 0:1f422ed56e0f 91 }
intrinseca 0:1f422ed56e0f 92
intrinseca 2:825f572902c6 93 //Refresh the LCD
intrinseca 1:b3907b8d9f65 94 void lcdRefresh()
intrinseca 0:1f422ed56e0f 95 {
intrinseca 2:825f572902c6 96 //If menu off screen, display HUD
intrinseca 1:b3907b8d9f65 97 if(dashMenu.display == false)
intrinseca 1:b3907b8d9f65 98 {
intrinseca 1:b3907b8d9f65 99 lcd.locate(0, 0);
tomontoast 5:177520d43c87 100 lcd.printf("%3.0fC%5.1dRPM", car.coolant_temp, car.rpm);
intrinseca 1:b3907b8d9f65 101 lcd.locate(0, 1);
tomontoast 5:177520d43c87 102 lcd.printf("%2dMPH %3.1fV", car.speed, car.voltage);
intrinseca 1:b3907b8d9f65 103
intrinseca 1:b3907b8d9f65 104 write_bigchar(&lcd, 13, car.gear);
intrinseca 1:b3907b8d9f65 105 }
intrinseca 2:825f572902c6 106 //Otherwise show menu
intrinseca 1:b3907b8d9f65 107 else
intrinseca 1:b3907b8d9f65 108 {
intrinseca 1:b3907b8d9f65 109 dashMenu.refresh();
intrinseca 1:b3907b8d9f65 110 }
intrinseca 1:b3907b8d9f65 111
intrinseca 2:825f572902c6 112 //Blink heartbeat
intrinseca 1:b3907b8d9f65 113 heartbeat = !heartbeat;
intrinseca 0:1f422ed56e0f 114 }
intrinseca 0:1f422ed56e0f 115
intrinseca 2:825f572902c6 116
intrinseca 2:825f572902c6 117 //Used to animate LEDs for testing
intrinseca 1:b3907b8d9f65 118 /*void doIncrement()
intrinseca 1:b3907b8d9f65 119 {
intrinseca 1:b3907b8d9f65 120 if(car.rpm < LIMIT && car.gear > 0)
intrinseca 1:b3907b8d9f65 121 car.rpm++;
intrinseca 1:b3907b8d9f65 122 }*/
intrinseca 0:1f422ed56e0f 123
intrinseca 2:825f572902c6 124 //Startup animation
intrinseca 1:b3907b8d9f65 125 void selfTest()
intrinseca 1:b3907b8d9f65 126 {
intrinseca 1:b3907b8d9f65 127 lcd.printf(" FBR 2012");
tomontoast 5:177520d43c87 128 lcd.locate(0,1);
tomontoast 5:177520d43c87 129 lcd.printf(" Ready to drive");
tomontoast 5:177520d43c87 130 int offset = 0;
tomontoast 5:177520d43c87 131 int type=1;
tomontoast 5:177520d43c87 132 int blk=7;
tomontoast 5:177520d43c87 133 int from=1;
tomontoast 5:177520d43c87 134 int to=0;
tomontoast 5:177520d43c87 135 int id = offset*262144+type*32768+from*2048+to*128+blk*8;
tomontoast 5:177520d43c87 136 CANMessage msg;
tomontoast 5:177520d43c87 137 msg = CANMessage(id,0,8,CANData,CANExtended);
tomontoast 5:177520d43c87 138 lcd.cls();
tomontoast 5:177520d43c87 139 lcd.printf("%x",id);
tomontoast 5:177520d43c87 140 can.reset();
tomontoast 5:177520d43c87 141 if(can.write(msg)){
tomontoast 5:177520d43c87 142 wait(0.01);
tomontoast 5:177520d43c87 143 lcd.printf(" %d errors",can.tderror());
tomontoast 5:177520d43c87 144 can.reset();
tomontoast 5:177520d43c87 145 while(can.read(msg)==false){
tomontoast 5:177520d43c87 146 wait(0.1);
tomontoast 5:177520d43c87 147 }
tomontoast 5:177520d43c87 148 wait(0.5);
tomontoast 5:177520d43c87 149 lcd.printf(" %d errors",can.tderror());
tomontoast 5:177520d43c87 150 }
intrinseca 2:825f572902c6 151 //Light up LEDs
intrinseca 2:825f572902c6 152 for(int i = 0; i < LEDS::NUM_LEDS; i++)
intrinseca 1:b3907b8d9f65 153 {
intrinseca 1:b3907b8d9f65 154 leds[i] = true;
intrinseca 1:b3907b8d9f65 155 if(i < 4)
intrinseca 1:b3907b8d9f65 156 warn[i] = true;
tomontoast 5:177520d43c87 157 wait(0.2);
intrinseca 1:b3907b8d9f65 158 }
intrinseca 0:1f422ed56e0f 159
intrinseca 2:825f572902c6 160 //Turn off LEDs
intrinseca 1:b3907b8d9f65 161 for(int i = LEDS::NUM_LEDS - 1; i >= 0; i--)
intrinseca 1:b3907b8d9f65 162 {
intrinseca 1:b3907b8d9f65 163 leds[i] = false;
intrinseca 1:b3907b8d9f65 164 if(i < 4)
intrinseca 1:b3907b8d9f65 165 warn[i] = false;
tomontoast 5:177520d43c87 166 wait(0.2);
intrinseca 1:b3907b8d9f65 167 }
intrinseca 0:1f422ed56e0f 168
intrinseca 1:b3907b8d9f65 169 lcd.cls();
intrinseca 1:b3907b8d9f65 170 }
intrinseca 1:b3907b8d9f65 171
intrinseca 1:b3907b8d9f65 172 int main()
intrinseca 2:825f572902c6 173 {
tomontoast 5:177520d43c87 174 //Initialise CAN
tomontoast 5:177520d43c87 175 can.frequency(500000);
intrinseca 2:825f572902c6 176 //Initialise state
tomontoast 5:177520d43c87 177 car.rpm = 0;
tomontoast 5:177520d43c87 178 car.gear = 2;
tomontoast 5:177520d43c87 179 car.speed = 0;
tomontoast 5:177520d43c87 180 car.coolant_temp = 0;
tomontoast 5:177520d43c87 181 car.throttle_pos = 0;
tomontoast 5:177520d43c87 182 car.manifold_pres = 0;
tomontoast 5:177520d43c87 183 car.air_temp = 0;
tomontoast 5:177520d43c87 184 car.lambda = 0;
tomontoast 5:177520d43c87 185 car.accel_x = 0;
tomontoast 5:177520d43c87 186 car.accel_y = 0;
tomontoast 5:177520d43c87 187 car.oil_temp = 0;
tomontoast 5:177520d43c87 188 car.voltage = 0;
intrinseca 1:b3907b8d9f65 189
intrinseca 2:825f572902c6 190 //Set up menu
intrinseca 1:b3907b8d9f65 191 dashMenu.addItem<float>("Coolant Temp ", "%12.1f\xDF\x43", &car.coolant_temp); // \xDF\x43 -> &#65533;C . Need code for C as otherwise it gets taken as hex digit.
intrinseca 1:b3907b8d9f65 192 dashMenu.addItem<unsigned char>("Air Temp ", "%12d\xDF\x43", &car.air_temp);
intrinseca 1:b3907b8d9f65 193 dashMenu.addItem<unsigned char>("Throttle Pos ", "%13d\xDF", &car.throttle_pos);
intrinseca 1:b3907b8d9f65 194 dashMenu.addItem<unsigned char>("Manifold Pres ", "%10d psi", &car.manifold_pres);
intrinseca 2:825f572902c6 195 dashMenu.addItem<unsigned char>("Lambda ", "%14d", &car.lambda);
intrinseca 1:b3907b8d9f65 196 dashMenu.addItem<unsigned char>("Oil Temp ", "%12d\xDF\x43", &car.oil_temp);
intrinseca 1:b3907b8d9f65 197
intrinseca 2:825f572902c6 198 //Set up characters on LCS
intrinseca 1:b3907b8d9f65 199 setup_bigchar(&lcd);
intrinseca 2:825f572902c6 200
intrinseca 2:825f572902c6 201 //Do bootup animation
intrinseca 1:b3907b8d9f65 202 selfTest();
intrinseca 1:b3907b8d9f65 203
intrinseca 2:825f572902c6 204 //Start refresh tickers
intrinseca 1:b3907b8d9f65 205 lcdRefreshTicker.attach_us(&lcdRefresh, LCD_REFRESH_TIME);
intrinseca 1:b3907b8d9f65 206 revRefreshTicker.attach_us(&revRefresh, REV_REFRESH_TIME);
intrinseca 1:b3907b8d9f65 207 //increment.attach(&doIncrement, 0.0005);
intrinseca 1:b3907b8d9f65 208
intrinseca 2:825f572902c6 209 //Infinite loop - program is interrupt driven
intrinseca 1:b3907b8d9f65 210 while(true)
intrinseca 1:b3907b8d9f65 211 {
intrinseca 1:b3907b8d9f65 212 __WFI();
intrinseca 0:1f422ed56e0f 213 }
intrinseca 1:b3907b8d9f65 214 }