/*
Initialisiert das GPS Modul. Muss vor der Verwendung von get_position_GPS() einmalig aufgerufen werden.
*/
void init_GPS(){
/*Definiere den Ausgang zur Aktivierung des GPS-Moduls als Ausgang.*/
pinMode(PIND_ENABLE_GPS, OUTPUT);
/*Aktiviere GPS-Modul*/
enable_GPS();
/* Setze Baudrate des verwendeten HW-Serial und die interne Baudrate des Moduls.*/
GPS.begin(BAUD_GPS);
GPS_SERIAL.begin(BAUD_GPS);
/* Aktiviere RMC (Recommended Minimum) + GGA Datenstring, Der auch die Höheninformation enthält*/
GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
/* Setze Updaterate des GPS-Modul auf 1Hz.*/
GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
}
int main(void)
{
//========= Peripheral Enable and Setup ===========//
setup_LCD(); //LCD Screen setup
setup_tmp36(); //TMP36 ADC thermometer setup
setup_GPS(); //GPS Pin Setup
setup_microSD(); //MicroSD Pin Setup
setupTMP102();
setup_PID(&pid);
setupBMS();
setup_pwm();
//Setup the buttons
setup_buttonInterrupts();
sleepEnablePeripherals();
setup_timerInterrupt();
//========= Peripheral enable and run ============//
enable_LCD(); //Start LCD Commmunication
enable_GPS(); //Start GPS Communication
clearDisplay(); //Refresh Display
while(1)
{
//Listen for the GPS Data
listen_GPS();
//Open the datalog file for writing
open_datalog();
//Obtain vehicle speed
char *velocity;
char velocityArray[] = "000";
//velocity = velocityArray;
velocity = getVelocity();
//Convert string to int
int speedInteger = atoi(velocity);
//Convert knots to mph
speedInteger = 1.15 * speedInteger;
//Return to string
sprintf(velocity, "%i", speedInteger);
// velocity = "50";
selectLineOne();
//Show velocity
putPhrase("V:");
putPhrase(velocity);
//Analog Temperature Sensor
int anag_tempValue = get_analog_temp();
sprintf(anag_temp, "%i", anag_tempValue);
//Digital Temperature Sensor
int digi_tempValue = getTemperature();
sprintf(digi_temp, "%i", digi_tempValue);
//Get BMS Level
char load[] = "89";
char *load_value;
load_value = load;
//-------BMS Communication------
sendStartSequence();
getDataString();
load_value = getLoad();
//------------------------------
//If Cruise Control is on
if(enableSys)
{
//If initialized
if(obtain_speed)
{ //Debouncing
//SysCtlDelay(533333);
obtain_speed = 0;
clearDisplay();
//Get set velocity
set_velocity = 10;
}
//If driver increases set speed
if(incr_speed)
{
//SysCtlDelay(533333);
incr_speed = 0;
set_velocity += 1;
}
//if driver decresaes set speed
else if(decr_speed)
{
//SysCtlDelay(533333);
decr_speed = 0;
set_velocity -= 1;
}
//==============PID Portion of the Main Loop ==============//
float process_value = atof(velocity); //Convert String to Int
float error = set_velocity - process_value; //Calculate error
float u_t = UpdatePID(&pid, error, 1.0); //Feed error to the PID
uint32_t duty_cycle = u_t*scaleFactor;
if(duty_cycle < 950){
duty_cycle = 50;
}
else if(duty_cycle > 0){
duty_cycle = 950;
}
pwm_out(1000, duty_cycle); //Scale and output the PID output
//====================================================//
//Show other essentials to the LCD
putPhrase("mph/");
char set_point[5];
sprintf(set_point, "%imph", (int) set_velocity);
putPhrase(set_point);
putPhrase(" ON"); //Cruise control on
}
else
{
//Spacer
putPhrase("mph ");
putPhrase("Standby ");
}
//Select bottom line
selectLineTwo();
//Display analog and digital temperatures
putPhrase("T:");
putPhrase(anag_temp);
putPhrase("/");
putPhrase(digi_temp);
putPhrase("C ");
//Show Load level
putPhrase("B:");
putPhrase(load_value);
putPhrase("%");
write_datalog(velocity, "ddmm.mmmmmmX", "ddmm.mmmmmX", getTime(), anag_temp, digi_temp, load_value);
close();
//Put system in low power mode
SysCtlSleep();
}
}
