int main()
{
CyGlobalIntEnable; /* Enable global interrupts. */
CAN_Start();
/* Start USBFS Operation with 5V operation */
USBFS_Start(0u, USBFS_5V_OPERATION);
/* Wait for Device to enumerate */
while(!USBFS_bGetConfiguration());
for(;;)
{
/* Check for IN buffer is empty */
if (receiveMailboxNumber == CAN_RX_MAILBOX_RX_message) {
while(USBFS_bGetEPState(1) != USBFS_IN_BUFFER_EMPTY);
buffer[0] = CAN_RX_DATA_BYTE1(CAN_RX_MAILBOX_RX_message);
/* Load the IN buffer */
USBFS_LoadInEP(1, &buffer[0], length);
}
}
}
void main()
{
u16 tmp;
u8 tmp8, tmp8_A;
static tCANMsg RxMsgBuff;
CLK_Init(CLK_HSE);
disableInterrupts();
GPIO_Init();
TIM4_Init();
// TIM2_Init();
TIM1_Init();
ADC_Init();
/* Configure CAN - Interface */
CAN_Init(); // init CAN - interface
enableInterrupts();
CAN_Start();
CAN_TxMsg1.Length = 4;
CAN_TxMsg1.Xtd = false;
CAN_TxMsg1.rtr = false;
CAN_TxMsg1.ID = 0x280;
CAN_TxMsg1.Data[0] =0 ;
CAN_TxMsg1.Data[1] =0;
//PWM_SetFrequency(1);
do {
if ( IsCAN_MSG1_Send()) {
tmp = ADC_GetValue(ADC_REV_CHANEL);
tmp = tmp *24;
if ( tmp < 100 ) {
OIL_PRESS = false;
} else {
OIL_PRESS = true;
}
CAN_TxMsg1.Data[3] =(u8)(tmp >> 8) ;
CAN_TxMsg1.Data[2] =(u8)(tmp & 0x00FF);
CAN_Write(&CAN_TxMsg1);
}
if ( IsSpeedAdjustTime()) {
tmp = ADC_GetValue(ADC_SPEED_CHANEL);
tmp = tmp * 10;
tmp = tmp/ 34;
PWM_SetFrequency(tmp);
// 1023 = 300 Hz
}
/* if( CAN_GetMsg(&RxMsgBuff)== RET_OK){
if (RxMsgBuff.Xtd ){ // EID
tmp8 = (u8)(RxMsgBuff.timeStamp >>3) & 0xE0U;
if (RxMsgBuff.rtr) tmp8 |= 0x10;
tmp8 |= (RxMsgBuff.Length & 0x0F);
tmp8_A = (RxMsgBuff.ID>>24) & 0x001f;
tmp8_A |= (RxMsgBuff.FilterID << 5);
USART_SendBytesMessage (CAN_MSG_EXT_1, tmp8,(u8)((RxMsgBuff.timeStamp) & 0x00FF), tmp8_A ,(RxMsgBuff.ID>>16) & 0x00ffU);
USART_SendBytesMessage (CAN_MSG_EXT_2, (RxMsgBuff.ID>>8) & 0x00ffU,RxMsgBuff.ID & 0x00ffU,RxMsgBuff.Data[0], RxMsgBuff.Data[1] );
if (RxMsgBuff.Length > 2)
USART_SendBytesMessage (CAN_MSG_EXT_3, RxMsgBuff.Data[2], RxMsgBuff.Data[3], RxMsgBuff.Data[4], RxMsgBuff.Data[5]);
if (RxMsgBuff.Length > 6 )
USART_SendBytesMessage (CAN_MSG_EXT_4, RxMsgBuff.Data[6], RxMsgBuff.Data[7],0,0);
}else{ // standard ID
tmp8 = (u8)(RxMsgBuff.timeStamp >>3) & 0xE0U;
if (RxMsgBuff.rtr) tmp8 |= 0x10;
tmp8 |= (RxMsgBuff.Length & 0x0F);
tmp8_A = (RxMsgBuff.ID>>8) & 0x007f;
tmp8_A |= (RxMsgBuff.FilterID << 3);
USART_SendBytesMessage (CAN_MSG_STD_1, tmp8,(u8)((RxMsgBuff.timeStamp) & 0x00FF), tmp8_A ,RxMsgBuff.ID & 0x00ff);
if (RxMsgBuff.Length > 0)
USART_SendBytesMessage (CAN_MSG_STD_2, RxMsgBuff.Data[0], RxMsgBuff.Data[1], RxMsgBuff.Data[2], RxMsgBuff.Data[3]);
if (RxMsgBuff.Length > 4 )
USART_SendBytesMessage (CAN_MSG_STD_3, RxMsgBuff.Data[4], RxMsgBuff.Data[5], RxMsgBuff.Data[6], RxMsgBuff.Data[7]);
}
}*/
/** LED Flashing **/
if (GetLedState()) {
LED_ON;
} else {
LED_OFF;
}
} while (1);
}
int main()
{
pedal_node_state = pedal_state_neutral;
LCD_Start();
CAN_invertor_init();
ADC_SAR_Start();
ADC_SAR_StartConvert();
EEPROM_Start();
//isr_Start();
//Timer_Start();
CAN_timer_Start();
CAN_Init();
CAN_Start();
isr_start_StartEx(&isr_start_handler);
Start_Reset_Write(1); /* source of interrupt (reset) */
isr_start_ClearPending();
isr_neutral_StartEx(&isr_neutral_handler);
Neutral_Reset_Write(1);
isr_neutral_ClearPending();
isr_calibration_StartEx(&isr_calibration_handler);
CyGlobalIntEnable; //enable global interrupts
//Initialize terminal
terminal_init();
monitor_init();
pedal_restore_calibration_data(); //set min and max values
pedal_set_CAN(); //Setup tunnel from pedal control to CAN
pedal_set_monitor(); //Setup tunnel from pedal control to USB Monitor
// Initialize global variables
EEPROM_ERROR_LED_Write(0);
should_calibrate = false;
// terminal_registerCommand("newCmd", &newCmdRout);
sendNMT(NMT_command_startRemoteNode);
CyDelay(1000);
pedal_node_state = pedal_state_driving;
for(;;){
pedal_fetch_data();
}
for(;;)
{
CyDelay(50);
terminal_run(); // Refresh terminal
if (pedal_node_state == pedal_state_neutral)
{
if (should_calibrate)
{
pedal_node_state = pedal_state_calibrating;
} else if (should_turn_to_drive) {
pedal_node_state = pedal_state_driving;
//Start sending can message for invertor
CAN_invertor_resume();
}
} else if (pedal_node_state == pedal_state_driving) {
if (should_turn_to_neutral) {
pedal_node_state = pedal_state_neutral;
//Stop sending messages for invertor
CAN_invertor_pause();
}
}
//Clear all flags after handling
should_calibrate = false;
should_turn_to_drive = false;
should_turn_to_neutral = false;
uint8_t out_of_range_flag;
double brake_percent = 0, throttle_percent = 0;
double brake_percent_diff = 0, throttle_percent_diff = 0;
uint8_t torque_plausible_flag;
uint8_t brake_plausible_flag;
pedal_fetch_data(); //Update ADC readings
CAN_invertor_update_pedal_state(pedal_node_state);
monitor_update_vechicle_state(pedal_node_state); //Update vecicle state
monitor_status_update_vehicle_state(pedal_node_state);
switch (pedal_node_state)
{
case pedal_state_neutral:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("NEUTRAL");
break;
case pedal_state_driving:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("DRIVING");
//out_of_range_flag = pedal_get_out_of_range_flag();
if (out_of_range_flag != 0)
{
pedal_node_state = pedal_state_out_of_range;
break;
}
torque_plausible_flag = pedal_is_pedal_reading_matched(&brake_percent_diff, &throttle_percent_diff);
if (torque_plausible_flag != 0)
{
pedal_node_state = pedal_state_discrepency;
break;
}
brake_plausible_flag = pedal_is_brake_plausible(&brake_percent, &throttle_percent);
if (brake_plausible_flag != 0)
{
pedal_node_state = pedal_state_implausible;
break;
}
break;
case pedal_state_calibrating:
//clock_StopBlock(); //stop clock to disable interrupt
pedal_calibrate();
LCD_ClearDisplay();
//isr_ClearPending();
//clock_Start();
// isr_calibration_Enable();
pedal_node_state = pedal_state_neutral;
break;
case pedal_state_out_of_range:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("Pedal out of");
LCD_Position(1,0);
LCD_PrintString("range");
out_of_range_flag = pedal_get_out_of_range_flag();
if (out_of_range_flag == 0)
{
pedal_node_state = pedal_state_driving;
}
break;
case pedal_state_discrepency:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("Pedal discrepency");
torque_plausible_flag = pedal_is_pedal_reading_matched(&brake_percent_diff, &throttle_percent_diff);
if (torque_plausible_flag == 0)
{
pedal_node_state = pedal_state_driving;
}
break;
case pedal_state_implausible:
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("Pedal implausible");
brake_plausible_flag = pedal_is_brake_plausible(&brake_percent, &throttle_percent);
if (throttle_percent < PEDAL_BRAKE_IMPLAUSIBLE_EXIT_THROTTLE_PERCENT)
{
pedal_node_state = pedal_state_driving;
}
break;
}
// CyDelay(100);
}
return 0;
}
