/*******************************************************************************
* Function Name: ADC_SAR_Wakeup
********************************************************************************
*
* Summary:
*  This is the preferred routine to restore the component to the state when
*  ADC_SAR_Sleep() was called. If the component was enabled before the
*  ADC_SAR_Sleep() function was called, the
*  ADC_SAR_Wakeup() function also re-enables the component.
*
* Parameters:
*  None.
*
* Return:
*  None.
*
* Global Variables:
*  ADC_SAR_backup - The structure field 'enableState' is used to
*  restore the enable state of block after wakeup from sleep mode.
*
*******************************************************************************/
void ADC_SAR_Wakeup(void)
{
    if(ADC_SAR_backup.enableState != ADC_SAR_DISABLED)
    {
        ADC_SAR_Enable();
        #if(ADC_SAR_DEFAULT_CONV_MODE != ADC_SAR__HARDWARE_TRIGGER)
            if((ADC_SAR_backup.enableState & ADC_SAR_STARTED) != 0u)
            {
                ADC_SAR_StartConvert();
            }
        #endif /* End ADC_SAR_DEFAULT_CONV_MODE != ADC_SAR__HARDWARE_TRIGGER */
    }
}
Exemple #2
0
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;
}