void Board_PDM_Status_Debug(PDM_STATUS_T *pdm_status, bool mux_i2c, bool cs_i2c, bool lv_i2c) {
if(mux_i2c && !(pdm_status->mux_on)) {
pdm_status->mux_on = true; //Update I2C Multiplexer status
Board_LED_On(LED1);
}
else if(!mux_i2c && pdm_status->mux_on) {
pdm_status->mux_on = false;
Board_LED_Off(LED1);
}
if(cs_i2c && !(pdm_status->cs_on)) { //Attempt to update Critical Systems PDM struct
pdm_status->cs_on = true; //Update Critical Systems gas gauge status
Board_LED_On(LED2);
}
else if(!cs_i2c && pdm_status->cs_on) {
pdm_status->cs_on = false;
Board_LED_Off(LED2);
}
if(lv_i2c && !(pdm_status->lv_on)) { //Attempt to update Low Voltage PDM struct
pdm_status->lv_on = true; //Update Low Voltage gas gauge status
Board_LED_On(LED3);
}
else if(!lv_i2c && pdm_status->lv_on) {
pdm_status->lv_on = false;
Board_LED_Off(LED3);
}
}
/**
* @details Throws error through multiple means: print, flash, and/or hang
*
* @param errorNo The error number
* @param flashLED set to true to have processor flash the main LED
* @param hang set to true to hang the processor
*/
void _error(ERROR_T errorNo, bool flashLED, bool hang) {
DEBUG_Print("Error(");
itoa(errorNo, str, 10);
DEBUG_Print(str);
DEBUG_Print(")\r\n");
do { // Hang forevers
if (flashLED) {
uint8_t i;
for (i = 0; i < errorNo; i++) {
Board_LED_Off();
_delay_ms(500);
Board_LED_On();
_delay_ms(500);
}
}
_delay_ms(1500);
Board_LED_Off();
} while(hang);
Board_LED_On();
}
int main(void)
{
//---------------
// Initialize SysTick Timer to generate millisecond count
if (Board_SysTick_Init()) {
// Unrecoverable Error. Hang.
while(1);
}
//---------------
// Initialize GPIO and LED as output
Board_LEDs_Init();
Board_LED_On(LED0);
Board_LED_On(LED1);
Board_LED_On(LED2);
Board_LED_On(LED3);
//Initialize I2C
Board_I2C_Init();
//---------------
// Initialize UART Communication
Board_UART_Init(UART_BAUD_RATE);
Board_UART_Println("Started up");
//---------------
// Initialize CAN and CAN Ring Buffer
RingBuffer_Init(&can_rx_buffer, _rx_buffer, sizeof(CCAN_MSG_OBJ_T), BUFFER_SIZE);
RingBuffer_Flush(&can_rx_buffer);
Board_CAN_Init(CCAN_BAUD_RATE, CAN_rx, CAN_tx, CAN_error);
// For your convenience.
// typedef struct CCAN_MSG_OBJ {
// uint32_t mode_id;
// uint32_t mask;
// uint8_t data[8];
// uint8_t dlc;
// uint8_t msgobj;
// } CCAN_MSG_OBJ_T;
/* [Tutorial] How do filters work?
Incoming ID & Mask == Mode_ID for msgobj to accept message
Incoming ID : 0xabc
Mask: 0xF0F &
-----------
0xa0c
mode_id == 0xa0c for msgobj to accept message
*/
//Set mask to only accept messages from Driver Interface
msg_obj.msgobj = 1;
msg_obj.mode_id = DI_PACKET__id;
msg_obj.mask = 0x555;
LPC_CCAN_API->config_rxmsgobj(&msg_obj);
can_error_flag = false;
can_error_info = 0;
lastPrint = msTicks;
PDM_STATUS_T pdm_status;
int tmp;
bool lv_i2c = true, cs_i2c = true, mux_i2c = true;
//Board_I2C_Reset(I2C_GG_CONTINUOUS, i2c_tx_buffer);
//Open I2C Channel 0
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_0;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
Board_UART_Print("Opened Channel 0: ");
Board_UART_PrintNum(tmp, 10, true);
//Set Gas Gauge 0 to continuous data collection
i2c_tx_buffer[0] = I2C_GG_CTRL_REG;
i2c_tx_buffer[1] = I2C_GG_CONTINUOUS;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, i2c_tx_buffer, 2);
Board_UART_Print("Set I2C0 to continuous data collection: ");
Board_UART_PrintNum(tmp, 10, true);
//Open I2C Channel 1
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_1;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
Board_UART_Print("Opened Channel 1: ");
Board_UART_PrintNum(tmp, 10, true);
//Set Gas Gauge 1 to continuous data collection
i2c_tx_buffer[0] = I2C_GG_CTRL_REG;
i2c_tx_buffer[1] = I2C_GG_CONTINUOUS;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, i2c_tx_buffer, 2);
Board_UART_Print("Set I2C1 to continuous data collection: ");
Board_UART_PrintNum(tmp, 10, true);
while (1) {
//Set PDM status based on CAN messages from Driver Interface
if (!RingBuffer_IsEmpty(&can_rx_buffer)) {
CCAN_MSG_OBJ_T temp_msg;
RingBuffer_Pop(&can_rx_buffer, &temp_msg);
//Test for DI OFF or SHUTDOWN IMPENDING message
if((temp_msg.data[3] << 8 | temp_msg.data[2]) == ____DI_PACKET__DRIVE_STATUS__SHUTDOWN_IMPENDING ||
(temp_msg.data[3] << 8 | temp_msg.data[2]) == ____DI_PACKET__DRIVE_STATUS__OFF) {
if(pdm_status.pdm_on) {
pdm_status.pdm_on = false;
Board_LED_Off(LED0);
Board_I2C_Reset(I2C_GG_SLEEP, i2c_tx_buffer);
}
}
else {
if(!(pdm_status.pdm_on)) {
pdm_status.pdm_on = true;
Board_LED_On(LED0);
Board_I2C_Reset(I2C_GG_CONTINUOUS, i2c_tx_buffer);
}
}
}
//Reset gas gauge 0 if it has been diconnected and then reconnected to power
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_0;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1); //Open I2C Channel 0
tmp = Chip_I2C_MasterCmdRead(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, I2C_GG_CTRL_REG, i2c_rx_buffer, 1);
Board_UART_PrintNum(i2c_rx_buffer[0],16,true);
if((uint16_t)i2c_rx_buffer[0] == I2C_GG_DEFAULT) { //Test for default values in control register
if(pdm_status.pdm_on) {
Board_I2C_Reset(I2C_GG_CONTINUOUS, i2c_tx_buffer);
}
else {
Board_I2C_Reset(I2C_GG_SLEEP, i2c_tx_buffer);
}
//Send a heartbeat with a com error
Board_CAN_SendHeartbeat(&pdm_status, &msg_obj, true);
}
//Reset gas gauge 1 if it has been diconnected and then reconnected to power
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_1;
tmp = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1); //Open 12C Channel 1
tmp = Chip_I2C_MasterCmdRead(DEFAULT_I2C, I2C_GG_SLAVE_ADDRESS, I2C_MUX_CHANNEL_0, i2c_rx_buffer, 1);
Board_UART_PrintNum(i2c_rx_buffer[0],16,true);
if((uint16_t)i2c_rx_buffer[0] == I2C_GG_DEFAULT) { //Test for default values in control register
if(pdm_status.pdm_on) {
Board_I2C_Reset(I2C_GG_CONTINUOUS, i2c_tx_buffer);
}
else {
Board_I2C_Reset(I2C_GG_SLEEP, i2c_tx_buffer);
}
//Send a heartbeat with a com error
Board_CAN_SendHeartbeat(&pdm_status, &msg_obj, true);
}
/* Update PDM and Debug LED code */
//Attempt to open I2C Channel 0
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_0;
mux_i2c = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
//Attempt to update Critical Systems PDM Struct
cs_i2c = Board_PDM_Status_Update(&pdm_status, i2c_rx_buffer, true);
//Attempt to open I2C Channel 1
i2c_tx_buffer[0] = I2C_MUX_CHANNEL_1;
mux_i2c = Chip_I2C_MasterSend(DEFAULT_I2C, I2C_MUX_SLAVE_ADDRESS, i2c_tx_buffer, 1);
//Attempt to update Low Voltage PDM struct
lv_i2c = Board_PDM_Status_Update(&pdm_status, i2c_rx_buffer, false);
//Run debug logic and update state
Board_PDM_Status_Debug(&pdm_status, mux_i2c, cs_i2c, lv_i2c);
if(msTicks - lastPrint > FREQ_THRESHOLD){ // 10 times per second
lastPrint = msTicks; // Store the current time, to allow the process to be done in another 1/10 seconds
Board_CAN_SendHeartbeat(&pdm_status, &msg_obj, false);
}
}
}
int main(void)
{
//---------------
// Initialize UART Communication
Board_UART_Init(UART_BAUD_RATE);
Board_UART_Println("Started up");
//---------------
// Initialize SysTick Timer to generate millisecond count
if (Board_SysTick_Init()) {
Board_UART_Println("Failed to Initialize SysTick. ");
// Unrecoverable Error. Hang.
while(1);
}
//---------------
// Initialize GPIO and LED as output
Board_LEDs_Init();
Board_LED_On(LED0);
//---------------
// Initialize CAN and CAN Ring Buffer
RingBuffer_Init(&can_rx_buffer, _rx_buffer, sizeof(CCAN_MSG_OBJ_T), BUFFER_SIZE);
RingBuffer_Flush(&can_rx_buffer);
Board_CAN_Init(CCAN_BAUD_RATE, CAN_rx, CAN_tx, CAN_error);
// For your convenience.
// typedef struct CCAN_MSG_OBJ {
// uint32_t mode_id;
// uint32_t mask;
// uint8_t data[8];
// uint8_t dlc;
// uint8_t msgobj;
// } CCAN_MSG_OBJ_T;
msg_obj.msgobj = 1;
msg_obj.mode_id = 0x000;
msg_obj.mask = 0x000;
LPC_CCAN_API->config_rxmsgobj(&msg_obj);
can_error_flag = false;
can_error_info = 0;
uint8_t status_led_state = 1;
uint32_t status_led_time = msTicks;
while (1) {
if (!RingBuffer_IsEmpty(&can_rx_buffer)) {
Board_LED_On(LED3);
CCAN_MSG_OBJ_T temp_msg;
RingBuffer_Pop(&can_rx_buffer, &temp_msg);
Board_UART_PrintNum(temp_msg.mode_id, 16, false);
Board_UART_Print("\t");
Board_UART_PrintNum(temp_msg.dlc, 10, false);
int i = 0;
for (i = 0; i < temp_msg.dlc; i++) {
Board_UART_Print("\t");
Board_UART_PrintNum(temp_msg.data[i], 16, false);
}
Board_UART_Println("");
Board_LED_Off(LED3);
}
if (can_error_flag) {
can_error_flag = false;
Board_UART_Print("CAN Error: 0b");
Board_UART_PrintNum(can_error_info, 2, true);
}
if (msTicks - status_led_time > STATUS_LED_PERIOD) {
status_led_time = msTicks;
status_led_state = 1 - status_led_state;
Board_LED_Set(LED0, status_led_state);
}
}
}