void initNMT() {
// todo: check NMT state; allow device-specific NMT
sendNMT("stop_remote_node");
std::this_thread::sleep_for(std::chrono::milliseconds(100));
sendNMT("start_remote_node");
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
bool Device::init(std::string deviceFile)
{
if(canopen::atFirstInit)
{
canopen::atFirstInit = false;
if(std::find(canopen::openDeviceFiles.begin(), canopen::openDeviceFiles.end(), deviceFile) == canopen::openDeviceFiles.end())
{
CAN_Close(canopen::h);
if (!canopen::openConnection(deviceFile, canopen::baudRate)) // check if connection was successful
{
ROS_ERROR_STREAM("Cannot open CAN device " << deviceFile << "... aborting.");
exit(EXIT_FAILURE);
}
canopen::initListenerThread(canopen::defaultListener);
canopen::openDeviceFiles.push_back(deviceFile);
}
sendNMT(NMT_RESET_COMMUNICATION, true);
}
ros::Time start = ros::Time::now();
while(!nmt_init)
{
if((ros::Time::now() - start).toSec() > 5.0)
{
ROS_ERROR_STREAM("Node: " << (int)CANid_ << " is not ready for operation. Please check for potential problems.");
return false;
}
ros::Duration(0.01).sleep();
}
// Configure PDO channels
ROS_DEBUG_STREAM("mapping PDOs of device " << name);
init_pdo();
ros::Duration(0.01).sleep();
sendNMT(NMT_START_REMOTE_NODE);
// std::cout << std::hex << "Initialized the PDO mapping for Node: " << (int)CANid << std::endl;
initialized = true;
set_objects();
return true;
}
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;
}
