void Settings_Init(void) {
float crystal_freq;
EEPROM_Start();
crystal_freq = ((float)swap32(*(reg32*)CYDEV_EE_BASE) / 0x01000000);
if (
crystal_freq < XTAL_MIN || crystal_freq > XTAL_MAX ||
REVERSE_DATA(CYDEV_EE_BASE) > 3
) {
// New radio! Si570_Start() will compute xtal
// and it will immediately be stored in eeprom.
Si570_Xtal = 0;
Audio_IQ_Channels = 0;
} else {
Si570_Xtal = XTAL_DATA(CYDEV_EE_BASE);
Audio_IQ_Channels = REVERSE_DATA(CYDEV_EE_BASE);
}
}
int main()
{
BootIRQ_Start();
CyGlobalIntEnable; /* Enable global interrupts. */
for(uint8 i=0; i<5;i++){
LED_Write(1u);
CyDelay(10u);
LED_Write(0u);
CyDelay(100u);
}
usb_init();
xprintf("Start");
ADC_Start();
EEPROM_Start();
status_register.matrix_output = 0;
status_register.emergency_stop = 0;
for(;;)
{
/* Host can send double SET_INTERFACE request. */
// if (0u != USB_IsConfigurationChanged())
// {
/* Initialize IN endpoints when device is configured. */
// if (0u != USB_GetConfiguration())
// {
/* Enumeration is done, enable OUT endpoint to receive data
* from host. */
// USB_EnableOutEP(8);
// xprintf("Reconfigured");
// }
// }
if (message_for_you_in_the_lobby)
{
process_msg();
}
scan();
}
}
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;
}
