main.cpp

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#include <Arduino.h>
#include <Bounce2.h>
#include <FlexCAN_T4.h>
 
#include "apps.h"
#include "can.h"
#include "debug.h"
#include "display.h"
#include "statemachine.hpp"
 
 
int current_BMS = 0;
extern elapsedMillis ASEmergencyTimer;
 
volatile bool disabled = false;
volatile bool BTBReady = false;
volatile bool transmissionEnabled = false;
 
volatile bool TSOn = false;
volatile bool R2DOverride = false;
 
volatile bool ASReady = false; // true if ASState = ASReady
 
extern FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> can1;
 
extern CAN_message_t statusRequest;
 
extern CAN_message_t disable;
 
extern CAN_message_t DCVoltageRequest;
extern CAN_message_t actualSpeedRequest;
 
extern int speed;
 
extern status R2DStatus;
 
uint8_t current_byte1; // MSB
uint8_t current_byte2; // LSB
CAN_message_t current_msg;
 
extern status R2DStatus;
Bounce r2dButton = Bounce();
 
elapsedMillis R2DTimer;
extern elapsedMillis APPSTimer;
elapsedMillis CURRENTtimer;
elapsedMicros mainLoopPeriod;
 
void sendMout(int value)
{
    uint8_t byte1 = (value >> 8) & 0xFF;
    uint8_t byte2 = value & 0xFF;
 
    CAN_message_t msg;
    msg.id = BAMO_COMMAND_ID;
    msg.len = 3;
    msg.buf[0] = 0xA0;
    msg.buf[1] = byte2;
    msg.buf[2] = byte1;
    can1.write(msg);
}
 
void checkASEmergencySound()
{
    if (ASEmergencyTimer < ASBuzzer)
        digitalWrite(buzzerPin, HIGH);
    else
        digitalWrite(buzzerPin, LOW);
}
 
void setup()
{
    Serial.begin(9600);
    pinMode(APPS_1_PIN, INPUT);
    pinMode(APPS_2_PIN, INPUT);
 
    pinMode(buzzerPin, OUTPUT);
    canSetup();
 
    r2dButton.attach(R2D_PIN, INPUT);
    r2dButton.interval(0.1);
 
    R2DStatus = IDLE;
    R2DTimer = 0;
 
    // Init the timer higher than the timeout (ASBuzzer)
    ASEmergencyTimer = 100000;
 
    delay(STARTUP_DELAY_MS);
 
    can1.write(disable);
    can1.write(statusRequest);
    can1.write(DCVoltageRequest);
 
#if DATA_DISPLAY > 0
    // can1.write(actualSpeedRequest);
    displaySetup();
#endif
#ifdef MAIN_DEBUG
    LOG("Setup complete, Waiting for R2D\n");
#endif
 
    //Uncomment this to run the integration test on the Testing Board
    //testing_setup();
}
 
void loop()
{
    if (mainLoopPeriod < 10)
        return;
    statemachine();
    checkASEmergencySound();
    //Uncomment this to run the integration test on the Testing Board
    //integrationtest(R2DStatus);
}