main.cpp File Reference

#include <Arduino.h>
#include <FlexCAN_T4.h>
#include <math.h>
#include <elapsedMillis.h>
#include <logging.h>
#include "rpm.h"

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Macros
#define	AVG_SAMPLES   20
#define	BRAKE_LIGHT   2
#define	BRAKE_LIGHT_LOWER_THRESH   165
#define	BRAKE_LIGHT_UPPER_THRESH   510
#define	BRAKE_LIGHT_BRIGHTNESS   150
#define	BRAKE_LIGHT_MIN_ACTIVE_PERIOD   200
#define	BRAKE_SENSOR_PIN   A5
#define	CURRENT_SENSOR_PIN   A4
#define	RIGHT_WHEEL_ENCODER_PIN   30
#define	LEFT_WHEEL_ENCODER_PIN   28
#define	RPM_PUBLISH_PERIOD   5000
#define	WPS_PULSES_PER_ROTATION   36
#define	LIMIT_RPM_INTERVAL   500000
#define	SENSOR_SAMPLE_PERIOD   20
#define	CAN_BAUD_RATE   500000
#define	CAN_TRANSMISSION_PERIOD   100
#define	C1_ID   0x123
#define	BRAKE_MSG_1ST_BYTE   0x90
#define	RR_RPM_MSG_1ST_BYTE   0x11
#define	RL_RPM_MSG_1ST_BYTE   0x12
#define	LOGGING_PERIOD   10
#define	BAMO_SPEED   0x30
#define	BAMO_RPM_MOTOR   0xCE
#define	BAMO_ACTUAL_CURRENT   0x5f
#define	BAMO_MOTOR_TEMP   0x49
#define	BAMO_POWER_STAGE_TEMP   0x4A
#define	BAMO_MOTOR_VOLTAGE   0x8A
#define	BAMO_MOTOR_TORQUE   0xA0
#define	BAMO_DC_VOLTAGE   0xeb

Functions
int	average (int *buffer, int n)
void	bufferInsert (int *buffer, int n, int value)
void	initMessages ()
void	canbusSniffer (const CAN_message_t &msg)
void	canbusSetup ()
void	sendBrakeVal (uint16_t brake_value)
bool	brakeLightControl (int brake_val)
void	setup ()
void	loop ()

Variables
uint16_t	brake_val = 0
elapsedMicros	rpm_publisher_timer
elapsedMillis	canTimer
elapsedMillis	brake_sensor_timer
elapsedMillis	brake_light_active_timer
elapsedMillis	writeTIMER
elapsedMillis	CURRENTtimer
Logging	loggingInstance
int	current = 0
int	voltage = 0
int	mintmp = 0
int	maxtmp = 0
int	avgtmp = 0
int	apps1 = 0
int	apps2 = 0
int	brake = 0
int	speed = 0
int	rpm_max = 0
int	I_actual = 0
int	powerStageTemp = 0
int	motorTemp = 0
int	lemos = 0
int	motorTemp2 = 0
int	powerStageTemp2 = 0
int	torque = 0
int	motor_voltage = 0
int	battery_voltage = 0
float	rr_rpm
float	rl_rpm
unsigned long	last_wheel_pulse_rr
unsigned long	last_wheel_pulse_rl
unsigned long	second_to_last_wheel_pulse_rr
unsigned long	second_to_last_wheel_pulse_rl
FlexCAN_T4< CAN1, RX_SIZE_256, TX_SIZE_16 >	can1
CAN_message_t	brake_sensor_c3
CAN_message_t	rr_rpm_msg
CAN_message_t	rl_rpm_msg
CAN_message_t	current_controll
int8_t	current_byte1
int8_t	current_byte2
CAN_message_t	current_message_bamo
bool	R2D = false
int	avgBuffer1 [AVG_SAMPLES] = {0}

Macro Definition Documentation

AVG_SAMPLES

#define AVG_SAMPLES   20

Definition at line 9 of file main.cpp.

BAMO_ACTUAL_CURRENT

#define BAMO_ACTUAL_CURRENT   0x5f

Definition at line 40 of file main.cpp.

BAMO_DC_VOLTAGE

#define BAMO_DC_VOLTAGE   0xeb

Definition at line 45 of file main.cpp.

BAMO_MOTOR_TEMP

#define BAMO_MOTOR_TEMP   0x49

Definition at line 41 of file main.cpp.

BAMO_MOTOR_TORQUE

#define BAMO_MOTOR_TORQUE   0xA0

Definition at line 44 of file main.cpp.

BAMO_MOTOR_VOLTAGE

#define BAMO_MOTOR_VOLTAGE   0x8A

Definition at line 43 of file main.cpp.

BAMO_POWER_STAGE_TEMP

#define BAMO_POWER_STAGE_TEMP   0x4A

Definition at line 42 of file main.cpp.

BAMO_RPM_MOTOR

#define BAMO_RPM_MOTOR   0xCE

Definition at line 39 of file main.cpp.

BAMO_SPEED

#define BAMO_SPEED   0x30

Definition at line 38 of file main.cpp.

BRAKE_LIGHT

#define BRAKE_LIGHT   2

Definition at line 11 of file main.cpp.

BRAKE_LIGHT_BRIGHTNESS

#define BRAKE_LIGHT_BRIGHTNESS   150

Definition at line 14 of file main.cpp.

BRAKE_LIGHT_LOWER_THRESH

#define BRAKE_LIGHT_LOWER_THRESH   165

Definition at line 12 of file main.cpp.

BRAKE_LIGHT_MIN_ACTIVE_PERIOD

#define BRAKE_LIGHT_MIN_ACTIVE_PERIOD   200

Definition at line 15 of file main.cpp.

BRAKE_LIGHT_UPPER_THRESH

#define BRAKE_LIGHT_UPPER_THRESH   510

Definition at line 13 of file main.cpp.

BRAKE_MSG_1ST_BYTE

#define BRAKE_MSG_1ST_BYTE   0x90

Definition at line 32 of file main.cpp.

BRAKE_SENSOR_PIN

#define BRAKE_SENSOR_PIN   A5

Definition at line 17 of file main.cpp.

C1_ID

#define C1_ID   0x123

Definition at line 30 of file main.cpp.

CAN_BAUD_RATE

#define CAN_BAUD_RATE   500000

Definition at line 27 of file main.cpp.

CAN_TRANSMISSION_PERIOD

#define CAN_TRANSMISSION_PERIOD   100

Definition at line 28 of file main.cpp.

CURRENT_SENSOR_PIN

#define CURRENT_SENSOR_PIN   A4

Definition at line 18 of file main.cpp.

LEFT_WHEEL_ENCODER_PIN

#define LEFT_WHEEL_ENCODER_PIN   28

Definition at line 20 of file main.cpp.

LIMIT_RPM_INTERVAL

#define LIMIT_RPM_INTERVAL   500000

Definition at line 24 of file main.cpp.

LOGGING_PERIOD

#define LOGGING_PERIOD   10

Definition at line 36 of file main.cpp.

RIGHT_WHEEL_ENCODER_PIN

#define RIGHT_WHEEL_ENCODER_PIN   30

Definition at line 19 of file main.cpp.

RL_RPM_MSG_1ST_BYTE

#define RL_RPM_MSG_1ST_BYTE   0x12

Definition at line 34 of file main.cpp.

RPM_PUBLISH_PERIOD

#define RPM_PUBLISH_PERIOD   5000

Definition at line 22 of file main.cpp.

RR_RPM_MSG_1ST_BYTE

#define RR_RPM_MSG_1ST_BYTE   0x11

Definition at line 33 of file main.cpp.

SENSOR_SAMPLE_PERIOD

#define SENSOR_SAMPLE_PERIOD   20

Definition at line 25 of file main.cpp.

WPS_PULSES_PER_ROTATION

#define WPS_PULSES_PER_ROTATION   36

Definition at line 23 of file main.cpp.

Function Documentation

average()

int average	(	int *	buffer,
		int	n
	)

Definition at line 102 of file main.cpp.

brakeLightControl()

bool brakeLightControl

(

int

brake_val

)

Definition at line 220 of file main.cpp.

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bufferInsert()

void bufferInsert	(	int *	buffer,
		int	n,
		int	value
	)

Definition at line 112 of file main.cpp.

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canbusSetup()

void canbusSetup

(

)

Definition at line 198 of file main.cpp.

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canbusSniffer()

void canbusSniffer

(

const CAN_message_t &

msg

)

Definition at line 139 of file main.cpp.

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initMessages()

void initMessages

(

)

Definition at line 121 of file main.cpp.

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loop()

void loop

(

)

Definition at line 263 of file main.cpp.

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sendBrakeVal()

void sendBrakeVal

(

uint16_t

brake_value

)

Definition at line 212 of file main.cpp.

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setup()

void setup

(

)

Definition at line 236 of file main.cpp.

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Variable Documentation

apps1

int apps1 = 0

Definition at line 64 of file main.cpp.

apps2

int apps2 = 0

Definition at line 65 of file main.cpp.

avgBuffer1

int avgBuffer1[AVG_SAMPLES] = {0}

Definition at line 100 of file main.cpp.

avgtmp

int avgtmp = 0

Definition at line 63 of file main.cpp.

battery_voltage

int battery_voltage = 0

Definition at line 78 of file main.cpp.

brake

int brake = 0

Definition at line 66 of file main.cpp.

brake_light_active_timer

elapsedMillis brake_light_active_timer

Definition at line 52 of file main.cpp.

brake_sensor_c3

CAN_message_t brake_sensor_c3

Definition at line 89 of file main.cpp.

brake_sensor_timer

elapsedMillis brake_sensor_timer

Definition at line 51 of file main.cpp.

brake_val

uint16_t brake_val = 0

Definition at line 47 of file main.cpp.

can1

FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> can1

Write CSV fields feature example.

Definition at line 87 of file main.cpp.

canTimer

elapsedMillis canTimer

Definition at line 50 of file main.cpp.

current

int current = 0

Definition at line 59 of file main.cpp.

current_byte1

int8_t current_byte1

Definition at line 94 of file main.cpp.

current_byte2

int8_t current_byte2

Definition at line 95 of file main.cpp.

current_controll

CAN_message_t current_controll

Definition at line 92 of file main.cpp.

current_message_bamo

CAN_message_t current_message_bamo

Definition at line 96 of file main.cpp.

CURRENTtimer

elapsedMillis CURRENTtimer

Definition at line 54 of file main.cpp.

I_actual

int I_actual = 0

Definition at line 70 of file main.cpp.

last_wheel_pulse_rl

unsigned long last_wheel_pulse_rl

Definition at line 83 of file main.cpp.

last_wheel_pulse_rr

unsigned long last_wheel_pulse_rr

Definition at line 82 of file main.cpp.

lemos

int lemos = 0

Definition at line 73 of file main.cpp.

loggingInstance

Logging loggingInstance

Definition at line 56 of file main.cpp.

maxtmp

int maxtmp = 0

Definition at line 62 of file main.cpp.

mintmp

int mintmp = 0

Definition at line 61 of file main.cpp.

motor_voltage

int motor_voltage = 0

Definition at line 77 of file main.cpp.

motorTemp

int motorTemp = 0

Definition at line 72 of file main.cpp.

motorTemp2

int motorTemp2 = 0

Definition at line 74 of file main.cpp.

powerStageTemp

int powerStageTemp = 0

Definition at line 71 of file main.cpp.

powerStageTemp2

int powerStageTemp2 = 0

Definition at line 75 of file main.cpp.

R2D

bool R2D = false

Definition at line 98 of file main.cpp.

rl_rpm

float rl_rpm

Definition at line 81 of file main.cpp.

rl_rpm_msg

CAN_message_t rl_rpm_msg

Definition at line 91 of file main.cpp.

rpm_max

int rpm_max = 0

Definition at line 69 of file main.cpp.

rpm_publisher_timer

elapsedMicros rpm_publisher_timer

Definition at line 49 of file main.cpp.

rr_rpm

float rr_rpm

Definition at line 80 of file main.cpp.

rr_rpm_msg

CAN_message_t rr_rpm_msg

Definition at line 90 of file main.cpp.

second_to_last_wheel_pulse_rl

unsigned long second_to_last_wheel_pulse_rl

Definition at line 85 of file main.cpp.

second_to_last_wheel_pulse_rr

unsigned long second_to_last_wheel_pulse_rr

Definition at line 84 of file main.cpp.

speed

int speed = 0

Definition at line 68 of file main.cpp.

torque

int torque = 0

Definition at line 76 of file main.cpp.

voltage

int voltage = 0

Definition at line 60 of file main.cpp.

writeTIMER

elapsedMillis writeTIMER

Definition at line 53 of file main.cpp.