Dual CANbus monitor and instrumentation cluster. Presently tuned for the Nissan Leaf EV.

Dependencies:   SPI_TFTx2_ILI9341 TFT_fonts TOUCH_TFTx2_ILI9341 mbed

Fork of CANary_corrupt by Tick Tock

After adding the LPC1768 platform, import as a program and do not select the "update to latest revision" box

User Guide

Eagle Schematic and Board design

/media/uploads/TickTock/canaryr6.zip

/media/uploads/TickTock/canary_sch.jpg

/media/uploads/TickTock/canaryr6brd.jpg

For LCD Rev 1.01:

/media/uploads/TickTock/lcdsch.jpg

For VCD Rev 2.00:

/media/uploads/TickTock/lcdr2.jpg

Parts List

qtyinstancepart #packagesupplierDescription
1BAT3Vhttp://www.ebay.com/itm/10x-CR2032-SMD-Battery-Holder-for-CR2032-Battery-/180938057979?pt=LH_DefaultDomain_0&hash=item2a20bfa8fbLithium 2032 coin battery holder
4C1-C4ECST1DC106R6032Tantalium capacitor 10uF
3FC1-FC3ZF1-20-01-T-WThttp://www.samtec.com/cable-systems/idc-ffc/ffc/zero-insertion.aspx20 conductor 1mm pitch flex cable connector (optional)
1FJ-20-R-08.00-4http://www.samtec.com/cable-systems/idc-ffc/ffc/zero-insertion.aspx8\" 20 conductor 1mm pitch flex connector, end reversed (optional)
2H1-H4(DON'T populate H1-H4 headers - solder mbed directly)
1H5http://www.ebay.com/itm/221186042943?ssPageName=STRK:MEWNX:IT&_trksid=p3984.m1497.l26491x12 .1\" pitch header (optional)
1H62x6 .1\" pitch header (optional)
2IC1,IC2VP230LMDSOP8http://www.ebay.com/itm/130488665247?ssPageName=STRK:MEWNX:IT&_trksid=p3984.m1497.l2649canbus transciever
1IC3LM1117-5VSOT2235V regulator
5JP*2 pin .1\" jumper header
1mbedLPC1768http://www.ebay.com/itm/200830573509?ssPageName=STRK:MEWNX:IT&_trksid=p3984.m1497.l2649mbed uC
2Q1,Q22N2222SOT23General purpose NPN transistor
1R1R393M120639K resistor
1R2R103M120610K resistor
4R4-R6R102M12061K resistor
1R3R500M120650 Ohm resistor
2TR1-TR5ZJYS81R5-2PL51TG01http://www.digikey.com/product-detail/en/ZJYS81R5-2PL51T-G01/445-2223-1-ND/765232CM Choke
1Z11N5340BGC1702-15http://www.ebay.com/itm/150878122425?ssPageName=STRK:MEWNX:IT&_trksid=p3984.m1497.l26496V, 5W Zener Diode
1Z1DC-DC conveterhttp://www.ebay.com/itm/251142727849?ssPageName=STRK:MEWNX:IT&_trksid=p3984.m1497.l264912V-7V, 3W DC-DC converter
1X1USBhttp://www.ebay.com/itm/New-Vertical-USB-2-0-A-pcb-connector-socket-USB-A-Type-/300553895292?pt=LH_DefaultDomain_0&hash=item45fa687d7cvertical USB connector
2LCD0,LCD1TFThttp://www.mikroe.com/add-on-boards/display/tft-proto/320x240 LCD with touch screen
1E0Enclosurehttp://www.shapeways.com/model/1077799/canary.html?li=user-profile&materialId=63d printed enclosure

Assembly

1) LCD Displays

I found ribbon cable is a nice way to organize the wires to the displays. There are two versions of the display and each must be wired differently. The original project used HW REV. 1.01. For that version, you'll need 12 conductors and I connected them in the following order:

1LED+
2LED-
3RST
4SDI
5WR/SCLK
6CS
7X+
8X-
9Y+
10Y-
11VDD
12GND

If, instead, you have HW REV 2.0, you will need 13 conductors with the following order:

1LED+
2LED-
3RST
4SDI
5RS (SCLK)
6WR (DC)
7CS
8X+
9X-
10Y+
11Y-
12VDD
13GND

First I connected all the GND connections (2 GND & IM0, IM1, IM3 for REV1.01 or 2 GND, RD, & IM0 for REV2.00). Do not connect the bottom GND until you have the ribbon cable connected. After making all the ribbon cable connections (connecting the GND of the ribbon cable to the bottom GND pad), solder the GND bar from the previous step to the back of the bottom GND connection. Finally, make a connection from the back side 3.3V pin to IM2 for REV1.01 or to IM1,IM2,&IM3 for REV2.00. Take a break and repeat for the second display.

Examples of REV1.01 boards:

/media/uploads/TickTock/lcdtop.jpg /media/uploads/TickTock/lcdbot.jpg

Examples of REV2.00:

/media/uploads/TickTock/rev2front.jpg /media/uploads/TickTock/rev2back.jpg

Once the two displays are complete combine all wires except CS0, CS1, X+, X-, Y+, and Y-. Connect X- of the left display to X+ of the right. Similarly connect Y- of the left display to Y+ of the right. Insulate any exposed wires.

2) PCB

Refer to the schematics to place all the components on the board. If you plan to install into the CANary 3D enclosure, DO NOT install the battery holder or the socket for the mbed and, instead, connect two wires to the VB and GND pads nearby. You will have to install the battery holder against the back wall to avoid interfering with the right-hand display and the mbed will have to be directly soldered. I have not found a socket with a low enough profile to fit in the space provided (depth of enclosure is limited by the space behind the center console). Also, I recommend keeping as much lead as possible on the Zener diode (bending it as shown to clear the back wall). Although it is operating well within parameters, the Zener gets quite hot during extended operation and the leads help dissipate the heat and keep it away from the PCB and other components.Update: Several Zeners have failed resulting in damage to some users boards so I recommend using a DC-DC converter instead to bring the 12V down to 7V.

/media/uploads/TickTock/pcbtop.jpg /media/uploads/TickTock/pcbbot.jpg

Once the PCB is populated, solder the LCDs to the PCB. CS0 connects to the right display and CS1 connects to the left. /media/uploads/TickTock/brddis.jpg

Update: The Zener diodes tended to fail after a few months so I am recommending removing them and replacing with a DC-DC converter. This will run cooler and waste less energy, too. To install, remove the left display panel to gain access to the Zener. From there, the Zener can be removed and it's pads used to connect to the DC-DC converter. I recommend setting the output voltage on the bench before installing since the trim pot is tricky to reach once installed. Set it to 7V. The input can be connected to the left pad previously occupied by the zener and the output can connect to the right. GND(-) can be connected to the bottom right pad on the 2x6 header below the flex cable connector. Make sure the GND wire lies flat so it doesn't interfere with the connection of the flex cable. /media/uploads/TickTock/dcdcinst2.jpg

Once soldered in place, the DC-DC converter can easily be mounted to the back wall with double sided tape above the battery holder. /media/uploads/TickTock/dcdcinst3.jpg

3) Testing

1)First step is to buzz out all connections from the LCDs to the pins in the main board
2)Next check the touch screen connections. On the main board, place an Ohm meter across X+ and X-. You should read 700 Ohms. Repeat for Y+ and Y-. Then test the resistance from X+ to Y+. With nothing touching the screens, it should read >100K Ohms and <1K when touching either screen.
3)When all connections are checked, solder in the mbed. Download and install the touch2 program http://mbed.org/users/TickTock/code/touch2/ to test the basic operation of the mbed and touch screens.
tips:
Touch screen is sensitive - excess flux on X+,X-,Y+,Y- connection on mbed can result in flakey operation
If touch is not working, double-check the LCD0_CS and LCD1_CS are not swapped. LCD0_CS must connect to the CS of the LCD that has X- & Y- connected to the mbed. LCD1_CS must connect to the CS of the LCD that has X+ & Y+ connected to the mbed.
4)Once touch2 works, it is time to connect to the OBD connector. I highly recommend double checking all connections from the OBD to the PCB with the cable in place before connecting to the Leaf. Buzz out all the pins in the OBS to make sure none are shorting to each other, Check that the 12V goes to the Zener (and nothing else) and the switched 12V to the resistor divider (and nothing else). Test the ground connection properly connects to ground and nothing else.
5)Once you are confident there are no shorts or wrong connections from the OBD connector, take a deep breath and plug it into your leaf. Touch2 program should come up and function. Unplug and install the latest CANary firmware. If you have the REV2.00 LCD boards, you will need to edit the precompile.h file in the TOUCH_TFTx2_w9341 library and set USE_ILI9341 to 1. Test all features before installing into the enclosure (gids, cellpair, menu system, logging) since installing and removing from the enclosure is a PITA.

/media/uploads/TickTock/pcbdone.jpg /media/uploads/TickTock/functioning.jpg

4) Enclosure

The 3D printer leaves a lot of powder behind - I used a strong spray of water to get it out of all the cracks. The enclosure comes with a rather rough finish. I recommend convincing yourself you like it, then simply lightly sand then paint before assembly. Sanding is very difficult - the nylon is very nicely fused and doesn't want to sand. I tried sandblasting and that didn't work either. I had some limited success with filler and then sanding, but only on the outside - it is too difficult to sand the face. /media/uploads/TickTock/enclosure.jpg

5) Final Assembly

Make sure you are well rested with lots of patience before attempting assembly. It is a puzzle figuring out how to get both displays and the PCB in place. Enclosure was too expensive for me to keep iterating to optimize for assembly. I ended up snipping the thin display posts shorter and using various tools to push the displays into place. Also, some USB connectors are taller than others. If you have one of the taller ones, you will have to deflect the back wall a bit while inserting the PCB (being careful not to bend the housing) to get it to it's opening in the back wall. Do use a screw in the provided post to secure the PCB as USB insertion will otherwise dislodge it.

I added an additional safety line which wraps around the center post to prevent the enclosure from becoming a projectile in the event of an accident. /media/uploads/TickTock/safety.jpg Installed: /media/uploads/TickTock/installed.jpg

main.cpp

Committer:
TickTock
Date:
2013-08-06
Revision:
144:b0c9d30dd346
Parent:
143:88b5155622a5
Child:
145:47cdacc468a4

File content as of revision 144:b0c9d30dd346:

// main.cpp
//
//To Do:
// * Audible friction brake feedback
// * User-configurable watchpoint
// * Add 50% charge option
// * Add coasting regen to regen/braking display
// * Change semilog efficiency graph to linear with 10 minute values
// * Add additional 79b bank readouts
// * Subtract accessory power from efficiency history (add back in when displaying)
// * Add trip history display

// rev144
// added accessory volt read from battData
// put a copy of the config.txt on the USB drive during firmware update
// added current trip efficiency below 10 minute efficiency to dte display

#include "mbed.h"
#include "CAN.h"
#include "beep.h"
#include "ff.h"
#include "PowerControl.h"
#include "EthernetPowerControl.h"
#include "utility.h"
#include "displayModes.h"
#include "TOUCH_TFTx2.h"
char revStr[7] = "144"; // gg - revision string, max 6 characters

FATFS USBdrive;
LocalFileSystem local("local");
unsigned char wait5secs = 5;
// to write to USB Flash Drives, or equivalent (SD card in Reader/Writer)
// class10 SDcard in Reader/Writer recommended
FRESULT mfr = f_mount(0,&USBdrive);
time_t seconds ;

Ticker autoPoll;
Ticker playback;
Ticker msgReq;
Ticker geiger;
Timer timer;

DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

InterruptIn touchpad(p17);
CAN can1(p9, p10);      // CAN1 (EV) uses pins 9 and 10 (rx, tx) and pin 8 (rs)
DigitalOut can1SleepMode(p8);     // Use pin 8 to control the sleep mode of can2
CAN can2(p30, p29);     // CAN2 (CAR) uses pins 30 and 29 (rx, tx) and pin 28 (rs)
DigitalOut can2SleepMode(p28);     // Use pin 28 to control the sleep mode of can1
AnalogIn mon12V(p15);
TOUCH_TFTx2 tt(p16, p17, p19, p20, p11, p12, p13, p6, p7, p5, "TFT"); // x+,x-,y+,y-,mosi, miso, sclk, cs0, cs1, reset
PwmOut dled(p23);
Beep spkr(p21);

bool debugMode = false;
bool usbEn = false;
bool logEn = false;
bool logOpen = false; 
bool yesBattLog = true; // gg - Batt Log
unsigned char tNavRow = 3; // gg - 4x4 touch
bool brakeMon = false;  // disable until desired value read from config

FILE *hfile; // history file
FIL efile; // external usb file
FRESULT efr; // external file access flags
unsigned int bytesRW;
char fileName[35] = "";
char writeBuffer[maxBufLen][13] __attribute__ ((section("AHBSRAM1"))); // buffer for USB write
char indexLastMsg[0x800]={0}; // index table for last message
CANMessage lastMsg[100]; // table to store last message of eachtype

unsigned char battData[BatDataBufMax]={0}; // 7 * 0x3D = BatDataBufMax

unsigned char msgChanged[100]; // inidcates which bytes changed
char c;
volatile int writePointer = 0;
int readPointer=0;
volatile unsigned short secsNoCarCanMsg = canTimeout;
volatile unsigned short secsNoEvCanMsg = canTimeout;
volatile unsigned short secsNoTouch = 0;
volatile bool carCanIdle,evCanIdle,userIdle;
bool touched=false; //flag to read touchscreen
unsigned char whichTouched = 0;
char counter = 0;
unsigned char dMode[2] = {mainScreen,brakeScreen}; //display mode
unsigned char sMode = 0; // setup mode
unsigned char lastDMode[2] = {0,0}; //last screen mode
unsigned char dtMode = 0;
char displayLog[20][40];
unsigned char displayLoc = 0;
unsigned int fwCount=1;
unsigned char indexOffset = 1;
bool showCP = false;
bool logCP = false; //Turbo3
bool logOnce = false;
bool repeatPoll = true;
bool headlights = false;
bool miles_kmbar = true;
bool tick = false;
bool ZeroSecTick = false;
float ledHi = 0.8; // Bright LED value (until config file read)
float ledLo = 0.1; // Dim LED value (until config file read)
unsigned short pollInt = 300; // polling interval=5 minutes (until config file read)
bool accOn = false; // Accessories on
bool laccOn = false;
float scale12V = 16.2; // R1:R2 ratio
signed long mWs_x4 = 0;
unsigned short numWsamples = 0;
unsigned short numSsamples = 0;
float accV = 0;
float accV2 = 0;
bool playbackEn = false;
bool playbackOpen = false;
//float playbackInt = 0.05; //read messages every 50 ms
float playbackInt = 0.005; //read messages every 5 ms
bool step = false;
char header[5];
char data[8];
signed long motorRPM;
unsigned char skin = ttSkin ;
unsigned char dtePeriod = 14; //ten minute averaging interval
float kWh_trip[3]={0};
float miles_trip[3]={0};
float curEff = 0;
float maxTripEff = 4;
float minTripEff = 4;
float mph[39]={0};
float kW[39]={0};
float mpkWh[39]={0};
float unloadedV_x2,Resr,curRmax,curRmin,redRmax,redRmin,incRmax,incRmin;
signed short Imax, Imin;
// Logarithmic division scale (roughly - snapped to common units of time)
float timeConstant[39] = {1, 1.58, 2.51, 3.98, 6.31, 10, 15.8, 25.1, 39.8, 60, // 1 minute
                     60*1.58, 60*2.51, 60*3.98, 60*6.31, 60*10, 60*15.8, 60*25.1, 60*39.8, 60*60, // 1 hour
                     60*60*1.58, 60*60*2.51, 60*60*3.98, 60*60*6.31, 60*60*10, 60*60*15.8, 60*60*24, // 1 day
                     60*60*24*1.58, 60*60*24*2.51, 60*60*24*3.98, 60*60*24*6.31, 60*60*24*10, 60*60*24*15.8, 60*60*24*30, // 1 month
                     60*60*24*39.8, 60*60*24*63.1, 60*60*24*100, 60*60*24*158, 60*60*24*251, 60*60*24*365}; // 1 year
bool tock = false;
unsigned short pointerSep;
unsigned char reqMsgCnt = 99;
unsigned long Ah_x10000 = 0;
unsigned long SOC_x10000 = 0;
unsigned short SOH2_x100 = 0;
float maxTemp = 0;
bool metric = false;
bool shunt[96]={0};
bool charging=false;
bool showHealth=false;
unsigned char saveDmode=99;
bool moving=false;
unsigned short chirpInt;

int main() {
    char sTemp[40];
    unsigned long secs;
    unsigned char i,j,display=0,lwt=0;
    point lastTouch;
    float average;
    tt.set_orientation(1);
    tt.background(Black);
    tt.set_display(2);       // select both displays
    tt.cls();
    tt.foreground(White);
    tt.set_font((unsigned char*) Arial12x12_prop);  // select the font
    tt.locate(0,0);
    tt.claim(stdout);        // send stdout to the TFT display
    if(tt.is_touched()){ // If touching screen on poweron then update firmware
        updateFirmware();
    }
    touchpad.rise(&touch_ISR);
    tt.wfi();               // enable interrupt on touch
    dled = 0.8; // turn on display LED 80%
    Resr = 0.075; // initial guess of Resr
    timer.start() ;
    RTC_Init(); // start the RTC Interrupts that sync the timer
    struct tm t; // pointer to a static tm structure
    NVIC_SetPriority(CAN_IRQn, 2); //set can priority just below RTC
    NVIC_SetPriority(TIMER3_IRQn, 3); //set ticker priority just below can

    seconds = time(NULL);
    t = *localtime(&seconds) ;
    // is it a date before 2012 ?
    if ((t.tm_year + 1900) < 2012 ) {
        // before 2013 so update year to make date entry easier
        t.tm_year = 2013 - 1900;
        // set the RTC
        set_time(mktime(&t));
        seconds = time(NULL);
    }
    t = *localtime(&seconds) ;
    strftime(sTemp, 32, "%a %m/%d/%Y %X\n", &t);
    printMsg(sTemp); // record RTC
    
    // revision
    sprintf(sTemp,"CANary firmware rev%s\n", revStr); // gg - for Logging the revision
    printMsg(sTemp); // revision

    //read efficiency history data
    hfile = fopen("/local/ehist.cny", "r");
    if (hfile!=NULL){ // found a efficiency history file
        for(i=0;i<39;i++){
            if(!feof(hfile)){
                fscanf(hfile,"%f %f\r\n",&mph[i],&kW[i]);
                mpkWh[i]=mph[i]/kW[i];
            }
        }
        if(!feof(hfile)){
            fscanf(hfile,"%f %f\r\n",&maxTripEff,&minTripEff);
        }
        fclose(hfile);
        printMsg("History Loaded.\n"); // History loaded
    } else { // create initial file
        printMsg("History not found.  Created.\n"); // history not found, created
        for(i=0;i<39;i++){
            // Pre-load with 4 mpkWh @ 40 mph
            mph[i]=40*timeConstant[i];
            kW[i]=10*timeConstant[i];
            mpkWh[i]=4;
        }
    }

    // Read config file
    readConfig();
    if (brakeMon){
        geiger.attach(&chirp,0.02);
    }
    if (repeatPoll) { // enable autopolling if enabled
        autoPoll.attach(&autoPollISR,pollInt);
    }
    
    // Start monitors
    can1.monitor(true); // set to snoop mode
    can2.monitor(true); // set to snoop mode
    can1.frequency(500000);
    can2.frequency(500000);
    can1SleepMode = VP230Sleep;         // Turn on Monitor_only Mode
    can2SleepMode = VP230Sleep;         // Turn on Monitor_only Mode
    can1.attach(&recieve1);
    can2.attach(&recieve2);

    touched=false;
    secsNoTouch=2;
    while (true) {
        if (!logOpen) { // Open new file if one is not already open
            if(logEn&&usbEn){ //logging enabled and USB device detected
                strftime(fileName, 32, "%m%d%H%M.alc", &t); //mmddhhmm.alc
                efr = f_open(&efile,fileName,FA_WRITE|FA_OPEN_ALWAYS);
                seconds = time(NULL);
                t = *localtime(&seconds) ;
                lastDMode[0]=99;//force refresh
                lastDMode[1]=99;//force refresh
                if(efr != FR_OK){
                    sprintf(sTemp,"\nERR:%d Unable to open %s\n\n\n\n",efr,fileName);
                    printMsg(sTemp); // cannot open alc file
                    logEn=false;
                    spkr.beep(1000,0.25);
                    wait_ms(500);
                    spkr.beep(1000,0.25);
                } else {
                    logOpen = true;
                    readPointer=writePointer;
                    sprintf(sTemp,"Starting Can Log %s\n",fileName);
                    printMsg(sTemp); // starting alc log file 
                    
                    logTS(); // Date Time at start
                    logEvent("Starting"); // Log startup msg for testing
                    sprintf(sTemp,"Cr%s",revStr);
                    logEvent(sTemp); // gg - log firmware version   
                    spkr.beep(2000,0.25);
                }
            }//logging enabled and USB detected
        } else { // if (logOpen)
            pointerSep=(writePointer+maxBufLen-readPointer)%maxBufLen;
            if (pointerSep>(maxBufLen/16)||carCanIdle||!logEn) {
                // Dump buffer if > 1/16 full or canbus has stopped
                if (efr != FR_OK) {
                    logOpen = false;
                    printMsg("Failed to append log file.\n"); // failed to append 
                    spkr.beep(3000,0.25);
                    spkr.beep(1500,0.25);
                    spkr.beep(750,0.25);
                    spkr.beep(375,0.25);
                    logEn=false;
                } else {
                    while (readPointer != writePointer) {
                        efr=f_write(&efile,&writeBuffer[readPointer][0],13,&bytesRW);
                        if(++readPointer >= maxBufLen){
                            readPointer=0;
                            led4 = !led4;
                        }
                    }
                }
            } // if > 1/16 full, canbus has stopped, or logging stopped
            if (!logEn) {
                sprintf(sTemp,"Stopping Can Log %s\n",fileName);
                printMsg(sTemp); // stopping alc log file 
                f_close(&efile);
                logOpen=false;
                pointerSep=0;
                led4=false;
            }
        } // if logOpen
        if (carCanIdle && (evCanIdle || !logOpen) && userIdle && !playbackEn) { // canbus idle --> sleep to save power
            if (repeatPoll) { // stop autopolling if enabled
                autoPoll.detach();
            }
            if (logOpen){ //close file to dump buffer
                f_close(&efile);
            } else { //detach EVcan so only carcan will trigger wake
                can1.attach(NULL);
            }// if (logOpen)
            seconds = time(NULL);
            t = *localtime(&seconds) ;
            strftime(sTemp, 40, "Sleeping: %a %m/%d/%Y %X\n", &t);
            printMsg(sTemp); // sleeping date time
            updateDisplay(0); //Added for turbo3 who has a display override and wants to see the sleep message before going to sleep
            updateDisplay(1);
            //LPC_RTC->CIIR=0x00; // block RTC interrupts
            led1=0;
            led2=0;
            led3=0;
            led4=0;
            dled=0; // turn off display
            secs = time(NULL); // seconds past 12:00:00 AM 1 Jan 1900
            while (secsNoCarCanMsg>canTimeout && (secsNoEvCanMsg>canTimeout || !logOpen) && !touched) {
                //DeepPowerDown();
                tt.wfi(); //enable touch interrupt
                //__wfi(); // freeze CPU and wait for interrupt (from canbus or touch)
                Sleep();
            }
            if (!logOpen){ // Re-attach EVcan
                can1.attach(&recieve1);
            }
            secsNoTouch=2;
            carCanIdle=secsNoCarCanMsg>canTimeout;
            evCanIdle=secsNoEvCanMsg>canTimeout;
            dled=0.8; // turn on display LED
            seconds = time(NULL);
            t = *localtime(&seconds) ;
            strftime(sTemp, 40, "Waking: %a %m/%d/%Y %X\n", &t);
            printMsg(sTemp); // wakeup date time
            if (time(NULL)>(secs+1800)) {
                if (logOpen){
                    f_close(&efile);
                    logOpen = false; // Start new file if asleep for more than 30 minutes
                } // if (logOpen)
                if (secsNoTouch>100) secsNoTouch = 100; // also mostly reset user Idle counter
            } else if (logOpen){ // insert timestamp on each wake if logging enabled (disabled for now)
                efr = f_open(&efile,fileName,FA_WRITE|FA_OPEN_ALWAYS);
                f_lseek(&efile,0xffffffff); // goto end of file (append existing)
                logEvent("WakingUp"); // gg - use messeges
                logTS(); // Date-Time at wakeup
            }
            if (repeatPoll) { // re-enable autopolling if enabled
                autoPoll.attach(&autoPollISR,pollInt);
            }
            wait5secs=5; // Refresh screen after 5 seconds
        } // if idle
        
        if(touched){ // call touchscreen procedure if touch interrupt detected
            lastTouch = tt.get_touch();       
            lastTouch = tt.to_pixel(lastTouch);          // convert to pixel pos
            if((lastTouch.x!=639)&&(lastTouch.x!=319)&&(lastTouch.y!=239)){ // filter phantom touches
                if (userIdle) {
                    secsNoTouch=2; // Ignore first touch if user idle
                    userIdle=false;
                } else {
                    secsNoTouch=0;
                }
                if (lastTouch.x>320){
                    whichTouched=1;
                } else {
                    whichTouched=0;
                }
                if (whichTouched!=lwt){
                    lastDMode[lwt]=99; // Repaint lastTouched
                    lwt=whichTouched;
                }
                sMode = 1;
            }
            //sprintf(sTemp,"%d,%d ",lastTouch.x,lastTouch.y);
            //printMsg(sTemp); // touch x,y - for debug
            touched = false; // clear interrupt flag
        }
        //---------------
        // gg - 4x4 touch
        //unsigned char tScrn = 0 ; // screen 0
        unsigned char tCol ;                        
        unsigned char tRow ;
                        
        if (!userIdle) {
            if (secsNoTouch<2) {// Recently touched
                secsNoTouch +=2; // increment to prevent double touch
                sMode = 1;
                //sprintf(sTemp,"button %d %d,%d %d\n",i,buttonX(lastTouch.x,3),buttonY(lastTouch.y,3),lastTouch.x);
                //printMsg(sTemp); // button parms - for debug
                switch (sMode) {
                    case 0: // no select
                        break;
                    case 1: // select screen                        
                        //--------------
                        // gg - 4x4 touch
                        tCol = buttonX(lastTouch.x,4) ;
                        if( tCol >= 4 ){ tCol -= 4; } // touch is on screen 1
                        
                        tRow = buttonY(lastTouch.y,4) ;
                        
                        highlightButton( tCol,tRow, whichTouched, 4,4) ; // gg - highlight
                        
                        if( tRow == tNavRow ) tRow = 7 ; // gg                   
                        switch ( (tCol*10) + tRow ) {
                            //---------------------------------
                            case 00: // top row, left button on screen 0 or 1
                                if (dMode[whichTouched]==monitorScreen||dMode[whichTouched]==changedScreen) {
                                    indexOffset=indexOffset>4?indexOffset-4:1;
                                } else if (dMode[whichTouched] == indexScreen) { // gg - index
                                    dMode[whichTouched] = mainScreen ; // GoTo Main Screen
                                    sMode=0;
                                } else if (dMode[whichTouched]==configScreen) {
                                    wait_ms(500);
                                    tt.background(Black);
                                    tt.calibrate();
                                } else if (dMode[whichTouched]==playbackScreen) { // slower
                                        playbackInt *=2;
                                    if(playbackEn){
                                        playback.detach();
                                        playback.attach(&playbackISR,playbackInt);
                                    }
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }
                                break;
                            //-----------------------------------------------
                            case 10: // 1,0 (col left of center,top row) on screen 0 or 1
                                if (dMode[whichTouched]==changedScreen) {
                                    for(j=0;j<100;j++) msgChanged[j]=0; // clear changed data
                                    lastDMode[whichTouched]=99;//force refresh
                                } else if (dMode[whichTouched] == indexScreen) { // gg - index
                                    sMode=0;
                                    dMode[whichTouched] = brakeScreen ; // GoTo Brake Screen
                                } else if (dMode[whichTouched]==cpScreen) {
                                    reqMsgCnt=0;
                                    msgReq.attach(&sendReq,0.015);
                                } else if (dMode[whichTouched]==cpHistScreen) { // gg - hist
                                    reqMsgCnt=0;
                                    msgReq.attach(&sendReq,0.015);
                                } else if (dMode[whichTouched]==cpBarScreen) { // gg - cpbars
                                    reqMsgCnt=0;
                                    msgReq.attach(&sendReq,0.015);
                                } else if (dMode[whichTouched]==configScreen) {
                                    mbed_reset();
                                } else if (dMode[whichTouched]==playbackScreen) { // pause/unpause
                                    playbackEn=!playbackEn;
                                    if(playbackEn){
                                        playback.attach(&playbackISR,playbackInt);
                                    } else {
                                        playback.detach();
                                    }
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }

                                break;
                            //--------------------------------------
                            case 20: // col 2 and row 0 on either screen 0 or 1
                                if (dMode[whichTouched]==monitorScreen||dMode[whichTouched]==changedScreen) {
                                    indexOffset=indexOffset<77?indexOffset+4:80;
                                } else if (dMode[whichTouched] == indexScreen) { // gg - index
                                    dMode[whichTouched] = effScreen ; // GoTo EFF Screen
                                    sMode=0;
                                } else if (dMode[whichTouched]==configScreen) {
                                    printMsg("Saving config file.\n"); // saving config
                                    dMode[whichTouched]=mainScreen;
                                    saveConfig();
                                    spkr.beep(2000,0.25);
                                } else if (dMode[whichTouched]==playbackScreen) { // faster
                                    if(playbackInt>.002){
                                        playbackInt/=2;
                                        if(playbackEn){
                                            playback.detach();
                                            playback.attach(&playbackISR,playbackInt);
                                        }
                                    }
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }

                                break;
                                
                            case 30: // right-most on top row
                                
                                if (dMode[whichTouched]==configScreen) {
                                    // step through skins
                                    if( skin < maxSkin ) skin += 1 ;
                                    else skin = 0 ;
                                    
                                    // repaint both screens, I think
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                    // and re-paint the other screen too, to see new skin there
                                    lastDMode[whichTouched ^ 1]=99; // repaint other screen (^ = XOR)
                                } else if (dMode[whichTouched] == indexScreen) { // gg - index
                                    dMode[whichTouched] = healthScreen ; // Goto health screen
                                    sMode=0;
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }

                                break;
                            //----------------------------------
                            //----------------------------------
                            case 01: // left col middle row
                                if (dMode[whichTouched]==configScreen) {
                                    logEn = !logEn;
                                } else if (dMode[whichTouched] == indexScreen) { // gg - index
                                    dMode[whichTouched] = cpScreen ; // GoTo CP Data Screen                                
                                    sMode=0;
                                } else if (dMode[whichTouched]==dateScreen){
                                    dtMode=(dtMode<5)?dtMode+1:0;
                                    lastDMode[whichTouched]=99;
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }

                                break;
                            //------------------------------
                            case 11:
                                if (dMode[whichTouched]==configScreen){
                                    repeatPoll = !repeatPoll;
                                    if (repeatPoll) {
                                        autoPoll.attach(&autoPollISR,pollInt);
                                    } else {
                                        autoPoll.detach();
                                    }
                                } else if (dMode[whichTouched] == indexScreen) { // gg - index
                                    dMode[whichTouched] = cpHistScreen ; // GoTo CP Hist Screen
                                    sMode=0;
                                } else if (dMode[whichTouched]==playbackScreen) {
                                    // Start/stop playback
                                    if(!playbackOpen){
                                        if(!carCanIdle){
                                            printMsg("Cannot playback while connected to canbus\n");
                                        }else if(!logOpen){
                                            efr = f_open(&efile,"playback.alc",FA_READ|FA_OPEN_EXISTING);
                                            lastDMode[whichTouched]=99;//force refresh
                                            if(efr != FR_OK){
                                                printMsg("Unable to open /usb/playback.alc\n"); // no playback.alc
                                                spkr.beep(1000,0.25);
                                            } else {
                                                playbackOpen = true;
                                                playbackEn=true;
                                                playback.attach(&playbackISR,playbackInt);
                                                printMsg("Starting playback\n"); // start playback
                                                spkr.beep(2000,0.25);
                                                can1.attach(NULL);// Stop recieving EVCAN data
                                                can2.attach(NULL);// Stop recieving CARCAN data
                                            }
                                        } else {
                                            printMsg("Must stop logging first\n");
                                        }
                                    } else {
                                        playback.detach();
                                        f_close(&efile);
                                        playbackOpen=false;
                                        playbackEn=false;
                                        can1.attach(&recieve1);// Restore EVCAN data recieve
                                        can2.attach(&recieve2);// Restore EVCAN data recieve
                                        lastDMode[whichTouched]=99;
                                    }
                                } else if (dMode[whichTouched]==dateScreen){
                                    upDate(dtMode,true);
                                    lastDMode[whichTouched]=99;
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }

                                break;
                            //---------------------------------
                            case 21: // col 2 row 1
                                if (dMode[whichTouched]==configScreen) { // gg - Batt Log Enable Button
                                    yesBattLog = !yesBattLog;
                                } else if (dMode[whichTouched] == indexScreen) { // gg - index
                                    dMode[whichTouched] = cpBarScreen ; // GoTo CP Bars Screen  
                                    sMode=0;
                                } else if (dMode[whichTouched]==dateScreen){
                                    upDate(dtMode,false);
                                    lastDMode[whichTouched]=99;
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }

                                break;
                                
                            case 31: // col 3 row 1
                                if (dMode[whichTouched]==configScreen) { // gg - Batt Log Enable Button
                                    debugMode = !debugMode;                                
                                } else if (dMode[whichTouched] == indexScreen) { // gg - index
                                    dMode[whichTouched] = configScreen ; // GoTo Config Screen                                   
                                } else if (dMode[whichTouched] == tripScreen) {
                                    miles_trip[1]=0;
                                    kWh_trip[1]=0;
                                    sMode=0;
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }                            
                                break;
                                
                            //-----------------------------------
                            case 02: // left col, bottom row (not nav)
                                if (dMode[whichTouched] == indexScreen) { // gg - index
                                    dMode[whichTouched] = playbackScreen ; // GoTo Playback Screen                                    
                                } else if (dMode[whichTouched]==configScreen) {
                                    brakeMon = !brakeMon;
                                    if(brakeMon){
                                        geiger.attach(&chirp,0.02);
                                    }else{
                                        geiger.detach();
                                    }
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }            
                                break;
                                
                             case 12: // left-middle col, bottom row (not nav)
                                if (dMode[whichTouched] == configScreen) { // gg - index
                                    dMode[whichTouched] = dateScreen ; // GoTo Set Date/Time Screen  
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                } 
                                break;
                             
                             case 22: // right-middle col, bottom row (not nav)
                                if (dMode[whichTouched] == indexScreen) { // gg - index
                                    dMode[whichTouched] = logScreen ;    
                                } else if (dMode[whichTouched]==configScreen) {
                                    showHealth = !showHealth;
                                } else {
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                } 
                                break;

                             case 32: // right col, bottom row (not nav)  
                                if (dMode[whichTouched] == configScreen) {
                                    logEn=false;
                                    updateFirmware();
                                } else if (dMode[whichTouched] == tripScreen) {
                                    miles_trip[2]=0;
                                    kWh_trip[2]=0;
                                    sMode=0;
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                } else if (dMode[whichTouched] == indexScreen) {
                                    dMode[whichTouched] = tripScreen ;    
                                } else {                             
                                    lastDMode[whichTouched]=99;//repaint to clear highlight
                                }
                                break;

                            //-----------------------------------
                            //-----------------------------------
                            // Prev Navigation
                            case 07: // col 0 row tNavRow
                                dMode[whichTouched]=dMode[whichTouched]>0?dMode[whichTouched]-1:maxScreens;
                                break;
                            //-----------------------------------
                            // Select Screen Navigation
                            case 17:
                                sMode=0;
                                lastDMode[whichTouched]=99; // Repaint
                                break;
                            //-----------------------------------
                            // Index Navigation
                            case 27: // col 2 row tNavRow
                                dMode[whichTouched]= indexScreen ; // gg - index
                                break;
                            //------------------------------------
                            // Next Navigation
                            case 37: // lower right on Nav Line gg - move next                            
                                dMode[whichTouched]=dMode[whichTouched]<maxScreens?dMode[whichTouched]+1:0;
                                break;
                            //------------------------------------
                            //------------------------------------
                            default:
                                lastDMode[whichTouched]=99;//repaint to clear highlight
                                break;
                        }
                        break;
                    case 2: // numpad
                        break;
                    case 3:
                        break;
                    default:
                        break;
                } // case sMode
            } //recently touched
        } else { // userIdle
            if(sMode==1){
                sMode=0;
                lastDMode[whichTouched]=99;
            }
        }

        if(tick){ // Executes once a second
            tick=false;
            curEff = miles_trip[0]/kWh_trip[0];
            headlights = (lastMsg[indexLastMsg[0x358]].data[1]&0x80)?true:false;  // headlight/turn signal indicator
            if(indexLastMsg[0x355]>0){
                miles_kmbar = (lastMsg[indexLastMsg[0x355]].data[4]&0x20)?true:false;  // indicates selected distance units
                metric = !miles_kmbar;
            }
            accV=floor(mon12V*scale12V*10+0.5)/10; //Round to nearest 10th
            accOn=(accV>5)?true:false;
            moving=(mph[0]>0.1);
            charging=!moving&&(kW[0]<-1); // not moving and generating energy so must be charging
            if (laccOn&&!accOn){ // Car turned off
                if (showHealth){
                    if (saveDmode==99){
                        saveDmode=dMode[0];
                    }
                    dMode[0]=healthScreen;
                    secsNoTouch=2;// Keep display on a few seconds
                    sMode=0;
                    userIdle=false;
                }
                // Keep track of max and min trip efficiency
                if (miles_trip[0]>3){ // Ignore very short trips
                    if (maxTripEff<curEff) {
                        maxTripEff=curEff;
                    }
                    if (minTripEff>curEff) {
                        minTripEff=curEff;
                    }
                }
                if (repeatPoll) { // Log on shutdown if autopoll enabled
                    tripLog(); // Write trip log on powerdown
                }
                //write efficiency history data
                hfile = fopen("/local/ehist.cny", "w");
                if (hfile!=NULL){ // found a efficiency history file
                    for(i=0;i<39;i++){
                        fprintf(hfile,"%f %f\r\n",mph[i],kW[i]);
                    }
                    fprintf(hfile,"%f %f\r\n",maxTripEff,minTripEff); // Save max and min
                    fclose(hfile);
                }
            }
            if (!laccOn&&accOn){ // Car turned on
                miles_trip[0]=0;
                kWh_trip[0]=0;
                wait5secs=5;
                if (showHealth){
                    if (saveDmode==99){
                        saveDmode=dMode[0];
                    }
                    dMode[0]=healthScreen;
                }
            }
            laccOn=accOn;
            if(!accOn&&userIdle&&!playbackEn){ // Car off and no user activity - turn off screen
                dled = 0;
                if (saveDmode<99){
                    dMode[0]=saveDmode;
                    saveDmode=99;
                }
            }else if(!headlights){
                dled = ledHi;
            } else {
                dled = ledLo;
            }
            if(wait5secs>0){ // Wait a few seconds after poweron to give BMS time to measure CP's
                wait5secs-=1;
                if (repeatPoll&&(wait5secs==0)) { // Poll on startup if autopoll enabled
                    logOnce=true;
                    reqMsgCnt=0;
                    //sendTempReq();
                    msgReq.attach(&sendReq,0.015);
                }
                lastDMode[0]=99;
                lastDMode[1]=99;
            }

            //remove health screen once moving
            if(moving&&(saveDmode<99)&&(wait5secs==0)){
                dMode[0]=saveDmode;
                saveDmode=99;
            }

            //compute historic efficiency
            if(numSsamples>0){ // Avoid div0
                mph[0]=((float) motorRPM)/numSsamples/220; // Empirically derived with MXV4s - may change with different wheels&tires
            } else {
                mph[0]=0;
            }
            if(mph[0]>99){
                mph[0]=0;
            }
            numSsamples=0;

            if(numWsamples>0){ // Avoid div0
                mpkWh[0]=mph[0];
                kW[0]=((float) mWs_x4)/numWsamples/4e3;     
                mpkWh[0]/=kW[0];
                if (mpkWh[0]<0) {
                    mpkWh[0]=99;// negative means inf.
                }
            } else {
                kW[0]=0;
                mpkWh[0]=0;
            }
            numWsamples=0;

            if (!charging){
                miles_trip[0]+=mph[0]/3600;
                miles_trip[1]+=mph[0]/3600;
                miles_trip[2]+=mph[0]/3600;
                kWh_trip[0]+=kW[0]/3600;
                kWh_trip[1]+=kW[0]/3600;
                kWh_trip[2]+=kW[0]/3600;
            }
            
            motorRPM=0;
            mWs_x4=0;
            
            // Compute ESR
            if((Imax-Imin)<40){ // do nothing - insufficient delta_I to measure
                unloadedV_x2 = (curRmax+curRmin)/2;
            }else if ((redRmax-redRmin)<(curRmax-curRmin)) {
                Resr-=0.001;
                unloadedV_x2 = (redRmax+redRmin)/2;
            } else if ((incRmax-incRmin)<(curRmax-curRmin)) {
                Resr+=0.001;
                unloadedV_x2 = (incRmax+incRmin)/2;
            } else {
                unloadedV_x2 = (curRmax+curRmin)/2;
            }
            curRmin=1000;
            curRmax=0;
            incRmin=1000;
            incRmax=0;
            redRmin=1000;
            redRmax=0;
            Imax=-1000;
            Imin=1000;

            if((accOn||playbackEn)&&!charging){
                for(i=1;i<39;i++){
                    average=mph[i]/timeConstant[i];
                    mph[i]-=average;
                    mph[i]+=mph[0];
                    mpkWh[i]=average;
                    average=kW[i]/timeConstant[i];
                    if(!charging){ //Not charging - so include in efficiency data
                        kW[i]-=average;
                        kW[i]+=kW[0];
                    }
                    mpkWh[i]/=average;
                    if (mpkWh[i]<0) {
                        mpkWh[i]=99;// negative means inf.
                    }
                    //mpkWh[i]=floor(mpkWh[i]*10+0.5)/10; // Round to nearest 10th
               }
            }
            if(logCP&&usbEn){
                if(logOnce){
                    tripLog();
                    logOnce=false;
                }
                logPackVoltages(); // Turbo3, only call
            }
            if(!usbEn){
                usbEn=detectUSB(); // Keep looking if none found
                if(usbEn){ // Force update to clear USB init garbage
                    lastDMode[0]=99;
                    lastDMode[1]=99;
                }
            }
            tock=true;
        } // tick
        
        if(step){ // playback
            if(playbackOpen&&playbackEn){
                for(i=0;i<120;i++){
                    if(!f_eof(&efile)){
                        efr=f_read(&efile,&header,5,&bytesRW);
                        efr=f_read(&efile,&data,8,&bytesRW);
                        logCan(header[0],CANMessage(0x7ff&((header[4]<<8)+header[3]), data, 8)); // Playback
                    } else {
                        f_close(&efile); // restart                                       
                        efr = f_open(&efile,"playback.alc",FA_READ|FA_OPEN_EXISTING);
                        lastDMode[whichTouched]=99;//force refresh
                        spkr.beep(2000,0.25);
                    }
                }
            }
            step=false;
        }

        display=display<1?display+1:0; // toggle display
        updateDisplay(display);
    } //while (true)
}