Diff: main.cpp

Revision:

13:ac024885d0bf

Parent:

9:c99eeafa6fa3

Child:

14:bcf5cb4d08a5

--- a/main.cpp	Mon Nov 18 17:55:37 2019 +0000
+++ b/main.cpp	Tue Nov 19 11:54:12 2019 +0000
@@ -9,10 +9,11 @@
 DigitalOut  Fault_Ind(PC_12,0);                     //Indicate fault bt flashing, 1 active
 DigitalOut  LED(D13, 0);                            //Internal LED output, general purpose
 AnalogIn    AUX_1(PC_0);                            //Auxilaru analog sensor
-AnalogIn    AUX_2(PC_4);
+AnalogIn    AUX_2(PC_3);
 AnalogIn    AUX_3(PC_2);
 AnalogIn    AUX_4(PC_1);
 AnalogIn    SDn_sense(PB_0);                        //Shutdown circuit driving end detection
+AnalogIn    Brk_sense(PA_4);                        //Brake sensor readings
 CAN         can1(PB_8, PB_9, 1000000);              //1Mbps, contain critical torque command message
 SPI         spi2(PB_15, PB_14, PB_13);              //1Mbps default, MOSI MISO SCLK, forIMU
 ImuDriver   <spi2, PA_13, PA_14, PA_15> imu;        //SPI instance, reset, data ready, slave select
@@ -86,7 +87,7 @@
                             (VDU_FLT != 0)) {
                             VDU_STAT = VDU_Fault;
                             FLT_print = 1;
-                        } else {
+                        } else if ((FL_online*FR_online*RL_online*RR_online*PSU_online)!=0) {
                             //All module online & POST pass
                             VDU_STAT = VDU_Idle;
                             printf("All module online, VDU now Idle\n");
@@ -110,7 +111,7 @@
                      */
 
                     //Forced RTD_HMI for debug purpose 2019/11/14
-                    RTD_HMI = 1;                        //Should be set if can bus received data
+//                    RTD_HMI = 1;                        //Should be set if can bus received data
                     //Forced RTD_HMI for debug purpose 2019/11/14
 
                     RUNT();                             //Run test
@@ -275,11 +276,12 @@
 void Aux_read(void)
 {
     //Capture analog in at once
-    AUX_1_u16 = AUX_1.read_u16();
-    AUX_2_u16 = AUX_2.read_u16();
-    AUX_3_u16 = AUX_3.read_u16();
-    AUX_4_u16 = AUX_4.read_u16();
+    AUX_1_u16 = AUX_1.read_u16() >> 4U;
+    AUX_2_u16 = AUX_2.read_u16() >> 4U;
+    AUX_3_u16 = AUX_3.read_u16() >> 4U;
+    AUX_4_u16 = AUX_4.read_u16() >> 4U;
     SDn_voltage = 18.81f*SDn_sense.read();      //Read in Shutdown circuit voltage in output end
+    Brk_voltage = 5.5f*Brk_sense.read();
 }
 
 void IMU_read(void)