onboarding/PowerAux at main · pizzeman/onboarding · GitHub

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#include "DigitalOut.h"
#include "PowerAuxCANInterface.h"
#include "Printing.h"
#include "ThisThread.h"
#include "log.h"
#include "pindef.h"
#include <mbed.h>
#include <rtos.h>

#define LOG_LEVEL          LOG_DEBUG
#define MAIN_LOOP_PERIOD   1s
#define ERROR_CHECK_PERIOD 100ms
#define FLASH_PERIOD       500ms

// TODO: add DRO pin to pindef.h and in main() set dro=1

PowerAuxCANInterface vehicle_can_interface(MAIN_CAN_RX, MAIN_CAN_TX,
                                           MAIN_CAN_STBY);

bool flashLSignal, flashRSignal, flashHazards, flashBMS = false;
Thread signalFlashThread;

DigitalOut brake_lights(BRAKE_LIGHT_EN);
DigitalOut leftTurnSignal(LEFT_TURN_EN);
DigitalOut rightTurnSignal(RIGHT_TURN_EN);
DigitalOut bms_strobe(BMS_STROBE_EN);
DigitalOut drl(DRL_EN);

void signalFlashHandler() {

    while (true){
        // Change lights based on CAN information
        if (flashBMS) {
            bms_strobe = !bms_strobe
        } else {
            bms_strobe = 0
        }
        if (flashLSignal) {
            leftTurnSignal = !leftTurnSignal
            rightTurnSignal = false;
        }
        if (flashRSignal) {
            rightTurnSignal = !rightTurnSignal;
            leftTurnSignal = false;
        }
        if (flashHazards) {
            rightTurnSignal = !rightTurnSignal;
            leftTurnSignal = !leftTurnSignal;
        }
        if (flashBrakeLights) {
            brake_lights = !brake_lights;
        }

        //Pause for 500ms
        ThisThread::sleep_for(FLASH_PERIOD)

        // Wait until flag has been raised
        signalFlashThread.flags_wait_all(0x1)
    }

}

AnalogIn fan_tach(FanTach);
AnalogIn brake_light_current(BRAKE_LIGHT_CURRENT);
AnalogIn headlight_current(DRL_CURRENT);
AnalogIn bms_strobe_current(BMS_STROBE_CURRENT);
AnalogIn left_turn_current(LEFT_TURN_CURRENT);
AnalogIn right_turn_current(RIGHT_TURN_CURRENT);

int main() {
    dro = 0;
    log_set_level(LOG_LEVEL);
    log_debug("Start main()");

    signalFlashThread.start(signalFlashHandler);
    drl = 1;
    while (true) {
        log_debug("Main thread loop");

        ThisThread::sleep_for(MAIN_LOOP_PERIOD);
    }
}

// Process CAN Information
void PowerAuxCANInterface::handle(ECUPowerAuxCommands *can_struct) {
    // Blinkers and Hazards
    bool flashLSignal = can_struct->left_turn_signal;
    bool flashRSignal = can_struct->right_turn_signal;
    bool flashHazards = can_struct->hazards;

    // Brake Lights
    bool flashBrakeLights = can_struct->brake_lights;

    signalFlashThread.flags_raise(0x1);
}