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Update AIO_v4_CANBUS_Firmware.ino #31

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Update AIO_v4_CANBUS_Firmware.ino #31

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37 changes: 34 additions & 3 deletions CANBUS/CANBUS Firmware/AIO_v4_CANBUS_Firmware/AIO_v4_CANBUS_Firmware.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -311,7 +311,12 @@ boolean intendToSteer = 0; //Do We Intend to Steer?

//speed sent as *10
float gpsSpeed = 0;


//Speed pulse output
elapsedMillis speedPulseUpdateTimer = 0;
byte velocityPWM_Pin = 36; // Velocity (MPH speed) PWM pin
elapsedMillis gpsSpeedUpdateTimer = 0;

//steering variables
float steerAngleActual = 0;
float steerAngleSetPoint = 0; //the desired angle from AgOpen
Expand Down Expand Up @@ -859,7 +864,33 @@ boolean intendToSteer = 0; //Do We Intend to Steer?
//Serial.println("UDP Data Avalible");
udpSteerRecv(packetSize);
}


// Speed pulse
if (gpsSpeedUpdateTimer < 1000)
{
if (speedPulseUpdateTimer > 200) // 100 (10hz) seems to cause tone lock ups occasionally
{
speedPulseUpdateTimer = 0;

//130 pp meter, 3.6 kmh = 1 m/sec = 130hz or gpsSpeed * 130/3.6 or gpsSpeed * 36.1111
//gpsSpeed = ((float)(autoSteerUdpData[5] | autoSteerUdpData[6] << 8)) * 0.1;
float speedPulse = gpsSpeed * 36.1111;

//Serial.print(gpsSpeed); Serial.print(" -> "); Serial.println(speedPulse);

if (gpsSpeed > 0.11) { // 0.10 wasn't high enough
tone(velocityPWM_Pin, uint16_t(speedPulse));
}
else {
noTone(velocityPWM_Pin);
}
}
}
else // if gpsSpeedUpdateTimer hasn't update for 1000 ms, turn off speed pulse
{
noTone(velocityPWM_Pin);
}

if (encEnable)
{
thisEnc = digitalRead(REMOTE_PIN);
Expand All @@ -885,7 +916,7 @@ void udpSteerRecv(int sizeToRead)
if (udpData[3] == 0xFE) //254
{
gpsSpeed = ((float)(udpData[5] | udpData[6] << 8))*0.1;

gpsSpeedUpdateTimer = 0;
guidanceStatus = udpData[7];

//Bit 8,9 set point steer angle * 100 is sent
Expand Down