RTD.h File Reference

#include "Apps.h"
#include "BrakeSystemControl.h"
#include "../ControllerSystem.h"
#include "../../Outputs/DigitalOutput.h"
#include "../../Sensors/DigitalSensors/Button.h"
#include "../../Utils/Common.h"

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Classes
struct	RTD

Functions
void	initRTD (RTD *rtd, Apps *apps, BrakeSystemControl *bsc, int hz, int buttonPort, int piezoPort)
	Initializes the RTD Actuator with initial settings. More...
int	startRTD (RTD *rtd)
	Starts the RTD Actuator. More...
int	updateRTD (ControllerSystem *controller)
	Updates the RTD Actuator. More...
int	checkRTD (void *rtd)
	Checks if RTD is in ready to drive state. More...

Function Documentation

checkRTD()

int checkRTD

(

void *

rtd

)

Checks if RTD is in ready to drive state.

Parameters

rtd	A pointer to the RTD structure.

Returns

_SUCCESS if the RTD is ready to drive, _FAILURE otherwise.

Definition at line 80 of file RTD.c.

                        {
  RTD* rtdPtr = (RTD*)rtd;
  if (rtdPtr->readyToDrive == 1) {
      //printf("RTD is ready to drive\r\n");
      return _SUCCESS;
  }
  return _FAILURE;
}

initRTD()

void initRTD	(	RTD *	rtd,
		Apps *	apps,
		BrakeSystemControl *	bsc,
		int	hz,
		int	buttonPort,
		int	piezoPort
	)

Initializes the RTD Actuator with initial settings.

Parameters

rtd	A pointer to the RTD structure.
hz	Rate at which the sensor is called (in hz).

Definition at line 6 of file RTD.c.

                                                                                                   {
  initControllerSystem(&rtd->base, "RTD", hz, c_RTD, updateRTD, rtd);
  rtd->readyToDrive = 0;
  rtd->precharged = 0;
  rtd->counter = 0;
 
  static Button button;
  rtd->button = &button;
  initButton(rtd->button, "RTD Button", hz, 0);
 
  static DigitalOutput piezo;
  rtd->piezo = &piezo;
  initDigitalOutput(rtd->piezo, "Piezo", hz, piezoPort);
  rtd->apps = apps;
  rtd->bsc = bsc;
}

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startRTD()

int startRTD

(

RTD *

rtd

)

Starts the RTD Actuator.

Parameters

rtd	A pointer to the RTD structure.

Returns

_SUCCESS if the actuator was started, _FAILURE otherwise.

Definition at line 23 of file RTD.c.

                       {
  if (rtd->base.safety == NULL) {
    //printf("Safety system not set for RTD\r\n");
    return _FAILURE;
  }
  else if (rtd->base.safety(&rtd->base) == _FAILURE) {
    //printf("RTD Actuator is not in a safe state\r\n");
    return _FAILURE;
  }
  ENABLE(rtd->base.system);
  rtd->base.state = c_idle;
  return _SUCCESS;
}

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updateRTD()

int updateRTD

(

ControllerSystem *

controller

)

Updates the RTD Actuator.

Parameters

controller

A pointer to the RTD ControllerSystem.

Returns

_SUCCESS if the actuator was updated, _FAILURE otherwise.

Definition at line 37 of file RTD.c.

                                            {
  RTD* rtd = (RTD*)controller->child;
  // ping button to update in telemetry
  getButtonReading(rtd->button);
 
  if (rtd->apps->base.state != c_validated || rtd->bsc->base.state != c_validated) {
    //printf("RTD: Apps or Brake System Control Actuator is not validated\r\n");
    return _FAILURE;
  }
 
  if (getAppsPosition(rtd->apps) > MAX_A_PEDAL_POSITION) {
    //printf("RTD: APPS position is too high\r\n");
    return _FAILURE;
  }
 
  if (rtd->bsc->rearPressure->pressure < MIN_BRAKE_PRESSURE 
      && rtd->bsc->frontPressure->pressure < MIN_BRAKE_PRESSURE) {
    //printf("RTD: Brake pressure is too low\r\n");
    return _FAILURE;
  }
 
  if (rtd->readyToDrive == 0) {
    rtd->readyToDrive = getButtonReading(rtd->button); // and precharged, etc.
  } 
 
  if (rtd->readyToDrive == 1 && rtd->counter < 30) {
    rtd->counter++;
    // Turn on piezo
    writeDigitalOutputData(rtd->piezo, 1);
  } else {
    // Turn off piezo
    writeDigitalOutputData(rtd->piezo, 0);
  }
 
  rtd->base.state = c_computed;
  
  #ifdef DEBUGn
  //printf("RTD updated. Ready to Drive: %d\r\n", rtd->readyToDrive);
  #endif
 
  return _SUCCESS;
}

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