CRAC Team / Utilisatio_MX12_V2

Programme d'utilisation des AX12 avec rajout de l'MX12

Fork of test_carteAToutFaire_PR by CRAC Team

CAN.cpp@3:1bb26049bdd1, 2017-05-20 (annotated)

Committer:
R66Y
Date:
Sat May 20 15:23:58 2017 +0000
Revision:
3:1bb26049bdd1
Parent:
2:9d280856a536 
Programme de contr?le des AX12 avec rajout de l'MX12;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matthieuvignon 2:9d280856a536 1 #include "all_includes.h"
matthieuvignon 2:9d280856a536 2
matthieuvignon 2:9d280856a536 3 extern CANMessage msgRxBuffer[SIZE_FIFO];
matthieuvignon 2:9d280856a536 4 extern CAN can;
matthieuvignon 2:9d280856a536 5 extern DigitalOut led2;
matthieuvignon 2:9d280856a536 6 extern void GetPositionAx12(void);
matthieuvignon 2:9d280856a536 7
matthieuvignon 2:9d280856a536 8 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
matthieuvignon 2:9d280856a536 9 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
matthieuvignon 2:9d280856a536 10
matthieuvignon 2:9d280856a536 11 unsigned char FlagAx12 = 0;
matthieuvignon 2:9d280856a536 12
matthieuvignon 2:9d280856a536 13
matthieuvignon 2:9d280856a536 14 /*********************************************************************************************************/
matthieuvignon 2:9d280856a536 15 /* FUNCTION NAME: SendRawId */
matthieuvignon 2:9d280856a536 16 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
matthieuvignon 2:9d280856a536 17 /*********************************************************************************************************/
matthieuvignon 2:9d280856a536 18 void SendRawId (unsigned short id)
matthieuvignon 2:9d280856a536 19 {
matthieuvignon 2:9d280856a536 20 CANMessage msgTx=CANMessage();
matthieuvignon 2:9d280856a536 21 msgTx.id=id;
matthieuvignon 2:9d280856a536 22 msgTx.len=0;
matthieuvignon 2:9d280856a536 23 can.write(msgTx);
matthieuvignon 2:9d280856a536 24 wait_us(50);
matthieuvignon 2:9d280856a536 25 }
matthieuvignon 2:9d280856a536 26
matthieuvignon 2:9d280856a536 27
matthieuvignon 2:9d280856a536 28 /*********************************************************************************************************/
matthieuvignon 2:9d280856a536 29 /* FUNCTION NAME: canRx_ISR */
matthieuvignon 2:9d280856a536 30 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
matthieuvignon 2:9d280856a536 31 /*********************************************************************************************************/
matthieuvignon 2:9d280856a536 32 void canRx_ISR (void)
matthieuvignon 2:9d280856a536 33 {
matthieuvignon 2:9d280856a536 34 if (can.read(msgRxBuffer[FIFO_ecriture]))
matthieuvignon 2:9d280856a536 35 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
matthieuvignon 2:9d280856a536 36 }
matthieuvignon 2:9d280856a536 37
matthieuvignon 2:9d280856a536 38
matthieuvignon 2:9d280856a536 39
matthieuvignon 2:9d280856a536 40 /****************************************************************************************/
matthieuvignon 2:9d280856a536 41 /* FUNCTION NAME: canProcessRx */
matthieuvignon 2:9d280856a536 42 /* DESCRIPTION : Fonction de traitement des messages CAN */
matthieuvignon 2:9d280856a536 43 /****************************************************************************************/
matthieuvignon 2:9d280856a536 44 void canProcessRx(void){
matthieuvignon 2:9d280856a536 45 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
matthieuvignon 2:9d280856a536 46 CANMessage msgTx=CANMessage();
matthieuvignon 2:9d280856a536 47 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
matthieuvignon 2:9d280856a536 48 if(FIFO_occupation<0)
matthieuvignon 2:9d280856a536 49 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
matthieuvignon 2:9d280856a536 50 if(FIFO_max_occupation<FIFO_occupation)
matthieuvignon 2:9d280856a536 51 FIFO_max_occupation=FIFO_occupation;
matthieuvignon 2:9d280856a536 52 if(FIFO_occupation!=0) {
matthieuvignon 2:9d280856a536 53
matthieuvignon 2:9d280856a536 54 switch(msgRxBuffer[FIFO_lecture].id) {
matthieuvignon 2:9d280856a536 55
matthieuvignon 2:9d280856a536 56 case SERVOVANNE:
matthieuvignon 2:9d280856a536 57 EtatServoVanne = msgRxBuffer[FIFO_lecture].data[0];
matthieuvignon 2:9d280856a536 58 break;
matthieuvignon 2:9d280856a536 59
matthieuvignon 2:9d280856a536 60 case POMPE_DROITE:
matthieuvignon 2:9d280856a536 61 ActionPompe = 1;
matthieuvignon 2:9d280856a536 62 EtatPompeDroite = msgRxBuffer[FIFO_lecture].data[0];
matthieuvignon 2:9d280856a536 63 break;
matthieuvignon 2:9d280856a536 64
matthieuvignon 2:9d280856a536 65 case POMPE_GAUCHE:
matthieuvignon 2:9d280856a536 66 ActionPompe = 1;
matthieuvignon 2:9d280856a536 67 EtatPompeGauche = msgRxBuffer[FIFO_lecture].data[0];
matthieuvignon 2:9d280856a536 68 break;
matthieuvignon 2:9d280856a536 69
matthieuvignon 2:9d280856a536 70 case TURBINE:
matthieuvignon 2:9d280856a536 71 EtatTurbine = msgRxBuffer[FIFO_lecture].data[0];
matthieuvignon 2:9d280856a536 72 break;
matthieuvignon 2:9d280856a536 73
matthieuvignon 2:9d280856a536 74 case LANCEUR:
matthieuvignon 2:9d280856a536 75 EtatLanceur = msgRxBuffer[FIFO_lecture].data[0];
matthieuvignon 2:9d280856a536 76 break;
matthieuvignon 2:9d280856a536 77
matthieuvignon 2:9d280856a536 78 case CHECK_AX12:
matthieuvignon 2:9d280856a536 79 SendRawId(ALIVE_AX12);
matthieuvignon 2:9d280856a536 80 FlagAx12 = 1;
matthieuvignon 2:9d280856a536 81 break;
matthieuvignon 2:9d280856a536 82
matthieuvignon 2:9d280856a536 83 case SERVO_AX12_ACTION :
matthieuvignon 2:9d280856a536 84
matthieuvignon 2:9d280856a536 85 ActionAx12=1;
matthieuvignon 2:9d280856a536 86 EtatAx12 = msgRxBuffer[FIFO_lecture].data[0];
matthieuvignon 2:9d280856a536 87 ChoixBras = msgRxBuffer[FIFO_lecture].data[1];
matthieuvignon 2:9d280856a536 88
matthieuvignon 2:9d280856a536 89 //ACK de reception des actions a effectuer
matthieuvignon 2:9d280856a536 90 msgTx.id = SERVO_AX12_ACK;
matthieuvignon 2:9d280856a536 91 msgTx.len = 1;
matthieuvignon 2:9d280856a536 92 msgTx.data[0] = msgRxBuffer[FIFO_lecture].data[0];
matthieuvignon 2:9d280856a536 93 can.write(msgTx);
matthieuvignon 2:9d280856a536 94 break;
matthieuvignon 2:9d280856a536 95
matthieuvignon 2:9d280856a536 96 case 0x123:
matthieuvignon 2:9d280856a536 97 SendRawId(100);
matthieuvignon 2:9d280856a536 98 GetPositionAx12();
matthieuvignon 2:9d280856a536 99 break;
matthieuvignon 2:9d280856a536 100
matthieuvignon 2:9d280856a536 101 }
matthieuvignon 2:9d280856a536 102 action_a_effectuer=1;
matthieuvignon 2:9d280856a536 103 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
matthieuvignon 2:9d280856a536 104 }
matthieuvignon 2:9d280856a536 105 }
matthieuvignon 2:9d280856a536 106
matthieuvignon 2:9d280856a536 107
matthieuvignon 2:9d280856a536 108
matthieuvignon 2:9d280856a536 109
matthieuvignon 2:9d280856a536 110 void CAN2_wrFilter (uint32_t id) {
matthieuvignon 2:9d280856a536 111 static int CAN_std_cnt = 0;
matthieuvignon 2:9d280856a536 112 uint32_t buf0, buf1;
matthieuvignon 2:9d280856a536 113 int cnt1, cnt2, bound1;
matthieuvignon 2:9d280856a536 114
matthieuvignon 2:9d280856a536 115 /* Acceptance Filter Memory full */
matthieuvignon 2:9d280856a536 116 if (((CAN_std_cnt + 1) >> 1) >= 512)
matthieuvignon 2:9d280856a536 117 return; /* error: objects full */
matthieuvignon 2:9d280856a536 118
matthieuvignon 2:9d280856a536 119 /* Setup Acceptance Filter Configuration
matthieuvignon 2:9d280856a536 120 Acceptance Filter Mode Register = Off */
matthieuvignon 2:9d280856a536 121 LPC_CANAF->AFMR = 0x00000001;
matthieuvignon 2:9d280856a536 122
matthieuvignon 2:9d280856a536 123 id |= 1 << 13; /* Add controller number(2) */
matthieuvignon 2:9d280856a536 124 id &= 0x0000F7FF; /* Mask out 16-bits of ID */
matthieuvignon 2:9d280856a536 125
matthieuvignon 2:9d280856a536 126 if (CAN_std_cnt == 0) { /* For entering first ID */
matthieuvignon 2:9d280856a536 127 LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
matthieuvignon 2:9d280856a536 128 } else if (CAN_std_cnt == 1) { /* For entering second ID */
matthieuvignon 2:9d280856a536 129 if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
matthieuvignon 2:9d280856a536 130 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
matthieuvignon 2:9d280856a536 131 else
matthieuvignon 2:9d280856a536 132 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
matthieuvignon 2:9d280856a536 133 } else {
matthieuvignon 2:9d280856a536 134 /* Find where to insert new ID */
matthieuvignon 2:9d280856a536 135 cnt1 = 0;
matthieuvignon 2:9d280856a536 136 cnt2 = CAN_std_cnt;
matthieuvignon 2:9d280856a536 137 bound1 = (CAN_std_cnt - 1) >> 1;
matthieuvignon 2:9d280856a536 138 while (cnt1 <= bound1) { /* Loop through standard existing IDs */
matthieuvignon 2:9d280856a536 139 if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id) {
matthieuvignon 2:9d280856a536 140 cnt2 = cnt1 * 2;
matthieuvignon 2:9d280856a536 141 break;
matthieuvignon 2:9d280856a536 142 }
matthieuvignon 2:9d280856a536 143 if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id) {
matthieuvignon 2:9d280856a536 144 cnt2 = cnt1 * 2 + 1;
matthieuvignon 2:9d280856a536 145 break;
matthieuvignon 2:9d280856a536 146 }
matthieuvignon 2:9d280856a536 147 cnt1++; /* cnt1 = U32 where to insert new ID */
matthieuvignon 2:9d280856a536 148 } /* cnt2 = U16 where to insert new ID */
matthieuvignon 2:9d280856a536 149
matthieuvignon 2:9d280856a536 150 if (cnt1 > bound1) { /* Adding ID as last entry */
matthieuvignon 2:9d280856a536 151 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
matthieuvignon 2:9d280856a536 152 LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
matthieuvignon 2:9d280856a536 153 else /* Odd number of IDs exists */
matthieuvignon 2:9d280856a536 154 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
matthieuvignon 2:9d280856a536 155 } else {
matthieuvignon 2:9d280856a536 156 buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
matthieuvignon 2:9d280856a536 157 if ((cnt2 & 0x0001) == 0) /* Insert new mask to even address */
matthieuvignon 2:9d280856a536 158 buf1 = (id << 16) | (buf0 >> 16);
matthieuvignon 2:9d280856a536 159 else /* Insert new mask to odd address */
matthieuvignon 2:9d280856a536 160 buf1 = (buf0 & 0xFFFF0000) | id;
matthieuvignon 2:9d280856a536 161
matthieuvignon 2:9d280856a536 162 LPC_CANAF_RAM->mask[cnt1] = buf1; /* Insert mask */
matthieuvignon 2:9d280856a536 163
matthieuvignon 2:9d280856a536 164 bound1 = CAN_std_cnt >> 1;
matthieuvignon 2:9d280856a536 165 /* Move all remaining standard mask entries one place up */
matthieuvignon 2:9d280856a536 166 while (cnt1 < bound1) {
matthieuvignon 2:9d280856a536 167 cnt1++;
matthieuvignon 2:9d280856a536 168 buf1 = LPC_CANAF_RAM->mask[cnt1];
matthieuvignon 2:9d280856a536 169 LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
matthieuvignon 2:9d280856a536 170 buf0 = buf1;
matthieuvignon 2:9d280856a536 171 }
matthieuvignon 2:9d280856a536 172
matthieuvignon 2:9d280856a536 173 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
matthieuvignon 2:9d280856a536 174 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);
matthieuvignon 2:9d280856a536 175 }
matthieuvignon 2:9d280856a536 176 }
matthieuvignon 2:9d280856a536 177 CAN_std_cnt++;
matthieuvignon 2:9d280856a536 178
matthieuvignon 2:9d280856a536 179 /* Calculate std ID start address (buf0) and ext ID start address <- none (buf1) */
matthieuvignon 2:9d280856a536 180 buf0 = ((CAN_std_cnt + 1) >> 1) << 2;
matthieuvignon 2:9d280856a536 181 buf1 = buf0;
matthieuvignon 2:9d280856a536 182
matthieuvignon 2:9d280856a536 183 /* Setup acceptance filter pointers */
matthieuvignon 2:9d280856a536 184 LPC_CANAF->SFF_sa = 0;
matthieuvignon 2:9d280856a536 185 LPC_CANAF->SFF_GRP_sa = buf0;
matthieuvignon 2:9d280856a536 186 LPC_CANAF->EFF_sa = buf0;
matthieuvignon 2:9d280856a536 187 LPC_CANAF->EFF_GRP_sa = buf1;
matthieuvignon 2:9d280856a536 188 LPC_CANAF->ENDofTable = buf1;
matthieuvignon 2:9d280856a536 189
matthieuvignon 2:9d280856a536 190 LPC_CANAF->AFMR = 0x00000000; /* Use acceptance filter */
matthieuvignon 2:9d280856a536 191 } // CAN2_wrFilter