Diff: CAN_Parser_Telemetry.cpp

Revision:

12:13762b16b300

Child:

14:e625e467e257

diff -r 338fcc83ef26 -r 13762b16b300 CAN_Parser_Telemetry.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN_Parser_Telemetry.cpp	Tue Sep 12 15:35:43 2017 +0000
@@ -0,0 +1,86 @@
+#include "CAN_Parser_Telemetry.h"
+
+using namespace CAN_IDs;
+
+CAN can(CAN_READ_PIN, CAN_WRITE_PIN); //Create a CAN object to handle CAN comms
+
+//Software buffer for receiving CAN messages
+CANMessage buffer[CAN_BUFFER_SIZE]; //CAN receive buffer
+bool safe_to_write[CAN_BUFFER_SIZE]; //Semaphore bit indicating that it's safe to write to the software buffer
+bool CAN_data_sent;
+int acceptedCANIDs[CAN_BUFFER_SIZE];
+
+void CAN_Init()
+{
+    printf("In CAN init \r\n");
+    //Initialise CAN buffer
+    for(int i=0; i<CAN_BUFFER_SIZE; i++) {
+        buffer[i].id = BLANK_ID;
+        //("%d",buffer[i].id);
+        safe_to_write[i]= true;
+    }
+
+    //Initialise CAN stuff, attach CAN interrupt handlers
+    can.frequency(CAN_BIT_RATE); //set transmission rate to agreed bit rate (ELEC-006)
+    can.reset(); // (FUNC-018)
+    can.attach(&interruptHandler, CAN::RxIrq); //receive interrupt handler
+    can.attach(&CANDataSentCallback, CAN::TxIrq); //send interrupt handler
+}
+
+void interruptHandler()
+{
+    //printf("Interrupt Handler called \r\n");
+    CANMessage msg;
+    can.read(msg);
+    //if(DEBUG) printf("id %d incoming \r\n", msg.id);
+    if(idAccepted(msg.id)) {
+        for(int i=0; i<CAN_BUFFER_SIZE; i++) {
+            //printf("In idAccepted loop");
+            if((buffer[i].id == msg.id || buffer[i].id==BLANK_ID) && safe_to_write[i]) {
+                //("id %d added to buffer \r\n", msg.id);
+                buffer[i] = msg;
+                //printf("%x \r\n", msg.id);
+                //return required so that only first blank buffer entry is converted to incoming message ID each time new message ID is encountered
+                return;
+            }
+        }
+    }
+}
+
+bool idAccepted(int id)
+{
+    for (int i=0; i<CAN_BUFFER_SIZE; i++) {
+        if (id==acceptedCANIDs[i]) {
+            //printf("idAccepted \r\n");
+            return true;
+        }
+    }
+    return false;
+}
+
+bool can_send(CANMessage msg)
+{
+    Timer t;
+    CAN_data_sent = false;
+    t.start();
+    can.write(msg);
+    //printf("CAN message sent with id %x \r\n", msg.id);
+    while(!CAN_data_sent && t.read_ms() < CAN_TIMEOUT_MS);
+    if (t.read_ms() > CAN_TIMEOUT_MS) return false;
+    else return true;
+}
+
+void CANDataSentCallback(void)
+{
+    CAN_data_sent = true;
+}
+
+void CANIDsListUpdater(void) {
+    acceptedCANIDs[0]= MOTOR_CONTROLLER_BASE_ID + MOTOR_STATUS_ID;
+    acceptedCANIDs[1]= MOTOR_CONTROLLER_BASE_ID + MOTOR_VELOCITY_ID;
+    acceptedCANIDs[2]= BMS_BASE_ID + BATTERY_SOC_ID;
+    acceptedCANIDs[3]= BMS_BASE_ID + BATTERY_VI_ID;
+    acceptedCANIDs[4]= BMS_BASE_ID + BATTERY_STATUS_ID;
+    acceptedCANIDs[5]= BMS_BASE_ID + BATTERY_PRECHARGE_ID;
+    }
+    
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