Penn Electric Racing / Mbed 2 deprecated SystemManagement

System Management code

Dependencies:   mbed CANBuffer Watchdog MODSERIAL mbed-rtos xbeeRelay IAP

Fork of SystemManagement by Martin Deng

serviceCAN/serviceCAN.cpp@31:7eaa5e881b56, 2014-11-14 (annotated)

Committer:
pspatel321
Date:
Fri Nov 14 06:05:59 2014 +0000
Revision:
31:7eaa5e881b56
Parent:
30:91af74a299e1
Child:
33:6bc82b6b62e5
Mostly working.  Wrote CAN in/out code.  Xbee still needs work.  My guess is that MODDMA breaks when used with RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pspatel321 30:91af74a299e1 1 #include "serviceCAN.h"
pspatel321 31:7eaa5e881b56 2 #include "CAN_RxIDs.h"
pspatel321 30:91af74a299e1 3
pspatel321 30:91af74a299e1 4
pspatel321 30:91af74a299e1 5 bool canbus::serviceCAN() {
pspatel321 30:91af74a299e1 6 CANMessage msg;
pspatel321 31:7eaa5e881b56 7 if (can.rxRead(msg)) {
pspatel321 31:7eaa5e881b56 8 switch (msg.id) {
pspatel321 31:7eaa5e881b56 9 case FAN_CONTROL_ID:
pspatel321 31:7eaa5e881b56 10 if (msg.len != 2*sizeof(float)) break;
pspatel321 31:7eaa5e881b56 11 memcpy((void*)&CANdata.dcdcFan1Duty, &msg.data[0], sizeof(float));
pspatel321 31:7eaa5e881b56 12 memcpy((void*)&CANdata.dcdcFan2Duty, &msg.data[4], sizeof(float));
pspatel321 31:7eaa5e881b56 13 dcdc.setPwm(FAN1, CANdata.dcdcFan1Duty);
pspatel321 31:7eaa5e881b56 14 dcdc.setPwm(FAN2, CANdata.dcdcFan2Duty);
pspatel321 31:7eaa5e881b56 15 break;
pspatel321 31:7eaa5e881b56 16
pspatel321 31:7eaa5e881b56 17 case PUMP_CONTROL_ID:
pspatel321 31:7eaa5e881b56 18 if (msg.len != 2*sizeof(float)) break;
pspatel321 31:7eaa5e881b56 19 memcpy((void*)&CANdata.dcdcPump1Duty, &msg.data[0], sizeof(float));
pspatel321 31:7eaa5e881b56 20 memcpy((void*)&CANdata.dcdcPump2Duty, &msg.data[4], sizeof(float));
pspatel321 31:7eaa5e881b56 21 dcdc.setPwm(PUMP1, CANdata.dcdcPump1Duty);
pspatel321 31:7eaa5e881b56 22 dcdc.setPwm(PUMP2, CANdata.dcdcPump2Duty);
pspatel321 31:7eaa5e881b56 23 break;
pspatel321 31:7eaa5e881b56 24
pspatel321 31:7eaa5e881b56 25 case DCDC_CONTROL_ID:
pspatel321 31:7eaa5e881b56 26 if (msg.len != sizeof(char)) break;
pspatel321 31:7eaa5e881b56 27 if (msg.data[0] == 1) dcdc.set(1);
pspatel321 31:7eaa5e881b56 28 else dcdc.set(0);
pspatel321 31:7eaa5e881b56 29 break;
pspatel321 31:7eaa5e881b56 30
pspatel321 31:7eaa5e881b56 31 case AMS_RELAYS_ID:
pspatel321 31:7eaa5e881b56 32 if (msg.len != sizeof(char)) break;
pspatel321 31:7eaa5e881b56 33 if ((msg.data[0] & 0xC0) == 0xC0) {
pspatel321 31:7eaa5e881b56 34 CANdata.airsClosed = true;
pspatel321 31:7eaa5e881b56 35 dcdc.set(1);
pspatel321 31:7eaa5e881b56 36 } else {
pspatel321 31:7eaa5e881b56 37 CANdata.airsClosed = false;
pspatel321 31:7eaa5e881b56 38 dcdc.set(0);
pspatel321 31:7eaa5e881b56 39 }
pspatel321 31:7eaa5e881b56 40 break;
pspatel321 31:7eaa5e881b56 41
pspatel321 31:7eaa5e881b56 42 case GLVBAT_CLEARSOC_ID:
pspatel321 31:7eaa5e881b56 43 if (msg.len != sizeof(float)) break;
pspatel321 31:7eaa5e881b56 44 glvBat.resetToSOC(*((float*)(&msg.data[0])));
pspatel321 31:7eaa5e881b56 45 break;
pspatel321 31:7eaa5e881b56 46
pspatel321 31:7eaa5e881b56 47 case GLVBAT_CLEARAH_ID:
pspatel321 31:7eaa5e881b56 48 if (msg.len != sizeof(float)) break;
pspatel321 31:7eaa5e881b56 49 glvBat.resetToAh(*((float*)(&msg.data[0])));
pspatel321 31:7eaa5e881b56 50 break;
pspatel321 31:7eaa5e881b56 51
pspatel321 31:7eaa5e881b56 52 case GLVBAT_SETCAPAC_ID:
pspatel321 31:7eaa5e881b56 53 if (msg.len != sizeof(float)) break;
pspatel321 31:7eaa5e881b56 54 glvBat.changeCapacity(*((float*)(&msg.data[0])));
pspatel321 31:7eaa5e881b56 55 break;
pspatel321 31:7eaa5e881b56 56
pspatel321 31:7eaa5e881b56 57 default:
pspatel321 31:7eaa5e881b56 58 break;
pspatel321 31:7eaa5e881b56 59 }
pspatel321 31:7eaa5e881b56 60 xbee.receive(msg);
pspatel321 31:7eaa5e881b56 61 return true;
pspatel321 31:7eaa5e881b56 62 }
pspatel321 30:91af74a299e1 63 return false;
pspatel321 30:91af74a299e1 64 }