Diff: serviceCAN/serviceCAN.cpp

Revision:

34:18bcf276d3bf

Parent:

33:6bc82b6b62e5

Child:

35:9337ac9f4e1b

--- a/serviceCAN/serviceCAN.cpp	Tue Jan 06 20:45:26 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,80 +0,0 @@
-#include "serviceCAN.h"
-#include "CAN_RxIDs.h"
-
-bool canbus::serviceCAN(CANMessage* fromXbee)
-{
-    CANMessage msg;
-    if (fromXbee != NULL) {
-        memcpy((void*)&msg, (void*)fromXbee, sizeof(CANMessage));
-    } else {
-        if (!can.rxRead(msg)) return false;
-    }
-
-    switch (msg.id) {
-        case FAN_CONTROL_ID:
-            if (msg.len != 2*sizeof(float)) break;
-            memcpy((void*)&CANdata.dcdcFan1Duty, &msg.data[0], sizeof(float));
-            memcpy((void*)&CANdata.dcdcFan2Duty, &msg.data[4], sizeof(float));
-            dcdc.setPwm(FAN1, CANdata.dcdcFan1Duty);
-            dcdc.setPwm(FAN2, CANdata.dcdcFan2Duty);
-            break;
-
-        case PUMP_CONTROL_ID:
-            if (msg.len != 2*sizeof(float)) break;
-            memcpy((void*)&CANdata.dcdcPump1Duty, &msg.data[0], sizeof(float));
-            memcpy((void*)&CANdata.dcdcPump2Duty, &msg.data[4], sizeof(float));
-            dcdc.setPwm(PUMP1, CANdata.dcdcPump1Duty);
-            dcdc.setPwm(PUMP2, CANdata.dcdcPump2Duty);
-            break;
-
-        case DCDC_CONTROL_ID:
-            if (msg.len != sizeof(char)) break;
-            if (msg.data[0] == 1) dcdc.set(1);
-            else dcdc.set(0);
-            break;
-
-        case AMS_RELAYS_ID:
-            if (msg.len != sizeof(char)) break;
-            if ((msg.data[0] & (1<<3|1<<4|1<<5)) == (1<<3|1<<4|1<<5)) {     // AIRs closed? 1<<3=posAIR, 1<<4=negAIR, 1<<5=tractiveEnable signal
-                CANdata.airsClosed = true;
-                dcdc.set(1);
-            } else {
-                CANdata.airsClosed = false;
-                dcdc.set(0);
-            }
-            break;
-
-        case GLVBAT_CLEARSOC_ID:
-            if (msg.len != sizeof(float)) break;
-            glvBat.resetToSOC(*((float*)(&msg.data[0])));
-            break;
-
-        case GLVBAT_CLEARAH_ID:
-            if (msg.len != sizeof(float)) break;
-            glvBat.resetToAh(*((float*)(&msg.data[0])));
-            break;
-
-        case GLVBAT_SETCAPAC_ID:
-            if (msg.len != sizeof(float)) break;
-            glvBat.changeCapacity(*((float*)(&msg.data[0])));
-            break;
-        case STEERING_RESET_ID:
-            NVIC_SystemReset();
-            break;
-        default:
-            break;
-    }
-
-    return true;
-
-}
-// Check for incoming messages from the xbees
-bool canbus::receiveMsgXbee()
-{
-    CANMessage msg;
-    if (xbeeRelay.receive(msg)) {                       // Incoming CAN message string received
-        if (!can.txWrite(msg)) data.canFault = true;    // Send it out on the CAN bus
-        serviceCAN(&msg);                               // Send it into the local serviceCAN routine
-        return true;
-    } else return false;
-}
\ No newline at end of file