Diff: inCommands/inCommands.cpp

Revision:

39:ddf38df9699e

Parent:

38:8efacce315ae

--- a/inCommands/inCommands.cpp	Sat Feb 07 08:54:51 2015 +0000
+++ b/inCommands/inCommands.cpp	Wed Feb 11 23:09:57 2015 +0000
@@ -177,9 +177,6 @@
         CHANGE_VAR("CANrxSize",     CANrxSize)
         CHANGE_VAR("SerialBaud",    SerialBaud)
         CHANGE_VAR("SerialTx",      SerialTxSize)
-        CHANGE_VAR("XbeeBaud",      XbeeBaud)
-        CHANGE_VAR("XbeeTxSize",    XbeeTxSize)
-        CHANGE_VAR("XbeeRxSize",    XbeeRxSize)
         CHANGE_VAR("CANack",        CANnoAck)
 
         if (!parsed) return -1;
@@ -191,9 +188,6 @@
         CMP(1, "CANrxSize")             return can.rxSize(param->CANrxSize)?1:-1;
         CMP(1, "SerialBaud")            pc.baud(param->SerialBaud);
         CMP(1, "SerialTx")              return (pc.txBufferSetSize(param->SerialTxSize) == 0)?1:-1;
-        CMP(1, "XbeeBaud")              xbeeRelay.baud(param->XbeeBaud);
-        CMP(1, "XbeeTxSize")            return (xbeeRelay.txSize(param->XbeeTxSize))?1:-1;
-        CMP(1, "XbeeRxSize")            return (xbeeRelay.rxSize(param->XbeeRxSize))?1:-1;
 
         return 1;
     }
@@ -357,6 +351,8 @@
     } else {
         if (!can.rxRead(msg)) return false;
     }
+    xbee.receive(msg);
+
     // Redirect global car reset
     if (msg.id == GLOBAL_CAR_RESET_RX_ID) msg.id = RESETCLEAR_RX_ID;
 
@@ -369,8 +365,8 @@
             }
             CAN_FAIL
 
-        
-        // Clear non-volatile fault flags, then reset microcontroller
+
+            // Clear non-volatile fault flags, then reset microcontroller
         case (RESETCLEAR_RX_ID):
             if (msg.len == 0) {                 // Length must = 0
                 FreezeFrame::clearError();
@@ -378,30 +374,13 @@
                 CAN_SUCCESS
             }
             CAN_FAIL
-
-        // Artificially capture a freeze frame
-        case (CAPTURE_RX_ID):
-            if (msg.len == 0) {                         // Length must = 0
-                if (!FreezeFrame::getError()) {         // Only allow capture if freeze frame from the last error was read
-                    if (FreezeFrame::writeFrame()) {    // Capture the RAM contents to flash
-                        CAN_SUCCESS
-                    }
-                }
-            }
-            CAN_FAIL
-
-        // Clear fault conditions
+            
+            // Clear fault conditions
         case (CLEAR_RX_ID):
-            if (msg.len == 1) {                         // One data byte
-                if (msg.data[0] == 0) {                 // Clear only freeze frame error if = 0
-                    FreezeFrame::clearError();          // Clear non-volatile freeze frame marker
-                    CAN_SUCCESS
-                }
-                if (msg.data[0] == 1) {                 // Clear everything if = 1
-                    runTime::clearFaults();
-                    op->faultCode = 0;
-                    CAN_SUCCESS
-                }
+            if (msg.len == 0) {                         // No data byte
+                runTime::clearFaults();
+                op->faultCode = 0;
+                CAN_SUCCESS
             }
             CAN_FAIL
 
@@ -427,9 +406,15 @@
             // RAM and flash profile manipulations
         case (PROFILE_RX_ID):
             if (msg.len == 2*sizeof(char)) {                    // 2 command bytes
+                int index=-2;
+                for (int i = 0; i < NUM_STORED_PROFILES+1; i++) {   // Get the profile number
+                    if (msg.data[1] == (1<<i))  index=i;
+                }
+                if (msg.data[1] == 1<<6)   index=-1;                // Special case for Freeze
+                if (index == -2) {                              // Not matched to anything, fail
+                    CAN_FAIL
+                }
                 if (msg.data[0] == 0) {                         // Load profile from a flash location to RAM
-                    int index = msg.data[1];                    // Second byte contains profile index
-                    if (msg.data[1] == 0xff) index = -1;        // If freeze (special case)
                     if (Profile::loadProfile(index)) {          // Attempt to load (copy flash to RAM)
                         op->profileIndex = Profile::usingProfile();     // Change the currently loaded profile marker
                         op->profileModded = false;                      // Mark it as a fresh, unmodified profile
@@ -437,8 +422,6 @@
                     }
                 }
                 if (msg.data[0] == 1) {                         // Write profile to flash from RAM
-                    int index = msg.data[1];                    // Get which slot to write to from message
-                    if (msg.data[1] == 0xff) index = -1;        // If freeze (special case)
                     bool s = Profile::saveProfile(index);       // Write profile to flash slot
                     if (s) {
                         op->profileIndex = Profile::usingProfile();     // Change the currently loaded profile marker
@@ -449,30 +432,30 @@
             }
             CAN_FAIL
 
-        case FAN_CONTROL_ID:
+        case FAN_CONTROL_RX_ID:
             if (msg.len != 2*sizeof(float)) return false;
             REFRESH_TIMEOUT(FANS)
             op->dcdc.request.fan1 = *((float*)((void*)(&msg.data[0])));
             op->dcdc.request.fan2 = *((float*)((void*)(&msg.data[4])));
             return true;
 
-        case PUMP_CONTROL_ID:
+        case PUMP_CONTROL_RX_ID:
             if (msg.len != 2*sizeof(float)) return false;
             REFRESH_TIMEOUT(PUMPS)
             op->dcdc.request.pump1 = *((float*)((void*)(&msg.data[0])));
             op->dcdc.request.pump2 = *((float*)((void*)(&msg.data[4])));
             return true;
 
-        case AMS_MODE_ID:
+        case AMS_MODE_RX_ID:
             if (msg.len != sizeof(char)) return false;
             REFRESH_TIMEOUT(AIRS_CLOSED)
-            if (msg.data[0] & 1<<2) {     // AIRs closed?
+            if (msg.data[0] & 1<<3) {     // AIRs closed?
                 op->signals |= AIRS_CLOSED;
             } else {
                 op->signals &= ~AIRS_CLOSED;
             }
             return true;
-        case CHARGER_ERR_ID:
+        case CHARGER_ERR_RX_ID:
             REFRESH_TIMEOUT(CHARGER_DET)
             op->signals |= CHARGER_DET;
             return true;
@@ -491,6 +474,7 @@
     CAN_CHANGE(dcdcStopDelay,           PROFILE_DCDCSTOPDELAY_RX_ID     )
     CAN_CHANGE(dcdc_taps,               PROFILE_DCDC_TAPS_RX_ID         )
     CAN_CHANGE(imdStartDelay,           PROFILE_IMDSTARTDELAY_RX_ID     )
+    CAN_CHANGE(amsStartDelay,           PROFILE_AMSSTARTDELAY_RX_ID     )
     CAN_CHANGE(internalOverTemp,        PROFILE_INTERNALOVERTEMP_RX_ID  )
     CAN_CHANGE(CANnoAck,                PROFILE_CANNOACK_RX_ID          )
     CAN_CHANGE(extendedSerial,          PROFILE_EXTENDSERIAL_RX_ID      )
@@ -498,9 +482,6 @@
     CAN_CHANGE(CANrxSize,               PROFILE_CANRXSIZE_RX_ID         )
     CAN_CHANGE(SerialBaud,              PROFILE_SERIALBAUD_RX_ID        )
     CAN_CHANGE(SerialTxSize,            PROFILE_SERIALTXSIZE_RX_ID      )
-    CAN_CHANGE(XbeeBaud,                PROFILE_XBEEBAUD_RX_ID          )
-    CAN_CHANGE(XbeeTxSize,              PROFILE_XBEETXSIZE_RX_ID        )
-    CAN_CHANGE(XbeeRxSize,              PROFILE_XBEERXSIZE_RX_ID        )
 
     if (!parsed) return false;
 
@@ -511,13 +492,11 @@
     if (msg.id == PROFILE_CANRXSIZE_RX_ID       )   return can.rxSize(param->CANrxSize)?1:-1;
     if (msg.id == PROFILE_SERIALBAUD_RX_ID      )   pc.baud(param->SerialBaud);
     if (msg.id == PROFILE_SERIALTXSIZE_RX_ID    )   return (pc.txBufferSetSize(param->SerialTxSize) == 0)?1:-1;
-    if (msg.id == PROFILE_XBEEBAUD_RX_ID        )   xbeeRelay.baud(param->XbeeBaud);
-    if (msg.id == PROFILE_XBEETXSIZE_RX_ID      )   return (xbeeRelay.txSize(param->XbeeTxSize))?1:-1;
-    if (msg.id == PROFILE_XBEERXSIZE_RX_ID      )   return (xbeeRelay.rxSize(param->XbeeRxSize))?1:-1;
 
     return true;
 }
 // Check for incoming messages from the xbees, relay them to the CAN function and send them out on the bus
+/*
 bool receiveMsgXbee()
 {
     CANMessage msg;
@@ -526,14 +505,13 @@
         serviceCAN(&msg);                               // Send it into the local serviceCAN routine
         return true;
     } else return false;
-}
-
+}*/
 
 void inCommands::thread_getInputs(void const* args)
 {
     while(1) {
         serviceCAN(0);
-        receiveMsgXbee();
+        //receiveMsgXbee();
 
         int ret = serviceSerial();
         if (ret == -1) tempData.parseGoodChar = 'x';