CAN library containing a CAN controller object handling a FIFO, and CAN peripherals attached to it.
ControllerCAN.cpp@0:ebe6f5e97160, 2016-02-06 (annotated)
- Committer:
- garivetm
- Date:
- Sat Feb 06 14:10:54 2016 +0000
- Revision:
- 0:ebe6f5e97160
- Child:
- 1:b69d05604535
First commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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garivetm | 0:ebe6f5e97160 | 1 | #include "mbed.h" |
garivetm | 0:ebe6f5e97160 | 2 | #include "ControllerCAN.h" |
garivetm | 0:ebe6f5e97160 | 3 | |
garivetm | 0:ebe6f5e97160 | 4 | ControllerCAN::ControllerCAN() : can(p30, p29) { |
garivetm | 0:ebe6f5e97160 | 5 | can.frequency(250000); // Baud rate : kbits/s |
garivetm | 0:ebe6f5e97160 | 6 | can.attach(this, &ControllerCAN::can_ISR_Reader); // Fonction d'interruption CAN |
garivetm | 0:ebe6f5e97160 | 7 | FIFO_ecriture = 0; |
garivetm | 0:ebe6f5e97160 | 8 | FIFO_lecture = 0; |
garivetm | 0:ebe6f5e97160 | 9 | FIFO_occupation = 0; |
garivetm | 0:ebe6f5e97160 | 10 | FIFO_max_occupation = 0; |
garivetm | 0:ebe6f5e97160 | 11 | } |
garivetm | 0:ebe6f5e97160 | 12 | |
garivetm | 0:ebe6f5e97160 | 13 | ControllerCAN::~ControllerCAN(){ |
garivetm | 0:ebe6f5e97160 | 14 | } |
garivetm | 0:ebe6f5e97160 | 15 | |
garivetm | 0:ebe6f5e97160 | 16 | void ControllerCAN::attach(PeripherialCAN* peripherial){ |
garivetm | 0:ebe6f5e97160 | 17 | peripherials.push_back(peripherial); |
garivetm | 0:ebe6f5e97160 | 18 | } |
garivetm | 0:ebe6f5e97160 | 19 | |
garivetm | 0:ebe6f5e97160 | 20 | long ControllerCAN::writeData(long Id, const char *data, char len){ |
garivetm | 0:ebe6f5e97160 | 21 | CANMessage msg(Id, data, len); |
garivetm | 0:ebe6f5e97160 | 22 | return (can.write(msg)); |
garivetm | 0:ebe6f5e97160 | 23 | } |
garivetm | 0:ebe6f5e97160 | 24 | |
garivetm | 0:ebe6f5e97160 | 25 | long ControllerCAN::writeRemote(long Id){ |
garivetm | 0:ebe6f5e97160 | 26 | CANMessage msg(Id); |
garivetm | 0:ebe6f5e97160 | 27 | return (can.write(msg)); |
garivetm | 0:ebe6f5e97160 | 28 | } |
garivetm | 0:ebe6f5e97160 | 29 | |
garivetm | 0:ebe6f5e97160 | 30 | char ControllerCAN::FIFOread(void){ |
garivetm | 0:ebe6f5e97160 | 31 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
garivetm | 0:ebe6f5e97160 | 32 | if(FIFO_occupation<0) |
garivetm | 0:ebe6f5e97160 | 33 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 34 | if(FIFO_max_occupation<FIFO_occupation) |
garivetm | 0:ebe6f5e97160 | 35 | FIFO_max_occupation=FIFO_occupation; |
garivetm | 0:ebe6f5e97160 | 36 | if(FIFO_occupation>SIZE_FIFO) |
garivetm | 0:ebe6f5e97160 | 37 | {}//while(!can.write(CANMessage(LCD_OVERFLOW,CANStandard))); |
garivetm | 0:ebe6f5e97160 | 38 | if(FIFO_occupation!=0) |
garivetm | 0:ebe6f5e97160 | 39 | { |
garivetm | 0:ebe6f5e97160 | 40 | /*if(can_MsgRx[FIFO_lecture].id == Id) |
garivetm | 0:ebe6f5e97160 | 41 | { |
garivetm | 0:ebe6f5e97160 | 42 | //data = can_MsgRx[FIFO_lecture].data; |
garivetm | 0:ebe6f5e97160 | 43 | msg = can_MsgRx[FIFO_lecture]; |
garivetm | 0:ebe6f5e97160 | 44 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 45 | return 1; |
garivetm | 0:ebe6f5e97160 | 46 | } |
garivetm | 0:ebe6f5e97160 | 47 | return 0;*/ |
garivetm | 0:ebe6f5e97160 | 48 | char res = 0; |
garivetm | 0:ebe6f5e97160 | 49 | for (int i = 0; i < peripherials.size(); i++){ |
garivetm | 0:ebe6f5e97160 | 50 | vector<unsigned short*> IdsRead = peripherials[i]->getIdsRead(); |
garivetm | 0:ebe6f5e97160 | 51 | for (int j = 0; j < IdsRead.size() ; j++){ |
garivetm | 0:ebe6f5e97160 | 52 | if (can_MsgRx[FIFO_lecture].id == *(IdsRead[j])){ |
garivetm | 0:ebe6f5e97160 | 53 | peripherials[i]->update(*(IdsRead[j]), can_MsgRx[FIFO_lecture]); |
garivetm | 0:ebe6f5e97160 | 54 | res = 1; |
garivetm | 0:ebe6f5e97160 | 55 | break; |
garivetm | 0:ebe6f5e97160 | 56 | } |
garivetm | 0:ebe6f5e97160 | 57 | } |
garivetm | 0:ebe6f5e97160 | 58 | if(res) break; |
garivetm | 0:ebe6f5e97160 | 59 | } |
garivetm | 0:ebe6f5e97160 | 60 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 61 | return 1; |
garivetm | 0:ebe6f5e97160 | 62 | } |
garivetm | 0:ebe6f5e97160 | 63 | return -1; |
garivetm | 0:ebe6f5e97160 | 64 | } |
garivetm | 0:ebe6f5e97160 | 65 | |
garivetm | 0:ebe6f5e97160 | 66 | /*void ControllerCAN::FIFO_remove_msg(void){ |
garivetm | 0:ebe6f5e97160 | 67 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 68 | }*/ |
garivetm | 0:ebe6f5e97160 | 69 | |
garivetm | 0:ebe6f5e97160 | 70 | void ControllerCAN::can_ISR_Reader(void){ |
garivetm | 0:ebe6f5e97160 | 71 | if (can.read(can_MsgRx[FIFO_ecriture])) |
garivetm | 0:ebe6f5e97160 | 72 | { |
garivetm | 0:ebe6f5e97160 | 73 | // FIFO gestion |
garivetm | 0:ebe6f5e97160 | 74 | FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 75 | } |
garivetm | 0:ebe6f5e97160 | 76 | } |
garivetm | 0:ebe6f5e97160 | 77 | |
garivetm | 0:ebe6f5e97160 | 78 | /**void ControllerCAN::CAN_automate_reception(void){ |
garivetm | 0:ebe6f5e97160 | 79 | |
garivetm | 0:ebe6f5e97160 | 80 | static signed char FIFO_lecture=0,FIFO_occupation=0,FIFO_max_occupation=0; |
garivetm | 0:ebe6f5e97160 | 81 | FIFO_occupation=FIFO_ecriture-FIFO_lecture; |
garivetm | 0:ebe6f5e97160 | 82 | if(FIFO_occupation<0) |
garivetm | 0:ebe6f5e97160 | 83 | FIFO_occupation=FIFO_occupation+SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 84 | if(FIFO_max_occupation<FIFO_occupation) |
garivetm | 0:ebe6f5e97160 | 85 | FIFO_max_occupation=FIFO_occupation; |
garivetm | 0:ebe6f5e97160 | 86 | if(FIFO_occupation>SIZE_FIFO) |
garivetm | 0:ebe6f5e97160 | 87 | //while(!can.write(CANMessage(LCD_OVERFLOW,CANStandard))); |
garivetm | 0:ebe6f5e97160 | 88 | if(FIFO_occupation!=0) |
garivetm | 0:ebe6f5e97160 | 89 | { |
garivetm | 0:ebe6f5e97160 | 90 | switch(can_MsgRx[FIFO_lecture].id) |
garivetm | 0:ebe6f5e97160 | 91 | { |
garivetm | 0:ebe6f5e97160 | 92 | case MOT_G_DAT_1 : |
garivetm | 0:ebe6f5e97160 | 93 | MOT_G_vit=(short)(can_MsgRx[FIFO_lecture].data[1]*256)+can_MsgRx[FIFO_lecture].data[0]; |
garivetm | 0:ebe6f5e97160 | 94 | MOT_G_i=(short)(can_MsgRx[FIFO_lecture].data[3]*256)+can_MsgRx[FIFO_lecture].data[2]; |
garivetm | 0:ebe6f5e97160 | 95 | MOT_G_pos=( short)(can_MsgRx[FIFO_lecture].data[5]*256)+can_MsgRx[FIFO_lecture].data[4]; |
garivetm | 0:ebe6f5e97160 | 96 | break; |
garivetm | 0:ebe6f5e97160 | 97 | case MOT_G_DAT_2 : |
garivetm | 0:ebe6f5e97160 | 98 | MOT_G_voltage=(unsigned short)(can_MsgRx[FIFO_lecture].data[3]*256)+can_MsgRx[FIFO_lecture].data[2]; |
garivetm | 0:ebe6f5e97160 | 99 | MOT_G_temp1=( short)(can_MsgRx[FIFO_lecture].data[5]*256)+can_MsgRx[FIFO_lecture].data[4]; |
garivetm | 0:ebe6f5e97160 | 100 | MOT_G_temp2=( short)(can_MsgRx[FIFO_lecture].data[7]*256)+can_MsgRx[FIFO_lecture].data[6]; |
garivetm | 0:ebe6f5e97160 | 101 | break; |
garivetm | 0:ebe6f5e97160 | 102 | case MOT_D_DAT_1 : |
garivetm | 0:ebe6f5e97160 | 103 | MOT_D_vit=(short)(can_MsgRx[FIFO_lecture].data[1]*256)+can_MsgRx[FIFO_lecture].data[0]; |
garivetm | 0:ebe6f5e97160 | 104 | MOT_D_i=(short)(can_MsgRx[FIFO_lecture].data[3]*256)+can_MsgRx[FIFO_lecture].data[2]; |
garivetm | 0:ebe6f5e97160 | 105 | MOT_D_pos=( short)(can_MsgRx[FIFO_lecture].data[5]*256)+can_MsgRx[FIFO_lecture].data[4]; |
garivetm | 0:ebe6f5e97160 | 106 | break; |
garivetm | 0:ebe6f5e97160 | 107 | case MOT_D_DAT_2 : |
garivetm | 0:ebe6f5e97160 | 108 | MOT_D_voltage=(unsigned short)(can_MsgRx[FIFO_lecture].data[3]*256)+can_MsgRx[FIFO_lecture].data[2]; |
garivetm | 0:ebe6f5e97160 | 109 | MOT_D_temp1=( short)(can_MsgRx[FIFO_lecture].data[5]*256)+can_MsgRx[FIFO_lecture].data[4]; |
garivetm | 0:ebe6f5e97160 | 110 | MOT_D_temp2=( short)(can_MsgRx[FIFO_lecture].data[7]*256)+can_MsgRx[FIFO_lecture].data[6]; |
garivetm | 0:ebe6f5e97160 | 111 | break; |
garivetm | 0:ebe6f5e97160 | 112 | default: |
garivetm | 0:ebe6f5e97160 | 113 | break; |
garivetm | 0:ebe6f5e97160 | 114 | } |
garivetm | 0:ebe6f5e97160 | 115 | FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO; |
garivetm | 0:ebe6f5e97160 | 116 | } |
garivetm | 0:ebe6f5e97160 | 117 | }**/ |