Diff: CAN_library.cpp

Revision:

2:f54f01527ebb

Parent:

0:38c3afd99aeb

Child:

3:a06e417a5a2c

--- a/CAN_library.cpp	Wed May 16 14:55:13 2018 +0000
+++ b/CAN_library.cpp	Thu Jun 28 16:33:23 2018 +0000
@@ -2,8 +2,12 @@
 
 extern CAN can;
 extern Serial pc;
-extern CANMessage msgDTA1, msgDTA2, msgDTA3, msgDTA4, msgDTA5, msgDTA6, msgLVDTFront, msgLVDTRear, msgBrakes;
+extern SD_DISCO_F469NI sd;
+//extern EEPROM_DISCO_F469NI eep;
+extern Timer t_int,t_store;
+extern CANMessage msgDTA1, msgDTA2, msgDTA3, msgDTA4, msgDTA5, msgDTA6, msgLVDTFront, msgLVDTRear, msgBrakes, msgDistance;
 extern uint16_t rx_flag;
+extern uint8_t distance_flag;
 extern uint8_t lvdtref;
 
 extern uint16_t Rpm0, Speed0, Gear0, Water_Temp0, Oil_Temp0, TPS0, Brakes0, Oil_P0, MAP0, Air_Temp0, Lambda0, Volts0, Crank0;
@@ -11,6 +15,7 @@
 extern int FL_LVDT0, FR_LVDT0, RL_LVDT0, RR_LVDT0, FL_LVDT,  FR_LVDT,  RL_LVDT,  RR_LVDT;
 extern int FL_LVDT_Ref,FR_LVDT_Ref,RL_LVDT_Ref,RR_LVDT_Ref;
 int LVDT_Max=150;
+extern float Meter_counter,Meter_counter0;
 
 void CANMsgReceive(){                     // CAN RX Interrupt Function
     CANMessage tmpMsg;
@@ -54,13 +59,16 @@
                 rx_flag|=(1<<8);
                 msgBrakes=tmpMsg;
                 break;
+            case(9):
+                rx_flag|=(1<<9);
+                msgDistance=tmpMsg;
         };
         //pc.printf("rx_flag=%d\n",rx_flag);
     };
 };
 
-void UpdateInfo(){                          // Update info for DTA values
-    int noID=9;
+void UpdateInfo(){                          // Update info for received values
+    int noID=10;
     uint16_t *newData;
     for (int i=0;i<noID;i++){               //For loop goes trough Message IDs
         uint16_t flagBit;
@@ -112,10 +120,18 @@
                     UpdateInfoBrakes(newData);
                     rx_flag = rx_flag ^ (1<<8);
                     break;
+                case(9):
+                    newData=AllocData(msgDistance);
+                    if(distance_flag==0){
+                        InitDistanceMeter(newData);
+                        distance_flag=1;
+                    };
+                    rx_flag = rx_flag ^ (1<<9);
                 // for each new id add new case statement
             };
         };
     };
+    UpdateMeterCounter();
 };
 
 uint16_t * AllocData(CANMessage msg){                   //Unpack CAN message 
@@ -127,6 +143,33 @@
     return newData;
 };
 
+void InitDistanceMeter(uint16_t newData[4]){
+    uint32_t DistanceBuffer;
+    DistanceBuffer=(uint32_t)((newData[1]<<16) | (newData[0]));
+    Meter_counter=float(DistanceBuffer)*10;
+    pc.printf("Init success, start km=%d,%f\n",DistanceBuffer,Meter_counter);
+    t_int.start();
+    t_store.start();
+};
+/*void InitDistanceMeter(){
+    uint32_t distance_buffer;
+    if(sd.ReadBlocks((uint32_t*)distance_buffer,DISTANCE_MEMORY_ADDR ,1,SD_DATATIMEOUT)){
+        Meter_counter=(float(distance_buffer))/100;
+       
+    
+};*/
+/*void InitDistanceMeter(){
+    
+    uint8_t DistanceBuffer8[4];
+    uint32_t DistanceBuffer32;
+    if(eep.ReadBuffer(DistanceBuffer8, 0, (uint16_t*)4)){
+        pc.printf("Read success\n");
+    }
+    DistanceBuffer32=(DistanceBuffer8[0]<<24) | (DistanceBuffer8[1]<<16) | (DistanceBuffer8[2]<<8) | DistanceBuffer8[3];
+    Meter_counter=(float(DistanceBuffer32))/100;
+    pc.printf("Meter_counter=%f\n",Meter_counter);
+};*/
+
 void UpdateInfoDTA1(uint16_t newData[4]){                //Update values for DTA1 message
     Rpm0=Rpm;
     Rpm=newData[0];
@@ -170,6 +213,59 @@
     Crank=newData[2];
 };
 
+void UpdateMeterCounter(){
+    float ti=t_int.read();
+    if(ti>0.1){
+        Meter_counter0=Meter_counter;
+        Meter_counter=Meter_counter+(float)(Speed*0.0277778);    // 0.1*1000/3600
+        t_int.reset();
+    };
+    if(t_store>2){
+        char DistanceBuffer8[8];
+        uint32_t DistanceBuffer32=uint32_t(Meter_counter);
+        DistanceBuffer32=uint32_t(Meter_counter);
+        DistanceBuffer8[0]=uint8_t(DistanceBuffer32>>24);
+        DistanceBuffer8[1]=uint8_t((DistanceBuffer32 & (uint32_t)0x00FF0000)>>16);
+        DistanceBuffer8[2]=uint8_t((DistanceBuffer32 & (uint32_t)0x0000FF00)>>8);
+        DistanceBuffer8[3]=uint8_t((DistanceBuffer32 & (uint32_t)0x000000FF));
+        CANMessage msg;
+        if(can.write(CANMessage((uint16_t)DISTANCE,DistanceBuffer8, 8))) {
+            pc.printf("%d\n",DistanceBuffer32);
+        };
+        t_store.reset();
+    
+        /*uint32_t distance_buffer;
+        //distance_buffer=uint32_t(Meter_counter) ;
+        pc.printf("distance=%d\n",distance_buffer);
+        distance_buffer=0xFF000000;
+        if(sd.WriteBlocks((uint32_t*)distance_buffer,DISTANCE_MEMORY_ADDR,1,SD_DATATIMEOUT)){
+            pc.printf("Storage success\n");
+        }else{
+            pc.printf("Storage failed\n");
+        };*/
+        
+        /*uint32_t DistanceBuffer32;
+        uint8_t DistanceBuffer8[4];
+        DistanceBuffer32=uint32_t(Meter_counter);
+        DistanceBuffer8[0]=DistanceBuffer32>>24;
+        DistanceBuffer8[1]=(DistanceBuffer32 & (uint32_t)0x00FF0000)>>16;
+        DistanceBuffer8[2]=(DistanceBuffer32 & (uint32_t)0x0000FF00)>>8;
+        DistanceBuffer8[3]=(DistanceBuffer32 & (uint32_t)0x000000FF);
+        if(eep.WriteBuffer(DistanceBuffer8,0,4)){
+            pc.printf("Write success,Distance=%d\n",DistanceBuffer32);
+        };*/
+    };
+};   
+
+void send(uint16_t ID, char dta[8]) {
+    if(can.write(CANMessage((uint16_t)ID,dta, 8))) {
+        printf("%x\n",ID);
+        printf("Message sent: info1=%x%x, info2=%x%x, info3=%x%x, info4=%x%x\n", dta[1],dta[0],dta[3],dta[2],dta[5],dta[4],dta[7],dta[6]);
+    }else{
+        printf("Shit\n");
+    } 
+};
+
 void UpdateInfoLVDTFront(uint16_t newData[4]){           //Update values for LVDTFront message
     FL_LVDT0=FL_LVDT;                                    //LVDTs are firstly written their voltage value, then overwritten by calculated pertentage value.
     FL_LVDT=newData[0];
@@ -181,15 +277,15 @@
         }else{
             FL_LVDT=(FL_LVDT-FL_LVDT_Ref)*100/FL_LVDT_Ref;
         };
-        pc.printf("Im in 1\n");
+        //pc.printf("Im in 1\n");
     }else{    
         FL_LVDT_Ref=FL_LVDT;
         FL_LVDT=0;
         lvdtref=lvdtref^(1<<3);
-        pc.printf("Ref=%d\n",FL_LVDT_Ref);
+        //pc.printf("Ref=%d\n",FL_LVDT_Ref);
     };
-    pc.printf("FL_LVDT=%d, FL_LVDT0=%d\n",abs(FL_LVDT),abs(FL_LVDT0));
-    pc.printf("FR_LVDT=%d, FR_LVDT0=%d\n",abs(FR_LVDT),abs(FR_LVDT0)); 
+    //pc.printf("FL_LVDT=%d, FL_LVDT0=%d\n",abs(FL_LVDT),abs(FL_LVDT0));
+    //pc.printf("FR_LVDT=%d, FR_LVDT0=%d\n",abs(FR_LVDT),abs(FR_LVDT0)); 
         
     if(!(lvdtref & (1<<2))){
         if (FR_LVDT>FR_LVDT_Ref){
@@ -233,8 +329,8 @@
         RR_LVDT=0;
         lvdtref=lvdtref^(1<<0);
     };
-    pc.printf("RL_LVDT=%d, RL_LVDT0=%d\n",abs(RL_LVDT),abs(RL_LVDT0)); 
-    pc.printf("RR_LVDT=%d, RR_LVDT0=%d\n",abs(RR_LVDT),abs(RR_LVDT0));    
+    //pc.printf("RL_LVDT=%d, RL_LVDT0=%d\n",abs(RL_LVDT),abs(RL_LVDT0)); 
+    //pc.printf("RR_LVDT=%d, RR_LVDT0=%d\n",abs(RR_LVDT),abs(RR_LVDT0));    
     
 };