Revision 0:6e7d11ed7dc8, committed 2013-07-20

Comitter:

YSB

Date:

Sat Jul 20 04:33:02 2013 +0000

Commit message:

TITANIKU CAN LIBRARY

Changed in this revision

diff -r 000000000000 -r 6e7d11ed7dc8 IDDATA.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IDDATA.h	Sat Jul 20 04:33:02 2013 +0000
@@ -0,0 +1,15 @@
+#define CAN_BAUD 400000
+
+#define MISSION 0
+#define LOGGER 1
+
+#define GPS_TIME 0x01
+#define GPS_LAT_1 0x02
+#define GPS_LAT_2 0x03
+#define GPS_LON_1 0x04
+#define GPS_LON_2 0x05
+#define SCP1000_PRES_TEMP 0x06
+#define ADXL345_XYZ 0x07
+#define ITG3200_XYZ 0x08
+
+#define MISSION_STATUS 0x00
\ No newline at end of file

diff -r 000000000000 -r 6e7d11ed7dc8 myCAN.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/myCAN.cpp	Sat Jul 20 04:33:02 2013 +0000
@@ -0,0 +1,177 @@
+#include "myCAN.h"
+#include "IDDATA.h"
+
+myCAN::myCAN(PinName rd,PinName td) : CAN(rd,td)
+{
+    frequency(CAN_BAUD);
+    attach(this, &myCAN::rxHandler);
+    
+    time[0]='0';
+    time[1]='0';
+    time[2]=':';
+    time[3]='0';
+    time[4]='0';
+    time[5]=':';
+    time[6]='0';
+    time[7]='0';
+    time[8]='\0';
+    
+    latitude[0]='0';
+    latitude[1]='0';
+    latitude[2]='0';
+    latitude[3]='0';
+    latitude[4]=',';
+    latitude[5]='0';
+    latitude[6]='0';
+    latitude[7]='0';
+    latitude[8]='0';
+    latitude[9]='\0';
+    
+    longitude[0]='0';
+    longitude[1]='0';
+    longitude[2]='0';
+    longitude[3]='0';
+    longitude[4]='0';
+    longitude[5]=',';
+    longitude[6]='0';
+    longitude[7]='0';
+    longitude[8]='0';
+    longitude[9]='0';
+    longitude[10]='\0';
+}
+
+void myCAN::send(char user)
+{
+    if(user == MISSION) {
+        write(CANMessage(MISSION_STATUS,CANdata[MISSION_STATUS]));
+    } else if(user == LOGGER) {
+        write(CANMessage(GPS_TIME,CANdata[GPS_TIME]));
+        write(CANMessage(GPS_LAT_1,CANdata[GPS_LAT_1]));
+        write(CANMessage(GPS_LAT_2,CANdata[GPS_LAT_2]));
+        write(CANMessage(GPS_LON_1,CANdata[GPS_LON_1]));
+        write(CANMessage(GPS_LON_2,CANdata[GPS_LON_2]));
+        write(CANMessage(SCP1000_PRES_TEMP,CANdata[SCP1000_PRES_TEMP]));
+        write(CANMessage(ADXL345_XYZ,CANdata[ADXL345_XYZ]));
+        write(CANMessage(ITG3200_XYZ,CANdata[ITG3200_XYZ]));
+    } else {}
+}
+
+void myCAN::rxHandler(void)
+{
+    if(read(msg)){
+        for(int i=0; i<8; i++) {
+            CANdata[msg.id][i]=msg.data[i];
+        }
+    }
+}
+
+void myCAN::make_logger_senddata(char* time,int NoS,char* latitude,char* longitude,int a_z,int temp,int pres)
+{
+    for(int i=0; i<8; i++) {
+        CANdata[GPS_TIME][i] = time[i];
+    }
+    CANdata[GPS_LAT_2][1] = NoS;
+
+    for(int i=0; i<8; i++) {
+        CANdata[GPS_LAT_1][i] = latitude[i];
+    }
+    for(int i=0; i<1; i++) {
+        CANdata[GPS_LAT_2][i] = latitude[i+8];
+    }
+
+    for(int i=0; i<8; i++) {
+        CANdata[GPS_LON_1][i] = longitude[i];
+    }
+    for(int i=0; i<2; i++) {
+        CANdata[GPS_LON_2][i] = longitude[i+8];
+    }
+
+    CANdata[SCP1000_PRES_TEMP][0]=(char)((temp & 0xF0)>>4);
+    CANdata[SCP1000_PRES_TEMP][1]=(char)(temp & 0x0F);
+    CANdata[SCP1000_PRES_TEMP][2]=(char)((pres & 0xF0)>>4);
+    CANdata[SCP1000_PRES_TEMP][3]=(char)(pres & 0x0F);
+    
+    CANdata[GPS_LAT_2][2] = a_z;
+}
+
+char* myCAN::get_time(void)
+{
+    for(int i=0; i<8; i++) {
+        time[i] = CANdata[GPS_TIME][i];
+    }
+    return time;
+}
+
+char* myCAN::get_latitude(void)
+{
+    for(int i=0; i<8; i++) {
+        latitude[i] = CANdata[GPS_LAT_1][i];
+    }
+    for(int i=0; i<1; i++) {
+        latitude[i+8] = CANdata[GPS_LAT_2][i];
+    }
+    return latitude;
+}
+
+    char* myCAN::get_longitude(void)
+{
+    for(int i=0; i<8; i++) {
+        longitude[i] = CANdata[GPS_LON_1][i];
+    }
+    for(int i=0; i<1; i++) {
+        longitude[i+8] = CANdata[GPS_LON_2][i];
+    }
+    return longitude;
+}
+
+int myCAN::get_NoS(void)
+{
+    NoS = CANdata[GPS_LAT_2][1];
+    return NoS;
+}
+float myCAN::get_a_x(void)
+{
+
+    return acel[0];
+}
+float myCAN::get_a_y(void)
+{
+
+    return acel[1];
+}
+
+int myCAN::get_a_z(void)
+{  
+    acel[2] = CANdata[GPS_LAT_2][2];
+    return acel[2];
+}
+
+int myCAN::get_j_x(void)
+{
+
+    return jail[0];
+}
+
+int myCAN::get_j_y(void)
+{
+
+    return jail[1];
+}
+
+int myCAN::get_j_z(void)
+{
+
+    return jail[2];
+}
+
+float myCAN::get_temp(void)
+{
+    temp = (float)(((int)(CANdata[SCP1000_PRES_TEMP][0])<<4+(int)(CANdata[SCP1000_PRES_TEMP][1]))/20.0);
+    return temp;
+}
+
+int myCAN::get_pres(void)
+{
+    pres = (int)(CANdata[SCP1000_PRES_TEMP][2])<<4+(int)(CANdata[SCP1000_PRES_TEMP][3]);
+    return pres;
+}
\ No newline at end of file

diff -r 000000000000 -r 6e7d11ed7dc8 myCAN.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/myCAN.h	Sat Jul 20 04:33:02 2013 +0000
@@ -0,0 +1,52 @@
+#ifndef MBED_MYCAN_H
+#define MBED_MYCAN_h
+
+#include "mbed.h"
+
+class myCAN: public CAN{
+
+public:
+
+    myCAN(PinName rd,PinName td);
+    
+    char* get_time(void);
+    char* get_latitude(void);
+    char* get_longitude(void);
+    int get_NoS(void);
+    
+    float get_temp(void);
+    int get_pres(void);
+    
+    float get_a_x(void);
+    float get_a_y(void);
+    int get_a_z(void);
+    int get_j_x(void);
+    int get_j_y(void);
+    int get_j_z(void);
+    
+    void make_logger_senddata(char* time,int NoS,char* latitude,char* longitude,int a_z,int temp,int pres);
+    void make_mission_senddata(void);
+    
+    void send(char user);
+
+private:
+
+    char CANdata[9][8];        
+    CANMessage msg;
+    
+    char time[9]; //= {'0','0',':','0','0',':','0','0','\0'};
+    int NoS;
+    char latitude[10];
+    char longitude[11];
+    
+    int acel[3];
+    int jail[3];
+    
+    int temp;
+    int pres;
+    
+        
+    void rxHandler(void);
+};
+
+#endif
\ No newline at end of file