olivier flayols
.
Diff: main.cpp
- Revision:
- 0:359dfe20eb14
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 16 20:47:12 2019 +0000
@@ -0,0 +1,750 @@
+/*---------------------------------------------------------------------------------------*
+*Script pour Tableau de bord Scania PGRT *
+* ________________ *
+* / Olivier Flayols\_____________________________________________________________________*
+* V 1.2 *
+* Version de test *
+*----------------------------------------------------------------------------------------*
+*/
+
+#include "mbed.h"
+#include "FastPWM.h"
+
+//---------- Declaration des Variables et constantes et assigation des broches -----------
+
+DigitalOut led2 (LED2);
+DigitalOut led1 (D12);
+
+CAN can1 (D15, D14);
+CAN can2 (D4, D10);
+
+Serial COM (USBTX, USBRX);
+Serial COM_AR (PA_0, PA_1);
+
+Ticker CANTransmit;
+Ticker CAN0Receive;
+Ticker CAN1Receive;
+CANMessage BUFRx;
+Ticker Send_data;
+
+FastPWM speed_pulse (D9);
+
+DigitalIn input (PA_15);
+
+int Serial_data[54];
+int serial_byte;
+bool OCTET0[8];
+bool OCTET1[8];
+bool OCTET2[8];
+bool OCTET3[8];
+bool OCTET4[8];
+int counter;
+char DATA[8];
+float Period;
+int truck_speed;
+
+//information du CAN rouge
+
+int MainBeamIntended;
+int DirectionIndicator;
+int OpticruiseLever;
+int Retarder = 0xFF;
+int CUV_Information[8];
+int Tachograph[8];
+int CCVS_information;
+int speed_mem = 0;
+int DLN5[8];
+int CruiseControl_VehicleSpeed[8];
+int HiVeDi[8];
+int DATE[8];
+
+enum OCTET0 {brake_air_press_warning, park_brake, high_beam, low_beam, right_blinker, left_blinker, light_parking};
+enum OCTET1 {water_temperature_warning, oil_pressure_warning, batterie_voltage_warning, fuel_warning, brake_air_emergency, motor_brake, wipers};
+enum OCTET2 {engine_enabled, electric_enabled, left_blinker_state, right_blinker_state, adblue_warning, light_brake, trailer_connected};
+enum OCTET3 {wheel_lift_0, wheel_lift_1, wheel_lift_2, wheel_lift_3, wheel_lift_4, wheel_lift_5, wheel_lift_6, wheel_lift_7};
+enum OCTET4 {trailer_wheel_lift_0, trailer_wheel_lift_1, trailer_wheel_lift_2, trailer_wheel_lift_3, trailer_wheel_lift_4, trailer_wheel_lift_5, trailer_wheel_lift_6, trailer_wheel_lift_7};
+enum Serial_data { speed_ms, LSB_rpm, MSB_rpm, brake_air_pressure_int, fuel_int, oil_pressure_int, oil_temperature_int, water_temperature_int, batterie_voltage_int, average_cosumption_int, adblue, displayed_gear, engine_gear, effective_throttle, effective_brake, effective_clutch, LSB_Fuel_liters, MSB_Fuel_liters,
+ odometer_split_1, odometer_split_2, odometer_split_3, odometer_split_4, game_time_split_1, game_time_split_2, game_time_split_3, game_time_split_4, next_rest_stop_split_1, next_rest_stop_split_2, next_rest_stop_split_3, next_rest_stop_split_4, cruise_control, retarder_steps,
+ decimal_oil_pressure, decimal_battery_voltage, decimal_average_consumption, speed_ms_decimal, decimal_fuel_liters, decimal_odometer, decimal_water_temperature, decimal_fuel, decimal_engine_rpm, decimal_brake_air_pressure, wear_engine, wear_transmission, wear_chassis, wear_wheels,
+ wear_cabin, forward_gear_count, reverse_gear_count, OCTET_0, OCTET_1, OCTET_2, OCTET_3, OCTET_4};
+
+// |------------------------------------------------DMI DIAGNOSTIC--------------------------------------------| ASP1 ASC1-K CC/VS CUV DashDisp EEC1 EngFLuid TC01 HiRes EBC1 ETC1 20 par ligne
+const int PGN[33] = {0x18FECA0B, 0x18FECA27, 0x18FECA10, 0x18FECA03, 0x18FECA2F, 0x18FECA00, 0x18FECA30, 0x18FECA1E, 0x18FECA3D, 0x18FEAE30, 0x0CFE5A27, 0x18FEF100, 0x18FFB11E, 0x18FEFC27, 0x0CF00400, 0x18FEEF27, 0x0CFE6CEE, 0x18FEC1EE, 0x18F0010B, 0x0CF00203,
+// ETC2 TP2 EngTemp IEC FuelEco DLN7 Weight ERC1 Cruise DLN2 EAC1-K EBS5 DATE
+ 0x18F00503, 0x18FFA103, 0x18FEEE00, 0x18FEF600, 0x18FEF200, 0x18FF8700, 0x18FEEA2F, 0x18F00010, 0x10FF8E11, 0x0CFF8100, 0x18F00627, 0x1CFEAC0B, 0x18FEE6EE};
+
+
+//-------------Mappage des données--------------
+
+int map(int x, int in_min, int in_max, int out_min, int out_max)
+{
+ return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+float mapf(float x, float in_min, float in_max, float out_min, float out_max)
+{
+ return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+
+void data_roll()
+{
+ if (counter < 9)
+ {
+
+ // brake, APS, AWD, Engine, SMS, COO, 53, Transmission, WTA
+
+ bool engine_malfunction = Serial_data[wear_engine] / 10;
+ bool transmission_malfunction = Serial_data[wear_transmission] / 10;
+
+ bool DM1_amber [9] = {0, 0, 0, transmission_malfunction, 0, engine_malfunction , 0, 0};
+ bool DM1_red [9] = {0, 0, 0, transmission_malfunction, 0, engine_malfunction , 0, 0};
+
+ DATA[0] = DM1_amber[counter]*4 + DM1_red[counter]*16;;
+ DATA[1] = 0xFF;
+ DATA[2] = 0xFF;
+ DATA[3] = 0xFF;
+ DATA[4] = 0xFF;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ }
+
+switch(counter)
+ {
+
+// AIR1 - Air Supply Pressure
+ case(9):
+
+ int FrontRearCircuitPressure = map((Serial_data[brake_air_pressure_int]*10) + (Serial_data[decimal_brake_air_pressure]/10), 0, 1450, 0, 150); //1030
+ int ParkBrakePressure = (FrontRearCircuitPressure < 0) ? 0 : ((FrontRearCircuitPressure > 106) ? 106 : FrontRearCircuitPressure);
+
+ DATA[0] = 0x02;
+ DATA[1] = ParkBrakePressure; //106 = 8.5 bar park
+ DATA[2] = FrontRearCircuitPressure;
+ DATA[3] = FrontRearCircuitPressure;
+ DATA[4] = 0xFF;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFD;
+ DATA[7] = 0xFF;
+ break;
+
+// ASC1 - Air Suspension Control 1
+ case(10):
+
+ bool truck_axle_lifted = (Serial_data[OCTET_3] < 0) ? 0 : ((Serial_data[OCTET_3] > 1) ? 1 : Serial_data[OCTET_3]);
+ bool trailer_axle_lifted = (Serial_data[OCTET_4] < 0) ? 0 : ((Serial_data[OCTET_4] > 1) ? 1 : Serial_data[OCTET_4]);
+
+ DATA[0] = 0xFF;
+ DATA[1] = 0xFF;
+ DATA[2] = 0xFF;
+ DATA[3] = (trailer_axle_lifted*2) * 16;
+ DATA[4] = truck_axle_lifted * 64;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+// CC/VS - Cruise Control / Vehicle Speed
+ case(11):
+ DATA[0] = (OCTET0[park_brake]*4);
+ DATA[1] = CruiseControl_VehicleSpeed[1];
+ DATA[2] = CruiseControl_VehicleSpeed[2];
+ DATA[3] = CruiseControl_VehicleSpeed[3];
+ DATA[4] = CruiseControl_VehicleSpeed[4];
+ DATA[5] = Serial_data[cruise_control];
+ DATA[6] = CruiseControl_VehicleSpeed[6];
+ DATA[7] = CruiseControl_VehicleSpeed[7];
+ break;
+
+// CUV - CUV Information
+ case(12):
+
+ DATA[0] = (OCTET0[left_blinker]*64) + (OCTET0[right_blinker]*16) + (OCTET0[low_beam]*4) + (OCTET0[high_beam] && OCTET0[low_beam]) ;
+ DATA[1] = CUV_Information[1];
+ DATA[2] = (OCTET0[right_blinker]*64)+(OCTET0[left_blinker]*16);
+ DATA[3] = ((OCTET2[trailer_connected] & OCTET0[right_blinker]) *4) + (OCTET0[left_blinker] & OCTET2[trailer_connected]);
+ DATA[4] = CUV_Information[4];
+ DATA[5] = CUV_Information[5];
+ DATA[6] = CUV_Information[6];
+ DATA[7] = CUV_Information[7];
+ break;
+
+//DASH - Dash Display
+ case(13):
+ DATA[0] = 0xFF;
+ DATA[1] = map((Serial_data[fuel_int]*10) + (Serial_data[decimal_fuel]/10), 0, 1000, 0, 250);
+ DATA[2] = 0xFF;
+ DATA[3] = 0xFF;
+ DATA[4] = 0xFF;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+//EEC1 - Electronic Engine Controler
+ case(14):
+ DATA[0] = 0x02;
+ DATA[1] = 0x00;
+ DATA[2] = 0x00;
+ DATA[3] = map((((Serial_data[MSB_rpm] << 8) + Serial_data[LSB_rpm])*10) + (Serial_data[decimal_engine_rpm]/10), 0, 25000, 0, 20000) & 0x00FF;
+ DATA[4] = (map((((Serial_data[MSB_rpm] << 8) + Serial_data[LSB_rpm])*10) + (Serial_data[decimal_engine_rpm]/10), 0, 25000, 0, 20000) & 0xFF00)>> 8;
+ DATA[5] = 0x11;
+ DATA[6] = 0x00;
+ DATA[7] = 0x00;
+ break;
+
+//ENGfLVL - Engine Fluid Level Pressure 1
+ case(15):
+ DATA[0] = 0x09;
+ DATA[1] = 0xFF;
+ DATA[2] = 0xFF;
+ DATA[3] = map((Serial_data[oil_pressure_int]*10) + (Serial_data[decimal_oil_pressure]/10), 0, 810, 0, 175);
+ DATA[4] = 0xFF;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0x00;
+ break;
+
+
+//TCO1
+ case(16):
+
+ float speed_kmh = 127.0f;
+ //float speed_kmh = mapf((float(Serial_data[speed_ms]) + (float(Serial_data[speed_ms_decimal]) / 100.0f)) * 3.6f, 0.0f, 125.0f, 1.0f,265.0f); //127 = 60kmh
+ truck_speed = mapf (((Serial_data[speed_ms]*100) + Serial_data[speed_ms_decimal]) *3.6f, 0, 25000, 0, 65023);
+ Period = 1.0f / speed_kmh;
+ speed_pulse.period (Period);
+ /*
+ if (Serial_data[speed_ms] == 0 && Serial_data[speed_ms_decimal] == 0)
+ {
+ speed_pulse.write (1.0f);
+ }else{
+ speed_pulse.write (0.5f);
+ }
+
+ */
+
+ DATA[0] = Tachograph[0];
+ DATA[1] = Tachograph[1];
+ DATA[2] = Tachograph[2];
+ DATA[3] = 0x00;
+ DATA[4] = Tachograph[4];
+ DATA[5] = Tachograph[5];
+ DATA[6] = truck_speed & 0x00FF;
+ DATA[7] = (truck_speed >> 8) & 0x00FF;
+ break;
+
+//HiResVDist - Hi Resolution Vehicle Distance
+ case(17):
+
+ int odometer = (((((Serial_data[odometer_split_4]) << 24) + ((Serial_data[odometer_split_3]) << 16) + ((Serial_data[odometer_split_2]) << 8) + (Serial_data[odometer_split_1])) *10) + Serial_data[decimal_odometer]) *20;
+
+ DATA[0] = (odometer & 0x000000FF);
+ DATA[1] = (odometer & 0x0000FF00) >> 8;
+ DATA[2] = (odometer & 0x00FF0000) >> 16;
+ DATA[3] = (odometer & 0xFF000000) >> 24;
+ DATA[4] = HiVeDi[4];
+ DATA[5] = HiVeDi[5];
+ DATA[6] = HiVeDi[6];
+ DATA[7] = HiVeDi[7];
+ break;
+
+//EBC1
+ case(18):
+ DATA[0] = 0x00;
+ DATA[1] = 0x00;
+ DATA[2] = 0xF3;
+ DATA[3] = 0xFF;
+ DATA[4] = 0xFF;
+ DATA[5] = 0x01;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+//ETC1
+ case(19):
+ DATA[0] = 0xCC;
+ DATA[1] = 0x00;
+ DATA[2] = 0x00;
+ DATA[3] = 0xFF;
+ DATA[4] = 0xFC;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+//ETC2
+ case(20):
+ // N C1 C2 1 2 3 4 5 6 7 8 9 10 11 12 R1 R2
+ int gear_14[17] = {0x204E, 0x4331, 0x4332, 0x2031, 0x2032, 0x2033, 0x2034, 0x2035, 0x2036, 0x2037, 0x2038, 0x2039, 0x3130, 0x3131, 0x3132, 0x5231, 0x5232};
+
+ // N 1 2 3 4 5 6 7 8 9 10 11 12 R1 R2
+ int gear_12[15] = {0x204E, 0x2031, 0x2032, 0x2033, 0x2034, 0x2035, 0x2036, 0x2037, 0x2038, 0x2039, 0x3130, 0x3131, 0x3132, 0x5231, 0x5232};
+
+ DATA[0] = Serial_data[displayed_gear] + 0x7D;
+ DATA[1] = 0x00;
+ DATA[2] = 0xFF;
+ DATA[3] = Serial_data[engine_gear] + 0x7D;
+
+ if(Serial_data[forward_gear_count] == 12)
+ {
+ DATA[4] = (gear_12[Serial_data[displayed_gear]] >> 8) & 0x00FF;
+ DATA[5] = (gear_12[Serial_data[displayed_gear]]) & 0x00FF;
+ DATA[6] = (gear_12[Serial_data[engine_gear]] >> 8) & 0x00FF;
+ DATA[7] = (gear_12[Serial_data[engine_gear]]) & 0x00FF;
+ }
+
+ if(Serial_data[forward_gear_count] == 14)
+ {
+ DATA[4] = (gear_14[Serial_data[displayed_gear]] >> 8) & 0x00FF;
+ DATA[5] = (gear_14[Serial_data[displayed_gear]]) & 0x00FF;
+ DATA[6] = (gear_14[Serial_data[engine_gear]] >> 8) & 0x00FF;
+ DATA[7] = (gear_14[Serial_data[engine_gear]]) & 0x00FF;
+ }
+
+ break;
+
+//TP2
+ case(21):
+ // R RL RC RH R0 RP RM RE N NL NC NH NO NP NM NE A AL AC AH AO AP AM AE M ML MC MH MO MP MM ME blank Blank
+// int GbMode[34] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08,0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x20, 0x21};
+
+ int GbMode;
+
+ if (Serial_data[displayed_gear] == 0)
+ {
+ GbMode = 0x08;
+ }
+
+
+ if (Serial_data[displayed_gear] > 0 && Serial_data[displayed_gear] < 15)
+ {
+ if(OpticruiseLever == 0x12)
+ {
+ GbMode = 0x10;
+ }
+ if(OpticruiseLever == 0x1A){
+ GbMode = 0x18;
+ }
+ }
+
+
+ if ((Serial_data[displayed_gear] > 12 && Serial_data[forward_gear_count] == 12) || (Serial_data[displayed_gear] > 14 && Serial_data[forward_gear_count] == 14))
+ {
+ GbMode = 0x00;
+ }
+ /*
+
+ if (Serial_data[displayed_gear] > 14 && Serial_data[forward_gear_count] == 14)
+ {
+ GbMode = 0x00;
+ }
+
+
+ }else{
+ GbMode = 0x20;
+ }
+*/
+ DATA[0] = 0xD0;
+ DATA[1] = 0xFF;
+ DATA[2] = 0x1F;
+ DATA[3] = 0xFE;
+ DATA[4] = GbMode;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFE;
+ break;
+
+//EngTemp
+ case(22):
+ DATA[0] = map((Serial_data[water_temperature_int]*10) + (Serial_data[decimal_water_temperature]/10), -400, 2100, 0, 250);
+ DATA[1] = 0x00;
+ DATA[2] = 0x00;
+ DATA[3] = 0xFF;
+ DATA[4] = 0xFC;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+//IEC
+ case(23):
+ DATA[0] = 0xFF;
+ DATA[1] = map(Serial_data[effective_throttle], 0, 100, 0, 75);
+ DATA[2] = 0x3F;
+ DATA[3] = 0xFF;
+ DATA[4] = 0xFF;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+//FuelEco
+ case(24):
+
+ int FuelRate = map(Serial_data[effective_throttle], 0, 100, 0, 1920);
+ int InstFuelEco = map(Serial_data[effective_throttle], 0, 100, 64254, 425);
+ int derivation = map(Serial_data[effective_throttle], 0, 100, 55000, 0);
+
+ if(Serial_data[effective_throttle] > 5){
+ InstFuelEco = InstFuelEco - derivation;
+ }
+
+ if(OCTET2[engine_enabled] == 1){
+ FuelRate = FuelRate + 40;
+ }
+
+
+ DATA[0] = FuelRate & 0x00FF;
+ DATA[1] = (FuelRate >> 8) & 0x00FF;
+ DATA[2] = InstFuelEco & 0x00FF;
+ DATA[3] = (InstFuelEco >> 8) & 0x00FF;
+ DATA[4] = 0xFF;
+ DATA[5] = 0xFF;
+ DATA[6] = map(Serial_data[effective_throttle], 0, 100, 0, 250);
+ DATA[7] = 0xFF;
+ break;
+
+
+//DLN7
+ case(25):
+
+ int EmptyAdBlue;
+ if(Serial_data[adblue] == 0){
+ EmptyAdBlue = 0x02;
+ }else{
+ EmptyAdBlue = 0x00;
+ }
+
+
+ DATA[0] = map(Serial_data[adblue], 0, 100, 0, 250);
+ DATA[1] = EmptyAdBlue;
+ DATA[2] = 0xFF;
+ DATA[3] = 0xFF;
+ DATA[4] = map((Serial_data[fuel_int]*10) + (Serial_data[decimal_fuel]/10), 0, 1000, 0, 250);
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+
+//Wheight
+ case(26):
+ DATA[0] = rand() % 255;
+ DATA[1] = 0xF8;
+ DATA[2] = 0x11;
+ DATA[3] = 0xFF;
+ DATA[4] = 0xFF;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+//ERC1
+ case(27):
+ DATA[0] = 0xC0;
+ DATA[1] = 0x7D - ((Serial_data[retarder_steps] < 0) ? 0 : ((Serial_data[retarder_steps] > 1) ? 1 : Serial_data[retarder_steps]));
+ DATA[2] = 0x7D - ((Serial_data[retarder_steps] < 0) ? 0 : ((Serial_data[retarder_steps] > 1) ? 1 : Serial_data[retarder_steps]));
+ DATA[3] = 0xF3;
+ DATA[4] = 0xFF;
+ DATA[5] = 0xFF;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+//Cruise
+ case(28):
+
+ bool CC_active;
+
+ if(Serial_data[cruise_control] > 0)
+ {
+ CC_active = 1;
+ speed_mem = Serial_data[cruise_control];
+ }else{
+ CC_active = 0;
+ }
+
+ if(OCTET2[engine_enabled] == 0)
+ {
+ speed_mem = 0;
+ }
+
+ DATA[0] = 0x00;
+ DATA[1] = speed_mem;
+ DATA[2] = 0xFF;
+ DATA[3] = 0xFF;
+ DATA[4] = CC_active *2;
+ DATA[5] = CC_active;
+ DATA[6] = 0xFF;
+ DATA[7] = 0xFF;
+ break;
+
+//DLN2
+
+ case(29):
+
+ bool adblue_low;
+
+ if(Serial_data[adblue] < 11)
+ {
+ adblue_low = 1;
+ }else{
+ adblue_low = 0;
+ }
+
+ DATA[0] = 0xA1;
+ DATA[1] = 0xFF;
+ DATA[2] = ((OCTET1[oil_pressure_warning] && OCTET2[engine_enabled]) * 16);
+ DATA[3] = OCTET1[water_temperature_warning] + (adblue_low*16);
+ DATA[4] = 0xFF;
+ DATA[5] = 0xFF;
+ DATA[6] = 0x00; // champ economie
+ DATA[7] = 0x00; // champ economie
+ break;
+
+
+//EAC1 - K
+
+ case(30):
+ DATA[0] = 0;
+ DATA[1] = 0;
+ DATA[2] = 0;
+ DATA[3] = 0;
+ DATA[4] = 0;
+ DATA[5] = 0;
+ DATA[6] = 0;
+ DATA[7] = 0;
+ break;
+
+
+ //EBS5
+
+ case(31):
+ DATA[0] = map(Serial_data[wear_wheels], 100, 0, 0, 250);
+ DATA[1] = map(Serial_data[wear_wheels], 100, 0, 0, 250);
+ DATA[2] = map(Serial_data[wear_wheels], 100, 0, 0, 250);
+ DATA[3] = map(Serial_data[wear_wheels], 100, 0, 0, 250);
+ DATA[4] = map(Serial_data[wear_wheels], 100, 0, 0, 250);
+ DATA[5] = map(Serial_data[wear_wheels], 100, 0, 0, 250);
+ DATA[6] = map(Serial_data[wear_wheels], 100, 0, 0, 250);
+ DATA[7] = map(Serial_data[wear_wheels], 100, 0, 0, 250);
+ break;
+
+
+ case(32):
+
+
+ DATA[0] = DATE[0];
+ DATA[1] = DATE[1];
+ DATA[2] = DATE[2];
+ DATA[3] = DATE[3];
+ DATA[4] = DATE[4];
+ DATA[5] = DATE[5];
+ DATA[6] = DATE[6];
+ DATA[7] = DATE[7];
+ break;
+
+ }
+}
+//------------ envoi des données -------------------
+
+void send()
+{
+ data_roll();
+
+ if(can1.write(CANMessage(PGN[counter], DATA, 8, CANData, CANExtended)));
+ {
+ counter++;
+
+ if (counter > 32)
+ {
+ counter = 0;
+ }
+ }
+}
+
+
+void CAN0receive()
+{
+ if(can1.read(BUFRx))
+ {
+ int RX_PGN_0 = BUFRx.id;
+
+ char SPN[8];
+
+ for(int i = 0; i < 8; i ++)
+ {
+ SPN[i] = char(BUFRx.data[i]);
+ }
+
+
+ int filter = RX_PGN_0 & 0x00FFFFFF;
+
+ if(filter == 0x00FEE617)
+ {
+ for(int i = 0; i < 8; i ++)
+ {
+ DATE[i] = char(BUFRx.data[i]);
+ }
+
+ //printf("Message recu de : %x \n", BUFRx.id);
+ //printf("%x, %x, %x, %x, %x, %x, %x, %x \n", DATE[0],DATE[1],DATE[2],DATE[3],DATE[4],DATE[5],DATE[6],DATE[7]);
+ //printf("----------------------------------- \n");
+ }
+ }
+}
+
+void CAN1receive()
+{
+ if(can2.read(BUFRx))
+ {
+ int RX_PGN = BUFRx.id;
+ char SPN[8];
+
+ for(int i = 0; i < 8; i ++)
+ {
+ SPN[i] = char(BUFRx.data[i]);
+ }
+
+
+
+ if(RX_PGN == 0x18FFB11E)
+ {
+ for(int i = 0; i < 8; i ++)
+ {
+ CUV_Information[i] = char(BUFRx.data[i]);
+ }
+ }
+
+ if(RX_PGN == 0x18FFA103) //infos du levier opticruise (boite de vitesse) RED CAN
+ {
+ OpticruiseLever = SPN[4];
+ }
+
+ if(RX_PGN == 0x0C001027) //infos du retarder RED CAN
+ {
+ Retarder = SPN[3];
+
+ }
+
+ if(RX_PGN == 0x18FEF127) //CC/VS RED CAN
+ {
+ for(int i = 0; i < 8; i ++)
+ {
+ CruiseControl_VehicleSpeed[i] = char(BUFRx.data[i]);
+ }
+ CCVS_information = SPN[4] & 0x54; // mask: 0b01010100 bouton du cruise control
+ CCVS_information = CCVS_information + ((SPN[3] & 0x04) >> 2); // bouton du cruise control
+ CCVS_information = CCVS_information + ((SPN[0] & 0x04) << 5); // information du frein de park
+ }
+
+ if(RX_PGN == 0x0CFE6CEE) //infos du TCO
+ {
+ for(int i = 0; i < 8; i ++)
+ {
+ Tachograph[i] = char(BUFRx.data[i]);
+ }
+ }
+
+ if(RX_PGN == 0x18FFA027) //accelerateur, rapport haut/bas manuel, retarder auto, selecteur de vitesse (toutes commandes levier opticruise)
+ {
+ for(int i = 0; i < 8; i ++)
+ {
+ DLN5[i] = char(BUFRx.data[i]);
+ }
+ }
+
+ if(RX_PGN == 0x18FEC1EE) // HiVehicle distance
+ {
+ for(int i = 0; i < 8; i ++)
+ {
+ HiVeDi[i] = char(BUFRx.data[i]);
+ }
+ }
+ }
+}
+//-------------------------------------------------------------------------------------------------------Initialisation LOOP ---------------------------------------------------------------------------------------------------
+
+int main()
+{
+
+
+ COM.baud (115200);
+ COM_AR.baud (115200);
+ can1.frequency (250000);
+ can2.frequency (250000);
+ CANTransmit.attach (&send, 0.001);
+ CAN0Receive.attach (&CAN0receive, 0.05);
+ CAN1Receive.attach (&CAN1receive, 0.0004);
+ speed_pulse.write (0.5f);
+ input.mode(PullUp);
+
+ led1 = 1;
+ wait(1.0);
+ led1 = 0;
+
+ while(1){
+
+ if(COM.readable()) {
+
+ serial_byte = COM.getc();
+
+ if(serial_byte != 0xFF) {
+ return;
+ }
+
+ __disable_irq();
+
+ serial_byte = COM.getc();
+
+ if(serial_byte != 0x02) {
+ return;
+ }
+
+ for (int i = 0; i<54; i++)
+ {
+ Serial_data[i] = COM.getc();
+ led1 = !led1;
+ }
+
+ COM_AR.putc(0xFE);
+ COM_AR.putc(0xFD);
+
+ COM_AR.putc(OpticruiseLever);
+ COM_AR.putc(Serial_data[OCTET_0]);
+ COM_AR.putc(Serial_data[OCTET_1]);
+ COM_AR.putc(Serial_data[OCTET_2]);
+ COM_AR.putc(Serial_data[OCTET_3]);
+ COM_AR.putc(Serial_data[OCTET_4]);
+ COM_AR.putc(Serial_data[engine_gear]);
+ COM_AR.putc(Serial_data[displayed_gear]);
+ COM_AR.putc(Retarder);
+ COM_AR.putc(Serial_data[retarder_steps]);
+ COM_AR.putc(CUV_Information[0]);
+ COM_AR.putc(CUV_Information[2]);
+ COM_AR.putc(CUV_Information[3]);
+ COM_AR.putc(CUV_Information[7]);
+ COM_AR.putc(CCVS_information);
+ COM_AR.putc(Serial_data[cruise_control]);
+ COM_AR.putc(DLN5[2]);
+ COM_AR.putc(DLN5[5]);
+
+
+ for(int i = 0; i < 8; i ++)
+ {
+ OCTET0[i] = ((int (Serial_data[OCTET_0]) >> i) & 0x01);
+ OCTET1[i] = ((int (Serial_data[OCTET_1]) >> i) & 0x01);
+ OCTET2[i] = ((int (Serial_data[OCTET_2]) >> i) & 0x01);
+ OCTET3[i] = ((int (Serial_data[OCTET_3]) >> i) & 0x01);
+ OCTET4[i] = ((int (Serial_data[OCTET_4]) >> i) & 0x01);
+ }
+ __enable_irq();
+ }
+ }
+}
+//******************************************************************************************************************************************************************************************************************************
+//******************************************************************************************************** END PROGRAM *********************************************************************************************************
+//******************************************************************************************************************************************************************************************************************************
+