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Dependencies: mbed LCD_DISCO_F469NIa SD_DISCO_F469NI BSP_DISCO_F469NIa EEPROM_DISCO_F469NI
CAN_library.cpp
- Committer:
- formulas
- Date:
- 2018-07-07
- Revision:
- 4:0e8413277df8
- Parent:
- 3:a06e417a5a2c
- Child:
- 5:4b63e6845a8e
File content as of revision 4:0e8413277df8:
#include "CAN_library.h" extern CAN can; extern Serial pc; 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, MAP0, Air_Temp0, Lambda0, Volts0; extern uint16_t Rpm, Speed, Gear, Water_Temp, Oil_Temp, TPS, Brakes, MAP, Air_Temp, Lambda, Volts; 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=1024; //extern float Meter_counter,Meter_counter0; extern char cmd[3]; extern int addr; extern I2C i2c; extern void showLedRpm(int rpm); void CANMsgReceive(){ // CAN RX Interrupt Function CANMessage tmpMsg; if (can.read(tmpMsg)) { //Detect message //pc.printf("%x\n",tmpMsg.id); switch(tmpMsg.id){ //Find which DTA message is received case(0x2000): rx_flag|=(1<<0); msgDTA1=tmpMsg; //pc.printf("%x\n", tmpMsg.id); break; case(0x2001): rx_flag|=(1<<1); msgDTA2=tmpMsg; //pc.printf("rx_flag=%x\n",rx_flag); break; case(0x2002): rx_flag|=(1<<2); msgDTA3=tmpMsg; break; case(0x2003): rx_flag|=(1<<3); msgDTA4=tmpMsg; break; case(0x2004): rx_flag|=(1<<4); msgDTA5=tmpMsg; break; case(0x2005): rx_flag|=(1<<5); msgDTA6=tmpMsg; break; case(0x1006): rx_flag|=(1<<6); msgLVDTFront=tmpMsg; break; case(0x1007): rx_flag|=(1<<7); msgLVDTRear=tmpMsg; break; case(0x1008): rx_flag|=(1<<8); msgBrakes=tmpMsg; break; case(0x1009): rx_flag|=(1<<9); msgDistance=tmpMsg; }; //pc.printf("rx_flag=%d\n",rx_flag); }; }; 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; flagBit = rx_flag & (1<<i); //Set flag bit for adequate message. If there is a message waiting to be stored, flagBit will be different than 0. if (flagBit) { // =/=0, there is a message, =0, there is no message switch(i){ case(0): newData=AllocData(msgDTA1); //Allocate message to a receiver UpdateInfoDTA1(newData); //Update variables rx_flag = rx_flag ^ (1<<0); //Set flag of adequate bit to 0 break; case(1): newData=AllocData(msgDTA2); UpdateInfoDTA2(newData); rx_flag = rx_flag ^ (1<<1); break; case(2): newData=AllocData(msgDTA3); UpdateInfoDTA3(newData); rx_flag = rx_flag ^ (1<<2); break; case(3): newData=AllocData(msgDTA4); UpdateInfoDTA4(newData); rx_flag = rx_flag ^ (1<<3); break; case(4): newData=AllocData(msgDTA5); UpdateInfoDTA5(newData); rx_flag = rx_flag ^ (1<<4); break; case(5): newData=AllocData(msgDTA6); UpdateInfoDTA6(newData); rx_flag = rx_flag ^ (1<<5); break; case(6): newData=AllocData(msgLVDTFront); UpdateInfoLVDTFront(newData); rx_flag = rx_flag ^ (1<<6); break; case(7): newData=AllocData(msgLVDTRear); UpdateInfoLVDTRear(newData); rx_flag = rx_flag ^ (1<<7); break; case(8): newData=AllocData(msgBrakes); 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 uint16_t newData[4]; newData[0]=(msg.data[1]<<8) | msg.data[0]; newData[1]=(msg.data[3]<<8) | msg.data[2]; newData[2]=(msg.data[5]<<8) | msg.data[4]; newData[3]=(msg.data[7]<<8) | msg.data[6]; 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 UpdateInfoDTA1(uint16_t newData[4]){ //Update values for DTA1 message if (newData[0]>0 && newData[0]<=13000){ Rpm0=Rpm; Rpm=newData[0]; showLedRpm(Rpm); }; if (newData[1]>0 && newData[1]<100){ TPS0=TPS; TPS=newData[1]; }; if (newData[2]>0 && newData[2]<1000){ Water_Temp0=Water_Temp; Water_Temp=newData[2]; }; if (newData[3]>0 && newData[3]<1000){ Air_Temp0=Air_Temp; Air_Temp=newData[3]; }; }; void UpdateInfoDTA2(uint16_t newData[4]){ //Update values for DTA2 message if (newData[0]>0 && newData[0]<200){ MAP0=MAP; MAP=newData[0]; }; if (newData[1]>0 && newData[2]<10000){ Lambda0=Lambda; Lambda=newData[1]; }; if (newData[2]>0 && newData[2]<1500){ Speed0=Speed; Speed=newData[2]; }; }; void UpdateInfoDTA3(uint16_t newData[4]){ //Update values for DTA3 message if (newData[1]>0 && newData[1]<200){ Oil_Temp0=Oil_Temp; Oil_Temp=newData[1]; }; if (newData[2]>0 && newData[2]<200){ Volts0=Volts; Volts=newData[2]; }; }; void UpdateInfoDTA4(uint16_t newData[4]){ //Update values for DTA4 message if (newData[0]>0 && newData[0]<=6){ Gear0=Gear; Gear=newData[0]; }; }; void UpdateInfoDTA5(uint16_t newData[4]){ //Update values for DTA5 message }; void UpdateInfoDTA6(uint16_t newData[4]){ //Update values for DTA6 message }; /*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 if (newData[0]>0 && newData[0]<=1024){ FL_LVDT0=FL_LVDT; //LVDTs are firstly written their voltage value, then overwritten by calculated pertentage value. FL_LVDT=newData[0]; if(!(lvdtref & (1<<3))){ //Check if its the first time LVDT value is received. If yes than store it as Referrent value. if (FL_LVDT>FL_LVDT_Ref){ FL_LVDT=(FL_LVDT-FL_LVDT_Ref)*100/(LVDT_Max-FL_LVDT_Ref); }else{ FL_LVDT=(FL_LVDT-FL_LVDT_Ref)*100/FL_LVDT_Ref; }; }else{ FL_LVDT_Ref=FL_LVDT; FL_LVDT=0; lvdtref=lvdtref^(1<<3); }; }; if (newData[1]>0 && newData[1]<=1024){ FR_LVDT0=FR_LVDT; FR_LVDT=newData[1]; if(!(lvdtref & (1<<2))){ if (FR_LVDT>FR_LVDT_Ref){ FR_LVDT=(FR_LVDT-FR_LVDT_Ref)*100/(LVDT_Max-FR_LVDT_Ref); }else{ FR_LVDT=(FR_LVDT-FR_LVDT_Ref)*100/FR_LVDT_Ref; }; }else{ FR_LVDT_Ref=FR_LVDT; FR_LVDT=0; lvdtref=lvdtref^(1<<2); }; }; }; void UpdateInfoLVDTRear(uint16_t newData[4]){ //Update values for LVDTRear message if (newData[0]>0 && newData[0]<=1024){ RL_LVDT0=RL_LVDT; RL_LVDT=newData[0]; if(!(lvdtref & (1<<1))){ if (RL_LVDT>RL_LVDT_Ref){ RL_LVDT=(RL_LVDT-RL_LVDT_Ref)*100/(LVDT_Max-RL_LVDT_Ref); }else{ RL_LVDT=(RL_LVDT-RL_LVDT_Ref)*100/RL_LVDT_Ref; }; }else{ RL_LVDT_Ref=RL_LVDT; RL_LVDT=0; lvdtref=lvdtref^(1<<1); }; }; if (newData[1]>0 && newData[1]<=1024){ RR_LVDT0=RR_LVDT; RR_LVDT=newData[1]; if(!(lvdtref & (1<<0))){ if (RR_LVDT>RR_LVDT_Ref){ RR_LVDT=(RR_LVDT-RR_LVDT_Ref)*100/(LVDT_Max-RR_LVDT_Ref); }else{ RR_LVDT=(RR_LVDT-RR_LVDT_Ref)*100/RR_LVDT_Ref; }; }else{ RR_LVDT_Ref=RR_LVDT; RR_LVDT=0; lvdtref=lvdtref^(1<<0); }; }; }; void UpdateInfoBrakes(uint16_t newData[4]){ //Update values for Brakes message //if (newData[2]==0xFF || newData[2]==0x00){ Brakes0=Brakes; Brakes=newData[2]; //pc.printf("%x\n",Brakes); // }; };