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Diff: CAN_library.cpp
- Revision:
- 0:38c3afd99aeb
- Child:
- 2:884c10989f0d
diff -r 000000000000 -r 38c3afd99aeb CAN_library.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CAN_library.cpp Wed May 16 14:48:37 2018 +0000 @@ -0,0 +1,244 @@ +#include "CAN_library.h" + +extern CAN can; +extern Serial pc; +extern CANMessage msgDTA1, msgDTA2, msgDTA3, msgDTA4, msgDTA5, msgDTA6, msgLVDTFront, msgLVDTRear, msgBrakes; +extern uint16_t rx_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; +extern uint16_t Rpm, Speed, Gear, Water_Temp, Oil_Temp, TPS, Brakes, Oil_P, MAP, Air_Temp, Lambda, Volts, Crank; +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; + +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(0): + rx_flag|=(1<<0); + msgDTA1=tmpMsg; + break; + case(1): + rx_flag|=(1<<1); + msgDTA2=tmpMsg; + //pc.printf("rx_flag=%x\n",rx_flag); + break; + case(2): + rx_flag|=(1<<2); + msgDTA3=tmpMsg; + break; + case(3): + rx_flag|=(1<<3); + msgDTA4=tmpMsg; + break; + case(4): + rx_flag|=(1<<4); + msgDTA5=tmpMsg; + break; + case(5): + rx_flag|=(1<<5); + msgDTA6=tmpMsg; + break; + case(6): + rx_flag|=(1<<6); + msgLVDTFront=tmpMsg; + break; + case(7): + rx_flag|=(1<<7); + msgLVDTRear=tmpMsg; + break; + case(8): + rx_flag|=(1<<8); + msgBrakes=tmpMsg; + break; + }; + //pc.printf("rx_flag=%d\n",rx_flag); + }; +}; + +void UpdateInfo(){ // Update info for DTA values + int noID=9; + 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; + // for each new id add new case statement + }; + }; + }; +}; + +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 UpdateInfoDTA1(uint16_t newData[4]){ //Update values for DTA1 message + Rpm0=Rpm; + Rpm=newData[0]; + TPS0=TPS; + TPS=newData[1]; + Water_Temp0=Water_Temp; + Water_Temp=newData[2]; + Air_Temp0=Air_Temp; + Air_Temp=newData[3]; +}; + +void UpdateInfoDTA2(uint16_t newData[4]){ //Update values for DTA2 message + MAP0=MAP; + MAP=newData[0]; + Lambda0=Lambda; + Lambda=newData[1]; + Speed0=Speed; + Speed=newData[2]; + Oil_P0=Oil_P; + Oil_P=newData[3]; + //pc.printf("MAP=%d, Lambda=%d, Speed=%d, Oil_P=%d\n",MAP,Lambda,Speed,Oil_P); +}; + +void UpdateInfoDTA3(uint16_t newData[4]){ //Update values for DTA3 message + Oil_Temp0=Oil_Temp; + Oil_Temp=newData[1]; + Volts0=Volts; + Volts=newData[2]; +}; + +void UpdateInfoDTA4(uint16_t newData[4]){ //Update values for DTA4 message + 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 + Crank0=Crank; + Crank=newData[2]; +}; + +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]; + FR_LVDT0=FR_LVDT; + FR_LVDT=newData[1]; + 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; + }; + 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("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){ + 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); + }; + //printf("FL_Ref=%d, FR_Ref=%d, RL_Ref=%d, RR_Ref=%d\n",FL_LVDT_Dpos,FR_LVDT_Dpos,RL_LVDT_Dpos,RR_LVDT_Dpos); +}; + +void UpdateInfoLVDTRear(uint16_t newData[4]){ //Update values for LVDTRear message + RL_LVDT0=RL_LVDT; + RL_LVDT=newData[0]; + RR_LVDT0=RR_LVDT; + RR_LVDT=newData[1]; + 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(!(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); + }; + 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)); + +}; + +void UpdateInfoBrakes(uint16_t newData[4]){ //Update values for Brakes message + Brakes0=Brakes; + Brakes=newData[0]; +}; \ No newline at end of file