Atsushi Hattori
/
20210627_Logger
hattori&ide
MITSUBA_CAN/MITSUBA_CAN.cpp
- Committer:
- hattori_atsushi
- Date:
- 18 months ago
- Revision:
- 0:f77369cabd75
File content as of revision 0:f77369cabd75:
#include "mbed.h" #include "MITSUBA_CAN.h" MITSUBA::MITSUBA(CAN &_can, int freq) : can(_can), canfreq(freq){ can.frequency(canfreq); } void MITSUBA::GetCanData(unsigned char val){ CANMessage sendmsg; int ret = 0; sendmsg.id = 0x08F89540; // Use Rear Left #1 sendmsg.data[0] = val; sendmsg.len = 1; sendmsg.type = CANData; sendmsg.format = CANExtended; ret = can.write(sendmsg); CANMessage readmsg; if(ret && can.read(readmsg)) { if(readmsg.id == 0x08850225) { // printf("Frame0\n"); ParseFrame0(readmsg.data); } if(readmsg.id == 0x08950225) { // printf("Frame1\n"); ParseFrame1(readmsg.data); } } } void MITSUBA::ParseFrame0(unsigned char *data){ batteryVoltage = (double)((((((unsigned int)data[1]) & 0x0003) << 8) | (((unsigned int)data[0]) & 0x00ff))) * 0.5; batteryCurrent= (double)(((((unsigned int)data[2]) & 0x0007) << 6) | ((((unsigned int)data[1]) & 0x00fc) >> 2)); // sign = ((((unsigned int)data[2]) & 0x08) >> 3) ? -1 : 1; motorCurrentPeak = (double)(((((unsigned int)data[3]) & 0x003f) << 4) | ((((unsigned int)data[2]) & 0x00f0) >> 4)); FETtemp = (double)(((((unsigned int)data[4]) & 0x0007) << 2) | ((((unsigned int)data[3]) & 0x00c0) >> 6)) * 5; rpmMotor = (double)(((((unsigned int)data[5]) & 0x007f) << 5) | ((((unsigned int)data[4]) & 0x00f8) >> 3)); duty = (double)(((((unsigned int)data[5]) & 0x0080) >> 7) | ((((unsigned int)data[6]) & 0x00ff) << 1) | ((((unsigned int)data[7]) & 0x0001) << 9)) * 0.5; angle = (double)((((unsigned int)data[7]) & 0x00fe) >> 1) * 0.5; } void MITSUBA::ParseFrame1(unsigned char *data){ /* PEmode = (int)(data[0] & 0x01); //Power Eco mode Contmode = (int)((data[0] & 0x02) >> 1); //Motor Control mode */ accelPosition = (double)(((((unsigned int)data[0]) & 0x00fc) >> 2) | ((((unsigned int)data[1]) & 0x000f) << 6))*0.5; //0.5%/LSB Accelerator Position regenePosition = (double)(((((unsigned int)data[1]) & 0x00f0) >> 4) | ((((unsigned int)data[2]) & 0x003f) << 4))*0.5; //0.5%/LSB Regeneration Position // DigiSWposition = (int)(((((unsigned int)data[2]) & 0x00c0) >> 6) | ((((unsigned int)data[3]) & 0x0003) << 2)); //Digi SW number OUTtarget = (double)(((((unsigned int)data[3]) & 0x00fc) >> 2) | ((((unsigned int)data[4]) & 0x000f) << 6))*0.5; //0.5%/LSB or 0.5A/LSB Output Target Value // Status = (int)((data[4] & 0x30) >> 4); //Drive Action Status // drivemode = (int)((data[4] & 0x40) >> 6); //Regeneration Status }