Atsushi Hattori
/
20210627_Logger
hattori&ide
MITSUBA_CAN/MITSUBA_CAN.h@0:f77369cabd75, 18 months ago (annotated)
- Committer:
- hattori_atsushi
- Date:
- Sun Dec 18 08:16:01 2022 +0000
- Revision:
- 0:f77369cabd75
hattori
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hattori_atsushi | 0:f77369cabd75 | 1 | /** |
hattori_atsushi | 0:f77369cabd75 | 2 | * define LogFrame Address. |
hattori_atsushi | 0:f77369cabd75 | 3 | */ |
hattori_atsushi | 0:f77369cabd75 | 4 | #define FRAME0 0x01 |
hattori_atsushi | 0:f77369cabd75 | 5 | #define FRAME1 0x02 |
hattori_atsushi | 0:f77369cabd75 | 6 | |
hattori_atsushi | 0:f77369cabd75 | 7 | #include "mbed.h" |
hattori_atsushi | 0:f77369cabd75 | 8 | |
hattori_atsushi | 0:f77369cabd75 | 9 | /** |
hattori_atsushi | 0:f77369cabd75 | 10 | * MITSUBA class |
hattori_atsushi | 0:f77369cabd75 | 11 | */ |
hattori_atsushi | 0:f77369cabd75 | 12 | class MITSUBA { |
hattori_atsushi | 0:f77369cabd75 | 13 | public: |
hattori_atsushi | 0:f77369cabd75 | 14 | /** |
hattori_atsushi | 0:f77369cabd75 | 15 | * variables parsed from CAN data |
hattori_atsushi | 0:f77369cabd75 | 16 | */ |
hattori_atsushi | 0:f77369cabd75 | 17 | double batteryVoltage; // 0.5V / LSB |
hattori_atsushi | 0:f77369cabd75 | 18 | double batteryCurrent; // 1A / LSB |
hattori_atsushi | 0:f77369cabd75 | 19 | double motorCurrentPeak; // 1A / LSB |
hattori_atsushi | 0:f77369cabd75 | 20 | double FETtemp; // 5deg / LSB |
hattori_atsushi | 0:f77369cabd75 | 21 | double rpmMotor; // 1rpm / LSB |
hattori_atsushi | 0:f77369cabd75 | 22 | double duty; // 0.5% / LSB |
hattori_atsushi | 0:f77369cabd75 | 23 | double angle; // 0.5deg / LSB |
hattori_atsushi | 0:f77369cabd75 | 24 | double accelPosition; // 0.5% / LSB |
hattori_atsushi | 0:f77369cabd75 | 25 | double regenePosition; // 0.5% / LSB |
hattori_atsushi | 0:f77369cabd75 | 26 | double OUTtarget; // 0.5A/LSB |
hattori_atsushi | 0:f77369cabd75 | 27 | |
hattori_atsushi | 0:f77369cabd75 | 28 | /** |
hattori_atsushi | 0:f77369cabd75 | 29 | * MITSUBA constructor. |
hattori_atsushi | 0:f77369cabd75 | 30 | @param _can instance of CAN |
hattori_atsushi | 0:f77369cabd75 | 31 | @param freq CAN frequency |
hattori_atsushi | 0:f77369cabd75 | 32 | */ |
hattori_atsushi | 0:f77369cabd75 | 33 | MITSUBA(CAN &_can, int freq); |
hattori_atsushi | 0:f77369cabd75 | 34 | /** |
hattori_atsushi | 0:f77369cabd75 | 35 | * Fetch and Parse data sent by the MITSUBA Inverter. |
hattori_atsushi | 0:f77369cabd75 | 36 | @param val LogFrame Address |
hattori_atsushi | 0:f77369cabd75 | 37 | */ |
hattori_atsushi | 0:f77369cabd75 | 38 | void GetCanData(unsigned char val); |
hattori_atsushi | 0:f77369cabd75 | 39 | |
hattori_atsushi | 0:f77369cabd75 | 40 | private: |
hattori_atsushi | 0:f77369cabd75 | 41 | CAN &can; |
hattori_atsushi | 0:f77369cabd75 | 42 | int canfreq; |
hattori_atsushi | 0:f77369cabd75 | 43 | void ParseFrame0(unsigned char *data); |
hattori_atsushi | 0:f77369cabd75 | 44 | void ParseFrame1(unsigned char *data); |
hattori_atsushi | 0:f77369cabd75 | 45 | }; |