MITSUBA_CAN.cpp

00001 
00002 #include "mbed.h"
00003 #include "MITSUBA_CAN.h"
00004 
00005 MITSUBA::MITSUBA(CAN &_can, int freq) : can(_can), canfreq(freq){
00006   can.frequency(canfreq);
00007 }
00008 
00009 void MITSUBA::GetCanData(unsigned char val){
00010   CANMessage sendmsg;
00011   int ret = 0;
00012 
00013   sendmsg.id = 0x08F89540;   // Use Rear Left #1
00014   sendmsg.data[0] = val;
00015   sendmsg.len = 1;
00016   sendmsg.type = CANData;
00017   sendmsg.format = CANExtended;
00018 
00019   ret = can.write(sendmsg);
00020 
00021   CANMessage readmsg;
00022 
00023   if(ret && can.read(readmsg)) {
00024     if(readmsg.id == 0x08850225) {
00025       // printf("Frame0\n");
00026       ParseFrame0(readmsg.data);
00027     }
00028     if(readmsg.id == 0x08950225) {
00029       // printf("Frame1\n");
00030       ParseFrame1(readmsg.data);
00031     }
00032   }
00033 
00034 }
00035 
00036 void MITSUBA::ParseFrame0(unsigned char *data){
00037   batteryVoltage = (double)((((((unsigned int)data[1]) & 0x0003) << 8) | (((unsigned int)data[0]) & 0x00ff))) * 0.5;
00038   batteryCurrent= (double)(((((unsigned int)data[2]) & 0x0007) << 6) | ((((unsigned int)data[1]) & 0x00fc) >> 2));
00039   // sign = ((((unsigned int)data[2]) & 0x08) >> 3) ? -1 : 1;
00040   motorCurrentPeak = (double)(((((unsigned int)data[3]) & 0x003f) << 4) | ((((unsigned int)data[2]) & 0x00f0) >> 4));
00041   FETtemp = (double)(((((unsigned int)data[4]) & 0x0007) << 2) | ((((unsigned int)data[3]) & 0x00c0) >> 6)) * 5;
00042   rpmMotor = (double)(((((unsigned int)data[5]) & 0x007f) << 5) | ((((unsigned int)data[4]) & 0x00f8) >> 3));
00043   duty = (double)(((((unsigned int)data[5]) & 0x0080) >> 7) | ((((unsigned int)data[6]) & 0x00ff) << 1) | ((((unsigned int)data[7]) & 0x0001) << 9)) * 0.5;
00044   angle = (double)((((unsigned int)data[7]) & 0x00fe) >> 1) * 0.5;
00045 }
00046 
00047 void MITSUBA::ParseFrame1(unsigned char *data){
00048 
00049   /*
00050      PEmode = (int)(data[0] & 0x01);   //Power Eco mode
00051      Contmode = (int)((data[0] & 0x02) >> 1);  //Motor Control mode
00052    */
00053   accelPosition = (double)(((((unsigned int)data[0]) & 0x00fc) >> 2) | ((((unsigned int)data[1]) & 0x000f) << 6))*0.5; //0.5%/LSB Accelerator Position
00054   regenePosition = (double)(((((unsigned int)data[1]) & 0x00f0) >> 4) | ((((unsigned int)data[2]) & 0x003f) << 4))*0.5;   //0.5%/LSB Regeneration Position
00055   
00056     // DigiSWposition = (int)(((((unsigned int)data[2]) & 0x00c0) >> 6) | ((((unsigned int)data[3]) & 0x0003) << 2));  //Digi SW number
00057      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
00058     // Status = (int)((data[4] & 0x30) >> 4);    //Drive Action Status
00059     // drivemode = (int)((data[4] & 0x40) >> 6); //Regeneration Status
00060    
00061 
00062 }