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
   

}