Diff: main.cpp

Revision:

4:d29a7b77b1c6

Parent:

3:a01ea06ca9ab

Child:

5:6b90ed7f3eb1

--- a/main.cpp	Tue Apr 01 14:47:21 2014 +0000
+++ b/main.cpp	Mon Apr 07 04:32:52 2014 +0000
@@ -1,17 +1,33 @@
 
 #include "mbed.h"
 #include "Adafruit_ADS1015.h"
-#include "USBSerial.h"
+//#include "USBSerial.h"
 
-#define SERIAL_BAUD_RATE    9600
+#include <iostream>
+#include <map>
+#include <string>
+#include <stdio.h>
+
+//#define SERIAL_BAUD_RATE    9600
 
 //library function setup
 I2C i2c(p28, p27);
 Adafruit_ADS1015 ads(&i2c);
-USBSerial pc; // USB CDC serial port
+//USBSerial pc; // USB CDC serial port
 CAN cantbus(p30, p29);
 Ticker graph;
 
+
+//can stuff
+Ticker ticker;
+CAN can1(p9, p10);
+CAN can2(p30, p29);
+char counter[8] = {1,1,1,1,1,1,1,1};
+int test=0x0;
+char counter2=0;
+
+
+
 //leds
 DigitalOut led0(LED1);
 DigitalOut led1(LED2);
@@ -19,9 +35,9 @@
 DigitalOut led3(LED4);
 
 //current readings
-AnalogIn iBat(p15); //75a
+AnalogIn iBat(p15); //75a              PROTO
 AnalogIn iTwelve(p17); //31a
-AnalogIn iFive(p18);//31a
+AnalogIn iFive(p18);//31a              PROTO
 AnalogIn iMot(p16);//75a
 AnalogIn iCpu(p20);//31a
 AnalogIn iPeri(p19);//31a
@@ -33,7 +49,7 @@
 #define fiveScal 12.2
 
 //Relays
-DigitalOut relSens(p21);
+DigitalOut relSens(p21);              //  PROTO 
 DigitalOut relUsr(p22);
 DigitalOut relNet(p23);
 DigitalOut relCpuRst(p24);
@@ -41,88 +57,139 @@
 
 
 //30 minute graph arrays
-uint16_t iBatArr [180];
-uint16_t vBatArr [180];
-uint16_t iTwelveArr [180];
-uint16_t vTwelveArr [180];
-uint16_t iFiveArr [180];
-uint16_t vFiveArr [180];
-uint16_t iMotArr [180];
-uint16_t vMotArr [180];
-uint16_t iCpuArr [180];
-uint16_t iPeriArr [180];
+uint16_t powerArr [10]; //{iBat,vBat,iTwelve, vTwelve, iFive, vFive, iMot, vMot, iCpu, iPeri}
+
+
+float ibat =0;
+float ifive = 0;
 
 
 //volt
 uint16_t vBat, vTwelve,vFive,vMot ;
 
 
+
+void sending_values(long int int1,long int int2,long int int3,long int int4, int ID )
+{
+    //val();
+    counter[0]=int1 >> 8;
+    counter[1]=int1 & 0xFF;
+    counter[2]=int2 >> 8;
+    counter[3]=int2 & 0xFF;
+    counter[4]=int3 >> 8;
+    counter[5]=int3 & 0xFF;
+    counter[6]=int4 >> 8;
+    counter[7]=int4 & 0xFF;
+    
+    if(can1.write(CANMessage(ID, counter, 8))) {
+  
+        printf("Message sent: %x%x\r\n", counter[1],counter[0]);
+        printf("Should be: %d, %d, %d, %d\r\n", int1,int2,int3,int4);
+}
+}
+
+
+ 
+
+
+
+void Can_main(bool send,long int val1,long int val2,long int val3,long int val4, int the_ID) {
+
+    
+        
+    std::map <int,string> CanIDMap;
+
+    //CanIDMap[0]="Motor Controller String";
+    CanIDMap[1]="Motor Controller Ints";
+    //CanIDMap[2]="Power Controller Voltage_Battery";
+    CanIDMap[3]="Power Controller Voltage_5V";
+    //CanIDMap[4]="Power Controller Voltage_12V";
+    CanIDMap[5]="Power Controller Voltage_Motor";
+    CanIDMap[6]="Power Controller Current_Battery";
+    CanIDMap[7]="Power Controller Current_5V";
+    CanIDMap[8]="Power Controller Current_12V";
+    CanIDMap[9]="Power Controller Current_Motor";
+    CanIDMap[10]="LCD Controller String";
+    CanIDMap[11]="LCD Controller Ints";
+    CanIDMap[12]="Zac is the Best";
+
+    
+    
+    //ticker.attach(&sending_values,1);
+    CANMessage msg;
+    int fixer1=0;
+    int fixer2=0;
+    int fixer3=0;
+    int fixer4=0;
+    while(1) {
+        if (send==true){
+        sending_values(val1,val2,val3,val4,the_ID);
+        }
+        if(can2.read(msg)) {
+            bool tester= CanIDMap.find(msg.id) != CanIDMap.end();
+            if (tester){
+            printf("Message received: %x %x \r\n", msg.data[0], msg.data[1]);
+           
+            //printf("ID of message: %s \r\n", CanIDMap[msg.id]);
+            
+            std::string str=CanIDMap[msg.id];
+            unsigned pos = str.find("_");         // position of "_" in str
+            std::string str3 = str.substr (pos+1);     // get from past"_" to the end
+           // printf("Dealing with: %s \r\n",str3);
+            fixer1=((msg.data[0]<<8) | (msg.data[1]));
+            fixer2=((msg.data[2]<<8) | (msg.data[3]));
+            fixer3=((msg.data[4]<<8) | (msg.data[5]));
+            fixer4=((msg.data[6]<<8) | (msg.data[7]));
+            led2 = !led2;
+            
+            printf("Resulting Answer back is: %d, %d, %d, %d\r\n\r\n\r\n",fixer1,fixer2,fixer3,fixer4 );
+            break;
+        } 
+        
+        else{
+        
+        printf("Can Message, not related to this controller\r\n\r\n");
+        
+        }
+
+        wait(0.2);
+    }
+
+ 
+}
+
+
+}
+
+
+
+
 void updateArray (void)
 {
-    vBat = ads.readADC_SingleEnded(0); // read channel 0
+            
+            printf("reading Vbat: %d\r\n", vBat); // print reading
+        printf("reading Battery Current: %2.8f\r\n", ibat); // print reading
+        printf("reading Five Volt Current: %2.8f\r\n", ifive); // print reading
+           Can_main(true,15,84,1254,3254,1);
+       // printf("reading: %d\r\n", vMot); // print reading
+    /*
+    
+    vBat = ads.readADC_SingleEnded(0); // read channel 0    PROTO
     vTwelve = ads.readADC_SingleEnded(1); // read channel 0
     vFive = ads.readADC_SingleEnded(2); // read channel 0
     vMot = ads.readADC_SingleEnded(3); // read channel 0
 
 
-    for(int i =179; i >0; i--) {
-        iBatArr[i] =iBatArr[i-1];
-    }
-    iBatArr[0]= iBat.read_u16();
-
-    for(int i =179; i >0; i--) {
-        vBatArr[i] =vBatArr[i-1];
-    }
-    vBatArr[0]= vBat;
-
-    for(int i =179; i >0; i--) {
-        iTwelveArr[i] =iTwelveArr[i-1];
-    }
-    iTwelveArr[0]= iTwelve.read_u16();
-
-    for(int i =179; i >0; i--) {
-        vTwelveArr[i] =vTwelveArr[i-1];
-    }
-    vTwelveArr[0]= vTwelve;
-
-    for(int i =179; i >0; i--) {
-        iFiveArr[i] =iFiveArr[i-1];
-    }
-    iFiveArr[0]= iFive.read_u16();
-
-    for(int i =179; i >0; i--) {
-        vFiveArr[i] =vFiveArr[i-1];
-    }
-    vFiveArr[0]= vFive;
-
-    for(int i =179; i >0; i--) {
-        iMotArr[i] =iMotArr[i-1];
-    }
-    iMotArr[0]= iMot.read_u16();
-
-    for(int i =179; i >0; i--) {
-        vMotArr[i] =vMotArr[i-1];
-    }
-    vMotArr[0]= vMot;
-
-    for(int i =179; i >0; i--) {
-        iCpuArr[i] =iCpuArr[i-1];
-    }
-    iCpuArr[0]= iCpu.read_u16();
-
-    for(int i =179; i >0; i--) {
-        iPeriArr[i] =iPeriArr[i-1];
-    }
-    iPeriArr[0]= iPeri.read_u16();
-    led0= !led0;
+    
+    */
 
 }
 
 void setup(void)
 {
-    graph.attach(&updateArray, 10); //update array every 10 seconds
-    cantbus.frequency(500000);
-    CANMessage can_MsgRx;
+   graph.attach(&updateArray, 10); //update array every 10 seconds
+  //  cantbus.frequency(500000);
+   // CANMessage can_MsgRx;
     
     //initialize relays
     relSens= 0;
@@ -139,9 +206,9 @@
 {
     setup();
     
-        graph.attach(updateArray, 1); //update array every 10 seconds
-    cantbus.frequency(500000);
-    CANMessage can_MsgRx;
+       graph.attach(updateArray, 2); //update array every 10 seconds
+    //cantbus.frequency(500000);
+ //   CANMessage can_MsgRx;
     
     //initialize relays
     relSens= 0;
@@ -150,14 +217,14 @@
     relCpuRst =0;
     relUsr=0;
     while (1) {
+vBat = ads.readADC_SingleEnded(0); // read channel 0
+ibat = (iBat.read())*3.3;
+ifive = (iFive.read())*3.3;
 
 
-        pc.printf("reading: %d\r\n", vBat); // print reading
-        pc.printf("reading: %d\r\n", vTwelve); // print reading
-        pc.printf("reading: %d\r\n", vFive); // print reading
-        pc.printf("reading: %d\r\n", vMot); // print reading
 
-        wait(2);
+led0=!led0;
+
     }
 }
 
@@ -173,3 +240,10 @@
 
 
 
+
+
+
+
+
+
+