main.cpp

00001 
00002 #include "mbed.h"
00003 #include "Adafruit_ADS1015.h"
00004 //#include "USBSerial.h"
00005 
00006 #include <iostream>
00007 #include <map>
00008 #include <string>
00009 #include <stdio.h>
00010 
00011 #define SERIALOUT
00012 
00013 //#define SERIAL_BAUD_RATE    9600
00014 
00015 //library function setup
00016 I2C i2c(p28, p27);
00017 Adafruit_ADS1015 ads(&i2c);
00018 //USBSerial pc; // USB CDC serial port
00019 Ticker graph;
00020 
00021 
00022 //can stuff
00023 Ticker ticker;
00024 //CAN can1(p9, p10);
00025 CAN can2(p30, p29);
00026 char counter[8] = {1,1,1,1,1,1,1,1};
00027 int test=0x0;
00028 char counter2=0;
00029 
00030 
00031 bool fromUsr[5] = {false,false,false,false,false}; //cpupwr, cpu rst, sensor, net, usrint
00032 
00033 
00034 
00035 //leds
00036 DigitalOut led0(LED1);
00037 DigitalOut led1(LED2);
00038 DigitalOut led2(LED3);
00039 DigitalOut led3(LED4);
00040 
00041 //current readings
00042 AnalogIn iBat(p15); //75a              PROTO
00043 AnalogIn iTwelve(p17); //31a
00044 AnalogIn iFive(p18);//31a              PROTO
00045 AnalogIn iMot(p16);//75a
00046 AnalogIn iCpu(p20);//31a
00047 AnalogIn iPeri(p19);//31a
00048 
00049 //voltage scalers
00050 #define batScal 12.2
00051 #define motScal 12.2
00052 #define twelveScal 12.2
00053 #define fiveScal 12.2
00054 
00055 //Relays
00056 DigitalOut relSens(p21);              //  PROTO
00057 DigitalOut relUsr(p24);
00058 DigitalOut relNet(p23);
00059 DigitalOut relCpuRst(p22);
00060 DigitalOut relCpuPower(p25);
00061 
00062 
00063 //30 minute graph arrays
00064 uint16_t powerArr [10]; //{iBat,vBat,iTwelve, vTwelve, iFive, vFive, iMot, vMot, iCpu, iPeri}
00065 uint16_t ibat,vbat,itwelve, vtwelve, ifive, vfive, imot, vmot, icpu, iperi= 0;
00066 
00067 
00068 
00069 //volt
00070 uint16_t vBat, vTwelve,vFive,vMot ;
00071 
00072 
00073 
00074 void sending_values(long int int1,long int int2,long int int3,long int int4, int ID )
00075 {
00076     //val();
00077     led1=1;
00078     counter[0]=int1 >> 8;
00079     counter[1]=int1 & 0xFF;
00080     counter[2]=int2 >> 8;
00081     counter[3]=int2 & 0xFF;
00082     counter[4]=int3 >> 8;
00083     counter[5]=int3 & 0xFF;
00084     counter[6]=int4 >> 8;
00085     counter[7]=int4 & 0xFF;
00086     led2=1;
00087     if(can2.write(CANMessage(ID, counter, 8))) {
00088 
00089         //  printf("Message sent: %x%x\r\n", counter[1],counter[0]);
00090         //  printf("Should be: %d, %d, %d, %d\r\n", int1,int2,int3,int4);");
00091     led1=0;
00092     }
00093      else
00094     printf("CAN ERROR");
00095    
00096 }
00097 
00098 
00099 
00100 
00101 
00102 
00103 void Can_main(long int val1,long int val2,long int val3,long int val4, int the_ID)
00104 {
00105 
00106     std::map <int,string> CanIDMap;
00107 
00108     CanIDMap[0]=" ";
00109     CanIDMap[1]="Message id 1: Batt Cur, Batt Volt, Twelve Cur, Twelve Volt";
00110     CanIDMap[2]="Message id 2: Five Cur, Five Volt, Mot Cur, Mot Volt,";
00111     CanIDMap[3]="Message id 3: Cpu Cur,  Perifferal Cur, null,  null....";
00112     CanIDMap[4]="Message id 4: Network switch, usrint switch, sensor on switch, null";
00113     CanIDMap[5]="Message id 5: cpupwr switch, cpu rst switch,null,null.";
00114     CanIDMap[6]=" ";
00115     CanIDMap[7]=" ";
00116     CanIDMap[8]=" ";
00117     CanIDMap[9]=" ";
00118     CanIDMap[10]=" ";
00119     CanIDMap[11]=" ";
00120     CanIDMap[12]="Zac is the Worst";
00121     CanIDMap[13]="Auto";
00122     CanIDMap[14]="Manual";
00123 
00124 
00125 
00126 
00127 
00128     //ticker.attach(&sending_values,1);
00129     CANMessage msg;
00130     int fixer1=0;
00131     int fixer2=0;
00132     int fixer3=0;
00133     int fixer4=0;
00134 
00135 
00136     if(can2.read(msg)) {
00137         bool tester= CanIDMap.find(msg.id) != CanIDMap.end();
00138         if (tester) {
00139             //printf("Message received: %x %x \r\n", msg.data[0], msg.data[1]);
00140 
00141             //printf("ID of message: %s \r\n", CanIDMap[msg.id]);
00142 
00143             std::string str=CanIDMap[msg.id];
00144             unsigned pos = str.find("_");         // position of "_" in str
00145             std::string str3 = str.substr (pos+1);     // get from past"_" to the end
00146             // printf("Dealing with: %s \r\n",str3);
00147             fixer1=((msg.data[0]<<8) | (msg.data[1]));
00148             fixer2=((msg.data[2]<<8) | (msg.data[3]));
00149             fixer3=((msg.data[4]<<8) | (msg.data[5]));
00150             fixer4=((msg.data[6]<<8) | (msg.data[7]));
00151             if(msg.id==4) { // "Message id 4: Network switch, usrint switch, sensor on switch, null";
00152 fromUsr[3]=fixer1;    //fromUsr=cpupwr, cpu rst, sensor, net, usrint
00153 fromUsr[4]= fixer2;
00154 fromUsr[2]=fixer3;
00155             }
00156 
00157 
00158             else if(msg.id==5) { // "Message id 5: cpupwr switch, cpu rst switch,";
00159 fromUsr[0]=fixer1;    //fromUsr=cpupwr, cpu rst, sensor, net, usrint
00160 fromUsr[1]= fixer2;
00161 
00162 
00163             }
00164 
00165             else{
00166                 led3=!led3;
00167                 }
00168             led2 = !led2;
00169 
00170             // printf("Resulting Answer back is: %d, %d, %d, %d\r\n\r\n\r\n",fixer1,fixer2,fixer3,fixer4 );
00171 
00172         }
00173 
00174         else {
00175 
00176             // printf("Can Message, not related to this controller\r\n\r\n");
00177 
00178         }
00179 
00180         //wait(0.2);
00181     }
00182 
00183 
00184 
00185 
00186 
00187 }
00188 
00189 
00190 
00191 
00192 void sendArray (void)
00193 {
00194 #ifdef SERIALOUT
00195     printf("___________________________\r\n");
00196     printf("Sending messages....\r\n");
00197     printf("Message id 1: Batt Cur = %d, Batt Volt = %d, Twelve Cur = %d, Twelve Volt = %d....",powerArr[0],powerArr[1],powerArr[2],powerArr[3]);
00198     sending_values(powerArr[0],powerArr[1],powerArr[2],powerArr[3],1);
00199     printf("....sent\r\n");
00200     printf("Message id 2: Five Cur = %d, Five Volt = %d, Mot Cur = %d, Mot Volt = %d....",powerArr[4],powerArr[5],powerArr[6],powerArr[7]);
00201     sending_values(powerArr[4],powerArr[5],powerArr[6],powerArr[7],2);
00202     printf("....sent\r\n");
00203     printf("Message id 3: Cpu Cur = %d,  Perifferal Cur = %d, null,  null....",powerArr[8],powerArr[9]);
00204     sending_values(powerArr[8],powerArr[9],0,0,3);
00205     printf("....sent\r\n");
00206     printf("CANBUS TRANMISSION COMPLETE\r\n");
00207     printf("~~~~~~~~~~~~~~~~~~~~~~~~~~~\r\n");
00208     //relNet=!relNet;
00209   //  relSens= !relSens;
00210 
00211 
00212     //relCpuPower=!relCpuPower;
00213     //relCpuRst =!relCpuRst;
00214     // relUsr=!relUsr;
00215     float neW =(powerArr[1]*.003);
00216     printf("actual vbat= %2.4f volt\r\n", neW);
00217 #endif
00218 #ifndef SERIALOUT
00219     sending_values(powerArr[0],powerArr[1],powerArr[2],powerArr[3],1);
00220     sending_values(powerArr[4],powerArr[5],powerArr[6],powerArr[7],2);
00221     sending_values(powerArr[8],powerArr[9],0,0,3);
00222    // relNet=!relNet;
00223     //relSens= !relSens;
00224 
00225     //relCpuPower=!relCpuPower;
00226     //relCpuRst =!relCpuRst;
00227    // relUsr=!relUsr;
00228 #endif
00229 
00230 }
00231 
00232 
00233 
00234 void setup(void)
00235 {
00236     graph.attach(&sendArray, (1)); //update array every 10 seconds
00237 
00238  can2.frequency(500000);
00239     //initialize relays
00240     relSens= 0;
00241 
00242     relNet =0;
00243     relCpuPower=0;
00244     relCpuRst =0;
00245     relUsr=0;
00246 wait(3);
00247 sending_values(1,1,1,1,4);
00248 wait(.01);
00249 sending_values(0,0,0,0,4);
00250 
00251 
00252 
00253 }
00254 
00255 
00256 
00257 int main()
00258 {
00259     setup();
00260 
00261 
00262     while (1) {
00263         Can_main(0,0,0,0,0);
00264 
00265 
00266 
00267         powerArr[0]=ibat = (iBat.read_u16());
00268         powerArr[1]=vBat = ads.readADC_SingleEnded(0); // read channel 0    PROTO
00269 
00270         powerArr[2]=itwelve = (iTwelve.read_u16());
00271         powerArr[3]=vtwelve = ads.readADC_SingleEnded(1); // read channel 1
00272 
00273         powerArr[4]=ifive = (iFive.read_u16());
00274         powerArr[5]=vfive = ads.readADC_SingleEnded(2); // read channel 0
00275 
00276         powerArr[6]=imot = (iMot.read_u16());
00277         powerArr[7]=vmot = ads.readADC_SingleEnded(3); // read channel 0
00278 
00279         powerArr[8]=icpu = (iCpu.read_u16());
00280         powerArr[9]=iperi = (iPeri.read_u16());
00281 
00282 //powerArr[] = {ibat,vbat,itwelve, vtwelve, ifive, vfive, imot, vmot, icpu, iperi};
00283 
00284         relCpuPower=fromUsr[0];
00285         relCpuRst =fromUsr[1];
00286         relSens= fromUsr[2];
00287         relNet =fromUsr[3];
00288         relUsr=fromUsr[4];
00289 
00290 
00291 //cpupwr, cpu rst, sensor, net, usrint
00292 
00293         led0=!led0;
00294 
00295     }
00296 }
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