Mario Bambagini / Mbed 2 deprecated car_chassis

car chassis

Dependencies:   Servo mbed-rtos mbed

can.cpp@3:bfc20ec72b15, 2015-10-11 (annotated)

Committer:
mariob
Date:
Sun Oct 11 21:17:42 2015 +0000
Revision:
3:bfc20ec72b15
Parent:
2:7dfc8dd6aab3 
renaming

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mariob 0:ce6055872f4e 1 #include "mbed.h"
mariob 2:7dfc8dd6aab3 2 #include "car_config.hpp"
mariob 2:7dfc8dd6aab3 3 #include "net.hpp"
mariob 1:79b1ee0f97ef 4 #include "can.hpp"
mariob 0:ce6055872f4e 5 #include "rtos.h"
mariob 0:ce6055872f4e 6
mariob 2:7dfc8dd6aab3 7 /*** GLOBAL DATA ***/
mariob 2:7dfc8dd6aab3 8
mariob 2:7dfc8dd6aab3 9 //message buffers
mariob 2:7dfc8dd6aab3 10 can_cmd_body_t can_cmd_body;
mariob 2:7dfc8dd6aab3 11 can_sts_body_t can_sts_body;
mariob 2:7dfc8dd6aab3 12 can_cmd_engine_t can_cmd_engine;
mariob 2:7dfc8dd6aab3 13 can_cmd_time_t can_cmd_time;
mariob 3:bfc20ec72b15 14 can_cmd_diag_t can_cmd_diag;
mariob 3:bfc20ec72b15 15 can_sts_diag_t can_sts_diag;
mariob 2:7dfc8dd6aab3 16 can_cmd_camera_t can_cmd_camera;
mariob 2:7dfc8dd6aab3 17
mariob 2:7dfc8dd6aab3 18 /*** LOCAL DATA ***/
mariob 0:ce6055872f4e 19
mariob 2:7dfc8dd6aab3 20 //transceiver
mariob 2:7dfc8dd6aab3 21 static CAN can(HW_CAN_TX, HW_CAN_RX);
mariob 2:7dfc8dd6aab3 22
mariob 2:7dfc8dd6aab3 23 //countdown for missing messages
mariob 2:7dfc8dd6aab3 24 uint8 can_missing[CAN_RX_PERIODIC_MSG];
mariob 2:7dfc8dd6aab3 25
mariob 2:7dfc8dd6aab3 26 /*** LOCAL FUNCTION PROTOTYPES ***/
mariob 0:ce6055872f4e 27
mariob 2:7dfc8dd6aab3 28 //read if there are messages in the buffer
mariob 2:7dfc8dd6aab3 29 void can_rx();
mariob 2:7dfc8dd6aab3 30
mariob 2:7dfc8dd6aab3 31 //send pending messages
mariob 2:7dfc8dd6aab3 32 void can_tx();
mariob 2:7dfc8dd6aab3 33
mariob 2:7dfc8dd6aab3 34 /*** GLOBAL FUNCTIONS ***/
mariob 0:ce6055872f4e 35
mariob 0:ce6055872f4e 36 void init_can()
mariob 0:ce6055872f4e 37 {
mariob 2:7dfc8dd6aab3 38 for (int i = 0; i < CAN_RX_PERIODIC_MSG; i++)
mariob 2:7dfc8dd6aab3 39 can_missing[i] = CAN_MISSING_DETECTION;
mariob 0:ce6055872f4e 40 }
mariob 0:ce6055872f4e 41
mariob 0:ce6055872f4e 42 void thread_can (void const *args)
mariob 0:ce6055872f4e 43 {
mariob 2:7dfc8dd6aab3 44 while(1) {
mariob 2:7dfc8dd6aab3 45 can_rx();
mariob 2:7dfc8dd6aab3 46 can_tx();
mariob 2:7dfc8dd6aab3 47 Thread::wait(CAN_THREAD_PERIOD);
mariob 2:7dfc8dd6aab3 48 }
mariob 0:ce6055872f4e 49 }
mariob 0:ce6055872f4e 50
mariob 0:ce6055872f4e 51 bool can_msg_is_missing (uint8 msg_id)
mariob 0:ce6055872f4e 52 {
mariob 2:7dfc8dd6aab3 53 if (msg_id < CAN_RX_PERIODIC_MSG)
mariob 2:7dfc8dd6aab3 54 return (can_missing[msg_id] == 0);
mariob 2:7dfc8dd6aab3 55 return true;
mariob 0:ce6055872f4e 56 }
mariob 2:7dfc8dd6aab3 57
mariob 2:7dfc8dd6aab3 58 /*** LOCAL FUNCTIONS ***/
mariob 2:7dfc8dd6aab3 59
mariob 2:7dfc8dd6aab3 60 void can_rx () {
mariob 2:7dfc8dd6aab3 61 CANMessage message;
mariob 2:7dfc8dd6aab3 62
mariob 2:7dfc8dd6aab3 63 do {
mariob 2:7dfc8dd6aab3 64 if (can.read(message) == 0)
mariob 2:7dfc8dd6aab3 65 break;
mariob 2:7dfc8dd6aab3 66 switch(message.id) {
mariob 2:7dfc8dd6aab3 67 #ifdef NET_RX_CMD_BODY
mariob 2:7dfc8dd6aab3 68 case CAN_CMD_BODY_ID:
mariob 2:7dfc8dd6aab3 69 can_cmd_body.payload.buf[0] = message.data[0];
mariob 2:7dfc8dd6aab3 70 can_cmd_body.payload.buf[1] = message.data[1];
mariob 2:7dfc8dd6aab3 71 can_cmd_body.payload.buf[2] = message.data[2];
mariob 2:7dfc8dd6aab3 72 can_cmd_body.payload.buf[3] = message.data[3];
mariob 2:7dfc8dd6aab3 73 can_cmd_body.flag = CAN_FLAG_RECEIVED;
mariob 2:7dfc8dd6aab3 74 can_missing[CAN_MISSING_CMD_BODY_ID] = CAN_MISSING_DETECTION+1;
mariob 2:7dfc8dd6aab3 75 break;
mariob 2:7dfc8dd6aab3 76 #endif
mariob 2:7dfc8dd6aab3 77 #ifdef NET_RX_STS_BODY
mariob 2:7dfc8dd6aab3 78 case CAN_STS_BODY_ID:
mariob 2:7dfc8dd6aab3 79 can_sts_body.payload.buf[0] = message.data[0];
mariob 2:7dfc8dd6aab3 80 can_sts_body.payload.buf[1] = message.data[1];
mariob 2:7dfc8dd6aab3 81 can_sts_body.payload.buf[2] = message.data[2];
mariob 2:7dfc8dd6aab3 82 can_sts_body.payload.buf[3] = message.data[3];
mariob 2:7dfc8dd6aab3 83 can_sts_body.payload.buf[4] = message.data[4];
mariob 2:7dfc8dd6aab3 84 can_sts_body.payload.buf[5] = message.data[5];
mariob 2:7dfc8dd6aab3 85 can_sts_body.payload.buf[6] = message.data[6];
mariob 2:7dfc8dd6aab3 86 can_sts_body.payload.buf[7] = message.data[7];
mariob 2:7dfc8dd6aab3 87 can_sts_body.flag = CAN_FLAG_RECEIVED;
mariob 2:7dfc8dd6aab3 88 can_missing[CAN_MISSING_STS_BODY_ID] = CAN_MISSING_DETECTION+1;
mariob 2:7dfc8dd6aab3 89 break;
mariob 2:7dfc8dd6aab3 90 #endif
mariob 2:7dfc8dd6aab3 91 #ifdef NET_RX_CMD_ENGINE
mariob 2:7dfc8dd6aab3 92 case CAN_CMD_ENGINE_ID:
mariob 2:7dfc8dd6aab3 93 can_cmd_engine.payload.buf[0] = message.data[0];
mariob 2:7dfc8dd6aab3 94 can_cmd_engine.payload.buf[1] = message.data[1];
mariob 2:7dfc8dd6aab3 95 can_cmd_engine.payload.buf[2] = message.data[2];
mariob 2:7dfc8dd6aab3 96 can_cmd_engine.payload.buf[3] = message.data[3];
mariob 2:7dfc8dd6aab3 97 can_cmd_engine.flag = CAN_FLAG_RECEIVED;
mariob 2:7dfc8dd6aab3 98 can_missing[CAN_MISSING_CMD_ENGINE_ID] = CAN_MISSING_DETECTION+1;
mariob 2:7dfc8dd6aab3 99 break;
mariob 2:7dfc8dd6aab3 100 #endif
mariob 2:7dfc8dd6aab3 101 #ifdef NET_RX_CMD_TIME
mariob 2:7dfc8dd6aab3 102 case CAN_CMD_TIME_ID:
mariob 2:7dfc8dd6aab3 103 can_cmd_time.payload.buf[0] = message.data[0];
mariob 2:7dfc8dd6aab3 104 can_cmd_time.payload.buf[1] = message.data[1];
mariob 2:7dfc8dd6aab3 105 can_cmd_time.payload.buf[2] = message.data[2];
mariob 2:7dfc8dd6aab3 106 can_cmd_time.payload.buf[3] = message.data[3];
mariob 2:7dfc8dd6aab3 107 can_cmd_time.flag = CAN_FLAG_RECEIVED;
mariob 2:7dfc8dd6aab3 108 break;
mariob 2:7dfc8dd6aab3 109 #endif
mariob 3:bfc20ec72b15 110 #ifdef NET_RX_CMD_DIAG
mariob 3:bfc20ec72b15 111 case CAN_CMD_DIAG_ID:
mariob 3:bfc20ec72b15 112 can_cmd_diag.payload.buf[0] = message.data[0];
mariob 3:bfc20ec72b15 113 can_cmd_diag.payload.buf[1] = message.data[1];
mariob 3:bfc20ec72b15 114 can_cmd_diag.payload.buf[2] = message.data[2];
mariob 3:bfc20ec72b15 115 can_cmd_diag.payload.buf[3] = message.data[3];
mariob 3:bfc20ec72b15 116 can_cmd_diag.payload.buf[4] = message.data[4];
mariob 3:bfc20ec72b15 117 can_cmd_diag.payload.buf[5] = message.data[5];
mariob 3:bfc20ec72b15 118 can_cmd_diag.payload.buf[6] = message.data[6];
mariob 3:bfc20ec72b15 119 can_cmd_diag.payload.buf[7] = message.data[7];
mariob 3:bfc20ec72b15 120 can_cmd_diag.flag = CAN_FLAG_RECEIVED;
mariob 2:7dfc8dd6aab3 121 break;
mariob 2:7dfc8dd6aab3 122 #endif
mariob 3:bfc20ec72b15 123 #ifdef NET_RX_STS_DIAG
mariob 3:bfc20ec72b15 124 case CAN_STS_DIAG_ID:
mariob 3:bfc20ec72b15 125 can_sts_diag.payload.buf[0] = message.data[0];
mariob 3:bfc20ec72b15 126 can_sts_diag.payload.buf[1] = message.data[1];
mariob 3:bfc20ec72b15 127 can_sts_diag.payload.buf[2] = message.data[2];
mariob 3:bfc20ec72b15 128 can_sts_diag.payload.buf[3] = message.data[3];
mariob 3:bfc20ec72b15 129 can_sts_diag.flag = CAN_FLAG_RECEIVED;
mariob 2:7dfc8dd6aab3 130 break;
mariob 2:7dfc8dd6aab3 131 #endif
mariob 2:7dfc8dd6aab3 132 #ifdef NET_RX_CMD_CAMERA
mariob 2:7dfc8dd6aab3 133 case CAN_CMD_CAMERA_ID:
mariob 2:7dfc8dd6aab3 134 can_cmd_camera.payload.buf[0] = message.data[0];
mariob 2:7dfc8dd6aab3 135 can_cmd_camera.payload.buf[1] = message.data[1];
mariob 2:7dfc8dd6aab3 136 can_cmd_camera.flag = CAN_FLAG_RECEIVED;
mariob 2:7dfc8dd6aab3 137 can_missing[CAN_MISSING_CMD_CAMERA_ID] = CAN_MISSING_DETECTION+1;
mariob 2:7dfc8dd6aab3 138 break;
mariob 2:7dfc8dd6aab3 139 #endif
mariob 2:7dfc8dd6aab3 140 default:
mariob 2:7dfc8dd6aab3 141 break;
mariob 2:7dfc8dd6aab3 142 };
mariob 2:7dfc8dd6aab3 143 } while(1);
mariob 2:7dfc8dd6aab3 144
mariob 2:7dfc8dd6aab3 145 for (int i = 0; i < CAN_RX_PERIODIC_MSG; i++)
mariob 2:7dfc8dd6aab3 146 if (can_missing[i] > 0)
mariob 2:7dfc8dd6aab3 147 can_missing[i]--;
mariob 2:7dfc8dd6aab3 148 }
mariob 2:7dfc8dd6aab3 149
mariob 2:7dfc8dd6aab3 150 void can_tx () {
mariob 2:7dfc8dd6aab3 151 /** periodic messages */
mariob 2:7dfc8dd6aab3 152 #ifdef NET_TX_CMD_BODY
mariob 2:7dfc8dd6aab3 153 if (can_cmd_body.flag == 0) {
mariob 2:7dfc8dd6aab3 154 wait(2); //wait 2 milliseconds between 2 consecutive transmissions
mariob 2:7dfc8dd6aab3 155 if (!can.write(CANMessage(CAN_CMD_BODY_ID,
mariob 2:7dfc8dd6aab3 156 (char*)(&(can_cmd_body.payload.buf)),
mariob 2:7dfc8dd6aab3 157 CAN_CMD_PAYLOAD_BODY)))
mariob 2:7dfc8dd6aab3 158 printf("SEND CMD_BODY NOT OK\r\n");
mariob 2:7dfc8dd6aab3 159 can_cmd_body.flag = CAN_CMD_BODY_PERIOD;
mariob 2:7dfc8dd6aab3 160 }
mariob 2:7dfc8dd6aab3 161 can_cmd_body.flag--;
mariob 2:7dfc8dd6aab3 162 #endif
mariob 2:7dfc8dd6aab3 163 #ifdef NET_TX_STS_BODY
mariob 2:7dfc8dd6aab3 164 if (can_sts_body.flag == 0) {
mariob 2:7dfc8dd6aab3 165 wait(2); //wait 2 milliseconds between 2 consecutive transmissions
mariob 2:7dfc8dd6aab3 166 if (!can.write(CANMessage(CAN_STS_BODY_ID,
mariob 2:7dfc8dd6aab3 167 (char*)(&(can_sts_body.payload.buf)),
mariob 2:7dfc8dd6aab3 168 CAN_STS_PAYLOAD_BODY)))
mariob 2:7dfc8dd6aab3 169 printf("SEND STS_BODY NOT OK\r\n");
mariob 2:7dfc8dd6aab3 170 can_sts_body.flag = CAN_STS_BODY_PERIOD;
mariob 2:7dfc8dd6aab3 171 }
mariob 2:7dfc8dd6aab3 172 can_sts_body.flag--;
mariob 2:7dfc8dd6aab3 173 #endif
mariob 2:7dfc8dd6aab3 174 #ifdef NET_TX_CMD_ENGINE
mariob 2:7dfc8dd6aab3 175 if (can_cmd_engine.flag == 0) {
mariob 2:7dfc8dd6aab3 176 wait(2); //wait 2 milliseconds between 2 consecutive transmissions
mariob 2:7dfc8dd6aab3 177 if (!can.write(CANMessage(CAN_CMD_ENGINE_ID,
mariob 2:7dfc8dd6aab3 178 (char*)(&(can_cmd_engine.payload.buf)),
mariob 2:7dfc8dd6aab3 179 CAN_CMD_PAYLOAD_ENGINE)))
mariob 2:7dfc8dd6aab3 180 printf("SEND CMD_ENGINE NOT OK\r\n");
mariob 2:7dfc8dd6aab3 181 can_cmd_engine.flag = CAN_CMD_ENGINE_PERIOD;
mariob 2:7dfc8dd6aab3 182 }
mariob 2:7dfc8dd6aab3 183 can_cmd_engine.flag--;
mariob 2:7dfc8dd6aab3 184 #endif
mariob 2:7dfc8dd6aab3 185 #ifdef NET_TX_CMD_CAMERA
mariob 2:7dfc8dd6aab3 186 if (can_cmd_camera.flag == 0) {
mariob 2:7dfc8dd6aab3 187 wait(2); //wait 2 milliseconds between 2 consecutive transmissions
mariob 2:7dfc8dd6aab3 188 if (!can.write(CANMessage(CAN_CMD_CAMERA_ID,
mariob 2:7dfc8dd6aab3 189 (char*)(&(can_cmd_camera.payload.buf)),
mariob 2:7dfc8dd6aab3 190 CAN_CMD_PAYLOAD_CAMERA)))
mariob 2:7dfc8dd6aab3 191 printf("SEND CMD_CAMERA NOT OK\r\n");
mariob 2:7dfc8dd6aab3 192 can_cmd_camera.flag = CAN_CMD_CAMERA_PERIOD;
mariob 2:7dfc8dd6aab3 193 }
mariob 2:7dfc8dd6aab3 194 can_cmd_camera.flag--;
mariob 2:7dfc8dd6aab3 195 #endif
mariob 2:7dfc8dd6aab3 196
mariob 2:7dfc8dd6aab3 197 /** event messages */
mariob 3:bfc20ec72b15 198 #ifdef NET_TX_CMD_DIAG
mariob 3:bfc20ec72b15 199 if (can_cmd_diag.flag == CAN_FLAG_SEND) {
mariob 2:7dfc8dd6aab3 200 wait(2); //wait 2 milliseconds between 2 consecutive transmissions
mariob 3:bfc20ec72b15 201 if (!can.write(CANMessage(CAN_CMD_DIAG_ID,
mariob 3:bfc20ec72b15 202 (char*)(&(can_cmd_diag.payload.buf)),
mariob 3:bfc20ec72b15 203 CAN_CMD_PAYLOAD_DIAG)))
mariob 3:bfc20ec72b15 204 printf("SEND CMD_DIAG NOT OK\r\n");
mariob 3:bfc20ec72b15 205 can_cmd_diag.flag = CAN_FLAG_EMPTY;
mariob 2:7dfc8dd6aab3 206 }
mariob 2:7dfc8dd6aab3 207 #endif
mariob 3:bfc20ec72b15 208 #ifdef NET_TX_STS_DIAG
mariob 3:bfc20ec72b15 209 if (can_sts_diag.flag == CAN_FLAG_SEND) {
mariob 2:7dfc8dd6aab3 210 wait(2); //wait 2 milliseconds between 2 consecutive transmissions
mariob 3:bfc20ec72b15 211 if (!can.write(CANMessage(CAN_STS_DIAG_ID,
mariob 3:bfc20ec72b15 212 (char*)(&(can_sts_diag.payload.buf)),
mariob 3:bfc20ec72b15 213 CAN_STS_PAYLOAD_DIAG)))
mariob 3:bfc20ec72b15 214 printf("SEND STS_DIAG NOT OK\r\n");
mariob 3:bfc20ec72b15 215 can_sts_diag.flag = CAN_FLAG_EMPTY;
mariob 2:7dfc8dd6aab3 216 }
mariob 2:7dfc8dd6aab3 217 #endif
mariob 2:7dfc8dd6aab3 218 #ifdef NET_TX_CMD_TIME
mariob 2:7dfc8dd6aab3 219 if (can_cmd_time.flag == CAN_FLAG_SEND) {
mariob 2:7dfc8dd6aab3 220 wait(2); //wait 2 milliseconds between 2 consecutive transmissions
mariob 2:7dfc8dd6aab3 221 if (!can.write(CANMessage(CAN_CMD_TIME_ID,
mariob 2:7dfc8dd6aab3 222 (char*)(&(can_cmd_time.payload.buf)),
mariob 2:7dfc8dd6aab3 223 CAN_CMD_PAYLOAD_TIME)))
mariob 2:7dfc8dd6aab3 224 printf("SEND CMD_TIME NOT OK\r\n");
mariob 2:7dfc8dd6aab3 225 can_cmd_time.flag = CAN_FLAG_EMPTY;
mariob 2:7dfc8dd6aab3 226 }
mariob 2:7dfc8dd6aab3 227 #endif
mariob 2:7dfc8dd6aab3 228 }