Mitchell Hatfield / Mbed 2 deprecated Component_Test_Interface

Component Test's Software to work with "Universal Controller Box" - Software is an interpreter or "compiler" for programs to be done with a .txt file and read off of the SD Card

Dependencies:   BridgeDriver FrontPanelButtons MCP23017 SDFileSystem TextLCD mbed

Devices/CAN_Device.cpp@16:2482d226cf4d, 2014-10-03 (annotated)

Committer:
mehatfie
Date:
Fri Oct 03 21:33:46 2014 +0000
Revision:
16:2482d226cf4d
Parent:
15:c944ee3c8a5b 
- Updated Errors; - Initializes SD Card to work every time; - Cycle timer starts immediately on first cycle

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mehatfie 16:2482d226cf4d 1 #include "CAN_Device.hpp"
mehatfie 16:2482d226cf4d 2
mehatfie 16:2482d226cf4d 3 //Constructor
mehatfie 16:2482d226cf4d 4 CAN_Device::CAN_Device(LineData lineData){
mehatfie 16:2482d226cf4d 5
mehatfie 16:2482d226cf4d 6 //Order of Line: Command, Local_Name, CAN_DEVICE, selectedCAN(1,2), freq
mehatfie 16:2482d226cf4d 7 //Since we can't return from a constructor, instead we'll flip a flag, and check it after we've added the device in interpretCommand
mehatfie 16:2482d226cf4d 8 if (lineData.numWords != 5)
mehatfie 16:2482d226cf4d 9 this->errorFlag = 1;
mehatfie 16:2482d226cf4d 10
mehatfie 16:2482d226cf4d 11 string channelstr = lineData.word[3], freqstr = lineData.word[4]; //Parameters are numbers
mehatfie 16:2482d226cf4d 12 int tempChannel = -1, tempFreq = -1;
mehatfie 16:2482d226cf4d 13 int numValuesFound = sscanf(channelstr.c_str(), "%d", &tempChannel);
mehatfie 16:2482d226cf4d 14 if (numValuesFound < 1)
mehatfie 16:2482d226cf4d 15 this->errorFlag = 1;
mehatfie 16:2482d226cf4d 16
mehatfie 16:2482d226cf4d 17 numValuesFound = sscanf(freqstr.c_str(), "%d", &tempFreq);
mehatfie 16:2482d226cf4d 18 if (numValuesFound < 1)
mehatfie 16:2482d226cf4d 19 this->errorFlag = 1;
mehatfie 16:2482d226cf4d 20
mehatfie 16:2482d226cf4d 21 //channel must be either CAN1 or CAN2
mehatfie 16:2482d226cf4d 22 //CAN 1 is on the Back of the Box, CAN2 is on the Front of the Box
mehatfie 16:2482d226cf4d 23 if (tempChannel == 1 || tempChannel == 2){
mehatfie 16:2482d226cf4d 24 if (tempChannel == 1){
mehatfie 16:2482d226cf4d 25 this->canDevice = new CAN (p30, p29);
mehatfie 15:c944ee3c8a5b 26 // this->pinRD = p30;
mehatfie 15:c944ee3c8a5b 27 // this->pinTD = p29;
mehatfie 16:2482d226cf4d 28 }
mehatfie 16:2482d226cf4d 29 else if (tempChannel == 2){
mehatfie 16:2482d226cf4d 30 this->canDevice = new CAN (p9, p10);
mehatfie 15:c944ee3c8a5b 31 // this->pinRD = p9;
mehatfie 15:c944ee3c8a5b 32 // this->pinTD = p10;
mehatfie 16:2482d226cf4d 33 }
mehatfie 16:2482d226cf4d 34
mehatfie 16:2482d226cf4d 35 this->selectedCAN = tempChannel;
mehatfie 16:2482d226cf4d 36 }
mehatfie 16:2482d226cf4d 37
mehatfie 16:2482d226cf4d 38 else
mehatfie 16:2482d226cf4d 39 this->errorFlag = 1;
mehatfie 16:2482d226cf4d 40
mehatfie 16:2482d226cf4d 41 //should have a frequency greater than 0
mehatfie 16:2482d226cf4d 42 if (tempFreq > 0)
mehatfie 16:2482d226cf4d 43 this->canDevice->frequency(tempFreq);
mehatfie 16:2482d226cf4d 44 else
mehatfie 16:2482d226cf4d 45 this->errorFlag = 1;
mehatfie 16:2482d226cf4d 46 }
mehatfie 16:2482d226cf4d 47
mehatfie 16:2482d226cf4d 48
mehatfie 11:bc9cd2869f95 49 //int CAN_Device::getSelectedCAN(){
mehatfie 11:bc9cd2869f95 50 // return this->selectedCAN;
mehatfie 11:bc9cd2869f95 51 //}
mehatfie 11:bc9cd2869f95 52 //
mehatfie 11:bc9cd2869f95 53 //int CAN_Device::getFreq(){
mehatfie 11:bc9cd2869f95 54 // return this->freq;
mehatfie 11:bc9cd2869f95 55 //}
mehatfie 16:2482d226cf4d 56
mehatfie 16:2482d226cf4d 57 //A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
mehatfie 16:2482d226cf4d 58 int CAN_Device::CAN_Device(LineData &lineData){
mehatfie 11:bc9cd2869f95 59 //
mehatfie 15:c944ee3c8a5b 60 // //Initialize the CAN device
mehatfie 15:c944ee3c8a5b 61 // CAN canDevice(pinRD, pinTD);
mehatfie 15:c944ee3c8a5b 62 // canDevice.frequency(125000);
mehatfie 16:2482d226cf4d 63
mehatfie 16:2482d226cf4d 64 //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
mehatfie 16:2482d226cf4d 65 string func = lineData.word[1];
mehatfie 16:2482d226cf4d 66
mehatfie 16:2482d226cf4d 67 /******************************************************************************/
mehatfie 16:2482d226cf4d 68 /*** <Func: write> ***/
mehatfie 16:2482d226cf4d 69 /******************************************************************************/
mehatfie 16:2482d226cf4d 70 if (func.compare("write") == 0){
mehatfie 16:2482d226cf4d 71 //line looks like: Local_Name, write, ID_val, length_val, data
mehatfie 16:2482d226cf4d 72 if (lineData.numWords < 5){
mehatfie 16:2482d226cf4d 73 ErrorOut("Incorrect number of parameters", lineData.lineNumber);
mehatfie 16:2482d226cf4d 74 return -1;
mehatfie 16:2482d226cf4d 75 }
mehatfie 16:2482d226cf4d 76
mehatfie 16:2482d226cf4d 77 //Initialize and Convert Parameters
mehatfie 16:2482d226cf4d 78 string _id = lineData.word[2];
mehatfie 16:2482d226cf4d 79 string _length = lineData.word[3];
mehatfie 16:2482d226cf4d 80 string _data = lineData.word[4];
mehatfie 16:2482d226cf4d 81 int _idValue = 0;
mehatfie 16:2482d226cf4d 82 char _lengthValue = 0;
mehatfie 16:2482d226cf4d 83
mehatfie 16:2482d226cf4d 84 int numValuesFound = sscanf(_id.c_str(), "%d", &_idValue);
mehatfie 16:2482d226cf4d 85 if (numValuesFound < 1){
mehatfie 16:2482d226cf4d 86 ErrorOut("Parameter Unknown, id value can't be converted", lineData.lineNumber);
mehatfie 16:2482d226cf4d 87 return -1;
mehatfie 16:2482d226cf4d 88 }
mehatfie 16:2482d226cf4d 89
mehatfie 16:2482d226cf4d 90 int numValuesFound = sscanf(_length.c_str(), "%c", &_lengthValue);
mehatfie 16:2482d226cf4d 91 if (numValuesFound < 1){
mehatfie 16:2482d226cf4d 92 ErrorOut("Parameter Unknown, length value can't be converted", lineData.lineNumber);
mehatfie 16:2482d226cf4d 93 return -1;
mehatfie 16:2482d226cf4d 94 }
mehatfie 16:2482d226cf4d 95
mehatfie 16:2482d226cf4d 96 int numDataVals = numWords - 4; //number of data bytes present in the line
mehatfie 16:2482d226cf4d 97 const char* dataBytes[numDataVals];
mehatfie 16:2482d226cf4d 98 int i = 0;
mehatfie 16:2482d226cf4d 99 for (i = 0; i < numDataVals; i++){
mehatfie 16:2482d226cf4d 100 string thisDataByte = lineData.word[4 + i];
mehatfie 16:2482d226cf4d 101 int numValuesFound = sscanf(thisDataByte.c_str(), "%c", &dataBytes[i]);
mehatfie 16:2482d226cf4d 102 if (numValuesFound < 1){
mehatfie 16:2482d226cf4d 103 ErrorOut("Parameter Unknown, a data byte %d can't be converted", (i + 1), lineData.lineNumber);
mehatfie 16:2482d226cf4d 104 return -1;
mehatfie 16:2482d226cf4d 105 }
mehatfie 16:2482d226cf4d 106 }
mehatfie 16:2482d226cf4d 107
mehatfie 16:2482d226cf4d 108 //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
mehatfie 16:2482d226cf4d 109 if (DummyMode)
mehatfie 16:2482d226cf4d 110 return 0; //Function operated successfully but doesn't return a value
mehatfie 16:2482d226cf4d 111
mehatfie 16:2482d226cf4d 112
mehatfie 16:2482d226cf4d 113 canDevice->write(CANMessage(_idValue, &dataBytes, _lengthValue));
mehatfie 16:2482d226cf4d 114 }
mehatfie 16:2482d226cf4d 115
mehatfie 16:2482d226cf4d 116 /******************************************************************************/
mehatfie 16:2482d226cf4d 117 /*** <Func: read> ***/
mehatfie 16:2482d226cf4d 118 /******************************************************************************/
mehatfie 16:2482d226cf4d 119 else if (func.compare("forceBrake") == 0){
mehatfie 16:2482d226cf4d 120
mehatfie 16:2482d226cf4d 121 if (lineData.numWords != 2){
mehatfie 16:2482d226cf4d 122 ErrorOut("Incorrect number of parameters", lineData.lineNumber);
mehatfie 16:2482d226cf4d 123 return -1;
mehatfie 16:2482d226cf4d 124 }
mehatfie 16:2482d226cf4d 125
mehatfie 16:2482d226cf4d 126 //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
mehatfie 16:2482d226cf4d 127 if (DummyMode)
mehatfie 16:2482d226cf4d 128 return 0; //Function operated successfully but doesn't return a value
mehatfie 16:2482d226cf4d 129
mehatfie 16:2482d226cf4d 130 bridges.forceBrake(getMotor());
mehatfie 16:2482d226cf4d 131 }
mehatfie 16:2482d226cf4d 132
mehatfie 16:2482d226cf4d 133
mehatfie 16:2482d226cf4d 134 /******************************************************************************/
mehatfie 16:2482d226cf4d 135 /*** <Func: drive> ***/
mehatfie 16:2482d226cf4d 136 /******************************************************************************/
mehatfie 16:2482d226cf4d 137 else if (func.compare("drive") == 0){
mehatfie 16:2482d226cf4d 138
mehatfie 16:2482d226cf4d 139 if (lineData.numWords != 4){
mehatfie 16:2482d226cf4d 140 ErrorOut("Incorrect number of parameters", lineData.lineNumber);
mehatfie 16:2482d226cf4d 141 return -1;
mehatfie 16:2482d226cf4d 142 }
mehatfie 16:2482d226cf4d 143
mehatfie 16:2482d226cf4d 144 //Initialize Parameters
mehatfie 16:2482d226cf4d 145 string speed = lineData.word[2];
mehatfie 16:2482d226cf4d 146 string dir = lineData.word[3];
mehatfie 16:2482d226cf4d 147
mehatfie 16:2482d226cf4d 148 //Initialize Convertion Variables if needed
mehatfie 16:2482d226cf4d 149 float speedValue;
mehatfie 16:2482d226cf4d 150 int dirValue = 0;
mehatfie 16:2482d226cf4d 151
mehatfie 16:2482d226cf4d 152 //Convert string to usable values
mehatfie 16:2482d226cf4d 153 int numValuesFound = sscanf(speed.c_str(), "%f", &speedValue);
mehatfie 16:2482d226cf4d 154 if (numValuesFound < 1){
mehatfie 16:2482d226cf4d 155 ErrorOut("Parameter Unknown, speed value can't be converted", lineData.lineNumber);
mehatfie 16:2482d226cf4d 156 return -1;
mehatfie 16:2482d226cf4d 157 }
mehatfie 16:2482d226cf4d 158
mehatfie 16:2482d226cf4d 159 //Speed is given as a percentage of 100, so convert it to the value needed for the bridge.drive function
mehatfie 16:2482d226cf4d 160 speedValue = speedValue / 100;
mehatfie 16:2482d226cf4d 161
mehatfie 16:2482d226cf4d 162
mehatfie 16:2482d226cf4d 163 if (speedValue <= 0 && speedValue > 1.0){
mehatfie 16:2482d226cf4d 164 ErrorOut("Speed Value must be between 0 - 100", lineData.lineNumber);
mehatfie 16:2482d226cf4d 165 return -1;
mehatfie 16:2482d226cf4d 166 }
mehatfie 16:2482d226cf4d 167
mehatfie 16:2482d226cf4d 168 if (dir.compare("CC") == 0 || dir.compare("cc") == 0)
mehatfie 16:2482d226cf4d 169 dirValue = -1; //Turn Clockwise
mehatfie 16:2482d226cf4d 170 else if (dir.compare("C") == 0 || dir.compare("c") == 0)
mehatfie 16:2482d226cf4d 171 dirValue = 1; //Turn CounterClockwise
mehatfie 16:2482d226cf4d 172
mehatfie 16:2482d226cf4d 173 else{
mehatfie 16:2482d226cf4d 174 ErrorOut("Direction Value must be C or CC", lineData.lineNumber);
mehatfie 16:2482d226cf4d 175 return -1;
mehatfie 16:2482d226cf4d 176 }
mehatfie 16:2482d226cf4d 177
mehatfie 16:2482d226cf4d 178 //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
mehatfie 16:2482d226cf4d 179 if (DummyMode)
mehatfie 16:2482d226cf4d 180 return 0; //Function operated successfully but doesn't return a value
mehatfie 16:2482d226cf4d 181
mehatfie 16:2482d226cf4d 182 bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
mehatfie 16:2482d226cf4d 183 }
mehatfie 16:2482d226cf4d 184
mehatfie 16:2482d226cf4d 185
mehatfie 16:2482d226cf4d 186 /******************************************************************************/
mehatfie 16:2482d226cf4d 187 /**** <Func: off> ****/
mehatfie 16:2482d226cf4d 188 /******************************************************************************/
mehatfie 16:2482d226cf4d 189 else if (func.compare("off") == 0){
mehatfie 16:2482d226cf4d 190
mehatfie 16:2482d226cf4d 191 if (lineData.numWords != 2){
mehatfie 16:2482d226cf4d 192 ErrorOut("Incorrect number of parameters", lineData.lineNumber);
mehatfie 16:2482d226cf4d 193 return -1;
mehatfie 16:2482d226cf4d 194 }
mehatfie 16:2482d226cf4d 195
mehatfie 16:2482d226cf4d 196 //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
mehatfie 16:2482d226cf4d 197 if (DummyMode)
mehatfie 16:2482d226cf4d 198 return 0; //Function operated successfully but doesn't return a value
mehatfie 16:2482d226cf4d 199
mehatfie 16:2482d226cf4d 200 off();
mehatfie 16:2482d226cf4d 201 }
mehatfie 16:2482d226cf4d 202
mehatfie 16:2482d226cf4d 203 else {
mehatfie 16:2482d226cf4d 204 ErrorOut("Unknown Command for Motor Class", lineData.lineNumber);
mehatfie 16:2482d226cf4d 205 return -1;
mehatfie 16:2482d226cf4d 206 }
mehatfie 16:2482d226cf4d 207
mehatfie 16:2482d226cf4d 208 return 0; //Return success as 0 since no condition had to be met
mehatfie 16:2482d226cf4d 209 }
mehatfie 16:2482d226cf4d 210
mehatfie 16:2482d226cf4d 211
mehatfie 16:2482d226cf4d 212
mehatfie 16:2482d226cf4d 213 //For stopping the entire system if an error occurs, can be called from main
mehatfie 16:2482d226cf4d 214 int CAN_Device::off(void){
mehatfie 16:2482d226cf4d 215 bridges.drive(getMotor(), 0, 0); //Turn off the Motor
mehatfie 16:2482d226cf4d 216 return 0;
mehatfie 16:2482d226cf4d 217 }