Nemanja Neskovic
sdf
Fork of
IntegrationCANajnovije
by 
Nenad Djalovic
Diff: CAN_library.cpp
- Revision:
- 0:38c3afd99aeb
- Child:
- 2:884c10989f0d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN_library.cpp Wed May 16 14:48:37 2018 +0000
@@ -0,0 +1,244 @@
+#include "CAN_library.h"
+
+extern CAN can;
+extern Serial pc;
+extern CANMessage msgDTA1, msgDTA2, msgDTA3, msgDTA4, msgDTA5, msgDTA6, msgLVDTFront, msgLVDTRear, msgBrakes;
+extern uint16_t rx_flag;
+extern uint8_t lvdtref;
+
+extern uint16_t Rpm0, Speed0, Gear0, Water_Temp0, Oil_Temp0, TPS0, Brakes0, Oil_P0, MAP0, Air_Temp0, Lambda0, Volts0, Crank0;
+extern uint16_t Rpm, Speed, Gear, Water_Temp, Oil_Temp, TPS, Brakes, Oil_P, MAP, Air_Temp, Lambda, Volts, Crank;
+extern int FL_LVDT0, FR_LVDT0, RL_LVDT0, RR_LVDT0, FL_LVDT, FR_LVDT, RL_LVDT, RR_LVDT;
+extern int FL_LVDT_Ref,FR_LVDT_Ref,RL_LVDT_Ref,RR_LVDT_Ref;
+int LVDT_Max=150;
+
+void CANMsgReceive(){ // CAN RX Interrupt Function
+ CANMessage tmpMsg;
+ if (can.read(tmpMsg)) { //Detect message
+ //pc.printf("%x\n",tmpMsg.id);
+ switch(tmpMsg.id){ //Find which DTA message is received
+ case(0):
+ rx_flag|=(1<<0);
+ msgDTA1=tmpMsg;
+ break;
+ case(1):
+ rx_flag|=(1<<1);
+ msgDTA2=tmpMsg;
+ //pc.printf("rx_flag=%x\n",rx_flag);
+ break;
+ case(2):
+ rx_flag|=(1<<2);
+ msgDTA3=tmpMsg;
+ break;
+ case(3):
+ rx_flag|=(1<<3);
+ msgDTA4=tmpMsg;
+ break;
+ case(4):
+ rx_flag|=(1<<4);
+ msgDTA5=tmpMsg;
+ break;
+ case(5):
+ rx_flag|=(1<<5);
+ msgDTA6=tmpMsg;
+ break;
+ case(6):
+ rx_flag|=(1<<6);
+ msgLVDTFront=tmpMsg;
+ break;
+ case(7):
+ rx_flag|=(1<<7);
+ msgLVDTRear=tmpMsg;
+ break;
+ case(8):
+ rx_flag|=(1<<8);
+ msgBrakes=tmpMsg;
+ break;
+ };
+ //pc.printf("rx_flag=%d\n",rx_flag);
+ };
+};
+
+void UpdateInfo(){ // Update info for DTA values
+ int noID=9;
+ uint16_t *newData;
+ for (int i=0;i<noID;i++){ //For loop goes trough Message IDs
+ uint16_t flagBit;
+ flagBit = rx_flag & (1<<i); //Set flag bit for adequate message. If there is a message waiting to be stored, flagBit will be different than 0.
+ if (flagBit) { // =/=0, there is a message, =0, there is no message
+ switch(i){
+ case(0):
+ newData=AllocData(msgDTA1); //Allocate message to a receiver
+ UpdateInfoDTA1(newData); //Update variables
+ rx_flag = rx_flag ^ (1<<0); //Set flag of adequate bit to 0
+ break;
+ case(1):
+ newData=AllocData(msgDTA2);
+ UpdateInfoDTA2(newData);
+ rx_flag = rx_flag ^ (1<<1);
+ break;
+ case(2):
+ newData=AllocData(msgDTA3);
+ UpdateInfoDTA3(newData);
+ rx_flag = rx_flag ^ (1<<2);
+ break;
+ case(3):
+ newData=AllocData(msgDTA4);
+ UpdateInfoDTA4(newData);
+ rx_flag = rx_flag ^ (1<<3);
+ break;
+ case(4):
+ newData=AllocData(msgDTA5);
+ UpdateInfoDTA5(newData);
+ rx_flag = rx_flag ^ (1<<4);
+ break;
+ case(5):
+ newData=AllocData(msgDTA6);
+ UpdateInfoDTA6(newData);
+ rx_flag = rx_flag ^ (1<<5);
+ break;
+ case(6):
+ newData=AllocData(msgLVDTFront);
+ UpdateInfoLVDTFront(newData);
+ rx_flag = rx_flag ^ (1<<6);
+ break;
+ case(7):
+ newData=AllocData(msgLVDTRear);
+ UpdateInfoLVDTRear(newData);
+ rx_flag = rx_flag ^ (1<<7);
+ break;
+ case(8):
+ newData=AllocData(msgBrakes);
+ UpdateInfoBrakes(newData);
+ rx_flag = rx_flag ^ (1<<8);
+ break;
+ // for each new id add new case statement
+ };
+ };
+ };
+};
+
+uint16_t * AllocData(CANMessage msg){ //Unpack CAN message
+ uint16_t newData[4];
+ newData[0]=(msg.data[1]<<8) | msg.data[0];
+ newData[1]=(msg.data[3]<<8) | msg.data[2];
+ newData[2]=(msg.data[5]<<8) | msg.data[4];
+ newData[3]=(msg.data[7]<<8) | msg.data[6];
+ return newData;
+};
+
+void UpdateInfoDTA1(uint16_t newData[4]){ //Update values for DTA1 message
+ Rpm0=Rpm;
+ Rpm=newData[0];
+ TPS0=TPS;
+ TPS=newData[1];
+ Water_Temp0=Water_Temp;
+ Water_Temp=newData[2];
+ Air_Temp0=Air_Temp;
+ Air_Temp=newData[3];
+};
+
+void UpdateInfoDTA2(uint16_t newData[4]){ //Update values for DTA2 message
+ MAP0=MAP;
+ MAP=newData[0];
+ Lambda0=Lambda;
+ Lambda=newData[1];
+ Speed0=Speed;
+ Speed=newData[2];
+ Oil_P0=Oil_P;
+ Oil_P=newData[3];
+ //pc.printf("MAP=%d, Lambda=%d, Speed=%d, Oil_P=%d\n",MAP,Lambda,Speed,Oil_P);
+};
+
+void UpdateInfoDTA3(uint16_t newData[4]){ //Update values for DTA3 message
+ Oil_Temp0=Oil_Temp;
+ Oil_Temp=newData[1];
+ Volts0=Volts;
+ Volts=newData[2];
+};
+
+void UpdateInfoDTA4(uint16_t newData[4]){ //Update values for DTA4 message
+ Gear0=Gear;
+ Gear=newData[0];
+};
+
+void UpdateInfoDTA5(uint16_t newData[4]){ //Update values for DTA5 message
+};
+
+void UpdateInfoDTA6(uint16_t newData[4]){ //Update values for DTA6 message
+ Crank0=Crank;
+ Crank=newData[2];
+};
+
+void UpdateInfoLVDTFront(uint16_t newData[4]){ //Update values for LVDTFront message
+ FL_LVDT0=FL_LVDT; //LVDTs are firstly written their voltage value, then overwritten by calculated pertentage value.
+ FL_LVDT=newData[0];
+ FR_LVDT0=FR_LVDT;
+ FR_LVDT=newData[1];
+ if(!(lvdtref & (1<<3))){ //Check if its the first time LVDT value is received. If yes than store it as Referrent value.
+ if (FL_LVDT>FL_LVDT_Ref){
+ FL_LVDT=(FL_LVDT-FL_LVDT_Ref)*100/(LVDT_Max-FL_LVDT_Ref);
+ }else{
+ FL_LVDT=(FL_LVDT-FL_LVDT_Ref)*100/FL_LVDT_Ref;
+ };
+ pc.printf("Im in 1\n");
+ }else{
+ FL_LVDT_Ref=FL_LVDT;
+ FL_LVDT=0;
+ lvdtref=lvdtref^(1<<3);
+ pc.printf("Ref=%d\n",FL_LVDT_Ref);
+ };
+ pc.printf("FL_LVDT=%d, FL_LVDT0=%d\n",abs(FL_LVDT),abs(FL_LVDT0));
+ pc.printf("FR_LVDT=%d, FR_LVDT0=%d\n",abs(FR_LVDT),abs(FR_LVDT0));
+
+ if(!(lvdtref & (1<<2))){
+ if (FR_LVDT>FR_LVDT_Ref){
+ FR_LVDT=(FR_LVDT-FR_LVDT_Ref)*100/(LVDT_Max-FR_LVDT_Ref);
+ }else{
+ FR_LVDT=(FR_LVDT-FR_LVDT_Ref)*100/FR_LVDT_Ref;
+ };
+ }else{
+ FR_LVDT_Ref=FR_LVDT;
+ FR_LVDT=0;
+ lvdtref=lvdtref^(1<<2);
+ };
+ //printf("FL_Ref=%d, FR_Ref=%d, RL_Ref=%d, RR_Ref=%d\n",FL_LVDT_Dpos,FR_LVDT_Dpos,RL_LVDT_Dpos,RR_LVDT_Dpos);
+};
+
+void UpdateInfoLVDTRear(uint16_t newData[4]){ //Update values for LVDTRear message
+ RL_LVDT0=RL_LVDT;
+ RL_LVDT=newData[0];
+ RR_LVDT0=RR_LVDT;
+ RR_LVDT=newData[1];
+ if(!(lvdtref & (1<<1))){
+ if (RL_LVDT>RL_LVDT_Ref){
+ RL_LVDT=(RL_LVDT-RL_LVDT_Ref)*100/(LVDT_Max-RL_LVDT_Ref);
+ }else{
+ RL_LVDT=(RL_LVDT-RL_LVDT_Ref)*100/RL_LVDT_Ref;
+ };
+ }else{
+ RL_LVDT_Ref=RL_LVDT;
+ RL_LVDT=0;
+ lvdtref=lvdtref^(1<<1);
+ };
+
+ if(!(lvdtref & (1<<0))){
+ if (RR_LVDT>RR_LVDT_Ref){
+ RR_LVDT=(RR_LVDT-RR_LVDT_Ref)*100/(LVDT_Max-RR_LVDT_Ref);
+ }else{
+ RR_LVDT=(RR_LVDT-RR_LVDT_Ref)*100/RR_LVDT_Ref;
+ };
+ }else{
+ RR_LVDT_Ref=RR_LVDT;
+ RR_LVDT=0;
+ lvdtref=lvdtref^(1<<0);
+ };
+ pc.printf("RL_LVDT=%d, RL_LVDT0=%d\n",abs(RL_LVDT),abs(RL_LVDT0));
+ pc.printf("RR_LVDT=%d, RR_LVDT0=%d\n",abs(RR_LVDT),abs(RR_LVDT0));
+
+};
+
+void UpdateInfoBrakes(uint16_t newData[4]){ //Update values for Brakes message
+ Brakes0=Brakes;
+ Brakes=newData[0];
+};
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