Diff: CAN_library.cpp

Revision:

5:53d7dbb8503c

Parent:

4:c648a8c57106

Child:

6:f646d685b613

--- a/CAN_library.cpp	Sun Jun 17 14:59:05 2018 +0000
+++ b/CAN_library.cpp	Wed Jun 20 21:27:51 2018 +0000
@@ -6,57 +6,68 @@
 extern uint16_t rx_flag;
 extern uint8_t lvdtref;
 extern Serial tRF;
-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 uint16_t Rpm0, Speed0, Gear0, Water_Temp0, Oil_Temp0, TPS0, Brakes0, Oil_P0, MAP0, Air_Temp0, Lambda0, Volts0, Crank0,   BF_Oil_P0,   BR_Oil_P0;
+extern uint16_t Rpm,  Speed,  Gear,  Water_Temp,  Oil_Temp,  TPS,  Brakes,  Oil_P,  MAP,  Air_Temp,  Lambda,  Volts,  Crank,    BF_Oil_P,   BR_Oil_P;
 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;
+int LVDT_Max=1024;
 
 void CANMsgReceive(){                     // CAN RX Interrupt Function
     CANMessage tmpMsg;
     if (can.read(tmpMsg)) {                 //Detect message
-        //pc.printf("%x\n",tmpMsg.id);       
+        //pc.printf("%x\n",tmpMsg.id); 
+        //tRF.printf("S%x%x\n",tmpMsg.id,tmpMsg.data);      
         switch(tmpMsg.id){                  //Find which DTA message is received 
             case(0x2000):
                 rx_flag|=(1<<0);
                 msgDTA1=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 break;
             case(0x2001):
                 rx_flag|=(1<<1);
                 msgDTA2=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 //pc.printf("rx_flag=%x\n",rx_flag);
                 break;
             case(0x2002):
                 rx_flag|=(1<<2);
                 msgDTA3=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 break;
             case(0x2003):
                 rx_flag|=(1<<3);
                 msgDTA4=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 break;
             case(0x2004):
                 rx_flag|=(1<<4);
                 msgDTA5=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 break;
             case(0x2005):
                 rx_flag|=(1<<5);
                 msgDTA6=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 break;
-            case(0x2006):
+            case(0x1006):
                 rx_flag|=(1<<6);
                 msgLVDTFront=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 break;
-            case(0x2007):
+            case(0x1007):
                 rx_flag|=(1<<7);
                 msgLVDTRear=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 break;
-            case(0x2008):
+            case(0x1008):
                 rx_flag|=(1<<8);
                 msgBrakes=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 break;
-            case(0x2009):
+            case(0x1009):
                 rx_flag|=(1<<9);
                 msgKm=tmpMsg;
+                //tRF.printf("S%x%x\n", tmpMsg.id, tmpMsg.data);
                 break;
         };
         //pc.printf("rx_flag=%d\n",rx_flag);
@@ -186,33 +197,6 @@
     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);
 };
 
@@ -221,35 +205,16 @@
     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("RL_LVDT=%d, RL_LVDT0=%d\n",RL_LVDT,RR_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
+    BF_Oil_P0=BF_Oil_P;
+    BF_Oil_P=newData[0];
+    BR_Oil_P0=BR_Oil_P;
+    BR_Oil_P=newData[1];
     Brakes0=Brakes;
-    Brakes=newData[0];
+    Brakes=newData[2];
 };
\ No newline at end of file