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Dependencies: BSP_DISCO_F469NIa EEPROM_DISCO_F469NI LCD_DISCO_F469NIa SD_DISCO_F469NI mbed
Fork of IntegrationCAN_28jun by
CAN_library.cpp@0:38c3afd99aeb, 2018-05-16 (annotated)
- Committer:
- formulas
- Date:
- Wed May 16 14:48:37 2018 +0000
- Revision:
- 0:38c3afd99aeb
- Child:
- 2:f54f01527ebb
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
formulas | 0:38c3afd99aeb | 1 | #include "CAN_library.h" |
formulas | 0:38c3afd99aeb | 2 | |
formulas | 0:38c3afd99aeb | 3 | extern CAN can; |
formulas | 0:38c3afd99aeb | 4 | extern Serial pc; |
formulas | 0:38c3afd99aeb | 5 | extern CANMessage msgDTA1, msgDTA2, msgDTA3, msgDTA4, msgDTA5, msgDTA6, msgLVDTFront, msgLVDTRear, msgBrakes; |
formulas | 0:38c3afd99aeb | 6 | extern uint16_t rx_flag; |
formulas | 0:38c3afd99aeb | 7 | extern uint8_t lvdtref; |
formulas | 0:38c3afd99aeb | 8 | |
formulas | 0:38c3afd99aeb | 9 | extern uint16_t Rpm0, Speed0, Gear0, Water_Temp0, Oil_Temp0, TPS0, Brakes0, Oil_P0, MAP0, Air_Temp0, Lambda0, Volts0, Crank0; |
formulas | 0:38c3afd99aeb | 10 | extern uint16_t Rpm, Speed, Gear, Water_Temp, Oil_Temp, TPS, Brakes, Oil_P, MAP, Air_Temp, Lambda, Volts, Crank; |
formulas | 0:38c3afd99aeb | 11 | extern int FL_LVDT0, FR_LVDT0, RL_LVDT0, RR_LVDT0, FL_LVDT, FR_LVDT, RL_LVDT, RR_LVDT; |
formulas | 0:38c3afd99aeb | 12 | extern int FL_LVDT_Ref,FR_LVDT_Ref,RL_LVDT_Ref,RR_LVDT_Ref; |
formulas | 0:38c3afd99aeb | 13 | int LVDT_Max=150; |
formulas | 0:38c3afd99aeb | 14 | |
formulas | 0:38c3afd99aeb | 15 | void CANMsgReceive(){ // CAN RX Interrupt Function |
formulas | 0:38c3afd99aeb | 16 | CANMessage tmpMsg; |
formulas | 0:38c3afd99aeb | 17 | if (can.read(tmpMsg)) { //Detect message |
formulas | 0:38c3afd99aeb | 18 | //pc.printf("%x\n",tmpMsg.id); |
formulas | 0:38c3afd99aeb | 19 | switch(tmpMsg.id){ //Find which DTA message is received |
formulas | 0:38c3afd99aeb | 20 | case(0): |
formulas | 0:38c3afd99aeb | 21 | rx_flag|=(1<<0); |
formulas | 0:38c3afd99aeb | 22 | msgDTA1=tmpMsg; |
formulas | 0:38c3afd99aeb | 23 | break; |
formulas | 0:38c3afd99aeb | 24 | case(1): |
formulas | 0:38c3afd99aeb | 25 | rx_flag|=(1<<1); |
formulas | 0:38c3afd99aeb | 26 | msgDTA2=tmpMsg; |
formulas | 0:38c3afd99aeb | 27 | //pc.printf("rx_flag=%x\n",rx_flag); |
formulas | 0:38c3afd99aeb | 28 | break; |
formulas | 0:38c3afd99aeb | 29 | case(2): |
formulas | 0:38c3afd99aeb | 30 | rx_flag|=(1<<2); |
formulas | 0:38c3afd99aeb | 31 | msgDTA3=tmpMsg; |
formulas | 0:38c3afd99aeb | 32 | break; |
formulas | 0:38c3afd99aeb | 33 | case(3): |
formulas | 0:38c3afd99aeb | 34 | rx_flag|=(1<<3); |
formulas | 0:38c3afd99aeb | 35 | msgDTA4=tmpMsg; |
formulas | 0:38c3afd99aeb | 36 | break; |
formulas | 0:38c3afd99aeb | 37 | case(4): |
formulas | 0:38c3afd99aeb | 38 | rx_flag|=(1<<4); |
formulas | 0:38c3afd99aeb | 39 | msgDTA5=tmpMsg; |
formulas | 0:38c3afd99aeb | 40 | break; |
formulas | 0:38c3afd99aeb | 41 | case(5): |
formulas | 0:38c3afd99aeb | 42 | rx_flag|=(1<<5); |
formulas | 0:38c3afd99aeb | 43 | msgDTA6=tmpMsg; |
formulas | 0:38c3afd99aeb | 44 | break; |
formulas | 0:38c3afd99aeb | 45 | case(6): |
formulas | 0:38c3afd99aeb | 46 | rx_flag|=(1<<6); |
formulas | 0:38c3afd99aeb | 47 | msgLVDTFront=tmpMsg; |
formulas | 0:38c3afd99aeb | 48 | break; |
formulas | 0:38c3afd99aeb | 49 | case(7): |
formulas | 0:38c3afd99aeb | 50 | rx_flag|=(1<<7); |
formulas | 0:38c3afd99aeb | 51 | msgLVDTRear=tmpMsg; |
formulas | 0:38c3afd99aeb | 52 | break; |
formulas | 0:38c3afd99aeb | 53 | case(8): |
formulas | 0:38c3afd99aeb | 54 | rx_flag|=(1<<8); |
formulas | 0:38c3afd99aeb | 55 | msgBrakes=tmpMsg; |
formulas | 0:38c3afd99aeb | 56 | break; |
formulas | 0:38c3afd99aeb | 57 | }; |
formulas | 0:38c3afd99aeb | 58 | //pc.printf("rx_flag=%d\n",rx_flag); |
formulas | 0:38c3afd99aeb | 59 | }; |
formulas | 0:38c3afd99aeb | 60 | }; |
formulas | 0:38c3afd99aeb | 61 | |
formulas | 0:38c3afd99aeb | 62 | void UpdateInfo(){ // Update info for DTA values |
formulas | 0:38c3afd99aeb | 63 | int noID=9; |
formulas | 0:38c3afd99aeb | 64 | uint16_t *newData; |
formulas | 0:38c3afd99aeb | 65 | for (int i=0;i<noID;i++){ //For loop goes trough Message IDs |
formulas | 0:38c3afd99aeb | 66 | uint16_t flagBit; |
formulas | 0:38c3afd99aeb | 67 | 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. |
formulas | 0:38c3afd99aeb | 68 | if (flagBit) { // =/=0, there is a message, =0, there is no message |
formulas | 0:38c3afd99aeb | 69 | switch(i){ |
formulas | 0:38c3afd99aeb | 70 | case(0): |
formulas | 0:38c3afd99aeb | 71 | newData=AllocData(msgDTA1); //Allocate message to a receiver |
formulas | 0:38c3afd99aeb | 72 | UpdateInfoDTA1(newData); //Update variables |
formulas | 0:38c3afd99aeb | 73 | rx_flag = rx_flag ^ (1<<0); //Set flag of adequate bit to 0 |
formulas | 0:38c3afd99aeb | 74 | break; |
formulas | 0:38c3afd99aeb | 75 | case(1): |
formulas | 0:38c3afd99aeb | 76 | newData=AllocData(msgDTA2); |
formulas | 0:38c3afd99aeb | 77 | UpdateInfoDTA2(newData); |
formulas | 0:38c3afd99aeb | 78 | rx_flag = rx_flag ^ (1<<1); |
formulas | 0:38c3afd99aeb | 79 | break; |
formulas | 0:38c3afd99aeb | 80 | case(2): |
formulas | 0:38c3afd99aeb | 81 | newData=AllocData(msgDTA3); |
formulas | 0:38c3afd99aeb | 82 | UpdateInfoDTA3(newData); |
formulas | 0:38c3afd99aeb | 83 | rx_flag = rx_flag ^ (1<<2); |
formulas | 0:38c3afd99aeb | 84 | break; |
formulas | 0:38c3afd99aeb | 85 | case(3): |
formulas | 0:38c3afd99aeb | 86 | newData=AllocData(msgDTA4); |
formulas | 0:38c3afd99aeb | 87 | UpdateInfoDTA4(newData); |
formulas | 0:38c3afd99aeb | 88 | rx_flag = rx_flag ^ (1<<3); |
formulas | 0:38c3afd99aeb | 89 | break; |
formulas | 0:38c3afd99aeb | 90 | case(4): |
formulas | 0:38c3afd99aeb | 91 | newData=AllocData(msgDTA5); |
formulas | 0:38c3afd99aeb | 92 | UpdateInfoDTA5(newData); |
formulas | 0:38c3afd99aeb | 93 | rx_flag = rx_flag ^ (1<<4); |
formulas | 0:38c3afd99aeb | 94 | break; |
formulas | 0:38c3afd99aeb | 95 | case(5): |
formulas | 0:38c3afd99aeb | 96 | newData=AllocData(msgDTA6); |
formulas | 0:38c3afd99aeb | 97 | UpdateInfoDTA6(newData); |
formulas | 0:38c3afd99aeb | 98 | rx_flag = rx_flag ^ (1<<5); |
formulas | 0:38c3afd99aeb | 99 | break; |
formulas | 0:38c3afd99aeb | 100 | case(6): |
formulas | 0:38c3afd99aeb | 101 | newData=AllocData(msgLVDTFront); |
formulas | 0:38c3afd99aeb | 102 | UpdateInfoLVDTFront(newData); |
formulas | 0:38c3afd99aeb | 103 | rx_flag = rx_flag ^ (1<<6); |
formulas | 0:38c3afd99aeb | 104 | break; |
formulas | 0:38c3afd99aeb | 105 | case(7): |
formulas | 0:38c3afd99aeb | 106 | newData=AllocData(msgLVDTRear); |
formulas | 0:38c3afd99aeb | 107 | UpdateInfoLVDTRear(newData); |
formulas | 0:38c3afd99aeb | 108 | rx_flag = rx_flag ^ (1<<7); |
formulas | 0:38c3afd99aeb | 109 | break; |
formulas | 0:38c3afd99aeb | 110 | case(8): |
formulas | 0:38c3afd99aeb | 111 | newData=AllocData(msgBrakes); |
formulas | 0:38c3afd99aeb | 112 | UpdateInfoBrakes(newData); |
formulas | 0:38c3afd99aeb | 113 | rx_flag = rx_flag ^ (1<<8); |
formulas | 0:38c3afd99aeb | 114 | break; |
formulas | 0:38c3afd99aeb | 115 | // for each new id add new case statement |
formulas | 0:38c3afd99aeb | 116 | }; |
formulas | 0:38c3afd99aeb | 117 | }; |
formulas | 0:38c3afd99aeb | 118 | }; |
formulas | 0:38c3afd99aeb | 119 | }; |
formulas | 0:38c3afd99aeb | 120 | |
formulas | 0:38c3afd99aeb | 121 | uint16_t * AllocData(CANMessage msg){ //Unpack CAN message |
formulas | 0:38c3afd99aeb | 122 | uint16_t newData[4]; |
formulas | 0:38c3afd99aeb | 123 | newData[0]=(msg.data[1]<<8) | msg.data[0]; |
formulas | 0:38c3afd99aeb | 124 | newData[1]=(msg.data[3]<<8) | msg.data[2]; |
formulas | 0:38c3afd99aeb | 125 | newData[2]=(msg.data[5]<<8) | msg.data[4]; |
formulas | 0:38c3afd99aeb | 126 | newData[3]=(msg.data[7]<<8) | msg.data[6]; |
formulas | 0:38c3afd99aeb | 127 | return newData; |
formulas | 0:38c3afd99aeb | 128 | }; |
formulas | 0:38c3afd99aeb | 129 | |
formulas | 0:38c3afd99aeb | 130 | void UpdateInfoDTA1(uint16_t newData[4]){ //Update values for DTA1 message |
formulas | 0:38c3afd99aeb | 131 | Rpm0=Rpm; |
formulas | 0:38c3afd99aeb | 132 | Rpm=newData[0]; |
formulas | 0:38c3afd99aeb | 133 | TPS0=TPS; |
formulas | 0:38c3afd99aeb | 134 | TPS=newData[1]; |
formulas | 0:38c3afd99aeb | 135 | Water_Temp0=Water_Temp; |
formulas | 0:38c3afd99aeb | 136 | Water_Temp=newData[2]; |
formulas | 0:38c3afd99aeb | 137 | Air_Temp0=Air_Temp; |
formulas | 0:38c3afd99aeb | 138 | Air_Temp=newData[3]; |
formulas | 0:38c3afd99aeb | 139 | }; |
formulas | 0:38c3afd99aeb | 140 | |
formulas | 0:38c3afd99aeb | 141 | void UpdateInfoDTA2(uint16_t newData[4]){ //Update values for DTA2 message |
formulas | 0:38c3afd99aeb | 142 | MAP0=MAP; |
formulas | 0:38c3afd99aeb | 143 | MAP=newData[0]; |
formulas | 0:38c3afd99aeb | 144 | Lambda0=Lambda; |
formulas | 0:38c3afd99aeb | 145 | Lambda=newData[1]; |
formulas | 0:38c3afd99aeb | 146 | Speed0=Speed; |
formulas | 0:38c3afd99aeb | 147 | Speed=newData[2]; |
formulas | 0:38c3afd99aeb | 148 | Oil_P0=Oil_P; |
formulas | 0:38c3afd99aeb | 149 | Oil_P=newData[3]; |
formulas | 0:38c3afd99aeb | 150 | //pc.printf("MAP=%d, Lambda=%d, Speed=%d, Oil_P=%d\n",MAP,Lambda,Speed,Oil_P); |
formulas | 0:38c3afd99aeb | 151 | }; |
formulas | 0:38c3afd99aeb | 152 | |
formulas | 0:38c3afd99aeb | 153 | void UpdateInfoDTA3(uint16_t newData[4]){ //Update values for DTA3 message |
formulas | 0:38c3afd99aeb | 154 | Oil_Temp0=Oil_Temp; |
formulas | 0:38c3afd99aeb | 155 | Oil_Temp=newData[1]; |
formulas | 0:38c3afd99aeb | 156 | Volts0=Volts; |
formulas | 0:38c3afd99aeb | 157 | Volts=newData[2]; |
formulas | 0:38c3afd99aeb | 158 | }; |
formulas | 0:38c3afd99aeb | 159 | |
formulas | 0:38c3afd99aeb | 160 | void UpdateInfoDTA4(uint16_t newData[4]){ //Update values for DTA4 message |
formulas | 0:38c3afd99aeb | 161 | Gear0=Gear; |
formulas | 0:38c3afd99aeb | 162 | Gear=newData[0]; |
formulas | 0:38c3afd99aeb | 163 | }; |
formulas | 0:38c3afd99aeb | 164 | |
formulas | 0:38c3afd99aeb | 165 | void UpdateInfoDTA5(uint16_t newData[4]){ //Update values for DTA5 message |
formulas | 0:38c3afd99aeb | 166 | }; |
formulas | 0:38c3afd99aeb | 167 | |
formulas | 0:38c3afd99aeb | 168 | void UpdateInfoDTA6(uint16_t newData[4]){ //Update values for DTA6 message |
formulas | 0:38c3afd99aeb | 169 | Crank0=Crank; |
formulas | 0:38c3afd99aeb | 170 | Crank=newData[2]; |
formulas | 0:38c3afd99aeb | 171 | }; |
formulas | 0:38c3afd99aeb | 172 | |
formulas | 0:38c3afd99aeb | 173 | void UpdateInfoLVDTFront(uint16_t newData[4]){ //Update values for LVDTFront message |
formulas | 0:38c3afd99aeb | 174 | FL_LVDT0=FL_LVDT; //LVDTs are firstly written their voltage value, then overwritten by calculated pertentage value. |
formulas | 0:38c3afd99aeb | 175 | FL_LVDT=newData[0]; |
formulas | 0:38c3afd99aeb | 176 | FR_LVDT0=FR_LVDT; |
formulas | 0:38c3afd99aeb | 177 | FR_LVDT=newData[1]; |
formulas | 0:38c3afd99aeb | 178 | if(!(lvdtref & (1<<3))){ //Check if its the first time LVDT value is received. If yes than store it as Referrent value. |
formulas | 0:38c3afd99aeb | 179 | if (FL_LVDT>FL_LVDT_Ref){ |
formulas | 0:38c3afd99aeb | 180 | FL_LVDT=(FL_LVDT-FL_LVDT_Ref)*100/(LVDT_Max-FL_LVDT_Ref); |
formulas | 0:38c3afd99aeb | 181 | }else{ |
formulas | 0:38c3afd99aeb | 182 | FL_LVDT=(FL_LVDT-FL_LVDT_Ref)*100/FL_LVDT_Ref; |
formulas | 0:38c3afd99aeb | 183 | }; |
formulas | 0:38c3afd99aeb | 184 | pc.printf("Im in 1\n"); |
formulas | 0:38c3afd99aeb | 185 | }else{ |
formulas | 0:38c3afd99aeb | 186 | FL_LVDT_Ref=FL_LVDT; |
formulas | 0:38c3afd99aeb | 187 | FL_LVDT=0; |
formulas | 0:38c3afd99aeb | 188 | lvdtref=lvdtref^(1<<3); |
formulas | 0:38c3afd99aeb | 189 | pc.printf("Ref=%d\n",FL_LVDT_Ref); |
formulas | 0:38c3afd99aeb | 190 | }; |
formulas | 0:38c3afd99aeb | 191 | pc.printf("FL_LVDT=%d, FL_LVDT0=%d\n",abs(FL_LVDT),abs(FL_LVDT0)); |
formulas | 0:38c3afd99aeb | 192 | pc.printf("FR_LVDT=%d, FR_LVDT0=%d\n",abs(FR_LVDT),abs(FR_LVDT0)); |
formulas | 0:38c3afd99aeb | 193 | |
formulas | 0:38c3afd99aeb | 194 | if(!(lvdtref & (1<<2))){ |
formulas | 0:38c3afd99aeb | 195 | if (FR_LVDT>FR_LVDT_Ref){ |
formulas | 0:38c3afd99aeb | 196 | FR_LVDT=(FR_LVDT-FR_LVDT_Ref)*100/(LVDT_Max-FR_LVDT_Ref); |
formulas | 0:38c3afd99aeb | 197 | }else{ |
formulas | 0:38c3afd99aeb | 198 | FR_LVDT=(FR_LVDT-FR_LVDT_Ref)*100/FR_LVDT_Ref; |
formulas | 0:38c3afd99aeb | 199 | }; |
formulas | 0:38c3afd99aeb | 200 | }else{ |
formulas | 0:38c3afd99aeb | 201 | FR_LVDT_Ref=FR_LVDT; |
formulas | 0:38c3afd99aeb | 202 | FR_LVDT=0; |
formulas | 0:38c3afd99aeb | 203 | lvdtref=lvdtref^(1<<2); |
formulas | 0:38c3afd99aeb | 204 | }; |
formulas | 0:38c3afd99aeb | 205 | //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); |
formulas | 0:38c3afd99aeb | 206 | }; |
formulas | 0:38c3afd99aeb | 207 | |
formulas | 0:38c3afd99aeb | 208 | void UpdateInfoLVDTRear(uint16_t newData[4]){ //Update values for LVDTRear message |
formulas | 0:38c3afd99aeb | 209 | RL_LVDT0=RL_LVDT; |
formulas | 0:38c3afd99aeb | 210 | RL_LVDT=newData[0]; |
formulas | 0:38c3afd99aeb | 211 | RR_LVDT0=RR_LVDT; |
formulas | 0:38c3afd99aeb | 212 | RR_LVDT=newData[1]; |
formulas | 0:38c3afd99aeb | 213 | if(!(lvdtref & (1<<1))){ |
formulas | 0:38c3afd99aeb | 214 | if (RL_LVDT>RL_LVDT_Ref){ |
formulas | 0:38c3afd99aeb | 215 | RL_LVDT=(RL_LVDT-RL_LVDT_Ref)*100/(LVDT_Max-RL_LVDT_Ref); |
formulas | 0:38c3afd99aeb | 216 | }else{ |
formulas | 0:38c3afd99aeb | 217 | RL_LVDT=(RL_LVDT-RL_LVDT_Ref)*100/RL_LVDT_Ref; |
formulas | 0:38c3afd99aeb | 218 | }; |
formulas | 0:38c3afd99aeb | 219 | }else{ |
formulas | 0:38c3afd99aeb | 220 | RL_LVDT_Ref=RL_LVDT; |
formulas | 0:38c3afd99aeb | 221 | RL_LVDT=0; |
formulas | 0:38c3afd99aeb | 222 | lvdtref=lvdtref^(1<<1); |
formulas | 0:38c3afd99aeb | 223 | }; |
formulas | 0:38c3afd99aeb | 224 | |
formulas | 0:38c3afd99aeb | 225 | if(!(lvdtref & (1<<0))){ |
formulas | 0:38c3afd99aeb | 226 | if (RR_LVDT>RR_LVDT_Ref){ |
formulas | 0:38c3afd99aeb | 227 | RR_LVDT=(RR_LVDT-RR_LVDT_Ref)*100/(LVDT_Max-RR_LVDT_Ref); |
formulas | 0:38c3afd99aeb | 228 | }else{ |
formulas | 0:38c3afd99aeb | 229 | RR_LVDT=(RR_LVDT-RR_LVDT_Ref)*100/RR_LVDT_Ref; |
formulas | 0:38c3afd99aeb | 230 | }; |
formulas | 0:38c3afd99aeb | 231 | }else{ |
formulas | 0:38c3afd99aeb | 232 | RR_LVDT_Ref=RR_LVDT; |
formulas | 0:38c3afd99aeb | 233 | RR_LVDT=0; |
formulas | 0:38c3afd99aeb | 234 | lvdtref=lvdtref^(1<<0); |
formulas | 0:38c3afd99aeb | 235 | }; |
formulas | 0:38c3afd99aeb | 236 | pc.printf("RL_LVDT=%d, RL_LVDT0=%d\n",abs(RL_LVDT),abs(RL_LVDT0)); |
formulas | 0:38c3afd99aeb | 237 | pc.printf("RR_LVDT=%d, RR_LVDT0=%d\n",abs(RR_LVDT),abs(RR_LVDT0)); |
formulas | 0:38c3afd99aeb | 238 | |
formulas | 0:38c3afd99aeb | 239 | }; |
formulas | 0:38c3afd99aeb | 240 | |
formulas | 0:38c3afd99aeb | 241 | void UpdateInfoBrakes(uint16_t newData[4]){ //Update values for Brakes message |
formulas | 0:38c3afd99aeb | 242 | Brakes0=Brakes; |
formulas | 0:38c3afd99aeb | 243 | Brakes=newData[0]; |
formulas | 0:38c3afd99aeb | 244 | }; |