Diff: CANComms.cpp

Revision:

0:4bd0966a0718

Child:

1:a723bdf44e10

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CANComms.cpp	Sun Feb 17 18:41:27 2013 +0000
@@ -0,0 +1,92 @@
+#include "CANComms.h"
+#include "mbed.h"
+#include "State.h"
+
+#include "MSCANHeader.h"
+
+CANComms::CANComms(State* _values) : Comms(_values)
+{
+    can = new CAN(p30, p29);
+    can->frequency(500000);
+    
+    pollTicker = new Ticker();
+    readTicker = new Ticker();
+    
+    pollTicker->attach(this, &CANComms::poll, 0.05);
+    readTicker->attach(this, &CANComms::receive, 0.025);
+}
+
+void CANComms::poll()
+{
+    char i;
+
+    //start 6, 22
+    //int ids[] = {0x00189838, 0x00589838};
+
+    short offsets[] = {6, 22};    
+    
+    MSCANHeader header(MSCAN_ID_MS, MSCAN_ID_DASH, MSCAN_REQ, MSCAN_BLOCK_OUTPC, 0);
+
+    for(i = 0; i < 2; i++)
+    {
+        header.var_offset = offsets[i];
+        CANMessage msg(header.build(), 0, 3, CANData, CANExtended);
+        
+        msg.data[0] = i; //Where to put the response - used when communicating between MS's to tell them where they wanted the data put
+        msg.data[1] = 0; //Offset into the table specified in data[0]
+        msg.data[2] = 8; //How many bytes of the source table we want
+        
+        /*printf("Polling %d\n", i);*/
+        
+        if(can->write(msg))
+        {
+        
+        }
+    }
+}
+
+void CANComms::send(char message)
+{
+    
+}
+
+void CANComms::receive()
+{   
+    float tps;
+    char block;
+    
+    CANMessage msg;
+    MSCANHeader header;
+
+    while(can->read(msg))
+    {
+        /*printf("CAN Message %08X %d %02X%02X%02X%02X%02X%02X%02X%02X\n", msg.id, msg.len, 
+            msg.data[0], 
+            msg.data[1],
+            msg.data[2],
+            msg.data[3],
+            msg.data[4],
+            msg.data[5],
+            msg.data[6],
+            msg.data[7]
+            );*/
+        
+        header.parse(msg.id);
+       
+        //printf("Processing data, block %d\n", block);
+        
+        if(header.var_blk == 0)
+        {
+            values->rpm = (msg.data[0] << 8) | msg.data[1];
+        }
+        else
+        {
+            values->coolant_temp = (((msg.data[0] << 8) | msg.data[1]) - 320.0) * 0.05555;
+            values->throttle_pos = ((msg.data[2] << 8) | msg.data[3]) / 10.0;
+            values->voltage = ((msg.data[4] << 8) | msg.data[5]) / 10.0;
+            printf("TPS: %f\n", values->throttle_pos);
+        }
+        
+        //printf("Bat: %f\n", battery / 10.0);
+    }
+}
\ No newline at end of file