Revision 7:78cb2263290a, committed 2013-02-17

Comitter:

intrinseca

Date:

Sun Feb 17 18:50:09 2013 +0000

Parent:

6:11b2bbbe14b2

Child:

8:e59084742552

Commit message:

Move CAN comms to library

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MSCAN.lib	Sun Feb 17 18:50:09 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/intrinseca/code/MSCAN/#0abff05153a1

--- a/inc/CANComms.h	Wed Oct 17 16:08:51 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,23 +0,0 @@
-#ifndef FBRDASH_CANCOMMS_H
-#define FBRDASH_CANCOMMS_H
-
-#include "mbed.h"
-#include "State.h"
-#include "Comms.h"
-
-class CANComms : public Comms
-{
-    public:
-        CANComms(State* _values);
-        virtual void send(char message);
-        
-    private:
-        Ticker* pollTicker;
-        Ticker* readTicker;
-        CAN* can;
-        
-        void receive();
-        void poll();
-};
-
-#endif
\ No newline at end of file

--- a/inc/Comms.h	Wed Oct 17 16:08:51 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,18 +0,0 @@
-#ifndef FBRDASH_COMMS_H
-#define FBRDASH_COMMS_H
-
-#include "State.h"
-
-class Comms
-{
-    public:
-        Comms(State* _values);
-        virtual void send(char message) {};
-    
-    protected:
-        State* values;
-        
-        void process_packet(unsigned char id, int length, unsigned char data[]);
-};
-
-#endif
\ No newline at end of file

--- a/inc/MSCANHeader.h	Wed Oct 17 16:08:51 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,31 +0,0 @@
-#ifndef FBRDASH_MSCANHEADER_H
-#define FBRDASH_MSCANHEADER_H
-
-#define MSCAN_CMD   0   //a command to set a variable on the receiving processor to the value in the subsequent data part of the message, or
-#define MSCAN_REQ   1   //a request for data, i.e., the value of a specific variable (and where to store the reply)
-#define MSCAN_RSP   2   //a push-type message in reply to the destination processor's request for a variable value, the requested values are in the data buffer (&CAN_RB_DSR0) in the received message,
-#define MSCAN_XSUB  3   //a message to this processor from device 1 to execute subroutine immediately here (set flag if can execute in main loop), or
-#define MSCAN_BURN  4   //a message to burn RAM data table into flash data table.
-
-#define MSCAN_ID_MS   0
-#define MSCAN_ID_DASH 1
-
-#define MSCAN_BLOCK_OUTPC   7
-
-class MSCANHeader
-{
-    public:
-        MSCANHeader();
-        MSCANHeader(char to, char from, char type, char block, short offset);
-        
-        void parse(int id);
-        int build();
-        
-        short var_offset;
-        char msg_type;
-        char from_id;
-        char to_id;
-        char var_blk;        
-};
-
-#endif
\ No newline at end of file

--- a/inc/State.h	Wed Oct 17 16:08:51 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,21 +0,0 @@
-#ifndef FBRDASH_STATE_H
-#define FBRDASH_STATE_H
-
-struct State
-{
-    unsigned short int rpm;
-    float throttle_pos;
-    unsigned char manifold_pres;
-    unsigned char air_temp;
-    float coolant_temp;
-    unsigned char lambda;
-    unsigned char speed;
-    unsigned char accel_x;
-    unsigned char accel_y;
-    unsigned char gear;
-    unsigned char oil_temp;
-    unsigned char warnings;
-    float voltage;
-};
-
-#endif
\ No newline at end of file

--- a/main.cpp	Wed Oct 17 16:08:51 2012 +0000
+++ b/main.cpp	Sun Feb 17 18:50:09 2013 +0000
@@ -53,19 +53,22 @@
     revs.refresh(car.rpm);
 
     if(car.voltage < 12) {
-        warn[0]=1;
+        warn[0] = 1;
     } else {
-        warn[0]=0;
+        warn[0] = 0;
     }
-    if(car.coolant_temp>110) {
-        warn[1]=1;
+    
+    if(car.coolant_temp > 110) {
+        warn[1] = 1;
     } else {
-        warn[1]=0;
+        warn[1] = 0;
     }
-    if(car.rpm==0 and car.gear!=0) {
-        warn[2]=1;
+    
+    if(car.rpm == 0 and car.gear != 0)
+    {
+        warn[2] = 1;
     } else {
-        warn[2]=0;
+        warn[2] = 0;
     }
 }
 

--- a/src/CANComms.cpp	Wed Oct 17 16:08:51 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,92 +0,0 @@
-#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

--- a/src/Comms.cpp	Wed Oct 17 16:08:51 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,36 +0,0 @@
-#include "PCComms.h"
-#include "mbed.h"
-#include "State.h"
-
-//Process incoming data from Comms interfaces
-
-//Initialise members
-Comms::Comms(State* _values)
-{
-    values = _values;
-}
-
-//Process an incoming data packet
-void Comms::process_packet(unsigned char id, int length, unsigned char data[])
-{
-    switch(id)
-    {
-        case 100:
-            values->rpm = data[0] + (data[1] << 8);
-            values->throttle_pos = data[2];
-            values->manifold_pres = data[3];
-            values->air_temp = data[4];
-            values->coolant_temp = data[5];
-            values->lambda = data[6];
-            break;
-        case 200:
-            values->speed = data[0];
-            values->accel_x = data[1];
-            values->accel_y = data[2];
-            values->gear = data[3];
-            values->oil_temp = data[4];
-            values->voltage = data[5];
-            values->warnings = data[6];
-            break;
-    }
-}
\ No newline at end of file

--- a/src/LEDS.cpp	Wed Oct 17 16:08:51 2012 +0000
+++ b/src/LEDS.cpp	Sun Feb 17 18:50:09 2013 +0000
@@ -14,7 +14,6 @@
 //Calculate new PWM values
 void LEDS::refresh(float rpm)
 {
-    
     //Engine running
     pins[0]=(rpm-1000)/4000;
     //Change Down

--- a/src/MSCANHeader.cpp	Wed Oct 17 16:08:51 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,48 +0,0 @@
-#include "MSCANHeader.h"
-
-MSCANHeader::MSCANHeader()
-{
-
-}
-
-MSCANHeader::MSCANHeader(char to, char from, char type, char block, short offset)
-{
-    to_id = to;
-    from_id = from;
-    msg_type = type;
-    var_blk = block;
-    var_offset = offset;
-}
-
-//MS encodes most of the request params in the message ID.
-//Alignment is weird because the ID really includes some non-data bits. MS worked round these, mBed just skips them
-
-//0-2   3 bits Spare on MSII
-//3-6   4 bits Block to get data from. 7 = outpc, all the stuff that MS sends to the PC via serial
-//7-10  4 bits To ID - 0 for MS
-//11-14 4 bits From ID - Using 3 here for no good reason
-//15-17 3 bits Message type. 1 to get data, response has 2
-//18-28 11 bits Offset into the block in bits 3-6. Look in the INI file for Tuner Studio to find these, 
-//              [OutputChannels] section starting line 3036
-
-void MSCANHeader::parse(int id)
-{
-    var_offset = (id & 0x1FFC0000) >> 18;
-    msg_type =   (id & 0x00038000) >> 15;
-    from_id =    (id & 0x00007800) >> 11;
-    to_id =      (id & 0x00000780) >> 7;
-    var_blk =    (id & 0x00000078) >> 3;
-}
-
-int MSCANHeader::build()
-{
-    int id = 0;
-    
-    id |= (var_offset & 0x7FF)  << 18;
-    id |= (msg_type & 0x7)      << 15;
-    id |= (from_id & 0xF)       << 11;
-    id |= (to_id & 0xF)         << 7;
-    id |= (var_blk & 0xF)       << 3;
-    
-    return id;
-}
\ No newline at end of file