// Recieve distance from URM device
byte URMSerial::getMeasurement(int& value)
{
if(!hasReading()) return NOTREADY;
if(reqTimeout()) return TIMEOUT;
// Read in data
readSerial();
// Validate the reading type
switch(serialData[Header]) // Three types of command responses. 0x11 is a temperature, 0x22 Distance, 0x33 EEPROM
{
case COMMAND_DISTANCE:
return processDistance(value);
break;
case COMMAND_TEMP:
return processTemperature(value);
break;
}
// Strange return result!
distanceRequested = temperatureRequested = false; // This is a bug fix. If an error was returned (conrrupt byte array), reset distance measurements so we can re-request
value = 0;
return ERROR;
}
/*
* Processes an event from the CanHandler.
*/
void CanIO::handleCanFrame(CAN_FRAME *frame)
{
switch (frame->id) {
case CAN_ID_GEVCU_EXT_TEMPERATURE:
processTemperature(frame->data.byte);
break;
case CAN_ID_GEVCU_EXT_FLOW_COOL:
status.flowCoolant = frame->data.high;
break;
case CAN_ID_GEVCU_EXT_FLOW_HEAT:
status.flowHeater = frame->data.high;
break;
}
}
/*
* Processes an event from the CanHandler.
*
* In case a CAN message was received which pass the masking and id filtering,
* this method is called. Depending on the ID of the CAN message, the data of
* the incoming message is processed.
*/
void BrusaMotorController::handleCanFrame( CAN_FRAME *frame) {
switch (frame->id) {
case CAN_ID_STATUS:
processStatus(frame->data.bytes);
break;
case CAN_ID_ACTUAL_VALUES:
processActualValues(frame->data.bytes);
break;
case CAN_ID_ERRORS:
processErrors(frame->data.bytes);
break;
case CAN_ID_TORQUE_LIMIT:
processTorqueLimit(frame->data.bytes);
break;
case CAN_ID_TEMP:
processTemperature(frame->data.bytes);
break;
default:
Logger::warn(BRUSA_DMC5, "received unknown frame id %X", frame->id);
}
}
