char CanbusClass::message_tx(void) {
tCAN message;
// einige Testwerte
message.id = 0x7DF;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = 0x05;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
// mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), (1<<REQOP1));
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
if (mcp2515_send_message(&message)) {
// SET(LED2_HIGH);
return 1;
}
else {
// PRINT("Fehler: konnte die Nachricht nicht auslesen\n\n");
return 0;
}
return 1;
}
/**
* Interprets given line and transmit can message
*
* @param line Line string which contains the transmit command
*/
unsigned char transmitStd(char *line) {
canmsg_t canmsg;
unsigned long temp;
unsigned char idlen;
canmsg.flags.rtr = ((line[0] == 'r') || (line[0] == 'R'));
// upper case -> extended identifier
if (line[0] < 'Z') {
canmsg.flags.extended = 1;
idlen = 8;
} else {
canmsg.flags.extended = 0;
idlen = 3;
}
if (!parseHex(&line[1], idlen, &temp)) return 0;
canmsg.id = temp;
if (!parseHex(&line[1 + idlen], 1, &temp)) return 0;
canmsg.length = temp;
if (!canmsg.flags.rtr) {
unsigned char i;
for (i = 0; i < canmsg.length; i++) {
if (!parseHex(&line[idlen + 2 + i*2], 2, &temp)) return 0;
canmsg.data[i] = temp;
}
}
return mcp2515_send_message(&canmsg);
}
char CanbusClass::message_tx(void) {
tCAN message;
// some test values(???) [einige Testwerte ]
message.id = 0x7DF;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = 0x05;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
// mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), (1<<REQOP1));
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
if (mcp2515_send_message(&message)) {
// SET(LED2_HIGH);
return 1;
}
else {
// PRINT("Error: Could not retrieve message\n\n");
return 0;
}
return 1;
}
char CanbusClass::message_tx(tCAN *msg) {
tCAN message;
message = *msg;
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
if (mcp2515_send_message(&message)) {
return 1;
} else {
return 0;
}
}
void main()
{
int test;
unsigned char del;
stCanFrame sample;
unsigned char mpptDevice = 0x01;
unsigned char deviceMC = 0x02;
unsigned char mpptCanConfig[4];
unsigned char mcCanConfig[4];
unsigned short filterID = mcBaseAddress | motorTempMes ;
OpenUSART( USART_TX_INT_OFF &
USART_RX_INT_OFF &
USART_ASYNCH_MODE &
USART_EIGHT_BIT &
USART_CONT_RX &
USART_BRGH_HIGH, 71);
printf("\n\r Serial Open \n");
OpenSPI( SPI_FOSC_16, //Master clock 16mhz
MODE_00,
SMPEND); //Output data a end of buff
selectNoDevice();
setmppt(mpptCanConfig);
test = mcp_init(mpptDevice, mpptCanConfig);
while ( test != 0)
{
printf("\rMPPT. Failer to init MCP 2515, reseting \n");
test = mcp_init(mpptDevice, mpptCanConfig);
}
mcp2515_normal(mpptDevice);
printf("\rMPPT. Pass init MCP 2515\n");
delay();
setmc(mcCanConfig);
test = mcp_init(deviceMC,mcCanConfig);
while(test !=0)
{
printf("\r MOTOR CONTROLLER. Failer to init MCP 2515, reseting \n");
test = mcp_init(deviceMC,mcCanConfig);
}
mcp2515_normal(deviceMC);
printf("\rMOTOR CONTROLLER. Pass init MCP 2515\n");
delay();
if (bit_is_set(0b10111111,6))
printf("\r Error -simple bit shift fails \n");
else
printf("\r simple bit operations work right \n");
//Ending set up
//starting main loop
//------------------
getMessagesThatLookLike(&(filterID), deviceMC);
while(1)
{
mpptData myMpptData[4];
mcData myMCData;
stCanFrame sample;
stCanFrame result;
unsigned char counter = 0, temp;
int pollCount = 10;
//MPPT
//---------------------
//build the message prompts the MPPT data
//The mppt address we want are.
// 0x711 , 0x713, 0x715, 0x717
sample.id = MPPTRequestID;
sample.length = 0;
sample.rtr =0;
while(counter < 4)
{
sample.id = MPPTRequestID + 1 + (counter * 2);
if(g_debug) printf("\r the id is %x\n",MPPTRequestID + 1 + (counter * 2));
mcp2515_send_message(&sample, 0x02,mpptDevice);
Delay10TCYx(0x30);
result.id = 0;
mcp2515_get_message(&result ,mpptDevice);
while(!(result.id == MPPTAnswerID + 1 + (counter * 2)) && pollCount ) //while we do not have the matching id, and the time has not expired keep waiting for the message
{
mcp2515_get_message(&result, mpptDevice);
Delay10TCYx(0x30);
pollCount--;
}
if(pollCount)
{
parsMppt((result.data),myMpptData[counter]);
if(g_messageDebug)
{
printf("\rMessage from the MPPT \n");
printCanMessage(result);
}
}
else
{
if(g_debug) printf("\r mppt TimeOUT \n");
}
counter++;
}
pollCount = 10;
//MOTOR Controller
//-------------------------------
Delay10TCYx(0x30);
result.id = 0;
mcp2515_get_message(&result ,deviceMC);
while( !(result.id == 0x040b) && pollCount)
{
mcp2515_get_message(&result ,deviceMC) ;
}
if (result.id = 0x040b)
{
int cool = convertToInt(result.data + 4 , 100 );
printf("\rThe temp is %i\n",cool);
printCanMessage(result);
parsMC((result.data), result.id, myMCData);
}
else
{
printf("\r MC TimeOUT \n");
}
}
}
char CanbusClass::ecu_req(unsigned char pid, char *buffer)
{
tCAN message;
float engine_data;
int timeout = 0;
char message_ok = 0;
// Prepair message
message.id = PID_REQUEST;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = pid;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
if (mcp2515_send_message(&message)) {
}
if (mcp2515_check_message())
{
if (mcp2515_get_message(&message))
{
switch(message.data[2])
{ /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
case ENGINE_LOAD: // Throttle Position
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
case ENGINE_RPM: // ((A*256)+B)/4 [RPM]
engine_data = ((message.data[3]*256) + message.data[4])/4;
sprintf(buffer,"%d rpm ",(int) engine_data);
break;
case ENGINE_COOLANT_TEMP: // A-40 [degree C]
engine_data = message.data[3] - 40;
sprintf(buffer,"%d degC",(int) engine_data);
break;
case VEHICLE_SPEED: // A [km]
engine_data = message.data[3];
sprintf(buffer,"%d km ",(int) engine_data);
break;
case MAF_SENSOR: // ((256*A)+B) / 100 [g/s]
engine_data = ((message.data[3]*256) + message.data[4])/100;
sprintf(buffer,"%d g/s",(int) engine_data);
break;
case O2_VOLTAGE: // A * 0.005 (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
engine_data = message.data[3]*0.005;
sprintf(buffer,"%d V",(int) engine_data);
break;
case THROTTLE: // Throttle Position
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
case INTAKE_AIR_TEMP: // A-40 [degree C]
engine_data = message.data[3] - 40;
sprintf(buffer,"%d degC",(int) engine_data);
break;
case FUEL_TAKE_LEVEL: // Fuel Tank Level
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
case OBD_STANDARD: // OBD_STD
sprintf(buffer,"%d ",(int) message.data[3]);
break;
}
}
}
}
char CanbusClass::ecu_req(unsigned char pid, char *buffer)
{
tCAN message;
float engine_data;
int timeout = 0;
char message_ok = 0;
// Prepair message
message.id = PID_REQUEST;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = pid;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
// SET(LED2_HIGH);
if (mcp2515_send_message(&message)) {
}
while(timeout < 4000)
{
timeout++;
if (mcp2515_check_message())
{
if (mcp2515_get_message(&message))
{
if((message.id == PID_REPLY) && (message.data[2] == pid)) // Check message is the reply and its the right PID
{
switch(message.data[2])
{ /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
case ENGINE_RPM: // ((A*256)+B)/4 [RPM]
engine_data = ((message.data[3]*256) + message.data[4])/4;
sprintf(buffer,"%d rpm ",(int) engine_data);
break;
case ENGINE_COOLANT_TEMP: // A-40 [degree C]
engine_data = message.data[3] - 40;
sprintf(buffer,"%d degC",(int) engine_data);
break;
case VEHICLE_SPEED: // A [km]
engine_data = message.data[3];
sprintf(buffer,"%d km ",(int) engine_data);
break;
case MAF_SENSOR: // ((256*A)+B) / 100 [g/s]
engine_data = ((message.data[3]*256) + message.data[4])/100;
sprintf(buffer,"%d g/s",(int) engine_data);
break;
case O2_VOLTAGE: // A * 0.005 (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
engine_data = message.data[3]*0.005;
sprintf(buffer,"%d v",(int) engine_data);
case THROTTLE: // Throttle Position
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
}
message_ok = 1;
}
}
}
if(message_ok == 1) return 1;
}
return 0;
}
int main(void)
{
// Initialisiere die UART Schnittstelle
uart_init(UART_BAUD_SELECT(9600UL, F_CPU));
// Aktiviere Interrupts
sei();
// Umleiten der Standardausgabe => ab jetzt koennen wir printf() verwenden
stdout = &mystdout;
// Versuche den MCP2515 zu initilaisieren
if (!mcp2515_init()) {
PRINT("Fehler: kann den MCP2515 nicht ansprechen!\n");
for (;;);
}
else {
PRINT("MCP2515 is aktiv\n\n");
}
PRINT("Erzeuge Nachricht\n");
tCAN message;
// einige Testwerte
message.id = 0x123;
message.header.rtr = 0;
message.header.length = 2;
message.data[0] = 0xab;
message.data[1] = 0xcd;
print_can_message(&message);
PRINT("\nwechsle zum Loopback-Modus\n\n");
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), (1<<REQOP1));
// Sende eine Nachricht
if (mcp2515_send_message(&message)) {
PRINT("Nachricht wurde in die Puffer geschrieben\n");
}
else {
PRINT("Fehler: konnte die Nachricht nicht senden\n");
}
// warte ein bisschen
_delay_ms(10);
if (mcp2515_check_message()) {
PRINT("Nachricht empfangen!\n");
// read the message from the buffers
if (mcp2515_get_message(&message)) {
print_can_message(&message);
PRINT("\n");
}
else {
PRINT("Fehler: konnte die Nachricht nicht auslesen\n\n");
}
}
else {
PRINT("Fehler: keine Nachricht empfangen\n\n");
}
PRINT("zurueck zum normalen Modus\n\n");
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
// wir sind ab hier wieder mit dem CAN Bus verbunden
PRINT("Versuche die Nachricht per CAN zu verschicken\n");
// Versuche nochmal die Nachricht zu verschicken, diesmal per CAN
if (mcp2515_send_message(&message)) {
PRINT("Nachricht wurde in die Puffer geschrieben\n\n");
}
else {
PRINT("Fehler: konnte die Nachricht nicht senden\n\n");
}
PRINT("Warte auf den Empfang von Nachrichten\n\n");
while (1) {
// warten bis wir eine Nachricht empfangen
if (mcp2515_check_message()) {
PRINT("Nachricht empfangen!\n");
// Lese die Nachricht aus dem Puffern des MCP2515
if (mcp2515_get_message(&message)) {
print_can_message(&message);
PRINT("\n");
}
else {
PRINT("Kann die Nachricht nicht auslesen\n\n");
}
}
}
return 0;
}
