void listenCAN() // Fonction assurant la réception des messages sur le CAN et l'envoi de ces derniers sur le RS232
{
struct rx_stat rxStat;
int32 rxId;
int8 rxData[8];
int8 rxLen;
int i;
if(can_kbhit()) // Une donnée est présente dans le buffer de réception du CAN
{
if(can_getd(rxId,&rxData[0],rxLen,rxStat)) // on récupère le message
{
putc(255); // on envoie le message de début de trame
putc(rxId); // on envoie l'ID
for(i=0;i<rxLen;i++)
{
putc(rxData[i]); // on envoie les données si besoin
}
#ifdef TRACE_CAN
tmp=ms+1000*sec;
printf("\r\n [%Lu] - CAN_DEBUG - BUFF=%u - ID=%u - LEN=%u - OVF=%u", tmp,rxStat.buffer, rxId, rxLen, rxStat.err_ovfl);
#endif
}
else
{
#ifdef TRACE_CAN
restart_wdt();
tmp=ms+1000*sec;
printf("[%Lu] - CAN_DEBUG - FAIL on can_getd function", tmp);
#endif
}
}
}
void manageCAN() //cette carte ne fait qu'écouter le CAN, elle n'a aucune donnée à envoyer.
{
struct rx_stat rxStat;
int32 rxId;
int8 rxData[8];
int8 rxLen;
if(can_kbhit()) // Une donnée est présente dans le buffer de réception du CAN
{
if(can_getd(rxId,&rxData[0],rxLen,rxStat))
{
if(rxId == FEUX_ARR_DATA_ID) // on veut modifier les feux arrière ? Utiliser rxData pour activer ou désactiver les feux.
{
feuxstop = rxData[0];
feuxarr = rxData[1];
cligng = rxData[2];
clignd = rxData[3];
}
}
}
}
void manageCAN()
{
struct rx_stat rxStat;
int32 rxId;
int8 rxData[8];
int8 rxLen;
int1 txData[8];
if(can_kbhit()) // Une donnée est présente dans le buffer de réception du CAN
{
if(can_getd(rxId,rxData,rxLen,rxStat))
{
switch(rxId) // TODO : Le TdB reçoit des données ? Vérifier lesquelles
{
case MAB_BOOST_ACK_ID:
periode_boost = 1000;
state_boost = false;
break;
case MAB_BRAKE_ACK_ID:
periode_brake = 1000;
state_brake = false;
break;
case MAB_ERR_ID:
output_bit(ERR_1,rxData[0]);
output_bit(ERR_2,rxData[1]);
output_bit(ERR_3,rxData[2]);
if(can_tbe())
{
can_putd(TDB_ERR_ACK_ID,0,0,3,false,false);
}
break;
}
}
}
if(can_tbe())
{
if(send_phares)
{
txData[0] = input(FEUX);
txData[1] = input(CODES)|input(FEUX);
txData[2] = input(CLIGN_G)|input(WARNING);
txData[3] = input(CLIGN_D)|input(WARNING);
can_putd(TDB_PHARES_ID,txData,4,1,false,false);
}
if(send_boost)
{
txData[0] = state_boost;
can_putd(TDB_BOOST_ID,txData,1,1,false,false);
}
if(send_brake)
{
txData[0] = state_brake;
can_putd(TDB_BRAKE_ID,txData,1,1,false,false);
}
}
}
void main()
{
struct rx_stat rxstat;
int32 rx_id;
int in_data[8];
int rx_len;
int out_data[8];
int16 tmp;
int32 tx_id;
int1 tx_rtr=0;
int1 tx_ext=0;
int tx_len=8;
int tx_pri=3;
// bitmap, expanded to 8 bit (needed?)
int8 sequence[MAX_CHANNELS];
int32 val;
int i;
for (i = 0; i < MAX_CHANNELS; i++)
sequence[i] = MAX_CHANNELS;
// resource initialization.
setup_adc_ports(AN0);
setup_adc(ADC_CLOCK_INTERNAL);
setup_spi(FALSE);
setup_wdt(WDT_OFF);
setup_timer_0(RTCC_INTERNAL);
setup_timer_1(T1_DISABLED);
//setup_timer_1(T1_INTERNAL|T1_DIV_BY_1);
//set_timer1(16000);
setup_timer_2(T2_DISABLED,0,1);
setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
_board_ID = read_eeprom(0);
can_init();
adc_init();
enable_interrupts(INT_TIMER1);
enable_interrupts(GLOBAL);
while(TRUE)
{
if (can_kbhit() || _wait) // wait for a message on the CAN bus
{
// handles timer message
if (_wait)
{
_wait = 0;
for (i = 0; i <= MAX_CHANNELS-3; i+=3)
{
if (sequence[i] < MAX_CHANNELS)
tmp = read_analog(i);
else
tmp = 0;
out_data[1] = (int8)(tmp);
out_data[2] = (int8)(tmp>>8);
if (sequence[i+1] < MAX_CHANNELS)
tmp = read_analog(i+1);
else
tmp = 0;
out_data[3] = (int8)(tmp);
out_data[4] = (int8)(tmp>>8);
if (sequence[i+2] < MAX_CHANNELS)
tmp = read_analog(i+2);
else
tmp = 0;
out_data[5] = (int8)(tmp);
out_data[6] = (int8)(tmp>>8);
while (!can_tbe()) ;
tx_id = ID_BASE;
tx_id |= ((_board_ID) << 4);
//tx_id |= ((0 & 0x00f0) >> 4);
out_data[0] = 0x30+i;
tx_len = 7;
can_putd(tx_id, out_data, tx_len, tx_pri, tx_ext, tx_rtr);
}
// last message.
if (sequence[30] < MAX_CHANNELS)
tmp = read_analog(30);
else
tmp = 0;
out_data[1] = (int8)(tmp);
out_data[2] = (int8)(tmp>>8);
if (sequence[31] < MAX_CHANNELS)
tmp = read_analog(31);
else
tmp = 0;
out_data[3] = (int8)(tmp);
out_data[4] = (int8)(tmp>>8);
while (!can_tbe()) ;
tx_id = ID_BASE;
tx_id |= ((_board_ID) << 4);
//tx_id |= ((0 & 0x00f0) >> 4);
out_data[0] = 0x30+30;
tx_len = 5;
can_putd(tx_id, out_data, tx_len, tx_pri, tx_ext, tx_rtr);
}
if (can_getd(rx_id, &in_data[0], rx_len, rxstat))
{
// handles message for the analog channel
if ((rx_len == 1) && ((rx_id & 0x700) == 0x200) && (in_data[0] < MAX_CHANNELS))
{
tmp = read_analog(in_data[0]);
out_data[1] = (int8)(tmp);
out_data[2] = (int8)(tmp>>8);
while (!can_tbe()) ;
tx_id = ID_BASE;
tx_id |= ((_board_ID) << 4);
tx_id |= ((rx_id & 0x00f0) >> 4);
out_data[0] = in_data[0];
tx_len = 3;
// replies to message.
can_putd(tx_id, out_data, tx_len, tx_pri, tx_ext, tx_rtr);
}
// handles message to prepare a sequence (32).
else
if ((rx_len == 5) && ((rx_id & 0x700) == 0x200) && (in_data[0] == MAX_CHANNELS))
{
for (i = 0; i < MAX_CHANNELS; i++)
sequence[i] = MAX_CHANNELS;
// perhaps this is not needed.
while (!can_tbe()) ;
tx_id = ID_BASE;
tx_id |= ((_board_ID) << 4);
tx_id |= ((rx_id & 0x00f0) >> 4);
out_data[0] = in_data[0];
tx_len = 1;
setup_timer_1(T1_DISABLED);
// replies to message.
can_putd(tx_id, out_data, tx_len, tx_pri, tx_ext, tx_rtr);
}
// handles message to prepare a broadcast sequence (33).
else
if ((rx_len == 5) && ((rx_id & 0x700) == 0x200) && (in_data[0] == MAX_CHANNELS+1))
{
for (i = 0; i < MAX_CHANNELS; i++)
{
val = *((int32 *)(&in_data[1]));
if (val & 0x00000001)
{
sequence[MAX_CHANNELS-1-i] = MAX_CHANNELS-1-i;
}
else
{
sequence[MAX_CHANNELS-1-i] = MAX_CHANNELS;
}
val >>= 1;
}
// perhaps this is not needed.
// LATER: check the driver.
while (!can_tbe()) ;
tx_id = ID_BASE;
tx_id |= ((_board_ID) << 4);
tx_id |= ((rx_id & 0x00f0) >> 4);
out_data[0] = in_data[0];
tx_len = 1;
val = *((int32 *)(&in_data[1]));
if (val == 0)
{
setup_timer_1(T1_DISABLED);
}
else
{
setup_timer_1(T1_INTERNAL|T1_DIV_BY_8);
set_timer1(65536-5000);
}
// replies to message.
can_putd(tx_id, out_data, tx_len, tx_pri, tx_ext, tx_rtr);
}
// handles CAN bus messages for the downloader
else
if ((rx_len == 1) && (((rx_id>>8) & 0x7)==7))
void main()
{
unsigned int8 i=0;
int r=0;
struct rx_stat rxStat;
int32 rxId;
int8 rxData[8];
int8 rxLen;
int16 * toto=0;
int8 txdata[8];
int16 umot1=1;
int16 umot2=2;
int16 usc=3;
int16 uconv=4;
// int pongflagemit=0;
// int pong=0;
//initialisation des interruptions
enable_interrupts(INT_TIMER2); //configuration des interruptions
enable_interrupts(GLOBAL);
setup_timer_2(T2_DIV_BY_4,250,5); //setup up timer2 to interrupt every 1ms
//initialisation du CAN
can_init(); //initialise le CAN
txdata[0]=umot1;
txdata[2]=umot2;
txdata[4]=usc;
txdata[6]=uconv;
// BOUCLE DE SAISIE
while(true)
{
// printf("\r\n Tick : %Lu ms \r\n \r\n",ms);
i++;
// Envoie sur le CAN
if(can_tbe()) // On vérifie que le buffer d'emission est libre
// {
// printf("CAN TX %u \r\n",i);
// printf("uconv : %Ld \r\n",uconv);
/* TEST DEBIT FEUX ARRIERES */
// r=can_putd(6,input(PIN_A0),1,0,false,false); //emission du message de 8octets
// if (r != 0xFF)
// {
// printf("CAN_TX - %u - ID=%u - LEN=1", r, PIC_TO_MAB);
// }
// else
// {
// printf("CAN_ERROR - FAIL on can_putd function \r\n");
// }
// }
// else
// {
// printf("Buffer d'emission plein \r\n");
// }
// On écoute le can et on retransmet sur le rs232
if(can_kbhit())
{
if(can_getd(rxId,&rxData[0],rxLen,rxStat)) // on récupère le message
{
if(rxId==20)
{
toto=rxData[0];
printf("[%Lu] - RX ID %Lu - UMOT1 - Value = %Lu \r\n",ms,rxId,*toto);
toto=rxData[2];
printf("RX ID %Lu - UMOT2 - Value = %Lu \r\n",rxId,*toto);
toto=rxData[4];
printf("RX ID %Lu - USC - Value = %Lu \r\n",rxId,*toto);
toto=rxData[6];
printf("RX ID %Lu - UCONV - Value = %Lu \r\n",rxId,*toto);
// printf("RX ID %Lu - Len %d- Value = %Ld \r\n",rxId,rxLen,*toto);
// printf("%Ld \r\n",*toto);
// LOG_TESTING_D(TRACE_ALL||TRACE_BRAKE_LIGHT,"Brake light status incomming from the CAN is ",rxData[0],ms*1000,ms)
}
}
}
else
{
// printf("\r\n Nothing hit the can bus");
}
}
}