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added CAN-Debug-Message

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This commit is contained in:
Marcel Peterkau
2023-09-25 07:21:33 +02:00
parent ce9f1a2306
commit c42de4b24c
5 changed files with 86 additions and 21 deletions
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65
Software/src/can.cpp
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@@ -2,6 +2,9 @@
#include "can.h"
MCP_CAN CAN0(GPIO_CS_CAN);
#ifdef CAN_DEBUG_MESSAGE
void sendCANDebugMessage();
#endif
void Init_CAN()
{
@@ -16,6 +19,17 @@ void Init_CAN()
CAN0.setMode(MCP_NORMAL);
}
void CAN_Process()
{
static uint32_t previousMillis = 0;
if (millis() - previousMillis >= 100)
{
sendCANDebugMessage();
previousMillis = millis();
}
}
uint32_t Process_CAN_WheelSpeed()
{
#define FACTOR_RWP_KMH_890ADV 18 // Divider to convert Raw Data to km/h
@@ -46,4 +60,55 @@ uint32_t Process_CAN_WheelSpeed()
return milimeters_to_add;
}
#ifdef CAN_DEBUG_MESSAGE
void sendCANDebugMessage()
{
#define MAX_DEBUG_MULTIPLEXER 6
static uint8_t debugMultiplexer = 0;
byte data[8] = {debugMultiplexer, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
uint32_t millisValue = millis();
switch (debugMultiplexer)
{
case 0:
memcpy(&data[1], &millisValue, sizeof(millisValue));
memcpy(&data[5], &globals.purgePulses, sizeof(globals.purgePulses));
break;
case 1:
data[1] = (uint8_t)globals.systemStatus;
data[2] = (uint8_t)globals.resumeStatus;
data[3] = (uint8_t)globals.requestEEAction;
data[4] = globals.TankPercentage;
data[5] = (0x01 & globals.hasDTC) | ((0x01 & globals.measurementActive) << 1);
break;
case 2:
memcpy(&data[1], &globals.eePersistanceAdress, sizeof(globals.eePersistanceAdress));
memcpy(&data[3], &PersistenceData.tankRemain_microL, sizeof(PersistenceData.tankRemain_microL));
break;
case 3:
memcpy(&data[1], &PersistenceData.writeCycleCounter, sizeof(PersistenceData.writeCycleCounter));
memcpy(&data[3], &PersistenceData.TravelDistance_highRes_mm, sizeof(PersistenceData.TravelDistance_highRes_mm));
break;
case 4:
memcpy(&data[1], &PersistenceData.odometer_mm, sizeof(PersistenceData.odometer_mm));
break;
case 5:
memcpy(&data[1], &PersistenceData.odometer, sizeof(PersistenceData.odometer));
break;
case 6:
memcpy(&data[1], &PersistenceData.checksum, sizeof(PersistenceData.checksum));
break;
default:
break;
}
debugMultiplexer++;
debugMultiplexer = debugMultiplexer > MAX_DEBUG_MULTIPLEXER ? 0 : debugMultiplexer;
byte sndStat = CAN0.sendMsgBuf(0x7FF, 0, 8, data);
if (sndStat != CAN_OK)
Debug_pushMessage("failed sending CAN-DbgMsg: %d\n", sndStat);
}
#endif
#endif