/****************************************************************************/ /* Copyright (c) 2015 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : Power Buoy Data Logger CANBus instrument reader class */ /* Filename : CanBus.hpp */ /* Author : Henthorn */ /* Project : Power Buoy */ /* Version : 1.0 */ /* Created : 04/20/2015 */ /* Modified : */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ /* */ /* This class is the data source reader for the CANBus instruments on the */ /* Power Buoy. It is derived from the generic FileSource class. */ /* */ /****************************************************************************/ #ifndef _CANBUS_ #define _CANBUS_ #include #include #include "FileSource.hpp" class CSVWriter; class CanBus : public FileSource { public: // The data contained in a Power Controller CanBUS frame // struct PC_Record { //float can_time; short seq_num; float rpm; float sd_rpm; float voltage; float power; float bcurrent; float lcurrent; float torque; float diff_press; float bridgedc; float loaddc; float scale; float retract; float target_v; unsigned short status; float sd_rpm_target; }; // The data contained in a Battery Controller CanBUS frame // struct BC_Record { //float can_time; short seq_num; float voltage; float ips; float vbalance; float vstopcharge; float gfault; float hydrogen; unsigned short status; }; #if 0 Packet 0: (unchanged) LoadCell : Rangefinder : UpperSpringPressure : Lower Spring Pressure Scaling as before: Packet 1: (entirely changed) epoch most sig. word: epoch least sig word : salinity most sig. word : salinity least significant word When re-assembled, the epoch seconds is a long that is seconds since 1970 UTC and can just be logged as that. When re-assembled, the salinity is an unsigned long that is salinity in S/m multiplied by 1000000. i.e. micro Siemens/m Packet 2: (only first integer is changed) temperature : Status : 0 : 0 Here, temperature is an integer representing milli-degrees C. i.e. Divide by 1000 to get degrees C. #endif // The data contained in a Spring Controller CanBUS frame // struct SC_Record { //float can_time; short seq_num; short load; float range; float upsi; float lpsi; unsigned long epoch; float salinity; float temperature; short status; }; // The data contained in a Trefoil controller CanBUS frame // struct TF_Record { //float can_time; short seq_num; short spare1; float tvoltage; float bvoltage; float pressure; float qtn[4]; float mag[3]; // gauss unsigned short status; // bit field float ang_rate[3]; // rad/sec unsigned short vpe_status; // bit field float accel[3]; // m/sec^2 short spare2; unsigned short mstatus; // Maxon status short mcurr; // motor current int encoder; // 32-bit encoder position }; // The data contained in a Rudder Controller CanBUS frame // struct RC_Record { //float can_time; short seq_num; float x_vel; // m/s float y_vel; float z_vel; float pressure; // psi char b_amp1; //counts char b_amp2; char b_amp3; char b_cor1; // percentage char b_cor2; char b_cor3; float target; // heading data (-180 to +180) float measured; float filtered; short rudder; // counts float ram; // inches float qtn[4]; float mag[3]; // gauss unsigned short status; // bit field float ang_rate[3]; // rad/sec unsigned short vpe_status; // bit field float accel[3]; // m/sec^2 short position; // Rudder position float p_gain; float i_gain; float d_gain; float period; // update period unsigned short ftc; // Filter time constant }; // Open a connection to the data source. // If the pointer to the writer object is NULL // no data is written. // CanBus(const char* cansock, CSVWriter* w); ~CanBus(); // Return 0 on error // Return the (0 - SourceID) if a full record was read from that source // Otherwise, return the number of bytes still needed for // a full record. // // int v = read_data(0); // if (v > 0) // v == Data_ID from that source (e.g., PC_0) // else // v < 0, error // int read_data(char verbose); // Return data records. // // By default - when only a pointer to a record and no SourceID is // specified - the freshest complete record is returned (e.g., // get_record(&batt_record) returns the latest complete battery // record). // // Return 1 if successful, else 0 // char get_record(PC_Record *pc, SourceID id = PowerConID); char get_record(BC_Record *bc, SourceID id = BatteryConID); char get_record(SC_Record *sc, SourceID id = SpringConID); char get_record(TF_Record *tf, SourceID id = TrefoilConID); char get_record(RC_Record *rc, SourceID id = RudderConID); protected: unsigned create_mask(unsigned a, unsigned b); void make_masks() { _seq_mask = create_mask(0,8); _data_mask = create_mask(9,13); _src_mask = create_mask(14,17); } void decode_header(struct can_frame *cf); // Handle Power Controller frame // int handle_power_msg(struct can_frame); // Handle Pneumatic Spring Controller frame // int handle_spring_msg(struct can_frame); // Handle Battery Controller frame // int handle_battery_msg(struct can_frame); // Handle Trefoil Controller frame // int handle_trefoil_msg(struct can_frame); // Handle Rudder Controller frame // int handle_rudder_msg(struct can_frame); char* _cansock; // e.g., "can0", "can1" unsigned _seq_mask, _data_mask, _src_mask; // Double-buffered data record. // Use _p to point to the published record buffer // _pc_record[_p] is the current stable record // _pc_record[1-_p] is the record that is in flux // struct CanBus::PC_Record _pc_record[2]; struct CanBus::BC_Record _bc_record[2]; struct CanBus::SC_Record _sc_record[2]; struct CanBus::TF_Record _tf_record[2]; struct CanBus::RC_Record _rc_record[2]; char _p, _b, _s, _r, _t; // Value will always be either 0 or 1 CSVWriter* _logger; unsigned int _src_id, _data_id, _seq_num; char _verbose; }; #endif