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1,345 changes: 1,345 additions & 0 deletions ASV-2/POKB/main code/POKB_Main/XBee.h
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119 changes: 119 additions & 0 deletions ASV-2/POKB/main code/POKB_Main/can.h
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/*
can.h
2012 Copyright (c) Seeed Technology Inc. All right reserved.

Author:Loovee
Contributor: Cory J. Fowler
2014-1-16
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-
1301 USA
*/
#ifndef _MCP2515_H_
#define _MCP2515_H_

#include "can_defines.h"

#define MAX_CHAR_IN_MESSAGE 8

class MCP_CAN
{
private:

INT8U m_nExtFlg; /* identifier xxxID */
/* either extended (the 29 LSB) */
/* or standard (the 11 LSB) */
INT32U m_nID; /* can id */
INT8U m_nDlc; /* data length: */
INT8U m_nDta[MAX_CHAR_IN_MESSAGE]; /* data */
INT8U m_nRtr; /* rtr */
INT8U m_nfilhit;
INT8U SPICS;

/*
* mcp2515 driver function
*/
// private:
private:

void mcp2515_reset(void); /* reset mcp2515 */

INT8U mcp2515_readRegister(const INT8U address); /* read mcp2515's register */

void mcp2515_readRegisterS(const INT8U address,
INT8U values[],
const INT8U n);
void mcp2515_setRegister(const INT8U address, /* set mcp2515's register */
const INT8U value);

void mcp2515_setRegisterS(const INT8U address, /* set mcp2515's registers */
const INT8U values[],
const INT8U n);

void mcp2515_initCANBuffers(void);

void mcp2515_modifyRegister(const INT8U address, /* set bit of one register */
const INT8U mask,
const INT8U data);

INT8U mcp2515_readStatus(void); /* read mcp2515's Status */
INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); /* set mode */
INT8U mcp2515_configRate(const INT8U canSpeed); /* set boadrate */
INT8U mcp2515_init(const INT8U canSpeed); /* mcp2515init */

void mcp2515_write_id( const INT8U mcp_addr, /* write can id */
const INT8U ext,
const INT32U id );

void mcp2515_read_id( const INT8U mcp_addr, /* read can id */
INT8U* ext,
INT32U* id );

void mcp2515_write_canMsg( const INT8U buffer_sidh_addr ); /* write can msg */
void mcp2515_read_canMsg( const INT8U buffer_sidh_addr); /* read can msg */
void mcp2515_start_transmit(const INT8U mcp_addr); /* start transmit */
INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); /* get Next free txbuf */

/*
* can operator function
*/

INT8U setMsg(INT32U id, INT8U ext, INT8U len, INT8U rtr, INT8U *pData); /* set message */
INT8U setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData); /* set message */
INT8U readMsg(); /* read message */
INT8U sendMsg(); /* send message */

public:
MCP_CAN(INT8U _CS);
INT8U begin(INT8U speedset); /* init can */
INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData); /* init Masks */
INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData); /* init filters */
INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U rtr, INT8U len, INT8U *buf); /* send buf */
INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf); /* send buf */
INT8U readMsgBuf(INT8U *len, INT8U *buf); /* read buf */
INT8U readMsgBufID(INT32U *ID, INT8U *len, INT8U *buf); /* read buf with object ID */
INT8U checkTXStatus(INT8U buf);
INT8U clearMsg(); /* clear all message to zero */
INT8U checkReceive(void); /* if something received */
INT8U checkError(void); /* if something error */
INT32U getCanId(void); /* get can id when receive */
INT8U isRemoteRequest(void); /* get RR flag when receive */
INT8U setupCANFrame(INT8U *buf, INT8U pos, INT8U size, INT32U val);
INT32U parseCANFrame(INT8U *buf, INT8U pos, INT8U size);
};

#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
64 changes: 64 additions & 0 deletions ASV-2/POKB/main code/POKB_Main/can_asv_defines.h
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//###################################################
//###################################################

//___. ___.
//\_ |__\_ |__ _____ _________ __
// | __ \| __ \\__ \ / ___/\ \/ /
// | \_\ \ \_\ \/ __ \_\___ \ \ /
// |___ /___ (____ /____ > \_/
// \/ \/ \/ \/

// Written by Ng Ren Zhi

// Change Log for v1.0:
// - Initial commit

//###################################################
//###################################################

#ifndef _DEFINE_H_
#define _DEFINE_H_

#define CAN_thruster 101
#define CAN_manual_thruster 102
#define CAN_control_link 103
#define CAN_heartbeat 104
#define CAN_soft_e_stop 105
#define CAN_e_stop 106
#define CAN_LARS 107
#define CAN_POPB_control 108
#define CAN_Shooter 109
#define CAN_LARS_stats 110
#define CAN_battery1_stats 111
#define CAN_battery2_stats 112
#define CAN_esc1_motor_stats 113
#define CAN_esc2_motor_stats 114
#define CAN_remote_kill_stats 115
#define CAN_INS_stats 116
#define CAN_GPS_stats 117
#define CAN_cpu_temp 118
#define CAN_POSB_stats 119
#define CAN_POPB_stats 120
#define CAN_POSB_BUS_stats 121
#define CAN_POKB_BUS_stats 122
#define CAN_POPB_BUS_stats 123
#define CAN_Tele_BUS_stats 124
#define CAN_LARS_BUS_stats 125
#define CAN_MANI_stats 126

//CAN Heartbeat
#define HEARTBEAT_POSB 1
#define HEARTBEAT_POPB 2
#define HEARTBEAT_POKB 3
#define HEARTBEAT_Tele 4
#define HEARTBEAT_LARS 5
#define HEARTBEAT_Cogswell 6
#define HEARTBEAT_OCS 7
#define HEARTBEAT_RC 8
//Bit position
#define HEARTBEAT_BATT1 0
#define HEARTBEAT_BATT2 1
#define HEARTBEAT_ESC1 2
#define HEARTBEAT_ESC2 3

#endif
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