Développement CAN Watchdog

Otarcik_CAN/Sources/CANBus/CANMessage.cpp

@@ -1,5 +1,6 @@
 #include "CANMessage.h"
 #include "defines.h"
+#include <QtEndian>
 
 CCANMessage::CCANMessage():
     mPendingData(false)
@@ -97,6 +98,34 @@ int CCANMessage::UpdateValue(CCANMessage *NewDeviceMessage)
 
 }
 
+//This function should be used to set the raw data to send over CAN
+//It will do the byte swapping crap and fill the data array
+int CCANMessage::SetRawData(quint64 RawData, int Encoding)
+{
+    if(Encoding != CCANSignal::CAN_SIGNAL_ENCODING_INTEL)
+    {
+        //MOTOROLA encoding not supported for now...
+        return RET_GENERAL_ERROR;
+    }
+
+    mCANRawDataIntel = qToLittleEndian(RawData);
+ //   mCANRawDataIntel = RawData;
+
+
+    for(unsigned int i = 0; i < mCANMsgLength; i++)
+    {
+        unsigned char byte;
+        byte = (unsigned char)((mCANRawDataIntel >> (i*8)) & 0xFF);
+        mCANMsgData[i] = byte;
+    }
+}
+
+quint64 CCANMessage::GetRawData()
+{
+//    return qFromBigEndian(mCANRawDataIntel);
+    return mCANRawDataIntel;
+}
+
 QDataStream &operator<<(QDataStream &out, const CCANMessage &source)
 {
     out << source.mCANChannel

Otarcik_CAN/Sources/CANBus/CANMessage.h

@@ -17,7 +17,7 @@ public:
     unsigned int mCANChannel;
     unsigned int mCANMsgType; // Type of the message, using the PCAN interface driver encoding defined in PCANbasic.h
     QByteArray mCANMsgData; // Raw data structure of the message, max size = 8 bytes
-    quint64 mCANRawDataMotorola, mCANRawDataIntel;
+
     bool mPendingData;
 
 
@@ -40,6 +40,11 @@ public:
     int SetDataFromDriver(quint32 Channel,TPCANMsg CANMsg,TPCANTimestamp CANTimeStamp);
     int AddSignal(CCANSignal* NewSignal);
     int UpdateValue(CCANMessage* NewDeviceMessage);
+    int SetRawData(quint64 RawData,int Encoding);
+    quint64 GetRawData();
+
+private:
+     quint64 mCANRawDataMotorola, mCANRawDataIntel;
 };
 
 

Otarcik_CAN/Sources/CANBus/CANWatchdog.cpp

@@ -1,6 +1,9 @@
 
 #include "CANWatchdog.h"
 #include "GeneralMessagesLogDispatcher.h"
+#include <QDate>
+#include <QTime>
+#include <QFloat16>
 
 CCANWatchdog::CCANWatchdog()
 {
@@ -45,14 +48,49 @@ int CCANWatchdog::Init(CPCANInterface *CANDriverIF, TPCANHandle CANDeviceHandle,
 
 void CCANWatchdog::WatchdogTimeoutTimerExpired()
 {
-    char data = mWDTCANMsg.mCANMsgData[7];
-    data ^= (char)0x01;
-    mWDTCANMsg.mCANMsgData[7] = data;
+    quint64 BigData = 0;
+
+//    int seconds = (QTime::currentTime().minute() * 60) + QTime::currentTime().second();
+//    float Hours32bits = (float)((float)seconds / 3600);
+//    Hours32bits += QTime::currentTime().hour();
+
+//    quint16 Hours = static_cast<quint16>(Hours32bits*1000);
+//    quint16 buffer;
+//    memcpy(&buffer,&Hours,2);
+//    BigData |= buffer;
+//    BigData <<= 16;
+//    quint16 DaysSinceALongTimeAgo;
+//    DaysSinceALongTimeAgo = -QDate::currentDate().daysTo(QDate(1899,12,30));
+//    BigData |= DaysSinceALongTimeAgo;
+//    BigData |= 0x100000000;
+
+    BigData = GetCANDateTimeBuffer();
+
+    mWDTCANMsg.SetRawData(BigData,CCANSignal::CAN_SIGNAL_ENCODING_INTEL);
     mCANDriverIF->SendCANMessage(mCANDeviceHandle,mWDTCANMsg);
-    qDebug("Sending 0x%X to CAN",data);
+
+ //   qDebug("Sending 0x%X to CAN",data);
     //QString LogMsg = QString("Écriture du watchdog.  CAN ID %1  Payload: 0x%2 0x%3 0x%4 0x%5 0x%6 0x%7 0x%8 0x%9").arg(mWDTCANMsg.mCANMsgID,0,16).arg(mWDTCANMsg.mCANMsgData.at(7),0,16).arg(mWDTCANMsg.mCANMsgData.at(6),0,16).arg(mWDTCANMsg.mCANMsgData.at(5),0,16).arg(mWDTCANMsg.mCANMsgData.at(4),0,16).arg(mWDTCANMsg.mCANMsgData.at(3),0,16).arg(mWDTCANMsg.mCANMsgData.at(2),0,16).arg(mWDTCANMsg.mCANMsgData.at(1),0,16).arg(mWDTCANMsg.mCANMsgData[0],0,16);
-    QString LogMsg = QString("Écriture du watchdog.  CAN ID 0x%1").arg(mWDTCANMsg.mCANMsgID,0,16);
-    CGeneralMessagesLogDispatcher::instance()->AddLogMessage(LogMsg,"CCANWatchdog",true,3);
+  //  QString LogMsg = QString("Écriture du watchdog.  CAN ID 0x%1").arg(mWDTCANMsg.mCANMsgID,0,16);
+//    CGeneralMessagesLogDispatcher::instance()->AddLogMessage(LogMsg,"CCANWatchdog",true,3);
+}
+
+quint64 CCANWatchdog::GetCANDateTimeBuffer()
+{
+    quint64 OutputBuffer = 0;
+
+    int seconds = (QTime::currentTime().minute() * 60) + QTime::currentTime().second();
+    float Hours32bits = (float)((float)seconds / 3600);
+    Hours32bits += QTime::currentTime().hour();
+    quint16 Hours = static_cast<quint16>(Hours32bits*1000);
+    OutputBuffer |= Hours;
+    OutputBuffer <<= 16;
+
+    quint16 DaysSinceALongTimeAgo;
+    DaysSinceALongTimeAgo = -QDate::currentDate().daysTo(QDate(1899,12,30));
+    OutputBuffer |= DaysSinceALongTimeAgo;
+
+    return OutputBuffer;
 }
 
 int CCANWatchdog::StartWDT()

Otarcik_CAN/Sources/CANBus/CANWatchdog.h

@@ -6,6 +6,11 @@
 #include <QTimer>
 #include "CANMessage.h"
 
+
+//This class is not a watchdog per say.  It manages the update of the CAN register that is sent to the
+//Parker controller.  This controller uses this update as a watchdog signal, but the register contains
+//some useful data for the Parker controller as well.
+
 class CCANWatchdog: public QObject
 {
     Q_OBJECT
@@ -17,6 +22,7 @@ public:
      int StartWDT();
      int StopWDT();
      bool IsInitialized(){return mWDTInitialized;}
+     quint64 GetCANDateTimeBuffer();
 
     CPCANInterface *mCANDriverIF;
     unsigned int mWDTPeriod;