main.cpp File Reference

#include <Arduino.h>
#include <CANSAME5x.h>
#include "AMKUtils.hpp"
#include "Inverter.hpp"
#include "CANMessage.hpp"
#include "CANCommunication.hpp"
#include "DebugFlags.hpp"
#include "Potentiometer.hpp"

Functions
void	setup ()
void	loop ()
void	initDevice ()
	Initializes the device settings, such as serial communication and CAN bus.
void	startCANBus (long speed)
	Initializes the CAN bus with a given speed.
void	receiveMessage (int packetSize)
	Callback function to handle received CAN messages.
bool	sendMessage (CANMessage canMsg)
	Sends a CAN message over the CAN bus.
void	updateInverter (uint16_t nodeAddress, uint16_t baseAddress, CANMessage canMsg)
	Updates inverter data based on received CAN message information.

Variables
CANSAME5x	CAN
CANMessage	canMsg
Inverter	inverters [2]
Potentiometer	pot

Function Documentation

initDevice()

void initDevice

(

)

Initializes the device settings, such as serial communication and CAN bus.

This function sets up the serial port and initializes the CAN bus at a specified baud rate.

loop()

void loop

(

)

receiveMessage()

void receiveMessage

(

int

packetSize

)

Callback function to handle received CAN messages.

Parameters

packetSize

The size of the incoming packet.

Processes incoming CAN messages by extracting the CAN ID and data, updating inverter information, and handling errors for unknown nodes or invalid packet sizes.

sendMessage()

bool sendMessage

(

CANMessage

canMsg

)

Sends a CAN message over the CAN bus.

Parameters

canMsg

The CAN message object containing the ID and data to be sent.

Returns

true if the message was sent successfully; false otherwise.

Initiates the sending of a CAN message with the specified ID and data.

setup()

void setup

(

)

startCANBus()

void startCANBus

(

long

speed

)

Initializes the CAN bus with a given speed.

Parameters

speed

The CAN bus speed in bits per second (bps). For example, 500E3 for 500 kbps.

Configures the CAN bus speed and manages necessary pin settings to enable the CAN module. If initialization fails, an error message is displayed, and the built-in LED flashes.

updateInverter()

void updateInverter	(	uint16_t	nodeAddress,
		uint16_t	baseAddress,
		CANMessage	canMsg )

Updates inverter data based on received CAN message information.

Parameters

nodeAddress	The address of the inverter node to be updated.
baseAddress	The base address used to identify the type of message.
canMsg	The CAN message containing the data to update the inverter.

Parses data from the received CAN message to update specific inverter parameters, such as status, velocity, and temperature.

Variable Documentation

CAN

CANSAME5x CAN

canMsg

CANMessage canMsg

inverters

Inverter inverters[2]

Initial value:

= {
    Inverter(INVERTER_1_NODE_ADDRESS),
    Inverter(INVERTER_2_NODE_ADDRESS)}

pot

Potentiometer pot