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diff --git a/Master/Real-Time Systems/mki/src/mki.cpp b/Master/Real-Time Systems/mki/src/mki.cpp
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+//============================================================================
+// Name:
+//   mki.cpp
+//
+// Summary:
+//   A pretty simple class for controlling the parts
+//   we can on the mercedes-combi-instrument
+//
+// Created on:
+//   Okt 1, 2010
+//
+// Author:
+//   Christian Steiger
+//============================================================================
+
+#include "mki.h"
+
+// constructor
+mki::mki()
+{
+	// set data
+	m_alert = 0;
+
+	// clean up structs
+	memset(&m_can_id_200, 0, sizeof(m_can_id_200));
+	memset(&m_can_id_208, 0, sizeof(m_can_id_208));
+	memset(&m_can_id_210, 0, sizeof(m_can_id_210));
+	memset(&m_can_id_308, 0, sizeof(m_can_id_308));
+	memset(&m_can_id_312, 0, sizeof(m_can_id_312));
+	memset(&m_can_id_550, 0, sizeof(m_can_id_550));
+	memset(&m_can_id_608, 0, sizeof(m_can_id_608));
+
+	// set message ids
+	m_can_id_200.can_id = 0x200;
+	m_can_id_208.can_id = 0x208;
+	m_can_id_210.can_id = 0x210;
+	m_can_id_308.can_id = 0x308;
+	m_can_id_312.can_id = 0x312;
+	m_can_id_550.can_id = 0x550;
+	m_can_id_608.can_id = 0x608;
+
+	// set message length
+	m_can_id_200.can_dlc = 8;
+	m_can_id_208.can_dlc = 8;
+	m_can_id_210.can_dlc = 8;
+	m_can_id_308.can_dlc = 8;
+	m_can_id_312.can_dlc = 8;
+	m_can_id_550.can_dlc = 8;
+	m_can_id_608.can_dlc = 8;
+}
+
+// destructor
+mki::~mki()
+{
+
+}
+
+
+//============================================================================
+// Summary:
+//   Connects to an socket can interface.
+// Parameters:
+//   [in] interface - name of the can interface, e.g. can0, vcan0
+//   [out] 0 on success, -1 on failure, sets errno.
+//============================================================================
+int mki::connect( const char* const interface )
+{
+	return m_can.connect( interface );
+
+}
+
+//============================================================================
+// Summary:
+//   Enables some of the available lamps in the cockpit.
+//
+//   Possible values are:
+//      MKI_ABS, MKI_ESP, MKI_ENGINE, MKI_WARN,
+//      MKI_WARN_BLINK, MKI_FUEL_LOW
+//      MKI_HANDBRAKE will cause alarm beep when Mph > 0
+//
+//   Combine them via logical OR to enable more than one at the same time.
+//   Each call will reset the lamp status, so a setLamps(0) will disable all.
+//
+// Parameters:
+//   [in] lamps - bitmask which contains the lamps to activate.
+//============================================================================
+void mki::setLamps( const unsigned int lamps )
+{
+	// erase the used bytes to make things easier
+	m_can_id_200.data[0] = 0;
+	m_can_id_308.data[3] = 0;
+
+	// activate handbrake lamp. can cause alarm beep when moving
+	if ( lamps & MKI_HANDBRAKE )
+		m_can_id_200.data[0] |= 0x02;
+
+	// activate abs lamp
+	if ( lamps & MKI_ABS )
+		m_can_id_200.data[0] |= 0x04;
+
+	// activate esp lamp
+	if ( lamps & MKI_ESP )
+		m_can_id_200.data[0] |= 0x08;
+
+	// activate warning triangle
+	if ( lamps & MKI_WARN )
+		m_can_id_200.data[0] |= 0x10;
+
+	// activate warning triangle and let it blink. ignores MKI_WARN.
+	if ( lamps & MKI_WARN_BLINK )
+		m_can_id_200.data[0] |= 0x20;
+
+	// activate fuel low lamp
+	if ( lamps & MKI_FUEL_LOW )
+		m_can_id_308.data[3] |= 0x01;
+
+	// activate engine lamp
+	if ( lamps & MKI_ENGINE )
+		m_can_id_308.data[3] |= 0x02;
+
+}
+
+void mki::setLampsOff( void )
+{
+	// erase the used bytes to make things easier
+	m_can_id_200.data[0] = 0;
+	m_can_id_308.data[3] = 0;
+
+	// activate handbrake lamp. can cause alarm beep when moving
+
+		m_can_id_200.data[0] |= 0x00;
+
+
+}
+
+
+
+
+
+//============================================================================
+// Summary:
+//   Sets the Rpm.
+// Parameters:
+//   [in] rpm - the rpm to be set, only values between 0 and 7000 make sense.
+//============================================================================
+void mki::setRpm( const unsigned short rpm )
+{
+	// dont allow values higher than 7000, or you may not see anyhting
+	const unsigned short int rpm_ = (rpm > 7000) ? 7000 : rpm;
+
+	// convert the rpm for the message bytes
+	const unsigned short int hbyte = rpm_ / 250;
+	const unsigned short int lbyte = rpm_ - (hbyte *  250);
+
+	// set variables
+	m_can_id_308.data[1] = hbyte;
+	m_can_id_308.data[2] = lbyte;
+}
+
+
+//============================================================================
+// Summary:
+//   Sets the Mph.
+// Parameters:
+//   [in] mph - the mph to be set, only values between 0 and 160 make sense.
+//============================================================================
+void mki::setMph( const unsigned char mph )
+{
+	// calculate low and high byte
+	unsigned short int hbyte = mph / 10;
+	unsigned short int lbyte = (mph - (hbyte * 10)) * 25;
+
+	// filter high byte, since bit 6 and 7 make the hbyte value invalid
+	hbyte &= 0x3F;
+
+	// set address 0x200 properties
+	m_can_id_200.data[2] = hbyte;
+	m_can_id_200.data[3] = lbyte;
+	m_can_id_200.data[4] = hbyte;
+	m_can_id_200.data[5] = lbyte;
+
+	// set address 0x208 properties
+	m_can_id_208.data[4] = hbyte;
+	m_can_id_208.data[5] = lbyte;
+	m_can_id_208.data[6] = hbyte;
+	m_can_id_208.data[7] = lbyte;
+
+}
+
+
+//============================================================================
+// Summary:
+//   Sets the cooling water temperature.
+//   Just give the value you want to see in degree, e.g. setCWTemp(85).
+//   Only values between 40 and 130 make sense, everything else
+//   wont be displayed due to display limitatios.
+//
+// Parameters:
+//   [in] temp - the temperature to be set.
+//============================================================================
+void mki::setCWTemp( const unsigned char temp )
+{
+	// we need to add an offset of 40 to show the temperature 1:1,
+	// since the display wont show anything when we reach 0xFF,
+	// we will simply limit the value to the highest possible setting.
+	m_can_id_608.data[0] = ((temp + 40) > 176) ? 176 : temp + 40;
+}
+
+
+//============================================================================
+// Summary:
+//   Sets the properties of the limit mode which is shown in the lcd-display.
+//
+//   Possible values are:
+//     MKI_LIMIT       = activates a big limit view in the lcd-display,
+//                       if no changes are made it will switch back and forth
+//                       between the main and limit display for a short while,
+//                       and then stays in the main mode.
+//     MKI_LIMIT_TEXT  = activates a small limit text in the main display mode.
+//     MKI_PERMANENT   = make the MKI_LIMIT view permanently visible.
+//     MKI_EXCEED      = alarm beep and "exceeded" message in the limit view.
+//     MKI_WINTER_TYRE = switches "limit" text to "winter tyre limit".
+//     MKI_MPH_BLINK   = let the mph value blink.
+//     MKI_NO_MPH      = show --- instad of the mph value.
+//
+//   The mph value shown there can be controlled with setLimitMph(mph);
+//
+// Parameters:
+//   [in] flags - a bitmask which control the different modes.
+//============================================================================
+void mki::setDisplay( const unsigned int flags )
+{
+
+	// just kill the data content except for byte 7
+	// makes life much easier for us in this function
+	unsigned short int i;
+	for (i = 0; i < 7; i++)
+		m_can_id_210.data[i] = 0;
+
+	// enable limit display
+	if ( flags & MKI_LIMIT )
+		m_can_id_210.data[5] |= 0x01;
+
+	// set permanent limit display
+	if ( flags & MKI_PERMANENT )
+		m_can_id_210.data[3] = 0x80;
+
+	// shall the mph value blink?
+	if ( flags & MKI_MPH_BLINK )
+		m_can_id_210.data[5] |= 0x02;
+
+	// --- instead of mph value?
+	if ( flags & MKI_NO_MPH )
+		m_can_id_210.data[5] |= 0x08;
+
+	// enable winter tyre message instad of limit
+	if ( flags & MKI_NO_MPH )
+		m_can_id_210.data[5] |= 0x08;
+
+	// exceed warning with alarm sound
+	if ( flags & MKI_EXCEED )
+		m_can_id_210.data[4] |= 0x01;
+
+	// exceed warning with alarm sound
+	if ( flags & MKI_LIMIT_TEXT )
+		m_can_id_210.data[4] |= 0x08;
+
+}
+
+
+//============================================================================
+// Summary:
+//   Sets the Mph you see in the limit display if you activate
+//   it via setDisplay(MKI_LIMIT) or setDisplay(MKI_LIMIT_TEXT).
+// Parameters:
+//   [in] mph - the mph to be set, a value between 0 and 255.
+//============================================================================
+void mki::setDisplayMph( const unsigned char mph )
+{
+	// just copy the value
+	m_can_id_210.data[7] = mph;
+
+}
+
+
+//============================================================================
+// Summary:
+//   Sets an alert message. Possible alerts are:
+//
+//     MKI_OIL_LOW        = shows "engine oil level, stop. ENGINE OFF!" alert.
+//     MKI_TIRE_PRESSURE  = shows "tire pressure low, check tires".
+//     MKI_TIRE_DEFECT    = shows "tire pressure low, caution tire defect!".
+//
+//   The alerts can be combined via logical OR, in this case it will
+//   alert beep once for every error and then switch back and forth
+//   between the enabled alerts, MKI_TIRE_DEFECT however overrides
+//   MKI_TIRE_PRESSURE, so you wont see it after setting MKI_TIRE_DEFECT.
+//
+//   To deactivate the alerts just call setAlert(0).
+//   It can also take a second or two until the alert gets active.
+//
+// Parameters:
+//   [in] alert - see the description above.
+//============================================================================
+void mki::setAlert( const unsigned int alert )
+{
+	// we have a alert
+	if (alert)
+	{
+		// set the appropiate variable so
+		// sendData() will send the 0x550 message
+		m_alert = 1;
+
+		// kill byte to make things easier
+		m_can_id_550.data[0] = 0;
+
+		// tire pressure low alert
+		if ( alert & MKI_TIRE_PRESSURE )
+			m_can_id_550.data[0] |= 0x10;
+
+		// tire defect alert
+		if ( alert & MKI_TIRE_DEFECT )
+			m_can_id_550.data[0] |= 0x20;
+
+	}
+	else
+	{
+		// unset the appropiate variable so
+		// sendData() wont send the 0x550 message
+		m_alert = 0;
+	}
+}
+
+
+//============================================================================
+// Summary:
+//   Sends all the messages the display needs to function.
+//   You need to call this command every 50ms or so to keep
+//   everything working, best use a while-loop like this:
+//
+//   while (1) { mki_object.sendData(); usleep(50000); }
+//
+//   It may be tedious, but makes usage a bit easier, and you can decide
+//   on your own how to implement it (let it run in a seperate pthread or so).
+//
+//   Be aware that the function itself sleeps a good time to prevent
+//   write buffer overflows, together its roughly 50ms,
+//   60ms if you enabled alerts.
+//
+// Parameters:
+//   none
+//============================================================================
+// TODO mki::sendData() - Implement error handling to make it more solid.
+void mki::sendData(void)
+{
+
+	// sleep 10ms between the messages to prevent
+	// write buffer error that will happen otherwise.
+	m_can.writeMsg(&m_can_id_200);
+	usleep(1000);
+
+	m_can.writeMsg(&m_can_id_208);
+	usleep(1000);
+
+	m_can.writeMsg(&m_can_id_210);
+	usleep(1000);
+
+	m_can.writeMsg(&m_can_id_308);
+	usleep(1000);
+
+	m_can.writeMsg(&m_can_id_312);
+	usleep(1000);
+
+	m_can.writeMsg(&m_can_id_608);
+	usleep(1000);
+
+	// Only write 550 if we have alerts
+	if (m_alert) {
+		m_can.writeMsg(&m_can_id_550);
+		usleep(1000);
+	}
+
+}
+
+//============================================================================
+// Summary:
+//   Sets the Kmh.
+//   Works the same wike like setMph(), the Kmh will be converted
+//   into Mph and then shown on the display.
+//
+// Parameters:
+//   [in] mph - the mph to be set, only values between 0 and 255 make sense.
+//============================================================================
+void mki::setKmh ( const unsigned char kmh )
+{
+	// convert bewteen kmh and mph
+	// and call the appropiate function
+	setMph( (char)(kmh * 0.6f) );
+}
+
+
+//============================================================================
+// Summary:
+//   Sets the Kmh for the limit modes.
+//   Works the same wike like setDisplayMph(), the Kmh will be converted
+//   into Mph and then shown on the display if you used
+//   setDisplay(MKI_LIMIT) or setDisplay(MKI_LIMIT_TEXT).
+//
+// Parameters:
+//   [in] mph - the mph to be set, only values between 0 and 255 make sense.
+//============================================================================
+void mki::setDisplayKmh ( const unsigned char kmh )
+{
+	// convert bewteen kmh and mph
+	// and call the appropiate function
+	setMph( (char)(kmh * 0.6f) );
+}
+
+
+//============================================================================
+// Summary:
+//   Gives back a pointer to the CanIO class that is used to connect
+//   to the can interface. Allows you to set some properties like
+//   hideErrors() or Loopback. Be cautious with it, the mki-class isnt
+//   really prepared for some of the errors you could cause with it.
+//
+// Parameters:
+//   [out] mph - the mph to be set, only values between 0 and 255 make sense.
+//============================================================================
+// TODO mki::getInterface - Try to optimize the class in a way that allows us to remove this function.
+// At the moment the error handling is pretty bad, so you will get spammed with error messages or
+// gibberisch when you try to send and the interface isnt up for example, so this needs work.
+CanIO* mki::getInterface(void)
+{
+	// return the reference
+	return &m_can;
+}
+
+