Diff: ControllerCAN.cpp

Revision:

1:b69d05604535

Parent:

0:ebe6f5e97160

Child:

2:c81dff9c8a93

--- a/ControllerCAN.cpp	Sat Feb 06 14:10:54 2016 +0000
+++ b/ControllerCAN.cpp	Sat Feb 06 14:18:08 2016 +0000
@@ -3,7 +3,7 @@
 
 ControllerCAN::ControllerCAN() : can(p30, p29) {
     can.frequency(250000);              // Baud rate : kbits/s
-    can.attach(this, &ControllerCAN::can_ISR_Reader);        // Fonction d'interruption CAN
+    can.attach(this, &ControllerCAN::can_ISR_Reader);        // CAN ISR
     FIFO_ecriture = 0;
     FIFO_lecture = 0;
     FIFO_occupation = 0;
@@ -13,8 +13,8 @@
 ControllerCAN::~ControllerCAN(){
 }
 
-void ControllerCAN::attach(PeripherialCAN* peripherial){
-    peripherials.push_back(peripherial);
+void ControllerCAN::attach(PeripheralCAN* peripheral){
+    peripherals.push_back(peripheral);
 }
 
 long ControllerCAN::writeData(long Id, const char *data, char len){
@@ -34,23 +34,15 @@
     if(FIFO_max_occupation<FIFO_occupation)
         FIFO_max_occupation=FIFO_occupation;
     if(FIFO_occupation>SIZE_FIFO)
-        {}//while(!can.write(CANMessage(LCD_OVERFLOW,CANStandard)));
+        {}
     if(FIFO_occupation!=0)
     {
-        /*if(can_MsgRx[FIFO_lecture].id == Id)
-        {                    
-            //data = can_MsgRx[FIFO_lecture].data;
-            msg = can_MsgRx[FIFO_lecture];
-            FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
-            return 1;
-        }
-        return 0;*/
         char res = 0;
-        for (int i = 0; i < peripherials.size(); i++){
-            vector<unsigned short*> IdsRead = peripherials[i]->getIdsRead();
+        for (int i = 0; i < peripherals.size(); i++){
+            vector<unsigned short*> IdsRead = peripherals[i]->getIdsRead();
             for (int j = 0; j < IdsRead.size() ; j++){
                 if (can_MsgRx[FIFO_lecture].id == *(IdsRead[j])){
-                    peripherials[i]->update(*(IdsRead[j]), can_MsgRx[FIFO_lecture]);
+                    peripherals[i]->update(*(IdsRead[j]), can_MsgRx[FIFO_lecture]);
                     res = 1;
                     break;
                 }
@@ -63,55 +55,10 @@
     return -1;
 }
 
-/*void ControllerCAN::FIFO_remove_msg(void){
-    FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
-}*/
-
 void ControllerCAN::can_ISR_Reader(void){
     if (can.read(can_MsgRx[FIFO_ecriture]))
     {
       // FIFO gestion
        FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
     }
-}
-
-/**void ControllerCAN::CAN_automate_reception(void){
-  
-    static signed char FIFO_lecture=0,FIFO_occupation=0,FIFO_max_occupation=0;
-    FIFO_occupation=FIFO_ecriture-FIFO_lecture;
-    if(FIFO_occupation<0)
-        FIFO_occupation=FIFO_occupation+SIZE_FIFO;  
-    if(FIFO_max_occupation<FIFO_occupation)
-        FIFO_max_occupation=FIFO_occupation;
-    if(FIFO_occupation>SIZE_FIFO)
-        //while(!can.write(CANMessage(LCD_OVERFLOW,CANStandard)));
-    if(FIFO_occupation!=0)
-    {
-        switch(can_MsgRx[FIFO_lecture].id)
-        {                    
-            case MOT_G_DAT_1 :
-                MOT_G_vit=(short)(can_MsgRx[FIFO_lecture].data[1]*256)+can_MsgRx[FIFO_lecture].data[0];
-                MOT_G_i=(short)(can_MsgRx[FIFO_lecture].data[3]*256)+can_MsgRx[FIFO_lecture].data[2];
-                MOT_G_pos=( short)(can_MsgRx[FIFO_lecture].data[5]*256)+can_MsgRx[FIFO_lecture].data[4];
-                break;
-            case MOT_G_DAT_2 : 
-                MOT_G_voltage=(unsigned short)(can_MsgRx[FIFO_lecture].data[3]*256)+can_MsgRx[FIFO_lecture].data[2];
-                MOT_G_temp1=( short)(can_MsgRx[FIFO_lecture].data[5]*256)+can_MsgRx[FIFO_lecture].data[4];
-                MOT_G_temp2=( short)(can_MsgRx[FIFO_lecture].data[7]*256)+can_MsgRx[FIFO_lecture].data[6];
-                break;
-            case MOT_D_DAT_1 :
-                MOT_D_vit=(short)(can_MsgRx[FIFO_lecture].data[1]*256)+can_MsgRx[FIFO_lecture].data[0];
-                MOT_D_i=(short)(can_MsgRx[FIFO_lecture].data[3]*256)+can_MsgRx[FIFO_lecture].data[2];
-                MOT_D_pos=( short)(can_MsgRx[FIFO_lecture].data[5]*256)+can_MsgRx[FIFO_lecture].data[4];
-                break;
-            case MOT_D_DAT_2 : 
-                MOT_D_voltage=(unsigned short)(can_MsgRx[FIFO_lecture].data[3]*256)+can_MsgRx[FIFO_lecture].data[2];
-                MOT_D_temp1=( short)(can_MsgRx[FIFO_lecture].data[5]*256)+can_MsgRx[FIFO_lecture].data[4];
-                MOT_D_temp2=( short)(can_MsgRx[FIFO_lecture].data[7]*256)+can_MsgRx[FIFO_lecture].data[6];
-                break;
-            default:
-                break;              
-        }
-    FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
-    }
-}**/
\ No newline at end of file
+}
\ No newline at end of file