Revision 1:69a8c8a7cf1d, committed 2019-04-01

Comitter:

LukeMar

Date:

Mon Apr 01 04:24:18 2019 +0000

Parent:

0:8128714922a1

Commit message:

4/1/19

Changed in this revision

--- a/main.cpp	Sun Mar 17 01:01:21 2019 +0000
+++ b/main.cpp	Mon Apr 01 04:24:18 2019 +0000
@@ -6,14 +6,14 @@
 
 #define RUDDER_ID     1   //Address of this CAN device
 #define BNO_ID     2  //Address of Control CAN device
-#define TELE_ID     3 
-#define RC_ID     4 
+#define TELE_ID     3
+#define RC_ID     4
 
 Serial pc(USBTX, USBRX);    //tx, and rx for tera term
 DigitalOut led1(LED1);      //heartbeat
 DigitalOut led2(LED2);      //CAN read activity
 DigitalOut led3(LED3);      //CAN write activity
-
+DigitalOut led4(LED4);
 CAN can(p30,p29);      //CAN interface
 
 
@@ -23,65 +23,198 @@
 float RC_out;
 char datastr[20];
 CANMessage msg_read;
+float ff = 1.0;
 
-float CanValue(){ 
-    strcpy(datastr, (char*)msg_read.data+1); 
-    float value = strtod(datastr,NULL);
-    return value;      
-}
+float data; //telemetry data transmition
 
-void alive(void){
-    led1 = !led1;
-    if(led1)
-        pulse.attach(&alive, .2); // the address of the function to be attached (flip) and the interval (2 seconds)     
-    else
-        pulse.attach(&alive, 1.3); // the address of the function to be attached (flip) and the interval (2 seconds)
+float CanValue()
+{
+    strcpy(datastr, (char*)msg_read.data+1);
+    float value = strtod(datastr,NULL);
+    return value;
 }
 
-void Bno_Read(){
-        
-        while(can.read(msg_read)){ //if message is available, read into msg
-            if(msg_read.id == BNO_ID){    //if its the BNO ID           
-                if(msg_read.data[0] == 's' || msg_read.data[0] == 'S'){
-                    led2 = !led2;
-                    BNOangle = CanValue();
-                    pc.printf("BNO: %.1f\n",BNOangle);  
-                }//if the first letter was an 's', it is a servo command
-            }   //was the message to this device?
-        }//while a CAN message has been read                         
-   //return datastr;
+//void alive(void)
+//{
+//    led1 = !led1;
+//   if(led1)
+//       pulse.attach(&alive, .2); // the address of the function to be attached (flip) and the interval (2 seconds)
+//   else
+//       pulse.attach(&alive, 1.3); // the address of the function to be attached (flip) and the interval (2 seconds)
+//}
+void Time_Read();
+void Lat_Read();
+void Long_Read();
+void Bno_Read();
+void Rudder_Read();
+void Mast_Read();
+
+
+int main()
+{
+
+    Thread::wait(200);
+
+    // pulse.attach(&alive, 2.0); // the address of the function to be attached (alive) and the interval (2 seconds)
+    can.frequency(500000);
+    pc.baud(115200);
+
+    pc.printf("%s\r\n", __FILE__);
+
+    while(1) {
+        //while(msg_read.data[0] != 'm' || msg_read.data[0] != 'M') {Thread::wait(ff);}
+        //Time_Read();
+
+        //while(msg_read.data[0] != 'm' || msg_read.data[0] != 'M') {Thread::wait(ff);}
+        //Lat_Read();
+
+        //while(msg_read.data[0] != 'm' || msg_read.data[0] != 'M') {Thread::wait(ff);}
+        //Long_Read();
 
-}
-void RC_Read(){
-        
-        while(can.read(msg_read)){ //if message is available, read into msg
-            if(msg_read.id == RC_ID){    //if its the BNO ID           
-                if(msg_read.data[0] == 'r' || msg_read.data[0] == 'R'){
-                    led3 = !led3;
-                    RC_out = CanValue();
-                    pc.printf("RC: %.1f\n",RC_out);  
-                }//if the first letter was an 's', it is a servo command
-            }   //was the message to this device?
-        }//while a CAN message has been read                         
-   //return datastr;
+        //while(msg_read.data[0] != 'b' || msg_read.data[0] != 'B') {Thread::wait(ff);}
+        Bno_Read();
+
+        //while(msg_read.data[0] != 'r' || msg_read.data[0] != 'R') {Thread::wait(ff);}
+        Rudder_Read();
+
+        //while(msg_read.data[0] != 'm' || msg_read.data[0] != 'M') {Thread::wait(ff);}
+        Mast_Read();
+
+    }
+
+
+}//main
+
+
+void Bno_Read()
+{
+
+    while(can.read(msg_read)) { //if message is available, read into msg
+
+        if(msg_read.id == BNO_ID) {   //if its the BNO ID
+
+            if(msg_read.data[0] == 'b' || msg_read.data[0] == 'B') {
+
+                led1 = !led1;
+                BNOangle = CanValue();
+                //data = BNOangle;       //a similar form of the code everywhere
+                //myFloat.m_float = data;
+                //data = myFloat.m_float;   // get the float back from the union
+                pc.printf("BNO: %.1f", BNOangle); //data);
+
+            }//if the first letter was an 's', it is a servo command
+        }   //was the message to this device?
+
+    }//while a CAN message has been read
+    //return datastr;
 
 }
 
-int main() {
-    
-    Thread::wait(200);
-    
-    pulse.attach(&alive, 2.0); // the address of the function to be attached (alive) and the interval (2 seconds)
-    can.frequency(500000);
-    pc.baud(115200);                
-    
-    pc.printf("%s\r\n", __FILE__);
-    
-    while(1){
-         Bno_Read();
-         RC_Read();
-        
-        }
-        
-   
-}//main
\ No newline at end of file
+void Lat_Read()
+{
+
+    while(can.read(msg_read)) { //if message is available, read into msg
+
+        if(msg_read.id == BNO_ID) {   //if its the BNO ID
+
+            if(msg_read.data[0] == 'L' || msg_read.data[0] == 'l') {
+
+                //led2 = !led2;
+                BNOangle = CanValue();
+                //data = BNOangle;       //a similar form of the code everywhere
+                //myFloat.m_float = data;
+                //data = myFloat.m_float;   // get the float back from the union
+                pc.printf("Lat: %.1f", BNOangle); //data);
+                //Thread::wait(ff);
+            }//if the first letter was an 's', it is a servo command
+        }   //was the message to this device?
+    }//while a CAN message has been read
+    //return datastr;
+
+}
+
+void Long_Read()
+{
+
+    while(can.read(msg_read)) { //if message is available, read into msg
+
+        //if(msg_read.id == BNO_ID) {   //if its the BNO ID
+
+        if(msg_read.data[0] == 'O' || msg_read.data[0] == 'o') {
+
+            //led2 = !led2;
+            BNOangle = CanValue();
+            //data = BNOangle;       //a similar form of the code everywhere
+            //myFloat.m_float = data;
+            //data = myFloat.m_float;   // get the float back from the union
+            pc.printf("Long: %.1f", BNOangle); //data);
+            //Thread::wait(ff);
+        }//if the first letter was an 's', it is a servo command
+        //}   //was the message to this device?
+    }//while a CAN message has been read
+    //return datastr;
+
+}
+
+void Time_Read()
+{
+    float time;
+    while(can.read(msg_read)) { //if message is available, read into msg
+
+        //if(msg_read.id == BNO_ID) {   //if its the BNO ID
+
+        if(msg_read.data[0] == 't' || msg_read.data[0] == 'T') {
+
+            led2 = !led2;
+            time = CanValue();
+            //data = BNOangle;       //a similar form of the code everywhere
+            //myFloat.m_float = data;
+            //data = myFloat.m_float;   // get the float back from the union
+            pc.printf("Time: %.1f", time); //data);
+            //Thread::wait(ff);
+        }//if the first letter was an 's', it is a servo command
+        // }   //was the message to this device?
+    }//while a CAN message has been read
+    //return datastr;
+
+}
+
+void Rudder_Read()
+{
+
+    while(can.read(msg_read)) { //if message is available, read into msg
+        //if(msg_read.id == RC_ID) {   //if its the BNO ID
+        if(msg_read.data[0] == 'r' || msg_read.data[0] == 'R') {
+            led3 = !led3;
+            RC_out = CanValue(); //I know this is redundant but i use
+            //data = RC_out;       //a similar form of the code everywhere
+            //myFloat.m_float = data;
+            //data = myFloat.m_float;   // get the float back from the union
+            pc.printf("Rudder: %.1f", RC_out); //data);
+            //Thread::wait(ff);
+        }//if the first letter was an 's', it is a servo command
+        // }   //was the message to this device?
+    }//while a CAN message has been read
+    //return datastr;
+
+}
+
+void Mast_Read()
+{
+
+    while(can.read(msg_read)) { //if message is available, read into msg
+        // if(msg_read.id == RC_ID) {   //if its the BNO ID
+        if(msg_read.data[0] == 'm' || msg_read.data[0] == 'M') {
+            led4 = !led4;
+            RC_out = CanValue(); //I know this is redundant but i use
+            //data = RC_out;       //a similar form of the code everywhere
+            //myFloat.m_float = data;
+            //data = myFloat.m_float;   // get the float back from the union
+            pc.printf("Mast: %.1f\n", RC_out); //data);
+            //Thread::wait(ff);
+        }//if the first letter was an 's', it is a servo command
+        //}   //was the message to this device?
+    }//while a CAN message has been read
+    //return datastr;
+
+}
\ No newline at end of file