Diff: main.cpp

Revision:

0:27339bb50fd6

Child:

1:248c00db9e9d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jul 13 01:51:12 2021 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+
+#define CAN_TD D2
+#define CAN_RD D10
+
+#define INTERRUPT D8
+
+#define LEFTJOYSTICK true
+
+I2C i2c(I2C_SDA, I2C_SCL);
+InterruptIn interrupt(INTERRUPT);
+Serial pc(USBTX, USBRX);
+
+CAN can1(CAN_RD, CAN_TD);
+
+const int main_addr = 0x81;
+const int alt_addr = 0x83;
+const int control = 0x76;
+
+char rawReading[2];
+
+int xAxis = 0;
+int yAxis = 0;
+
+int main() {
+    
+    pc.printf("Starting I2C converter \n");
+    //interrupt.fall(&readSensor);
+    
+    can1.frequency(250000);
+    //can1.filter(0x70,0x70,CANExtended); //CANbus filtering to only accept 0x70
+    
+    CANMessage msg;
+    
+    msg.format = CANExtended;
+    msg.id = 0x71;   //messageID
+    msg.len = 8;     //length in bytes
+    
+    for(int i = 3; i<8; i++) {
+            msg.data[i] = 0;
+    }
+    
+    int addr = main_addr;
+    
+    if(LEFTJOYSTICK) {
+        addr = main_addr;
+        msg.data[0] = 0;
+    }
+    else {
+        addr = alt_addr;
+        msg.data[0] = 1;
+    }
+        
+    while(1) {
+        
+        i2c.read(addr, rawReading, 2);
+        xAxis = (int8_t)(rawReading[0]);
+        yAxis = (int8_t)(rawReading[1]);
+        msg.data[1] = xAxis;
+        msg.data[2] = yAxis;
+
+        //pc.printf("X: %d, Y: %d \n", xAxis, yAxis);
+        
+        can1.write(msg);
+        if(can1.read(msg)) {
+            //pc.printf("Recv: %d\n", msg.id);    
+        }
+        
+        //send out CANBus value
+        wait(0.02);
+    }
+}