Feng Hong / Mbed OS Nucleo_rtos_basic

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payload.cpp@17:faa4d4976d22, 2019-07-06 (annotated)

Committer:
hi1000
Date:
Sat Jul 06 09:47:09 2019 +0000
Revision:
17:faa4d4976d22
Parent:
16:f4277e9b8612
Child:
18:e6ed582f7022
Add first command - Init

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hi1000 7:e0c7e624c5fa 1 #include "mbed.h"
hi1000 17:faa4d4976d22 2 #include "eventflags.h"
hi1000 7:e0c7e624c5fa 3
hi1000 8:6105ffbaf237 4 extern unsigned char rx_buffer[8], tx_buffer[8];
hi1000 7:e0c7e624c5fa 5 extern unsigned char rx_length, tx_length;
hi1000 9:486f65124378 6 extern uint8_t can_tx_data[8];
hi1000 9:486f65124378 7 extern uint8_t can_rx_data[8];
hi1000 17:faa4d4976d22 8 extern int current_weight;
hi1000 16:f4277e9b8612 9
hi1000 16:f4277e9b8612 10 typedef struct can_id_d {
hi1000 16:f4277e9b8612 11 int dest_id;
hi1000 16:f4277e9b8612 12 int source_id;
hi1000 16:f4277e9b8612 13 int message_id;
hi1000 16:f4277e9b8612 14 };
hi1000 16:f4277e9b8612 15
hi1000 16:f4277e9b8612 16 typedef struct data_field_d {
hi1000 16:f4277e9b8612 17 uint8_t cmd;
hi1000 16:f4277e9b8612 18 uint16_t value1;
hi1000 16:f4277e9b8612 19 uint16_t value2;
hi1000 16:f4277e9b8612 20 uint16_t value3;
hi1000 16:f4277e9b8612 21 uint8_t value4;
hi1000 16:f4277e9b8612 22 };
hi1000 16:f4277e9b8612 23 can_id_d can_id_s;
hi1000 16:f4277e9b8612 24 data_field_d can_rxdata_frame;
hi1000 17:faa4d4976d22 25 data_field_d can_txdata_frame;
hi1000 9:486f65124378 26 CANMessage tx_message;
hi1000 9:486f65124378 27 extern MemoryPool<CANMessage, 16> can_mpool;
hi1000 9:486f65124378 28 extern Queue<CANMessage, 16> can_queue;
hi1000 17:faa4d4976d22 29 extern void can_sendData(int can_id, uint8_t *tx_data, int length);
hi1000 17:faa4d4976d22 30
hi1000 7:e0c7e624c5fa 31 void analyzePayload()
hi1000 7:e0c7e624c5fa 32 {
hi1000 17:faa4d4976d22 33 int can_id;
hi1000 9:486f65124378 34 int loop;
hi1000 8:6105ffbaf237 35
hi1000 8:6105ffbaf237 36 printf("analyzePayload thread\r\n");
hi1000 8:6105ffbaf237 37 while (true) {
hi1000 8:6105ffbaf237 38 osEvent evt = can_queue.get();
hi1000 8:6105ffbaf237 39 if (evt.status == osEventMessage) {
hi1000 8:6105ffbaf237 40 CANMessage *message = (CANMessage*)evt.value.p;
hi1000 9:486f65124378 41 memcpy((void *)&tx_message, (void *)message, sizeof(tx_message));
hi1000 8:6105ffbaf237 42
hi1000 9:486f65124378 43 printf("analyzePayload got message id=%d 0x%08x\r\n", tx_message.id, tx_message.id);
hi1000 16:f4277e9b8612 44
hi1000 9:486f65124378 45 for (loop = 0; loop < tx_message.len; loop++)
hi1000 9:486f65124378 46 {
hi1000 9:486f65124378 47 can_rx_data[loop] = tx_message.data[loop];
hi1000 9:486f65124378 48 }
hi1000 9:486f65124378 49
hi1000 9:486f65124378 50 printf("analyzePayload got data: length:%d\r\n", tx_message.len);
hi1000 9:486f65124378 51 for (loop = 0; loop < tx_message.len; loop++)
hi1000 9:486f65124378 52 {
hi1000 9:486f65124378 53 printf("data[%d]=%d\r\n", loop, can_rx_data[loop]);
hi1000 9:486f65124378 54 }
hi1000 16:f4277e9b8612 55 can_id_s.dest_id = (tx_message.id & 0x1FFC0000) >> 18;
hi1000 16:f4277e9b8612 56 can_id_s.source_id = (tx_message.id & 0x0003FF80) >> 7;
hi1000 16:f4277e9b8612 57 can_id_s.message_id = (tx_message.id & 0x0000007F) >> 0;
hi1000 16:f4277e9b8612 58 // memcpy((void*)&can_rxdata_frame, (void*)can_rx_data, sizeof(can_rx_data));
hi1000 16:f4277e9b8612 59 can_mpool.free(message);
hi1000 16:f4277e9b8612 60 printf("dest_id=%d source_id=%d message_id=%d \r\n", can_id_s.dest_id, can_id_s.source_id, can_id_s.message_id);
hi1000 16:f4277e9b8612 61 can_rxdata_frame.cmd = can_rx_data[0];
hi1000 16:f4277e9b8612 62 can_rxdata_frame.value1 = (can_rx_data[2] << 8 ) | can_rx_data[1];
hi1000 16:f4277e9b8612 63 can_rxdata_frame.value2 = (can_rx_data[4] << 8 ) | can_rx_data[3];
hi1000 16:f4277e9b8612 64 can_rxdata_frame.value3 = (can_rx_data[6] << 8 ) | can_rx_data[5];
hi1000 16:f4277e9b8612 65 can_rxdata_frame.value4 = can_rx_data[7];
hi1000 16:f4277e9b8612 66 printf("cmd=%d, value1=0x%04x, value2=0x%04x, value3=0x%04x, value4=0x%02x \r\n", can_rxdata_frame.cmd, can_rxdata_frame.value1, can_rxdata_frame.value2, can_rxdata_frame.value3, can_rxdata_frame.value4);
hi1000 17:faa4d4976d22 67 switch (can_rxdata_frame.cmd)
hi1000 17:faa4d4976d22 68 {
hi1000 17:faa4d4976d22 69 case COMMAND_INIT:
hi1000 17:faa4d4976d22 70 can_txdata_frame.cmd = COMMAND_INIT;
hi1000 17:faa4d4976d22 71 can_txdata_frame.value1 = current_weight;
hi1000 17:faa4d4976d22 72 can_txdata_frame.value2 = 0;
hi1000 17:faa4d4976d22 73 can_txdata_frame.value3 = 0;
hi1000 17:faa4d4976d22 74 can_txdata_frame.value4 = 0;
hi1000 17:faa4d4976d22 75 can_tx_data[0] = can_txdata_frame.cmd;
hi1000 17:faa4d4976d22 76 can_tx_data[1] = (can_txdata_frame.value1 & 0x00FF);
hi1000 17:faa4d4976d22 77 can_tx_data[2] = ((can_txdata_frame.value1 >> 8) & 0x00FF);
hi1000 17:faa4d4976d22 78 can_tx_data[3] = (can_txdata_frame.value2 & 0x00FF);
hi1000 17:faa4d4976d22 79 can_tx_data[4] = ((can_txdata_frame.value2 >> 8) & 0x00FF);
hi1000 17:faa4d4976d22 80 can_tx_data[5] = (can_txdata_frame.value3 & 0x00FF);
hi1000 17:faa4d4976d22 81 can_tx_data[6] = ((can_txdata_frame.value3 >> 8) & 0x00FF);
hi1000 17:faa4d4976d22 82 can_tx_data[7] = can_txdata_frame.value4;
hi1000 17:faa4d4976d22 83 can_id = (can_id_s.source_id << 18) | (can_id_s.dest_id << 7) | can_id_s.message_id | 0x80000000;
hi1000 17:faa4d4976d22 84 can_sendData(can_id, can_tx_data, 8);
hi1000 17:faa4d4976d22 85 break;
hi1000 17:faa4d4976d22 86 default:
hi1000 17:faa4d4976d22 87 break;
hi1000 17:faa4d4976d22 88
hi1000 17:faa4d4976d22 89 }
hi1000 8:6105ffbaf237 90 }
hi1000 8:6105ffbaf237 91 }
hi1000 8:6105ffbaf237 92
hi1000 7:e0c7e624c5fa 93
hi1000 7:e0c7e624c5fa 94 }