Diff: payload.cpp

Revision:

17:faa4d4976d22

Parent:

16:f4277e9b8612

Child:

18:e6ed582f7022

diff -r f4277e9b8612 -r faa4d4976d22 payload.cpp
--- a/payload.cpp	Sat Jun 29 09:53:19 2019 +0000
+++ b/payload.cpp	Sat Jul 06 09:47:09 2019 +0000
@@ -1,9 +1,11 @@
 #include "mbed.h"
+#include "eventflags.h"
 
 extern unsigned char rx_buffer[8], tx_buffer[8];
 extern unsigned char rx_length, tx_length;
 extern uint8_t can_tx_data[8];
 extern uint8_t can_rx_data[8];
+extern int current_weight;
 
 typedef struct can_id_d {
     int dest_id;
@@ -20,11 +22,15 @@
 };
 can_id_d can_id_s;
 data_field_d can_rxdata_frame;
+data_field_d can_txdata_frame;
 CANMessage tx_message;
 extern MemoryPool<CANMessage, 16> can_mpool;
 extern Queue<CANMessage, 16> can_queue;
+extern void can_sendData(int can_id, uint8_t *tx_data, int length);
+
 void analyzePayload()
 {
+    int can_id;
     int loop;
     
     printf("analyzePayload thread\r\n");
@@ -58,6 +64,29 @@
             can_rxdata_frame.value3 = (can_rx_data[6] << 8 ) | can_rx_data[5];
             can_rxdata_frame.value4 = can_rx_data[7];
             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);                             
+            switch (can_rxdata_frame.cmd)
+            {
+                    case COMMAND_INIT:
+                        can_txdata_frame.cmd = COMMAND_INIT;
+                        can_txdata_frame.value1 = current_weight;
+                        can_txdata_frame.value2 = 0;
+                        can_txdata_frame.value3 = 0;
+                        can_txdata_frame.value4 = 0;
+                        can_tx_data[0] = can_txdata_frame.cmd;
+                        can_tx_data[1] = (can_txdata_frame.value1 & 0x00FF);
+                        can_tx_data[2] = ((can_txdata_frame.value1 >> 8) & 0x00FF);
+                        can_tx_data[3] = (can_txdata_frame.value2 & 0x00FF);
+                        can_tx_data[4] = ((can_txdata_frame.value2 >> 8) & 0x00FF);   
+                        can_tx_data[5] = (can_txdata_frame.value3 & 0x00FF);
+                        can_tx_data[6] = ((can_txdata_frame.value3 >> 8) & 0x00FF);  
+                        can_tx_data[7] = can_txdata_frame.value4;  
+                        can_id = (can_id_s.source_id << 18) | (can_id_s.dest_id << 7) | can_id_s.message_id | 0x80000000;
+                        can_sendData(can_id, can_tx_data, 8);
+                        break;
+                    default:
+                        break;
+                
+            }
         }
     }