Diff: source/port_helper.cpp

Revision:

0:6219434a0cb5

Child:

1:285c99dcbb25

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/port_helper.cpp	Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,141 @@
+
+/* Just for demonstration purposes - consider it a notepad
+ *
+ * sgrove
+ */
+
+#include "port_helper.h"
+#include "main.h"
+
+Serial Debug(USBTX, USBRX);
+DigitalOut running_status(LED1);
+
+extern uint8_t nodeID;
+extern uint8_t change_node_id;
+extern uint8_t digital_input[1];
+
+void initHelper()
+{
+	Debug.baud(57600);
+	printf(" CANopen port of CANfestival slave node (DS-401) \n");
+}
+
+void serviceHelper()
+{
+	static uint32_t cnt = 0;
+	// indicate that the stack is running
+	if (cnt++ > 100){
+		cnt = 0;
+		running_status = !running_status;
+	}
+}
+
+
+void printMsg(Message& msg)
+{
+	CANMessage m(msg.cob_id, (char*)msg.data, msg.len, static_cast<CANType>(msg.rtr), CANStandard);
+	// call the CANMessage formatted method
+	printMsg(m);
+}
+
+void printMsg(CANMessage& msg)
+{
+	// print the message
+	printf("ID: 0x%03X DLC: %d Data(0->7): 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n",
+	msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], 
+	msg.data[3], msg.data[4], msg.data[5], msg.data[6], msg.data[7]);
+
+}
+
+void serviceCOMCommands()
+{
+	static char msg[64];
+	static char w_loc=0;
+	if (Debug.readable()){
+		// store the data
+		if (w_loc < 64){
+			msg[w_loc++] = Debug.getc();
+		}
+		// clear the buffer and try again
+		else{
+			// clear the buffer
+			memset(msg, 0, 64);
+			w_loc = 0;
+			return;
+		}
+		// parse the message and act on it
+		if ((msg[w_loc-1] == '\r') || (msg[w_loc-1] == '\n') ){
+			// process the message and look for something familiar
+			if (strncmp(msg, "help", strlen("help")) == 0){
+			 	// print the help menu
+				printf("\t HELP OPTIONS (case sesnitive):\n");
+				printf("\t  help - display the available options\n");
+				printf("\t  id=xxx - change the node id\n");
+				printf("\t  about - get info about the node\n");
+				printf("\t  input=x - a decimal number\n");
+			}
+			else if (strncmp(msg, "id=", strlen("id=")) == 0){
+				// change the node ID
+				int res = atoi(msg+strlen("id="));
+				if ( (res > 0) && (res < 128) ){
+					nodeID = res;
+					printf("the new node_id = %d\n", nodeID);
+					change_node_id = 1;
+				}
+				else{
+					printf("invalid parameter");
+				}
+			}
+			else if (strncmp(msg, "about", strlen("about")) == 0){
+				// our call tag
+				printf(" CANopen port of CANfestival slave node (DS-401) \n");
+			}
+			else if (strncmp(msg, "input=", strlen("input=")) == 0){
+				// store the input value
+				digital_input[0] = (uint8_t)atoi(msg+strlen("input="));
+				printf("you entered %d", digital_input[0]);
+			}
+			// clear the buffer
+			memset(msg, 0, 64);
+			w_loc = 0;
+		}
+	}
+}
+
+/*
+WDT_IRQHandler           
+TIMER0_IRQHandler         
+TIMER1_IRQHandler         
+TIMER2_IRQHandler         
+TIMER3_IRQHandler         
+UART0_IRQHandler          
+UART1_IRQHandler          
+UART2_IRQHandler          
+UART3_IRQHandler          
+PWM1_IRQHandler           
+I2C0_IRQHandler           
+I2C1_IRQHandler           
+I2C2_IRQHandler           
+SPI_IRQHandler            
+SSP0_IRQHandler           
+SSP1_IRQHandler           
+PLL0_IRQHandler           
+RTC_IRQHandler            
+EINT0_IRQHandler          
+EINT1_IRQHandler          
+EINT2_IRQHandler          
+EINT3_IRQHandler          
+ADC_IRQHandler            
+BOD_IRQHandler            
+USB_IRQHandler            
+CAN_IRQHandler            
+DMA_IRQHandler          
+I2S_IRQHandler            
+ENET_IRQHandler       
+RIT_IRQHandler          
+MCPWM_IRQHandler             
+QEI_IRQHandler            
+PLL1_IRQHandler           
+USBActivity_IRQHandler
+CANActivity_IRQHandler
+*/