Diff: main.cpp

Revision:

0:8097eeede645

Child:

1:8446a0d14877

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Aug 02 12:55:55 2015 +0000
@@ -0,0 +1,91 @@
+#include "mbed.h"
+ 
+#include "net.hpp"
+ 
+/*
+Ticker ticker;
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+CAN can1(p9, p10);
+CAN can2(p30, p29);
+char counter = 0;
+
+void send() {
+    printf("send()\r\n");
+    if(can1.write(CANMessage(1337, &counter, 1))) {
+        printf("wloop()\r\n");
+        counter++;
+        printf("Message sent: %d\r\n", counter);
+    } 
+    led1 = !led1;
+}
+*/
+
+
+Ticker ticker;
+
+DigitalOut led_body(LED1);
+DigitalOut led_engine(LED2);
+DigitalOut led_time(LED3);
+
+CAN can(p9, p10);
+
+can_cmd_body_t can_cmd_body;
+
+int counter = 0;
+
+#define BODY_       2
+#define ENGINE_     13
+#define TIME_       40
+
+void send() {
+    printf("send()\r\n");
+
+    static int body_n_sent = 0;
+
+    counter++;
+
+    if ((counter%BODY_)==0) {
+        can_cmd_body.payload.msg.light_r = (body_n_sent&0x0001)==0x0001;
+        can_cmd_body.payload.msg.light_l = (body_n_sent&0x0002)==0x0002;
+        can_cmd_body.payload.msg.light_c = (body_n_sent&0x0004)==0x0004;
+        if(can.write(CANMessage(CAN_CMD_BODY_ID, (char*)(can_cmd_body.payload.buf), 4)))
+            printf("BODY OK\r\n");
+        else
+            printf("BODY NOT OK\r\n");
+        led_body = !led_body;
+        body_n_sent++;
+    }
+    
+}
+
+
+int main() {
+/*
+    printf("main()\r\n");
+    ticker.attach(&send, 1);
+    CANMessage msg;
+    while(1) {
+        printf("loop()\r\n");
+        if(can2.read(msg)) {
+            printf("Message received: %d\r\n", msg.data[0]);
+            led2 = !led2;
+        } 
+        wait(0.2);
+    }
+*/
+
+    printf("main()\r\n");
+    ticker.attach(&send, 1);
+
+    CANMessage msg;
+    while(1) {
+        if(can.read(msg)) {
+            can_sts_body_payload_t x;
+            x.buf[0] = msg.data[0]; x.buf[1] = msg.data[1]; x.buf[2] = msg.data[2]; x.buf[3] = msg.data[3];
+            x.buf[4] = msg.data[4]; x.buf[5] = msg.data[5]; x.buf[6] = msg.data[6]; x.buf[7] = msg.data[7];
+            printf("Message received: %d %d %d %d\r\n", x.buf[0], x.msg.eye_back_l, x.msg.eye_back_r, x.msg.eye_front);
+        }
+        wait(1.0);
+    }
+}