Revision 1:8446a0d14877, committed 2015-08-31

Comitter:

mariob

Date:

Mon Aug 31 22:27:29 2015 +0000

Parent:

0:8097eeede645

Commit message:

program which tests the CAR project (concerning the CAN comunication)

Changed in this revision

--- a/main.cpp	Sun Aug 02 12:55:55 2015 +0000
+++ b/main.cpp	Mon Aug 31 22:27:29 2015 +0000
@@ -27,21 +27,30 @@
 DigitalOut led_body(LED1);
 DigitalOut led_engine(LED2);
 DigitalOut led_time(LED3);
+DigitalOut led_driver(LED4);
 
 CAN can(p9, p10);
 
 can_cmd_body_t can_cmd_body;
+can_cmd_engine_t can_cmd_engine;
+can_cmd_driver_t can_cmd_driver;
+can_cmd_time_t can_cmd_time;
 
 int counter = 0;
+int echo = 0;
 
-#define BODY_       2
-#define ENGINE_     13
-#define TIME_       40
+#define BODY_       4
+#define ENGINE_     2
+#define DRIVER_     5
+#define TIME_       11
 
 void send() {
-    printf("send()\r\n");
+    //printf("send()\r\n");
 
     static int body_n_sent = 0;
+    static int engine_n_sent = 0;
+    static int driver_n_sent = 0;
+    static int time_n_sent = 0;
 
     counter++;
 
@@ -50,12 +59,47 @@
         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");
+            led_body = !led_body;//printf("BODY OK\r\n");
         else
             printf("BODY NOT OK\r\n");
-        led_body = !led_body;
+        
         body_n_sent++;
     }
+
+    if ((counter%ENGINE_)==0) {
+        can_cmd_engine.payload.msg.steering = engine_n_sent;
+        can_cmd_engine.payload.msg.power = engine_n_sent+2;
+        can_cmd_engine.payload.msg.direction = engine_n_sent%2;
+        can_cmd_engine.payload.msg.breaking = (engine_n_sent%2)?0:1;
+        if(can.write(CANMessage(CAN_CMD_ENGINE_ID, (char*)(can_cmd_engine.payload.buf), 4)))
+            led_engine = !led_engine;//printf("ENGINE OK\r\n");
+        else
+            printf("ENGINE NOT OK\r\n");
+        
+        engine_n_sent++;
+    }
+
+    if ((counter%DRIVER_)==0) {
+        can_cmd_driver.payload.msg.cmd = 0x0A0A;
+        echo = counter;
+        can_cmd_driver.payload.msg.data = counter;
+        if(can.write(CANMessage(CAN_CMD_DRIVER_ID, (char*)(can_cmd_driver.payload.buf), 8)))
+            led_driver = !led_driver;//printf("DRIVER OK\r\n");
+        else
+            printf("DRIVER NOT OK\r\n");
+        
+        driver_n_sent++;
+    }
+    
+    if ((counter%TIME_)==0) {
+        can_cmd_time.payload.msg.time = time(NULL);
+        if(can.write(CANMessage(CAN_CMD_TIME_ID, (char*)(can_cmd_time.payload.buf), 4)))
+            led_time = !led_time;//printf("TIME OK\r\n");
+        else
+            printf("TIME NOT OK\r\n");
+
+        time_n_sent++;
+    }
     
 }
 
@@ -76,15 +120,27 @@
 */
 
     printf("main()\r\n");
-    ticker.attach(&send, 1);
-
+    ticker.attach(&send, 0.5);
+set_time(0);
     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);
+            switch(msg.id) {
+            case CAN_CMD_BODY_ID:
+                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);
+                break;
+            case CAN_STS_DRIVER_ID:
+                can_sts_driver_payload_t y;
+                y.buf[0] = msg.data[0]; y.buf[1] = msg.data[1]; y.buf[2] = msg.data[2]; y.buf[3] = msg.data[3];
+                if (y.msg.data == echo)
+                    printf("ECHO %d\r\n", y.msg.data);
+                else 
+                    printf("NO ECHO %d\r\n", y.msg.data);
+                break;
+            }
         }
         wait(1.0);
     }

--- a/net.hpp	Sun Aug 02 12:55:55 2015 +0000
+++ b/net.hpp	Mon Aug 31 22:27:29 2015 +0000
@@ -7,6 +7,11 @@
 #define CAN_FLAG_RECEIVED       0x01
 #define CAN_FLAG_SEND           0x02
 
+#define CAN_THREAD_PERIOD       100 //ms
+
+
+
+#define CMD_ECHO                0x0A0A
 
 /**************************************************
  * GLOBAL DEFINES
@@ -18,10 +23,24 @@
 #define CAN_CMD_DRIVER_ID       0x11
 #define CAN_STS_DRIVER_ID       0x10
 
-#define PERIOD_1s               10
-#define PERIOD_500ms            5
+#define PERIOD_3s               (3000/CAN_THREAD_PERIOD)
+#define PERIOD_1s               (1000/CAN_THREAD_PERIOD)
+#define PERIOD_500ms            (500/CAN_THREAD_PERIOD)
+#define PERIOD_400ms            (400/CAN_THREAD_PERIOD)
+#define PERIOD_300ms            (300/CAN_THREAD_PERIOD)
+#define PERIOD_200ms            (200/CAN_THREAD_PERIOD)
+#define PERIOD_100ms            (100/CAN_THREAD_PERIOD)
 
-#define CAN_STS_BODY_PERIOD     PERIOD_500ms
+#define CAN_STS_BODY_PERIOD     PERIOD_1s
+
+
+#define CAN_MISSING_DETECTION   PERIOD_3s
+
+#define CAN_MISSING_BODY_ID     0
+#define CAN_MISSING_ENGINE_ID   1
+#define CAN_MISSING_TIME_ID     2
+
+#define CAN_RX_PERIODIC_MSG     3
 
 /**************************************************
  * GLOBAL TYPES
@@ -100,7 +119,7 @@
         uint32 data;
     } msg;
 } can_cmd_driver_payload_t;
-typedef struct can_driver_time_s {
+typedef struct can_cmd_driver_s {
     can_cmd_driver_payload_t payload;
     uint8 flag;
 } can_cmd_driver_t;
@@ -119,6 +138,6 @@
 /**************************************************
  * DATA STRUCTURES
  **************************************************/
-void init_can(CAN *device);
+
 
 #endif //__NET_H__