Mario Bambagini / Mbed 2 deprecated car_chassis

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Dependencies:   Servo mbed-rtos mbed

Diff: diag.cpp

Revision:
3:bfc20ec72b15
Parent:
2:7dfc8dd6aab3
diff -r 7dfc8dd6aab3 -r bfc20ec72b15 diag.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/diag.cpp	Sun Oct 11 21:17:42 2015 +0000
@@ -0,0 +1,28 @@
+#include "car_config.hpp"
+#include "can.hpp"
+#include "net.hpp"
+#include "mbed.h"
+#include "rtos.h"
+
+void init_diag () {
+}
+
+void thread_diag (void const *args) {
+  while(1) {
+    if (can_cmd_diag.flag == CAN_FLAG_RECEIVED) {
+      uint16 cmd = can_cmd_diag.payload.msg.cmd;
+      uint32 data = can_cmd_diag.payload.msg.data;
+      switch(cmd) {
+        case CMD_ECHO:
+          can_sts_diag.payload.msg.data = data;
+          can_sts_diag.flag = CAN_FLAG_SEND;
+          break;
+        default:
+          //ignore it
+          break;
+      }
+      can_cmd_diag.flag = CAN_FLAG_EMPTY;
+    }
+    Thread::wait(DIAG_THREAD_PERIOD);
+  }
+}