Mario Bambagini / Mbed 2 deprecated car_chassis

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Dependencies:   Servo mbed-rtos mbed

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Show/hide line numbers diag.cpp Source File

diag.cpp

00001 #include "car_config.hpp"
00002 #include "can.hpp"
00003 #include "net.hpp"
00004 #include "mbed.h"
00005 #include "rtos.h"
00006 
00007 void init_diag () {
00008 }
00009 
00010 void thread_diag (void const *args) {
00011   while(1) {
00012     if (can_cmd_diag.flag == CAN_FLAG_RECEIVED) {
00013       uint16 cmd = can_cmd_diag.payload.msg.cmd;
00014       uint32 data = can_cmd_diag.payload.msg.data;
00015       switch(cmd) {
00016         case CMD_ECHO:
00017           can_sts_diag.payload.msg.data = data;
00018           can_sts_diag.flag = CAN_FLAG_SEND;
00019           break;
00020         default:
00021           //ignore it
00022           break;
00023       }
00024       can_cmd_diag.flag = CAN_FLAG_EMPTY;
00025     }
00026     Thread::wait(DIAG_THREAD_PERIOD);
00027   }
00028 }
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