Diff: Devices/CAN_Device.cpp

Revision:

15:c944ee3c8a5b

Parent:

11:bc9cd2869f95

Child:

16:2482d226cf4d

--- a/Devices/CAN_Device.cpp	Thu Oct 02 23:49:44 2014 +0000
+++ b/Devices/CAN_Device.cpp	Fri Oct 03 17:31:04 2014 +0000
@@ -20,7 +20,18 @@
 //    
 //    //channel must be either CAN1 or CAN2
 //    if (tempChannel == 1 || tempChannel == 2){
-//                this->selectedCAN =  tempChannel;
+//        if (tempChannel == 1){
+//            this->pinRD = p30;
+//            this->pinTD = p29;
+//        }
+//        else if (tempChannel == 2){
+//            this->pinRD = p9;
+//            this->pinTD = p10;
+//        }
+//        
+//        this->selectedCAN =  tempChannel;
+//    }
+//    
 //    else
 //        this->errorFlag = 1;
 //         
@@ -43,34 +54,60 @@
 ////A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
 //int CAN_Device::CAN_Device(LineData &lineData){
 //
+//    //Initialize the CAN device
+//    CAN canDevice(pinRD, pinTD);
+//    canDevice.frequency(125000);
+//
 //    //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
 //    string func = lineData.word[1];
 //        
 //    /******************************************************************************/
-//    /***                       <Func: enableBrake>                              ***/
+//    /***                            <Func: write>                               ***/
 //    /******************************************************************************/
 //    if (func.compare("write") == 0){
-//    //line looks like: Local_Name, write, ID_val, byte 
-//        if (lineData.numWords > 5){
+//    //line looks like: Local_Name, write, ID_val, length_val, data 
+//        if (lineData.numWords < 5){
 //            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
 //            return -1;
 //        }
 //        
 //        //Initialize and Convert Parameters
-//        string enable = lineData.word[2];
-//        int enableValue = 0;
+//        string _id = lineData.word[2];
+//        string _length = lineData.word[3];
+//        string _data = lineData.word[4];
+//        int _idValue = 0;
+//        char _lengthValue = 0;
+//        
+//        int numValuesFound = sscanf(_id.c_str(), "%d", &_idValue);
+//        if (numValuesFound < 1){
+//            ErrorOut("Parameter Unknown, id value can't be converted", lineData.lineNumber);
+//            return -1;
+//        }
 //        
-//        int numValuesFound = sscanf(enable.c_str(), "%d", &enableValue);
+//        int numValuesFound = sscanf(_length.c_str(), "%c", &_lengthValue);
 //        if (numValuesFound < 1){
-//            ErrorOut("Parameter Unknown, enableBrake value can't be converted", lineData.lineNumber);
+//            ErrorOut("Parameter Unknown, length value can't be converted", lineData.lineNumber);
 //            return -1;
 //        }
 //        
+//        int numDataVals = numWords - 4; //number of data bytes present in the line
+//        const char* dataBytes[numDataVals];
+//        int i = 0;
+//        for (i = 0; i < numDataVals; i++){
+//            string thisDataByte = lineData.word[4 + i];
+//            int numValuesFound = sscanf(thisDataByte.c_str(), "%c", &dataBytes[i]);
+//            if (numValuesFound < 1){
+//                ErrorOut("Parameter Unknown, a data byte %d can't be converted", (i + 1), lineData.lineNumber);
+//                return -1;
+//            }
+//        }
+//        
 //        //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
 //        if (DummyMode)
 //            return 0; //Function operated successfully but doesn't return a value
 //            
-//        bridges.enableBraking(getMotor(), enableValue);
+//            
+//        canDevice.write(CANMessage(_idValue, &dataBytes, _lengthValue));
 //    }
 //        
 //    /******************************************************************************/