Diff: main.cpp

Revision:

1:7cf308c1484d

Parent:

0:5abca479f387

--- a/main.cpp	Fri Nov 04 13:54:35 2016 +0000
+++ b/main.cpp	Mon Nov 07 02:16:45 2016 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "CanPipe.h"
+#include "ExampleCanProtocol.h"
 
 Ticker ticker;
 DigitalOut led1(LED1);
@@ -8,30 +9,49 @@
 CanPipe m_can_pipe(&m_can);
 
 char counter = 0;
-
 void send() {
     led1 = !led1;
     m_can_pipe.PostMessage(CANMessage(1337, &counter, 1));
+    //m_can.write(CANMessage(1337, &counter, 1));
+    ++counter;
 }
 
-int callback1(CANMessage &msg) { return CanPipe::kOkay; }
-int callback2(CANMessage &msg) { return CanPipe::kOkay; }
-int callback3(CANMessage &msg) { return CanPipe::kOkay; }
+/* Define user static callbacks */
+int user_cb1(CANMessage &msg) { printf("user_cb1\r\n"); return CanPipe::kOkay; }
+int user_cb2(CANMessage &msg) { printf("user_cb2\r\n"); return CanPipe::kOkay; }
+int user_cb3(CANMessage &msg) { printf("user_cb3\r\n"); return CanPipe::kOkay; }
 
+/* main program */
 int main() {
+    m_can.frequency(500000);
+    
     int handle;
     
-    handle = m_can_pipe.RegisterFilter(0x200, 0x780);
-    m_can_pipe.RegisterCallback(callback1, handle);
+    /* 1 is default hardware filter handle for ALL messages.  override it.  
+     * Otherwise, other filters will be skipped 
+     */
+    handle = m_can.filter(0x000, 0x7ff, CANAny, 1);
+    
+    /* react to message 0x400 */
+    handle = m_can_pipe.RegisterFilter(0x400, 0x7ff, CANAny, 3);
+    m_can_pipe.RegisterCallback(CanMessageCallback(user_cb1), handle);
     
-    handle = m_can_pipe.RegisterFilter(0x281, 0x780);
-    m_can_pipe.RegisterCallback(callback2, handle);
-    m_can_pipe.RegisterCallback(callback3, handle);
+    /* react to messages 0x500 to 0x5FF */
+    handle = m_can_pipe.RegisterFilter(0x500, 0x700, CANAny, 2);
+    m_can_pipe.RegisterCallback(CanMessageCallback(user_cb2), handle);
+    m_can_pipe.RegisterCallback(CanMessageCallback(user_cb3), handle);
     
+    /* CanProtocol callbacks will be called after the user callbacks */
+    ExampleCanProtocol protocol;
+    protocol.RegisterProtocols(m_can_pipe);
+    
+    /* Schedule a message to be sent once a second */
     ticker.attach(send, 1);
     
     while (1) {
+        /* We know there will be nothing to handle until there is an interrupt */
         __WFI(); //sleep();
+        /* Handle the messages as soon as we can */
         m_can_pipe.HandleMessages();
     }
 }
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