Diff: main.cpp

Revision:

9:634a74d5aa41

Parent:

8:99cca8c964e6

Child:

11:594a9f668ccf

--- a/main.cpp	Fri Mar 01 12:43:17 2013 +0000
+++ b/main.cpp	Wed Mar 06 17:34:00 2013 +0000
@@ -25,7 +25,8 @@
 #define ACCEL_SENSITIVITY   (0.312 * ACCEL_SCALE) / ANALOG_SCALE
 
 State car;
-CAN* can;
+
+CANComms can(&car, false, false, 0.0);
 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
 
 EthernetInterface eth;
@@ -143,7 +144,7 @@
                 client.send_all(net_buf, net_buf_len);
             }
             led3 = !led3;
-            
+
             //printf("Net Buf Emptied, %d messages\n", buf_msg_count);
             logFile->write(net_buf, net_buf_len);
             logFile->fsync();
@@ -168,38 +169,8 @@
     printf("CAN Thread Running\n");
 
     while(true) {
-        while(can->read(msg)) {
-            /*printf("CAN Message %08X %d %02X%02X%02X%02X%02X%02X%02X%02X\n", msg.id, msg.len,
-                msg.data[0],
-                msg.data[1],
-                msg.data[2],
-                msg.data[3],
-                msg.data[4],
-                msg.data[5],
-                msg.data[6],
-                msg.data[7]
-                );*/
-
-            header.parse(msg.id);
-
-            //printf("Processing data, block %d\n", block);
-
-            if(header.from_id == MSCAN_ID_MS) {
-                if(header.var_blk == 0) {
-                    car.rpm = (msg.data[0] << 8) | msg.data[1];
-                } else if(header.var_blk == 1) {
-                    car.manifold_pres = ((msg.data[2] << 8) | msg.data[3]) / 10.0;
-                    car.air_temp = (((msg.data[4] << 8) | msg.data[5]) - 320.0) * 0.05555;
-                    car.coolant_temp = (((msg.data[6] << 8) | msg.data[7]) - 320.0) * 0.05555;
-                }
-                else {
-                    car.throttle_pos = ((msg.data[0] << 8) | msg.data[1]) / 10.0;
-                    car.voltage = ((msg.data[2] << 8) | msg.data[3]) / 10.0;
-                }
-            }
-        }
-        
-        Thread::wait(1);
+        can.receive();
+       
     }
 }
 
@@ -218,12 +189,12 @@
 
     sprintf(&logFileName[0], "fbr/log.%d", logIndex - 1);
     printf("Log File: %s\n", &logFileName[0]);
-    
+
     logFile = sd.open(logFileName, O_WRONLY | O_CREAT);
     logFile->fsync();
     //fprintf(logFile, "FBR CANBUS Log File\n");
     //fclose(logFile);
-            
+
     eth.init("192.168.0.2", "255.255.255.0", "0.0.0.0");
     eth.connect(1000);
 
@@ -236,17 +207,14 @@
     can_thread = new Thread(can_thread_start, NULL, osPriorityLow, 4096);
     sample_timer.start(10);
 
-    
-    can = new CAN(p30, p29);
-    can->frequency(500000);
-    //can->attach(&can_receive_isr); 
-    printf("Can ISR Attached");
+
+   
 
     printf("Ready to Log\n");
 
     TCPSocketConnection temp;
 
-    while (true) {
+    while (true) {                                   // accept net connection
         printf("\nWait for new connection...\n");
         server.accept(temp);