File content as of revision 4:b0eeafffcfc7:

#include "CANComms.h"
#include "mbed.h"
#include "State.h"

#include "MSCANHeader.h"

CANComms::CANComms(State* _values, bool poll, float poll_interval) : Comms(_values)
{
    can = new CAN(p30, p29);
    can->frequency(500000);
    
    pollTicker = new Ticker();
    readTicker = new Ticker();
    
    pollTicker->attach(this, &CANComms::poll, 0.05);
    
    can->attach(this, &CANComms::receive);
}

void CANComms::poll()
{
    char i;

    //start 6, 22
    //int ids[] = {0x00189838, 0x00589838};

    short offsets[] = {6, 22};    
    
    MSCANHeader header(MSCAN_ID_MS, MSCAN_ID_DASH, MSCAN_REQ, MSCAN_BLOCK_OUTPC, 0);

    for(i = 0; i < 2; i++)
    {
        header.var_offset = offsets[i];
        CANMessage msg(header.build(), 0, 3, CANData, CANExtended);
        
        msg.data[0] = i; //Where to put the response - used when communicating between MS's to tell them where they wanted the data put
        msg.data[1] = 0; //Offset into the table specified in data[0]
        msg.data[2] = 8; //How many bytes of the source table we want
        
        /*printf("Polling %d\n", i);*/
        
        if(can->write(msg))
        {
        
        }
    }
}

void CANComms::send(char message)
{
    
}

void CANComms::receive()
{       
    CANMessage msg;
    MSCANHeader header;

    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.var_blk == 0)
        {
            values->rpm = (msg.data[0] << 8) | msg.data[1];
        }
        else
        {
            values->coolant_temp = (((msg.data[0] << 8) | msg.data[1]) - 320.0) * 0.05555;
            values->throttle_pos = ((msg.data[2] << 8) | msg.data[3]) / 10.0;
            values->voltage = ((msg.data[4] << 8) | msg.data[5]) / 10.0;
            printf("TPS: %f\n", values->throttle_pos);
        }
        
        //printf("Bat: %f\n", battery / 10.0);
    }
}