Diff: ControlNode.cpp

Revision:

1:edb687d65942

Parent:

0:9b224b68e7c7

--- a/ControlNode.cpp	Thu Jan 12 20:44:16 2012 +0000
+++ b/ControlNode.cpp	Sun Apr 15 00:13:28 2012 +0000
@@ -1,101 +1,108 @@
-/*
- * File: ControlNode/ControlNode.cpp
- * Author: William Jessup Salisbury
- * Company: Tufts Hybrid Racing Team
- * Copyright: CC BY-NC-SA 3.0
- * Date: 1/12/2012
- */
-
-#include "mbed.h"
-#include "CANProtocol.h"
-#include "ControlNode.h"
-
-ControlNode::ControlNode() : _can(CAN_RX, CAN_TX), _console(USBTX, USBRX), _syncID(0) {
-    /* CAN initialization */
-    _can.attach(this, &ControlNode::canReceive);
-
-    /* Ticker initialization */
-    _syncTimer.attach_us(this, &ControlNode::canSync, tickerTimeout_us);
-
-    /* Print startup message */
-    _console.printf("%s\r\n", "ControlNode instantiated.");
-}
-
-ControlNode::~ControlNode() {
-    _syncTimer.detach();
-}
-
-void ControlNode::canReset() {
-    CANMessage msg;
-    msg.id = CAN_RESET;
-    msg.len = 0;
-    if (_can.write(msg)) {
-        _console.printf("%s\r\n", "Reset message sent.");
-    } else {
-        _console.printf("%s\r\n", "Reset message send failure.");
-    }
-}
-
-void ControlNode::canSync() {
-    CANMessage msg(CAN_SYNC);
-    msg.len = 1;
-    msg.data[0] = (++_syncID % 0xFF);
-    if (_can.write(msg)) {
-        _console.printf("%s\r\n", "Sync message sent.");
-    } else {
-        _console.printf("%s\r\n", "Sync message send failure.");
-    }
-}
-
-void ControlNode::canSend() {
-    CANMessage msg;
-
-
-    if (_can.write(msg)) {
-        _console.printf("%s\r\n", "Message sent.");
-    } else {
-        _console.printf("%s\r\n", "Message send failure.");
-    }
-}
-
-void ControlNode::canReceive() {
-    CANMessage msg;
-
-    if (_can.read(msg)) {
-
-        _console.printf("%s\r\n", "Message received.");
-
-        if (msg.data[0] != _syncID) {
-            _console.printf("%s\r\n", "'_syncID' mismatch.");
-            return;
-        }
-
-        switch (msg.id) {
-            case CAN_BRAKE:
-                break;
-
-            case CAN_ACCEL:
-                break;
-
-            case CAN_FLWS:
-                break;
-
-            case CAN_FRWS:
-                break;
-
-            case CAN_RLWS:
-                break;
-
-            case CAN_RRWS:
-                break;
-
-            case CAN_STATUS:
-                break;
-
-            default:
-                break;
-        }
-    } else {
-        _console.printf("%s\r\n", "Message recieve failure.");
-    }
-}
+/*
+ * File: ControlNode/ControlNode.cpp
+ * Author: William Jessup Salisbury
+ * Company: Tufts Hybrid Racing Team
+ * Copyright: CC BY-NC-SA 3.0
+ * Date: 1/12/2012
+ */
+
+#include "mbed.h"
+#include "CANProtocol.h"
+#include "ControlNode.h"
+
+ControlNode::ControlNode() : _can(CAN_RX, CAN_TX), _console(USBTX, USBRX), _syncID(0) {
+    //Nothing to see here
+}
+
+void ControlNode::Init() {
+    /* CAN initialization */
+    _can.frequency(CAN_FREQUENCY);
+    _can.attach(this, &ControlNode::canReceive);
+
+    /* Ticker initialization */
+    _syncTimer.attach_us(this, &ControlNode::canSync, tickerTimeout_us);
+
+    /* Print startup message */
+    _console.printf("%s\r\n", "ControlNode instantiated.");
+}
+
+ControlNode::~ControlNode() {
+    _syncTimer.detach();
+}
+
+void ControlNode::canReset() {
+    CANMessage msg;
+    msg.id = CAN_RESET;
+    msg.len = 0;
+    if (_can.write(msg)) {
+        _console.printf("%s\r\n", "Reset message sent.");
+    } else {
+        _console.printf("%s\r\n", "Reset message send failure.");
+    }
+}
+
+void ControlNode::canSync() {
+    CANMessage msg;
+    msg.id = CAN_SYNC;
+    msg.len = 1;
+    msg.data[0] = (++_syncID % 0xFF);
+    if (_can.write(msg)) {
+        _console.printf("%s\r\n", "Sync message sent.");
+    } else {
+        _console.printf("%s\r\n", "Sync message send failure.");
+    }
+}
+
+void ControlNode::canSend() {
+    CANMessage msg;
+
+    if (_can.write(msg)) {
+        _console.printf("%s\r\n", "Message sent.");
+    } else {
+        _console.printf("%s\r\n", "Message send failure.");
+    }
+}
+
+void ControlNode::canReceive() {
+    CANMessage msg;
+
+    if (_can.read(msg)) {
+
+        _console.printf("%s\r\n", "Message received.");
+
+        if (msg.data[0] != _syncID) {
+            _console.printf("%s\r\n", "'_syncID' mismatch.");
+            return;
+        }
+
+        switch (msg.id) {
+            case CAN_BRAKE:
+                break;
+
+            case CAN_ACCEL:
+                break;
+
+            case CAN_FLWS:
+                break;
+
+            case CAN_FRWS:
+                break;
+
+            case CAN_RLWS:
+                break;
+
+            case CAN_RRWS:
+                break;
+
+            case CAN_STATUS:
+                _console.printf("%s\r\n", "CAN_STATUS Message received.");
+                break;
+
+            default:
+                _console.printf("%s\r\n", "Message decode failure.");
+                break;
+        }
+    } else {
+        _console.printf("%s\r\n", "Message recieve failure.");
+    }
+}