Diff: ControlNode.cpp

Revision:

0:9b224b68e7c7

Child:

1:edb687d65942

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ControlNode.cpp	Thu Jan 12 20:44:16 2012 +0000
@@ -0,0 +1,101 @@
+/*
+ * 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.");
+    }
+}