Will Salisbury
Tufts Hybrid Racing Control Node
Revision 0:9b224b68e7c7, committed 2012-01-12
- Comitter:
- wsalis01
- Date:
- Thu Jan 12 20:44:16 2012 +0000
- Child:
- 1:edb687d65942
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CANProtocol.lib Thu Jan 12 20:44:16 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/wsalis01/code/CANProtocol/#f25554922a25
--- /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.");
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ControlNode.h Thu Jan 12 20:44:16 2012 +0000
@@ -0,0 +1,34 @@
+/*
+ * File: ControlNode/ControlNode.h
+ * Author: William Jessup Salisbury
+ * Company: Tufts Hybrid Racing Team
+ * Copyright: CC BY-NC-SA 3.0
+ * Date: 1/12/2012
+ */
+
+#ifndef CONTROL_NODE_H
+#define CONTROL_NODE_H
+#include "mbed.h"
+
+const PinName CAN_RX = p9;
+const PinName CAN_TX = p10;
+
+const int tickerTimeout_us = 1000;
+
+class ControlNode {
+public:
+ ControlNode();
+ ~ControlNode();
+private:
+ void canReset();
+ void canSync();
+ void canSend();
+ void canReceive();
+
+ CAN _can;
+ Serial _console;
+ Ticker _syncTimer;
+ char _syncID;
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jan 12 20:44:16 2012 +0000
@@ -0,0 +1,17 @@
+/*
+ * File : ControlNode/main.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 "ControlNode.h"
+
+ControlNode cn;
+
+int main() {
+ while (true)
+ __WFI();
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Jan 12 20:44:16 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/5364839841bd