Will Salisbury
Tufts Hybrid Racing Sensor Node
Revision 0:1f9ada316815, committed 2012-01-12
- Comitter:
- wsalis01
- Date:
- Thu Jan 12 20:44:36 2012 +0000
- Child:
- 1:fbb17be9a65d
- Commit message:
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CANProtocol.lib Thu Jan 12 20:44:36 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/wsalis01/code/CANProtocol/#3f7b957d3617
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SensorNode.cpp Thu Jan 12 20:44:36 2012 +0000
@@ -0,0 +1,98 @@
+/*
+ * File: SensorNode/SensorNode.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 "SensorNode.h"
+
+SensorNode::SensorNode() : _leftWheel(LW_PIN), _rightWheel(RW_PIN), _can(CAN_RX, CAN_TX), _console(USBTX, USBRX), _leftTicks(0), _rightTicks(0), _leftRevolutions(0), _rightRevolutions(0), _syncID(0) {
+ /* InterruptIn initialization */
+ _leftWheel.mode(PullUp);
+ _leftWheel.fall(this, &SensorNode::leftTick);
+ _rightWheel.mode(PullUp);
+ _rightWheel.fall(this, &SensorNode::rightTick);
+
+ /* CAN initialization */
+ _can.attach(this, &SensorNode::canReceive);
+
+ /* Ticker initialization */
+ _statusTicker.attach(this, &SensorNode::canSend, tickerTimeout);
+
+ /* Hello, World! */
+ _console.printf("%s\r\n", "SensorNode instantiated");
+}
+
+SensorNode::~SensorNode() {
+ _statusTicker.detach();
+}
+
+void SensorNode::leftTick() {
+ if ( (++_leftTicks % ticksPerRevolution) == 0 ) {
+ _leftTicks = 0;
+ ++_leftRevolutions;
+ }
+}
+
+void SensorNode::rightTick() {
+ if ( (++_rightTicks % ticksPerRevolution) == 0 ) {
+ _rightTicks = 0;
+ ++_rightRevolutions;
+ }
+}
+
+void SensorNode::canSend() {
+ CANMessage msg;
+ msg.id = CAN_STATUS;
+ msg.len = 8;
+ msg.data[0] = 0xD;
+ msg.data[1] = 0xE;
+ msg.data[2] = 0xA;
+ msg.data[3] = 0xD;
+ msg.data[4] = 0xB;
+ msg.data[5] = 0xE;
+ msg.data[6] = 0xE;
+ msg.data[7] = 0xF;
+ if (_can.write(msg)) {
+ _console.printf("%s\r\n", "Message sent.");
+ } else {
+ _console.printf("%s\r\n", "Message send failure.");
+ }
+}
+
+void SensorNode::canReceive() {
+ CANMessage msg;
+
+ if (_can.read(msg)) {
+ _console.printf("%s\n", "Message received.");
+ switch (msg.id) {
+ case CAN_RESET:
+ Reset();
+ break;
+
+ case CAN_SYNC:
+ _syncID = msg.data[0];
+
+ break;
+
+ default:
+ _console.printf("%s\r\n", "Message decode failure.");
+ break;
+ }
+ } else {
+ _console.printf("%s\r\n", "Message recieve failure.");
+ error("%s\r\n", "func:'canReceive()' error: 'Message recieve failure.'");
+ }
+}
+
+void SensorNode::Reset() {
+ _leftTicks = 0;
+ _rightTicks = 0;
+ _leftRevolutions = 0;
+ _rightRevolutions = 0;
+ _can.reset();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SensorNode.h Thu Jan 12 20:44:36 2012 +0000
@@ -0,0 +1,42 @@
+/*
+ * File: SensorNode/SensorNode.h
+ * Author: William Jessup Salisbury
+ * Company: Tufts Hybrid Racing Team
+ * Copyright: CC BY-NC-SA 3.0
+ * Date: 1/12/2012
+ */
+
+#ifndef SENSOR_NODE_H
+#define SENSOR_NODE_H
+
+#include "mbed.h"
+
+const PinName CAN_RX = p9;
+const PinName CAN_TX = p10;
+const PinName LW_PIN = p11;
+const PinName RW_PIN = p12;
+
+const int ticksPerRevolution = 32;
+const int tickerTimeout = 1;
+
+class SensorNode {
+public:
+ SensorNode();
+ ~SensorNode();
+private:
+ inline void Reset();
+ void leftTick();
+ void rightTick();
+ void canSend();
+ void canReceive();
+
+ InterruptIn _leftWheel, _rightWheel;
+ CAN _can;
+ Serial _console;
+ Ticker _statusTicker;
+ volatile int _leftTicks, _rightTicks;
+ volatile int _leftRevolutions, _rightRevolutions;
+ volatile char _syncID;
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jan 12 20:44:36 2012 +0000
@@ -0,0 +1,17 @@
+/*
+ * File: SensorNode/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 "SensorNode.h"
+
+SensorNode sn;
+
+int main() {
+ while (true)
+ __WFI();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Jan 12 20:44:36 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/5364839841bd