Will Salisbury
Tufts Hybrid Racing Sensor Node
Revision 1:fbb17be9a65d, committed 2012-04-15
- Comitter:
- wsalis01
- Date:
- Sun Apr 15 00:12:28 2012 +0000
- Parent:
- 0:1f9ada316815
- Commit message:
- Initial Commit
Changed in this revision
--- a/CANProtocol.lib Thu Jan 12 20:44:36 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/wsalis01/code/CANProtocol/#3f7b957d3617
--- a/SensorNode.cpp Thu Jan 12 20:44:36 2012 +0000
+++ b/SensorNode.cpp Sun Apr 15 00:12:28 2012 +0000
@@ -1,98 +1,99 @@
-/*
- * 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();
+/*
+ * 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.frequency(CAN_FREQUENCY);
+ _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] = _syncID;
+ 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)) {
+ switch (msg.id) {
+ case CAN_RESET:
+ _console.printf("%s\r\n", "CAN_RESET Message received.");
+ Reset();
+ break;
+
+ case CAN_SYNC:
+ _console.printf("%s\r\n", "CAN_SYNC Message received.");
+ _syncID = msg.data[0];
+ canSend();
+ break;
+
+ default:
+ _console.printf("%s\r\n", "Message decode failure.");
+ break;
+ }
+ } else {
+ _console.printf("%s\r\n", "Message recieve failure.");
+ }
+}
+
+void SensorNode::Reset() {
+ _leftTicks = 0;
+ _rightTicks = 0;
+ _leftRevolutions = 0;
+ _rightRevolutions = 0;
+ _can.reset();
}
\ No newline at end of file
--- a/SensorNode.h Thu Jan 12 20:44:36 2012 +0000 +++ b/SensorNode.h Sun Apr 15 00:12:28 2012 +0000 @@ -11,8 +11,8 @@ #include "mbed.h" -const PinName CAN_RX = p9; -const PinName CAN_TX = p10; +const PinName CAN_RX = p30; +const PinName CAN_TX = p29; const PinName LW_PIN = p11; const PinName RW_PIN = p12;
--- a/main.cpp Thu Jan 12 20:44:36 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,17 +0,0 @@
-/*
- * 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
--- a/mbed.bld Thu Jan 12 20:44:36 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/5364839841bd