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[TEST] Publish acquired frames via CAN
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@PeterBowman
PeterBowman committed Jul 5, 2023
1 parent 2783a0a commit 413c400
Showing 1 changed file with 66 additions and 94 deletions.
160 changes: 66 additions & 94 deletions main.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#include "mbed.h"
#include "FastIO.h"
#include <cstring>

void setSystemFrequency(int clkDiv, int M, int N)
{
Expand Down Expand Up @@ -50,27 +51,29 @@ int main()
wait(5);

// overclock CPU from 96 MHz to 128 MHz
setSystemFrequency(3, 16, 1);
// setSystemFrequency(3, 16, 1);

Serial pc(USBTX, USBRX); // tx, rx
pc.printf("System clock = %d\n", SystemCoreClock);

wait(5);

pc.printf("ready\n");

// PortIn port(Port0, 0x00000003);
FastIn<p9> clock;
FastIn<p10> data;

volatile bool clkLevel, dataLevel;
volatile bool clockState = true;
bool clkLevel, dataLevel;
bool clockState = true;

const unsigned int BLARG = 500;
int idleStorage[BLARG];
int idleStorage2[BLARG];
int idleCtr2 = 1;
int idleCtr3 = 0;

const static int BLORG = 500;
const static int BLORG = 1000;
bool storage[BLORG];
bool storage2[BLORG];
int i = 0;
Expand All @@ -87,6 +90,15 @@ int main()

int pins;

CAN can(p30, p29); // rd, td
can.frequency(1000000);
can.reset();

CANMessage msg;
msg.id = 0x01;

uint64_t msg_64 = 0;

// bool wasFirstRead = false;

while (true)
Expand All @@ -95,116 +107,76 @@ int main()
// storage[i] = pins & 0x00000001;
// storage2[i] = pins & 0x00000002;

clkLevel = clock.read();
dataLevel = data.read();
storage[i] = clkLevel = clock.read();
storage2[i] = data.read();

if (clkLevel != clockState)
i++;

if (clkLevel)
{
idle++;
}
else
{
clockState = clkLevel;
idle = 0;
}

if (clkLevel)
if (idle == 10)
{
if (i > 45)
{
storage2[i++] = dataLevel;
lastBit = true;
index = 20;
frame = 0;

if (i == 20)
for (j = 0; j < i - 9; j++)
{
frame = 0;

for (j = 19; j >= 0; j--)
if (storage[j] != lastBit)
{
frame |= (storage2[j] ? 1 : 0) << j;
lastBit = storage[j];

if (lastBit)
{
frame |= (storage2[j] ? 1 : 0) << --index;

if (index < 0)
{
break;
}
}
}
}

if (index == 0)
{
frames[frame_n++] = frame;
// pc.printf("0x%08x\n", frame);

if (frame_n == FRAMES)
{
for (j = 0; j < FRAMES; j++)
{
pc.printf("[%03d] 0x%08x\n", j + 1, frames[j]);
}
// for (j = 0; j < i - 9; j++)
// {
// pc.printf("%d", storage2[j]);
// }

frame_n = 0;
}
// pc.printf("\n");
}

i = 0;
if (frame_n == 30)
{
// CANMessage msg;
// msg.id = 0x01;
msg_64 = 0;
msg_64 |= static_cast<uint64_t>(frames[0] & 0x0005FFFF);
msg_64 |= static_cast<uint64_t>(frames[1] & 0x0005FFFF) << 20;
msg_64 |= static_cast<uint64_t>(frames[2] & 0x0005FFFF) << 40;
memcpy(msg.data, &msg_64, sizeof(msg_64));
can.write(msg);
frame_n = 0;
}
}
}
else if (clkLevel)
{
idle++;

if (idle == 10)
{
i = idle = 0;
}
i = idle = 0;
}

// if (clkLevel)
// {
// idle++;
// }
// else
// {
// idle = 0;
// }

// if (idle == 10)
// {
// if (i > 45)
// {
// lastBit = true;
// index = 20;
// frame = 0;

// for (j = 0; j < i - 9; j++)
// {
// if (storage[j] != lastBit)
// {
// lastBit = storage[j];

// if (lastBit)
// {
// frame |= (storage2[j] ? 1 : 0) << --index;

// if (index < 0)
// {
// break;
// }
// }
// }
// }

// if (index == 0)
// {
// frames[frame_n++] = frame;
// pc.printf("0x%08x\t", frame);

// for (j = 0; j < i - 9; j++)
// {
// pc.printf("%d", storage2[j]);
// }

// pc.printf("\n");
// }

// if (frame_n == FRAMES)
// {
// for (j = 0; j < FRAMES; j++)
// {
// pc.printf("[%03d] 0x%08x\n", j + 1, frames[j]);
// }

// frame_n = 0;
// }
// }

// i = idle = 0;
// }

// if (idle == 10)
// {
// pc.printf("[CLCK] ");
Expand Down

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