Revision f8cf404d components/ControllerAreaNetworkRx.cpp

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components/ControllerAreaNetworkRx.cpp
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#include <amiro/Constants.h>
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#include <amiro/ControllerAreaNetworkRx.h>
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#include <global.hpp>


  		




  
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using namespace chibios_rt;


  		




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using namespace amiro;


  		




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extern Global global;


  		




  
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using namespace types;


  		




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using namespace amiro::constants;


  		




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msg_t ControllerAreaNetworkRx::receiveSensorVal(CANRxFrame *frame) {


  		




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  int deviceId = this->decodeDeviceId(frame);


  		




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  // chprintf((BaseSequentialStream*) &SD1, "DeviceId: %d\r\n",deviceId);


  		




  
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  // chprintf((BaseSequentialStream*) &global.sercanmux1, "DeviceId: %d\r\n",deviceId);


  		




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  switch (deviceId) {


  		




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    case CAN::PROXIMITY_RING_ID(0):


  		




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      break;


  		




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    case CAN::PROXIMITY_FLOOR_ID:


  		




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      // chprintf((BaseSequentialStream*) &SD1, "CAN::PROXIMITY_FLOOR_ID");


  		




  
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      // chprintf((BaseSequentialStream*) &global.sercanmux1, "CAN::PROXIMITY_FLOOR_ID");


  		




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      if (frame->DLC == 8) {


  		




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        proximityFloorValue[0] = frame->data16[0];


  		




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        proximityFloorValue[1] = frame->data16[1];


  		




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        CANRxFrame rxframe;


  		




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        msg_t message = canReceive(this->canDriver, CAN_ANY_MAILBOX, &rxframe, TIME_IMMEDIATE);


  		




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        if (message == RDY_OK) {


  		




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          // chprintf((BaseSequentialStream*) &SD1, "Rx Message");


  		




  
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          // chprintf((BaseSequentialStream*) &global.sercanmux1, "Rx Message");


  		




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          message = this->receiveMessage(&rxframe);


  		




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          if (message != RDY_OK)


  		




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            this->receiveSensorVal(&rxframe);


  		












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