public static void PinConfig()
{
BBBPinManager.AddBusCAN(0);
//BBBPinManager.AddMappingUART(Pins.MTK3339_RX);
//BBBPinManager.AddMappingUART(Pins.MTK3339_TX);
//BBBPinManager.AddMappingsI2C(Pins.BNO055_SCL, Pins.BNO055_SDA);
//BBBPinManager.AddMappingGPIO(Pins.SteeringLimitSwitch, false, Scarlet.IO.ResistorState.PULL_UP, true);
//BBBPinManager.AddMappingPWM(Pins.SteeringMotor);
//BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.NO_CHANGES);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
}
public static void Main(string[] args)
{
Telemetry = new Dictionary <Device, JointTelemetry>
{
{ Device.BASE, new JointTelemetry() },
{ Device.SHOULDER, new JointTelemetry() },
{ Device.ELBOW, new JointTelemetry() },
{ Device.WRIST, new JointTelemetry() },
{ Device.DIFFERENTIAL_1, new JointTelemetry() },
{ Device.DIFFERENTIAL_2, new JointTelemetry() },
{ Device.HAND, new JointTelemetry() }
};
Log.Begin();
Log.Output(Log.Severity.INFO, Log.Source.ALL, "Initializing CAN Bus...");
BeagleBone.Initialize(SystemMode.NO_HDMI, true);
BBBPinManager.AddBusCAN(0, false);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
Log.Output(Log.Severity.INFO, Log.Source.ALL, "CAN Initialized.");
Client.Start(ServerIP, TCPPort, UDPPort, "ArmTestClient");
Arm arm = new Arm(CANBBB.CANBus0);
Parsing.Start(arm);
while (ENABLED)
{
ArmPacket?next = arm.ReadNext();
if (next != null)
{
UpdateTelemetry((ArmPacket)next);
}
SendTelemetry();
Thread.Sleep(Constants.DEFAULT_MIN_THREAD_SLEEP);
}
}
static void Main(string[] args)
{
StateStore.Start("CanTester");
BeagleBone.Initialize(SystemMode.NO_HDMI, true);
BBBPinManager.AddBusCAN(0, false);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
bool Priority = false;
byte Sender = 0;
byte Receiver = 0;
byte DataID = 0;
bool continuez = true;
UInt16 Val1 = 0;
UInt16 Val2 = 0;
byte Speed = 0;
byte Direction = 0;
byte Mode = 0;
Console.WriteLine("CAN TESTER TOOL");
while (continuez)
{
Console.Write("Write Mode(true) or Read Mode(false)? (true/false): ");
bool Write = oldNew(Console.ReadLine(), true);
if (Write) // Write Mode
{
Console.Write("Enter Priority (true/false) [Previous " + Priority + " ]: ");
Priority = oldNew(Console.ReadLine(), Priority);
Console.Write("Enter Sender (byte) [Previous " + Sender + "]: ");
Sender = oldNewHex(Console.ReadLine(), Sender);
Console.Write("Enter Reciever (byte) [Previous " + Receiver + "]: ");
Receiver = oldNewHex(Console.ReadLine(), Receiver);
Console.Write("Enter DataID (byte) [Previous " + DataID + "]: ");
DataID = oldNew(Console.ReadLine(), DataID);
switch (DataID)
{
case 0x0:
Console.Write("Enter in mode [Previous " + Mode + "]: ");
Mode = oldNew(Console.ReadLine(), Mode);
break;
case 0x2:
Console.Write("Enter in speed [Previous " + Speed + "]: ");
Speed = oldNew(Console.ReadLine(), Speed);
Console.Write("Enter in direction (1 or 0) [Previous " + Direction + "]: ");
Direction = oldNew(Console.ReadLine(), Direction);
break;
case 0x4:
case 0xA:
case 0xC:
case 0xE:
case 0x14:
case 0x18:
Console.Write("Enter in first value [Previous " + Val1 + "]: ");
Val1 = oldNew(Console.ReadLine(), Val1);
Console.Write("Enter in second value [Previous " + Val2 + "]: ");
Val2 = oldNew(Console.ReadLine(), Val2);
break;
case 0x16:
break;
default:
Console.WriteLine("Unknown or unsupported data value");
break;
}
bool keepSending = true;
while (keepSending)
{
switch (DataID)
{
case 0x0:
ModeSelect(CANBBB.CANBus0, Priority, Sender, Receiver, Mode);
break;
case 0x2:
SpeedDir(CANBBB.CANBus0, Priority, Sender, Receiver, Speed, Direction);
break;
case 0x4:
case 0xA:
case 0xC:
case 0xE:
case 0x14:
case 0x18:
TwoData(CANBBB.CANBus0, Priority, Sender, Receiver, DataID, Val1, Val2);
break;
case 0x10:
ModelReq(CANBBB.CANBus0, Priority, Sender, Receiver);
break;
default:
Console.WriteLine("Unknown or unsupported data value");
break;
}
Console.Write("Data Sent. Hold enter to continue sending (true/false): ");
try
{
keepSending = oldNew(Console.ReadLine(), true);
}
catch
{
if (DataID == 2)
{
Console.WriteLine("Speed set to zero");
SpeedDir(CANBBB.CANBus0, Priority, Sender, Receiver, 0, Direction);
keepSending = false;
}
}
}
}
else // Read Mode
{
bool reading = true;
while (reading)
{
int count = 0;
Task <Tuple <uint, byte[]> > CanRead = CANBBB.CANBus0.ReadAsync();
while (!CanRead.IsCompleted || (count > 10))
{
CanRead.Wait(1000);
count++;
}
if (CanRead.IsCompleted)
{
Tuple <uint, byte[]> temp = CanRead.Result;
byte priority = Convert.ToByte(((temp.Item1) >> 0b1111111111) & 0x1F);
byte sender = Convert.ToByte(((temp.Item1) >> 0x1F) & 0x1F);
byte receiver = Convert.ToByte((temp.Item1) & 0x1F);
Console.WriteLine("ID: " + Convert.ToString(temp.Item1, 2));
//Console.WriteLine("ID: " + priority + " " + sender + " " + receiver);
Console.WriteLine("Data: {0}",
string.Join(", ", temp.Item2.Select(v => v.ToString()))
);
}
else
{
Console.WriteLine("TIMEOUT, No CANID found");
}
Console.Write("Continue read?");
reading = oldNew(Console.ReadLine(), true);
}
}
Console.Write("Continue Program (true) or exit (false): ");
continuez = oldNew(Console.ReadLine(), true);
}
}