Revision 3:73625a6c9750, committed 2017-10-26

Comitter:

yuto17320508

Date:

Thu Oct 26 13:10:28 2017 +0000

Parent:

2:0a99389df632

Commit message:

a

Changed in this revision

diff -r 0a99389df632 -r 73625a6c9750 GET_position/jyairo.h
--- a/GET_position/jyairo.h	Wed Oct 25 08:54:30 2017 +0000
+++ b/GET_position/jyairo.h	Thu Oct 26 13:10:28 2017 +0000
@@ -0,0 +1,53 @@
+#include "RawSerial.h" 
+
+Serial pc(USBTX, USBRX); // tx, rx 
+//Serial device(p13, p14);  // tx, rx 
+RawSerial device(p13,p14); 
+AnalogIn tx(p19); 
+AnalogIn rx(p20); 
+#define CAN_ID 10 
+CAN can1(p30, p29); 
+DigitalOut led1(LED1);           //check 
+
+Ticker ticker; 
+
+uint8_t val[15]= {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; 
+uint8_t check_sum=0; 
+int16_t data_angle=0; 
+double angle=0; 
+bool protect=0; 
+
+char send_data[8]={0,0,0,0,0,0,0,0}; 
+
+void dev_rx () 
+{ 
+    val[0]=device.getc(); 
+    val[1]=device.getc(); 
+    if(val[0]==170 && val[1]==0) { 
+        for(int i=2; i<14; i++) { 
+            val[i]=device.getc(); 
+            check_sum+=val[i]; 
+        } 
+        val[14]=device.getc(); 
+        if(check_sum==val[14]) { 
+            if(val[4]>0x80)data_angle=((val[3]&0xFF)|((val[4]<<8)&0xFF00))-0xFFFF; 
+            else data_angle=((val[3]&0xFF)|((val[4]<<8)&0xFF00)); 
+            angle=data_angle/100.0; 
+            send_data[0]=data_angle>>8; 
+            send_data[1]=data_angle&255; 
+            if(can1.write(CANMessage(CAN_ID,send_data,2))) { 
+                //pc.printf("send\r\n"); 
+            } 
+            check_sum=0; 
+        } 
+    } 
+} 
+
+//setting
+  device.baud(115200); 
+    device.format(8,Serial::None,1); 
+    can1.frequency(1000000); 
+    //ticker.attach(&dev_rx,0.05); 
+    device.attach(dev_rx, Serial::RxIrq); 
+    int a=0; 
+