Diff: can/can.cpp

Revision:

4:46c10d34af27

Child:

5:fe91d31db27e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/can/can.cpp	Sat Nov 16 06:28:18 2019 +0000
@@ -0,0 +1,103 @@
+#include "mbed.h"
+#include "can.h"
+
+CAN can1(p30,p29);
+Ticker can_ticker;  //can用ticker
+
+DigitalOut cansend_led(LED1);  //cansend -> on
+DigitalOut canread_led(LED2);  //canread -> on
+
+double mt_out1=0.0,mt_out2=0.0;
+
+int t1_r=0, T1=0; //動作番号（受け取った値、送信する値（int型））
+
+void can_readsend()
+{
+    CANMessage msg;
+
+
+    if(can1.read(msg)) {
+        //printf(" CAN success\n\r");
+        if(msg.id == 4) {
+            mt_out1 = 1/(double)200*(short)((msg.data[0]<<8) | msg.data[1]);
+            mt_out2 = 1/(double)200*(short)((msg.data[2]<<8) | msg.data[3]);
+            //mt_out1 = 1/(double)50*(short)((msg.data[4]<<8) | msg.data[5]);
+            //mt_out2 = 1/(double)50*(short)((msg.data[6]<<8) | msg.data[7]);
+            //debug_printf("usw_data1 = %f\n\r",usw_data1);
+            printf("mt_out1 = %f,mt_out2 = %f\n\r",mt_out1,mt_out2);
+        }
+      //  if(msg.id == 7){
+//            mt_out2 = 1/(double)50*(short)((msg.data[0]<<8) | msg.data[1]);
+//            printf("id = 5 mt_out2 = %f, data[0] = %d, data[1] = %d\n\r",mt_out2,msg.data[0],msg.data[1]);
+//        }
+
+    } else {
+        canread_led = 0;
+        printf("fale\n\r");
+    }
+
+
+    // can_ashileddata[1] = T1;  //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
+
+//    can_ashileddata2[0] = m1 >> 8;
+//    can_ashileddata2[1] = m1 &255;
+//
+//    can_ashileddata3[0] = m1 >> 8;
+//    can_ashileddata3[1] = m1 &255;
+//
+//    can_ashileddata4[0] = m1 >> 8;
+//    can_ashileddata4[1] = m1 &255;
+//
+//    can_ashileddata5[0] = m1 >> 8;
+//    can_ashileddata5[1] = m1 &255;
+//
+//    if(can1.write(CANMessage(4,can_ashileddata2,2))) {  //IDを4にして送信
+//        cansend_led = 1;
+//    } else {
+//        cansend_led = 0;
+//    }
+//
+//    if(can1.write(CANMessage(4,can_ashileddata3,2))) {  //IDを4にして送信
+//        cansend_led = 1;
+//    } else {
+//        cansend_led = 0;
+//    }
+//
+//    if(can1.write(CANMessage(4,can_ashileddata4,2))) {  //IDを4にして送信
+//        cansend_led = 1;
+//    } else {
+//        cansend_led = 0;
+//    }
+//
+//    if(can1.write(CANMessage(4,can_ashileddata5,2))) {  //IDを4にして送信
+//        cansend_led = 1;
+//    } else {
+//        cansend_led = 0;
+//    }
+
+    /*if(t1_r > T1) {
+        T1 = t1_r;
+    }*/
+}
+
+void can_start()
+{
+
+    while(1) {
+
+        CANMessage msg;
+
+//        debug_printf("wait\n\r");
+        printf("wait\n\r");
+        wait(0.1);
+        if(can1.read(msg)) {
+            break;
+        }
+    }
+}
+
+void UserLoopSetting_can()
+{
+    can1.frequency(1000000);
+    can_ticker.attach(&can_readsend,0.01);  //遅かったら早める
+}
\ No newline at end of file