Diff: can/can.cpp

Revision:

5:fe91d31db27e

Parent:

4:46c10d34af27

--- a/can/can.cpp	Sat Nov 16 06:28:18 2019 +0000
+++ b/can/can.cpp	Tue Feb 25 01:23:14 2020 +0000
@@ -1,103 +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]);
+//#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);
 //        }
-
-    } 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;
+//      //  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]);
+////        }
 //
-//    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;
+//        canread_led = 0;
+//        printf("fale\n\r");
 //    }
 //
-//    if(can1.write(CANMessage(4,can_ashileddata3,2))) {  //IDを4にして送信
-//        cansend_led = 1;
-//    } else {
-//        cansend_led = 0;
-//    }
+//
+//    // can_ashileddata[1] = T1;  //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
 //
-//    if(can1.write(CANMessage(4,can_ashileddata4,2))) {  //IDを4にして送信
-//        cansend_led = 1;
-//    } else {
-//        cansend_led = 0;
-//    }
+////    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(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;
+//        }
 //    }
-
-    /*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
+//}
+//
+//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