File content as of revision 5:fe91d31db27e:

//#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
//}