ロボステ6期 / Mbed 2 deprecated NHK2020-main１

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Dependencies:   uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

can/can.cpp@0:b87fd8dd4322, 2019-03-19 (annotated)

Committer:
la00noix
Date:
Tue Mar 19 13:20:23 2019 +0000
Revision:
0:b87fd8dd4322
Child:
1:26fc1b2f1c42
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:b87fd8dd4322 1 #include "mbed.h"
la00noix 0:b87fd8dd4322 2 #include "PathFollowing.h"
la00noix 0:b87fd8dd4322 3 #include "movement.h"
la00noix 0:b87fd8dd4322 4 #include "maxonsetting.h"
la00noix 0:b87fd8dd4322 5 #include "manual.h"
la00noix 0:b87fd8dd4322 6 #include "can.h"
la00noix 0:b87fd8dd4322 7
la00noix 0:b87fd8dd4322 8 CAN can1(p30,p29);
la00noix 0:b87fd8dd4322 9 Ticker can_ticker; //can用ticker
la00noix 0:b87fd8dd4322 10
la00noix 0:b87fd8dd4322 11 DigitalOut cansend_led(LED1); //cansend -> on
la00noix 0:b87fd8dd4322 12 DigitalOut canread_led(LED2); //canread -> on
la00noix 0:b87fd8dd4322 13
la00noix 0:b87fd8dd4322 14 int t1_r=0, T1=0; //動作番号（受け取った値、送信する値（int型））
la00noix 0:b87fd8dd4322 15
la00noix 0:b87fd8dd4322 16 void can_readsend()
la00noix 0:b87fd8dd4322 17 {
la00noix 0:b87fd8dd4322 18 CANMessage msg;
la00noix 0:b87fd8dd4322 19
la00noix 0:b87fd8dd4322 20 if(can1.read(msg)) {
la00noix 0:b87fd8dd4322 21
la00noix 0:b87fd8dd4322 22 if(msg.id == 1) { //from main
la00noix 0:b87fd8dd4322 23
la00noix 0:b87fd8dd4322 24 id1_value[0] = (msg.data[0]>>6)%4; //decide wait/auto/manual(0~2)
la00noix 0:b87fd8dd4322 25 id1_value[1] = msg.data[1]; //angle of left joystick(0~359)
la00noix 0:b87fd8dd4322 26 id1_value[2] = msg.data[2];
la00noix 0:b87fd8dd4322 27 id1_value[3] = (msg.data[0]>>5)%2; //BOTTONR1 off/on(0 or 1)
la00noix 0:b87fd8dd4322 28 id1_value[4] = (msg.data[0]>>3)%4; //state of right joystick(1~3)
la00noix 0:b87fd8dd4322 29 id1_value[5] = (msg.data[0]>>2)%2; //left joystick neutral position(0 or 1)
la00noix 0:b87fd8dd4322 30 id1_value[6] = (msg.data[0]>>1)%2; //decide right/left(0 or 1)
la00noix 0:b87fd8dd4322 31 t1_r = msg.data[3]; //value of t(0~7)
la00noix 0:b87fd8dd4322 32
la00noix 0:b87fd8dd4322 33 /*debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
la00noix 0:b87fd8dd4322 34 ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);*/
la00noix 0:b87fd8dd4322 35 debug_printf("t1_r=%d T1=%d can_ashileddata[1]=%d\n\r",t1_r,T1,can_ashileddata[1]);
la00noix 0:b87fd8dd4322 36 }
la00noix 0:b87fd8dd4322 37
la00noix 0:b87fd8dd4322 38 if(msg.id == 3) {
la00noix 0:b87fd8dd4322 39 usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
la00noix 0:b87fd8dd4322 40 //debug_printf("usw_data1 = %f\n\r",usw_data1);
la00noix 0:b87fd8dd4322 41
la00noix 0:b87fd8dd4322 42 usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]);
la00noix 0:b87fd8dd4322 43 //debug_printf("usw_data2 = %f\n\r",usw_data2);
la00noix 0:b87fd8dd4322 44
la00noix 0:b87fd8dd4322 45 usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]);
la00noix 0:b87fd8dd4322 46 //debug_printf("usw_data3 = %f\n\r",usw_data3);
la00noix 0:b87fd8dd4322 47
la00noix 0:b87fd8dd4322 48 usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]);
la00noix 0:b87fd8dd4322 49 //debug_printf("usw_data4 = %f\n\r",usw_data4);
la00noix 0:b87fd8dd4322 50 //debug_printf("usw1=%f usw2=%f usw3=%f usw4=%f\n\r",usw_data1,usw_data2,usw_data3,usw_data4);
la00noix 0:b87fd8dd4322 51 canread_led = 1;
la00noix 0:b87fd8dd4322 52 }
la00noix 0:b87fd8dd4322 53
la00noix 0:b87fd8dd4322 54 } else {
la00noix 0:b87fd8dd4322 55 canread_led = 0;
la00noix 0:b87fd8dd4322 56 }
la00noix 0:b87fd8dd4322 57
la00noix 0:b87fd8dd4322 58
la00noix 0:b87fd8dd4322 59 can_ashileddata[1] = T1; //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
la00noix 0:b87fd8dd4322 60
la00noix 0:b87fd8dd4322 61 if(can1.write(CANMessage(4,can_ashileddata,2))) { //IDを4にして送信
la00noix 0:b87fd8dd4322 62 cansend_led = 1;
la00noix 0:b87fd8dd4322 63 } else {
la00noix 0:b87fd8dd4322 64 cansend_led = 0;
la00noix 0:b87fd8dd4322 65 }
la00noix 0:b87fd8dd4322 66
la00noix 0:b87fd8dd4322 67 if(t1_r > T1) {
la00noix 0:b87fd8dd4322 68 T1 = t1_r;
la00noix 0:b87fd8dd4322 69 }
la00noix 0:b87fd8dd4322 70 }
la00noix 0:b87fd8dd4322 71
la00noix 0:b87fd8dd4322 72 void can_start()
la00noix 0:b87fd8dd4322 73 {
la00noix 0:b87fd8dd4322 74
la00noix 0:b87fd8dd4322 75 while(1) {
la00noix 0:b87fd8dd4322 76
la00noix 0:b87fd8dd4322 77 CANMessage msg;
la00noix 0:b87fd8dd4322 78
la00noix 0:b87fd8dd4322 79 debug_printf("wait\n\r");
la00noix 0:b87fd8dd4322 80 wait(0.1);
la00noix 0:b87fd8dd4322 81 if(can1.read(msg)) {
la00noix 0:b87fd8dd4322 82 break;
la00noix 0:b87fd8dd4322 83 }
la00noix 0:b87fd8dd4322 84 }
la00noix 0:b87fd8dd4322 85 }
la00noix 0:b87fd8dd4322 86
la00noix 0:b87fd8dd4322 87 void UserLoopSetting_can()
la00noix 0:b87fd8dd4322 88 {
la00noix 0:b87fd8dd4322 89 can1.frequency(1000000);
la00noix 0:b87fd8dd4322 90 can_ticker.attach(&can_readsend,0.01); //遅かったら早める
la00noix 0:b87fd8dd4322 91 }