File content as of revision 2:820dcd23c8e3:

#include "mbed.h"
#include "PathFollowing.h"
#include "movement.h"
#include "manual.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

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)) {

        if(msg.id == 1) { //from main

            id1_value[0] = (msg.data[0]>>6)%4;  //decide wait/auto/manual(0~2)
            id1_value[1] = msg.data[1];         //angle of left joystick(0~359)
            id1_value[2] = msg.data[2];
            id1_value[3] = (msg.data[0]>>5)%2;  //BOTTONR1 off/on(0 or 1)
            id1_value[4] = (msg.data[0]>>3)%4;  //state of right joystick(1~3)
            id1_value[5] = (msg.data[0]>>2)%2;  //left joystick neutral position(0 or 1)
            id1_value[6] = (msg.data[0]>>1)%2;  //decide right/left(0 or 1)
            t1_r = msg.data[3];                 //value of t(0~7)*/

    /*debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
                 ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);*/
    /*            debug_printf("t1_r=%d T1=%d can_ashileddata[1]=%d\n\r",t1_r,T1,can_ashileddata[1]);
            }

            if(msg.id == 3) {
                usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
                //debug_printf("usw_data1 = %f\n\r",usw_data1);

                usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]);
                //debug_printf("usw_data2 = %f\n\r",usw_data2);

                usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]);
                //debug_printf("usw_data3 = %f\n\r",usw_data3);

                usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]);
                //debug_printf("usw_data4 = %f\n\r",usw_data4);
                //debug_printf("usw1=%f usw2=%f usw3=%f usw4=%f\n\r",usw_data1,usw_data2,usw_data3,usw_data4);
                canread_led = 1;
            }

        } else {
            canread_led = 0;
        }*/


    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_ashileddata2[2] = m2 >> 8;
    can_ashileddata2[3] = m2 &255;
    
    can_ashileddata2[4] = m3 >> 8;
    can_ashileddata2[5] = m3 &255;
    
    can_ashileddata2[6] = m4 >> 8;
    can_ashileddata2[7] = m4 &255;
    

//    can_ashileddata3[0] = m2 >> 8;
//    can_ashileddata3[1] = m2 &255;
//
//    can_ashileddata4[0] = m3 >> 8;
//    can_ashileddata4[1] = m3 &255;
//
//    can_ashileddata5[0] = m4 >> 8;
//    can_ashileddata5[1] = m4 &255;

    if(can1.write(CANMessage(4,can_ashileddata2,8))) {  //IDを4にして送信
        //printf("success : %d \n\r",m1);
        cansend_led = 1;
    } else {
        cansend_led = 0;
        //printf("fale\n\r");
    }

    //if(can1.write(CANMessage(5,can_ashileddata3,2))) {  //IDを4にして送信
//        cansend_led = 1;
//    } else {
//        cansend_led = 0;
//    }
//
//    if(can1.write(CANMessage(6,can_ashileddata4,2))) {  //IDを4にして送信
//        cansend_led = 1;
//    } else {
//        cansend_led = 0;
//    }
//
//    if(can1.write(CANMessage(7,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
}