Diff: can/can.cpp

Revision:

0:44f9a43e4ab2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/can/can.cpp	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,86 @@
+#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））
+int k = 0;
+
+void can_readsend()
+{
+    CANMessage msg;
+    if(can1.read(msg)) {
+        //printf(" CAN success\n\r");
+        if(msg.id == 2) {
+            t1_r = msg.data[0];
+            //printf("main T1 = %d  t1_r = %d\n\r",T1,t1_r);
+        }
+
+    } else {
+        canread_led = 0;
+        //printf("fale\n\r");
+    }
+ /*   if(k > 100){
+           printf("T1 in can_read = %d\n\r",T1);
+           k = 0;
+    }
+    k++;*/
+    can_num[0] = T1;  //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
+    //can_num[0] = 1;
+    
+    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;
+    
+     
+    if(can1.write(CANMessage(1,can_num,1))) {
+        cansend_led = 1;
+    }
+
+    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;
+    }
+
+    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