2月25日

Dependencies:   uw_28015 mbed ros_lib_kinetic move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

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Show/hide line numbers can.cpp Source File

can.cpp

00001 #include "mbed.h"
00002 #include "PathFollowing.h"
00003 #include "movement.h"
00004 #include "manual.h"
00005 #include "can.h"
00006 
00007 CAN can1(p30,p29);
00008 Ticker can_ticker;  //can用ticker
00009 
00010 DigitalOut cansend_led(LED1);  //cansend -> on
00011 DigitalOut canread_led(LED2);  //canread -> on
00012 
00013 int t1_r=0, T1=0; //動作番号(受け取った値、送信する値(int型))
00014 int k = 0;
00015 
00016 void can_readsend()
00017 {
00018     CANMessage msg;
00019     if(can1.read(msg)) {
00020         //printf(" CAN success\n\r");
00021         if(msg.id == 2) {
00022             t1_r = msg.data[0];
00023             //printf("main T1 = %d  t1_r = %d\n\r",T1,t1_r);
00024         }
00025 
00026     } else {
00027         canread_led = 0;
00028         //printf("fale\n\r");
00029     }
00030  /*   if(k > 100){
00031            printf("T1 in can_read = %d\n\r",T1);
00032            k = 0;
00033     }
00034     k++;*/
00035     can_num[0] = T1;  //動作番号(id節約のため、can_ashileddata[]と一緒に送る)
00036     //can_num[0] = 1;
00037     
00038     can_ashileddata2[0] = m1 >> 8;
00039     can_ashileddata2[1] = m1 &255;
00040 
00041     can_ashileddata2[2] = m2 >> 8;
00042     can_ashileddata2[3] = m2 &255;
00043 
00044     can_ashileddata2[4] = m3 >> 8;
00045     can_ashileddata2[5] = m3 &255;
00046 
00047     can_ashileddata2[6] = m4 >> 8;
00048     can_ashileddata2[7] = m4 &255;
00049     
00050      
00051     if(can1.write(CANMessage(1,can_num,1))) {
00052         cansend_led = 1;
00053     }
00054 
00055     if(can1.write(CANMessage(4,can_ashileddata2,8))) {  //IDを4にして送信
00056         //printf("success : %d \n\r",m1);
00057         cansend_led = 1;
00058     }
00059 
00060     if(t1_r > T1) {
00061         T1 = t1_r;
00062     }
00063     
00064 }
00065 
00066 void can_start()
00067 {
00068 
00069     while(1) {
00070 
00071         CANMessage msg;
00072 
00073 //        debug_printf("wait\n\r");
00074         printf("wait\n\r");
00075         wait(0.1);
00076         if(can1.read(msg)) {
00077             break;
00078         }
00079     }
00080 }
00081 
00082 void UserLoopSetting_can()
00083 {
00084     can1.frequency(1000000);
00085     can_ticker.attach(&can_readsend,0.01);  //遅かったら早める
00086 }