Diff: main.cpp

Revision:

0:18f4b01f6caf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jul 30 10:37:02 2020 +0000
@@ -0,0 +1,60 @@
+/*
+CAN通信slave側
+2種類のIDから受信する．
+rd - RXD
+td - TXD
+MCP2551まわりは以下参照(終端Rは410ohmを使った，そこにあったので)
+https://raw.githubusercontent.com/rummanwaqar/teensy_can/master/schematic.png
+*/
+#include "mbed.h"
+
+Serial pc(PA_2, PA_3, 115200); //pin19,20 TX,RX
+CAN can(PA_11, PA_12, 100000); //pin21,22 rd,td
+DigitalOut myled(PB_1); //pin15
+
+
+
+CANMessage msg;
+
+union Float2Byte{
+    float _float;
+    char _byte[4];
+};
+typedef union Float2Byte Float2Byte;
+
+void receive(){
+    Float2Byte getFloat;
+    
+    if(can.read(msg)){
+        /*ID: 0x01*/
+        if(msg.id == 0x01){
+            //pc.printf("ID: 0x01\n\r");
+            for(int i=0;i<4;++i){
+                getFloat._byte[i] = msg.data[i];
+                //pc.printf("get_char: %d\n\r", getFloat._byte[i]);
+            }
+            pc.printf("%.2f\r\n", getFloat._float);
+            myled = !myled;
+        }
+        /*ID: 0x02*/
+        if(msg.id == 0x02){
+            //pc.printf("ID: 0x02\n\r");
+            for(int i=0;i<4;++i){
+                getFloat._byte[i] = msg.data[i];
+                //pc.printf("get_char: %d\n\r", getFloat._byte[i]);
+            }
+            pc.printf("avarage: %.0f\n\r", getFloat._float);
+            myled = !myled;
+        }
+    }
+    
+}
+
+int main(){
+    pc.printf("Slave_Start.\n\r");
+    can.attach(receive, CAN::RxIrq);
+    while(1){
+        pc.printf("Slave loop()\n\r");
+        wait(0.2);
+    }
+}
\ No newline at end of file