春ロボ　ロケット団 / Mbed 2 deprecated CAN_Test_main

2/4

Dependencies:   mbed

main.cpp@1:32f484ba74a2, 2021-12-15 (annotated)

Committer:
maxnagazumi
Date:
Wed Dec 15 09:46:21 2021 +0000
Revision:
1:32f484ba74a2
Parent:
0:33432ad74af7 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maxnagazumi 0:33432ad74af7 1 #include "mbed.h"
maxnagazumi 0:33432ad74af7 2
maxnagazumi 1:32f484ba74a2 3 CAN can(p30,p29);
maxnagazumi 0:33432ad74af7 4 Ticker ticker;
maxnagazumi 1:32f484ba74a2 5 DigitalOut led1(LED1);
maxnagazumi 1:32f484ba74a2 6 DigitalOut led2(LED2);
maxnagazumi 1:32f484ba74a2 7 DigitalOut led3(LED3);
maxnagazumi 1:32f484ba74a2 8 DigitalOut led4(LED4);
maxnagazumi 1:32f484ba74a2 9
maxnagazumi 1:32f484ba74a2 10 char can_data1[2]= {0,0};
maxnagazumi 1:32f484ba74a2 11 int data1=0;
maxnagazumi 1:32f484ba74a2 12 CANMessage msg1;
maxnagazumi 1:32f484ba74a2 13 int y;
maxnagazumi 1:32f484ba74a2 14 void can1()
maxnagazumi 0:33432ad74af7 15 {
maxnagazumi 1:32f484ba74a2 16 can_data1[0]=data1>>8;
maxnagazumi 1:32f484ba74a2 17 can_data1[1]=data1&255;
maxnagazumi 1:32f484ba74a2 18 if(can.write(CANMessage(1,can_data1,2))) {
maxnagazumi 1:32f484ba74a2 19 led1 =1;
maxnagazumi 1:32f484ba74a2 20 led2=0;
maxnagazumi 1:32f484ba74a2 21 printf("can1 send\r\n");
maxnagazumi 1:32f484ba74a2 22 } else {
maxnagazumi 1:32f484ba74a2 23 led1=0;
maxnagazumi 1:32f484ba74a2 24 led2=1;
maxnagazumi 1:32f484ba74a2 25 printf("can1 no send\r\n");
maxnagazumi 1:32f484ba74a2 26 }
maxnagazumi 1:32f484ba74a2 27 if (can1.read(msg1))
maxnagazumi 1:32f484ba74a2 28 {
maxnagazumi 1:32f484ba74a2 29 if (msg1.id == 2)
maxnagazumi 1:32f484ba74a2 30 {
maxnagazumi 1:32f484ba74a2 31 y = (short)((msg1.data[0] << 8) | msg1.data[1]);
maxnagazumi 1:32f484ba74a2 32 if(y==1000){
maxnagazumi 1:32f484ba74a2 33 printf("get responese from can2\r\n");
maxnagazumi 1:32f484ba74a2 34 data1++;
maxnagazumi 1:32f484ba74a2 35 if(data1>1000)data1=1000;
maxnagazumi 1:32f484ba74a2 36 }
maxnagazumi 0:33432ad74af7 37 }
maxnagazumi 0:33432ad74af7 38 }
maxnagazumi 0:33432ad74af7 39 }
maxnagazumi 0:33432ad74af7 40
maxnagazumi 0:33432ad74af7 41 int main()
maxnagazumi 0:33432ad74af7 42 {
maxnagazumi 0:33432ad74af7 43 can1.frequency(1000000);
maxnagazumi 1:32f484ba74a2 44 ticker.attach(&can1,0.001);
maxnagazumi 1:32f484ba74a2 45 }