can.cpp

00001 #include "mbed.h"
00002 #include "PathFollowing.h"
00003 #include "movement.h"
00004 #include "maxonsetting.h"
00005 #include "manual.h"
00006 #include "can.h"
00007 
00008 CAN can1(p30,p29,1000000);
00009 Ticker can_ticker;  //can用ticker
00010 
00011 DigitalOut canread_led(LED1);  //canread -> on
00012 DigitalOut cansend_led(LED2);  //cansend -> on
00013 
00014 void can_readsend()
00015 {
00016     CANMessage msg;
00017 
00018     if(can1.read(msg)) {
00019         canread_led = 1;
00020 
00021         if(msg.id == 1) { //from main
00022 
00023             id1_value[0] = msg.data[0];  //decide mode(1~3)
00024             id1_value[1] = msg.data[1];  //angle of left joystick(0~359)
00025             id1_value[2] = msg.data[2];
00026             id1_value[3] = msg.data[3];  //BOTTONR1 off/on(0 or 1)
00027             id1_value[4] = msg.data[4];  //state of right joystick(1~3)
00028             id1_value[5] = msg.data[5];  //left joystick neutral position(0 or 1)
00029 
00030             //debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d\n\r",id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5]);
00031         }
00032 
00033         if(msg.id == 3) {
00034             usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
00035             //debug_printf("usw_data1 = %f\n\r",usw_data1);
00036         }
00037 
00038         if(msg.id == 4){
00039                usw_data2 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
00040                //debug_printf("usw_data2 = %f\n\r",usw_data2);
00041            }
00042 
00043             if(msg.id == 5){
00044                 usw_data3 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
00045                 //debug_printf("usw_data3 = %f\n\r",usw_data3);
00046             }
00047 
00048         if(msg.id == 6) {
00049             usw_data4 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
00050             //debug_printf("usw_data4 = %f\n\r",usw_data4);
00051         }
00052 
00053     } else {
00054         canread_led = 0;
00055     }
00056 
00057     if(can1.write(CANMessage(7,ashi_data,4))) {  //IDを7にして送信
00058         cansend_led = 1;
00059     } else {
00060         cansend_led = 0;
00061     }
00062 
00063 }
00064 void can_start()
00065 {
00066 
00067     while(1) {
00068 
00069         CANMessage msg;
00070 
00071         debug_printf("wait\n\r");
00072         wait(0.1);
00073         if(can1.read(msg)) {
00074             break;
00075         }
00076     }
00077 }
00078 
00079 void UserLoopSetting_can()
00080 {
00081 
00082     can1.frequency(1000000);
00083     can_ticker.attach(&can_readsend,0.01);  //遅かったら早める
00084 }