Diff: can/can.cpp

Revision:

3:8a0faa3b08c3

Parent:

2:7cba05e70367

Child:

4:317c53a674fa

--- a/can/can.cpp	Tue Feb 26 05:10:27 2019 +0000
+++ b/can/can.cpp	Fri Mar 01 00:48:07 2019 +0000
@@ -14,12 +14,12 @@
 void can_readsend()
 {
     CANMessage msg;
-    
+
     if(can1.read(msg)) {
         canread_led = 1;
-        
-        if(msg.id == 1){  //from main
-        
+
+        if(msg.id == 1) { //from main
+
             id1_value[0] = msg.data[0];  //decide mode(1~3)
             id1_value[1] = msg.data[1];  //angle of left joystick(0~359)
             id1_value[2] = msg.data[2];
@@ -29,54 +29,56 @@
 
             //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]);
         }
-        
-        if(msg.id == 3){
+
+        /*if(msg.id == 3) {
             usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
             //debug_printf("usw_data1 = %f\n\r",usw_data1);
-        }
-        
-        /*if(msg.id == 4){
-            usw_data2 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
-            //debug_printf("usw_data2 = %f\n\r",usw_data2);
         }*/
-        
-        /*if(msg.id == 5){
-            usw_data3 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
-            //debug_printf("usw_data3 = %f\n\r",usw_data3);
-        }*/
-        
-        /*if(msg.id == 6){
+
+        /*   if(msg.id == 4){
+               usw_data2 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
+               //debug_printf("usw_data2 = %f\n\r",usw_data2);
+           }*/
+
+        /*    if(msg.id == 5){
+                usw_data3 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
+                //debug_printf("usw_data3 = %f\n\r",usw_data3);
+            }*/
+
+        if(msg.id == 6) {
             usw_data4 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
             //debug_printf("usw_data4 = %f\n\r",usw_data4);
-        }*/
-          
-    }else{
+        }
+
+    } else {
         canread_led = 0;
     }
-    
+
     if(can1.write(CANMessage(7,ashi_data,4))) {  //IDを7にして送信
         cansend_led = 1;
-    }else{
+    } else {
         cansend_led = 0;
     }
+
+}
+void can_start()
+{
+
+    while(1) {
+
+        CANMessage msg;
+
+        debug_printf("wait\n\r");
+        wait(0.1);
+        if(can1.read(msg)) {
+            break;
+        }
+    }
 }
 
-void can_start(){
+void UserLoopSetting_can()
+{
 
-    while(1){
-        
-        CANMessage msg;
-        
-        debug_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