Diff: can/can.cpp

Revision:

0:c61c6e4775ca

Child:

1:3c11e07da92a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/can/can.cpp	Wed Feb 13 03:02:19 2019 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "PathFollowing.h"
+#include "movement.h"
+#include "maxonsetting.h"
+#include "manual.h"
+#include "can.h"
+
+CAN can1(p30,p29/*,1000000*/);
+Ticker can_ticker;  //can用ticker
+
+DigitalOut canread_led(LED1);  //canread -> on
+DigitalOut cansend_led(LED2);  //cansend -> on
+
+void can_readsend()
+{
+    CANMessage msg;
+    
+    if(can1.read(msg)) {
+        canread_led = 1;
+        
+        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];
+            id1_value[3] = msg.data[3];  //BOTTONR1 off/on(0 or 1)
+            id1_value[4] = msg.data[4];  //state of right joystick(1~3)
+            id1_value[5] = msg.data[5];  //left joystick neutral position(0 or 1)
+
+            //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){
+            usw_data1 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
+            //printf("usw_data1 = %d:%d,%lf\n\r",msg.data[0],msg.data[1],usw_data1);
+            //debug_printf("%f\n\r",usw_data1);
+        }
+        
+        if(msg.id == 4){
+            usw_data2 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
+            //printf("usw_data2 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data2);
+        }
+        
+        if(msg.id == 5){
+            usw_data3 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
+            //printf("usw_data3 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data3);
+            //debug_printf("%f\n\r",usw_data3);
+        }
+        
+        if(msg.id == 6){
+            usw_data4 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
+            //printf("usw_data4 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data4);
+        }
+          
+    }else{
+        canread_led = 0;
+    }
+    
+    if(can1.write(CANMessage(7,ashi_data,1))) {  //IDを7にして送信
+        cansend_led = 1;
+    }else{
+        cansend_led = 0;
+    }
+}
+
+void can_start(){
+
+    while(1){
+        
+        CANMessage msg;
+        
+        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