Diff: can/can.cpp

Revision:

11:9db93bce4eef

Parent:

9:7667dcfc7ce5

--- a/can/can.cpp	Wed Mar 13 04:23:18 2019 +0000
+++ b/can/can.cpp	Tue Mar 19 02:30:34 2019 +0000
@@ -12,12 +12,15 @@
 DigitalOut canread_led(LED2);  //canread -> on
 
 int t1_r=0, T1=0; //動作番号（受け取った値、送信する値（int型））
+int usw_flag;
 
 void can_readsend()
 {
     CANMessage msg;
+   // printf("readsend\n\r");
 
     if(can1.read(msg)) {
+        //printf("read\n\r");
 
         canread_led = 1;
 
@@ -32,12 +35,14 @@
             id1_value[6] = (msg.data[0]>>1)%2;  //decide right/left(0 or 1)
             t1_r = msg.data[3];                 //value of t(0~7)
             
-            /*debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
-                         ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);*/
-            debug_printf("t1_r=%d T1=%d can_ashileddata[1]=%d\n\r",t1_r,T1,can_ashileddata[1]);
+           // debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
+                    //     ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);
+           // debug_printf("t1_r=%d T1=%d can_ashileddata[1]=%d\n\r",t1_r,T1,can_ashileddata[1]);
         }
 
         if(msg.id == 3) {
+            usw_flag = 0;
+            
             usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
             //debug_printf("usw_data1 = %f\n\r",usw_data1);
 
@@ -50,6 +55,8 @@
             usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]);
             //debug_printf("usw_data4 = %f\n\r",usw_data4);
             //debug_printf("usw1=%f usw2=%f usw3=%f usw4=%f\n\r",usw_data1,usw_data2,usw_data3,usw_data4);
+        }else{
+            usw_flag = 1;    
         }
 
     } else {
@@ -60,8 +67,10 @@
     can_ashileddata[1] = T1;  //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
 
     if(can1.write(CANMessage(4,can_ashileddata,2))) {  //IDを4にして送信
+       // printf("send\n\r");
         cansend_led = 1;
     } else {
+        //printf("not_send\n\r");
         cansend_led = 0;
     }