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 cansend_led(LED1);  //canread -> on
00012 DigitalOut canread_led(LED2);  //cansend -> on
00013 
00014 int t1_r=0, T1=0; //動作番号（受け取った値、送信する値（int型））
00015 
00016 void can_readsend()
00017 {
00018     can_ashileddata[1] = T1; //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
00019   //printf("t1[0] = %d\n\r",t1[0]);
00020 
00021     CANMessage msg;
00022     
00023     if(can1.write(CANMessage(4,can_ashileddata,2))) {  //IDを7にして送信
00024         cansend_led = 1;
00025     } else {
00026         cansend_led = 0;
00027     }
00028 
00029     if(can1.read(msg)) {
00030         canread_led = 1;
00031 
00032         if(msg.id == 1) { //from main
00033 
00034             id1_value[0] = (msg.data[0]>>6)%4;  //decide wait/auto/manual(0~2)
00035             id1_value[1] = msg.data[1];         //angle of left joystick(0~359)
00036             id1_value[2] = msg.data[2];
00037             id1_value[3] = (msg.data[0]>>5)%2;  //BOTTONR1 off/on(0 or 1)
00038             id1_value[4] = (msg.data[0]>>3)%4;  //state of right joystick(1~3)
00039             id1_value[5] = (msg.data[0]>>2)%2;  //left joystick neutral position(0 or 1)
00040             id1_value[6] = (msg.data[0]>>1)%2;  //decide right/left(0 or 1)
00041 
00042             //debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
00043             //             ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);
00044         }
00045 
00046         if(msg.id == 3) {
00047             usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
00048             //debug_printf("usw_data1 = %f\n\r",usw_data1);
00049 
00050             usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]);
00051             //debug_printf("usw_data2 = %f\n\r",usw_data2);
00052 
00053             usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]);
00054             //debug_printf("usw_data3 = %f\n\r",usw_data3);
00055 
00056             usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]);
00057            // debug_printf("usw_data4 = %f\n\r",usw_data4);
00058         }
00059 
00060         if(msg.id == 1) {
00061             t1_r = msg.data[3];
00062             //printf("t1_r = %d\n\r",t1_r);
00063         }
00064 
00065     } else {
00066         canread_led = 0;
00067     }
00068 
00069     if(t1_r > T1){
00070         T1 = t1_r;
00071     }
00072 
00073 }
00074 void can_start()
00075 {
00076 
00077     while(1) {
00078 
00079         CANMessage msg;
00080 
00081         debug_printf("wait\n\r");
00082         wait(0.1);
00083         if(can1.read(msg)) {
00084             break;
00085         }
00086     }
00087 }
00088 
00089 void UserLoopSetting_can()
00090 {
00091     can1.frequency(1000000);
00092     can_ticker.attach(&can_readsend,0.01);  //遅かったら早める
00093 }