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