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Dependencies:   mbed

CAN_asser.cpp@7:753e901d441b, 2019-05-20 (annotated)

Committer:
Wael_H
Date:
Mon May 20 14:58:09 2019 +0000
Revision:
7:753e901d441b
Parent:
5:34048faec367
Child:
8:94ecfe411d02
Premier automate de Wael et Theo :)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 7:753e901d441b 1 #include "mbed.h"
Wael_H 7:753e901d441b 2 #include "CAN_asser.h"
Wael_H 5:34048faec367 3
Wael_H 7:753e901d441b 4 CANMessage msg_can[256];
Wael_H 5:34048faec367 5 CAN can(PB_8, PB_9,1000000);
Wael_H 5:34048faec367 6 unsigned char pt_lecture_can = 0, pt_ecriture_can = 0;
Wael_H 5:34048faec367 7 int nb_msg_can = 0;
Wael_H 5:34048faec367 8 short pos[3];
Wael_H 7:753e901d441b 9 int flagFinDpl = 0;
Wael_H 7:753e901d441b 10 Serial dbug(USBTX, USBRX, 115200);
Wael_H 7:753e901d441b 11
Wael_H 7:753e901d441b 12 void can_init(void)
Wael_H 7:753e901d441b 13 {
Wael_H 7:753e901d441b 14 can.attach(&isr_can, CAN::RxIrq);
Wael_H 7:753e901d441b 15 }
Wael_H 7:753e901d441b 16
Wael_H 5:34048faec367 17 void isr_can()
Wael_H 5:34048faec367 18 {
Wael_H 5:34048faec367 19 can.read(msg_can[pt_ecriture_can]);
Wael_H 5:34048faec367 20 nb_msg_can++;
Wael_H 5:34048faec367 21 pt_ecriture_can++;
Wael_H 5:34048faec367 22 if(nb_msg_can > 6)
Wael_H 5:34048faec367 23 {
Wael_H 7:753e901d441b 24 //dbug.printf("!!!!!! CAN BUFFER OVERFLOW !!!!!!!!\n");
Wael_H 5:34048faec367 25 pt_lecture_can++;
Wael_H 5:34048faec367 26 nb_msg_can--;
Wael_H 5:34048faec367 27 }
Wael_H 7:753e901d441b 28 }
Wael_H 7:753e901d441b 29
Wael_H 5:34048faec367 30 void trait_can()
Wael_H 5:34048faec367 31 {
Wael_H 5:34048faec367 32 while(nb_msg_can>0)
Wael_H 5:34048faec367 33 {
Wael_H 7:753e901d441b 34 if(msg_can[pt_lecture_can].id == ODOMETRIE_POSITION)
Wael_H 7:753e901d441b 35 get_pos(msg_can[pt_lecture_can], pos);
Wael_H 7:753e901d441b 36
Wael_H 5:34048faec367 37 else if(msg_can[pt_lecture_can].id == 0x111)
Wael_H 5:34048faec367 38 {
Wael_H 7:753e901d441b 39 flagFinDpl = 1;
Wael_H 7:753e901d441b 40 dbug.printf("CAN fin dpl\n");
Wael_H 5:34048faec367 41 }
Wael_H 7:753e901d441b 42
Wael_H 5:34048faec367 43 else if(msg_can[pt_lecture_can].id == 0x101)
Wael_H 5:34048faec367 44 dbug.printf("CAN revived\n");
Wael_H 7:753e901d441b 45
Wael_H 5:34048faec367 46 nb_msg_can--;
Wael_H 5:34048faec367 47 pt_lecture_can++;
Wael_H 5:34048faec367 48 }
Wael_H 7:753e901d441b 49 }
Wael_H 7:753e901d441b 50
Wael_H 5:34048faec367 51 void get_pos(CANMessage msg_pos, short* position)
Wael_H 5:34048faec367 52 {
Wael_H 5:34048faec367 53 memcpy((void *)((void *)&position[0]), &(msg_pos.data[0]), 2);
Wael_H 5:34048faec367 54 memcpy((void *)((void *)&position[1]), &(msg_pos.data[2]), 2);
Wael_H 5:34048faec367 55 memcpy((void *)((void *)&position[2]), &(msg_pos.data[4]), 2);
Wael_H 5:34048faec367 56 }
Wael_H 5:34048faec367 57
Wael_H 5:34048faec367 58 void SendCoefK (unsigned short id, double K)
Wael_H 5:34048faec367 59 {
Wael_H 5:34048faec367 60
Wael_H 5:34048faec367 61 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 62
Wael_H 5:34048faec367 63 msgTx.id=id;
Wael_H 5:34048faec367 64
Wael_H 5:34048faec367 65 msgTx.len=2;
Wael_H 5:34048faec367 66
Wael_H 5:34048faec367 67 msgTx.format=CANStandard;
Wael_H 5:34048faec367 68
Wael_H 5:34048faec367 69 msgTx.type=CANData;
Wael_H 5:34048faec367 70
Wael_H 5:34048faec367 71 // from sur 2 octets
Wael_H 5:34048faec367 72 for(int i=0;i<8;i++)
Wael_H 5:34048faec367 73 {
Wael_H 5:34048faec367 74 memcpy(&(msgTx.data[i]), (void *)((void *)&K + i), 1);
Wael_H 5:34048faec367 75 }
Wael_H 5:34048faec367 76
Wael_H 5:34048faec367 77 can.write(msgTx);
Wael_H 5:34048faec367 78 }
Wael_H 5:34048faec367 79 /*********************************************************************************************************/
Wael_H 5:34048faec367 80
Wael_H 5:34048faec367 81 /* FUNCTION NAME: SendRawId */
Wael_H 5:34048faec367 82 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
Wael_H 5:34048faec367 83 /*********************************************************************************************************/
Wael_H 5:34048faec367 84 void SendRawId (unsigned short id)
Wael_H 5:34048faec367 85 {
Wael_H 5:34048faec367 86 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 87
Wael_H 5:34048faec367 88 msgTx.id=id;
Wael_H 5:34048faec367 89
Wael_H 5:34048faec367 90 msgTx.len=0;
Wael_H 5:34048faec367 91
Wael_H 5:34048faec367 92 can.write(msgTx);
Wael_H 5:34048faec367 93
Wael_H 5:34048faec367 94 wait_us(200);
Wael_H 5:34048faec367 95 }
Wael_H 5:34048faec367 96
Wael_H 5:34048faec367 97 /*********************************************************************************************/
Wael_H 5:34048faec367 98
Wael_H 5:34048faec367 99 /* FUNCTION NAME: SendAck */
Wael_H 5:34048faec367 100
Wael_H 5:34048faec367 101 /* DESCRIPTION : Envoyer un acknowledge */
Wael_H 5:34048faec367 102 /*********************************************************************************************/
Wael_H 5:34048faec367 103 void SendAck(unsigned short id, unsigned short from)
Wael_H 5:34048faec367 104 {
Wael_H 5:34048faec367 105
Wael_H 5:34048faec367 106 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 107
Wael_H 5:34048faec367 108 msgTx.id=id;
Wael_H 5:34048faec367 109
Wael_H 5:34048faec367 110 msgTx.len=2;
Wael_H 5:34048faec367 111
Wael_H 5:34048faec367 112 msgTx.format=CANStandard;
Wael_H 5:34048faec367 113
Wael_H 5:34048faec367 114 msgTx.type=CANData;
Wael_H 5:34048faec367 115
Wael_H 5:34048faec367 116 // from sur 2 octets
Wael_H 5:34048faec367 117
Wael_H 5:34048faec367 118 msgTx.data[0]=(unsigned char)from;
Wael_H 5:34048faec367 119
Wael_H 5:34048faec367 120 msgTx.data[1]=(unsigned char)(from>>8);
Wael_H 5:34048faec367 121
Wael_H 5:34048faec367 122
Wael_H 5:34048faec367 123 can.write(msgTx);
Wael_H 5:34048faec367 124 }
Wael_H 5:34048faec367 125
Wael_H 5:34048faec367 126 /*********************************************************************************************/
Wael_H 5:34048faec367 127
Wael_H 5:34048faec367 128 /* FUNCTION NAME: GoToPosition */
Wael_H 5:34048faec367 129 /* DESCRIPTION : Transmission CAN correspondant à un asservissement en position (x,y,theta) */
Wael_H 5:34048faec367 130 /*********************************************************************************************/
Wael_H 5:34048faec367 131 void GoToPosition (unsigned short x,unsigned short y,signed short theta,signed char sens)
Wael_H 5:34048faec367 132 {
Wael_H 5:34048faec367 133
Wael_H 5:34048faec367 134 //id_to_expect=ACK_CONSIGNE;
Wael_H 5:34048faec367 135
Wael_H 5:34048faec367 136 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 137
Wael_H 5:34048faec367 138 msgTx.id=ASSERVISSEMENT_XYT; // tx nouvelle position en (x,y,theta)
Wael_H 5:34048faec367 139
Wael_H 5:34048faec367 140 msgTx.len=7;
Wael_H 5:34048faec367 141
Wael_H 5:34048faec367 142 msgTx.format=CANStandard;
Wael_H 5:34048faec367 143
Wael_H 5:34048faec367 144 msgTx.type=CANData;
Wael_H 5:34048faec367 145
Wael_H 5:34048faec367 146 // x sur 2 octets
Wael_H 5:34048faec367 147
Wael_H 5:34048faec367 148 msgTx.data[0]=(unsigned char)x;
Wael_H 5:34048faec367 149
Wael_H 5:34048faec367 150 msgTx.data[1]=(unsigned char)(x>>8);
Wael_H 5:34048faec367 151
Wael_H 5:34048faec367 152 // y sur 2 octets
Wael_H 5:34048faec367 153
Wael_H 5:34048faec367 154 msgTx.data[2]=(unsigned char)y;
Wael_H 5:34048faec367 155
Wael_H 5:34048faec367 156 msgTx.data[3]=(unsigned char)(y>>8);
Wael_H 5:34048faec367 157
Wael_H 5:34048faec367 158 // theta signé sur 2 octets
Wael_H 5:34048faec367 159
Wael_H 5:34048faec367 160 msgTx.data[4]=(unsigned char)theta;
Wael_H 5:34048faec367 161
Wael_H 5:34048faec367 162 msgTx.data[5]=(unsigned char)(theta>>8);
Wael_H 5:34048faec367 163
Wael_H 5:34048faec367 164 msgTx.data[6]=sens;
Wael_H 5:34048faec367 165
Wael_H 5:34048faec367 166
Wael_H 5:34048faec367 167 can.write(msgTx);
Wael_H 5:34048faec367 168 }
Wael_H 5:34048faec367 169
Wael_H 5:34048faec367 170 /****************************************************************************************/
Wael_H 5:34048faec367 171
Wael_H 5:34048faec367 172 /* FUNCTION NAME: Rotate */
Wael_H 5:34048faec367 173
Wael_H 5:34048faec367 174 /* DESCRIPTION : Transmission CAN correspondant à une rotation */
Wael_H 5:34048faec367 175 /****************************************************************************************/
Wael_H 5:34048faec367 176 void Rotate (signed short angle)
Wael_H 5:34048faec367 177 {
Wael_H 5:34048faec367 178
Wael_H 5:34048faec367 179 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 180
Wael_H 5:34048faec367 181 msgTx.id=ASSERVISSEMENT_ROTATION; // Tx rotation autour du centre du robot
Wael_H 5:34048faec367 182
Wael_H 5:34048faec367 183 msgTx.len=2;
Wael_H 5:34048faec367 184
Wael_H 5:34048faec367 185 msgTx.format=CANStandard;
Wael_H 5:34048faec367 186
Wael_H 5:34048faec367 187 msgTx.type=CANData;
Wael_H 5:34048faec367 188
Wael_H 5:34048faec367 189 // Angle signé sur 2 octets
Wael_H 5:34048faec367 190
Wael_H 5:34048faec367 191 msgTx.data[0]=(unsigned char)angle;
Wael_H 5:34048faec367 192
Wael_H 5:34048faec367 193 msgTx.data[1]=(unsigned char)(angle>>8);
Wael_H 5:34048faec367 194
Wael_H 5:34048faec367 195
Wael_H 5:34048faec367 196 can.write(msgTx);
Wael_H 5:34048faec367 197 }
Wael_H 5:34048faec367 198
Wael_H 5:34048faec367 199
Wael_H 5:34048faec367 200 /*********************************************************************************************/
Wael_H 5:34048faec367 201
Wael_H 5:34048faec367 202 /* FUNCTION NAME: GoStraight */
Wael_H 5:34048faec367 203 /* DESCRIPTION : Transmission CAN correspondant à une ligne droite, avec ou sans recalage */
Wael_H 5:34048faec367 204
Wael_H 5:34048faec367 205 /* recalage : 0 => pas de recalage */
Wael_H 5:34048faec367 206
Wael_H 5:34048faec367 207 /* 1 => recalage en X */
Wael_H 5:34048faec367 208
Wael_H 5:34048faec367 209 /* 2 => Recalage en Y */
Wael_H 5:34048faec367 210
Wael_H 5:34048faec367 211 /* newValue : Uniquement en cas de recalage, indique la nouvelle valeur de l'odo */
Wael_H 5:34048faec367 212
Wael_H 5:34048faec367 213 /* isEnchainement : Indique si il faut executer l'instruction en enchainement */
Wael_H 5:34048faec367 214
Wael_H 5:34048faec367 215 /* 0 => non */
Wael_H 5:34048faec367 216
Wael_H 5:34048faec367 217 /* 1 => oui */
Wael_H 5:34048faec367 218
Wael_H 5:34048faec367 219 /* 2 => dernière instruction de l'enchainement */
Wael_H 5:34048faec367 220 /*********************************************************************************************/
Wael_H 5:34048faec367 221 void GoStraight (signed short distance,unsigned char recalage, unsigned short newValue, unsigned char isEnchainement)
Wael_H 5:34048faec367 222 {
Wael_H 5:34048faec367 223
Wael_H 5:34048faec367 224 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 225
Wael_H 5:34048faec367 226 msgTx.id=ASSERVISSEMENT_RECALAGE;
Wael_H 5:34048faec367 227
Wael_H 5:34048faec367 228 msgTx.len=6;
Wael_H 5:34048faec367 229
Wael_H 5:34048faec367 230 msgTx.format=CANStandard;
Wael_H 5:34048faec367 231
Wael_H 5:34048faec367 232 msgTx.type=CANData;
Wael_H 5:34048faec367 233
Wael_H 5:34048faec367 234 // x sur 2 octets
Wael_H 5:34048faec367 235
Wael_H 5:34048faec367 236 msgTx.data[0]=(unsigned char)distance;
Wael_H 5:34048faec367 237
Wael_H 5:34048faec367 238 msgTx.data[1]=(unsigned char)(distance>>8);
Wael_H 5:34048faec367 239
Wael_H 5:34048faec367 240 //Recalage sur 1 octet
Wael_H 5:34048faec367 241
Wael_H 5:34048faec367 242 msgTx.data[2]=recalage;
Wael_H 5:34048faec367 243
Wael_H 5:34048faec367 244 //Valeur du recalage sur 2 octets
Wael_H 5:34048faec367 245
Wael_H 5:34048faec367 246 msgTx.data[3]=(unsigned char)newValue;
Wael_H 5:34048faec367 247
Wael_H 5:34048faec367 248 msgTx.data[4]=(unsigned char)(newValue>>8);
Wael_H 5:34048faec367 249
Wael_H 5:34048faec367 250 //Enchainement sur 1 octet
Wael_H 5:34048faec367 251
Wael_H 5:34048faec367 252 msgTx.data[5]=isEnchainement;
Wael_H 5:34048faec367 253
Wael_H 5:34048faec367 254
Wael_H 5:34048faec367 255 can.write(msgTx);
Wael_H 5:34048faec367 256
Wael_H 5:34048faec367 257 //wait_ms(500);
Wael_H 5:34048faec367 258 }
Wael_H 5:34048faec367 259
Wael_H 5:34048faec367 260 /********************************************************************************************/
Wael_H 5:34048faec367 261
Wael_H 5:34048faec367 262 /* FUNCTION NAME: BendRadius */
Wael_H 5:34048faec367 263
Wael_H 5:34048faec367 264 /* DESCRIPTION : Transmission CAN correspondant à un rayon de courbure */
Wael_H 5:34048faec367 265 /********************************************************************************************/
Wael_H 5:34048faec367 266 void BendRadius (unsigned short rayon,signed short angle,signed char sens, unsigned char enchainement)
Wael_H 5:34048faec367 267 {
Wael_H 5:34048faec367 268
Wael_H 5:34048faec367 269 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 270
Wael_H 5:34048faec367 271 msgTx.id=ASSERVISSEMENT_COURBURE; // tx asservissement rayon de courbure
Wael_H 5:34048faec367 272
Wael_H 5:34048faec367 273 msgTx.len=6;
Wael_H 5:34048faec367 274
Wael_H 5:34048faec367 275 msgTx.format=CANStandard;
Wael_H 5:34048faec367 276
Wael_H 5:34048faec367 277 msgTx.type=CANData;
Wael_H 5:34048faec367 278
Wael_H 5:34048faec367 279 // Rayon sur 2 octets
Wael_H 5:34048faec367 280
Wael_H 5:34048faec367 281 msgTx.data[0]=(unsigned char)rayon;
Wael_H 5:34048faec367 282
Wael_H 5:34048faec367 283 msgTx.data[1]=(unsigned char)(rayon>>8);
Wael_H 5:34048faec367 284
Wael_H 5:34048faec367 285 // Angle signé sur 2 octets
Wael_H 5:34048faec367 286
Wael_H 5:34048faec367 287 msgTx.data[2]=(unsigned char)angle;
Wael_H 5:34048faec367 288
Wael_H 5:34048faec367 289 msgTx.data[3]=(unsigned char)(angle>>8);
Wael_H 5:34048faec367 290
Wael_H 5:34048faec367 291 // Sens signé sur 1 octet
Wael_H 5:34048faec367 292
Wael_H 5:34048faec367 293 msgTx.data[4]=sens;
Wael_H 5:34048faec367 294
Wael_H 5:34048faec367 295 // Enchainement sur 1 octet
Wael_H 5:34048faec367 296
Wael_H 5:34048faec367 297 msgTx.data[5]=enchainement;
Wael_H 5:34048faec367 298
Wael_H 5:34048faec367 299
Wael_H 5:34048faec367 300 can.write(msgTx);
Wael_H 5:34048faec367 301 }
Wael_H 5:34048faec367 302
Wael_H 5:34048faec367 303 void SetOdometrie (unsigned short canId, unsigned short x,unsigned short y,signed short theta)
Wael_H 5:34048faec367 304 {
Wael_H 5:34048faec367 305
Wael_H 5:34048faec367 306 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 307
Wael_H 5:34048faec367 308 msgTx.id=canId;
Wael_H 5:34048faec367 309
Wael_H 5:34048faec367 310 msgTx.format=CANStandard;
Wael_H 5:34048faec367 311
Wael_H 5:34048faec367 312 msgTx.type=CANData;
Wael_H 5:34048faec367 313
Wael_H 5:34048faec367 314 msgTx.len=6;
Wael_H 5:34048faec367 315
Wael_H 5:34048faec367 316
Wael_H 5:34048faec367 317 // x sur 2 octets
Wael_H 5:34048faec367 318
Wael_H 5:34048faec367 319 msgTx.data[0]=(unsigned char)x;
Wael_H 5:34048faec367 320
Wael_H 5:34048faec367 321 msgTx.data[1]=(unsigned char)(x>>8);
Wael_H 5:34048faec367 322
Wael_H 5:34048faec367 323 // y sur 2 octets
Wael_H 5:34048faec367 324
Wael_H 5:34048faec367 325 msgTx.data[2]=(unsigned char)y;
Wael_H 5:34048faec367 326
Wael_H 5:34048faec367 327 msgTx.data[3]=(unsigned char)(y>>8);
Wael_H 5:34048faec367 328
Wael_H 5:34048faec367 329 // theta signé sur 2 octets
Wael_H 5:34048faec367 330
Wael_H 5:34048faec367 331 msgTx.data[4]=(unsigned char)theta;
Wael_H 5:34048faec367 332
Wael_H 5:34048faec367 333 msgTx.data[5]=(unsigned char)(theta>>8);
Wael_H 5:34048faec367 334
Wael_H 5:34048faec367 335
Wael_H 5:34048faec367 336 can.write(msgTx);
Wael_H 5:34048faec367 337 }
Wael_H 5:34048faec367 338
Wael_H 5:34048faec367 339 /****************************************************************************************/
Wael_H 5:34048faec367 340
Wael_H 5:34048faec367 341 /* FUNCTION NAME: setAsservissementEtat */
Wael_H 5:34048faec367 342
Wael_H 5:34048faec367 343 /* DESCRIPTION : Activer ou désactiver l'asservissement */
Wael_H 5:34048faec367 344 /****************************************************************************************/
Wael_H 5:34048faec367 345 void setAsservissementEtat(unsigned char enable)
Wael_H 5:34048faec367 346 {
Wael_H 5:34048faec367 347
Wael_H 5:34048faec367 348 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 349
Wael_H 5:34048faec367 350 msgTx.id=ASSERVISSEMENT_ENABLE; // Tx rotation autour du centre du robot
Wael_H 5:34048faec367 351
Wael_H 5:34048faec367 352 msgTx.len=1;
Wael_H 5:34048faec367 353
Wael_H 5:34048faec367 354 msgTx.format=CANStandard;
Wael_H 5:34048faec367 355
Wael_H 5:34048faec367 356 msgTx.type=CANData;
Wael_H 5:34048faec367 357
Wael_H 5:34048faec367 358 // Angle signé sur 2 octets
Wael_H 5:34048faec367 359
Wael_H 5:34048faec367 360 msgTx.data[0]=(unsigned char)((enable==0)?0:1);
Wael_H 5:34048faec367 361
Wael_H 5:34048faec367 362
Wael_H 5:34048faec367 363 can.write(msgTx);
Wael_H 5:34048faec367 364 }
Wael_H 5:34048faec367 365
Wael_H 5:34048faec367 366
Wael_H 5:34048faec367 367 /****************************************************************************************/
Wael_H 5:34048faec367 368
Wael_H 5:34048faec367 369 /* FUNCTION NAME: SendSpeed */
Wael_H 5:34048faec367 370
Wael_H 5:34048faec367 371 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
Wael_H 5:34048faec367 372 /****************************************************************************************/
Wael_H 5:34048faec367 373 void SendSpeed (unsigned short vitesse, unsigned short acceleration)
Wael_H 5:34048faec367 374 {
Wael_H 5:34048faec367 375
Wael_H 5:34048faec367 376 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 377
Wael_H 5:34048faec367 378 msgTx.id=ASSERVISSEMENT_CONFIG;
Wael_H 5:34048faec367 379
Wael_H 5:34048faec367 380 msgTx.format=CANStandard;
Wael_H 5:34048faec367 381
Wael_H 5:34048faec367 382 msgTx.type=CANData;
Wael_H 5:34048faec367 383
Wael_H 5:34048faec367 384 msgTx.len=4;
Wael_H 5:34048faec367 385
Wael_H 5:34048faec367 386 msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
Wael_H 5:34048faec367 387
Wael_H 5:34048faec367 388 msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
Wael_H 5:34048faec367 389
Wael_H 5:34048faec367 390 msgTx.data[2]=(unsigned char)(acceleration&0x00FF);
Wael_H 5:34048faec367 391
Wael_H 5:34048faec367 392
Wael_H 5:34048faec367 393 msgTx.data[3]=(unsigned char)((acceleration&0xFF00)>>8);
Wael_H 5:34048faec367 394
Wael_H 5:34048faec367 395
Wael_H 5:34048faec367 396 can.write(msgTx);
Wael_H 5:34048faec367 397
Wael_H 5:34048faec367 398
Wael_H 5:34048faec367 399 }
Wael_H 5:34048faec367 400
Wael_H 5:34048faec367 401 /****************************************************************************************/
Wael_H 5:34048faec367 402
Wael_H 5:34048faec367 403 /* FUNCTION NAME: SendSpeedDecel */
Wael_H 5:34048faec367 404
Wael_H 5:34048faec367 405 /* DESCRIPTION : Envoie un asservissement paramètre retournant à une vitesse */
Wael_H 5:34048faec367 406 /****************************************************************************************/
Wael_H 5:34048faec367 407
Wael_H 5:34048faec367 408 void SendSpeedDecel (unsigned short vitesse, unsigned short deceleration)
Wael_H 5:34048faec367 409 {
Wael_H 5:34048faec367 410
Wael_H 5:34048faec367 411 CANMessage msgTx=CANMessage();
Wael_H 5:34048faec367 412
Wael_H 5:34048faec367 413 msgTx.id=ASSERVISSEMENT_CONFIG_DECEL;
Wael_H 5:34048faec367 414
Wael_H 5:34048faec367 415 msgTx.format=CANStandard;
Wael_H 5:34048faec367 416
Wael_H 5:34048faec367 417 msgTx.type=CANData;
Wael_H 5:34048faec367 418
Wael_H 5:34048faec367 419 msgTx.len=4;
Wael_H 5:34048faec367 420
Wael_H 5:34048faec367 421 msgTx.data[0]=(unsigned char)(vitesse&0x00FF);
Wael_H 5:34048faec367 422
Wael_H 5:34048faec367 423 msgTx.data[1]=(unsigned char)((vitesse&0xFF00)>>8);
Wael_H 5:34048faec367 424
Wael_H 5:34048faec367 425 msgTx.data[2]=(unsigned char)(deceleration&0x00FF);
Wael_H 5:34048faec367 426
Wael_H 5:34048faec367 427 msgTx.data[3]=(unsigned char)((deceleration&0xFF00)>>8);
Wael_H 5:34048faec367 428
Wael_H 5:34048faec367 429 can.write(msgTx);
Wael_H 5:34048faec367 430
Wael_H 5:34048faec367 431
Wael_H 5:34048faec367 432 }