Diff: User.cpp

Revision:

3:4d19e16fdf4c

Parent:

1:7b9e3032bb7b

Child:

4:ee01e28db9d4

--- a/User.cpp	Mon May 18 05:30:25 2015 +0000
+++ b/User.cpp	Wed Oct 14 12:24:17 2015 +0000
@@ -23,32 +23,14 @@
 #define RSXcent 128
 #define RSYcent 128
 
-//Ticker ticker1;
-//Timer timer1;
-SPI slave(p5, p6, p7); 
 CAN can1(p9, p10);
 CANMessage msg;  
 // pin settings
-//DigitalOut air1(p5);
-//DigitalOut air2(p6);
-//SPI settings//
-
-//SPI spi(p11,p12,p13);
-//DigitalOut ss1(p20);
-//DigitalOut ss2(p19);
-//DigitalOut ss3(p18);
-//DigitalOut ss4(p17);
-//PINsettings
-//DigitalOut ldac1(p21);
-//DigitalOut ldac2(p22);
-//DigitalOut ldac3(p23);
-//DigitalOut ldac4(p24);
-// LED settings//
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
-//
+
 int serial_counter = 0;
 int dac_data=0;
 double debug_val = 0, debug_val2 = 0;
@@ -87,23 +69,7 @@
 
 
 void UserLoopSetting(){
-    //spi.format(16,0);
-    //spi.frequency(1000000);//1M
-    /*
-    ss1=1;
-    ss2=1;
-    ss3=1;
-    ss4=1;
-    ldac1=1;
-    ldac2=1;
-    ldac3=1;
-    ldac4=1;
-    */
-    can1.frequency(125000);
-    
-    slave.format(16,0);
-    slave.frequency(1000000);
-    
+    can1.frequency(500000);
 }
 
 void UserLoop(char n,const u8* data){
@@ -130,7 +96,7 @@
                     //ボタンの処理
                     ButtonState =  ((ps3report*)(data + 1))->ButtonState;
                 }
-                Send_data[0] = RSX;
+                Send_data[0] = RSX;             //MAX 1000 MIN -1000    MD MAX 4096 MIN -4096
                 Send_data[1] = RSY;
                 Send_data[2] = LSX;
                 Send_data[3] = LSY;
@@ -138,7 +104,7 @@
                 Send_data[5] = BSL;
                 Send_data[6] =  ButtonState       & 0xFF;
                 Send_data[7] = (ButtonState >> 8) & 0xFF;
-                can1.write(CANMessage(100, &Send_data[0], 8));
+                can1.write(CANMessage(23, &Send_data[0], 8));       //id=1 自動　id=23 手動
                 
                 static int can1_counter = 0;
                 can1_counter ++;
@@ -146,60 +112,7 @@
                     led1 = !led1;
                     can1_counter = 0;   
                 }
-                /*
-                spi_send_data[0] = ButtonState;
-                spi_send_data[1] = RSX;
-                spi_send_data[1] = (spi_send_data[1] << 8) & 0xFF00;
-                spi_send_data[1] = spi_send_data[1] | RSY;
-                spi_send_data[2] = RSX;
-                spi_send_data[2] = (spi_send_data[2] << 8) & 0xFF00;
-                spi_send_data[2] = spi_send_data[2] | RSY;
-                */
-                /*
-                if(slave.receive()){
-                    int recive = slave.read();
-                    switch(recive){
-                        case 1:
-                            slave.reply(spi_send_data[0]);
-                            break; 
-                        case 2:
-                            slave.reply(spi_send_data[1]);
-                            break; 
-                        case 3:
-                            slave.reply(spi_send_data[2]);
-                            break; 
-                    }
-                }
-                */
-                
-                
-                
-                //slave.write(1);
-                
-                
-
-                
-                
-                
-                
-                
-                                             
-                //can1.read(msg); //CAN読み取り
-                                     
-                
-                
-                
-                
-                
-                
-                    
-                    
-                
-
-                //LRの処理
-                
-                
-                
+                                            
                 serial_counter ++;