Diff: main.cpp

Revision:

18:65707db67191

Parent:

17:dc1b04f0b55d

Child:

19:9680ebe86f4a

--- a/main.cpp	Thu Feb 07 09:13:56 2019 +0000
+++ b/main.cpp	Thu Feb 07 18:38:41 2019 +0000
@@ -19,7 +19,7 @@
   FALSE,           //Automatic HIZ STOP
   100000           //VREFA and VREFB PWM frequency (Hz)
 };
-
+Thread canrxa;
 
 // Utility
 InterruptIn button(USER_BUTTON);
@@ -78,20 +78,22 @@
 }
 
 // CAN
-CAN can1(PB_8, PB_9);     // RX, TX
+CAN can1(PA_11, PA_12);     // RX, TX
 
 CANMessage messageIn;
 CANMessage messageOut;
 
 int filter = can1.filter(0x020, 0x4FF, CANStandard);
 
-void can_rx_handler()
+void canrx()
 {
-  printf("CAN: Rec\n\r");
-  
+  printf("CAN: in\n\r");
+  while(1){
   if(can1.read(messageIn, filter))
   {
-    printf("CAN: Rec %d\n\r", (messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24)));
+   printf("CAN: mess %d\n\r", (messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24)));
+        printf("CANaacc: id %x \n\r ",messageIn.id);
+}
   }
 }
 
@@ -106,7 +108,7 @@
   
   if (motor->init(&init) != COMPONENT_OK)
   {
-    printf("ERROR: Motor Init\n\r");
+    printf("ERROR: vvMotor Init\n\r");
     exit(EXIT_FAILURE);
   }
 
@@ -118,13 +120,14 @@
   
   button.rise(&button_int_handler);
   
-  printf("DONE: Motor Init\n\r");
+  printf("DONE: Mobjhbtor Init\n\r");
   
   // CAN Initialization
-  can1.reset();
-  can1.frequency(500000);
-  can1.attach(&can_rx_handler);
+  //can1.reset();
+ // can1.frequency(500000);
+  //can1.attach(&can_rx_handler);
   
+canrxa.start(canrx);
   printf("DONE: CAN Init\n\r");
   
   motor->run(StepperMotor::FWD);