SHOULDER
Dependencies: X-NUCLEO-IHM05A1
Diff: main.cpp
- Revision:
- 18:65707db67191
- Parent:
- 17:dc1b04f0b55d
- Child:
- 19:9680ebe86f4a
diff -r dc1b04f0b55d -r 65707db67191 main.cpp --- 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);