Stepper controller with can interface
Dependencies: X-NUCLEO-IHM05A1
Diff: main.cpp
- Revision:
- 19:9680ebe86f4a
- Parent:
- 18:65707db67191
- Child:
- 20:8e5dd30b1b59
diff -r 65707db67191 -r 9680ebe86f4a main.cpp --- a/main.cpp Thu Feb 07 18:38:41 2019 +0000 +++ b/main.cpp Fri Feb 08 15:27:17 2019 +0000 @@ -87,18 +87,17 @@ void canrx() { - printf("CAN: in\n\r"); - while(1){ - if(can1.read(messageIn, filter)) + while(1) { - 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); -} + if(can1.read(messageIn, filter)) + { + 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); + } } } - /* Main ----------------------------------------------------------------------*/ int main() @@ -120,14 +119,11 @@ button.rise(&button_int_handler); - printf("DONE: Mobjhbtor Init\n\r"); + printf("DONE: Motor Init\n\r"); // CAN Initialization - //can1.reset(); - // can1.frequency(500000); - //can1.attach(&can_rx_handler); + canrxa.start(canrx); -canrxa.start(canrx); printf("DONE: CAN Init\n\r"); motor->run(StepperMotor::FWD); @@ -139,5 +135,3 @@ wait(1000); } } - -