1/24 操舵 中央 can receivedata++;
Dependencies: mbed
Fork of Control_Main_CANver1 by
main.cpp@0:efd2956da873, 2016-01-23 (annotated)
- Committer:
- taurin
- Date:
- Sat Jan 23 17:37:58 2016 +0000
- Revision:
- 0:efd2956da873
- Child:
- 1:21010e775c79
1/24?????can ver??????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
taurin | 0:efd2956da873 | 1 | //中央can program |
taurin | 0:efd2956da873 | 2 | |
taurin | 0:efd2956da873 | 3 | #include "mbed.h" |
taurin | 0:efd2956da873 | 4 | #define WAIT_LOOP_TIME 0.1 |
taurin | 0:efd2956da873 | 5 | #define YOKUTAN_DATAS_NUM 5 |
taurin | 0:efd2956da873 | 6 | #define IMPUT_DATAS_NUM 2 |
taurin | 0:efd2956da873 | 7 | #define SEND_DATAS_CAN_ID 100 |
taurin | 0:efd2956da873 | 8 | |
taurin | 0:efd2956da873 | 9 | CAN can(p9,p10); |
taurin | 0:efd2956da873 | 10 | Serial toKeikiSerial(p28,p27); |
taurin | 0:efd2956da873 | 11 | Serial pc(USBTX,USBRX); |
taurin | 0:efd2956da873 | 12 | DigitalIn eruron(p7); |
taurin | 0:efd2956da873 | 13 | DigitalIn drug(p8); |
taurin | 0:efd2956da873 | 14 | |
taurin | 0:efd2956da873 | 15 | signed char yokutanDatas[YOKUTAN_DATAS_NUM]; |
taurin | 0:efd2956da873 | 16 | char inputDatas[IMPUT_DATAS_NUM]; |
taurin | 0:efd2956da873 | 17 | |
taurin | 0:efd2956da873 | 18 | void InputAndSentControlValues(){ |
taurin | 0:efd2956da873 | 19 | inputDatas[0] = eruron; |
taurin | 0:efd2956da873 | 20 | inputDatas[1] = drug; |
taurin | 0:efd2956da873 | 21 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
taurin | 0:efd2956da873 | 22 | if(can.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas, IMPUT_DATAS_NUM))){ |
taurin | 0:efd2956da873 | 23 | pc.printf("send successed!\n\r"); |
taurin | 0:efd2956da873 | 24 | } |
taurin | 0:efd2956da873 | 25 | } |
taurin | 0:efd2956da873 | 26 | } |
taurin | 0:efd2956da873 | 27 | |
taurin | 0:efd2956da873 | 28 | void SendDarasToKeiki(){ |
taurin | 0:efd2956da873 | 29 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
taurin | 0:efd2956da873 | 30 | toKeikiSerial.putc(yokutanDatas[i]); |
taurin | 0:efd2956da873 | 31 | } |
taurin | 0:efd2956da873 | 32 | } |
taurin | 0:efd2956da873 | 33 | |
taurin | 0:efd2956da873 | 34 | void toString(){ |
taurin | 0:efd2956da873 | 35 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
taurin | 0:efd2956da873 | 36 | pc.printf("%i:",yokutanDatas[i]); |
taurin | 0:efd2956da873 | 37 | } |
taurin | 0:efd2956da873 | 38 | pc.printf("\n\r"); |
taurin | 0:efd2956da873 | 39 | } |
taurin | 0:efd2956da873 | 40 | |
taurin | 0:efd2956da873 | 41 | void init(){ |
taurin | 0:efd2956da873 | 42 | } |
taurin | 0:efd2956da873 | 43 | |
taurin | 0:efd2956da873 | 44 | int main(){ |
taurin | 0:efd2956da873 | 45 | init(); |
taurin | 0:efd2956da873 | 46 | while(1){ |
taurin | 0:efd2956da873 | 47 | InputAndSentControlValues(); |
taurin | 0:efd2956da873 | 48 | wait_us(10); |
taurin | 0:efd2956da873 | 49 | if(can.read(recmsg)){ |
taurin | 0:efd2956da873 | 50 | receiveDatas(); |
taurin | 0:efd2956da873 | 51 | } |
taurin | 0:efd2956da873 | 52 | toString(); |
taurin | 0:efd2956da873 | 53 | wait(WAIT_LOOP_TIME); |
taurin | 0:efd2956da873 | 54 | } |
taurin | 0:efd2956da873 | 55 | } |