albatross / Mbed 2 deprecated Control_Main_CANver1_1

1/24 操舵　中央　can receivedata++;

Dependencies:   mbed

Fork of Control_Main_CANver1 by albatross

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?

UserRevisionLine numberNew 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 }