ichinoseki_Bteam_2019 / Mycan

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependents:   2019_SwitchNode_AR ArmNode 2919_LineSensor 2019_MD ... more

Mycan.cpp@6:9bf1c678d5a4, 2019-09-02 (annotated)

Committer:
Kirua
Date:
Mon Sep 02 04:19:48 2019 +0000
Revision:
6:9bf1c678d5a4
Parent:
5:4bdeff035517
Child:
7:cac42b73a4f6
fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kirua 0:ce8efac4c651 1 #include "Mycan.h"
Kirua 0:ce8efac4c651 2
Kirua 4:7aa2809ad177 3
Kirua 4:7aa2809ad177 4 /*----------------------------------------------------*/
Kirua 4:7aa2809ad177 5
Kirua 4:7aa2809ad177 6 //"id"は小さくしたほうがメモリ効率がいいですね
Kirua 4:7aa2809ad177 7 //あと、整数で使うときは"num"は1~7、小数は0か1で御願いします
Kirua 4:7aa2809ad177 8
Kirua 4:7aa2809ad177 9 /*----------------------------------------------------*/
Kirua 4:7aa2809ad177 10
Kirua 4:7aa2809ad177 11 Mycan::Mycan(PinName _rd, PinName _td, float freq) : can(_rd, _td)
Kirua 0:ce8efac4c651 12 {
Kirua 4:7aa2809ad177 13 can.frequency(freq);
Kirua 0:ce8efac4c651 14 };
Kirua 0:ce8efac4c651 15
Kirua 4:7aa2809ad177 16 void Mycan::setI(uint32_t _id, int _num, int16_t _data)
Kirua 0:ce8efac4c651 17 {
Kirua 4:7aa2809ad177 18 write_type = 0;
Kirua 0:ce8efac4c651 19 td_id = _id;
Kirua 0:ce8efac4c651 20 td_num = _num;
Kirua 6:9bf1c678d5a4 21 td_data.value[td_num] = _data;
Kirua 4:7aa2809ad177 22
Kirua 6:9bf1c678d5a4 23 td_integer.value[7] = 0;
Kirua 6:9bf1c678d5a4 24 for (int i = 0; i < 7; i++)
Kirua 4:7aa2809ad177 25 {
Kirua 6:9bf1c678d5a4 26 if (td_data.value[i] >= 0)
Kirua 6:9bf1c678d5a4 27 td_integer.value[7] &= ~(1 << i);
Kirua 4:7aa2809ad177 28 else
Kirua 6:9bf1c678d5a4 29 td_integer.value[7] |= (1 << i);
Kirua 6:9bf1c678d5a4 30 td_integer.value[i] = abs(td_data.value[i]);
Kirua 4:7aa2809ad177 31 }
Kirua 4:7aa2809ad177 32 }
Kirua 4:7aa2809ad177 33
Kirua 4:7aa2809ad177 34 void Mycan::setF(uint32_t _id, int _num, float _data)
Kirua 4:7aa2809ad177 35 {
Kirua 4:7aa2809ad177 36 write_type = 1;
Kirua 4:7aa2809ad177 37 td_id = _id;
Kirua 4:7aa2809ad177 38 td_num = _num;
Kirua 4:7aa2809ad177 39 td_decimal.value[td_num] = _data;
Kirua 0:ce8efac4c651 40 }
Kirua 0:ce8efac4c651 41
TanakaTarou 3:055c2d38132f 42 bool Mycan::send()
Kirua 0:ce8efac4c651 43 {
Kirua 4:7aa2809ad177 44 if (!write_type) return can.write(CANMessage(td_id, (char*)&td_integer, 8));
Kirua 4:7aa2809ad177 45 else if (write_type) return can.write(CANMessage(td_id, (char*)&td_decimal, 8));
Kirua 0:ce8efac4c651 46 }
Kirua 0:ce8efac4c651 47
Kirua 4:7aa2809ad177 48 void Mycan::readI()
Kirua 0:ce8efac4c651 49 {
Kirua 4:7aa2809ad177 50 read_type = 0;
Kirua 0:ce8efac4c651 51 CANMessage received;
Kirua 0:ce8efac4c651 52 can.read(received);
Kirua 4:7aa2809ad177 53 rd_integer = *(can_integer*)received.data;
Kirua 4:7aa2809ad177 54
Kirua 6:9bf1c678d5a4 55 for (int i = 0; i < 7; i++)
Kirua 6:9bf1c678d5a4 56 integer_storage.value[i] = rd_integer.value[i];
Kirua 6:9bf1c678d5a4 57 integer_values_storage[received.id] = integer_storage;
Kirua 6:9bf1c678d5a4 58 for (int i = 0; i < 7; i++) {
Kirua 6:9bf1c678d5a4 59 if (integer_values_storage[received.id].value[7] & (1 << i))
Kirua 4:7aa2809ad177 60 integer_values_storage[received.id].value[i] *= -1;
Kirua 4:7aa2809ad177 61 }
Kirua 0:ce8efac4c651 62 }
Kirua 0:ce8efac4c651 63
Kirua 4:7aa2809ad177 64 void Mycan::readF()
Kirua 4:7aa2809ad177 65 {
Kirua 4:7aa2809ad177 66 read_type = 1;
Kirua 4:7aa2809ad177 67 CANMessage received;
Kirua 4:7aa2809ad177 68 can.read(received);
Kirua 4:7aa2809ad177 69 rd_decimal = *(can_decimal *)received.data;
Kirua 4:7aa2809ad177 70
Kirua 4:7aa2809ad177 71 decimal_values_storage[received.id].value[0] = rd_decimal.value[0];
Kirua 4:7aa2809ad177 72 decimal_values_storage[received.id].value[1] = rd_decimal.value[1];
Kirua 4:7aa2809ad177 73 }
Kirua 4:7aa2809ad177 74
Kirua 4:7aa2809ad177 75 float Mycan::get(uint32_t _id, int _num)
Kirua 0:ce8efac4c651 76 {
Kirua 0:ce8efac4c651 77 rd_id = _id;
Kirua 0:ce8efac4c651 78 rd_num = _num;
Kirua 4:7aa2809ad177 79 if (!read_type) return integer_values_storage[rd_id].value[rd_num];
Kirua 4:7aa2809ad177 80 else if (read_type) return decimal_values_storage[rd_id].value[rd_num];
Kirua 0:ce8efac4c651 81 }
Kirua 0:ce8efac4c651 82