ichinoseki_Bteam_2019 / Mycan

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

Mycan.cpp@1:e632e292a8c2, 2018-07-04 (annotated)

Committer:
Kirua
Date:
Wed Jul 04 07:49:29 2018 +0000
Revision:
1:e632e292a8c2
Parent:
0:ce8efac4c651
Child:
2:67a12201e80b
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kirua 0:ce8efac4c651 1 #include "mbed.h"
Kirua 0:ce8efac4c651 2 #include "Mycan.h"
Kirua 0:ce8efac4c651 3
Kirua 0:ce8efac4c651 4 Mycan::Mycan(PinName _pin_rd, PinName _pin_td) : can(_pin_rd, _pin_td)
Kirua 0:ce8efac4c651 5 {
Kirua 0:ce8efac4c651 6 min_id = 1;//ここで最小IDを設定
Kirua 0:ce8efac4c651 7 };
Kirua 0:ce8efac4c651 8
Kirua 0:ce8efac4c651 9 void Mycan::set(unsigned int _id, int _num, short int _data)
Kirua 0:ce8efac4c651 10 {
Kirua 0:ce8efac4c651 11 td_id = _id;
Kirua 0:ce8efac4c651 12 td_num = _num;
Kirua 0:ce8efac4c651 13 data = _data;
Kirua 0:ce8efac4c651 14 write_val[td_num] = data;
Kirua 1:e632e292a8c2 15 _expressAbsoluteValue();//絶対値にする関数
Kirua 0:ce8efac4c651 16 }
Kirua 0:ce8efac4c651 17
Kirua 0:ce8efac4c651 18 void Mycan::send()
Kirua 0:ce8efac4c651 19 {
Kirua 0:ce8efac4c651 20 can.write(CANMessage(td_id, (char*)&td_data, 8));
Kirua 0:ce8efac4c651 21 }
Kirua 0:ce8efac4c651 22
Kirua 0:ce8efac4c651 23 void Mycan::read()
Kirua 0:ce8efac4c651 24 {
Kirua 0:ce8efac4c651 25 CANMessage received;
Kirua 0:ce8efac4c651 26 can.read(received);
Kirua 0:ce8efac4c651 27 rd_data = *(read_can *)received.data;
Kirua 1:e632e292a8c2 28 _expressSignVal(received.id);//符号を付与する関数
Kirua 0:ce8efac4c651 29 }
Kirua 0:ce8efac4c651 30
Kirua 0:ce8efac4c651 31 float Mycan::get(unsigned int _id, int _num)
Kirua 0:ce8efac4c651 32 {
Kirua 0:ce8efac4c651 33 rd_id = _id;
Kirua 0:ce8efac4c651 34 rd_num = _num;
Kirua 0:ce8efac4c651 35 return read_val[rd_id - min_id][rd_num];
Kirua 0:ce8efac4c651 36 }
Kirua 0:ce8efac4c651 37
Kirua 1:e632e292a8c2 38 void Mycan::_expressAbsoluteValue()
Kirua 0:ce8efac4c651 39 {
Kirua 0:ce8efac4c651 40 for (int i = 1; i < 8; i++)
Kirua 0:ce8efac4c651 41 {
Kirua 0:ce8efac4c651 42 if (write_val[i] > 0)
Kirua 0:ce8efac4c651 43 write_val[0] &= ~(1 << i);
Kirua 0:ce8efac4c651 44 else
Kirua 0:ce8efac4c651 45 write_val[0] |= (1 << i);
Kirua 0:ce8efac4c651 46 }
Kirua 0:ce8efac4c651 47 td_data.writeVal_0 = write_val[0];
Kirua 0:ce8efac4c651 48 td_data.writeVal_1 = abs(write_val[1]);
Kirua 0:ce8efac4c651 49 td_data.writeVal_2 = abs(write_val[2]);
Kirua 0:ce8efac4c651 50 td_data.writeVal_3 = abs(write_val[3]);
Kirua 0:ce8efac4c651 51 td_data.writeVal_4 = abs(write_val[4]);
Kirua 0:ce8efac4c651 52 td_data.writeVal_5 = abs(write_val[5]);
Kirua 0:ce8efac4c651 53 td_data.writeVal_6 = abs(write_val[6]);
Kirua 0:ce8efac4c651 54 td_data.writeVal_7 = abs(write_val[7]);
Kirua 0:ce8efac4c651 55 }
Kirua 0:ce8efac4c651 56
Kirua 1:e632e292a8c2 57 void Mycan::_expressSignVal(unsigned int id)
Kirua 0:ce8efac4c651 58 {
Kirua 0:ce8efac4c651 59 read_val[id - min_id][0] = rd_data.readVal_0;
Kirua 0:ce8efac4c651 60 read_val[id - min_id][1] = rd_data.readVal_1;
Kirua 0:ce8efac4c651 61 read_val[id - min_id][2] = rd_data.readVal_2;
Kirua 0:ce8efac4c651 62 read_val[id - min_id][3] = rd_data.readVal_3;
Kirua 0:ce8efac4c651 63 read_val[id - min_id][4] = rd_data.readVal_4;
Kirua 0:ce8efac4c651 64 read_val[id - min_id][5] = rd_data.readVal_5;
Kirua 0:ce8efac4c651 65 read_val[id - min_id][6] = rd_data.readVal_6;
Kirua 0:ce8efac4c651 66 read_val[id - min_id][7] = rd_data.readVal_7;
Kirua 0:ce8efac4c651 67
Kirua 0:ce8efac4c651 68 for (int j = 1; j < 8; j++)
Kirua 0:ce8efac4c651 69 {
Kirua 0:ce8efac4c651 70 if (read_val[id - min_id][0] & (1 << j))
Kirua 0:ce8efac4c651 71 read_val[id - min_id][j] *= -1;
Kirua 0:ce8efac4c651 72 }
Kirua 0:ce8efac4c651 73 }
Kirua 0:ce8efac4c651 74
Kirua 0:ce8efac4c651 75 short Mycan::read_val[10][8];
Kirua 0:ce8efac4c651 76 short Mycan::write_val[8];