Diff: Mycan.cpp

Revision:

0:ce8efac4c651

Child:

1:e632e292a8c2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Mycan.cpp	Tue Jul 03 08:54:47 2018 +0000
@@ -0,0 +1,76 @@
+#include "mbed.h"
+#include "Mycan.h"
+
+Mycan::Mycan(PinName _pin_rd, PinName _pin_td) : can(_pin_rd, _pin_td)
+{
+    min_id = 1;//ここで最小IDを設定
+};
+
+void Mycan::set(unsigned int _id, int _num, short int _data)
+{
+    td_id = _id;
+    td_num = _num;
+    data = _data;
+    write_val[td_num] = data;
+    express_absoluteValue();//絶対値にする関数
+}
+
+void Mycan::send()
+{
+    can.write(CANMessage(td_id, (char*)&td_data, 8));
+}
+
+void Mycan::read()
+{
+    CANMessage received;
+    can.read(received);
+    rd_data = *(read_can *)received.data;
+    express_signVal(received.id);//符号を付与する関数
+}
+
+float Mycan::get(unsigned int _id, int _num)
+{
+    rd_id = _id;
+    rd_num = _num;
+    return read_val[rd_id - min_id][rd_num];
+}
+
+void Mycan::express_absoluteValue()
+{
+    for (int i = 1; i < 8; i++)
+    {
+        if (write_val[i] > 0)
+            write_val[0] &= ~(1 << i);
+        else
+            write_val[0] |= (1 << i);
+    }
+    td_data.writeVal_0 = write_val[0];
+    td_data.writeVal_1 = abs(write_val[1]);
+    td_data.writeVal_2 = abs(write_val[2]);
+    td_data.writeVal_3 = abs(write_val[3]);
+    td_data.writeVal_4 = abs(write_val[4]);
+    td_data.writeVal_5 = abs(write_val[5]);
+    td_data.writeVal_6 = abs(write_val[6]);
+    td_data.writeVal_7 = abs(write_val[7]);
+}
+
+void Mycan::express_signVal(unsigned int id)
+{
+    read_val[id - min_id][0] = rd_data.readVal_0;
+    read_val[id - min_id][1] = rd_data.readVal_1;
+    read_val[id - min_id][2] = rd_data.readVal_2;
+    read_val[id - min_id][3] = rd_data.readVal_3;
+    read_val[id - min_id][4] = rd_data.readVal_4;
+    read_val[id - min_id][5] = rd_data.readVal_5;
+    read_val[id - min_id][6] = rd_data.readVal_6;
+    read_val[id - min_id][7] = rd_data.readVal_7;
+    
+    for (int j = 1; j < 8; j++)
+    {
+        if (read_val[id - min_id][0] & (1 << j))
+            read_val[id - min_id][j] *= -1;
+    }
+}
+
+short Mycan::read_val[10][8];
+short Mycan::write_val[8];
\ No newline at end of file