Diff: Mycan.cpp

Revision:

11:10a25bb14793

Parent:

9:32f2e17ba653

diff -r d6738616d5f9 -r 10a25bb14793 Mycan.cpp
--- a/Mycan.cpp	Thu Sep 26 13:50:31 2019 +0000
+++ b/Mycan.cpp	Tue Oct 01 14:14:10 2019 +0000
@@ -4,35 +4,37 @@
 /*----------------------------------------------------*/
 
 //"id"は小さくしたほうがメモリ効率がいいですね
-//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
+//あと、整数で使うときは"num"は0~6、小数は0か1で御願いします
 
 /*----------------------------------------------------*/
 
-Mycan::Mycan(PinName _rd, PinName _td, float freq) : can(_rd, _td)
+Mycan::Mycan(PinName _rd, PinName _td, int freq) : can(_rd, _td, freq) {};
+
+void Mycan::setI(uint32_t _id, uint8_t _num, int16_t _data)
 {
-    can.frequency(freq);
-};
-
-void Mycan::setI(uint32_t _id, int _num, int16_t _data)
-{
-    write_type = 0;
+    if (td_id != _id) {
+        for (int i = 0; i <= 6; i++)
+            td_integer.value[i] = 0;
+    }
+    write_type = INTEGER;
     td_id = _id;
     td_num = _num;
     td_data.value[td_num] = _data;
     
-    for (int i = 0; i < 7; i++)
-    {
-        if (td_data.value[i] >= 0)
-            td_integer.value[7] &= ~(1 << i);
-        else
-            td_integer.value[7] |= (1 << i);
-        td_integer.value[i] = abs(td_data.value[i]);
-    }
+    if (td_data.value[td_num] >= 0)
+        td_integer.value[7] &= ~(1 << td_num);
+    else
+        td_integer.value[7] |=  (1 << td_num);
+    td_integer.value[td_num] = static_cast<char>(abs(td_data.value[td_num]));
 }
 
-void Mycan::setF(uint32_t _id, int _num, float _data)
+void Mycan::setF(uint32_t _id, uint8_t _num, float _data)
 {
-    write_type = 1;
+    if (td_id != _id) {
+        for (int i = 0; i <= 1; i++)
+            td_integer.value[i] = 0;
+    }
+    write_type = DECIMAL;
     td_id = _id;
     td_num = _num;
     td_decimal.value[td_num] = _data;
@@ -44,11 +46,11 @@
     else if (write_type) return can.write(CANMessage(td_id, (char*)&td_decimal, 8));
 }
 
-void Mycan::readI()
+bool Mycan::readI()
 {
-    read_type = 0;
+    read_type = INTEGER;
     CANMessage received;
-    can.read(received);
+    bool success = can.read(received);
     rd_integer = *(can_integer*)received.data;
     
     for (int i = 0; i < 7; i++) {
@@ -57,19 +59,23 @@
         else integer_storage.value[i] = rd_integer.value[i];
     }
     integer_values_storage[received.id] = integer_storage;
+    
+    return success;
 }
 
-void Mycan::readF()
+bool Mycan::readF()
 {
-    read_type = 1;
+    read_type = DECIMAL;
     CANMessage received;
-    can.read(received);
+    bool success = can.read(received);
     rd_decimal = *(can_decimal *)received.data;
     
     decimal_values_storage[received.id] = rd_decimal;
+    
+    return success;
 }
 
-float Mycan::get(uint32_t _id, int _num)
+float Mycan::get(uint32_t _id, uint8_t _num)
 {
     rd_id = _id;
     rd_num = _num;