MCP_SPIne
Diff: main.cpp
- Revision:
- 10:54e95428798b
- Parent:
- 9:56747e76c9c1
--- a/main.cpp Fri Oct 04 14:21:16 2019 +0000 +++ b/main.cpp Thu Jun 04 01:26:01 2020 +0000 @@ -52,9 +52,12 @@ DigitalOut led(PC_5); -Serial pc(PA_2, PA_3); -CAN can1(PB_12, PB_13, 1000000); // CAN Rx pin name, CAN Tx pin name -CAN can2(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name +//Serial pc(PA_2, PA_3); +Serial pc(PA_9, PA_10); +CAN can1(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name +CAN can2(PB_12, PB_13, 1000000); // CAN Rx pin name, CAN Tx pin name +//CAN can1(PB_12, PB_13, 1000000); // CAN Rx pin name, CAN Tx pin name +//CAN can2(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name CANMessage rxMsg1, rxMsg2; CANMessage txMsg1, txMsg2; @@ -67,7 +70,7 @@ int spi_enabled = 0; InterruptIn cs(PA_4); -DigitalIn estop(PB_15); +//DigitalIn estop(PB_15); //SPISlave spi(PA_7, PA_6, PA_5, PA_4); @@ -202,6 +205,24 @@ can2.write(k2_can); wait(.00002); //toggle = 0; + + +// //toggle = 1; +// can1.write(a1_can); +// wait(.00002); +// can1.write(h1_can); +// wait(.00002); +// can1.write(k1_can); +// wait(.00002); +// +// can2.write(a2_can); +// wait(.00002); +// can2.write(h2_can); +// wait(.00002); +// can2.write(k2_can); +// wait(.00002); +// //toggle = 0; + } void sendCMD(){ @@ -435,16 +456,16 @@ - if(estop==0){ - //printf("estopped!!!!\n\r"); - memset(&l1_control, 0, sizeof(l1_control)); - memset(&l2_control, 0, sizeof(l2_control)); - spi_data.flags[0] = 0xdead; - spi_data.flags[1] = 0xdead; - led = 1; - } - - else{ +// if(estop==0){ +// //printf("estopped!!!!\n\r"); +// memset(&l1_control, 0, sizeof(l1_control)); +// memset(&l2_control, 0, sizeof(l2_control)); +// spi_data.flags[0] = 0xdead; +// spi_data.flags[1] = 0xdead; +// led = 1; +// } +// +// else{ led = 0; memset(&l1_control, 0, sizeof(l1_control)); @@ -500,7 +521,7 @@ //spi_data.flags[1] = 0xbeef; //PackAll(); //WriteAll(); - } +// } spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14); for(int i = 0; i < DATA_LEN; i++){ tx_buff[i] = ((uint16_t*)(&spi_data))[i];} @@ -546,7 +567,7 @@ //led = 1; pc.baud(921600); pc.attach(&serial_isr); - estop.mode(PullUp); +// estop.mode(PullUp); //spi.format(16, 0); //spi.frequency(1000000); //spi.reply(0x0); @@ -612,6 +633,13 @@ unpack_reply(rxMsg1, &l1_state); wait_us(10); +// counter++; +// can1.read(rxMsg1); +// unpack_reply(rxMsg1, &l1_state); +// can2.read(rxMsg2); // read message into Rx message storage +// unpack_reply(rxMsg2, &l2_state); +// wait_us(10); + }