Revision 10:54e95428798b, committed 2020-06-04

Comitter:

Ikhee

Date:

Thu Jun 04 01:26:01 2020 +0000

Parent:

9:56747e76c9c1

Commit message:

Test

Changed in this revision

diff -r 56747e76c9c1 -r 54e95428798b main.cpp
--- 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);
+
         }