Руслан Урядинский / Mbed 2 deprecated UAVCAN

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Dependencies:   mbed-STM32F103C8T6 mbed libuavcan

Files at this revision

API Documentation at this revision

Revision 5:f59c880d75c6, committed 2018-05-12

Comitter:
RuslanUrya
Date:
Sat May 12 08:58:56 2018 +0000
Parent:
4:05f811770392
Commit message:
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Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu May 10 13:57:17 2018 +0000
+++ b/main.cpp	Sat May 12 08:58:56 2018 +0000
@@ -1,11 +1,9 @@
 #include "mbed.h"
-#//include <libuavcan/libuavcan/include.mk> //core
-//#include <libuavcan/libuavcan_drivers/stm32/driver/include.mk> //stm32 driver
-//#include <libuavcan/libuavcan/dsdl_compiler/setup.py> //run dsdl compiler?
 #include "chip.h" //build configuration
 #include "libuavcan/libuavcan/include/uavcan/build_config.hpp" //All default configuration options
 #include "libuavcan/libuavcan_drivers/stm32/driver/include/uavcan_stm32/build_config.hpp" //OS detection; Any General-Purpose timer
 #include "libuavcan/libuavcan/include/uavcan/node/publisher.hpp" //Publisher class
+#include "stm32f103c8t6.h"
 
 #include <uavcan/equipment/actuator/Command.hpp> //message type
 
@@ -22,8 +20,10 @@
 
 
 int main() {
+    confSysClock();
     auto& node = getNode();
-    node.setName("Actuator");
+    node.setNodeID(1);
+    node.setName("Publisher");
     if (node.start() > 0){ //<>?
         //обработка ошибок запуска
     }
@@ -38,10 +38,10 @@
         if (node.spin(uavcan::MonotonicDuration::fromMSec(1000)) < 1){
             //обработка ошибок
         }
-        uavcan::equipment::actuator::Command msg;  //что вместо uavcan::protocol::debug::KeyValue?
-        msg.actuator_id = 1;
-        msg.command_type = COMMAND_TYPE_UNITLESS //[-1, 1]
-        msg.command_value = 1;
+        uavcan::equipment::actuator::Command msg;  
+        msg.actuator_id = 2;
+        msg.command_type = COMMAND_TYPE_POSITION //meter or radian
+        msg.command_value = pi;
         
         if (pub.broadcast(msg) > 0){ // отправка сообщения
             // обработка ошибок