main.cpp

00001 #include "mbed.h"
00002 #include "Mycan.h"
00003 
00004 Mycan can(p30, p29, 100000);   //// CAN (PinName rd, PinName td)
00005 
00006 DigitalOut LED[4] = 
00007 {
00008     DigitalOut(LED1),
00009     DigitalOut(LED2),
00010     DigitalOut(LED3),
00011     DigitalOut(LED4),
00012 };
00013 
00014 DigitalOut led_R(p14);
00015 DigitalOut led_B(p18);
00016 
00017 DigitalIn sw[11] = 
00018 {
00019     DigitalIn(p5),
00020     DigitalIn(p6),
00021     DigitalIn(p8),
00022     DigitalIn(p10),
00023     DigitalIn(p12),
00024     DigitalIn(p7),
00025     DigitalIn(p9),
00026     DigitalIn(p11),
00027     DigitalIn(p13),
00028     DigitalIn(p16),
00029     DigitalIn(p15)
00030 };
00031 
00032 Ticker ticker;
00033 Serial pc(USBTX, USBRX);
00034 
00035 void canFnc();
00036 void readLineData();
00037 bool T_sw[4], B_sw[4], S_sw, Z_sw, M_sw;
00038 short int send_val[2], line_data[2];
00039 
00040 int main() 
00041 {
00042     for(int i=0; i<11; i++)
00043         sw[i].mode(PullUp);
00044     ticker.attach(&canFnc, 0.0065);
00045     while(1) 
00046     {
00047         S_sw = sw[0];
00048         pc.printf("%d\t", S_sw);
00049         for(int i=0; i<4; i++) {
00050             B_sw[i] = sw[i+1];
00051             pc.printf("%d\t", B_sw[i]);
00052         }
00053         for(int i=0; i<4; i++) {
00054             T_sw[i] = sw[i+5];
00055             pc.printf("%d\t", T_sw[i]);
00056         }
00057         Z_sw = sw[9];
00058         if(Z_sw) {
00059             led_R = 1;
00060             led_B = 0;
00061         } else {
00062             led_R = 0;
00063             led_B = 1;
00064         }
00065         M_sw = sw[10];
00066         
00067         pc.printf("%d\t", Z_sw);
00068         pc.printf("%d\t", M_sw);
00069         pc.printf("%d\t", send_val[0]);
00070         pc.printf("%d\t", send_val[1]);
00071         pc.printf("%d\t", line_data[0]);
00072         pc.printf("%d\t", line_data[1]);
00073         pc.printf("\n");
00074     }
00075 }
00076 
00077 void canFnc() 
00078 {
00079     send_val[0] = send_val[1] = 0;
00080     if(S_sw) 
00081         send_val[0] += 64;
00082     if(B_sw[0])
00083         send_val[0] += 32;
00084     if(B_sw[1])
00085         send_val[0] += 16;
00086     if(B_sw[2])
00087         send_val[0] += 8;
00088     if(B_sw[3])
00089         send_val[0] += 4;
00090     if(!T_sw[0])
00091         send_val[0] += 2;
00092     if(!T_sw[1])
00093         send_val[0] += 1;
00094     if(!T_sw[2])
00095         send_val[1] += 8;
00096     if(!T_sw[3])
00097         send_val[1] += 4;
00098     if(Z_sw)
00099         send_val[1] += 2;
00100     if(M_sw)
00101         send_val[1] += 1;
00102     
00103     readLineData();
00104     
00105     can.setI(2, 0, (short int)(send_val[0]));
00106     can.setI(2, 1, (short int)(send_val[1]));
00107     can.setI(2, 2, (short int)(line_data[0]));
00108     can.setI(2, 3, (short int)(line_data[1]));
00109     LED[0] = can.send();
00110 }
00111 
00112 void readLineData() 
00113 {
00114     int read_line_data[4];
00115     
00116     for(int i = 0; i < 4; i++) {
00117         can.readI();
00118         read_line_data[i] = can.get(i+6, 0);
00119     }
00120     
00121     int residue_data, true_num[4], true_all[4];
00122     
00123     for(int i = 0; i < 4; i++) 
00124     {
00125         residue_data = read_line_data[i];
00126         true_all[i] = true_num[i] = 0;
00127         
00128         if(residue_data < 0) {
00129             if(residue_data == -200) 
00130                 residue_data = 0;
00131             else residue_data *= -1;
00132             
00133             true_num[i] += 1;
00134             if(i == 1 || i == 3)
00135                 true_all[i] += 7 + 8;
00136             else true_all[i] += 7;
00137         }
00138         
00139         if(residue_data >= 64) {
00140             residue_data -= 64;
00141             true_num[i] += 1;
00142             if(i == 1 || i == 3)
00143                 true_all[i] += 6 + 8;
00144             else true_all[i] += 6;
00145         }
00146         
00147         if(residue_data >= 32) {
00148             residue_data -= 32;
00149             true_num[i] += 1;
00150             if(i == 1 || i == 3)
00151                 true_all[i] += 5 + 8;
00152             else true_all[i] += 5;
00153         }
00154         
00155         if(residue_data >= 16) {
00156             residue_data -= 16;
00157             true_num[i] += 1;
00158             if(i == 1 || i == 3)
00159                 true_all[i] += 4 + 8;
00160             else true_all[i] += 4;
00161         }
00162         
00163         if(residue_data >= 8) {
00164             residue_data -= 8;
00165             true_num[i] += 1;
00166             if(i == 1 || i == 3)
00167                 true_all[i] += 3 + 8;
00168             else true_all[i] += 3;
00169         }
00170         
00171         if(residue_data >= 4) {
00172             residue_data -= 4;
00173             true_num[i] += 1;
00174             if(i == 1 || i == 3)
00175                 true_all[i] += 2 + 8;
00176             else true_all[i] += 2;
00177         }
00178         
00179         if(residue_data >= 2) {
00180             residue_data -= 2;
00181             true_num[i] += 1;
00182             if(i == 1 || i == 3)
00183                 true_all[i] += 1 + 8;
00184             else true_all[i] += 1;
00185         }
00186         
00187         if(residue_data >= 1) {
00188             residue_data -= 1;
00189             true_num[i] += 1;
00190             if(i == 1 || i == 3)
00191                 true_all[i] += 8;
00192         }
00193     }
00194     
00195     if(true_all[0] + true_all[1] != 0 || true_num[0] + true_num[1] != 0)
00196         line_data[0] = (true_all[0] + true_all[1]) / (true_num[0] + true_num[1]);
00197     else line_data[0] = 0;
00198     
00199     if(true_all[2] + true_all[3] != 0 || true_num[2] + true_num[3] != 0)
00200         line_data[1] = (true_all[2] + true_all[3]) / (true_num[2] + true_num[3]);
00201     else line_data[1] = 0;
00202 }