Test the set param mode
Diff: main.cpp
- Revision:
- 17:3c5df2982199
- Parent:
- 15:ef00814e38e2
- Child:
- 18:f1d56f4acb39
diff -r 385dd470fa3f -r 3c5df2982199 main.cpp --- a/main.cpp Sat Dec 10 05:36:54 2016 +0000 +++ b/main.cpp Sat Dec 10 05:46:08 2016 +0000 @@ -1,3 +1,15 @@ +const unsigned int BOARDNUM = 0x2; + +//const unsigned int a_id = + +const unsigned int TX_ID = 0x0100; + +const unsigned int a_ID = (BOARDNUM<<8) + 0x7; +const unsigned int b_ID = (BOARDNUM<<8) + 0x8; +const unsigned int c_ID = (BOARDNUM<<8) + 0x9; + + +#include "CANnucleo.h" #include "mbed.h" #include "PositionSensor.h" #include "Inverter.h" @@ -8,9 +20,51 @@ #include "TorqueController.h" #include "ImpedanceController.h" + using namespace FastMath; using namespace Transforms; + +CANnucleo::CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name +CANnucleo::CANMessage rxMsg; +CANnucleo::CANMessage txMsg; +int ledState; +Timer timer; +Ticker sendCAN; +int counter = 0; +volatile bool msgAvailable = false; + +int a1, b1, c1; +/** + * @brief 'CAN receive-complete' interrup handler. + * @note Called on arrival of new CAN message. + * Keep it as short as possible. + * @param + * @retval + */ +void onMsgReceived() { + msgAvailable = true; + //printf("ping\n\r"); +} + + +void sendCMD(int TX_addr, int val){ + txMsg.clear(); //clear Tx message storage + txMsg.id = TX_addr; + txMsg << val; + can.write(txMsg); + //wait(.1); + + } + +void comLoop(void){ + sendCMD(TX_ID, a1); + + printf("%d %d %d \n\r", a1, b1, c1); + //sendCMD(TX_ID+b_ID, b1); + //sendCMD(TX_ID+c_ID, c1); + } + int id[3] = {0}; float cmd_float[3] = {0.0f}; int raw[3] = {0};