Diff: CAN/CAN.cpp

Revision:

5:2503c88a564f

Parent:

3:940a9e40d327

--- a/CAN/CAN.cpp	Wed Jun 30 12:15:37 2021 +0000
+++ b/CAN/CAN.cpp	Tue Jan 11 02:19:55 2022 +0000
@@ -1,5 +1,7 @@
 #include "CAN.h"
 #include "used_leg_message.h"
+#include "CAN3.h"
+#include "mcp2515.h"
 
 
 
@@ -8,7 +10,13 @@
 CAN df_can(PB_12, PB_13);                                                       // CAN Rx pin name, CAN Tx pin name
 // 定义CAN消息
 CANMessage pf_rxMsg, df_rxMsg;                                                  // 主控收到的CAN消息
-CANMessage PF_can, DF_can;                                                      // 主控发送的CAN消息
+CANMessage pf_txMsg, df_txMsg;                                                    //主控发送的CAN消息
+
+SPI spi(PA_7,PA_6,PA_5);// mosi, miso, scl                           //SPI转can
+CAN3 df1_can(spi,PA_4); //spi, ncs, itr
+
+CANMessage df1_txMsg;                                                  // 主控收到的CAN消息
+CANMessage df1_rxMsg;                                                  // 主控发送的CAN消息
 
 //=================================函数=======================================//
 
@@ -57,17 +65,21 @@
 
 // 多个控制器联合打包准备发送
 void PackAll(){
-    pack_cmd(&PF_can, a_control.pf); 
-    pack_cmd(&DF_can, a_control.df); 
+    pack_cmd(&pf_txMsg, a_control.pf); 
+    pack_cmd(&df_txMsg, a_control.df); 
+    pack_cmd(&df1_txMsg, a_control.df1); 
 }
 
 
 // 写联合打包的数据
 void WriteAll(){
-    pf_can.write(PF_can);
+    pf_can.write(pf_txMsg);
+    wait(.00002);
+    df_can.write(df_txMsg);
     wait(.00002);
-    df_can.write(DF_can);
+    df1_can.write(&df1_txMsg);
     wait(.00002);
+    
 }
 
 
@@ -95,16 +107,21 @@
     float t = uint_to_float(i_int, -T_MAX, T_MAX, 12);
    
     
-    if(id==0x03){
+    if(id==0x01){
         ankle->pf.p = p;
         ankle->pf.v = v;
         ankle->pf.t = t;
         }
-    else if(id==0x03){
+    else if(id==0x02){
         ankle->df.p = p;
         ankle->df.v = v;
         ankle->df.t = t;
         }
+    else if(id==0x03){
+        ankle->df1.p = p;
+        ankle->df1.v = v;
+        ankle->df1.t = t;
+        }
 }