Diff: can.cpp

Revision:

2:2ee241819861

Child:

3:b3cc1eb9fd5c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/can.cpp	Wed Sep 01 07:01:56 2021 +0000
@@ -0,0 +1,95 @@
+//#include "YKNCT_MD.h"
+#include "can.h"
+#include "mbed.h"
+/*******************************************************************************
+ * @名称   YKNCT_MD_I2C
+ * @概要   I2Cモジュール"MD"用ライブラリ
+*******************************************************************************/
+
+
+/* 送信データ
+[0] [| none | none | none | none | none | none |LAP or SMB| |LAP or SMB|]
+[1] PWM値1
+[2] PWM値2
+*/
+
+YKNCT_MD_CAN::YKNCT_MD_CAN(PinName rd, PinName td,int t) : can(rd, td,t)
+{
+    /* 初期化 */
+    NumCnt = 0;
+    /* 送信割り込み */
+    interrupt.attach_us(this,&YKNCT_MD_CAN::sent,1800);
+    /* 受信割り込み */
+    can.attach(this,&YKNCT_MD_CAN::onCanReceived);
+}
+void YKNCT_MD_CAN::Init(int8_t address, MD_ModeStatus_TypeDef mode)
+{
+    /* アドレス設定 */
+    txMsg[NumCnt/2].id = address+CAN_TX_ADDRESS;
+    /* モード設定 */
+    txMsg[NumCnt/2].data[0] |= mode<<NumCnt%2;
+    /* 出力状態初期化 */
+    txMsg[NumCnt/2].data[NumCnt%2+1] = 0;
+    /* カウンター増やす */
+    Rx_Id[NumCnt] = CAN_RX_ADDRESS+NumCnt;
+    NumCnt++;
+}
+void YKNCT_MD_CAN::Set(int8_t ConNumber, int16_t val)
+{
+    Set(ConNumber, val, MD_BRAKE);
+}
+
+void YKNCT_MD_CAN::Set(int8_t ConNumber, int16_t val, MD_BrakeStatus_TypeDef option)
+{
+    int PWM = 0;
+    PWM = abs(val);
+    PWM = Rest(PWM,95);
+
+    /*  送るバイト数設定  */
+    txMsg[ConNumber/2].len=3;
+
+    /*  idを設定  */
+    txMsg[ConNumber/2].id = ConNumber/2+CAN_TX_ADDRESS;
+
+    /*  マイナスならフラグ立てる  */
+    if(val<0)
+        txMsg[ConNumber/2].data[ConNumber%2+1] |= (1<<7);
+
+    /*   データセット　　PWMを各配列に代入  */
+    txMsg[ConNumber/2].data[ConNumber%2+1] |=(char) PWM;
+}
+
+int16_t YKNCT_MD_CAN::Get_enc(int8_t ConNumber)
+{
+
+    return (int)(double)(data[ConNumber]);
+}
+
+void YKNCT_MD_CAN::Exe(void)
+{
+    static int Scnt=0;
+    /*  送信  */
+    can.write(txMsg[Scnt]);
+    Scnt++;
+    Scnt%=NumCnt;
+}
+
+void YKNCT_MD_CAN::onCanReceived(void)
+{
+    static int cnt=0;
+    can.read(rxMsg);
+    for(int i=0; i<NumCnt; i++) {
+        if (rxMsg.id == Rx_Id[i]) {
+            /*  エンコーダのデータ受信  一つの基板に付き二つ受信*/
+            data[cnt]=(int)((rxMsg.data[2]<<4|rxMsg.data[1]>>4)&0x0fff);
+            data[cnt+1]=(int)((rxMsg.data[1]<<8|rxMsg.data[0])&0x0fff);
+        }
+        cnt+=2;
+    }
+    cnt=0;
+}
+
+void YKNCT_MD_CAN::sent(void)
+{
+    Exe();
+}
\ No newline at end of file