Diff: main.cpp

Revision:

0:aa420961d99b

diff -r 000000000000 -r aa420961d99b main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jun 15 10:29:50 2021 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+#include "CAN.h"
+#include "can.h"
+Ticker ticker;
+
+Serial pc(USBTX, USBRX);   
+       
+DigitalOut led2(LED2);     
+DigitalOut led1(LED1);            
+       
+//CAN can1(p30, p29);     
+nodespresponse cc;
+
+char data[8];    
+float result =0.0;
+float result1 =0.0;
+
+int main() {
+  pc.baud(115200);
+can1.frequency(250000);
+
+  CANMessage msg;    
+
+  //printf("received a CANbus message...\n"); // Write to serial terminal
+  while(1) {
+    if(can1.read(msg)) {   
+    /*
+    if(msg.id==128){
+        if(msg.data[2]==0)
+        {
+         cc.ids();
+        }   
+    }*/
+           // if message is available, read into msg
+  /*  printf("CAN message received\r\n");
+    printf("Message read with ID: %d\n", msg.id);
+    printf("Data:\n");
+    printf("Byte 0: %x \n", msg.data[0]);
+    printf("Byte 1: %x \n", msg.data[1]);
+    printf("Byte 2: %x \n", msg.data[2]);
+    printf("Byte 3: %x \n", msg.data[3]);
+    printf("Byte 4: %x \n", msg.data[4]);
+    printf("Byte 5: %x \n", msg.data[5]);
+    printf("Byte 6: %x \n", msg.data[6]);
+    printf("Byte 7: %x \n", msg.data[7]);
+    printf("  Type    = %d\r", msg.type);
+    printf("  Format  = %d\r", msg.format);
+    printf("  Length  = %d\r\n", msg.len);*/
+    char data1[4];
+    data1[0]=msg.data[4];
+    data1[1]=msg.data[5];
+    data1[2]=msg.data[6];
+    data1[3]=msg.data[7];
+  if(msg.id==312){
+    memcpy(&result,data1,4);
+    printf("air speed =%f\n", result);
+  /*  printf("node_ID:%x\n",msg.data[0]);
+    printf("Data_type:%x\n",msg.data[1]);
+    printf("service code:%x\n",msg.data[2]);
+    printf("message code:%d\n",msg.data[3]);*/
+    
+    led2 = !led2;
+    }else{
+    memcpy(&result1,data1,4);
+    printf("attitude  ===%f\n",result1);
+    /*printf("node_ID:%x\n",msg.data[0]);
+    printf("Data_type:%x\n",msg.data[1]);
+    printf("service code:%x\n",msg.data[2]);
+    printf("message code:%d\n",msg.data[3]);*/
+    led1 = !led1;            
+}
+
+
+                                // toggle receive status LED
+    } 
+  }
+}