main.cpp

00001 #include "mbed.h"
00002 #include "CAN.h"
00003 #include "can.h"
00004 Ticker ticker;
00005 
00006 Serial pc(USBTX, USBRX);   
00007        
00008 DigitalOut led2(LED2);     
00009 DigitalOut led1(LED1);            
00010        
00011 //CAN can1(p30, p29);     
00012 nodespresponse cc;
00013 
00014 char data[8];    
00015 float result =0.0;
00016 float result1 =0.0;
00017 
00018 int main() {
00019   pc.baud(115200);
00020 can1.frequency(250000);
00021 
00022   CANMessage msg;    
00023 
00024   //printf("received a CANbus message...\n"); // Write to serial terminal
00025   while(1) {
00026     if(can1.read(msg)) {   
00027     /*
00028     if(msg.id==128){
00029         if(msg.data[2]==0)
00030         {
00031          cc.ids();
00032         }   
00033     }*/
00034            // if message is available, read into msg
00035   /*  printf("CAN message received\r\n");
00036     printf("Message read with ID: %d\n", msg.id);
00037     printf("Data:\n");
00038     printf("Byte 0: %x \n", msg.data[0]);
00039     printf("Byte 1: %x \n", msg.data[1]);
00040     printf("Byte 2: %x \n", msg.data[2]);
00041     printf("Byte 3: %x \n", msg.data[3]);
00042     printf("Byte 4: %x \n", msg.data[4]);
00043     printf("Byte 5: %x \n", msg.data[5]);
00044     printf("Byte 6: %x \n", msg.data[6]);
00045     printf("Byte 7: %x \n", msg.data[7]);
00046     printf("  Type    = %d\r", msg.type);
00047     printf("  Format  = %d\r", msg.format);
00048     printf("  Length  = %d\r\n", msg.len);*/
00049     char data1[4];
00050     data1[0]=msg.data[4];
00051     data1[1]=msg.data[5];
00052     data1[2]=msg.data[6];
00053     data1[3]=msg.data[7];
00054   if(msg.id==312){
00055     memcpy(&result,data1,4);
00056     printf("air speed =%f\n", result);
00057   /*  printf("node_ID:%x\n",msg.data[0]);
00058     printf("Data_type:%x\n",msg.data[1]);
00059     printf("service code:%x\n",msg.data[2]);
00060     printf("message code:%d\n",msg.data[3]);*/
00061     
00062     led2 = !led2;
00063     }else{
00064     memcpy(&result1,data1,4);
00065     printf("attitude  ===%f\n",result1);
00066     /*printf("node_ID:%x\n",msg.data[0]);
00067     printf("Data_type:%x\n",msg.data[1]);
00068     printf("service code:%x\n",msg.data[2]);
00069     printf("message code:%d\n",msg.data[3]);*/
00070     led1 = !led1;            
00071 }
00072 
00073 
00074                                 // toggle receive status LED
00075     } 
00076   }
00077 }