Diff: main.cpp

Revision:

0:79abbe95bdcd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 12 14:24:05 2020 +0000
@@ -0,0 +1,82 @@
+/** NucleoF446re CAN1,CAN2 TEST CODE **/
+/** 2019/11/27 Coding by Nagito Sukegawa **/
+/** 2019/11/28 Add can2Rcv Function **/
+/** 参考元 福島B Coding by YutaTogashi,@nitfc_togatogah URL:https://os.mbed.com/users/YutaTogashi/code/robocon2019_AutoRobot_mbed_testVer/ **/
+
+#include "mbed.h"
+
+void can1Trans(void);
+void can2Rcv(void);
+char counter[8] = {0x00,0x01,0x02,0x03,0x04,0x05,0x06,0x07};
+char RcvData[8];
+Ticker ticker;
+DigitalOut myled(LED1);
+CAN can1(PB_8, PB_9,500000);    //データ吐く方//D15,D14
+CAN can2(PB_5, PB_6,500000);    //データ受ける方//D4,D10
+Serial pc(USBTX,NC,115200);
+CANMessage msg1(0x456,counter,8,CANData,CANStandard);
+CANMessage msg2(0x539,CANStandard);
+
+
+int main()
+{
+    ticker.attach(&can1Trans, 0.05);
+    can2.attach(&can2Rcv,CAN::RxIrq);
+    pc.printf("\033[2J");
+    while(1) {
+//        pc.printf("TEST_CAN\n");
+        wait(0.01);
+    }
+}
+
+
+/** CAN1送信関数 **/
+void can1Trans(void)
+{
+    if(counter[0] % 0x10 == 0) {
+        msg1.id = 0x456;
+        for(uint8_t i=0; i<8; i++) {
+            msg1.data[i] = counter[i]++;
+        }
+    } else {
+        msg1.id = 0x500;
+        for(uint8_t i=0; i<8; i++) {
+            msg1.data[i] = counter[i]++;
+        }
+    }
+    if(can1.write(msg1)) {
+        myled = !myled;
+        pc.printf("\033[1;1HCAN1 TRANSID: 0x%x", msg1.id);
+        pc.printf("\033[2;1HCAN1 DATA[0]: 0x%x", msg1.data[0]);
+        pc.printf("\033[3;1HCAN1 DATA[1]: 0x%x", msg1.data[1]);
+        pc.printf("\033[4;1HCAN1 DATA[2]: 0x%x", msg1.data[2]);
+        pc.printf("\033[5;1HCAN1 DATA[3]: 0x%x", msg1.data[3]);
+        pc.printf("\033[6;1HCAN1 DATA[4]: 0x%x", msg1.data[4]);
+        pc.printf("\033[7;1HCAN1 DATA[5]: 0x%x", msg1.data[5]);
+        pc.printf("\033[8;1HCAN1 DATA[6]: 0x%x", msg1.data[6]);
+        pc.printf("\033[9;1HCAN1 DATA[7]: 0x%x", msg1.data[7]);
+    }
+    if(counter[0] >= 0xF0)
+        pc.printf("\033[2J");
+}
+
+/** CAN2受信関数 **/
+void can2Rcv(void)
+{
+    can2.read(msg2);
+    pc.printf("\033[1;25HCAN2 RCVID: 0x%x\n", msg2.id);
+    if(msg2.id == 0x539) {
+        for(uint8_t i=0; i<8; i++) {
+            RcvData[i] = msg2.data[i];
+        }
+        pc.printf("\033[2;25HCAN2 DATA[0]: 0x%x", RcvData[0]);
+        pc.printf("\033[3;25HCAN2 DATA[0]: 0x%x", RcvData[1]);
+        pc.printf("\033[4;25HCAN2 DATA[0]: 0x%x", RcvData[2]);
+        pc.printf("\033[5;25HCAN2 DATA[0]: 0x%x", RcvData[3]);
+        pc.printf("\033[6;25HCAN2 DATA[0]: 0x%x", RcvData[4]);
+        pc.printf("\033[7;25HCAN2 DATA[0]: 0x%x", RcvData[5]);
+        pc.printf("\033[8;25HCAN2 DATA[0]: 0x%x", RcvData[6]);
+        pc.printf("\033[9;25HCAN2 DATA[0]: 0x%x", RcvData[7]);
+        myled = !myled;
+    }
+}
\ No newline at end of file