Tatsuya Yamamoto / Mbed 2 deprecated UV_Robot_Nucleo

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Dependencies:   mbed X_NUCLEO_PLC01A1 ros_lib_melodic

Diff: can_controller.cpp

Revision:
3:ea5cfd721b53
Parent:
1:ef4b86795d79
--- a/can_controller.cpp	Sat Aug 15 09:21:36 2020 +0000
+++ b/can_controller.cpp	Sun Aug 30 06:39:43 2020 +0000
@@ -4,7 +4,16 @@
  * @brief  Initialize CAN controller
  * @param  None
 */
-CANController::CANController():can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD){}
+CANController::CANController():_can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD){
+//    _NoData[0] = 'N';
+//    _NoData[1] = 'o';
+//    _NoData[2] = ',';
+//    _NoData[3] = 'D';
+//    _NoData[4] = 'a';
+//    _NoData[5] = 'T';
+//    _NoData[6] = 'a';
+//    _NoData[7] = '.';
+}
 
 /**
  * @brief  Send CAN message
@@ -14,10 +23,19 @@
 */
 int CANController::sendMessage( uint16_t ID, char *msgData ){
     CANMessage msg(ID, msgData, 8, CANData, CANStandard);
-    int successFlag = can1.write(msg);
+    int successFlag = _can1.write(msg);
     if(successFlag){
         return 0;
     }else{
         return -1;
     }
 }
+
+unsigned char *CANController::recieveMessage( uint16_t ID ){
+    while(_can1.read(_rmsg)){
+        if(_rmsg.id == ID){
+            return _rmsg.data;
+        }
+    }
+    return _NoData;
+}
\ No newline at end of file