EL4121 Embedded System / mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

features/unsupported/tests/mbed/can/main.cpp@0:b74591d5ab33, 2017-12-11 (annotated)

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 0:b74591d5ab33 1 #include "mbed.h"
be_bryan 0:b74591d5ab33 2
be_bryan 0:b74591d5ab33 3 #if !DEVICE_CAN
be_bryan 0:b74591d5ab33 4 #error [NOT_SUPPORTED] CAN not supported
be_bryan 0:b74591d5ab33 5 #endif
be_bryan 0:b74591d5ab33 6
be_bryan 0:b74591d5ab33 7 Ticker ticker;
be_bryan 0:b74591d5ab33 8 DigitalOut led1(LED1);
be_bryan 0:b74591d5ab33 9 DigitalOut led2(LED2);
be_bryan 0:b74591d5ab33 10
be_bryan 0:b74591d5ab33 11 #if defined(TARGET_LPC1549)
be_bryan 0:b74591d5ab33 12 // LPC1549 support only single CAN channel
be_bryan 0:b74591d5ab33 13 CAN can1(D2, D3);
be_bryan 0:b74591d5ab33 14 #elif defined(TARGET_B96B_F446VE)
be_bryan 0:b74591d5ab33 15 // B96B_F446VE support only single CAN channel
be_bryan 0:b74591d5ab33 16 CAN can1(PD_0, PD_1);
be_bryan 0:b74591d5ab33 17 #elif defined(TARGET_NUCLEO_F091RC) || defined(TARGET_NUCLEO_F072RB) || \
be_bryan 0:b74591d5ab33 18 defined(TARGET_NUCLEO_F042K6) || defined(TARGET_NUCLEO_F334R8) || \
be_bryan 0:b74591d5ab33 19 defined(TARGET_NUCLEO_F303RE) || defined(TARGET_NUCLEO_F303K8) || \
be_bryan 0:b74591d5ab33 20 defined(TARGET_NUCLEO_F302R8) || defined(TARGET_NUCLEO_F446RE) || \
be_bryan 0:b74591d5ab33 21 defined(TARGET_DISCO_F429ZI) || defined(TARGET_NUCLEO_F103RB) || \
be_bryan 0:b74591d5ab33 22 defined(TARGET_NUCLEO_F746ZG) || defined(TARGET_NUCLEO_L476RG) || \
be_bryan 0:b74591d5ab33 23 defined(TARGET_NUCLEO_F412ZG) || defined(TARGET_DISCO_F413ZH) || \
be_bryan 0:b74591d5ab33 24 defined(TARGET_NUCLEO_L432KC) || defined(TARGET_DISCO_F303VC)
be_bryan 0:b74591d5ab33 25 CAN can1(PA_11, PA_12);
be_bryan 0:b74591d5ab33 26 #elif defined(TARGET_DISCO_F469NI) ||defined(TARGET_DISCO_F746NG)
be_bryan 0:b74591d5ab33 27 CAN can1(PB_8, PB_9);
be_bryan 0:b74591d5ab33 28 #else
be_bryan 0:b74591d5ab33 29 CAN can1(p9, p10);
be_bryan 0:b74591d5ab33 30 #endif
be_bryan 0:b74591d5ab33 31
be_bryan 0:b74591d5ab33 32 #if defined(TARGET_LPC4088) || defined(TARGET_LPC4088_DM)
be_bryan 0:b74591d5ab33 33 CAN can2(p34, p33);
be_bryan 0:b74591d5ab33 34 #elif defined (TARGET_LPC1768)
be_bryan 0:b74591d5ab33 35 CAN can2(p30, p29);
be_bryan 0:b74591d5ab33 36 #elif defined(TARGET_NUCLEO_F446RE) || defined(TARGET_DISCO_F469NI) || \
be_bryan 0:b74591d5ab33 37 defined(TARGET_DISCO_F429ZI) || defined(TARGET_NUCLEO_F746ZG) || \
be_bryan 0:b74591d5ab33 38 defined(TARGET_NUCLEO_F412ZG) || defined(TARGET_DISCO_F413ZH) || \
be_bryan 0:b74591d5ab33 39 defined(TARGET_DISCO_F746NG)
be_bryan 0:b74591d5ab33 40 CAN can2(PB_5, PB_6);
be_bryan 0:b74591d5ab33 41 #endif
be_bryan 0:b74591d5ab33 42 char counter = 0;
be_bryan 0:b74591d5ab33 43
be_bryan 0:b74591d5ab33 44 void printmsg(char *title, CANMessage *msg) {
be_bryan 0:b74591d5ab33 45 printf("%s [%03X]", title, msg->id);
be_bryan 0:b74591d5ab33 46 for(char i = 0; i < msg->len; i++) {
be_bryan 0:b74591d5ab33 47 printf(" %02X", msg->data[i]);
be_bryan 0:b74591d5ab33 48 }
be_bryan 0:b74591d5ab33 49 printf("\n");
be_bryan 0:b74591d5ab33 50 }
be_bryan 0:b74591d5ab33 51
be_bryan 0:b74591d5ab33 52 void send() {
be_bryan 0:b74591d5ab33 53 printf("send()\n");
be_bryan 0:b74591d5ab33 54 CANMessage msg = CANMessage(1337, &counter, 1);
be_bryan 0:b74591d5ab33 55 if(can1.write(msg)) {
be_bryan 0:b74591d5ab33 56 printmsg("Tx message:", &msg);
be_bryan 0:b74591d5ab33 57 counter++;
be_bryan 0:b74591d5ab33 58 }
be_bryan 0:b74591d5ab33 59 led1 = !led1;
be_bryan 0:b74591d5ab33 60 }
be_bryan 0:b74591d5ab33 61
be_bryan 0:b74591d5ab33 62 int main() {
be_bryan 0:b74591d5ab33 63 printf("main()\n");
be_bryan 0:b74591d5ab33 64 ticker.attach(&send, 1);
be_bryan 0:b74591d5ab33 65 CANMessage msg;
be_bryan 0:b74591d5ab33 66 while(1) {
be_bryan 0:b74591d5ab33 67 #if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && \
be_bryan 0:b74591d5ab33 68 !defined(TARGET_NUCLEO_F091RC) && !defined(TARGET_NUCLEO_F072RB) && \
be_bryan 0:b74591d5ab33 69 !defined(TARGET_NUCLEO_F042K6) && !defined(TARGET_NUCLEO_F334R8) && \
be_bryan 0:b74591d5ab33 70 !defined(TARGET_NUCLEO_F303RE) && !defined(TARGET_NUCLEO_F303K8) && \
be_bryan 0:b74591d5ab33 71 !defined(TARGET_NUCLEO_F302R8) && !defined(TARGET_NUCLEO_F103RB) && \
be_bryan 0:b74591d5ab33 72 !defined(TARGET_DISCO_L476VG) && !defined(TARGET_DISCO_L475VG_IOT01A) && !defined(TARGET_NUCLEO_L476RG) && \
be_bryan 0:b74591d5ab33 73 !defined(TARGET_NUCLEO_L432KC)) && !defined(TARGET_DISCO_F303VC)
be_bryan 0:b74591d5ab33 74 printf("loop()\n");
be_bryan 0:b74591d5ab33 75 if(can2.read(msg)) {
be_bryan 0:b74591d5ab33 76 printmsg("Rx message:", &msg);
be_bryan 0:b74591d5ab33 77 led2 = !led2;
be_bryan 0:b74591d5ab33 78 }
be_bryan 0:b74591d5ab33 79 #endif
be_bryan 0:b74591d5ab33 80 wait(0.2);
be_bryan 0:b74591d5ab33 81 }
be_bryan 0:b74591d5ab33 82 }