Formula Student / Mbed 2 deprecated Canbus_test

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

main.cpp@2:373260769485, 2017-12-06 (annotated)

Committer:
ArmandLambrechts
Date:
Wed Dec 06 07:52:44 2017 +0000
Revision:
2:373260769485
Parent:
1:12ddbe69b6e6
Child:
3:7530a7aca1ab
Canbus met potmeter;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ArmandLambrechts 0:d9f4fedf5253 1 /*** Thread: CAN ***
ArmandLambrechts 1:12ddbe69b6e6 2 * Test CAN to controller
ArmandLambrechts 2:373260769485 3 *
ArmandLambrechts 0:d9f4fedf5253 4 */
ArmandLambrechts 0:d9f4fedf5253 5 #include "mbed.h"
ArmandLambrechts 0:d9f4fedf5253 6 #include "CAN.h"
ArmandLambrechts 1:12ddbe69b6e6 7 #include <string>
ArmandLambrechts 0:d9f4fedf5253 8 /* CAN (RD TD) */
ArmandLambrechts 0:d9f4fedf5253 9 CAN can(PA_11, PA_12);
ArmandLambrechts 0:d9f4fedf5253 10
ArmandLambrechts 0:d9f4fedf5253 11 DigitalOut canEN(PA_10);
ArmandLambrechts 2:373260769485 12
ArmandLambrechts 2:373260769485 13 DigitalIn safety(PB_1);
ArmandLambrechts 2:373260769485 14 DigitalOut buzzer(PB_0);
ArmandLambrechts 2:373260769485 15
ArmandLambrechts 2:373260769485 16 AnalogIn analog_value(PA_0);
ArmandLambrechts 0:d9f4fedf5253 17
ArmandLambrechts 0:d9f4fedf5253 18 /* Structures to help pack and unpack the 8 CAN data bytes */
ArmandLambrechts 0:d9f4fedf5253 19 typedef struct bytes_64 {
ArmandLambrechts 0:d9f4fedf5253 20 uint8_t b0;
ArmandLambrechts 0:d9f4fedf5253 21 uint8_t b1;
ArmandLambrechts 0:d9f4fedf5253 22 uint8_t b2;
ArmandLambrechts 0:d9f4fedf5253 23 uint8_t b3;
ArmandLambrechts 0:d9f4fedf5253 24 uint8_t b4;
ArmandLambrechts 0:d9f4fedf5253 25 uint8_t b5;
ArmandLambrechts 0:d9f4fedf5253 26 uint8_t b6;
ArmandLambrechts 0:d9f4fedf5253 27 uint8_t b7;
ArmandLambrechts 0:d9f4fedf5253 28 } bytes_64;
ArmandLambrechts 0:d9f4fedf5253 29
ArmandLambrechts 0:d9f4fedf5253 30 typedef union {
ArmandLambrechts 0:d9f4fedf5253 31 uint64_t data;
ArmandLambrechts 0:d9f4fedf5253 32 bytes_64 bytes;
ArmandLambrechts 0:d9f4fedf5253 33 } data_packed;
ArmandLambrechts 0:d9f4fedf5253 34
ArmandLambrechts 2:373260769485 35 long map(long x, long in_min, long in_max, long out_min, long out_max) //MAP functie voor verschalingen.
ArmandLambrechts 2:373260769485 36 {
ArmandLambrechts 2:373260769485 37 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
ArmandLambrechts 2:373260769485 38 }
ArmandLambrechts 0:d9f4fedf5253 39 int main() {
ArmandLambrechts 0:d9f4fedf5253 40
ArmandLambrechts 0:d9f4fedf5253 41 printf("\r\n---Start---\r\n");
ArmandLambrechts 0:d9f4fedf5253 42
ArmandLambrechts 2:373260769485 43 data_packed send_data; //struct for send message
ArmandLambrechts 2:373260769485 44 data_packed receive_data; //struct for rcv message
ArmandLambrechts 2:373260769485 45 CANMessage msg; //message object for rcv
ArmandLambrechts 2:373260769485 46 int send_id = 513; //Id motorcontroller 0x201 -> 513
ArmandLambrechts 0:d9f4fedf5253 47 int send_status = 0;
ArmandLambrechts 2:373260769485 48 /* int ADC_Torque_Filter[8];
ArmandLambrechts 2:373260769485 49 int ADC_Torque_Value;
ArmandLambrechts 2:373260769485 50 int i; */ //Voor moving average te berekenen
ArmandLambrechts 2:373260769485 51 canEN = 0; //Voor de tranceiver
ArmandLambrechts 0:d9f4fedf5253 52
ArmandLambrechts 2:373260769485 53 //send_data.data = 0x0CCD31; //0CCD snelheid motor, 31 register in controller. WERKT
ArmandLambrechts 0:d9f4fedf5253 54 send_data.data = 0;
ArmandLambrechts 2:373260769485 55 can.frequency(1000000); //1m freq
ArmandLambrechts 1:12ddbe69b6e6 56 can.mode(CAN::LocalTest);
ArmandLambrechts 2:373260769485 57 //can.mode(CAN::Normal); //1vd2 comment
ArmandLambrechts 2:373260769485 58 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ArmandLambrechts 2:373260769485 59 int speed = 0; //Snelheid naar de motor
ArmandLambrechts 2:373260769485 60 int reg = 0x31; //register in de controller
ArmandLambrechts 2:373260769485 61 float meas_r;
ArmandLambrechts 2:373260769485 62 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ArmandLambrechts 0:d9f4fedf5253 63 while (true) {
ArmandLambrechts 2:373260769485 64 meas_r = analog_value.read() * 100;
ArmandLambrechts 2:373260769485 65 speed = map(meas_r, 0, 100, 0, 0x7FFF); //waarde schommelt niet
ArmandLambrechts 2:373260769485 66
ArmandLambrechts 2:373260769485 67 /* for (i = 0; i < 7; i++)
ArmandLambrechts 2:373260769485 68 {
ArmandLambrechts 2:373260769485 69 ADC_Torque_Filter[i] = ADC_Torque_Filter[i+1];
ArmandLambrechts 2:373260769485 70 //wait(0.005); //wacht 5 ms
ArmandLambrechts 2:373260769485 71 }
ArmandLambrechts 2:373260769485 72 ADC_Torque_Filter[7] = speed; //gas waarde berekenen via 8point moving average
ArmandLambrechts 2:373260769485 73 ADC_Torque_Value = (( ADC_Torque_Filter[0]+
ArmandLambrechts 2:373260769485 74 ADC_Torque_Filter[1]+
ArmandLambrechts 2:373260769485 75 ADC_Torque_Filter[2]+
ArmandLambrechts 2:373260769485 76 ADC_Torque_Filter[3]+
ArmandLambrechts 2:373260769485 77 ADC_Torque_Filter[4]+
ArmandLambrechts 2:373260769485 78 ADC_Torque_Filter[5]+
ArmandLambrechts 2:373260769485 79 ADC_Torque_Filter[6]+
ArmandLambrechts 2:373260769485 80 ADC_Torque_Filter[7]
ArmandLambrechts 2:373260769485 81 ) / 8);
ArmandLambrechts 2:373260769485 82 // for (i = 0; i < 7; i++) //data van array leegmaken
ArmandLambrechts 2:373260769485 83 // {
ArmandLambrechts 2:373260769485 84 // ADC_Torque_Filter[i] = 0;
ArmandLambrechts 2:373260769485 85 //wait(0.005);
ArmandLambrechts 2:373260769485 86 //}*/
ArmandLambrechts 2:373260769485 87
ArmandLambrechts 2:373260769485 88
ArmandLambrechts 2:373260769485 89 send_data.data = (speed << 8) + reg; //shiften en optellen
ArmandLambrechts 1:12ddbe69b6e6 90 send_status = can.write(CANMessage(send_id, (char*) &send_data, 3));
ArmandLambrechts 0:d9f4fedf5253 91
ArmandLambrechts 0:d9f4fedf5253 92 if (send_status == true) {
ArmandLambrechts 1:12ddbe69b6e6 93 //send_data.data = send_data.data + 1;
ArmandLambrechts 1:12ddbe69b6e6 94
ArmandLambrechts 0:d9f4fedf5253 95 }
ArmandLambrechts 0:d9f4fedf5253 96
ArmandLambrechts 0:d9f4fedf5253 97 /* Receive */
ArmandLambrechts 0:d9f4fedf5253 98 if (can.read(msg)) {
ArmandLambrechts 0:d9f4fedf5253 99 //move message bytes to receive, so we can access as a uint64_t (u long long)
ArmandLambrechts 0:d9f4fedf5253 100 receive_data.bytes.b7 = msg.data[7];
ArmandLambrechts 0:d9f4fedf5253 101 receive_data.bytes.b6 = msg.data[6];
ArmandLambrechts 0:d9f4fedf5253 102 receive_data.bytes.b5 = msg.data[5];
ArmandLambrechts 0:d9f4fedf5253 103 receive_data.bytes.b4 = msg.data[4];
ArmandLambrechts 0:d9f4fedf5253 104 receive_data.bytes.b3 = msg.data[3];
ArmandLambrechts 0:d9f4fedf5253 105 receive_data.bytes.b2 = msg.data[2];
ArmandLambrechts 0:d9f4fedf5253 106 receive_data.bytes.b1 = msg.data[1];
ArmandLambrechts 0:d9f4fedf5253 107 receive_data.bytes.b0 = msg.data[0];
ArmandLambrechts 0:d9f4fedf5253 108
ArmandLambrechts 0:d9f4fedf5253 109 printf("Message received ID,Msg: %d, %llu\r\n", msg.id, receive_data.data);
ArmandLambrechts 0:d9f4fedf5253 110 }
ArmandLambrechts 0:d9f4fedf5253 111 wait(0.5);
ArmandLambrechts 2:373260769485 112 }
ArmandLambrechts 0:d9f4fedf5253 113 }