Formula Student / Mbed 2 deprecated Canbus_test

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Dependencies:   mbed

main.cpp@4:c154ba84b582, 2017-12-06 (annotated)

Committer:
TiboSTM
Date:
Wed Dec 06 09:46:46 2017 +0000
Revision:
4:c154ba84b582
Parent:
3:7530a7aca1ab 
met motorfunctie

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);
TiboSTM 4:c154ba84b582 17
ArmandLambrechts 0:d9f4fedf5253 18
ArmandLambrechts 0:d9f4fedf5253 19 /* Structures to help pack and unpack the 8 CAN data bytes */
ArmandLambrechts 0:d9f4fedf5253 20 typedef struct bytes_64 {
ArmandLambrechts 0:d9f4fedf5253 21 uint8_t b0;
ArmandLambrechts 0:d9f4fedf5253 22 uint8_t b1;
ArmandLambrechts 0:d9f4fedf5253 23 uint8_t b2;
ArmandLambrechts 0:d9f4fedf5253 24 uint8_t b3;
ArmandLambrechts 0:d9f4fedf5253 25 uint8_t b4;
ArmandLambrechts 0:d9f4fedf5253 26 uint8_t b5;
ArmandLambrechts 0:d9f4fedf5253 27 uint8_t b6;
ArmandLambrechts 0:d9f4fedf5253 28 uint8_t b7;
ArmandLambrechts 0:d9f4fedf5253 29 } bytes_64;
ArmandLambrechts 0:d9f4fedf5253 30
ArmandLambrechts 0:d9f4fedf5253 31 typedef union {
ArmandLambrechts 0:d9f4fedf5253 32 uint64_t data;
ArmandLambrechts 0:d9f4fedf5253 33 bytes_64 bytes;
ArmandLambrechts 0:d9f4fedf5253 34 } data_packed;
ArmandLambrechts 0:d9f4fedf5253 35
TiboSTM 4:c154ba84b582 36 int send_id = 513;
TiboSTM 4:c154ba84b582 37 data_packed send_data;
TiboSTM 4:c154ba84b582 38 int reg = 0x31; //Id motorcontroller 0x201 -> 513 //Voor moving average te berekenen
TiboSTM 4:c154ba84b582 39
TiboSTM 4:c154ba84b582 40
ArmandLambrechts 2:373260769485 41 long map(long x, long in_min, long in_max, long out_min, long out_max) //MAP functie voor verschalingen.
ArmandLambrechts 2:373260769485 42 {
ArmandLambrechts 2:373260769485 43 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
ArmandLambrechts 2:373260769485 44 }
TiboSTM 4:c154ba84b582 45
TiboSTM 4:c154ba84b582 46
TiboSTM 4:c154ba84b582 47 void MOTOR_Calculate_Power(int speed)
TiboSTM 4:c154ba84b582 48 {
TiboSTM 4:c154ba84b582 49
TiboSTM 4:c154ba84b582 50 send_data.data = (speed << 8) + reg; //shiften en optellen
TiboSTM 4:c154ba84b582 51 can.write(CANMessage(send_id, (char*) &send_data, 3));
TiboSTM 4:c154ba84b582 52 }
TiboSTM 4:c154ba84b582 53
ArmandLambrechts 0:d9f4fedf5253 54 int main() {
ArmandLambrechts 0:d9f4fedf5253 55
ArmandLambrechts 0:d9f4fedf5253 56 printf("\r\n---Start---\r\n");
ArmandLambrechts 0:d9f4fedf5253 57
ArmandLambrechts 2:373260769485 58 data_packed send_data; //struct for send message
ArmandLambrechts 2:373260769485 59 data_packed receive_data; //struct for rcv message
ArmandLambrechts 2:373260769485 60 CANMessage msg; //message object for rcv
TiboSTM 4:c154ba84b582 61 int send_id = 513; //Id motorcontroller 0x201 -> 513 //Voor moving average te berekenen
ArmandLambrechts 2:373260769485 62 canEN = 0; //Voor de tranceiver
ArmandLambrechts 0:d9f4fedf5253 63
ArmandLambrechts 2:373260769485 64 //send_data.data = 0x0CCD31; //0CCD snelheid motor, 31 register in controller. WERKT
ArmandLambrechts 0:d9f4fedf5253 65 send_data.data = 0;
ArmandLambrechts 2:373260769485 66 can.frequency(1000000); //1m freq
ArmandLambrechts 1:12ddbe69b6e6 67 can.mode(CAN::LocalTest);
ArmandLambrechts 2:373260769485 68 //can.mode(CAN::Normal); //1vd2 comment
ArmandLambrechts 2:373260769485 69 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ArmandLambrechts 2:373260769485 70 int speed = 0; //Snelheid naar de motor
ArmandLambrechts 2:373260769485 71 int reg = 0x31; //register in de controller
ArmandLambrechts 2:373260769485 72 float meas_r;
ArmandLambrechts 2:373260769485 73 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
ArmandLambrechts 0:d9f4fedf5253 74 while (true) {
ArmandLambrechts 2:373260769485 75 meas_r = analog_value.read() * 100;
ArmandLambrechts 2:373260769485 76 speed = map(meas_r, 0, 100, 0, 0x7FFF); //waarde schommelt niet
ArmandLambrechts 2:373260769485 77
TiboSTM 4:c154ba84b582 78
TiboSTM 4:c154ba84b582 79 MOTOR_Calculate_Power(speed);
ArmandLambrechts 2:373260769485 80
TiboSTM 4:c154ba84b582 81
ArmandLambrechts 0:d9f4fedf5253 82
TiboSTM 4:c154ba84b582 83
ArmandLambrechts 0:d9f4fedf5253 84
ArmandLambrechts 0:d9f4fedf5253 85 /* Receive */
ArmandLambrechts 0:d9f4fedf5253 86 if (can.read(msg)) {
ArmandLambrechts 0:d9f4fedf5253 87 //move message bytes to receive, so we can access as a uint64_t (u long long)
ArmandLambrechts 0:d9f4fedf5253 88 receive_data.bytes.b7 = msg.data[7];
ArmandLambrechts 0:d9f4fedf5253 89 receive_data.bytes.b6 = msg.data[6];
ArmandLambrechts 0:d9f4fedf5253 90 receive_data.bytes.b5 = msg.data[5];
ArmandLambrechts 0:d9f4fedf5253 91 receive_data.bytes.b4 = msg.data[4];
ArmandLambrechts 0:d9f4fedf5253 92 receive_data.bytes.b3 = msg.data[3];
ArmandLambrechts 0:d9f4fedf5253 93 receive_data.bytes.b2 = msg.data[2];
ArmandLambrechts 0:d9f4fedf5253 94 receive_data.bytes.b1 = msg.data[1];
ArmandLambrechts 0:d9f4fedf5253 95 receive_data.bytes.b0 = msg.data[0];
ArmandLambrechts 0:d9f4fedf5253 96
ArmandLambrechts 0:d9f4fedf5253 97 printf("Message received ID,Msg: %d, %llu\r\n", msg.id, receive_data.data);
ArmandLambrechts 0:d9f4fedf5253 98 }
ArmandLambrechts 0:d9f4fedf5253 99 wait(0.5);
ArmandLambrechts 2:373260769485 100 }
ArmandLambrechts 0:d9f4fedf5253 101 }