Formula Student / Mbed 2 deprecated Canbus_test

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Dependencies:   mbed

main.cpp@0:d9f4fedf5253, 2017-11-22 (annotated)

Committer:
ArmandLambrechts
Date:
Wed Nov 22 07:51:02 2017 +0000
Revision:
0:d9f4fedf5253
Child:
1:12ddbe69b6e6
Canbus Test 22/11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ArmandLambrechts 0:d9f4fedf5253 1 /*** Thread: CAN ***
ArmandLambrechts 0:d9f4fedf5253 2 * Test CAN Messages
ArmandLambrechts 0:d9f4fedf5253 3 *WERKT 25/10/2017
ArmandLambrechts 0:d9f4fedf5253 4 */
ArmandLambrechts 0:d9f4fedf5253 5 #include "mbed.h"
ArmandLambrechts 0:d9f4fedf5253 6 #include "CAN.h"
ArmandLambrechts 0:d9f4fedf5253 7
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 0:d9f4fedf5253 12 /* Heartbeat */
ArmandLambrechts 0:d9f4fedf5253 13 DigitalOut led(LED1);
ArmandLambrechts 0:d9f4fedf5253 14
ArmandLambrechts 0:d9f4fedf5253 15 /* Structures to help pack and unpack the 8 CAN data bytes */
ArmandLambrechts 0:d9f4fedf5253 16 typedef struct bytes_64 {
ArmandLambrechts 0:d9f4fedf5253 17 uint8_t b0;
ArmandLambrechts 0:d9f4fedf5253 18 uint8_t b1;
ArmandLambrechts 0:d9f4fedf5253 19 uint8_t b2;
ArmandLambrechts 0:d9f4fedf5253 20 uint8_t b3;
ArmandLambrechts 0:d9f4fedf5253 21 uint8_t b4;
ArmandLambrechts 0:d9f4fedf5253 22 uint8_t b5;
ArmandLambrechts 0:d9f4fedf5253 23 uint8_t b6;
ArmandLambrechts 0:d9f4fedf5253 24 uint8_t b7;
ArmandLambrechts 0:d9f4fedf5253 25 } bytes_64;
ArmandLambrechts 0:d9f4fedf5253 26
ArmandLambrechts 0:d9f4fedf5253 27 typedef union {
ArmandLambrechts 0:d9f4fedf5253 28 uint64_t data;
ArmandLambrechts 0:d9f4fedf5253 29 bytes_64 bytes;
ArmandLambrechts 0:d9f4fedf5253 30 } data_packed;
ArmandLambrechts 0:d9f4fedf5253 31
ArmandLambrechts 0:d9f4fedf5253 32
ArmandLambrechts 0:d9f4fedf5253 33 /* main */
ArmandLambrechts 0:d9f4fedf5253 34 int main() {
ArmandLambrechts 0:d9f4fedf5253 35
ArmandLambrechts 0:d9f4fedf5253 36 printf("\r\n---Start---\r\n");
ArmandLambrechts 0:d9f4fedf5253 37
ArmandLambrechts 0:d9f4fedf5253 38 data_packed send_data; //struct for send message
ArmandLambrechts 0:d9f4fedf5253 39 data_packed receive_data; //struct for rcv message
ArmandLambrechts 0:d9f4fedf5253 40 CANMessage msg; //message object for rcv
ArmandLambrechts 0:d9f4fedf5253 41 int send_id = 15; //send message id
ArmandLambrechts 0:d9f4fedf5253 42 int send_status = 0;
ArmandLambrechts 0:d9f4fedf5253 43
ArmandLambrechts 0:d9f4fedf5253 44 canEN = 0;
ArmandLambrechts 0:d9f4fedf5253 45 /* Config Loopback and Frequency */
ArmandLambrechts 0:d9f4fedf5253 46 send_data.data = 0;
ArmandLambrechts 0:d9f4fedf5253 47 can.frequency(1000000);
ArmandLambrechts 0:d9f4fedf5253 48 //can.mode(CAN::LocalTest);
ArmandLambrechts 0:d9f4fedf5253 49
ArmandLambrechts 0:d9f4fedf5253 50 /* Loop */
ArmandLambrechts 0:d9f4fedf5253 51 while (true) {
ArmandLambrechts 0:d9f4fedf5253 52
ArmandLambrechts 0:d9f4fedf5253 53 /* Send */
ArmandLambrechts 0:d9f4fedf5253 54 send_status = can.write(CANMessage(send_id, (char*) &send_data, 8));
ArmandLambrechts 0:d9f4fedf5253 55
ArmandLambrechts 0:d9f4fedf5253 56 if (send_status == true) {
ArmandLambrechts 0:d9f4fedf5253 57 send_data.data = send_data.data + 1;
ArmandLambrechts 0:d9f4fedf5253 58 }
ArmandLambrechts 0:d9f4fedf5253 59
ArmandLambrechts 0:d9f4fedf5253 60 /* Receive */
ArmandLambrechts 0:d9f4fedf5253 61 if (can.read(msg)) {
ArmandLambrechts 0:d9f4fedf5253 62 //move message bytes to receive, so we can access as a uint64_t (u long long)
ArmandLambrechts 0:d9f4fedf5253 63 receive_data.bytes.b7 = msg.data[7];
ArmandLambrechts 0:d9f4fedf5253 64 receive_data.bytes.b6 = msg.data[6];
ArmandLambrechts 0:d9f4fedf5253 65 receive_data.bytes.b5 = msg.data[5];
ArmandLambrechts 0:d9f4fedf5253 66 receive_data.bytes.b4 = msg.data[4];
ArmandLambrechts 0:d9f4fedf5253 67 receive_data.bytes.b3 = msg.data[3];
ArmandLambrechts 0:d9f4fedf5253 68 receive_data.bytes.b2 = msg.data[2];
ArmandLambrechts 0:d9f4fedf5253 69 receive_data.bytes.b1 = msg.data[1];
ArmandLambrechts 0:d9f4fedf5253 70 receive_data.bytes.b0 = msg.data[0];
ArmandLambrechts 0:d9f4fedf5253 71
ArmandLambrechts 0:d9f4fedf5253 72 printf("Message received ID,Msg: %d, %llu\r\n", msg.id, receive_data.data);
ArmandLambrechts 0:d9f4fedf5253 73 }
ArmandLambrechts 0:d9f4fedf5253 74
ArmandLambrechts 0:d9f4fedf5253 75 /* Heartbeat */
ArmandLambrechts 0:d9f4fedf5253 76 led = !led;
ArmandLambrechts 0:d9f4fedf5253 77
ArmandLambrechts 0:d9f4fedf5253 78 wait(0.5);
ArmandLambrechts 0:d9f4fedf5253 79 } //while
ArmandLambrechts 0:d9f4fedf5253 80 }