Can test program.Maybe filter is not implemented
Dependencies: SoftPWM MotorSMLAP
Fork of CANnucleo_Hello by
main.cpp@24:e2907bcba75e, 2017-03-07 (annotated)
- Committer:
- hudakz
- Date:
- Tue Mar 07 21:28:19 2017 +0000
- Revision:
- 24:e2907bcba75e
- Parent:
- 23:069287e799cd
- Child:
- 25:1d0488a03905
Updated.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 0:c5e5d0df6f2a | 1 | /* |
hudakz | 16:a86f339d1c25 | 2 | * An example showing how to use the CANnucleo library: |
hudakz | 0:c5e5d0df6f2a | 3 | * |
hudakz | 20:eb1a8042605e | 4 | * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), |
hudakz | 20:eb1a8042605e | 5 | * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details) |
hudakz | 6:7ff95ce72f6d | 6 | * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). |
hudakz | 6:7ff95ce72f6d | 7 | * CAN transceivers are not part of NUCLEO boards, therefore must be added by you. |
hudakz | 6:7ff95ce72f6d | 8 | * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends. |
hudakz | 6:7ff95ce72f6d | 9 | * |
hudakz | 16:a86f339d1c25 | 10 | * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/> |
hudakz | 6:7ff95ce72f6d | 11 | * |
hudakz | 21:7120a0dcc8ee | 12 | * NOTE: If you'd like to use an STM32F103C8T6 board uncomment line 23 |
hudakz | 6:7ff95ce72f6d | 13 | * |
hudakz | 6:7ff95ce72f6d | 14 | * The same code is used for both NUCLEO boards, but: |
hudakz | 0:c5e5d0df6f2a | 15 | * For board #1 compile the example without any change. |
hudakz | 18:22977a898fe9 | 16 | * For board #2 comment out line 23 before compiling |
hudakz | 4:ccf4ac2deac8 | 17 | * |
hudakz | 6:7ff95ce72f6d | 18 | * Once the binaries have been downloaded to the boards reset board #1. |
hudakz | 0:c5e5d0df6f2a | 19 | * |
hudakz | 0:c5e5d0df6f2a | 20 | */ |
hudakz | 0:c5e5d0df6f2a | 21 | |
hudakz | 22:f4682a5ddda6 | 22 | #define BOARD1 1 // comment out this line when compiling for board #2 |
hudakz | 24:e2907bcba75e | 23 | #define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards! |
hudakz | 0:c5e5d0df6f2a | 24 | |
hudakz | 16:a86f339d1c25 | 25 | #if defined(TARGET_STM32F103C8T6) |
hudakz | 21:7120a0dcc8ee | 26 | #include "stm32f103c8t6.h" |
hudakz | 19:872e304d7e17 | 27 | #define LED_PIN PC_13 |
hudakz | 10:66da8731bdb6 | 28 | const int OFF = 1; |
hudakz | 10:66da8731bdb6 | 29 | const int ON = 0; |
hudakz | 0:c5e5d0df6f2a | 30 | #else |
hudakz | 19:872e304d7e17 | 31 | #define LED_PIN LED1 |
hudakz | 10:66da8731bdb6 | 32 | const int OFF = 0; |
hudakz | 10:66da8731bdb6 | 33 | const int ON = 1; |
hudakz | 0:c5e5d0df6f2a | 34 | #endif |
hudakz | 0:c5e5d0df6f2a | 35 | |
hudakz | 10:66da8731bdb6 | 36 | #if defined(BOARD1) |
hudakz | 10:66da8731bdb6 | 37 | const unsigned int RX_ID = 0x100; |
hudakz | 10:66da8731bdb6 | 38 | const unsigned int TX_ID = 0x101; |
hudakz | 6:7ff95ce72f6d | 39 | #else |
hudakz | 10:66da8731bdb6 | 40 | const unsigned int RX_ID = 0x101; |
hudakz | 10:66da8731bdb6 | 41 | const unsigned int TX_ID = 0x100; |
hudakz | 6:7ff95ce72f6d | 42 | #endif |
hudakz | 6:7ff95ce72f6d | 43 | |
hudakz | 24:e2907bcba75e | 44 | #include "CANnucleo.h" |
hudakz | 16:a86f339d1c25 | 45 | #include "mbed.h" |
hudakz | 16:a86f339d1c25 | 46 | |
hudakz | 17:18d4d0ff26a6 | 47 | /* |
hudakz | 17:18d4d0ff26a6 | 48 | * To avaoid name collision with the CAN and CANMessage classes built into the mbed library |
hudakz | 17:18d4d0ff26a6 | 49 | * the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace. |
hudakz | 20:eb1a8042605e | 50 | * Remember to qualify them with the CANnucleo namespace. |
hudakz | 17:18d4d0ff26a6 | 51 | */ |
hudakz | 21:7120a0dcc8ee | 52 | CANnucleo::CAN* can; |
hudakz | 17:18d4d0ff26a6 | 53 | CANnucleo::CANMessage rxMsg; |
hudakz | 17:18d4d0ff26a6 | 54 | CANnucleo::CANMessage txMsg; |
hudakz | 19:872e304d7e17 | 55 | DigitalOut led(LED_PIN); |
hudakz | 24:e2907bcba75e | 56 | int ledState; |
hudakz | 18:22977a898fe9 | 57 | Timer timer; |
hudakz | 17:18d4d0ff26a6 | 58 | int counter = 0; |
hudakz | 17:18d4d0ff26a6 | 59 | volatile bool msgAvailable = false; |
hudakz | 22:f4682a5ddda6 | 60 | Serial* pc; |
hudakz | 0:c5e5d0df6f2a | 61 | |
hudakz | 16:a86f339d1c25 | 62 | /** |
hudakz | 16:a86f339d1c25 | 63 | * @brief 'CAN receive-complete' interrup handler. |
hudakz | 16:a86f339d1c25 | 64 | * @note Called on arrival of new CAN message. |
hudakz | 16:a86f339d1c25 | 65 | * Keep it as short as possible. |
hudakz | 16:a86f339d1c25 | 66 | * @param |
hudakz | 16:a86f339d1c25 | 67 | * @retval |
hudakz | 16:a86f339d1c25 | 68 | */ |
hudakz | 16:a86f339d1c25 | 69 | void onMsgReceived() { |
hudakz | 16:a86f339d1c25 | 70 | msgAvailable = true; |
hudakz | 16:a86f339d1c25 | 71 | } |
hudakz | 16:a86f339d1c25 | 72 | |
hudakz | 16:a86f339d1c25 | 73 | /** |
hudakz | 16:a86f339d1c25 | 74 | * @brief Main |
hudakz | 16:a86f339d1c25 | 75 | * @note |
hudakz | 16:a86f339d1c25 | 76 | * @param |
hudakz | 16:a86f339d1c25 | 77 | * @retval |
hudakz | 16:a86f339d1c25 | 78 | */ |
hudakz | 16:a86f339d1c25 | 79 | int main() { |
hudakz | 21:7120a0dcc8ee | 80 | #if defined(TARGET_STM32F103C8T6) |
hudakz | 21:7120a0dcc8ee | 81 | confSysClock(); //Configure system clock (72MHz HSE clock, 48MHz USB clock) |
hudakz | 21:7120a0dcc8ee | 82 | #endif |
hudakz | 22:f4682a5ddda6 | 83 | pc = new Serial(PA_2, PA_3); |
hudakz | 21:7120a0dcc8ee | 84 | can = new CANnucleo::CAN(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name |
hudakz | 21:7120a0dcc8ee | 85 | can->frequency(1000000); // set bit rate to 1Mbps |
hudakz | 21:7120a0dcc8ee | 86 | can->attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler |
hudakz | 16:a86f339d1c25 | 87 | |
hudakz | 0:c5e5d0df6f2a | 88 | #if defined(BOARD1) |
hudakz | 10:66da8731bdb6 | 89 | led = ON; // turn LED on |
hudakz | 10:66da8731bdb6 | 90 | timer.start(); // start timer |
hudakz | 22:f4682a5ddda6 | 91 | pc->printf("CANnucleo_Hello board #1\r\n"); |
hudakz | 0:c5e5d0df6f2a | 92 | #else |
hudakz | 10:66da8731bdb6 | 93 | led = OFF; // turn LED off |
hudakz | 22:f4682a5ddda6 | 94 | pc->printf("CANnucleo_Hello board #2\r\n"); |
hudakz | 0:c5e5d0df6f2a | 95 | #endif |
hudakz | 0:c5e5d0df6f2a | 96 | |
hudakz | 0:c5e5d0df6f2a | 97 | while(1) { |
hudakz | 23:069287e799cd | 98 | if(timer.read_ms() >= 1000) { // check for timeout |
hudakz | 16:a86f339d1c25 | 99 | timer.stop(); // stop timer |
hudakz | 16:a86f339d1c25 | 100 | timer.reset(); // reset timer |
hudakz | 16:a86f339d1c25 | 101 | counter++; // increment counter |
hudakz | 24:e2907bcba75e | 102 | ledState = led.read(); // get led state |
hudakz | 16:a86f339d1c25 | 103 | txMsg.clear(); // clear Tx message storage |
hudakz | 16:a86f339d1c25 | 104 | txMsg.id = TX_ID; // set ID |
hudakz | 24:e2907bcba75e | 105 | txMsg << counter << ledState; // append data (total data length must be <= 8 bytes!) |
hudakz | 16:a86f339d1c25 | 106 | led = OFF; // turn LED off |
hudakz | 24:e2907bcba75e | 107 | if(can->write(txMsg)) { // transmit message |
hudakz | 24:e2907bcba75e | 108 | pc->printf("-----------------------------------\r\n"); |
hudakz | 22:f4682a5ddda6 | 109 | pc->printf("CAN message sent\r\n"); |
hudakz | 24:e2907bcba75e | 110 | pc->printf(" ID = 0x%.3x\r\n", txMsg.id); |
hudakz | 24:e2907bcba75e | 111 | pc->printf(" Type = %d\r\n", txMsg.type); |
hudakz | 24:e2907bcba75e | 112 | pc->printf(" Format = %d\r\n", txMsg.format); |
hudakz | 24:e2907bcba75e | 113 | pc->printf(" Length = %d\r\n", txMsg.len); |
hudakz | 24:e2907bcba75e | 114 | pc->printf(" Data ="); |
hudakz | 24:e2907bcba75e | 115 | for(int i = 0; i < txMsg.len; i++) |
hudakz | 24:e2907bcba75e | 116 | pc->printf(" %.2x", txMsg.data[i]); |
hudakz | 24:e2907bcba75e | 117 | pc->printf("\r\n"); |
hudakz | 24:e2907bcba75e | 118 | pc->printf(" counter = %d\r\n", counter); |
hudakz | 24:e2907bcba75e | 119 | } |
hudakz | 10:66da8731bdb6 | 120 | else |
hudakz | 22:f4682a5ddda6 | 121 | pc->printf("Transmission error\r\n"); |
hudakz | 0:c5e5d0df6f2a | 122 | } |
hudakz | 16:a86f339d1c25 | 123 | if(msgAvailable) { |
hudakz | 16:a86f339d1c25 | 124 | msgAvailable = false; // reset flag for next use |
hudakz | 24:e2907bcba75e | 125 | can->read(rxMsg); // read message into Rx message storage |
hudakz | 22:f4682a5ddda6 | 126 | pc->printf("CAN message received\r\n"); |
hudakz | 22:f4682a5ddda6 | 127 | pc->printf(" ID = 0x%.3x\r\n", rxMsg.id); |
hudakz | 22:f4682a5ddda6 | 128 | pc->printf(" Type = %d\r\n", rxMsg.type); |
hudakz | 22:f4682a5ddda6 | 129 | pc->printf(" Format = %d\r\n", rxMsg.format); |
hudakz | 22:f4682a5ddda6 | 130 | pc->printf(" Length = %d\r\n", rxMsg.len); |
hudakz | 22:f4682a5ddda6 | 131 | pc->printf(" Data ="); |
hudakz | 2:49c9430860d1 | 132 | for(int i = 0; i < rxMsg.len; i++) |
hudakz | 22:f4682a5ddda6 | 133 | pc->printf(" %.2x", rxMsg.data[i]); |
hudakz | 22:f4682a5ddda6 | 134 | pc->printf("\r\n"); |
hudakz | 16:a86f339d1c25 | 135 | // Filtering performed by software: |
hudakz | 24:e2907bcba75e | 136 | if(rxMsg.id == RX_ID) { // About filtering performed by hardware see comments in CANnucleo.cpp |
hudakz | 24:e2907bcba75e | 137 | rxMsg >> counter >> ledState; // extract data |
hudakz | 22:f4682a5ddda6 | 138 | pc->printf(" counter = %d\r\n", counter); |
hudakz | 16:a86f339d1c25 | 139 | led = ON; // turn LED on |
hudakz | 16:a86f339d1c25 | 140 | timer.start(); // transmission lag |
hudakz | 0:c5e5d0df6f2a | 141 | } |
hudakz | 0:c5e5d0df6f2a | 142 | } |
hudakz | 0:c5e5d0df6f2a | 143 | } |
hudakz | 0:c5e5d0df6f2a | 144 | } |
hudakz | 24:e2907bcba75e | 145 | |
hudakz | 24:e2907bcba75e | 146 | |
hudakz | 24:e2907bcba75e | 147 |