Diff: main.cpp

Revision:

31:ae28a608fb48

Parent:

29:9ae558ec888c

Child:

32:c64104c77531

--- a/main.cpp	Sun May 28 09:24:55 2017 +0000
+++ b/main.cpp	Fri Aug 11 05:56:02 2017 +0000
@@ -1,155 +1,15 @@
-/*
- * An example showing how to use the CANnucleo library:
- *
- * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), 
- * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details) 
- * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). 
- * CAN transceivers are not part of NUCLEO boards, therefore must be added by you. 
- * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends.
- *
- * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/>
- *
- * NOTE: If you'd like to use an STM32F103C8T6 board uncomment line 23
- *
- * The same code is used for both NUCLEO boards, but:
- *      For board #1 compile the example without any change.
- *      For board #2 comment out line 23 before compiling 
- *
- * Once the binaries have been downloaded to the boards reset board #1.
- *
- */ 
-
-#define BOARD1                1     // comment out this line when compiling for board #2
-//#define TARGET_STM32F103C8T6  1     // uncomment this line when using STM32F103C8T6 boards!                                    
-
-#if defined(TARGET_STM32F103C8T6)
-    #include "stm32f103c8t6.h"
-    #define LED_PIN PC_13
-    const int OFF = 1;
-    const int ON  = 0;
-#else
-    #define LED_PIN LED1
-    const int OFF = 0;
-    const int ON  = 1;
-#endif
-
-#if defined(BOARD1)
-    const unsigned int RX_ID = 0x100;
-    const unsigned int TX_ID = 0x101;
-#else
-    const unsigned int RX_ID = 0x101;
-    const unsigned int TX_ID = 0x100;
-#endif
-
-#include "CANnucleo.h"
 #include "mbed.h"
-
-Serial          pc(PA_2, PA_3);
-CAN*            can;
-CANMessage      rxMsg;
-CANMessage      txMsg;
-DigitalOut      led(LED_PIN);
-Timer           timer;
-uint8_t         counter = 0;    // one byte
-AnalogIn        analogIn(A0);
-float           voltage;        // four bytes
-volatile bool   msgAvailable = false;
-
-/**
- * @brief   'CAN receive-complete' interrup service routine.
- * @note    Called on arrival of new CAN message.
- *          Keep it as short as possible.
- * @param   
- * @retval  
- */
-void onMsgReceived() {
-    msgAvailable = true;
-}
-
-/**
- * @brief   Prints CAN msg to PC's serial terminal.
- * @note}
- * @param   CANMessage to print
- * @retval  none
- */
-void printMsg(CANMessage& msg) {
-    pc.printf("  ID      = 0x%.3x\r\n", msg.id);
-    pc.printf("  Type    = %d\r\n", msg.type);
-    pc.printf("  Format  = %d\r\n", msg.format);
-    pc.printf("  Length  = %d\r\n", msg.len);
-    pc.printf("  Data    =");            
-    for(int i = 0; i < msg.len; i++)
-        pc.printf(" 0x%.2X", msg.data[i]);
-    pc.printf("\r\n");
- }
-
-/**
- * @brief   Main
- * @note
- * @param 
- * @retval
- */
+CAN can2(PA_11,PA_12);
+Serial pc(PA_9,PA_10,115200);
+BusOut led(PB_12,PB_13,PB_14,PB_15);
 int main() {
-#if defined(TARGET_STM32F103C8T6)
-    confSysClock();     //Configure the system clock (72MHz HSE clock, 48MHz USB clock)
-#endif
-    pc.baud(9600);                      // set the Serial speed
-
-    can = new CAN(PA_11, PA_12);        // CAN Rx pin name, CAN Tx pin name
-    can->frequency(1000000);            // set the bit rate to 1Mbps
-    can->attach(&onMsgReceived);        // attach the 'CAN receive-complete' interrupt service routine (ISR)
-    
-#if defined(BOARD1)
-    led = ON;       // turn the LED on
-    timer.start();  // start the timer
-    pc.printf("CANnucleo_Hello board #1\r\n");
-#else
-    led = OFF;      // turn LED off
-    pc.printf("CANnucleo_Hello board #2\r\n");
-#endif
-
+    pc.printf("main()\n");
+    led = 15;
+    CANMessage msg;
     while(1) {
-        if(timer.read_ms() >= 1000) {           // check for timeout
-            timer.stop();                       // stop the timer
-            timer.reset();                      // reset the timer
-            counter++;                          // increment the counter
-            voltage = (analogIn * 3.3f)/4096.0f;// read the small drifting voltage from analog input
-            txMsg.clear();                      // clear the Tx message storage
-            txMsg.id = TX_ID;                   // set the message ID
-            // We are about to transmit two data items to the CAN bus.
-            //     counter: uint_8 (unsigned eight bits int) value (one byte).
-            //     voltage: floating point value (four bytes).
-            // So the total length of payload data is five bytes.
-            // We'll use the "<<" (append) operator to add data to the CAN message.
-            // The usage is same as of the similar C++ io-stream operators.
-            // NOTE: The data length of CAN message is automatically updated when using "<<" operators.  
-            txMsg << counter << voltage;        // append data (total data length must be <= 8 bytes!)
-            if(can->write(txMsg)) {             // transmit the CAN message
-                led = OFF;                      // turn the LED off
-                pc.printf("-------------------------------------\r\n");
-                pc.printf("CAN message sent\r\n");
-                printMsg(txMsg);
-                pc.printf("  counter = %d\r\n", counter);
-                pc.printf("  voltage = %e V\r\n", voltage);
-             }
-            else
-                pc.printf("Transmission error\r\n");
-        }
-        if(msgAvailable) {
-            msgAvailable = false;               // reset the flag for next use in the interrupt service routine
-            can->read(rxMsg);                   // read the message into the Rx message storage
-            led = ON;                           // turn the LED on
-            pc.printf("-------------------------------------\r\n");
-            pc.printf("CAN message received\r\n");
-            printMsg(rxMsg);
-            // Filtering performed by software:           
-            if(rxMsg.id == RX_ID) {             // about filtering performed by hardware see the comments in CANnucleo.cpp 
-                rxMsg >> counter >> voltage;    // extract data from the received CAN message (in same sequence as they were added)
-                pc.printf("  counter = %d\r\n", counter);
-                pc.printf("  voltage = %e V\r\n", voltage);
-                timer.start();                  // insert transmission lag
-            }
-        }
+        if(can2.read(msg)) {
+            pc.printf("Message received: ID:%d,data0:%d,data1:%d\n",msg.id,msg.data[0],msg.data[1]);
+        } 
     }
 }