Diff: main.cpp

Revision:

28:dde6c4aef759

Parent:

27:50dcf8aea3ee

Child:

29:9ae558ec888c

--- a/main.cpp	Wed Mar 08 19:42:46 2017 +0000
+++ b/main.cpp	Sat Mar 11 10:14:45 2017 +0000
@@ -20,7 +20,7 @@
  */ 
 
 #define BOARD1                1     // comment out this line when compiling for board #2
-//#define TARGET_STM32F103C8T6  1     // uncomment this line when using STM32F103C8T6 boards!                                    
+#define TARGET_STM32F103C8T6  1     // uncomment this line when using STM32F103C8T6 boards!                                    
 
 #if defined(TARGET_STM32F103C8T6)
     #include "stm32f103c8t6.h"
@@ -44,21 +44,16 @@
 #include "CANnucleo.h"
 #include "mbed.h"
 
-/* 
- * To avaoid name collision with the CAN and CANMessage classes built into the mbed library
- * the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace.
- * Remember to qualify them with the CANnucleo namespace.
- */
-CANnucleo::CAN*         can;
-CANnucleo::CANMessage   rxMsg;
-CANnucleo::CANMessage   txMsg;
-DigitalOut              led(LED_PIN);
-Timer                   timer;
-uint8_t                 counter = 0;
-AnalogIn                analogIn(A0);
-float                   voltage;
-volatile bool           msgAvailable = false;
-Serial*                 pc;
+Serial          pc(PA_2, PA_3);
+CAN*            can;
+CANMessage      rxMsg;
+CANMessage      txMsg;
+DigitalOut      led(LED_PIN);
+Timer           timer;
+uint8_t         counter = 0;
+AnalogIn        analogIn(A0);
+float           voltage;
+volatile bool   msgAvailable = false;
 
 /**
  * @brief   'CAN receive-complete' interrup handler.
@@ -77,15 +72,15 @@
  * @param   CANMessage to print
  * @retval  none
  */
-void printMsg(CANnucleo::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    =");            
+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(" %.2x", msg.data[i]);
-    pc->printf("\r\n");
+        pc.printf(" 0x%.2X", msg.data[i]);
+    pc.printf("\r\n");
  }
 
 /**
@@ -98,18 +93,19 @@
 #if defined(TARGET_STM32F103C8T6)
     confSysClock();     //Configure system clock (72MHz HSE clock, 48MHz USB clock)
 #endif
-    pc = new Serial(PA_2, PA_3);
-    can = new CANnucleo::CAN(PA_11, PA_12);      // CAN Rx pin name, CAN Tx pin name
-    can->frequency(1000000);                     // set bit rate to 1Mbps
-    can->attach(&onMsgReceived);                 // attach 'CAN receive-complete' interrupt handler
+    pc.baud(9600);                      // set Serial speed
+
+    can = new CAN(PA_11, PA_12);        // CAN Rx pin name, CAN Tx pin name
+    can->frequency(1000000);            // set bit rate to 1Mbps
+    can->attach(&onMsgReceived);        // attach 'CAN receive-complete' interrupt handler
     
 #if defined(BOARD1)
     led = ON;       // turn LED on
     timer.start();  // start timer
-    pc->printf("CANnucleo_Hello board #1\r\n");
+    pc.printf("CANnucleo_Hello board #1\r\n");
 #else
     led = OFF;      // turn LED off
-    pc->printf("CANnucleo_Hello board #2\r\n");
+    pc.printf("CANnucleo_Hello board #2\r\n");
 #endif
 
     while(1) {
@@ -117,32 +113,33 @@
             timer.stop();                       // stop timer
             timer.reset();                      // reset timer
             counter++;                          // increment counter
-            voltage = (analogIn * 3.3f)/4096.0f;// read small floating voltage at analog input
+            voltage = (analogIn * 3.3f)/4096.0f;// read the small drifting voltage from analog input
             txMsg.clear();                      // clear Tx message storage
             txMsg.id = TX_ID;                   // set ID
             txMsg << counter << voltage;        // append data (total data length must be <= 8 bytes!)
             if(can->write(txMsg)) {             // transmit message
                 led = OFF;                      // turn LED off
-                pc->printf("-----------------------------------\r\n");
-                pc->printf("CAN message sent\r\n");
+                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);
+                pc.printf("  counter = %d\r\n", counter);
+                pc.printf("  voltage = %e V\r\n", voltage);
              }
             else
-                pc->printf("Transmission error\r\n");
+                pc.printf("Transmission error\r\n");
         }
         if(msgAvailable) {
-            msgAvailable = false;               // reset flag for next use
+            msgAvailable = false;               // reset the flag for next use the in interrupt service routine
             can->read(rxMsg);                   // read message into Rx message storage
             led = ON;                           // turn LED on
-            pc->printf("CAN message received\r\n");
+            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 comments in CANnucleo.cpp 
                 rxMsg >> counter >> voltage;    // extract data from the received CAN message
-                pc->printf("  counter = %d\r\n", counter);
-                pc->printf("  voltage = %e V\r\n", voltage);
+                pc.printf("  counter = %d\r\n", counter);
+                pc.printf("  voltage = %e V\r\n", voltage);
                 timer.start();                  // transmission lag
             }
         }