NagaokaRoboticsClub_mbedTeam
Can sample
Dependencies: mbed-dev
Fork of
CAN_Hello
by 
Zoltan Hudak
Revision 2:3dac3d4b0aeb, committed 2017-08-11
- Comitter:
- tknara
- Date:
- Fri Aug 11 05:59:03 2017 +0000
- Parent:
- 1:6f8ffb2c2dd7
- Commit message:
- Can test program;
Changed in this revision
--- a/CANMsg.lib Sat Mar 18 18:37:21 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://developer.mbed.org/users/hudakz/code/CANMsg/#3d11ed680b6a
--- a/main.cpp Sat Mar 18 18:37:21 2017 +0000
+++ b/main.cpp Fri Aug 11 05:59:03 2017 +0000
@@ -1,129 +1,22 @@
-/*
- * An example showing how to use the mbed CAN API:
- *
- * 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/CAN_Hello/>
- *
- * NOTE: If you'd like to use an STM32F103C8T6 board uncomment line 23
- *
- * The same code is used for both mbed 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 "mbed.h"
-#include "CANMsg.h"
-
-Serial pc(PA_2, PA_3);
-CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
-CANMsg rxMsg;
-CANMsg txMsg;
-DigitalOut led(LED_PIN);
-Timer timer;
-uint8_t counter = 0;
-AnalogIn analogIn(A0);
-float voltage;
-
-/**
- * @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");
+Ticker ticker;
+CAN can1(PA_11,PA_12);
+//CAN can2(PB_12,PB_13);
+Serial pc(USBTX,USBRX);
+char counter = 0;
+#define ID 7
+void send() {
+ printf("send()\n");
+ if(can1.write(CANMessage(ID, &counter, 1))) {
+ printf("Message sent: %d\n", counter);
+ counter++;
+ }
}
-
-/**
- * @brief Main
- * @note
- * @param
- * @retval
- */
-int main(void)
-{
-#if defined(TARGET_STM32F103C8T6)
- confSysClock(); //Configure system clock (72MHz HSE clock, 48MHz USB clock)
-#endif
- pc.baud(9600); // set Serial speed
- can.frequency(1000000); // set bit rate to 1Mbps
-#if defined(BOARD1)
- led = ON; // turn the LED on
- timer.start(); // start timer
- pc.printf("CAN_Hello board #1\r\n");
-#else
- led = OFF; // turn LED off
- pc.printf("CAN_Hello board #2\r\n");
-#endif
+
+int main() {
+ printf("main()\n");
+ ticker.attach(&send,0.001);
+ CANMessage msg;
while(1) {
- if(timer.read_ms() >= 1000) { // check for timeout
- timer.stop(); // stop timer
- timer.reset(); // reset timer
- counter++; // increment counter
- 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 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(can.read(rxMsg)) {
- 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) {
- 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);
- timer.start(); // transmission lag
- }
- }
}
-}
+}
\ No newline at end of file
--- a/mbed-STM32F103C8T6.lib Sat Mar 18 18:37:21 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/hudakz/code/mbed-STM32F103C8T6/#09d8c2eacb4d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-dev.lib Fri Aug 11 05:59:03 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_official/code/mbed-dev/#19eb464bc2be
--- a/mbed.bld Sat Mar 18 18:37:21 2017 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://mbed.org/users/mbed_official/code/mbed/builds/093f2bd7b9eb \ No newline at end of file