Diff: main.cpp

Revision:

0:df0aeb0c8f2c

Child:

5:499978915868

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 18 12:18:01 2016 +0000
@@ -0,0 +1,119 @@
+#include "cmsis_os.h"
+#include "mbed.h"
+#include "CAN.h"
+
+
+DigitalOut led1(LED1, 1); //LED R OFF
+DigitalOut led2(LED2, 1); //LED G OFF
+DigitalOut led3(LED3, 1); //LED B OFF
+
+#define CAN_TX_MODE_TEST            0
+#define CAN_RX_MODE_TEST            1
+#define CAN_RX_IRQ_EN               1
+#define LED_ALL_OFF                 led1=led2=led3=1
+
+#define MSG_NUM_INDEX           5   // 0 ~ 31   
+#define CAN_DEV_ID              0x1AC
+
+#if defined(TARGET_NUMAKER_PFM_NUC472)
+CAN canObj(PA_0, PA_1);
+#elif defined(TARGET_NUMAKER_PFM_M453)
+CAN canObj(PA_13,PA_12);
+#endif
+
+CANMessage canMsg;
+
+osThreadId mainThreadID;
+
+static int read_MsgObj()
+{
+int i=0;
+
+    i = canObj.read(canMsg, MSG_NUM_INDEX);
+    
+        switch (canMsg.data[0])
+        {
+            case 0:
+                LED_ALL_OFF;
+                led1=0;
+                break;
+            
+            case 1:
+                LED_ALL_OFF;
+                led2=0;
+                break;
+            
+            case 2:
+                LED_ALL_OFF;
+                led3=0;
+                break;
+            
+            default:
+                LED_ALL_OFF;
+                break;
+        }
+
+   return i; 
+}
+
+void irq_callback(void)
+{
+    if(read_MsgObj() )
+        osSignalSet(mainThreadID, 0x06);
+}
+
+int main() {
+    int i=0;
+    char data[8]={0};
+
+    mainThreadID = osThreadGetId();
+
+    /* Set Frequency 1khz~1000khz */
+    canObj.frequency(1000000);
+    
+#if CAN_RX_MODE_TEST
+    
+#if CAN_RX_IRQ_EN
+    /* Attach irq function */
+    canObj.attach(irq_callback, CAN::RxIrq);
+#endif
+    
+    canObj.filter(CAN_DEV_ID, 0, CANStandard, MSG_NUM_INDEX);
+    
+#endif
+    
+    while (true)
+    {
+
+        
+#if CAN_TX_MODE_TEST
+        
+        canObj.write(CANMessage(CAN_DEV_ID, data));
+        
+        if(data[0] == 2)
+            data[0]=0;
+        else
+            data[0]++;
+        
+        memset(&data[1], data[0], 7);
+        wait(1);
+        
+#endif
+        
+#if CAN_RX_MODE_TEST
+        
+#if (CAN_RX_IRQ_EN)        // interrupt mode
+        /* Wait for receive task to wakeup */
+    osSignalWait(0x06, osWaitForever);      
+#else                                           // pooling mode
+        if( !read_MsgObj() ) continue;
+#endif
+    
+        printf("Read ID=%8X, Type=%s, DLC=%d,Data=",canMsg.id,canMsg.format?"EXT":"STD",canMsg.len);
+        for(i=0; i<canMsg.len; i++)
+            printf("%02X,",canMsg.data[i]);
+        printf("\r\n");     
+#endif
+    }
+    
+}