main.cpp

00001 #include "cmsis_os.h"
00002 #include "mbed.h"
00003 #include "CAN.h"
00004 
00005 
00006 DigitalOut led1(LED1, 1); //LED R OFF
00007 DigitalOut led2(LED2, 1); //LED G OFF
00008 DigitalOut led3(LED3, 1); //LED B OFF
00009 
00010 #define CAN_TX_MODE_TEST            0
00011 #define CAN_RX_MODE_TEST            1
00012 #define CAN_LOOPBACK_MODE_TEST      0
00013 #if CAN_LOOPBACK_MODE_TEST && (!CAN_TX_MODE_TEST || !CAN_RX_MODE_TEST)
00014 #error "Either TX or RX not enabled for loopback mode"
00015 #endif
00016 
00017 /* WARNING: Don't enable interrupt mode on receive side. It is not supported on Nuvoton targets. */
00018 #define CAN_RX_IRQ_EN               0
00019 #define LED_ALL_OFF                 led1=led2=led3=1
00020 
00021 #define MSG_NUM_INDEX           5   // 0 ~ 31   
00022 #define CAN_DEV_ID              0x1AC
00023 
00024 #if defined(TARGET_NUMAKER_PFM_NUC472)
00025 CAN canObj(PA_0, PA_1);     // Internal in the board
00026 #elif defined(TARGET_NUMAKER_PFM_M453)
00027 CAN canObj(PA_13, PA_12);   // Internal in the board
00028 #elif defined(TARGET_NUMAKER_PFM_M487)
00029 CAN canObj(D9, D8);         // (rd, td) Change to match external attachment
00030 #elif defined(TARGET_NUMAKER_IOT_M487) 
00031 CAN canObj(A0, A1);         // Change to match external attachment
00032 #elif defined(TARGET_NUMAKER_IOT_M467) 
00033 CAN canObj(A0, A1);         // CAN1(rd, td) Change to match external attachment
00034 //CAN canObj(D9, D8);       // CAN0
00035 #endif
00036 
00037 CANMessage canMsg;
00038 
00039 osThreadId mainThreadID;
00040 
00041 static int read_MsgObj()
00042 {
00043 int i=0;
00044 
00045     i = canObj.read(canMsg, MSG_NUM_INDEX);
00046     
00047         switch (canMsg.data[0])
00048         {
00049             case 0:
00050                 LED_ALL_OFF;
00051                 led1=0;
00052                 break;
00053             
00054             case 1:
00055                 LED_ALL_OFF;
00056                 led2=0;
00057                 break;
00058             
00059             case 2:
00060                 LED_ALL_OFF;
00061                 led3=0;
00062                 break;
00063             
00064             default:
00065                 LED_ALL_OFF;
00066                 break;
00067         }
00068 
00069    return i; 
00070 }
00071 
00072 void irq_callback(void)
00073 {
00074     /* Wake up receive task */
00075     osSignalSet(mainThreadID, 0x06);
00076 }
00077 
00078 int main() {
00079 #if CAN_TX_MODE_TEST
00080     printf("CAN sender sample\r\n");
00081 #endif
00082 
00083 #if CAN_RX_MODE_TEST
00084     printf("CAN receiver sample\r\n");
00085 #endif
00086 
00087     int i=0;
00088     char data[8]={0};
00089 
00090     mainThreadID = osThreadGetId();
00091 
00092     /* Set Frequency 1khz~1000khz */
00093     canObj.frequency(1000000);
00094     
00095 #if CAN_RX_MODE_TEST
00096     
00097 #if CAN_RX_IRQ_EN
00098     /* Attach irq function */
00099     canObj.attach(irq_callback, CAN::RxIrq);
00100 #endif
00101 
00102     /* According to link below, filter #0 will accept any message, and
00103      * no other filters can accept messages without re-configuring filter #0.
00104      * https://os.mbed.com/questions/85183/How-to-use-CAN-filter-function
00105      *
00106      * Re-configure filter #0 to accept message ID 0 only.
00107      */
00108     canObj.filter(0, 0xFFFFFFFF);
00109 
00110     canObj.filter(CAN_DEV_ID, 0, CANStandard, MSG_NUM_INDEX);
00111     
00112 #endif
00113 
00114 #if CAN_LOOPBACK_MODE_TEST
00115     if (!canObj.mode(CAN::SilentTest)) {
00116         printf("CAN: Configure to SilentTest mode failed\n\n");
00117         return EXIT_FAILURE;
00118     }
00119 #endif
00120 
00121     while (true)
00122     {
00123 
00124         
00125 #if CAN_TX_MODE_TEST
00126         
00127         canObj.write(CANMessage(CAN_DEV_ID, data));
00128         
00129         if(data[0] == 2)
00130             data[0]=0;
00131         else
00132             data[0]++;
00133 
00134         memset(&data[1], data[0], 7);
00135         ThisThread::sleep_for(1000ms);
00136 
00137 #endif
00138         
00139 #if CAN_RX_MODE_TEST
00140 
00141 #if (CAN_RX_IRQ_EN)
00142         /* Wait for receive task to wakeup */
00143         osSignalWait(0x06, osWaitForever);      
00144 #endif
00145         if (!read_MsgObj()) {
00146             continue;
00147         }
00148 
00149         printf("Read ID=%8X, Type=%s, DLC=%d,Data=",canMsg.id,canMsg.format?"EXT":"STD",canMsg.len);
00150         for(i=0; i<canMsg.len; i++)
00151             printf("%02X,",canMsg.data[i]);
00152         printf("\r\n");     
00153 #endif
00154     }
00155     
00156 }