Diff: main.cpp

Revision:

1:3759c5f6cf76

Parent:

0:af731d8a8d2c

Child:

2:bb0f12b33fa1

--- a/main.cpp	Fri Feb 11 14:57:24 2011 +0000
+++ b/main.cpp	Mon Feb 14 13:26:46 2011 +0000
@@ -1,19 +1,26 @@
+
+
 #include "mbed.h"
 #include "CAN.h"
 
 Ticker ticker;
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
-CAN can1(p9, p10);  // rd, td
-CAN can2(p30, p29);
+CAN can1(p9, p10);  // rd, td Transmitter
+CAN can2(p30, p29); // rd, td Monitor
 
 int counter = 0;
 char data[8];
-CANMessage msg;
 
+//***************void send is the data you are sending**************
+void send() {
 
-void send() {
-    if(counter==0) {
+//-------------------------CONFIGURATION-----------------------------
+// Send this part if you want to configure your LSS compatible motor!
+// Read more about the LSS protocol for more information.
+// Don't forget to include an "else {}" part.(scroll down some)
+
+    /*if(counter==0) {
         //--------Global Start nodes
         data[0] = (char)(0x01); // NMT Start RemoteNode
         data[1] = (char)(0x00); // Global
@@ -30,9 +37,9 @@
         counter ++;
     }
     else if(counter==1) {
-        //--------LSS Configure mode
+        //--------LSS Configure Mode
         data[0] = (char)(0x04); // LSS Set Mode
-        data[1] = (char)(0x01); // Mode Configure
+        data[1] = (char)(0x01); // Mode configure
         data[2] = (char)(0x00);
         data[3] = (char)(0x00);
         data[4] = (char)(0x00);
@@ -40,7 +47,7 @@
         data[6] = (char)(0x00);
         data[7] = (char)(0x00);
         if(can1.write(CANMessage(2021,data,2))) {
-            printf("LSS Config mode sent \n");
+            printf("LSS Configure mode sent \n");
         }
         led1 = !led1;
         counter ++;
@@ -48,7 +55,7 @@
     else if(counter==2) {
         //--------LSS Set Node_ID
         data[0] = (char)(0x11); // LSS Set Node_ID
-        data[1] = (char)(0x01); // to Node_ID: 01
+        data[1] = (char)(0x03); // to Node_ID: 03
         data[2] = (char)(0x00);
         data[3] = (char)(0x00);
         data[4] = (char)(0x00);
@@ -56,28 +63,12 @@
         data[6] = (char)(0x00);
         data[7] = (char)(0x00);
         if(can1.write(CANMessage(2021,data,2))) {
-            printf("LSS Set Node_ID to 0x01 sent \n");
+            printf("LSS Set Node_ID to 0x03 sent \n");
         }
         led1 = !led1;
         counter ++;
     }
     else if(counter==3) {
-        //--------LSS Save Config
-        data[0] = (char)(0x17); // LSS Save Config
-        data[1] = (char)(0x00);
-        data[2] = (char)(0x00);
-        data[3] = (char)(0x00);
-        data[4] = (char)(0x00);
-        data[5] = (char)(0x00);
-        data[6] = (char)(0x00);
-        data[7] = (char)(0x00);
-        if(can1.write(CANMessage(2021,data,1))) {
-            printf("LSS Save Config sent \n");
-        }
-        led1 = !led1;
-        counter ++;
-    }
-    else if(counter==4) {
         //--------LSS Set Baudrate
         data[0] = (char)(0x13); // LSS Set Baudrate
         data[1] = (char)(0x00); // 
@@ -88,28 +79,28 @@
         data[6] = (char)(0x00);
         data[7] = (char)(0x00);
         if(can1.write(CANMessage(2021,data,3))) {
-            printf("LSS Config mode sent \n");
+            printf("LSS Set Baudrate sent \n");
         }
         led1 = !led1;
         counter ++;
     }
-    /*else if(counter==5) (
-        //--------LSS Set Bit timing
-        data[0] = (char)(0x15); // LSS Set Bit timing
-        data[1] = (char)(0x00); // Mode Configure
-        data[2] = (char)(0x00);
+    else if(counter==4) {
+        //--------LSS Save Config
+        data[0] = (char)(0x17); // LSS Save Config
+        data[1] = (char)(0x00); 
+        data[2] = (char)(0x00); 
         data[3] = (char)(0x00);
         data[4] = (char)(0x00);
         data[5] = (char)(0x00);
         data[6] = (char)(0x00);
         data[7] = (char)(0x00);
-        if(can1.write(CANMessage(2021,data,2))) {
-            printf("LSS Config mode sent \n");
+        if(can1.write(CANMessage(2021,data,3))) {
+            printf("LSS Save Config sent \n");
         }
         led1 = !led1;
         counter ++;
-    }*/
-    else if(counter==5) {
+    }
+    else if(counter==6) {
         //--------LSS Operation Mode
         data[0] = (char)(0x04); // LSS Set Mode
         data[1] = (char)(0x00); // Mode operation
@@ -124,10 +115,104 @@
         }
         led1 = !led1;
         counter ++;
+    }*/
+//-----------------------END OF CONFIGURATION---------------------
+
+
+//-----------------------Running your motor-----------------------
+// Look up how to make your motor run.
+// This example works on a FAULHABER 3242 G024 BX4 CC
+// Don't forget to include an "else {}". Scroll down a bit.
+
+    if(counter==0) {
+        //--------Start node 3--------
+        data[0] = (char)(0x01); // Start Node
+        data[1] = (char)(0x03); // ID 03
+        data[2] = (char)(0x00);
+        data[3] = (char)(0x00);
+        data[4] = (char)(0x00);
+        data[5] = (char)(0x00);
+        data[6] = (char)(0x00);
+        data[7] = (char)(0x00);
+        if(can1.write(CANMessage(0000,data,2))) {
+            printf("Start Node_ID 03 sent \n");
+        }
+        led1 = !led1;
+        counter ++;
     }
+    else if(counter==1) {
+        //--------FAULHABER Mode
+        data[0] = (char)(0xFD); // FAULHABER MODE
+        data[1] = (char)(0xFF); 
+        data[2] = (char)(0xFF);
+        data[3] = (char)(0xFF);
+        data[4] = (char)(0xFF);
+        data[5] = (char)(0x00);
+        data[6] = (char)(0x00);
+        data[7] = (char)(0x00);
+        if(can1.write(CANMessage(771,data,5))) {
+            printf("Operation mode: FAULHABER sent \n");
+        }
+        led1 = !led1;
+        counter ++;
+    }
+    else if(counter==2) {
+        //--------Switch ON using FAULHABER
+        data[0] = (char)(0x0F); // FAULHABER MODE
+        data[1] = (char)(0x00); 
+        data[2] = (char)(0x00);
+        data[3] = (char)(0x00);
+        data[4] = (char)(0x00);
+        data[5] = (char)(0x00);
+        data[6] = (char)(0x00);
+        data[7] = (char)(0x00);
+        if(can1.write(CANMessage(771,data,5))) {
+            printf("Switch ON sent \n");
+        }
+        led1 = !led1;
+        counter ++;
+    }
+    else if(counter==3) {
+        //--------Speed setting
+        data[0] = (char)(0x93); // FAULHABER MODE
+        data[1] = (char)(0xF4); 
+        data[2] = (char)(0x01);
+        data[3] = (char)(0x00);
+        data[4] = (char)(0x00);
+        data[5] = (char)(0x00);
+        data[6] = (char)(0x00);
+        data[7] = (char)(0x00);
+        if(can1.write(CANMessage(771,data,5))) {
+            printf("Speed = 500RPM sent \n");
+        }
+        led1 = !led1;
+        counter ++;
+    }
+    else if(counter==4) {
+        //--------Datarequest setting
+        data[0] = (char)(0x40); // FAULHABER MODE
+        data[1] = (char)(0x00); 
+        data[2] = (char)(0x00);
+        data[3] = (char)(0x00);
+        data[4] = (char)(0x00);
+        data[5] = (char)(0x00);
+        data[6] = (char)(0x00);
+        data[7] = (char)(0x00);
+        if(can1.write(CANMessage(771,data,5))) {
+            printf("Requesttype: position sent \n");
+        }
+        led1 = !led1;
+        counter ++;
+    }
+//--------------------End run motor--------------------------------
+
+
+//---------------------Request Position----------------------------
+// Run this one to request the position of my motor.
+// Check the datasheet of your motor to confirm if this works.
     else {
-        //--------Inquire IDNode_ID
-        data[0] = (char)(0x5E);
+        //--------Positie opvragen
+        data[0] = (char)(0x00);
         data[1] = (char)(0x00);
         data[2] = (char)(0x00);
         data[3] = (char)(0x00);
@@ -135,18 +220,87 @@
         data[5] = (char)(0x00);
         data[6] = (char)(0x00);
         data[7] = (char)(0x00);
-        if(can1.write(CANMessage(2021,data,1))) {
+        if(can1.write(CANMessage(643))) {
+            printf("Positie check sent \n");
+        }
+        led1 = !led1;
+        counter = 10;
+    }
+//--------------------End request position-------------------
+
+    
+//---------------------Request Status--------------------------
+// Run this one to request the status of my motor.
+// Check the datasheet of your motor to confirm if this works.
+   /* else {
+        //--------Status check
+        data[0] = (char)(0x00);
+        data[1] = (char)(0x00);
+        data[2] = (char)(0x00);
+        data[3] = (char)(0x00);
+        data[4] = (char)(0x00);
+        data[5] = (char)(0x00);
+        data[6] = (char)(0x00);
+        data[7] = (char)(0x00);
+        if(can1.write(CANMessage(387))) {
             printf("Status check sent \n");
         }
         led1 = !led1;
         counter = 10;
-    }    
+    }*/
+//------------------End request status------------------
+  
+    
+//---------Example------------------
+
+    /*if(counter==0) {
+        //--------8 bytes of data
+        data[0] = (char)(0xFF);
+        data[1] = (char)(0xFF);
+        data[2] = (char)(0xFF);
+        data[3] = (char)(0xFF);
+        data[4] = (char)(0xFF);
+        data[5] = (char)(0x00);
+        data[6] = (char)(0x00);
+        data[7] = (char)(0x00);
+        if(can1.write(CANMessage(2021,data,8))) {
+            printf("8bytes test sent \n");
+        }
+        led1 = !led1;
+        counter ++;
+    }
+    else {
+        //--------2 bytes of data
+        data[0] = (char)(0x00);
+        data[1] = (char)(0xAA);
+        data[2] = (char)(0x00);
+        data[3] = (char)(0x00);
+        data[4] = (char)(0x00);
+        data[5] = (char)(0x00);
+        data[6] = (char)(0x00);
+        data[7] = (char)(0x00);
+        if(can1.write(CANMessage(2021,data,2))) {
+            printf("2bytes test sent \n");
+        }
+        led1 = !led1;
+        counter = 10;
+    }*/  
+//-------End of example--------------  
 }
+//*************************************************************
 
+
+//**********The main program*********************
 int main() {
+//----------------Initialization-----------------------
     can2.frequency(500000); //500kbit/s
     can1.frequency(500000);
+    //can2.monitor(1); //Works without this, in my case.
     ticker.attach(&send, 1); //Send every second
+    CANMessage msg;
+//-----------------------------------------------------
+
+//---------------The read out----------------------
     while(1) {
         if(can2.read(msg)) {
             printf("Message read with ID: %d\n", msg.id);
@@ -161,7 +315,9 @@
             printf("Length: %d", msg.len);
             printf(", Type: %d", msg.type);
             printf(", Format: %d\n\n", msg.format);
-            led2 = !led2;
+            led2 = !led2;  //Blink!
         }
     }
-}
\ No newline at end of file
+//----------------------------------------------------
+}
+//*********************************************************
\ No newline at end of file