Diff: main.cpp

Revision:

2:bb0f12b33fa1

Parent:

1:3759c5f6cf76

--- a/main.cpp	Mon Feb 14 13:26:46 2011 +0000
+++ b/main.cpp	Tue Jun 05 19:56:05 2018 +0000
@@ -1,28 +1,25 @@
-
-
+#include "stm32f103c8t6.h"
 #include "mbed.h"
 #include "CAN.h"
 
+#define board_transmitter
+Serial pc(USBTX,USBRX,115200);
 Ticker ticker;
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
-CAN can1(p9, p10);  // rd, td Transmitter
-CAN can2(p30, p29); // rd, td Monitor
+#ifdef board_transmitter
+CAN transmitter_can(PB_8, PB_9);  // rd, td Transmitter
+#else
+CAN receiver_can(PB_8, PB_9);  // rd, td Transmitter
+#endif
 
 int counter = 0;
 char data[8];
 
 //***************void send is the data you are sending**************
+#ifdef board_transmitter
 void send() {
-
-//-------------------------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[0] = (char)(0xbf); // NMT Start RemoteNode
         data[1] = (char)(0x00); // Global
         data[2] = (char)(0x00);
         data[3] = (char)(0x00);
@@ -30,293 +27,47 @@
         data[5] = (char)(0x00);
         data[6] = (char)(0x00);
         data[7] = (char)(0x00);
-        if(can1.write(CANMessage(0000,data,2))) {
-            printf("Startup sent \n");
-        }
-        led1 = !led1;
-        counter ++;
-    }
-    else if(counter==1) {
-        //--------LSS Configure Mode
-        data[0] = (char)(0x04); // LSS Set Mode
-        data[1] = (char)(0x01); // Mode configure
-        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 Configure mode sent \n");
-        }
-        led1 = !led1;
-        counter ++;
-    }
-    else if(counter==2) {
-        //--------LSS Set Node_ID
-        data[0] = (char)(0x11); // LSS Set Node_ID
-        data[1] = (char)(0x03); // to Node_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(2021,data,2))) {
-            printf("LSS Set Node_ID to 0x03 sent \n");
-        }
-        led1 = !led1;
-        counter ++;
-    }
-    else if(counter==3) {
-        //--------LSS Set Baudrate
-        data[0] = (char)(0x13); // LSS Set Baudrate
-        data[1] = (char)(0x00); // 
-        data[2] = (char)(0x02); // Baudrate index (500kb/s)
-        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,3))) {
-            printf("LSS Set Baudrate sent \n");
-        }
-        led1 = !led1;
-        counter ++;
-    }
-    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,3))) {
-            printf("LSS Save Config sent \n");
-        }
-        led1 = !led1;
-        counter ++;
-    }
-    else if(counter==6) {
-        //--------LSS Operation Mode
-        data[0] = (char)(0x04); // LSS Set Mode
-        data[1] = (char)(0x00); // Mode operation
-        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 Operation mode sent \n");
-        }
-        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");
+        if(transmitter_can.write(CANMessage(0000,data,2))) {
+           pc.printf("Startup 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 {
-        //--------Positie opvragen
-        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(643))) {
-            printf("Positie check sent \n");
-        }
-        led1 = !led1;
-        counter = 10;
-    }
-//--------------------End request position-------------------
+}
+#endif
 
-    
-//---------------------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.
+#ifdef board_transmitter
+    transmitter_can.frequency(500000);
+#else
+    receiver_can.frequency(500000); //500kbit/s
+#endif
+    //receiver_can.monitor(1); //Works without this, in my case.
+#ifdef board_transmitter
     ticker.attach(&send, 1); //Send every second
+#endif
     CANMessage msg;
 //-----------------------------------------------------
 
 //---------------The read out----------------------
     while(1) {
-        if(can2.read(msg)) {
-            printf("Message read with ID: %d\n", msg.id);
-            printf("Data: %x", msg.data[0]);
-            printf(" %x", msg.data[1]);
-            printf(" %x", msg.data[2]);
-            printf(" %x", msg.data[3]);
-            printf(" %x", msg.data[4]);
-            printf(" %x", msg.data[5]);
-            printf(" %x", msg.data[6]);
-            printf(" %x\n", msg.data[7]);
-            printf("Length: %d", msg.len);
-            printf(", Type: %d", msg.type);
-            printf(", Format: %d\n\n", msg.format);
+        
+#ifndef board_transmitter
+        if(receiver_can.read(msg)) {
+           pc.printf("Message read with ID: %d\n", msg.id);
+           pc.printf("Data: %x", msg.data[0]);
+           pc.printf(" %x", msg.data[1]);
+           pc.printf(" %x", msg.data[2]);
+           pc.printf(" %x", msg.data[3]);
+           pc.printf(" %x", msg.data[4]);
+           pc.printf(" %x", msg.data[5]);
+           pc.printf(" %x", msg.data[6]);
+           pc.printf(" %x\n", msg.data[7]);
+           pc.printf("Length: %d", msg.len);
+           pc.printf(", Type: %d", msg.type);
+           pc.printf(", Format: %d\n\n", msg.format);
             led2 = !led2;  //Blink!
         }
+#endif
     }
 //----------------------------------------------------
 }