main.cpp

00001 // TBRe-AI FRONT MBED
00002 // MONITORS STEERING ANGLE AND WHEEL SPEED
00003 // AND SENDS THEM OVER CAN BUS
00004 // WRITTEN BY SEB HALL ON 29/06/2022
00005 
00006 #include "mbed.h"
00007 
00008 const PinName writePin = p29;
00009 const PinName readPin = p30;
00010 const int busFrequency = 500000;
00011 const unsigned int steeringMessageID = 100;
00012 
00013 DigitalOut led1(LED1);
00014 DigitalOut led2(LED2);
00015 Serial pc(USBTX, USBRX);
00016 AnalogIn steeringIn(p15);
00017 
00018 union {
00019     double formattedData;
00020     unsigned char rawData[8]; 
00021 } CANFormatted;
00022 
00023 CAN CANBus(readPin, writePin, busFrequency);
00024 
00025 void sendCANMessage(double data, unsigned int id) {
00026     
00027     CANMessage message;
00028     
00029     CANFormatted.formattedData = data;
00030     
00031     for (int i = 0; i < 8; i++) {
00032         message.data[i] = CANFormatted.rawData[i];
00033     }
00034     
00035     message.id = id;
00036     
00037     CANBus.write(message);
00038     
00039 }
00040 
00041 int main() {
00042     pc.printf("FRONT STARTED\n");
00043     led1 = !led1;
00044     while(1) {
00045         float num = (float) steeringIn.read();
00046         sendCANMessage(num, steeringMessageID);
00047         led1 = !led1;
00048         led2 = !led2;
00049     }
00050 }