Team DIANA / Mbed OS Arm_linear_can

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

main.cpp@1:10f557e7216d, 2019-02-08 (annotated)

Committer:
stebonicelli
Date:
Fri Feb 08 15:24:48 2019 +0000
Revision:
1:10f557e7216d
Parent:
0:0da0fd430e20
Child:
2:96ee24b5f266
First

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stebonicelli 1:10f557e7216d 1 #include "mbed.h"
stebonicelli 1:10f557e7216d 2
stebonicelli 1:10f557e7216d 3 #define MOTOR_ENABLE_PIN PA_8
stebonicelli 1:10f557e7216d 4 #define MOTOR_DIR_PIN PA_9
stebonicelli 1:10f557e7216d 5
stebonicelli 1:10f557e7216d 6 // Utility
stebonicelli 1:10f557e7216d 7 InterruptIn button(USER_BUTTON, PullUp);
stebonicelli 1:10f557e7216d 8 DigitalOut led(LED1);
stebonicelli 1:10f557e7216d 9
stebonicelli 1:10f557e7216d 10 // Motor Control
stebonicelli 1:10f557e7216d 11 DigitalOut motor_enable(MOTOR_ENABLE_PIN);
stebonicelli 1:10f557e7216d 12 DigitalOut motor_dir(MOTOR_DIR_PIN);
stebonicelli 1:10f557e7216d 13
stebonicelli 1:10f557e7216d 14 InterruptIn end0(PC_12, PullUp);
stebonicelli 1:10f557e7216d 15 InterruptIn end1(PC_11, PullUp);
stebonicelli 1:10f557e7216d 16 InterruptIn enc(PC_10, PullUp);
gidiana 0:0da0fd430e20 17
stebonicelli 1:10f557e7216d 18 int current_pose = 0;
stebonicelli 1:10f557e7216d 19 int pose = 0;
stebonicelli 1:10f557e7216d 20
stebonicelli 1:10f557e7216d 21 void motor_go_fwd()
stebonicelli 1:10f557e7216d 22 {
stebonicelli 1:10f557e7216d 23 motor_enable = 1;
stebonicelli 1:10f557e7216d 24 motor_dir = 1;
stebonicelli 1:10f557e7216d 25 }
stebonicelli 1:10f557e7216d 26
stebonicelli 1:10f557e7216d 27 void motor_go_bwd()
stebonicelli 1:10f557e7216d 28 {
stebonicelli 1:10f557e7216d 29 motor_enable = 1;
stebonicelli 1:10f557e7216d 30 motor_dir = 0;
stebonicelli 1:10f557e7216d 31 }
stebonicelli 1:10f557e7216d 32
stebonicelli 1:10f557e7216d 33 void motor_stop()
stebonicelli 1:10f557e7216d 34 {
stebonicelli 1:10f557e7216d 35 motor_enable = 0;
stebonicelli 1:10f557e7216d 36 motor_dir = 0;
stebonicelli 1:10f557e7216d 37 }
gidiana 0:0da0fd430e20 38
stebonicelli 1:10f557e7216d 39 void motor_set_home()
stebonicelli 1:10f557e7216d 40 {
stebonicelli 1:10f557e7216d 41 printf("END1: Released\n\r");
stebonicelli 1:10f557e7216d 42 motor_stop();
stebonicelli 1:10f557e7216d 43
stebonicelli 1:10f557e7216d 44 current_pose = 0;
stebonicelli 1:10f557e7216d 45 pose = 0;
stebonicelli 1:10f557e7216d 46 }
stebonicelli 1:10f557e7216d 47
stebonicelli 1:10f557e7216d 48 void button_int_handler()
stebonicelli 1:10f557e7216d 49 {
stebonicelli 1:10f557e7216d 50 printf("BUTTON: Pressed\n\r");
stebonicelli 1:10f557e7216d 51 motor_go_fwd();
stebonicelli 1:10f557e7216d 52 }
gidiana 0:0da0fd430e20 53
stebonicelli 1:10f557e7216d 54 void end0_int_handler()
stebonicelli 1:10f557e7216d 55 {
stebonicelli 1:10f557e7216d 56 motor_stop();
stebonicelli 1:10f557e7216d 57 printf("END0: Pressed\n\r");
stebonicelli 1:10f557e7216d 58 motor_go_fwd();
stebonicelli 1:10f557e7216d 59 }
stebonicelli 1:10f557e7216d 60
stebonicelli 1:10f557e7216d 61 void end0_released()
stebonicelli 1:10f557e7216d 62 {
stebonicelli 1:10f557e7216d 63 motor_stop();
stebonicelli 1:10f557e7216d 64 printf("END0: Released\n\r");
stebonicelli 1:10f557e7216d 65 }
gidiana 0:0da0fd430e20 66
stebonicelli 1:10f557e7216d 67 void end1_int_handler()
stebonicelli 1:10f557e7216d 68 {
stebonicelli 1:10f557e7216d 69 motor_stop();
stebonicelli 1:10f557e7216d 70 printf("END1: Pressed\n\r");
stebonicelli 1:10f557e7216d 71 motor_go_bwd();
stebonicelli 1:10f557e7216d 72 }
gidiana 0:0da0fd430e20 73
stebonicelli 1:10f557e7216d 74 // CAN
stebonicelli 1:10f557e7216d 75 Thread canrxa;
gidiana 0:0da0fd430e20 76
stebonicelli 1:10f557e7216d 77 CAN can1(PA_11, PA_12); // RX, TX
stebonicelli 1:10f557e7216d 78
gidiana 0:0da0fd430e20 79 CANMessage messageIn;
gidiana 0:0da0fd430e20 80 CANMessage messageOut;
gidiana 0:0da0fd430e20 81
stebonicelli 1:10f557e7216d 82 int filter = can1.filter(0x030, 0x4FF, CANStandard);
stebonicelli 1:10f557e7216d 83
stebonicelli 1:10f557e7216d 84 void canrx()
gidiana 0:0da0fd430e20 85 {
stebonicelli 1:10f557e7216d 86 while(1)
stebonicelli 1:10f557e7216d 87 {
stebonicelli 1:10f557e7216d 88 if(can1.read(messageIn, filter))
gidiana 0:0da0fd430e20 89 {
stebonicelli 1:10f557e7216d 90 printf("CAN: mess %d\n\r", (messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24)));
stebonicelli 1:10f557e7216d 91 printf("CANaacc: id %x \n\r ",messageIn.id);
gidiana 0:0da0fd430e20 92 }
stebonicelli 1:10f557e7216d 93
stebonicelli 1:10f557e7216d 94 wait(100);
stebonicelli 1:10f557e7216d 95 }
gidiana 0:0da0fd430e20 96 }
gidiana 0:0da0fd430e20 97
stebonicelli 1:10f557e7216d 98
stebonicelli 1:10f557e7216d 99
stebonicelli 1:10f557e7216d 100 /* Main ----------------------------------------------------------------------*/
gidiana 0:0da0fd430e20 101
gidiana 0:0da0fd430e20 102 int main()
gidiana 0:0da0fd430e20 103 {
stebonicelli 1:10f557e7216d 104 // Motor Initialization
stebonicelli 1:10f557e7216d 105 motor_stop();
stebonicelli 1:10f557e7216d 106
stebonicelli 1:10f557e7216d 107 end0.rise(&end0_int_handler);
stebonicelli 1:10f557e7216d 108 end0.fall(&end0_released);
stebonicelli 1:10f557e7216d 109 end1.rise(&end1_int_handler);
stebonicelli 1:10f557e7216d 110 end1.fall(&motor_set_home);
stebonicelli 1:10f557e7216d 111
stebonicelli 1:10f557e7216d 112 button.rise(&button_int_handler);
stebonicelli 1:10f557e7216d 113
stebonicelli 1:10f557e7216d 114 printf("DONE: Motor Init\n\r");
stebonicelli 1:10f557e7216d 115
stebonicelli 1:10f557e7216d 116 // CAN Initialization
stebonicelli 1:10f557e7216d 117 canrxa.start(canrx);
gidiana 0:0da0fd430e20 118
stebonicelli 1:10f557e7216d 119 printf("DONE: CAN Init\n\r");
stebonicelli 1:10f557e7216d 120
stebonicelli 1:10f557e7216d 121
stebonicelli 1:10f557e7216d 122 printf("Running!\n\r");
stebonicelli 1:10f557e7216d 123
stebonicelli 1:10f557e7216d 124 motor_enable = 1;
stebonicelli 1:10f557e7216d 125 motor_dir = 0;
stebonicelli 1:10f557e7216d 126
stebonicelli 1:10f557e7216d 127 while(true)
stebonicelli 1:10f557e7216d 128 {
stebonicelli 1:10f557e7216d 129 wait(1000);
stebonicelli 1:10f557e7216d 130 }
stebonicelli 1:10f557e7216d 131 }
gidiana 0:0da0fd430e20 132
stebonicelli 1:10f557e7216d 133