Diff: main.cpp

Revision:

1:f51eea878288

Parent:

0:0da0fd430e20

Child:

2:861d341b0259

--- a/main.cpp	Thu Dec 06 14:43:47 2018 +0000
+++ b/main.cpp	Thu Jun 20 07:14:16 2019 +0000
@@ -1,42 +1,68 @@
- #include "mbed.h" //5.4.7 (144)
+ #include "mbed.h"
+ #define FREQUENCY 500000
 
-const PinName can1rxPins[] = {PA_11};
-const PinName can1txPins[] = {PA_12};
-const PinName can2rxPins[] = {PB_12};
-const PinName can2txPins[] = {PB_13};
+
+CAN can(PB_5, PB_6);
 
-//CAN1
-//0,0=OK 0,1=OK 0,2=OK 1,0=OK 1,1=OK 1,2=OK 2,0=OK 2,1=OK 2,2=OK
-//CAN2
-//0,0=RX_OK 0,1=OK 1,0=RX_OK 1,1=OK
 
-CAN can1(can1rxPins[0], can1txPins[0]);
-CAN can(can2rxPins[0], can2txPins[0]);
+DigitalOut led1(PA_8);
+DigitalOut led2(PA_9);
 
-  //UART1, Tx, Rx (Debug)
-DigitalOut led1(LED1);
-
+AnalogIn   ain(A0);
 
 Thread sendThread(osPriorityAboveNormal, 2048);
 Thread canrx;
+
 CANMessage messageIn;
 CANMessage messageOut;
 
+int speed = 0;
+int pose = 0;
+
 void canRxIsr()
 {
     while(1)
     {
-    if(can1.read(messageIn))
+    if(can.read(messageIn))
      {
       led1 = !led1;
-       printf("received\n\r");
+      pose = messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24);
+      printf("CAN: mess %d\n\r", pose);
+      printf("CAN: id %x \n\r ",messageIn.id);
      }
+     osDelay(10);
     }
-   }
+}
+   
 void sendMessage()
 {
+   messageOut.data[0] = speed >> 24;
+   messageOut.data[1] = speed >> 16;
+   messageOut.data[2] = speed >> 8;
+   messageOut.data[3] = speed;
+   
+   messageOut.id = 769;
     int status = can.write(messageOut);
+    
+    osDelay(1);
+    
+    messageOut.id = 770;
+    status = can.write(messageOut);
+    
+    osDelay(1);
+    
+    messageOut.id = 771;
+    status = can.write(messageOut);
+    
+    osDelay(1);
+    
+    messageOut.id = 772;
+    status = can.write(messageOut);
+    
+    
    printf("Send status: %d\r\n", status);
+   if (status==1) led2 = !led2;
+   osDelay(20);
 }
 
 void sendMessageLoop()
@@ -50,23 +76,21 @@
 
 int main()
 {
-    
-    printf("CAN receive / transmit test.\r\n");
-    //can.frequency(125000);
+    int frequency = FREQUENCY;
+    printf("CAN receive / transmit test. baudrate = %d \r\n", frequency);
+    can.frequency(500000);
+    messageOut.id = 769;
+    messageOut.format = CANExtended;
+   // messageOut.len = 0;
 
-    messageOut.id = 1337;
-    //messageOut.format = CANExtended;
-    //messageOut.len = 0;
-
-    canrx.start(canRxIsr);
-      printf("CAN receive / .\r\n");
-    sendThread.start(&sendMessageLoop);
-      printf("CAN \r\n");
+    //canrx.start(canRxIsr);
+    sendThread.start(sendMessageLoop);
+      printf("CAN INIT \r\n");
 
     while (true)
     {
-        
-        led1 = 0;
-        osDelay(1000);
+        speed = (int)((ain * 50000.0f) - 25000.0f);
+        //led1 = 0;
+        osDelay(10);
     }
 }         
\ No newline at end of file