Gerard COURIVAUD
Test CAN bus on Stm32F746nG
Dependencies: F746_GUI mbed CANMsg
Diff: main.cpp
- Revision:
- 0:77e62347e7c9
- Child:
- 1:68083f9dd39d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Aug 06 14:21:20 2020 +0000
@@ -0,0 +1,539 @@
+/*
+programme test sur carte stm32F746ng-discovery
+
+update 30/07/2019 : display datas on lcd ok
+update 29/07/2020 : send can ok ( after received), receive can ok
+update 29/07/2020 : remove touch screen
+update 28/07/2020 : add serial and CAN
+update 21/07/2020 : test buttons
+update 20/07/2020 : display buttons
+update 17/07/2020 GC : change colors
+*/
+
+#include "mbed.h"
+#include "stm32746g_discovery_lcd.h"
+#include "stm32746g_discovery_ts.h"
+#include <string>
+#include "CANMsg.h"
+#include <stdio.h>
+#include <errno.h>
+
+// serial port sur connecteur arduino (D0,D1)--------------------
+Serial serial2(PC_6, PC_7); // TX, RX for udp bridge
+Serial pc(USBTX, USBRX); // serial on usb connector
+// CAN ------------------------------------------------------------
+CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
+CANMsg rxMsg;
+CANMsg txMsg;
+
+uint8_t counter = 0;
+float voltage;
+Timer timer;
+volatile bool msgAvailable = false;
+AnalogIn analogIn(A0);
+CircularBuffer<char, 1024> rxbuf; // PC receiving Buffer
+uint8_t text2[30];
+ char s2;
+ char buffer[128];
+#define LED_PIN PC_13
+DigitalOut led(LED_PIN);
+
+//#define TARGET_STM32F103C8T6 1 // uncomment this line to use STM32F103C8T6 boards
+#define BOARD1 1 // comment out this line when compiling for board #2
+#if defined(BOARD1)
+ const unsigned int RX_ID = 0x100;
+ const unsigned int TX_ID = 0x101;
+#else
+ const unsigned int RX_ID = 0x101;
+ const unsigned int TX_ID = 0x100;
+#endif
+
+/**
+ * @brief Prints CAN message to PC's serial terminal
+ * @param CANMessage to print
+ */
+void printMsg(CANMessage& msg, int dir)
+{ if (dir ==0)
+ { BSP_LCD_DisplayStringAt(0, LINE(6), (uint8_t *)"Message sent ", LEFT_MODE);
+ }
+ else
+ { BSP_LCD_DisplayStringAt(0, LINE(6), (uint8_t *)"Message received", LEFT_MODE);
+ }
+ pc.printf(" ID = 0x%.3x\r\n", msg.id);
+ pc.printf(" Type = %d\r\n", msg.type);
+ pc.printf(" Format = %d\r\n", msg.format);
+ pc.printf(" Length = %d\r\n", msg.len);
+ pc.printf(" Data =");
+ for(int i = 0; i < msg.len; i++)
+ pc.printf(" 0x%.2X", msg.data[i]);
+ pc.printf("\r\n");
+
+ sprintf((char*)text2, "ID: %d", msg.id);
+ BSP_LCD_DisplayStringAt(2, LINE(7), (uint8_t *)&text2, LEFT_MODE);
+ sprintf((char*)text2, "Type: %d", msg.type);
+ BSP_LCD_DisplayStringAt(2, LINE(8), (uint8_t *)&text2, LEFT_MODE);
+ sprintf((char*)text2, "Format: %d", msg.format);
+ BSP_LCD_DisplayStringAt(2, LINE(9), (uint8_t *)&text2, LEFT_MODE);
+ sprintf((char*)text2, "Length: %d", msg.len);
+ BSP_LCD_DisplayStringAt(2, LINE(10), (uint8_t *)&text2, LEFT_MODE);
+ sprintf((char*)text2, "Data: %d", msg.data[0]);
+ BSP_LCD_DisplayStringAt(2, LINE(11), (uint8_t *)&text2, LEFT_MODE);
+}
+
+/**
+ * @brief Handles received CAN messages
+ * @note Called on 'CAN message received' interrupt.
+ */
+void onCanReceived(void)
+{ can.read(rxMsg);
+ pc.printf("-------------------------------------\r\n");
+ pc.printf("CAN message received\r\n");
+ serial2.printf("CAN message received\r\n");
+ BSP_LCD_DisplayStringAt(0, LINE(5), (uint8_t *)"Can msg rec", CENTER_MODE);
+ //BSP_LCD_DisplayStringAt(0, LINE(3), (uint8_t *)"-----------", CENTER_MODE);
+ printMsg(rxMsg,1);
+ //serial2.printf("%d\n",rxMsg);
+ //serial2.printf("ID: ");
+ serial2.printf("ID: 0x%.3x ", rxMsg.id);
+ serial2.printf("D: ");
+ for(int i = 0; i < rxMsg.len; i++)
+ serial2.printf(" 0x%.2X", rxMsg.data[i]);
+ serial2.printf("\r\n");
+ if (rxMsg.id == RX_ID) {
+ // extract data from the received CAN message
+ // in the same order as it was added on the transmitter side
+ rxMsg >> counter;
+ rxMsg >> voltage;
+ pc.printf(" counter = %d\r\n", counter);
+ pc.printf(" voltage = %e V\r\n", voltage);
+ }
+ timer.start(); // to transmit next message in main
+}
+
+ // ------------------------------------------------------------------------------------------------------
+int main()
+{ TS_StateTypeDef TS_State;
+ uint16_t x, y;
+ uint8_t text[30];
+ uint8_t status;
+ uint8_t idx;
+ uint8_t cleared = 0;
+ uint8_t menu_level = 0;
+ uint8_t prev_nb_touches = 0;
+ uint8_t touche_appuyee = 99;
+ string touche_appuyee_s = "%";
+ string text_display1 ("Memorisation Touches ");
+ char buffer_touche[50];
+ // set serial speed
+ pc.baud(57600);
+ serial2.baud(57600);
+ // config can --------------------------------------
+ //jpa can = new CAN(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
+ can.frequency(125000); // set CAN bit rate to 125 kbps
+ //can.filter(RX_ID, 0xFFF, CANStandard, 0); // set filter #0 to accept only standard messages with ID == RX_ID
+ can.attach(onCanReceived); // attach ISR to handle received messages
+ //can->attach(&onMsgReceived); //msgAvailable = true; // attach the 'CAN receive-complete' interrupt service routine (ISR)
+#if defined(BOARD1)
+ timer.start(); // start timer
+ pc.printf("CAN_Hello board #1\r\n");
+#else
+ pc.printf("CAN_Hello board #2\r\n");
+#endif
+ pc.printf("\nStart Prog\n");
+ serial2.printf("\nStart Prog\n");
+ BSP_LCD_Init();
+ BSP_LCD_LayerDefaultInit(LTDC_ACTIVE_LAYER, LCD_FB_START_ADDRESS);
+ BSP_LCD_SelectLayer(LTDC_ACTIVE_LAYER);
+ //BSP_LCD_DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN DEMO", CENTER_MODE);
+ //HAL_Delay(1000);
+ status = BSP_TS_Init(BSP_LCD_GetXSize(), BSP_LCD_GetYSize());
+ if (status != TS_OK) {
+ BSP_LCD_Clear(LCD_COLOR_RED);
+ BSP_LCD_SetBackColor(LCD_COLOR_RED);
+ BSP_LCD_SetTextColor(LCD_COLOR_WHITE);
+ BSP_LCD_DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN INIT FAIL", CENTER_MODE);
+ } else {
+ BSP_LCD_Clear(LCD_COLOR_BLUE);
+ BSP_LCD_SetBackColor(LCD_COLOR_BLUE);
+ BSP_LCD_SetTextColor(LCD_COLOR_WHITE);
+ BSP_LCD_DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN INIT OK", CENTER_MODE);
+ }
+ pc.printf("\nInit Display\n");
+ HAL_Delay(1000);
+ BSP_LCD_Clear(LCD_COLOR_BLUE);
+ BSP_LCD_SetBackColor(LCD_COLOR_BLUE);
+ BSP_LCD_SetTextColor(LCD_COLOR_WHITE);
+ BSP_LCD_DisplayStringAt(0, LINE(2), (uint8_t *)"STM32F746 Disco Appli", CENTER_MODE);
+ BSP_LCD_SetTextColor(LCD_COLOR_RED);
+ BSP_LCD_DrawRect(10, 100, 200, 50);
+ BSP_LCD_DrawRect(10, 180, 200, 50);
+ BSP_LCD_SetTextColor(LCD_COLOR_YELLOW);
+ BSP_LCD_DisplayStringAt(25, LINE(5), (uint8_t *)"Setup", LEFT_MODE);
+ BSP_LCD_DisplayStringAt(25, 200, (uint8_t *)"Run", LEFT_MODE);
+ BSP_LCD_SetFont(&Font12);
+
+ BSP_LCD_Clear(LCD_COLOR_BLUE);
+ BSP_LCD_SetBackColor(LCD_COLOR_BLUE);
+ BSP_LCD_SetTextColor(LCD_COLOR_WHITE);
+ BSP_LCD_SetFont(&Font16);
+ BSP_LCD_DisplayStringAt(0, LINE(2), (uint8_t *)"Mode Run", CENTER_MODE);
+
+
+ //HAL_Delay(1000);
+ BSP_LCD_SetFont(&Font12);
+ BSP_LCD_SetBackColor(LCD_COLOR_BLUE);
+ BSP_LCD_SetTextColor(LCD_COLOR_WHITE);
+
+ while(1) //menu_level == 1)
+ { // timer send can
+ if(timer.read_ms() >= 1000) // check for timeout
+ { timer.stop(); // stop the timer
+ timer.reset(); // reset the timer
+ counter++; // increment the counter
+ voltage = (analogIn * 3.3f)/4096.0f;// read the small drifting voltage from analog input
+ txMsg.clear(); // clear the Tx message storage
+ //txMsg.id = TX_ID; // set ID
+ txMsg.id = 0x18881001;//TX_ID; // set the message ID
+ txMsg.format = CANExtended ; //extended
+ // We are about to transmit two data items to the CAN bus.
+ // counter: uint_8 (unsigned eight bits int) value (one byte).
+ // voltage: floating point value (four bytes).
+ // So the total length of payload data is five bytes.
+ // We'll use the "<<" (append) operator to add data to the CAN message.
+ // The usage is same as of the similar C++ io-stream operators.
+ // NOTE: The data length of CAN message is automatically updated when using "<<" operators.
+ txMsg << counter << voltage; // append data (total data length must be <= 8 bytes!)
+
+ if(can.write(txMsg)) // transmit message
+ { //if(can->write(txMsg)) { // transmit the CAN message
+ //led = OFF; // turn the LED off
+ pc.printf("-------------------------------------\r\n");
+ pc.printf("CAN message sent\r\n");
+ printMsg(txMsg,0);
+ pc.printf(" counter = %d\r\n", counter);
+ pc.printf(" voltage = %e V\r\n", voltage);
+ BSP_LCD_DisplayStringAt(0, LINE(3), (uint8_t *)"TX CAN OK", CENTER_MODE);
+ BSP_LCD_DisplayStringAt(0, LINE(4), (uint8_t *)"--------", CENTER_MODE);
+ }
+ else
+ { pc.printf("Transmission error\r\n");
+ BSP_LCD_DisplayStringAt(0, LINE(4), (uint8_t *)"TX CAN Fail", CENTER_MODE);
+ BSP_LCD_DisplayStringAt(0, LINE(3), (uint8_t *)"-----------", CENTER_MODE);
+ }
+ //timer.start(); // insert transmission lag
+ } // end if timer
+ // read serial port
+ // get serial 2
+ //serial2.gets(buffer, 4);
+ //pc.printf("I got '%s'\n", buffer);
+ char c = pc.getc();
+
+ if((c == 's') )
+ { // send trame CAN
+ if(can.write(txMsg)) // transmit message
+ { //if(can->write(txMsg)) { // transmit the CAN message
+ //led = OFF; // turn the LED off
+ pc.printf("-------------------------------------\r\n");
+ pc.printf("CAN message sent\r\n");
+ printMsg(txMsg,0);
+ pc.printf(" counter = %d\r\n", counter);
+ pc.printf(" voltage = %e V\r\n", voltage);
+ BSP_LCD_DisplayStringAt(0, LINE(3), (uint8_t *)"TX CAN OK", CENTER_MODE);
+ BSP_LCD_DisplayStringAt(0, LINE(4), (uint8_t *)"--------", CENTER_MODE);
+ }
+ else
+ { pc.printf("Transmission error\r\n");
+ BSP_LCD_DisplayStringAt(0, LINE(4), (uint8_t *)"TX CAN Fail", CENTER_MODE);
+ BSP_LCD_DisplayStringAt(0, LINE(3), (uint8_t *)"-----------", CENTER_MODE);
+ }
+ }
+
+ char ser2 = serial2.getc();
+ if( (ser2 = 's') )
+ { // send trame CAN
+ if(can.write(txMsg)) // transmit message
+ { //if(can->write(txMsg)) { // transmit the CAN message
+ //led = OFF; // turn the LED off
+ pc.printf("-------------------------------------\r\n");
+ pc.printf("CAN message sent\r\n");
+ printMsg(txMsg,0);
+ pc.printf(" counter = %d\r\n", counter);
+ pc.printf(" voltage = %e V\r\n", voltage);
+ BSP_LCD_DisplayStringAt(0, LINE(3), (uint8_t *)"TX CAN OK", CENTER_MODE);
+ BSP_LCD_DisplayStringAt(0, LINE(4), (uint8_t *)"--------", CENTER_MODE);
+ }
+ else
+ { pc.printf("Transmission error\r\n");
+ BSP_LCD_DisplayStringAt(0, LINE(4), (uint8_t *)"TX CAN Fail", CENTER_MODE);
+ BSP_LCD_DisplayStringAt(0, LINE(3), (uint8_t *)"-----------", CENTER_MODE);
+ }
+ }
+
+ // gestion touches appuyees
+ BSP_TS_GetState(&TS_State);
+ if (TS_State.touchDetected) {
+ // Clear lines corresponding to old touches coordinates
+ if (TS_State.touchDetected < prev_nb_touches) {
+ for (idx = (TS_State.touchDetected + 1); idx <= 5; idx++) {
+ BSP_LCD_ClearStringLine(idx);
+ }
+ }
+ prev_nb_touches = TS_State.touchDetected;
+ cleared = 0;
+ sprintf((char*)text, "Touches: %d", TS_State.touchDetected);
+ BSP_LCD_DisplayStringAt(2, LINE(1), (uint8_t *)&text, LEFT_MODE);
+
+ for (idx = 0; idx < TS_State.touchDetected; idx++) {
+ x = TS_State.touchX[idx];
+ y = TS_State.touchY[idx];
+ sprintf((char*)text, "Touch %d: x=%d y=%d ", idx+1, x, y);
+ BSP_LCD_DisplayStringAt(2, LINE(idx+1), (uint8_t *)&text, LEFT_MODE);
+ }
+ BSP_LCD_DrawPixel(TS_State.touchX[0], TS_State.touchY[0], LCD_COLOR_ORANGE);
+
+ // rajouter test touche appuyée
+ if ((y>100)& (y<150))
+ { // touches 0 a 5 appuyées
+ if ((x>10)&(x<60))
+ { // touche 0 appuyée)
+ sprintf((char*)text, "Touche 0 appuyée");
+ BSP_LCD_DisplayStringAt(2, LINE(idx+1), (uint8_t *)&text, LEFT_MODE);
+ touche_appuyee = 0;touche_appuyee_s = "0";
+ }
+ if ((x>90)&(x<130))
+ { // touche 1 appuyée)
+ sprintf((char*)text, "Touche 1 appuyée");
+ BSP_LCD_DisplayStringAt(2, LINE(idx+1), (uint8_t *)&text, LEFT_MODE);
+ touche_appuyee = 1;touche_appuyee_s = "1";
+ }
+ if ((x>180)&(x<230))
+ { // touche 2 appuyée)
+ sprintf((char*)text, "Touche 2 appuyée");
+ BSP_LCD_DisplayStringAt(2, LINE(idx+1), (uint8_t *)&text, LEFT_MODE);
+ touche_appuyee = 2;touche_appuyee_s = "2";
+ }
+ if ((x>260)&(x<310))
+ { // touche 3 appuyée)
+ sprintf((char*)text, "Touche 3 appuyée");
+ BSP_LCD_DisplayStringAt(2, LINE(idx+1), (uint8_t *)&text, LEFT_MODE);
+ touche_appuyee = 3;touche_appuyee_s = "3";
+ }
+ if ((x>340)&(x<390))
+ { // touche 4 appuyée)
+ sprintf((char*)text, "Touche 4 appuyée");
+ BSP_LCD_DisplayStringAt(2, LINE(idx+1), (uint8_t *)&text, LEFT_MODE);
+ touche_appuyee = 4;touche_appuyee_s = "4";
+ }
+ if ((x>420)&(x<470))
+ { // touche 5 appuyée)
+ sprintf((char*)text, "Touche 5 appuyée");
+ BSP_LCD_DisplayStringAt(2, LINE(idx+1), (uint8_t *)&text, LEFT_MODE);
+ touche_appuyee = 5;touche_appuyee_s = "5";
+ }
+ text_display1 = text_display1 + touche_appuyee_s;
+ sprintf(buffer_touche, "text_display1 %d", touche_appuyee);
+ BSP_LCD_DisplayStringAt(2, 3, (uint8_t *)&buffer_touche, LEFT_MODE);
+ }
+
+ } else {
+ if (!cleared)
+ { //BSP_LCD_Clear(LCD_COLOR_BLUE);
+ // sprintf((char*)text, "Touches: 0");
+ // BSP_LCD_DisplayStringAt(2, LINE(2), (uint8_t *)&text, LEFT_MODE);
+ cleared = 1;
+ }
+ }
+ }
+}
+
+//int main() {
+// pc.printf("Hello World!\n\r");
+// while(1) {
+// pc.putc(pc.getc() + 1); // echo input back to terminal
+// }//
+//}
+/*
+int main() {
+ while(1) {
+ if(pc.readable()) {
+ device.putc(pc.getc());
+ }
+ if(device.readable()) {
+ pc.putc(device.getc());
+ }
+ }
+}
+*/
+/*
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+PwmOut led(LED1);
+
+float brightness = 0.0;
+
+int main() {
+ pc.printf("Press 'u' to turn LED1 brightness up, 'd' to turn it down\n");
+
+ while(1) {
+ char c = pc.getc();
+ if((c == 'u') && (brightness < 0.5)) {
+ brightness += 0.01;
+ led = brightness;
+ }
+ if((c == 'd') && (brightness > 0.0)) {
+ brightness -= 0.01;
+ led = brightness;
+ }
+
+ }
+}
+*/
+/*
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX);
+Serial uart(p28, p27);
+
+DigitalOut pc_activity(LED1);
+DigitalOut uart_activity(LED2);
+
+int main() {
+ while(1) {
+ if(pc.readable()) {
+ uart.putc(pc.getc());
+ pc_activity = !pc_activity;
+ }
+ if(uart.readable()) {
+ pc.putc(uart.getc());
+ uart_activity = !uart_activity;
+ }
+ }
+}
+*/
+/*
+#include "mbed.h"
+
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);
+
+int main() {
+ char c;
+ char buffer[128];
+
+ pc.gets(buffer, 4);
+
+ pc.printf("I got '%s'\n", buffer);
+}
+*/
+/*
+sd card filesystem
+/* Example file of using SD/MMC Block device Library for MBED-OS
+ * Copyright 2017 Roy Krikke
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+
+#include "mbed.h"
+#include "FATFileSystem.h"
+#include "SDBlockDeviceDISCOF746NG.h"
+#include <stdio.h>
+#include <errno.h>
+
+DigitalOut led (LED1);
+
+// Instantiate the Block Device for sd card on DISCO-F746NG
+SDBlockDeviceDISCOF746NG bd;
+FATFileSystem fs ("fs");
+
+void
+return_error (int ret_val)
+{ if(ret_val)
+ printf ("Failure. %d\r\n", ret_val);
+ else
+ printf ("done.\r\n");
+}
+
+void
+errno_error (void* ret_val)
+{ if(ret_val == NULL)
+ printf (" Failure. %d \r\n", errno);
+ else
+ printf (" done.\r\n");
+}
+
+int
+main ()
+{
+ Serial pc (SERIAL_TX, SERIAL_RX);
+ pc.baud(115200);
+ printf("Start\n");
+
+ int error = 0;
+ printf("Welcome to the filesystem example.\r\n"
+ "Formatting a FAT, RAM-backed filesystem. ");
+ error = FATFileSystem::format(&bd);
+ return_error(error);
+
+ printf("Mounting the filesystem on \"/fs\". ");
+ error = fs.mount(&bd);
+ return_error(error);
+
+ printf("Opening a new file, numbers.txt.");
+ FILE* fd = fopen("/fs/numbers.txt", "w");
+ errno_error(fd);
+
+ for (int i = 0; i < 20; i++) {
+ printf("Writing decimal numbers to a file (%d/20)\r", i);
+ fprintf(fd, "%d\r\n", i);
+ }
+ printf("Writing decimal numbers to a file (20/20) done.\r\n");
+
+ printf("Closing file.");
+ fclose(fd);
+ printf(" done.\r\n");
+
+ printf("Re-opening file read-only.");
+ fd = fopen("/fs/numbers.txt", "r");
+ errno_error(fd);
+
+ printf("Dumping file to screen.\r\n");
+ char buff[16] = { 0 };
+ while(!feof (fd)) {
+ int size = fread(&buff[0], 1, 15, fd);
+ fwrite(&buff[0], 1, size, stdout);
+ }
+ printf("EOF.\r\n");
+
+ printf("Closing file.");
+ fclose(fd);
+ printf(" done.\r\n");
+
+ printf("Opening root directory.");
+ DIR* dir = opendir("/fs/");
+ errno_error(fd);
+
+ struct dirent* de;
+ printf("Printing all filenames:\r\n");
+ while((de = readdir (dir)) != NULL) {
+ printf(" %s\r\n", &(de->d_name)[0]);
+ }
+
+ printf("Closeing root directory. ");
+ error = closedir(dir);
+ return_error(error);
+ printf("Filesystem Demo complete.\r\n");
+
+ // Blink led with 2 Hz
+ while(true) {
+ led = !led;
+ wait (0.5);
+ }
+}
+ */
\ No newline at end of file