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all bms comunicating with nucleo board and balancing
Dependencies: CANnucleo LTC68041 mbed
Fork of BMS_2 by
main.cpp@13:e741def3e4ff, 2016-07-27 (annotated)
- Committer:
- hudakz
- Date:
- Wed Jul 27 09:16:40 2016 +0000
- Revision:
- 13:e741def3e4ff
- Parent:
- 12:e91e44924194
- Child:
- 14:e12ebd1260b1
Modified to use CAN support built into the mbed library.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 0:c5e5d0df6f2a | 1 | /* |
hudakz | 13:e741def3e4ff | 2 | * An example of using CAN bus with NUCLEO boards: |
hudakz | 0:c5e5d0df6f2a | 3 | * |
hudakz | 6:7ff95ce72f6d | 4 | * Two affordable (less than $4 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), |
hudakz | 6:7ff95ce72f6d | 5 | * compatible with the NUCLEO-F103RB platform (20kB SRAM, 128kB Flash), |
hudakz | 6:7ff95ce72f6d | 6 | * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). |
hudakz | 6:7ff95ce72f6d | 7 | * CAN transceivers are not part of NUCLEO boards, therefore must be added by you. |
hudakz | 6:7ff95ce72f6d | 8 | * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends. |
hudakz | 6:7ff95ce72f6d | 9 | * |
hudakz | 13:e741def3e4ff | 10 | * For more details see the wiki page [https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/] |
hudakz | 6:7ff95ce72f6d | 11 | * |
hudakz | 13:e741def3e4ff | 12 | * NOTE: If you'd like to use the official NUCLEO boards comment out line 24 |
hudakz | 6:7ff95ce72f6d | 13 | * |
hudakz | 6:7ff95ce72f6d | 14 | * The same code is used for both NUCLEO boards, but: |
hudakz | 0:c5e5d0df6f2a | 15 | * For board #1 compile the example without any change. |
hudakz | 13:e741def3e4ff | 16 | * For board #2 comment out line 25 before compiling |
hudakz | 4:ccf4ac2deac8 | 17 | * |
hudakz | 6:7ff95ce72f6d | 18 | * Once the binaries have been downloaded to the boards reset board #1. |
hudakz | 0:c5e5d0df6f2a | 19 | * |
hudakz | 0:c5e5d0df6f2a | 20 | */ |
hudakz | 0:c5e5d0df6f2a | 21 | |
hudakz | 0:c5e5d0df6f2a | 22 | #include "mbed.h" |
hudakz | 0:c5e5d0df6f2a | 23 | |
hudakz | 13:e741def3e4ff | 24 | #define TARGET_STM32F103C8T6 1 // comment out this line when using official NUCLEO boards! |
hudakz | 10:66da8731bdb6 | 25 | #define BOARD1 1 // comment out this line when compiling for board #2 |
hudakz | 0:c5e5d0df6f2a | 26 | |
hudakz | 10:66da8731bdb6 | 27 | #if defined(TARGET_STM32F103C8T6) |
hudakz | 10:66da8731bdb6 | 28 | #define LED_PIN PC_13 |
hudakz | 10:66da8731bdb6 | 29 | const int OFF = 1; |
hudakz | 10:66da8731bdb6 | 30 | const int ON = 0; |
hudakz | 0:c5e5d0df6f2a | 31 | #else |
hudakz | 10:66da8731bdb6 | 32 | #define LED_PIN LED1 |
hudakz | 10:66da8731bdb6 | 33 | const int OFF = 0; |
hudakz | 10:66da8731bdb6 | 34 | const int ON = 1; |
hudakz | 0:c5e5d0df6f2a | 35 | #endif |
hudakz | 0:c5e5d0df6f2a | 36 | |
hudakz | 10:66da8731bdb6 | 37 | #if defined(BOARD1) |
hudakz | 10:66da8731bdb6 | 38 | const unsigned int RX_ID = 0x100; |
hudakz | 10:66da8731bdb6 | 39 | const unsigned int TX_ID = 0x101; |
hudakz | 6:7ff95ce72f6d | 40 | #else |
hudakz | 10:66da8731bdb6 | 41 | const unsigned int RX_ID = 0x101; |
hudakz | 10:66da8731bdb6 | 42 | const unsigned int TX_ID = 0x100; |
hudakz | 6:7ff95ce72f6d | 43 | #endif |
hudakz | 6:7ff95ce72f6d | 44 | |
hudakz | 11:07d927da1a94 | 45 | DigitalOut led(LED_PIN); |
hudakz | 11:07d927da1a94 | 46 | Timer timer; |
hudakz | 11:07d927da1a94 | 47 | CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name |
hudakz | 11:07d927da1a94 | 48 | CANMessage rxMsg; |
hudakz | 11:07d927da1a94 | 49 | CANMessage txMsg; |
hudakz | 13:e741def3e4ff | 50 | char counter = 0; |
hudakz | 0:c5e5d0df6f2a | 51 | |
hudakz | 0:c5e5d0df6f2a | 52 | /** |
hudakz | 0:c5e5d0df6f2a | 53 | * @brief Main |
hudakz | 0:c5e5d0df6f2a | 54 | * @note |
hudakz | 0:c5e5d0df6f2a | 55 | * @param |
hudakz | 0:c5e5d0df6f2a | 56 | * @retval |
hudakz | 0:c5e5d0df6f2a | 57 | */ |
hudakz | 0:c5e5d0df6f2a | 58 | int main() { |
hudakz | 6:7ff95ce72f6d | 59 | |
hudakz | 0:c5e5d0df6f2a | 60 | #if defined(BOARD1) |
hudakz | 10:66da8731bdb6 | 61 | led = ON; // turn LED on |
hudakz | 10:66da8731bdb6 | 62 | timer.start(); // start timer |
hudakz | 0:c5e5d0df6f2a | 63 | #else |
hudakz | 10:66da8731bdb6 | 64 | led = OFF; // turn LED off |
hudakz | 0:c5e5d0df6f2a | 65 | #endif |
hudakz | 0:c5e5d0df6f2a | 66 | |
hudakz | 0:c5e5d0df6f2a | 67 | while(1) { |
hudakz | 13:e741def3e4ff | 68 | if(timer.read_ms() >= 200) { // check for timeout |
hudakz | 0:c5e5d0df6f2a | 69 | timer.stop(); // stop timer |
hudakz | 10:66da8731bdb6 | 70 | timer.reset(); // reset timer |
hudakz | 0:c5e5d0df6f2a | 71 | counter++; // increment counter |
hudakz | 0:c5e5d0df6f2a | 72 | txMsg.id = TX_ID; // set ID |
hudakz | 13:e741def3e4ff | 73 | txMsg.data[0] = counter; // set data |
hudakz | 10:66da8731bdb6 | 74 | led = OFF; // turn LED off |
hudakz | 10:66da8731bdb6 | 75 | if(can.write(txMsg)) // transmit message |
hudakz | 10:66da8731bdb6 | 76 | printf("CAN message sent\r\n"); |
hudakz | 10:66da8731bdb6 | 77 | else |
hudakz | 10:66da8731bdb6 | 78 | printf("Transmission error\r\n"); |
hudakz | 0:c5e5d0df6f2a | 79 | } |
hudakz | 13:e741def3e4ff | 80 | if(can.read(rxMsg)) { |
hudakz | 2:49c9430860d1 | 81 | printf("CAN message received:\r\n"); |
hudakz | 2:49c9430860d1 | 82 | printf(" ID = %#x\r\n", rxMsg.id); |
hudakz | 2:49c9430860d1 | 83 | printf(" Type = %d\r\n", rxMsg.type); |
hudakz | 2:49c9430860d1 | 84 | printf(" Format = %d\r\n", rxMsg.format); |
hudakz | 2:49c9430860d1 | 85 | printf(" Length = %d\r\n", rxMsg.len); |
hudakz | 2:49c9430860d1 | 86 | printf(" Data ="); |
hudakz | 2:49c9430860d1 | 87 | for(int i = 0; i < rxMsg.len; i++) |
hudakz | 2:49c9430860d1 | 88 | printf(" %x", rxMsg.data[i]); |
hudakz | 10:66da8731bdb6 | 89 | printf("\r\n"); |
hudakz | 13:e741def3e4ff | 90 | |
hudakz | 13:e741def3e4ff | 91 | if(rxMsg.id == RX_ID) { |
hudakz | 13:e741def3e4ff | 92 | counter = rxMsg.data[0]; // set counter |
hudakz | 1:267d6288df33 | 93 | printf("counter = %d\r\n", counter); |
hudakz | 13:e741def3e4ff | 94 | led = !led; // set LED |
hudakz | 10:66da8731bdb6 | 95 | timer.start(); // transmission lag |
hudakz | 0:c5e5d0df6f2a | 96 | } |
hudakz | 0:c5e5d0df6f2a | 97 | } |
hudakz | 0:c5e5d0df6f2a | 98 | } |
hudakz | 0:c5e5d0df6f2a | 99 | } |
hudakz | 7:2dce8ed51091 | 100 | |
hudakz | 12:e91e44924194 | 101 |