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Fork of CANnucleo_Hello by
main.cpp@7:2dce8ed51091, 2015-12-22 (annotated)
- Committer:
- hudakz
- Date:
- Tue Dec 22 18:20:06 2015 +0000
- Revision:
- 7:2dce8ed51091
- Parent:
- 6:7ff95ce72f6d
- Child:
- 10:66da8731bdb6
Support for NUCLEO-F303RE added.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 0:c5e5d0df6f2a | 1 | /* |
hudakz | 0:c5e5d0df6f2a | 2 | * An example showing how to use the CANnucleo library: |
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 | 6:7ff95ce72f6d | 10 | * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/> |
hudakz | 6:7ff95ce72f6d | 11 | * |
hudakz | 6:7ff95ce72f6d | 12 | * NOTE: If you'd like to use the official NUCLEO-F103RB boards |
hudakz | 6:7ff95ce72f6d | 13 | * comment out the line #define TARGET_STM32F103C8T6 1 |
hudakz | 6:7ff95ce72f6d | 14 | * |
hudakz | 6:7ff95ce72f6d | 15 | * The same code is used for both NUCLEO boards, but: |
hudakz | 0:c5e5d0df6f2a | 16 | * For board #1 compile the example without any change. |
hudakz | 4:ccf4ac2deac8 | 17 | * For board #2 comment out the line #define BOARD1 1 before compiling |
hudakz | 4:ccf4ac2deac8 | 18 | * |
hudakz | 6:7ff95ce72f6d | 19 | * Once the binaries have been downloaded to the boards reset board #1. |
hudakz | 0:c5e5d0df6f2a | 20 | * |
hudakz | 0:c5e5d0df6f2a | 21 | */ |
hudakz | 0:c5e5d0df6f2a | 22 | |
hudakz | 0:c5e5d0df6f2a | 23 | #include "mbed.h" |
hudakz | 0:c5e5d0df6f2a | 24 | #include "CAN.h" |
hudakz | 0:c5e5d0df6f2a | 25 | |
hudakz | 6:7ff95ce72f6d | 26 | #define BOARD1 1 // comment out this line when compiling for board #2 |
hudakz | 0:c5e5d0df6f2a | 27 | |
hudakz | 0:c5e5d0df6f2a | 28 | #if defined(BOARD1) |
hudakz | 0:c5e5d0df6f2a | 29 | #define RX_ID 0x100 |
hudakz | 0:c5e5d0df6f2a | 30 | #define TX_ID 0x101 |
hudakz | 0:c5e5d0df6f2a | 31 | #else |
hudakz | 0:c5e5d0df6f2a | 32 | #define RX_ID 0x101 |
hudakz | 0:c5e5d0df6f2a | 33 | #define TX_ID 0x100 |
hudakz | 0:c5e5d0df6f2a | 34 | #endif |
hudakz | 0:c5e5d0df6f2a | 35 | |
hudakz | 6:7ff95ce72f6d | 36 | // See wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/> |
hudakz | 7:2dce8ed51091 | 37 | //#define TARGET_STM32F103C8T6 1 // comment out this line if you'd like to use the official NUCLEO-F103RB boards |
hudakz | 6:7ff95ce72f6d | 38 | |
hudakz | 6:7ff95ce72f6d | 39 | #if defined(TARGET_STM32F103C8T6) |
hudakz | 6:7ff95ce72f6d | 40 | DigitalOut led(PC_13); |
hudakz | 6:7ff95ce72f6d | 41 | #else |
hudakz | 6:7ff95ce72f6d | 42 | DigitalOut led(LED1); |
hudakz | 6:7ff95ce72f6d | 43 | #endif |
hudakz | 6:7ff95ce72f6d | 44 | |
hudakz | 5:c6503b7ae971 | 45 | int ledReceived; |
hudakz | 0:c5e5d0df6f2a | 46 | Timer timer; |
hudakz | 5:c6503b7ae971 | 47 | CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name, Automatic recovery from bus-off state enabled by default |
hudakz | 0:c5e5d0df6f2a | 48 | CANMessage rxMsg; |
hudakz | 0:c5e5d0df6f2a | 49 | CANMessage txMsg; |
hudakz | 5:c6503b7ae971 | 50 | int counter = 0; |
hudakz | 0:c5e5d0df6f2a | 51 | volatile bool msgAvailable = false; |
hudakz | 0:c5e5d0df6f2a | 52 | |
hudakz | 0:c5e5d0df6f2a | 53 | /** |
hudakz | 0:c5e5d0df6f2a | 54 | * @brief 'CAN receive-complete' interrup handler. |
hudakz | 0:c5e5d0df6f2a | 55 | * @note Called on arrival of new CAN message. |
hudakz | 0:c5e5d0df6f2a | 56 | * Keep it as short as possible. |
hudakz | 0:c5e5d0df6f2a | 57 | * @param |
hudakz | 0:c5e5d0df6f2a | 58 | * @retval |
hudakz | 0:c5e5d0df6f2a | 59 | */ |
hudakz | 0:c5e5d0df6f2a | 60 | void onMsgReceived() { |
hudakz | 0:c5e5d0df6f2a | 61 | msgAvailable = true; |
hudakz | 0:c5e5d0df6f2a | 62 | } |
hudakz | 0:c5e5d0df6f2a | 63 | |
hudakz | 0:c5e5d0df6f2a | 64 | /** |
hudakz | 0:c5e5d0df6f2a | 65 | * @brief Main |
hudakz | 0:c5e5d0df6f2a | 66 | * @note |
hudakz | 0:c5e5d0df6f2a | 67 | * @param |
hudakz | 0:c5e5d0df6f2a | 68 | * @retval |
hudakz | 0:c5e5d0df6f2a | 69 | */ |
hudakz | 0:c5e5d0df6f2a | 70 | int main() { |
hudakz | 5:c6503b7ae971 | 71 | can.frequency(1000000); // set bit rate to 1Mbps |
hudakz | 5:c6503b7ae971 | 72 | can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler |
hudakz | 6:7ff95ce72f6d | 73 | |
hudakz | 0:c5e5d0df6f2a | 74 | #if defined(BOARD1) |
hudakz | 6:7ff95ce72f6d | 75 | #if defined(TARGET_STM32F103C8T6) |
hudakz | 6:7ff95ce72f6d | 76 | led = 0; // turn LED on |
hudakz | 6:7ff95ce72f6d | 77 | #else |
hudakz | 6:7ff95ce72f6d | 78 | led = 1; // turn LED on |
hudakz | 6:7ff95ce72f6d | 79 | #endif |
hudakz | 2:49c9430860d1 | 80 | timer.start(); |
hudakz | 0:c5e5d0df6f2a | 81 | #else |
hudakz | 6:7ff95ce72f6d | 82 | #if defined(TARGET_STM32F103C8T6) |
hudakz | 6:7ff95ce72f6d | 83 | led = 1; // turn LED off |
hudakz | 6:7ff95ce72f6d | 84 | #else |
hudakz | 6:7ff95ce72f6d | 85 | led = 0; // turn LED off |
hudakz | 6:7ff95ce72f6d | 86 | #endif |
hudakz | 0:c5e5d0df6f2a | 87 | #endif |
hudakz | 0:c5e5d0df6f2a | 88 | |
hudakz | 0:c5e5d0df6f2a | 89 | while(1) { |
hudakz | 4:ccf4ac2deac8 | 90 | if(timer.read() >= 1.0) { // check for timeout |
hudakz | 0:c5e5d0df6f2a | 91 | timer.stop(); // stop timer |
hudakz | 0:c5e5d0df6f2a | 92 | timer.reset(); // reset timer (to avaoid repeated send) |
hudakz | 0:c5e5d0df6f2a | 93 | counter++; // increment counter |
hudakz | 0:c5e5d0df6f2a | 94 | txMsg.clear(); // clear Tx message storage |
hudakz | 0:c5e5d0df6f2a | 95 | txMsg.id = TX_ID; // set ID |
hudakz | 5:c6503b7ae971 | 96 | txMsg << counter; // append first data item (make sure that CAN message total data lenght <= 8 bytes!) |
hudakz | 5:c6503b7ae971 | 97 | txMsg << led.read(); // append second data item (make sure that CAN message total data lenght <= 8 bytes!) |
hudakz | 0:c5e5d0df6f2a | 98 | can.write(txMsg); // transmit message |
hudakz | 0:c5e5d0df6f2a | 99 | printf("CAN message sent\r\n"); |
hudakz | 6:7ff95ce72f6d | 100 | |
hudakz | 6:7ff95ce72f6d | 101 | #if defined(TARGET_STM32F103C8T6) |
hudakz | 6:7ff95ce72f6d | 102 | led = 1; // turn LED off |
hudakz | 6:7ff95ce72f6d | 103 | #else |
hudakz | 6:7ff95ce72f6d | 104 | led = 0; // turn LED off |
hudakz | 6:7ff95ce72f6d | 105 | #endif |
hudakz | 0:c5e5d0df6f2a | 106 | } |
hudakz | 0:c5e5d0df6f2a | 107 | if(msgAvailable) { |
hudakz | 0:c5e5d0df6f2a | 108 | msgAvailable = false; // reset flag for next use |
hudakz | 0:c5e5d0df6f2a | 109 | can.read(rxMsg); // read message into Rx message storage |
hudakz | 2:49c9430860d1 | 110 | printf("CAN message received:\r\n"); |
hudakz | 2:49c9430860d1 | 111 | printf(" ID = %#x\r\n", rxMsg.id); |
hudakz | 2:49c9430860d1 | 112 | printf(" Type = %d\r\n", rxMsg.type); |
hudakz | 2:49c9430860d1 | 113 | printf(" Format = %d\r\n", rxMsg.format); |
hudakz | 2:49c9430860d1 | 114 | printf(" Length = %d\r\n", rxMsg.len); |
hudakz | 2:49c9430860d1 | 115 | printf(" Data ="); |
hudakz | 2:49c9430860d1 | 116 | for(int i = 0; i < rxMsg.len; i++) |
hudakz | 2:49c9430860d1 | 117 | printf(" %x", rxMsg.data[i]); |
hudakz | 2:49c9430860d1 | 118 | printf("\r\n"); |
hudakz | 0:c5e5d0df6f2a | 119 | if(rxMsg.id == RX_ID) { // if ID matches |
hudakz | 0:c5e5d0df6f2a | 120 | rxMsg >> counter; // extract first data item |
hudakz | 5:c6503b7ae971 | 121 | rxMsg >> ledReceived; // extract second data item |
hudakz | 5:c6503b7ae971 | 122 | led = ledReceived; // set LED |
hudakz | 1:267d6288df33 | 123 | printf("counter = %d\r\n", counter); |
hudakz | 0:c5e5d0df6f2a | 124 | timer.start(); |
hudakz | 0:c5e5d0df6f2a | 125 | } |
hudakz | 0:c5e5d0df6f2a | 126 | } |
hudakz | 0:c5e5d0df6f2a | 127 | } |
hudakz | 0:c5e5d0df6f2a | 128 | } |
hudakz | 7:2dce8ed51091 | 129 |