Gerardo Antonio / Mbed 2 deprecated CANnucleo_Hello3

CAN a enviar_TLMoto

Dependencies:   CANnucleo mbed

Fork of CANnucleo_Hello by Zoltan Hudak

main.cpp@5:c6503b7ae971, 2015-10-23 (annotated)

Committer:
hudakz
Date:
Fri Oct 23 19:54:49 2015 +0000
Revision:
5:c6503b7ae971
Parent:
4:ccf4ac2deac8
Child:
6:7ff95ce72f6d
Updated

Who changed what in which revision?

UserRevisionLine numberNew 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 2:49c9430860d1 4 * Two NUCLEO boards are connected to the same CAN bus via CAN transceivers (MCP2551 or TJA1040, or etc.).
hudakz 0:c5e5d0df6f2a 5 * Transceivers are not part of the NUCLEO boards, therefore must be added by you.
hudakz 0:c5e5d0df6f2a 6 * Remember also that CAN bus must be terminated with 120 Ohm resitors on both ends.
hudakz 0:c5e5d0df6f2a 7 * See <https://developer.mbed.org/users/WiredHome/notebook/can---getting-started/>
hudakz 0:c5e5d0df6f2a 8 * The same source code is used for both NUCLEO boards, but:
hudakz 0:c5e5d0df6f2a 9 * For board #1 compile the example without any change.
hudakz 4:ccf4ac2deac8 10 * For board #2 comment out the line #define BOARD1 1 before compiling
hudakz 4:ccf4ac2deac8 11 *
hudakz 4:ccf4ac2deac8 12 * Once compiled, download the binaries to the boards.
hudakz 4:ccf4ac2deac8 13 * To start ping/ponging messages reset both boards at the same time.
hudakz 0:c5e5d0df6f2a 14 *
hudakz 0:c5e5d0df6f2a 15 * Note:
hudakz 0:c5e5d0df6f2a 16 * To simplify adding/getting data to/from a CAN message
hudakz 0:c5e5d0df6f2a 17 * inserter "<<" and extractor ">>" operators have been defined.
hudakz 0:c5e5d0df6f2a 18 * Please be aware that CAN message maximum data length is limited to eight bytes.
hudakz 0:c5e5d0df6f2a 19 * To make sure this limitation is not violated I recommend to first compile
hudakz 0:c5e5d0df6f2a 20 * your application with DEBUG enabled in "CAN.h" file.
hudakz 0:c5e5d0df6f2a 21 * Then run it and check for error messages.
hudakz 0:c5e5d0df6f2a 22 */
hudakz 0:c5e5d0df6f2a 23
hudakz 0:c5e5d0df6f2a 24 #include "mbed.h"
hudakz 0:c5e5d0df6f2a 25 #include "CAN.h"
hudakz 0:c5e5d0df6f2a 26
hudakz 3:464b06c16d24 27 #define BOARD1 1 // please comment out this line when compiling for board #2
hudakz 0:c5e5d0df6f2a 28
hudakz 0:c5e5d0df6f2a 29 #if defined(BOARD1)
hudakz 0:c5e5d0df6f2a 30 #define RX_ID 0x100
hudakz 0:c5e5d0df6f2a 31 #define TX_ID 0x101
hudakz 0:c5e5d0df6f2a 32 #else
hudakz 0:c5e5d0df6f2a 33 #define RX_ID 0x101
hudakz 0:c5e5d0df6f2a 34 #define TX_ID 0x100
hudakz 0:c5e5d0df6f2a 35 #endif
hudakz 0:c5e5d0df6f2a 36
hudakz 0:c5e5d0df6f2a 37 DigitalOut led(LED1);
hudakz 5:c6503b7ae971 38 int ledReceived;
hudakz 0:c5e5d0df6f2a 39 Timer timer;
hudakz 5:c6503b7ae971 40 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 41 CANMessage rxMsg;
hudakz 0:c5e5d0df6f2a 42 CANMessage txMsg;
hudakz 5:c6503b7ae971 43 int counter = 0;
hudakz 0:c5e5d0df6f2a 44 volatile bool msgAvailable = false;
hudakz 0:c5e5d0df6f2a 45
hudakz 0:c5e5d0df6f2a 46 /**
hudakz 0:c5e5d0df6f2a 47 * @brief 'CAN receive-complete' interrup handler.
hudakz 0:c5e5d0df6f2a 48 * @note Called on arrival of new CAN message.
hudakz 0:c5e5d0df6f2a 49 * Keep it as short as possible.
hudakz 0:c5e5d0df6f2a 50 * @param
hudakz 0:c5e5d0df6f2a 51 * @retval
hudakz 0:c5e5d0df6f2a 52 */
hudakz 0:c5e5d0df6f2a 53 void onMsgReceived() {
hudakz 0:c5e5d0df6f2a 54 msgAvailable = true;
hudakz 0:c5e5d0df6f2a 55 }
hudakz 0:c5e5d0df6f2a 56
hudakz 0:c5e5d0df6f2a 57 /**
hudakz 0:c5e5d0df6f2a 58 * @brief Main
hudakz 0:c5e5d0df6f2a 59 * @note
hudakz 0:c5e5d0df6f2a 60 * @param
hudakz 0:c5e5d0df6f2a 61 * @retval
hudakz 0:c5e5d0df6f2a 62 */
hudakz 0:c5e5d0df6f2a 63 int main() {
hudakz 5:c6503b7ae971 64 can.frequency(1000000); // set bit rate to 1Mbps
hudakz 5:c6503b7ae971 65 can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler
hudakz 0:c5e5d0df6f2a 66 timer.reset();
hudakz 0:c5e5d0df6f2a 67 #if defined(BOARD1)
hudakz 2:49c9430860d1 68 led = 1;
hudakz 2:49c9430860d1 69 timer.start();
hudakz 0:c5e5d0df6f2a 70 #else
hudakz 2:49c9430860d1 71 led = 0;
hudakz 0:c5e5d0df6f2a 72 #endif
hudakz 0:c5e5d0df6f2a 73
hudakz 0:c5e5d0df6f2a 74 while(1) {
hudakz 4:ccf4ac2deac8 75 if(timer.read() >= 1.0) { // check for timeout
hudakz 0:c5e5d0df6f2a 76 timer.stop(); // stop timer
hudakz 0:c5e5d0df6f2a 77 timer.reset(); // reset timer (to avaoid repeated send)
hudakz 0:c5e5d0df6f2a 78 counter++; // increment counter
hudakz 0:c5e5d0df6f2a 79 txMsg.clear(); // clear Tx message storage
hudakz 0:c5e5d0df6f2a 80 txMsg.id = TX_ID; // set ID
hudakz 5:c6503b7ae971 81 txMsg << counter; // append first data item (make sure that CAN message total data lenght <= 8 bytes!)
hudakz 5:c6503b7ae971 82 txMsg << led.read(); // append second data item (make sure that CAN message total data lenght <= 8 bytes!)
hudakz 0:c5e5d0df6f2a 83 can.write(txMsg); // transmit message
hudakz 0:c5e5d0df6f2a 84 printf("CAN message sent\r\n");
hudakz 2:49c9430860d1 85 led = 0; // turn off LED
hudakz 0:c5e5d0df6f2a 86 }
hudakz 0:c5e5d0df6f2a 87 if(msgAvailable) {
hudakz 0:c5e5d0df6f2a 88 msgAvailable = false; // reset flag for next use
hudakz 0:c5e5d0df6f2a 89 can.read(rxMsg); // read message into Rx message storage
hudakz 2:49c9430860d1 90 printf("CAN message received:\r\n");
hudakz 2:49c9430860d1 91 printf(" ID = %#x\r\n", rxMsg.id);
hudakz 2:49c9430860d1 92 printf(" Type = %d\r\n", rxMsg.type);
hudakz 2:49c9430860d1 93 printf(" Format = %d\r\n", rxMsg.format);
hudakz 2:49c9430860d1 94 printf(" Length = %d\r\n", rxMsg.len);
hudakz 2:49c9430860d1 95 printf(" Data =");
hudakz 2:49c9430860d1 96 for(int i = 0; i < rxMsg.len; i++)
hudakz 2:49c9430860d1 97 printf(" %x", rxMsg.data[i]);
hudakz 2:49c9430860d1 98 printf("\r\n");
hudakz 0:c5e5d0df6f2a 99 if(rxMsg.id == RX_ID) { // if ID matches
hudakz 0:c5e5d0df6f2a 100 rxMsg >> counter; // extract first data item
hudakz 5:c6503b7ae971 101 rxMsg >> ledReceived; // extract second data item
hudakz 5:c6503b7ae971 102 led = ledReceived; // set LED
hudakz 1:267d6288df33 103 printf("counter = %d\r\n", counter);
hudakz 0:c5e5d0df6f2a 104 timer.start();
hudakz 0:c5e5d0df6f2a 105 }
hudakz 0:c5e5d0df6f2a 106 }
hudakz 0:c5e5d0df6f2a 107 }
hudakz 0:c5e5d0df6f2a 108 }
hudakz 0:c5e5d0df6f2a 109
hudakz 0:c5e5d0df6f2a 110