Gerardo Antonio / Mbed 2 deprecated CANnucleo_Hello3

CAN a enviar_TLMoto

Dependencies:   CANnucleo mbed

Fork of CANnucleo_Hello by Zoltan Hudak

main.cpp@13:77261ea62081, 2016-06-26 (annotated)

Committer:
Crazyaboutmachines
Date:
Sun Jun 26 14:14:01 2016 +0000
Revision:
13:77261ea62081
Parent:
12:4f5cec652e77
Child:
14:ff9c77b97bad
first ack?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:c5e5d0df6f2a 1 #include "mbed.h"
hudakz 0:c5e5d0df6f2a 2 #include "CAN.h"
hudakz 0:c5e5d0df6f2a 3
Crazyaboutmachines 12:4f5cec652e77 4 // const unsigned int TX_ID = 0x101;
Crazyaboutmachines 12:4f5cec652e77 5 const unsigned int TX_ID = 0x155; //em binario: 101010101
hudakz 0:c5e5d0df6f2a 6
Crazyaboutmachines 12:4f5cec652e77 7 DigitalOut led(PA_5);
hudakz 11:07d927da1a94 8 int ledState;
Crazyaboutmachines 13:77261ea62081 9 CAN can1(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
Crazyaboutmachines 13:77261ea62081 10 CAN can2(PB_12, PB_13); // CAN Rx pin name, CAN Tx pin name
hudakz 11:07d927da1a94 11 CANMessage txMsg;
Crazyaboutmachines 13:77261ea62081 12 CANMessage rxMsg;
hudakz 11:07d927da1a94 13 int counter = 0;
hudakz 0:c5e5d0df6f2a 14
hudakz 0:c5e5d0df6f2a 15 int main() {
Crazyaboutmachines 13:77261ea62081 16 can1.frequency(100000); // set bit rate to 1Mbps
Crazyaboutmachines 13:77261ea62081 17 can2.frequency(100000); // set bit rate to 1Mbps
Crazyaboutmachines 12:4f5cec652e77 18 led = 1; // turn LED on
hudakz 0:c5e5d0df6f2a 19
hudakz 0:c5e5d0df6f2a 20 while(1) {
Crazyaboutmachines 12:4f5cec652e77 21 wait(10);
Crazyaboutmachines 12:4f5cec652e77 22
hudakz 0:c5e5d0df6f2a 23 counter++; // increment counter
Crazyaboutmachines 12:4f5cec652e77 24 // ledState = led.read(); // get led state
Crazyaboutmachines 12:4f5cec652e77 25 ledState = 1;
Crazyaboutmachines 12:4f5cec652e77 26 txMsg.clear(); // clear Tx message storage
Crazyaboutmachines 12:4f5cec652e77 27 txMsg.id = TX_ID; // set ID (9 bits)
Crazyaboutmachines 12:4f5cec652e77 28 txMsg << counter; // append first data item (32? bits?=4bytes)
Crazyaboutmachines 12:4f5cec652e77 29 txMsg << ledState; // append second data item (total data lenght must be <= 8 bytes!) (=4bytes)
Crazyaboutmachines 12:4f5cec652e77 30
Crazyaboutmachines 13:77261ea62081 31
Crazyaboutmachines 13:77261ea62081 32 can1.write(txMsg);
Crazyaboutmachines 13:77261ea62081 33 // if(can1.write(txMsg)) // transmit message
Crazyaboutmachines 13:77261ea62081 34 // led = 1; // turn LED on
Crazyaboutmachines 13:77261ea62081 35 // else
Crazyaboutmachines 13:77261ea62081 36 // led = 0; // turn LED off
Crazyaboutmachines 13:77261ea62081 37
Crazyaboutmachines 13:77261ea62081 38 if(can2.read(rxMsg)) {
Crazyaboutmachines 13:77261ea62081 39 //printf("Message received: %d\n", msg.data[0]);
Crazyaboutmachines 13:77261ea62081 40 led = !led;
Crazyaboutmachines 13:77261ea62081 41 }
Crazyaboutmachines 13:77261ea62081 42
Crazyaboutmachines 12:4f5cec652e77 43
hudakz 0:c5e5d0df6f2a 44 }
Crazyaboutmachines 12:4f5cec652e77 45 }