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Diff: main.cpp
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- 0:c5e5d0df6f2a
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diff -r 000000000000 -r c5e5d0df6f2a main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sun Jul 19 09:09:42 2015 +0000 @@ -0,0 +1,97 @@ +/* + * An example showing how to use the CANnucleo library: + * + * Two NUCLEO boards are connected to the same CAN bus via CAN transceivers (MPC2551 or TJA1040, or etc.). + * Transceivers are not part of the NUCLEO boards, therefore must be added by you. + * Remember also that CAN bus must be terminated with 120 Ohm resitors on both ends. + * See <https://developer.mbed.org/users/WiredHome/notebook/can---getting-started/> + * The same source code is used for both NUCLEO boards, but: + * For board #1 compile the example without any change. + * For board #2 set BOARD1 to 0 + * + * Note: + * To simplify adding/getting data to/from a CAN message + * inserter "<<" and extractor ">>" operators have been defined. + * Please be aware that CAN message maximum data length is limited to eight bytes. + * To make sure this limitation is not violated I recommend to first compile + * your application with DEBUG enabled in "CAN.h" file. + * Then run it and check for error messages. + */ + +#include "mbed.h" +#include "CAN.h" + +#define BOARD1 1 // please change to 0 when compiling for board #2 + +#if defined(BOARD1) + #define RX_ID 0x100 + #define TX_ID 0x101 +#else + #define RX_ID 0x101 + #define TX_ID 0x100 +#endif + +DigitalOut led(LED1); +Timer timer; +CAN can(PA_11, PA_12); // rx, tx +CANMessage rxMsg; +CANMessage txMsg; +long int counter; +volatile bool msgAvailable = false; + +/** + * @brief 'CAN receive-complete' interrup handler. + * @note Called on arrival of new CAN message. + * Keep it as short as possible. + * @param + * @retval + */ +void onMsgReceived() { + msgAvailable = true; +} + +/** + * @brief Main + * @note + * @param + * @retval + */ +int main() { + can.frequency(500000); // Initialize CAN and set bit rate to 500kbs + can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive complete' interrupt handler + timer.reset(); +#if defined(BOARD1) + led = 1; + timer.start(); +#else + led = 0; +#endif + + while(1) { + if(timer.read() >= 2.0) { // check for timeout + timer.stop(); // stop timer + timer.reset(); // reset timer (to avaoid repeated send) + counter++; // increment counter + txMsg.clear(); // clear Tx message storage + txMsg.id = TX_ID; // set ID + txMsg << counter; // append first data item (always make sure that CAN message total data lenght <= 8 bytes!) + txMsg << led.read(); // append second data item (always make sure that CAN message total data lenght <= 8 bytes!) + can.write(txMsg); // transmit message + printf("CAN message sent\r\n"); + led = 0; // turn off led + } + if(msgAvailable) { + msgAvailable = false; // reset flag for next use + can.read(rxMsg); // read message into Rx message storage + printf("CAN message with ID = %x received\r\n", rxMsg.id); + if(rxMsg.id == RX_ID) { // if ID matches + rxMsg >> counter; // extract first data item + rxMsg >> led; // extract second data item (and set led status) + printf("counter = %d", counter); + timer.start(); + } + } + } +} + +