Gerardo Antonio / Mbed 2 deprecated CANnucleo_Hello3

CAN a enviar_TLMoto

Dependencies:   CANnucleo mbed

Fork of CANnucleo_Hello by Zoltan Hudak

main.cpp@11:07d927da1a94, 2016-03-11 (annotated)

Committer:
hudakz
Date:
Fri Mar 11 12:29:38 2016 +0000
Revision:
11:07d927da1a94
Parent:
10:66da8731bdb6
Child:
12:4f5cec652e77
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 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 10:66da8731bdb6 10 * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/>
hudakz 6:7ff95ce72f6d 11 *
hudakz 10:66da8731bdb6 12 * NOTE: If you'd like to use the official NUCLEO boards comment out line 25
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 10:66da8731bdb6 16 * For board #2 comment out line 26 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 #include "CAN.h"
hudakz 0:c5e5d0df6f2a 24
hudakz 10:66da8731bdb6 25 #define TARGET_STM32F103C8T6 1 // comment out this line when using official NUCLEO boards!
hudakz 10:66da8731bdb6 26 #define BOARD1 1 // comment out this line when compiling for board #2
hudakz 0:c5e5d0df6f2a 27
hudakz 10:66da8731bdb6 28 #if defined(TARGET_STM32F103C8T6)
hudakz 10:66da8731bdb6 29 #define LED_PIN PC_13
hudakz 10:66da8731bdb6 30 const int OFF = 1;
hudakz 10:66da8731bdb6 31 const int ON = 0;
hudakz 0:c5e5d0df6f2a 32 #else
hudakz 10:66da8731bdb6 33 #define LED_PIN LED1
hudakz 10:66da8731bdb6 34 const int OFF = 0;
hudakz 10:66da8731bdb6 35 const int ON = 1;
hudakz 0:c5e5d0df6f2a 36 #endif
hudakz 0:c5e5d0df6f2a 37
hudakz 10:66da8731bdb6 38 #if defined(BOARD1)
hudakz 10:66da8731bdb6 39 const unsigned int RX_ID = 0x100;
hudakz 10:66da8731bdb6 40 const unsigned int TX_ID = 0x101;
hudakz 6:7ff95ce72f6d 41 #else
hudakz 10:66da8731bdb6 42 const unsigned int RX_ID = 0x101;
hudakz 10:66da8731bdb6 43 const unsigned int TX_ID = 0x100;
hudakz 6:7ff95ce72f6d 44 #endif
hudakz 6:7ff95ce72f6d 45
hudakz 11:07d927da1a94 46 DigitalOut led(LED_PIN);
hudakz 11:07d927da1a94 47 int ledState;
hudakz 11:07d927da1a94 48 Timer timer;
hudakz 11:07d927da1a94 49 CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
hudakz 11:07d927da1a94 50 CANMessage rxMsg;
hudakz 11:07d927da1a94 51 CANMessage txMsg;
hudakz 11:07d927da1a94 52 int counter = 0;
hudakz 0:c5e5d0df6f2a 53 volatile bool msgAvailable = false;
hudakz 0:c5e5d0df6f2a 54
hudakz 0:c5e5d0df6f2a 55 /**
hudakz 0:c5e5d0df6f2a 56 * @brief 'CAN receive-complete' interrup handler.
hudakz 0:c5e5d0df6f2a 57 * @note Called on arrival of new CAN message.
hudakz 0:c5e5d0df6f2a 58 * Keep it as short as possible.
hudakz 0:c5e5d0df6f2a 59 * @param
hudakz 0:c5e5d0df6f2a 60 * @retval
hudakz 0:c5e5d0df6f2a 61 */
hudakz 0:c5e5d0df6f2a 62 void onMsgReceived() {
hudakz 0:c5e5d0df6f2a 63 msgAvailable = true;
hudakz 0:c5e5d0df6f2a 64 }
hudakz 0:c5e5d0df6f2a 65
hudakz 0:c5e5d0df6f2a 66 /**
hudakz 0:c5e5d0df6f2a 67 * @brief Main
hudakz 0:c5e5d0df6f2a 68 * @note
hudakz 0:c5e5d0df6f2a 69 * @param
hudakz 0:c5e5d0df6f2a 70 * @retval
hudakz 0:c5e5d0df6f2a 71 */
hudakz 0:c5e5d0df6f2a 72 int main() {
hudakz 5:c6503b7ae971 73 can.frequency(1000000); // set bit rate to 1Mbps
hudakz 5:c6503b7ae971 74 can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler
hudakz 6:7ff95ce72f6d 75
hudakz 0:c5e5d0df6f2a 76 #if defined(BOARD1)
hudakz 10:66da8731bdb6 77 led = ON; // turn LED on
hudakz 10:66da8731bdb6 78 timer.start(); // start timer
hudakz 0:c5e5d0df6f2a 79 #else
hudakz 10:66da8731bdb6 80 led = OFF; // turn LED off
hudakz 0:c5e5d0df6f2a 81 #endif
hudakz 0:c5e5d0df6f2a 82
hudakz 0:c5e5d0df6f2a 83 while(1) {
hudakz 4:ccf4ac2deac8 84 if(timer.read() >= 1.0) { // check for timeout
hudakz 0:c5e5d0df6f2a 85 timer.stop(); // stop timer
hudakz 10:66da8731bdb6 86 timer.reset(); // reset timer
hudakz 0:c5e5d0df6f2a 87 counter++; // increment counter
hudakz 10:66da8731bdb6 88 ledState = led.read(); // get led state
hudakz 0:c5e5d0df6f2a 89 txMsg.clear(); // clear Tx message storage
hudakz 0:c5e5d0df6f2a 90 txMsg.id = TX_ID; // set ID
hudakz 10:66da8731bdb6 91 txMsg << counter; // append first data item
hudakz 10:66da8731bdb6 92 txMsg << ledState; // append second data item (total data lenght must be <= 8 bytes!)
hudakz 10:66da8731bdb6 93 led = OFF; // turn LED off
hudakz 10:66da8731bdb6 94 if(can.write(txMsg)) // transmit message
hudakz 10:66da8731bdb6 95 printf("CAN message sent\r\n");
hudakz 10:66da8731bdb6 96 else
hudakz 10:66da8731bdb6 97 printf("Transmission error\r\n");
hudakz 0:c5e5d0df6f2a 98 }
hudakz 0:c5e5d0df6f2a 99 if(msgAvailable) {
hudakz 0:c5e5d0df6f2a 100 msgAvailable = false; // reset flag for next use
hudakz 0:c5e5d0df6f2a 101 can.read(rxMsg); // read message into Rx message storage
hudakz 2:49c9430860d1 102 printf("CAN message received:\r\n");
hudakz 2:49c9430860d1 103 printf(" ID = %#x\r\n", rxMsg.id);
hudakz 2:49c9430860d1 104 printf(" Type = %d\r\n", rxMsg.type);
hudakz 2:49c9430860d1 105 printf(" Format = %d\r\n", rxMsg.format);
hudakz 2:49c9430860d1 106 printf(" Length = %d\r\n", rxMsg.len);
hudakz 2:49c9430860d1 107 printf(" Data =");
hudakz 2:49c9430860d1 108 for(int i = 0; i < rxMsg.len; i++)
hudakz 2:49c9430860d1 109 printf(" %x", rxMsg.data[i]);
hudakz 10:66da8731bdb6 110 printf("\r\n");
hudakz 10:66da8731bdb6 111 // Filtering performed by software:
hudakz 10:66da8731bdb6 112 if(rxMsg.id == RX_ID) { // See comments in CAN.cpp for filtering performed by hadware
hudakz 0:c5e5d0df6f2a 113 rxMsg >> counter; // extract first data item
hudakz 10:66da8731bdb6 114 rxMsg >> ledState; // extract second data item
hudakz 1:267d6288df33 115 printf("counter = %d\r\n", counter);
hudakz 10:66da8731bdb6 116 led = ledState; // set LED
hudakz 10:66da8731bdb6 117 timer.start(); // transmission lag
hudakz 0:c5e5d0df6f2a 118 }
hudakz 0:c5e5d0df6f2a 119 }
hudakz 0:c5e5d0df6f2a 120 }
hudakz 0:c5e5d0df6f2a 121 }
hudakz 7:2dce8ed51091 122