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all bms comunicating with nucleo board and balancing
Fork of Can_sniffer_BMS_GER by
Diff: main.cpp
- Revision:
- 21:13ac27349025
- Parent:
- 20:eb1a8042605e
- Child:
- 23:1a29761becd2
--- a/main.cpp Tue Aug 16 21:13:47 2016 +0000 +++ b/main.cpp Sat Oct 22 16:35:07 2016 +0000 @@ -1,10 +1,10 @@ /* * An example showing how to use the CANnucleo library: * - * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), - * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details) - * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). - * CAN transceivers are not part of NUCLEO boards, therefore must be added by you. + * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), + * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details) + * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). + * CAN transceivers are not part of NUCLEO boards, therefore must be added by you. * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends. * * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/> @@ -13,37 +13,24 @@ * * The same code is used for both NUCLEO boards, but: * For board #1 compile the example without any change. - * For board #2 comment out line 23 before compiling + * For board #2 comment out line 23 before compiling * * Once the binaries have been downloaded to the boards reset board #1. * - */ + */ -//#define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards! -#define BOARD1 1 // comment out this line when compiling for board #2 +//#define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards! +//#define BOARD1 1 // comment out this line when compiling for board #2 -#if defined(TARGET_STM32F103C8T6) - #define LED_PIN PC_13 - const int OFF = 1; - const int ON = 0; -#else - #define LED_PIN LED1 - const int OFF = 0; - const int ON = 1; -#endif + -#if defined(BOARD1) - const unsigned int RX_ID = 0x100; - const unsigned int TX_ID = 0x101; -#else - const unsigned int RX_ID = 0x101; - const unsigned int TX_ID = 0x100; -#endif +const unsigned int RX_ID = 0x100; +const unsigned int TX_ID = 0x101; #include "CANnucleo.h" #include "mbed.h" -/* +/* * To avaoid name collision with the CAN and CANMessage classes built into the mbed library * the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace. * Remember to qualify them with the CANnucleo namespace. @@ -51,77 +38,113 @@ CANnucleo::CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name CANnucleo::CANMessage rxMsg; CANnucleo::CANMessage txMsg; -DigitalOut led(LED_PIN); -int ledState; +CANnucleo::CANMessage throttle_txMsg; + + +DigitalOut led(PA_5); + Timer timer; int counter = 0; volatile bool msgAvailable = false; +volatile bool to_send = false; /** * @brief 'CAN receive-complete' interrup handler. * @note Called on arrival of new CAN message. * Keep it as short as possible. - * @param - * @retval + * @param + * @retval */ -void onMsgReceived() { +void onMsgReceived() +{ msgAvailable = true; } /** * @brief Main * @note - * @param + * @param * @retval */ -int main() { + +bool key_switch = 0; + +void flip() +{ + key_switch = !key_switch; + led = key_switch; + + to_send=1; + //printf("controller switch\r\n"); + + + + // to_send = 1; +} + +Ticker flipper; + +typedef union can_union { + int i[2]; + char bytes[8]; + float f[2]; +} data; + +int main() + +{ can.frequency(1000000); // set bit rate to 1Mbps can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler - -#if defined(BOARD1) - led = ON; // turn LED on + flipper.attach(&flip, 30); // turn on or off + led=key_switch; timer.start(); // start timer - printf("CANnucleo_Hello board #1\r\n"); -#else - led = OFF; // turn LED off - printf("CANnucleo_Hello board #2\r\n"); -#endif + + printf("started\r\n"); + while(true) { + + if(msgAvailable) { + static int counter = 0; + data data; + int len = can.read(rxMsg); + data.bytes[0] = rxMsg.data[0]; + data.bytes[1] = rxMsg.data[1]; + data.bytes[2] = rxMsg.data[2]; + data.bytes[3] = rxMsg.data[3]; + msgAvailable = false; // reset flag for next use + printf(" Id: %d, data: %f, counter : %d\n", rxMsg.id, data.f[0],rxMsg.data[4]); - while(1) { - if(timer.read() >= 1.0) { // check for timeout - timer.stop(); // stop timer - timer.reset(); // reset timer - counter++; // increment counter - ledState = led.read(); // get led state - txMsg.clear(); // clear Tx message storage - txMsg.id = TX_ID; // set ID - txMsg << counter; // append first data item - txMsg << ledState; // append second data item (total data lenght must be <= 8 bytes!) - led = OFF; // turn LED off - if(can.write(txMsg)) // transmit message - printf("CAN message sent\r\n"); - else - printf("Transmission error\r\n"); + /* + printf("\r\nreceived message ID: \t%d\n\r", rxMsg.id); + for(int i=0; i<len; i++) { + printf("\t%x",rxMsg.data[i]); + }*/ + printf("\r\n"); + counter++; + if(counter == 12) { + + counter = 0; + printf("\r\n""""""""""""""""""""""""""""""""""""""""""""""""\r\n"); + } + // Filtering performed by software: } - if(msgAvailable) { - msgAvailable = false; // reset flag for next use - can.read(rxMsg); // read message into Rx message storage - printf("CAN message received\r\n"); - printf(" ID = 0x%.3x\r\n", rxMsg.id); - printf(" Type = %d\r\n", rxMsg.type); - printf(" Format = %d\r\n", rxMsg.format); - printf(" Length = %d\r\n", rxMsg.len); - printf(" Data ="); - for(int i = 0; i < rxMsg.len; i++) - printf(" %.2x", rxMsg.data[i]); - printf("\r\n"); - // Filtering performed by software: - if(rxMsg.id == RX_ID) { // See comments in CAN.cpp for filtering performed by hardware - rxMsg >> counter; // extract first data item - rxMsg >> ledState; // extract second data item - printf(" counter = %d\r\n", counter); - led = ON; // turn LED on - timer.start(); // transmission lag + if(to_send) { + to_send = 0; + txMsg.clear(); + txMsg.id = 10; + txMsg << key_switch; + if(can.write(txMsg)) { + printf("sent message\r\n"); + } else { + static char count = 0; + count++; + printf("transmission error\n\r overflow: %x\n\r", count); + if(count == 3) { + count = 0; + NVIC_SystemReset(); + // attach 'CAN receive-complete' interrupt handler + + } + } } }