Diff: main.cpp

Revision:

2:49c9430860d1

Parent:

1:267d6288df33

Child:

3:464b06c16d24

--- a/main.cpp	Sun Jul 19 14:12:34 2015 +0000
+++ b/main.cpp	Thu Jul 23 13:11:08 2015 +0000
@@ -1,7 +1,7 @@
 /*
  * 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.).
+ * Two NUCLEO boards are connected to the same CAN bus via CAN transceivers (MCP2551 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/>
@@ -36,7 +36,7 @@
 CAN             can(PA_11, PA_12);  // rx, tx
 CANMessage      rxMsg;
 CANMessage      txMsg;
-long int        counter;
+long int        counter = 0;
 volatile bool   msgAvailable = false;
 
 /**
@@ -61,10 +61,10 @@
     can.attach(&onMsgReceived, CAN::RxIrq);     // attach 'CAN receive complete' interrupt handler
     timer.reset();
 #if defined(BOARD1)
-        led = 1;
-        timer.start();
+    led = 1;
+    timer.start();
 #else
-        led = 0;
+    led = 0;
 #endif
 
     while(1) {
@@ -78,15 +78,23 @@
             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
+            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);
+            printf("CAN message received:\r\n");
+            printf("  ID     = %#x\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(" %x", rxMsg.data[i]);
+            printf("\r\n");            
             if(rxMsg.id == RX_ID) {             // if ID matches
                 rxMsg >> counter;               // extract first data item
-                rxMsg >> led;                   // extract second data item (and set led status)
+                rxMsg >> led;                   // extract second data item (and set LED status)
                 printf("counter = %d\r\n", counter);
                 timer.start();
             }