Francesco Masciari / Mbed OS can_multithreadingX_vesctest

A test for vescs

main.cpp@1:9ecda2b969c2, 2019-06-14 (annotated)

Committer:
DunkelAmber
Date:
Fri Jun 14 15:08:55 2019 +0000
Revision:
1:9ecda2b969c2
Parent:
0:0da0fd430e20
Child:
2:12431dd6475f
can test working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gidiana 0:0da0fd430e20 1 #include "mbed.h" //5.4.7 (144)
gidiana 0:0da0fd430e20 2
gidiana 0:0da0fd430e20 3 const PinName can1rxPins[] = {PA_11};
gidiana 0:0da0fd430e20 4 const PinName can1txPins[] = {PA_12};
DunkelAmber 1:9ecda2b969c2 5 const PinName can2rxPins[] = {PB_5};
DunkelAmber 1:9ecda2b969c2 6 const PinName can2txPins[] = {PB_6};
DunkelAmber 1:9ecda2b969c2 7
DunkelAmber 1:9ecda2b969c2 8 uint64_t counter=0;
gidiana 0:0da0fd430e20 9
gidiana 0:0da0fd430e20 10 //CAN1
gidiana 0:0da0fd430e20 11 //0,0=OK 0,1=OK 0,2=OK 1,0=OK 1,1=OK 1,2=OK 2,0=OK 2,1=OK 2,2=OK
gidiana 0:0da0fd430e20 12 //CAN2
gidiana 0:0da0fd430e20 13 //0,0=RX_OK 0,1=OK 1,0=RX_OK 1,1=OK
gidiana 0:0da0fd430e20 14
gidiana 0:0da0fd430e20 15 CAN can1(can1rxPins[0], can1txPins[0]);
gidiana 0:0da0fd430e20 16 CAN can(can2rxPins[0], can2txPins[0]);
gidiana 0:0da0fd430e20 17
gidiana 0:0da0fd430e20 18 //UART1, Tx, Rx (Debug)
gidiana 0:0da0fd430e20 19 DigitalOut led1(LED1);
gidiana 0:0da0fd430e20 20
gidiana 0:0da0fd430e20 21
gidiana 0:0da0fd430e20 22 Thread sendThread(osPriorityAboveNormal, 2048);
gidiana 0:0da0fd430e20 23 Thread canrx;
gidiana 0:0da0fd430e20 24 CANMessage messageIn;
gidiana 0:0da0fd430e20 25 CANMessage messageOut;
gidiana 0:0da0fd430e20 26
DunkelAmber 1:9ecda2b969c2 27 uint64_t cantoi(CANMessage message) {
DunkelAmber 1:9ecda2b969c2 28 int data=0;
DunkelAmber 1:9ecda2b969c2 29 for(int i=message.len-1, k=0; i>=0; i--, k++) {
DunkelAmber 1:9ecda2b969c2 30 data += message.data[i] << (8*k);
DunkelAmber 1:9ecda2b969c2 31 }
DunkelAmber 1:9ecda2b969c2 32 return data;
DunkelAmber 1:9ecda2b969c2 33 //pose = message.data[0] + (message.data[1] << 8) + (message.data[2] << 16) + (message.data[3] << 24);
DunkelAmber 1:9ecda2b969c2 34 }
DunkelAmber 1:9ecda2b969c2 35
DunkelAmber 1:9ecda2b969c2 36 void itocan(uint64_t data, CANMessage& message) {
DunkelAmber 1:9ecda2b969c2 37
DunkelAmber 1:9ecda2b969c2 38 for(int i=message.len-1; i>=0; i--) {
DunkelAmber 1:9ecda2b969c2 39 //printf("dataconv:\t% 12llu\n\r", data);
DunkelAmber 1:9ecda2b969c2 40 message.data[i] = data & 0x00000000000000ff;
DunkelAmber 1:9ecda2b969c2 41 data = data>>8;
DunkelAmber 1:9ecda2b969c2 42 }
DunkelAmber 1:9ecda2b969c2 43 }
DunkelAmber 1:9ecda2b969c2 44
gidiana 0:0da0fd430e20 45 void canRxIsr()
gidiana 0:0da0fd430e20 46 {
DunkelAmber 1:9ecda2b969c2 47 while(1) {
DunkelAmber 1:9ecda2b969c2 48 if(can.read(messageIn)) {
DunkelAmber 1:9ecda2b969c2 49 led1 = !led1;
DunkelAmber 1:9ecda2b969c2 50 printf("received from %lu\t%llu\n\r", messageIn.id, cantoi(messageIn));
DunkelAmber 1:9ecda2b969c2 51 }
gidiana 0:0da0fd430e20 52 }
DunkelAmber 1:9ecda2b969c2 53 }
DunkelAmber 1:9ecda2b969c2 54
DunkelAmber 1:9ecda2b969c2 55 //pose = messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24);
DunkelAmber 1:9ecda2b969c2 56
gidiana 0:0da0fd430e20 57 void sendMessage()
gidiana 0:0da0fd430e20 58 {
gidiana 0:0da0fd430e20 59 int status = can.write(messageOut);
DunkelAmber 1:9ecda2b969c2 60 printf("Send status: %d\r\n", status);
gidiana 0:0da0fd430e20 61 }
gidiana 0:0da0fd430e20 62
gidiana 0:0da0fd430e20 63 void sendMessageLoop()
gidiana 0:0da0fd430e20 64 {
DunkelAmber 1:9ecda2b969c2 65 while (true) {
DunkelAmber 1:9ecda2b969c2 66 counter += 1;
DunkelAmber 1:9ecda2b969c2 67
DunkelAmber 1:9ecda2b969c2 68 messageOut.id = 1000;
DunkelAmber 1:9ecda2b969c2 69 messageOut.format = CANStandard;
DunkelAmber 1:9ecda2b969c2 70 messageOut.data[0]=25;
DunkelAmber 1:9ecda2b969c2 71 messageOut.len = 8;
DunkelAmber 1:9ecda2b969c2 72
DunkelAmber 1:9ecda2b969c2 73 itocan(counter, messageOut);
DunkelAmber 1:9ecda2b969c2 74 printf("sending couter: %llu\t| CAN data: %llu\n\r", counter, cantoi(messageOut));
gidiana 0:0da0fd430e20 75 sendMessage();
gidiana 0:0da0fd430e20 76 osDelay(1000);
gidiana 0:0da0fd430e20 77 }
gidiana 0:0da0fd430e20 78 }
gidiana 0:0da0fd430e20 79
gidiana 0:0da0fd430e20 80 int main()
gidiana 0:0da0fd430e20 81 {
gidiana 0:0da0fd430e20 82
gidiana 0:0da0fd430e20 83 printf("CAN receive / transmit test.\r\n");
DunkelAmber 1:9ecda2b969c2 84 can.frequency(500000);
gidiana 0:0da0fd430e20 85
DunkelAmber 1:9ecda2b969c2 86 messageOut.id = 1000;
DunkelAmber 1:9ecda2b969c2 87 messageOut.format = CANStandard;
DunkelAmber 1:9ecda2b969c2 88 messageOut.data[0]=24;
DunkelAmber 1:9ecda2b969c2 89 messageOut.len = 8;
gidiana 0:0da0fd430e20 90
gidiana 0:0da0fd430e20 91 canrx.start(canRxIsr);
gidiana 0:0da0fd430e20 92 printf("CAN receive / .\r\n");
gidiana 0:0da0fd430e20 93 sendThread.start(&sendMessageLoop);
gidiana 0:0da0fd430e20 94 printf("CAN \r\n");
gidiana 0:0da0fd430e20 95
gidiana 0:0da0fd430e20 96 while (true)
gidiana 0:0da0fd430e20 97 {
gidiana 0:0da0fd430e20 98
gidiana 0:0da0fd430e20 99 led1 = 0;
gidiana 0:0da0fd430e20 100 osDelay(1000);
gidiana 0:0da0fd430e20 101 }
gidiana 0:0da0fd430e20 102 }