Jan Kamidra / Mbed OS CAN_queue_test

Some test about how work with Queue. The target is send repeated messages via CAN-BUS for simulate a basic car communication for testing secondary ECUs

main.cpp@0:d3a56afeb685, 2019-06-08 (annotated)

Committer:
JohnnyK
Date:
Sat Jun 08 12:36:35 2019 +0000
Revision:
0:d3a56afeb685
First working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JohnnyK 0:d3a56afeb685 1 #include "mbed.h"
JohnnyK 0:d3a56afeb685 2 #define MAX 3//number of dummy messages
JohnnyK 0:d3a56afeb685 3
JohnnyK 0:d3a56afeb685 4 struct RepMsg { //Repeating message
JohnnyK 0:d3a56afeb685 5 CANMessage canmsg;
JohnnyK 0:d3a56afeb685 6 int repeatTime; //ms
JohnnyK 0:d3a56afeb685 7 };
JohnnyK 0:d3a56afeb685 8 RepMsg *tempRepMsg[MAX];
JohnnyK 0:d3a56afeb685 9
JohnnyK 0:d3a56afeb685 10 Thread thread;
JohnnyK 0:d3a56afeb685 11 EventQueue e_queue;
JohnnyK 0:d3a56afeb685 12 Queue<RepMsg, MAX * 5> queue;
JohnnyK 0:d3a56afeb685 13 DigitalOut myled1(LED1);
JohnnyK 0:d3a56afeb685 14 DigitalOut myled2(LED2);
JohnnyK 0:d3a56afeb685 15 Serial pc(USBTX, USBRX);
JohnnyK 0:d3a56afeb685 16 CAN can2(PB_8, PB_9);
JohnnyK 0:d3a56afeb685 17 CAN can1(PB_12, PB_13);
JohnnyK 0:d3a56afeb685 18
JohnnyK 0:d3a56afeb685 19 void dumy_msg (void) { //make some dummy messages
JohnnyK 0:d3a56afeb685 20 for(int i = 0; i < MAX; i++){
JohnnyK 0:d3a56afeb685 21 tempRepMsg[i] = new RepMsg;
JohnnyK 0:d3a56afeb685 22 char id_temp = 0x00 + i;
JohnnyK 0:d3a56afeb685 23 pc.printf("Msg ID 0x%02x data: ",id_temp);
JohnnyK 0:d3a56afeb685 24 tempRepMsg[i]->canmsg.id = id_temp;
JohnnyK 0:d3a56afeb685 25 tempRepMsg[i]->canmsg.len = 8;
JohnnyK 0:d3a56afeb685 26 tempRepMsg[i]->repeatTime = (i + 1) * 250; //ms
JohnnyK 0:d3a56afeb685 27
JohnnyK 0:d3a56afeb685 28 for(int y = 0; y < 8; y++){
JohnnyK 0:d3a56afeb685 29 char temp = (0x08 + i) * (y + 1) - y;
JohnnyK 0:d3a56afeb685 30 tempRepMsg[i]->canmsg.data[y] = temp;
JohnnyK 0:d3a56afeb685 31 pc.printf(" 0x%02x",temp);
JohnnyK 0:d3a56afeb685 32 }
JohnnyK 0:d3a56afeb685 33 pc.printf("\n");
JohnnyK 0:d3a56afeb685 34 }
JohnnyK 0:d3a56afeb685 35 }
JohnnyK 0:d3a56afeb685 36
JohnnyK 0:d3a56afeb685 37 void put_into_ (RepMsg *msg) {
JohnnyK 0:d3a56afeb685 38 queue.put(msg);
JohnnyK 0:d3a56afeb685 39 }
JohnnyK 0:d3a56afeb685 40
JohnnyK 0:d3a56afeb685 41 int main (void) {
JohnnyK 0:d3a56afeb685 42 pc.baud(115200);
JohnnyK 0:d3a56afeb685 43 pc.printf("Starts example\n");
JohnnyK 0:d3a56afeb685 44 dumy_msg();
JohnnyK 0:d3a56afeb685 45 wait(1);
JohnnyK 0:d3a56afeb685 46 thread.start(callback(&e_queue, &EventQueue::dispatch_forever));
JohnnyK 0:d3a56afeb685 47 for(int i = 0; i < MAX; i++){ //it will make queue.call_every for all dummy messages
JohnnyK 0:d3a56afeb685 48 e_queue.call_every(tempRepMsg[i]->repeatTime,put_into_, tempRepMsg[i]);
JohnnyK 0:d3a56afeb685 49 }
JohnnyK 0:d3a56afeb685 50 CANMessage msg;
JohnnyK 0:d3a56afeb685 51 while(1) {
JohnnyK 0:d3a56afeb685 52 if (queue.empty() == false) {
JohnnyK 0:d3a56afeb685 53 osEvent evt = queue.get();
JohnnyK 0:d3a56afeb685 54 if (evt.status == osEventMessage) {
JohnnyK 0:d3a56afeb685 55 RepMsg *message = (RepMsg*)evt.value.p;
JohnnyK 0:d3a56afeb685 56 CANMessage w_msg = message->canmsg;
JohnnyK 0:d3a56afeb685 57 can1.write(w_msg);
JohnnyK 0:d3a56afeb685 58 myled1 = !myled1;
JohnnyK 0:d3a56afeb685 59 }
JohnnyK 0:d3a56afeb685 60 }
JohnnyK 0:d3a56afeb685 61
JohnnyK 0:d3a56afeb685 62 if(can2.read(msg)) {
JohnnyK 0:d3a56afeb685 63 pc.printf("ID: %9x Len: %d Data: %2x %2x %2x %2x %2x %2x %2x %2x\n", msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4], msg.data[5], msg.data[6], msg.data[07]);
JohnnyK 0:d3a56afeb685 64 myled2 = !myled2;
JohnnyK 0:d3a56afeb685 65 }
JohnnyK 0:d3a56afeb685 66 }
JohnnyK 0:d3a56afeb685 67 }