Sophie Dexter / Mbed 2 deprecated Seeed_CAN_Hello_World

This 'Hello World' program uses many of the SEEED_CAN library functions to display the VIN number stored in a GMLAN ECU then display all CAN messages on the CAN-BUS.

Dependencies:   SEEED_CAN mbed

Fork of Seeed_CAN_Hello_World by Sophie Dexter

Files at this revision

API Documentation at this revision

Revision 2:7e78ba1e5921, committed 2013-11-12

Comitter:
Just4pLeisure
Date:
Tue Nov 12 21:06:15 2013 +0000
Parent:
1:d31ce42d53a1
Commit message:
Updated 12-11-2013 to make use of newly working interrupt 'attach' functions/methods

Changed in this revision

SEEED_CAN.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r d31ce42d53a1 -r 7e78ba1e5921 SEEED_CAN.lib
--- a/SEEED_CAN.lib	Wed Nov 06 20:24:49 2013 +0000
+++ b/SEEED_CAN.lib	Tue Nov 12 21:06:15 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/Just4pLeisure/code/SEEED_CAN/#ad71faa09868
+http://mbed.org/users/Just4pLeisure/code/SEEED_CAN/#fd026fcfde94

diff -r d31ce42d53a1 -r 7e78ba1e5921 main.cpp
--- a/main.cpp	Wed Nov 06 20:24:49 2013 +0000
+++ b/main.cpp	Tue Nov 12 21:06:15 2013 +0000
@@ -1,17 +1,38 @@
 #include "mbed.h"
 #include "seeed_can.h"
 
-SEEED_CAN CAN;                                                          // No parameters needed when Seeed Studios' CAN-BUS Shield is plugged into a FRDM-KL25Z mbed
+SEEED_CAN can;                                                          // No parameters needed when Seeed Studios' CAN-BUS Shield is plugged into a FRDM-KL25Z mbed
+                                                                        // or an LPC1768b and using pins p9, p10, p11, p12 and p13.
 Serial pc(USBTX, USBRX);                                                // USB serial port TTYACM0 (or COMn in a Windows environment - use device manager to find 'n')
 
 Ticker minute;
 Timer timestamp;
 
-void resetTimestamp()
+bool msgRxFlag = 0;
+
+void canInterrupt()
+{
+    can.attach(NULL);                                                   // Disable the interrupt - the application must re-anable the interrupt after it has acted upon it
+    msgRxFlag = 1;                                                      // Set a 'Flag' to say that there is an interrupt that needs to be processed
+}
+
+void resetTimestamp()                                                   // Resets the 'timestamp' Timer (attached to the 'minute' Ticker)
 {
     timestamp.reset();
 }
 
+void displayMessage()                                                   // Display a CAN message if there is one in a receive buffer
+{
+    SEEED_CANMessage canMsg;
+
+    if (can.read(canMsg)) {
+        printf("*** T%05dI%03xL%dD", timestamp.read_ms(), canMsg.id, canMsg.len);   // Show a Timestamp in ms, message Id and message Length
+        for (uint32_t i = 0; i < canMsg.len; i++)
+            printf("%02x", canMsg.data[i]);                             // Show the message's data bytes in Hex representation
+        printf(" ***\r");
+    }
+}
+
 int main()
 {
     SEEED_CANMessage canMsg;
@@ -22,36 +43,37 @@
     printf("Seeed Studios CAN-BUS Shield 'Hello World' program :-)\r\n");
     timestamp.start();
     minute.attach(&resetTimestamp, 60.0);                               // Reset the 'Timestamp' timer every minute
-    CAN.open(500000);                                                   // Initialise Seeed Studios' CAN-BUS shield with a baudrate of 500 kbps (P-bus)
-    CAN.mask(0, 0x7FF);                                                 // Configure Mask 0 to check all bits of a Standard CAN message Id
-    CAN.mask(1, 0x7FF, CANStandard);                                    // Configure Mask 1 to check all bits of a Standard CAN message Id
-    CAN.filter(0, 0x7E8);                                               // Configure Filter 0 - 0x7E8 is the id used by ECUs on GMLAN
-    while (CAN.read(canMsg));                                           // Empty any unfiltered messages in the receive buffers
+    can.open(500000, SEEED_CAN::Config);                                // Initialise Seeed Studios' CAN-BUS shield with a baudrate of 500 kbps (P-bus)
+    can.mask(0, 0x7FF);                                                 // Configure Mask 0 to check all bits of a Standard CAN message Id
+    can.mask(1, 0x7FF, CANStandard);                                    // Configure Mask 1 to check all bits of a Standard CAN message Id
+    can.filter(0, 0x7E8);                                               // Configure Filter 0 - 0x7E8 is the id used by ECUs on GMLAN
 // Read and Display the VIN code stored in a GMLAN ECU
-// 
+//
 // ***!!! NOTE: Using while(...) as I am here is not a good idea because  !!!***
 // ***!!! this 'Hello World' will get stuck if the message never arrives  !!!***
 // ***!!! I should really perform checking and include a timeout.         !!!***
 // ***!!! It's sort of OK for a quick demo (Just don't show Nigel Jones)  !!!***
-// 
-    CAN.write(SEEED_CANMessage(0x7E0, reqvin));                         // Request VIN using ReadDataByIdentifier method (GMLAN_DID)
-    while (!(CAN.read(canMsg) && (canMsg.id == 0x7E8)));                // Wait for the response
+//
+    can.write(SEEED_CANMessage(0x7E0, reqvin));                         // Request VIN using ReadDataByIdentifier method (GMLAN_DID)
+    while (!(can.read(canMsg) && (canMsg.id == 0x7E8)));                // Wait for the response
     memcpy(VIN+0, canMsg.data+4, 4);                                    // 1st 4 Bytes are part of message protocol, last 4 bytes are 1st 4 characters of VIN
-    CAN.write(SEEED_CANMessage(0x7E0, floctl));                         // Send Trionic8 a "Flow Control Message to get the rest of the VIN
-    while (!(CAN.read(canMsg) && (canMsg.id == 0x7E8)));                // Wait for the 1st continuation message
+    can.write(SEEED_CANMessage(0x7E0, floctl));                         // Send Trionic8 a "Flow Control Message to get the rest of the VIN
+    while (!(can.read(canMsg) && (canMsg.id == 0x7E8)));                // Wait for the 1st continuation message
     memcpy(VIN+4, canMsg.data+1, 7);                                    // 1st Byte is message continuation sequence number, last 7 bytes are next 7 characters of VIN
-    while (!(CAN.read(canMsg) && (canMsg.id == 0x7E8)));                // Wait for the last message
+    while (!(can.read(canMsg) && (canMsg.id == 0x7E8)));                // Wait for the last message
     memcpy(VIN+11, canMsg.data+1, 6);                                   // 1st Byte is message continuation sequence number, last 6 bytes are remaining characters of VIN
     printf("VIN code: %s\r\n",VIN);
 // Display all messages on the CAN-BUS
-    CAN.monitor(1);                                                     // Select Moniter mode to listen only (do not ack messages on the CAN bus)
-    CAN.mask(0, NULL);                                                  // Clear acceptance mask 0 (i.e. accept all meassages)
+    can.monitor(1);                                                     // Select Moniter mode to listen only (do not ack messages on the CAN bus)
+    can.mask(0, NULL);                                                  // Clear acceptance mask 0 (i.e. accept all meassages)
+    can.attach(&canInterrupt, SEEED_CAN::RxAny);
     while (1) {
-        if (CAN.read(canMsg)) {
-            printf("*** T%05dI%03xL%dD", timestamp.read_ms(), canMsg.id, canMsg.len);
-            for (uint32_t i=0; i<canMsg.len; i++)
-                printf("%02x", canMsg.data[i]);
-            printf(" ***\r");
+        if (msgRxFlag) {
+            displayMessage();
+            if (can.interrupts(SEEED_CAN::RxAny)) {
+                msgRxFlag = 0;
+                can.attach(&canInterrupt, SEEED_CAN::RxAny);
+            }
         }
     }
 }