Diff: main.cpp

Revision:

0:b0181b1ec83e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Mar 17 00:59:10 2019 +0000
@@ -0,0 +1,83 @@
+// Program to test the CAN bus using pins 29 and 30 on the mbed connected
+// to an MCP2551 CAN transceiver bus IC
+//  Note that this program will only continue to transmit while the TX message is <= 8 bytes long
+
+#include "mbed.h"
+#include "BNO055.h"
+
+#define RUDDER_ID     1   
+#define BNO_ID     2  //Address of this CAN device
+#define TELE_ID     3 
+#define RC_ID     4 
+
+Serial pc(USBTX, USBRX);    //tx, and rx for tera term
+DigitalOut led1(LED1);      //heartbeat
+DigitalOut led2(LED2);      //CAN read activity
+DigitalOut led3(LED3);      //CAN write activity
+BNO055 bno(p9, p10);   // (SDA, SCL) or... SDA is p28, SCL is p27
+CAN can(p30,p29);      //CAN interface
+Ticker pulse;
+Timer tlog;
+int tt = 1500; //thread delay to prevent self inflicted DOS
+
+void alive(void){
+    led1 = !led1;
+    if(led1)
+        pulse.attach(&alive, .2); // the address of the function to be attached (flip) and the interval (2 seconds)     
+    else
+        pulse.attach(&alive, 1.3); // the address of the function to be attached (flip) and the interval (2 seconds)
+}
+
+void bno_init(void){    
+    if(bno.check()){
+        pc.printf("BNO055 connected\r\n");
+        bno.reset();
+        wait(.5);
+        bno.setmode(OPERATION_MODE_CONFIG);
+        bno.SetExternalCrystal(1);
+        //bno.set_orientation(1);
+        bno.setmode(OPERATION_MODE_NDOF);  //Uses magnetometer
+        //bno.setmode(OPERATION_MODE_NDOF_FMC_OFF);   //no magnetometer
+        bno.set_angle_units(RADIANS);
+    }
+    else{
+        pc.printf("BNO055 NOT connected\r\n Program Trap.");
+        while(1);
+    }    
+}
+ 
+
+int main() {
+    char msg_send[20];
+    Thread::wait(200);
+    
+    pulse.attach(&alive, 2.0); // the address of the function to be attached (alive) and the interval (2 seconds)
+    pc.baud(115200);    
+    bno_init();
+    can.frequency(500000);
+    tlog.start();
+                
+    pc.printf("%s\r\n", __FILE__);
+    
+    while(1) {
+        
+        bno.get_angles();
+        //sprintf(bnoStr, "%.2f %.2f %.2f",bno.euler.roll, bno.euler.pitch, bno.euler.yaw);
+        sprintf(msg_send, "s%.1f\r\n", bno.euler.pitch);    //format output message string
+        
+        if(strlen(msg_send) > 8){   //if the message length exceeds 8 bytes
+            sprintf(msg_send, "bError");  //re-format the string as an error
+        }
+
+        if(can.write(CANMessage(BNO_ID, msg_send, strlen(msg_send)))){                
+            pc.printf("\r\n Time: %4.3f \t Message: %s", tlog.read(), msg_send);
+            led2 = !led2;
+            //set up a random delay time of up to .79 seconds
+            //delayT = ((rand() % 7) * 31.0)  + ((rand() % 9) * .1) + runTime.sec_total;            
+        }
+        else{
+            can.reset();
+        }           
+        Thread::wait(tt);
+    }//while(1)
+}//main
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