Matthew Marino / Mbed OS MBED_CAN_Telemetry

telemetry node

main.cpp@1:69a8c8a7cf1d, 2019-04-01 (annotated)

Committer:
LukeMar
Date:
Mon Apr 01 04:24:18 2019 +0000
Revision:
1:69a8c8a7cf1d
Parent:
0:8128714922a1 
4/1/19

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LukeMar 0:8128714922a1 1 // Program to test the CAN bus using pins 29 and 30 on the mbed connected
LukeMar 0:8128714922a1 2 // to an MCP2551 CAN transceiver bus IC
LukeMar 0:8128714922a1 3 // Note that this program will only continue to transmit while the TX message is <= 8 bytes long
LukeMar 0:8128714922a1 4
LukeMar 0:8128714922a1 5 #include "mbed.h"
LukeMar 0:8128714922a1 6
LukeMar 0:8128714922a1 7 #define RUDDER_ID 1 //Address of this CAN device
LukeMar 0:8128714922a1 8 #define BNO_ID 2 //Address of Control CAN device
LukeMar 1:69a8c8a7cf1d 9 #define TELE_ID 3
LukeMar 1:69a8c8a7cf1d 10 #define RC_ID 4
LukeMar 0:8128714922a1 11
LukeMar 0:8128714922a1 12 Serial pc(USBTX, USBRX); //tx, and rx for tera term
LukeMar 0:8128714922a1 13 DigitalOut led1(LED1); //heartbeat
LukeMar 0:8128714922a1 14 DigitalOut led2(LED2); //CAN read activity
LukeMar 0:8128714922a1 15 DigitalOut led3(LED3); //CAN write activity
LukeMar 1:69a8c8a7cf1d 16 DigitalOut led4(LED4);
LukeMar 0:8128714922a1 17 CAN can(p30,p29); //CAN interface
LukeMar 0:8128714922a1 18
LukeMar 0:8128714922a1 19
LukeMar 0:8128714922a1 20 Ticker pulse;
LukeMar 0:8128714922a1 21
LukeMar 0:8128714922a1 22 float BNOangle;
LukeMar 0:8128714922a1 23 float RC_out;
LukeMar 0:8128714922a1 24 char datastr[20];
LukeMar 0:8128714922a1 25 CANMessage msg_read;
LukeMar 1:69a8c8a7cf1d 26 float ff = 1.0;
LukeMar 0:8128714922a1 27
LukeMar 1:69a8c8a7cf1d 28 float data; //telemetry data transmition
LukeMar 0:8128714922a1 29
LukeMar 1:69a8c8a7cf1d 30 float CanValue()
LukeMar 1:69a8c8a7cf1d 31 {
LukeMar 1:69a8c8a7cf1d 32 strcpy(datastr, (char*)msg_read.data+1);
LukeMar 1:69a8c8a7cf1d 33 float value = strtod(datastr,NULL);
LukeMar 1:69a8c8a7cf1d 34 return value;
LukeMar 0:8128714922a1 35 }
LukeMar 0:8128714922a1 36
LukeMar 1:69a8c8a7cf1d 37 //void alive(void)
LukeMar 1:69a8c8a7cf1d 38 //{
LukeMar 1:69a8c8a7cf1d 39 // led1 = !led1;
LukeMar 1:69a8c8a7cf1d 40 // if(led1)
LukeMar 1:69a8c8a7cf1d 41 // pulse.attach(&alive, .2); // the address of the function to be attached (flip) and the interval (2 seconds)
LukeMar 1:69a8c8a7cf1d 42 // else
LukeMar 1:69a8c8a7cf1d 43 // pulse.attach(&alive, 1.3); // the address of the function to be attached (flip) and the interval (2 seconds)
LukeMar 1:69a8c8a7cf1d 44 //}
LukeMar 1:69a8c8a7cf1d 45 void Time_Read();
LukeMar 1:69a8c8a7cf1d 46 void Lat_Read();
LukeMar 1:69a8c8a7cf1d 47 void Long_Read();
LukeMar 1:69a8c8a7cf1d 48 void Bno_Read();
LukeMar 1:69a8c8a7cf1d 49 void Rudder_Read();
LukeMar 1:69a8c8a7cf1d 50 void Mast_Read();
LukeMar 1:69a8c8a7cf1d 51
LukeMar 1:69a8c8a7cf1d 52
LukeMar 1:69a8c8a7cf1d 53 int main()
LukeMar 1:69a8c8a7cf1d 54 {
LukeMar 1:69a8c8a7cf1d 55
LukeMar 1:69a8c8a7cf1d 56 Thread::wait(200);
LukeMar 1:69a8c8a7cf1d 57
LukeMar 1:69a8c8a7cf1d 58 // pulse.attach(&alive, 2.0); // the address of the function to be attached (alive) and the interval (2 seconds)
LukeMar 1:69a8c8a7cf1d 59 can.frequency(500000);
LukeMar 1:69a8c8a7cf1d 60 pc.baud(115200);
LukeMar 1:69a8c8a7cf1d 61
LukeMar 1:69a8c8a7cf1d 62 pc.printf("%s\r\n", __FILE__);
LukeMar 1:69a8c8a7cf1d 63
LukeMar 1:69a8c8a7cf1d 64 while(1) {
LukeMar 1:69a8c8a7cf1d 65 //while(msg_read.data[0] != 'm' || msg_read.data[0] != 'M') {Thread::wait(ff);}
LukeMar 1:69a8c8a7cf1d 66 //Time_Read();
LukeMar 1:69a8c8a7cf1d 67
LukeMar 1:69a8c8a7cf1d 68 //while(msg_read.data[0] != 'm' || msg_read.data[0] != 'M') {Thread::wait(ff);}
LukeMar 1:69a8c8a7cf1d 69 //Lat_Read();
LukeMar 1:69a8c8a7cf1d 70
LukeMar 1:69a8c8a7cf1d 71 //while(msg_read.data[0] != 'm' || msg_read.data[0] != 'M') {Thread::wait(ff);}
LukeMar 1:69a8c8a7cf1d 72 //Long_Read();
LukeMar 0:8128714922a1 73
LukeMar 1:69a8c8a7cf1d 74 //while(msg_read.data[0] != 'b' || msg_read.data[0] != 'B') {Thread::wait(ff);}
LukeMar 1:69a8c8a7cf1d 75 Bno_Read();
LukeMar 1:69a8c8a7cf1d 76
LukeMar 1:69a8c8a7cf1d 77 //while(msg_read.data[0] != 'r' || msg_read.data[0] != 'R') {Thread::wait(ff);}
LukeMar 1:69a8c8a7cf1d 78 Rudder_Read();
LukeMar 1:69a8c8a7cf1d 79
LukeMar 1:69a8c8a7cf1d 80 //while(msg_read.data[0] != 'm' || msg_read.data[0] != 'M') {Thread::wait(ff);}
LukeMar 1:69a8c8a7cf1d 81 Mast_Read();
LukeMar 1:69a8c8a7cf1d 82
LukeMar 1:69a8c8a7cf1d 83 }
LukeMar 1:69a8c8a7cf1d 84
LukeMar 1:69a8c8a7cf1d 85
LukeMar 1:69a8c8a7cf1d 86 }//main
LukeMar 1:69a8c8a7cf1d 87
LukeMar 1:69a8c8a7cf1d 88
LukeMar 1:69a8c8a7cf1d 89 void Bno_Read()
LukeMar 1:69a8c8a7cf1d 90 {
LukeMar 1:69a8c8a7cf1d 91
LukeMar 1:69a8c8a7cf1d 92 while(can.read(msg_read)) { //if message is available, read into msg
LukeMar 1:69a8c8a7cf1d 93
LukeMar 1:69a8c8a7cf1d 94 if(msg_read.id == BNO_ID) { //if its the BNO ID
LukeMar 1:69a8c8a7cf1d 95
LukeMar 1:69a8c8a7cf1d 96 if(msg_read.data[0] == 'b' || msg_read.data[0] == 'B') {
LukeMar 1:69a8c8a7cf1d 97
LukeMar 1:69a8c8a7cf1d 98 led1 = !led1;
LukeMar 1:69a8c8a7cf1d 99 BNOangle = CanValue();
LukeMar 1:69a8c8a7cf1d 100 //data = BNOangle; //a similar form of the code everywhere
LukeMar 1:69a8c8a7cf1d 101 //myFloat.m_float = data;
LukeMar 1:69a8c8a7cf1d 102 //data = myFloat.m_float; // get the float back from the union
LukeMar 1:69a8c8a7cf1d 103 pc.printf("BNO: %.1f", BNOangle); //data);
LukeMar 1:69a8c8a7cf1d 104
LukeMar 1:69a8c8a7cf1d 105 }//if the first letter was an 's', it is a servo command
LukeMar 1:69a8c8a7cf1d 106 } //was the message to this device?
LukeMar 1:69a8c8a7cf1d 107
LukeMar 1:69a8c8a7cf1d 108 }//while a CAN message has been read
LukeMar 1:69a8c8a7cf1d 109 //return datastr;
LukeMar 0:8128714922a1 110
LukeMar 0:8128714922a1 111 }
LukeMar 0:8128714922a1 112
LukeMar 1:69a8c8a7cf1d 113 void Lat_Read()
LukeMar 1:69a8c8a7cf1d 114 {
LukeMar 1:69a8c8a7cf1d 115
LukeMar 1:69a8c8a7cf1d 116 while(can.read(msg_read)) { //if message is available, read into msg
LukeMar 1:69a8c8a7cf1d 117
LukeMar 1:69a8c8a7cf1d 118 if(msg_read.id == BNO_ID) { //if its the BNO ID
LukeMar 1:69a8c8a7cf1d 119
LukeMar 1:69a8c8a7cf1d 120 if(msg_read.data[0] == 'L' || msg_read.data[0] == 'l') {
LukeMar 1:69a8c8a7cf1d 121
LukeMar 1:69a8c8a7cf1d 122 //led2 = !led2;
LukeMar 1:69a8c8a7cf1d 123 BNOangle = CanValue();
LukeMar 1:69a8c8a7cf1d 124 //data = BNOangle; //a similar form of the code everywhere
LukeMar 1:69a8c8a7cf1d 125 //myFloat.m_float = data;
LukeMar 1:69a8c8a7cf1d 126 //data = myFloat.m_float; // get the float back from the union
LukeMar 1:69a8c8a7cf1d 127 pc.printf("Lat: %.1f", BNOangle); //data);
LukeMar 1:69a8c8a7cf1d 128 //Thread::wait(ff);
LukeMar 1:69a8c8a7cf1d 129 }//if the first letter was an 's', it is a servo command
LukeMar 1:69a8c8a7cf1d 130 } //was the message to this device?
LukeMar 1:69a8c8a7cf1d 131 }//while a CAN message has been read
LukeMar 1:69a8c8a7cf1d 132 //return datastr;
LukeMar 1:69a8c8a7cf1d 133
LukeMar 1:69a8c8a7cf1d 134 }
LukeMar 1:69a8c8a7cf1d 135
LukeMar 1:69a8c8a7cf1d 136 void Long_Read()
LukeMar 1:69a8c8a7cf1d 137 {
LukeMar 1:69a8c8a7cf1d 138
LukeMar 1:69a8c8a7cf1d 139 while(can.read(msg_read)) { //if message is available, read into msg
LukeMar 1:69a8c8a7cf1d 140
LukeMar 1:69a8c8a7cf1d 141 //if(msg_read.id == BNO_ID) { //if its the BNO ID
LukeMar 1:69a8c8a7cf1d 142
LukeMar 1:69a8c8a7cf1d 143 if(msg_read.data[0] == 'O' || msg_read.data[0] == 'o') {
LukeMar 1:69a8c8a7cf1d 144
LukeMar 1:69a8c8a7cf1d 145 //led2 = !led2;
LukeMar 1:69a8c8a7cf1d 146 BNOangle = CanValue();
LukeMar 1:69a8c8a7cf1d 147 //data = BNOangle; //a similar form of the code everywhere
LukeMar 1:69a8c8a7cf1d 148 //myFloat.m_float = data;
LukeMar 1:69a8c8a7cf1d 149 //data = myFloat.m_float; // get the float back from the union
LukeMar 1:69a8c8a7cf1d 150 pc.printf("Long: %.1f", BNOangle); //data);
LukeMar 1:69a8c8a7cf1d 151 //Thread::wait(ff);
LukeMar 1:69a8c8a7cf1d 152 }//if the first letter was an 's', it is a servo command
LukeMar 1:69a8c8a7cf1d 153 //} //was the message to this device?
LukeMar 1:69a8c8a7cf1d 154 }//while a CAN message has been read
LukeMar 1:69a8c8a7cf1d 155 //return datastr;
LukeMar 1:69a8c8a7cf1d 156
LukeMar 1:69a8c8a7cf1d 157 }
LukeMar 1:69a8c8a7cf1d 158
LukeMar 1:69a8c8a7cf1d 159 void Time_Read()
LukeMar 1:69a8c8a7cf1d 160 {
LukeMar 1:69a8c8a7cf1d 161 float time;
LukeMar 1:69a8c8a7cf1d 162 while(can.read(msg_read)) { //if message is available, read into msg
LukeMar 1:69a8c8a7cf1d 163
LukeMar 1:69a8c8a7cf1d 164 //if(msg_read.id == BNO_ID) { //if its the BNO ID
LukeMar 1:69a8c8a7cf1d 165
LukeMar 1:69a8c8a7cf1d 166 if(msg_read.data[0] == 't' || msg_read.data[0] == 'T') {
LukeMar 1:69a8c8a7cf1d 167
LukeMar 1:69a8c8a7cf1d 168 led2 = !led2;
LukeMar 1:69a8c8a7cf1d 169 time = CanValue();
LukeMar 1:69a8c8a7cf1d 170 //data = BNOangle; //a similar form of the code everywhere
LukeMar 1:69a8c8a7cf1d 171 //myFloat.m_float = data;
LukeMar 1:69a8c8a7cf1d 172 //data = myFloat.m_float; // get the float back from the union
LukeMar 1:69a8c8a7cf1d 173 pc.printf("Time: %.1f", time); //data);
LukeMar 1:69a8c8a7cf1d 174 //Thread::wait(ff);
LukeMar 1:69a8c8a7cf1d 175 }//if the first letter was an 's', it is a servo command
LukeMar 1:69a8c8a7cf1d 176 // } //was the message to this device?
LukeMar 1:69a8c8a7cf1d 177 }//while a CAN message has been read
LukeMar 1:69a8c8a7cf1d 178 //return datastr;
LukeMar 1:69a8c8a7cf1d 179
LukeMar 1:69a8c8a7cf1d 180 }
LukeMar 1:69a8c8a7cf1d 181
LukeMar 1:69a8c8a7cf1d 182 void Rudder_Read()
LukeMar 1:69a8c8a7cf1d 183 {
LukeMar 1:69a8c8a7cf1d 184
LukeMar 1:69a8c8a7cf1d 185 while(can.read(msg_read)) { //if message is available, read into msg
LukeMar 1:69a8c8a7cf1d 186 //if(msg_read.id == RC_ID) { //if its the BNO ID
LukeMar 1:69a8c8a7cf1d 187 if(msg_read.data[0] == 'r' || msg_read.data[0] == 'R') {
LukeMar 1:69a8c8a7cf1d 188 led3 = !led3;
LukeMar 1:69a8c8a7cf1d 189 RC_out = CanValue(); //I know this is redundant but i use
LukeMar 1:69a8c8a7cf1d 190 //data = RC_out; //a similar form of the code everywhere
LukeMar 1:69a8c8a7cf1d 191 //myFloat.m_float = data;
LukeMar 1:69a8c8a7cf1d 192 //data = myFloat.m_float; // get the float back from the union
LukeMar 1:69a8c8a7cf1d 193 pc.printf("Rudder: %.1f", RC_out); //data);
LukeMar 1:69a8c8a7cf1d 194 //Thread::wait(ff);
LukeMar 1:69a8c8a7cf1d 195 }//if the first letter was an 's', it is a servo command
LukeMar 1:69a8c8a7cf1d 196 // } //was the message to this device?
LukeMar 1:69a8c8a7cf1d 197 }//while a CAN message has been read
LukeMar 1:69a8c8a7cf1d 198 //return datastr;
LukeMar 1:69a8c8a7cf1d 199
LukeMar 1:69a8c8a7cf1d 200 }
LukeMar 1:69a8c8a7cf1d 201
LukeMar 1:69a8c8a7cf1d 202 void Mast_Read()
LukeMar 1:69a8c8a7cf1d 203 {
LukeMar 1:69a8c8a7cf1d 204
LukeMar 1:69a8c8a7cf1d 205 while(can.read(msg_read)) { //if message is available, read into msg
LukeMar 1:69a8c8a7cf1d 206 // if(msg_read.id == RC_ID) { //if its the BNO ID
LukeMar 1:69a8c8a7cf1d 207 if(msg_read.data[0] == 'm' || msg_read.data[0] == 'M') {
LukeMar 1:69a8c8a7cf1d 208 led4 = !led4;
LukeMar 1:69a8c8a7cf1d 209 RC_out = CanValue(); //I know this is redundant but i use
LukeMar 1:69a8c8a7cf1d 210 //data = RC_out; //a similar form of the code everywhere
LukeMar 1:69a8c8a7cf1d 211 //myFloat.m_float = data;
LukeMar 1:69a8c8a7cf1d 212 //data = myFloat.m_float; // get the float back from the union
LukeMar 1:69a8c8a7cf1d 213 pc.printf("Mast: %.1f\n", RC_out); //data);
LukeMar 1:69a8c8a7cf1d 214 //Thread::wait(ff);
LukeMar 1:69a8c8a7cf1d 215 }//if the first letter was an 's', it is a servo command
LukeMar 1:69a8c8a7cf1d 216 //} //was the message to this device?
LukeMar 1:69a8c8a7cf1d 217 }//while a CAN message has been read
LukeMar 1:69a8c8a7cf1d 218 //return datastr;
LukeMar 1:69a8c8a7cf1d 219
LukeMar 1:69a8c8a7cf1d 220 }