Diff: main.cpp

Revision:

0:8128714922a1

Child:

1:69a8c8a7cf1d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Mar 17 01:01:21 2019 +0000
@@ -0,0 +1,87 @@
+// 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"
+
+#define RUDDER_ID     1   //Address of this CAN device
+#define BNO_ID     2  //Address of Control 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
+
+CAN can(p30,p29);      //CAN interface
+
+
+Ticker pulse;
+
+float BNOangle;
+float RC_out;
+char datastr[20];
+CANMessage msg_read;
+
+float CanValue(){ 
+    strcpy(datastr, (char*)msg_read.data+1); 
+    float value = strtod(datastr,NULL);
+    return value;      
+}
+
+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_Read(){
+        
+        while(can.read(msg_read)){ //if message is available, read into msg
+            if(msg_read.id == BNO_ID){    //if its the BNO ID           
+                if(msg_read.data[0] == 's' || msg_read.data[0] == 'S'){
+                    led2 = !led2;
+                    BNOangle = CanValue();
+                    pc.printf("BNO: %.1f\n",BNOangle);  
+                }//if the first letter was an 's', it is a servo command
+            }   //was the message to this device?
+        }//while a CAN message has been read                         
+   //return datastr;
+
+}
+void RC_Read(){
+        
+        while(can.read(msg_read)){ //if message is available, read into msg
+            if(msg_read.id == RC_ID){    //if its the BNO ID           
+                if(msg_read.data[0] == 'r' || msg_read.data[0] == 'R'){
+                    led3 = !led3;
+                    RC_out = CanValue();
+                    pc.printf("RC: %.1f\n",RC_out);  
+                }//if the first letter was an 's', it is a servo command
+            }   //was the message to this device?
+        }//while a CAN message has been read                         
+   //return datastr;
+
+}
+
+int main() {
+    
+    Thread::wait(200);
+    
+    pulse.attach(&alive, 2.0); // the address of the function to be attached (alive) and the interval (2 seconds)
+    can.frequency(500000);
+    pc.baud(115200);                
+    
+    pc.printf("%s\r\n", __FILE__);
+    
+    while(1){
+         Bno_Read();
+         RC_Read();
+        
+        }
+        
+   
+}//main
\ No newline at end of file