File content as of revision 3:106ec6e30558:

//Receiver

#include "mbed.h"

#define SERIAL_BAUD 9600
#define CAN_BAUD 500000


CAN can1(PB_8,PB_9);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalIn inp(PC_13);
DigitalIn inp2(PC_2);
DigitalIn inp1(PC_3);
DigitalOut Sync(PA_4);
Serial serial1(USBTX,USBRX);
DigitalOut sync(PA_6);
InterruptIn userButton(PC_13);
Ticker aliveTicker;
Timer t;
int i,SW=0,Datarecd =0,Dataxmit=0; 
CANMessage msgOut;
void can_msgout();
void sendCanMessage(int data);
int s=0;
int flag=0;
char counter=6;

void serialOut(char *message)
{
    int i = -1;
    while (message[++i] != '\0') serial1.putc(message[i]);
}

void isrButton()
{
  /*  if(SW==0)
    {
        SW=1;
        //sync=1;
        sync=1;
        wait_ms(1);
        //sendCanMessage();
        
        }
     else
     {
         SW=0;
        //sync=0;
        sync=0;
         
         }   */
}

void alive()
{
    //ledGreen = !ledGreen;
    char *message = (char *)"Alive\r\n\0";
    serialOut(message);
}

void isrCanRx()
{
   
    /*CANMessage canMessage;
    can1.read(canMessage); //Clears interrupt flag
    Datarecd=canMessage.data[0];
    if(canMessage.id==0x10)
    {
        if(Datarecd==0x0A)
        {
            led1=1;
            }
        else
        {
            led1=0;
            }
        }
        if(canMessage.id==0x20)
    {
        if(Datarecd==0x0A)
        {
            led2=1;
            }
        else
        {
            led2=0;
            }
        }*/
    
}

void isrCanTx()
{
         /*if(SW==1 && s<100) 
                  {
         sendCanMessage();
         s++;
         }*/
        
}

void isrCanError()
{
    char *message = (char *)"CAN WERR IRQ\r\n\0";
    serialOut(message);
}

void isrCanDataOverrun()
{
    char *message = (char *)"CAN DAO IRQ\r\n\0";
    serialOut(message);
}

void isrCanWakeup()
{
    char *message = (char *)"CAN WAKEUP IRQ\r\n\0";
    serialOut(message);
}

void isrCanErrorPassive()
{
    char *message = (char *)"CAN EP IRQ\r\n\0";
    serialOut(message);
}

void isrCanArbitrationLost()
{
    char *message = (char *)"CAN ARB IRQ\r\n\0";
    serialOut(message);
}

void isrCanBusError()
{
    char *message = (char *)"CAN BUSERR IRQ\r\n\0";
    serialOut(message);
}

void isrCanReady()
{
    char *message = (char *)"CAN READY IRQ\r\n\0";
    serialOut(message);
}

void sendCanMessage(int data)
{
    int ret = 0;
    data= 0x01;
    msgOut.format = CANStandard;
    msgOut.type = CANData;
    msgOut.len = 2;
    msgOut.id = 0xffe;
    //msgOut.id = data;
    msgOut.data[0] = data;
    msgOut.data[1] = data;
    ret = can1.write(msgOut);
    serial1.printf("can.write() returned %x", data);   
}
void can_msgout()
{
msgOut.data[0] = Dataxmit;//0xA;
//sendCanMessage();
}

void setup()
{
    //Serial
    serial1.baud(SERIAL_BAUD);
    serial1.printf("START\r\n");

    //CAN
    can1.frequency(CAN_BAUD);

    //Interrupts
    //userButton.rise(&isrButton);
    //can1.attach(&isrCanRx, CAN::RxIrq);
    //can1.attach(&isrCanTx, CAN::TxIrq);
    can1.attach(&isrCanError, CAN::EwIrq);
    can1.attach(&isrCanDataOverrun, CAN::DoIrq);
    can1.attach(&isrCanWakeup, CAN::WuIrq);
  // can1.attach(&isrCanErrorPassive, CAN::EpIrq);
    can1.attach(&isrCanArbitrationLost, CAN::AlIrq);
    can1.attach(&isrCanBusError, CAN::BeIrq);
    can1.attach(&isrCanReady, CAN::IdIrq);

    aliveTicker.attach(&alive, 5.0);
}


int main()
{
    
    int data1;
    int data2;
    int ret;
    int counter=0;
    int counter1=0;
    int counter3=0;
    CANMessage msg;
    sync=0;
    setup();

    
    
    while (true)
    {
       msg.len=2;
       ret= can1.read(msg);
      // printf("return value %d",ret);
      //printf ("hi");
       if(msg.id == 0x2aa)
       {
       // printf("\n Node1 Message received123: %d \r\n", msg.data[0]);
        counter=1;
       // printf( "first byte = %x " , msg.data[0]);
        //printf( "second byte = %x " , msg.data[1]);
        data1=   ((msg.data[1] << 8 )| msg.data[0]);
       }
        if(msg.id == 0x2ff)
       {
        //printf("\n Node1 Message received456: %d  \r\n", msg.data[0]);
         data2=   ((msg.data[1] << 8 )| msg.data[0]);
         //printf( "first byte = %x " , msg.data[0]);
        //printf( "second byte = %x " , msg.data[1]);
         counter1=1;
       }
       if(counter== 1 && counter1 == 1 && counter3 == 0)
       {
       if(data1 > data2)
       {
           printf (" Node2 won: Node1 Time=%d ms: Node 2 Time= %d ms \r\n ", data1,data2);
           //printf (" Node 1 Time= %d", data1);
           counter3=1;
           
           }
           else
           {
               printf (" Node1 won: Node1 Time=%d ms : Node 2 Time= %d ms \r\n ", data1,data2);
              // printf (" Node 1 Time= %d", data2);
               counter3=1;
               }
      
        }
    }
}