Revision 0:f897d6f18ec5, committed 2019-02-15

Comitter:

ahdyer

Date:

Fri Feb 15 22:32:57 2019 +0000

Commit message:

Code for 5 Axis accelerometer;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Feb 15 22:32:57 2019 +0000
@@ -0,0 +1,114 @@
+#include "mbed.h"
+#include "CAN.h"
+ 
+Ticker ticker; //interupt setup
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+CAN can1(p9, p10); //set can channel
+CAN *canPointer;
+int Send_Data; //Can data to send
+Serial pc(USBTX, USBRX); // setup serial on computer
+int Co = 0; // filter swapping counter
+int f1,f2,h1;  // filters
+
+ 
+
+// Function to send messges on the can bus
+/* 
+void send() {
+    pc.printf("send()\n\r");
+    if(can1.write(CANMessage(1337, &Send_Data, 1))) { //if a messges is sent print its value to serial
+        pc.printf("wloop()\n\r");
+        pc.printf("Message sent: %d\n\r", Send_Data);
+    } 
+    led1 = !led1;
+}
+*/
+
+// fiter function to filter specific Can id's 
+/*void Filter()
+{
+    if(Co == 0)
+    {
+    pc.printf("Filter 1\n\r");
+    f1 = can1.filter(372, 256, CANStandard);
+    
+    } 
+    if(Co == 1)
+    {
+    pc.printf("Filter 2\n\r");
+    f1=can1.filter(376, 256, CANStandard);
+    
+    }  
+    if(Co == 2)
+    {
+    pc.printf("Filter 3\n\r");
+    f1=can1.filter(380, 256, CANStandard);
+    Co=-1;
+    }    
+    Co ++;
+}
+*/
+
+// main code
+int main() 
+{
+    //initial setup
+        canPointer = &can1;
+        canPointer -> reset();
+        f1 = canPointer -> filter(0x178, 0xff, CANAny); // filter setup, filter out can id 376 with mask 255, only allows 376 through
+        //ticker.attach(&Filter, 0.5); // attach the filter swap to an interruprt that runs every half a second
+        //ticker.attach(&send, 1); // attach the send function to an interrupt that runs every seconf
+        CANMessage msg; 
+        pc.baud (115200); // baud rate of serial to pc
+        can1.frequency(500000);
+        // all Var's for reading sensor data
+        int Yaw_Byte1, Yaw_Byte2, Yaw, Y_Acc_Byte1, Y_Acc_Byte2, Y_Acc, Roll_Byte1, Roll_Byte2, Roll, X_Acc_Byte1, X_Acc_Byte2, X_Acc, Z_Acc_Byte1, Z_Acc_Byte2, Z_Acc;
+    
+    // constant loop
+        while(1) 
+        {
+            pc.printf("loop()\n\r"); //show your at the top of the loop
+            if(can1.read(msg,f1))    // if a can messege can be read then assign all of the data
+            {   
+                if(msg.id == 372 && Co==1)
+                {
+                    Yaw_Byte1 = msg.data[0];
+                    Yaw_Byte2 = msg.data[1]<<8; // shift right to normailse the second byte of data, same with others 
+                    Y_Acc_Byte1 = msg.data[4];
+                    Y_Acc_Byte2 = msg.data[5]<<8; //^
+                }
+                if(msg.id == 376 && Co==2)
+                {
+                    Roll_Byte1 = msg.data[0];
+                    Roll_Byte2 = msg.data[1]<<8; //^
+                    X_Acc_Byte1 = msg.data[4];
+                    X_Acc_Byte2 = msg.data[5]<<8; //^
+                }
+                if(msg.id == 380 && Co==3)
+                {
+                    Z_Acc_Byte1 = msg.data[4];
+                    Z_Acc_Byte2 = msg.data[5]<<8; //^
+                    Co = 0;
+                }
+                //Calculate actual data by adding both bytes and the offset anf then normalising
+                Yaw = (Yaw_Byte1 + Yaw_Byte2 - 32768)*0.005;
+                Y_Acc = (Y_Acc_Byte1 + Y_Acc_Byte2 - 32768)*0.0001274;
+                Roll = (Roll_Byte1 + Roll_Byte2 - 32768)*0.005;
+                X_Acc = (X_Acc_Byte1 + X_Acc_Byte2 - 32768)*0.0001274;
+                Z_Acc = (Z_Acc_Byte1 + Z_Acc_Byte2 - 32768)*0.0001274;
+               
+                // show the id of the messege being read 
+                pc.printf("Message received: %d\n\r", msg.id);
+                // print all of the data to pc serial
+                pc.printf("Yaw: %d\n\r", Yaw); 
+                pc.printf("Roll: %d\n\r", Roll); 
+                pc.printf("Y_Acc: %d\n\r", Y_Acc); 
+                pc.printf("X_Acc: %d\n\r", X_Acc); 
+                pc.printf("Z_Acc: %d\n\r", Z_Acc);   
+                led2 = !led2;
+                Co++;
+            } 
+            wait(0.01);
+        }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Feb 15 22:32:57 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file