Alfred Lind-Anderton
Using CAN bus with (not just NUCLEO) mbed boards
Diff: main.cpp
- Revision:
- 10:4b0101c6763c
- Parent:
- 9:3211e88e30a5
--- a/main.cpp Fri Feb 08 13:16:55 2019 +0000
+++ b/main.cpp Thu Apr 02 11:42:45 2020 +0000
@@ -33,7 +33,9 @@
#if defined(BOARD1)
const unsigned int RX_ID = 0x100;
const unsigned int TX_ID = 0x101;
+
#else
+
const unsigned int RX_ID = 0x101;
const unsigned int TX_ID = 0x100;
#endif
@@ -41,8 +43,11 @@
#include "mbed.h"
#include "CANMsg.h"
-Serial pc(USBTX, USBRX);
+//Serial pc(USBTX, USBRX);
+Serial pc(SERIAL_TX, SERIAL_RX);
CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
+//CAN can(PA_11, PA_12); // Use for RC-car
+DigitalIn button(PC_13);
//CAN can(p30, p29); // CAN Rx pin name, CAN Tx pin name
CANMsg rxMsg;
CANMsg txMsg;
@@ -51,6 +56,15 @@
uint8_t counter = 0;
AnalogIn analogIn(A0);
float voltage;
+char message;
+bool LED;
+bool brake;
+float a;
+float b;
+char c;
+float mid = 0.5;
+float p_DC = 0.05;
+float p_Servo= 0.05;
/**
* @brief Prints CAN message to PC's serial terminal
@@ -70,6 +84,126 @@
pc.printf("\r\n");
}
+float decodeTurn(char c, float floatA){
+ a=floatA;
+ switch (c){
+ case 'l':
+ c = '\0';
+ if (LED == false){
+ pc.printf("LED ON\n");
+ led = 1;
+ LED = true;
+ }
+ else {
+ pc.printf("LED OFF\n");
+ led = 0;
+ LED = false;
+ }
+ break;
+
+ case 'q':
+ c = '\0';
+ led = 0; // OFF
+ a = 0;
+ pc.printf("Hard right %f \r\n",a);
+ //moveTurnServo(a);
+ break;
+
+ case 'e':
+ c = '\0';
+ led = 1; // ON
+ a = 1;
+ pc.printf("Hard right %f \r\n",a);
+ //moveTurnServo(a);
+ break;
+
+ case 'r':
+ c = '\0';
+ a=mid;
+ pc.printf("Straightening up %f \r\n",a);
+ //moveTurnServo(a);
+ break;
+
+ case 'a':
+ c = '\0';
+ if(a > 0){
+ a = a - p_Servo;
+ pc.printf("Turning left %f \r\n",a);
+ //moveTurnServo(a);
+ }
+ else{
+ pc.printf("Servo at max left");
+ }
+ break;
+
+ case 'd':
+ c = '\0';
+ if(a < 1){
+ a = a + p_Servo;
+ pc.printf("Turning right %f \r\n",a);
+ //moveTurnServo(a);
+ }
+ else{
+ pc.printf("Servo at max right");
+ }
+ break;
+
+
+ }
+ return a;
+}
+
+float decodeDC(char c, float floatB){
+ b=floatB;
+ switch (c){
+ case 'w':
+ c = '\0';
+ if(b < 1){
+ b = b + p_DC;
+ pc.printf("Accelerating %f \r\n",b);
+ //speedDCMotor(b);
+ }
+ else{
+ pc.printf("Motor at max power");
+ }
+ break;
+
+ case 's':
+ c = '\0';
+ if(b > 0){
+ b = b - p_DC;
+ pc.printf("Deaccelerating %f \r\n",b);
+ //speedDCMotor(b);
+ }
+ else{
+ pc.printf("Motor at max power");
+ }
+ break;
+
+ case 'f':
+ c = '\0';
+ b = mid;
+ pc.printf("Stopping DC Motor %f \r\n",b);
+ //speedDCMotor(b);
+ break;
+
+ case 'b':
+ c = '\0';
+ if (brake == false){
+ pc.printf("Breaking\n");
+ //moveBrakeServo(1);
+ brake = true;
+ }
+ else {
+ pc.printf("Releasing breaking\n");
+ //moveBrakeServo(mid);
+ brake = false;
+ }
+ }
+ return b;
+}
+
+
/**
* @brief Handles received CAN messages
* @note Called on 'CAN message received' interrupt.
@@ -87,11 +221,14 @@
// extract data from the received CAN message
// in the same order as it was added on the transmitter side
rxMsg >> counter;
- rxMsg >> voltage;
+ rxMsg >> voltage;
+ txMsg << message;
pc.printf(" counter = %d\r\n", counter);
pc.printf(" voltage = %e V\r\n", voltage);
+ pc.printf(" message = %s \r\n", message);
}
timer.start(); // to transmit next message in main
+ pc.printf("-------------------------------------\r\n");
}
@@ -102,31 +239,42 @@
* @retval
*/
int main(void)
-{
+{
+ a = mid;
+ b = mid;
pc.baud(9600); // set serial speed
can.frequency(1000000); // set CAN bit rate to 1Mbps
can.filter(RX_ID, 0xFFF, CANStandard, 0); // set filter #0 to accept only standard messages with ID == RX_ID
can.attach(onCanReceived); // attach ISR to handle received messages
-
-#if defined(BOARD1)
led = ON; // turn the LED on
timer.start(); // start timer
pc.printf("CAN_Hello board #1\r\n");
-#else
- led = OFF; // turn LED off
- pc.printf("CAN_Hello board #2\r\n");
-#endif
+
while(1) {
- if(timer.read_ms() >= 2000) { // check for timeout
+ c = pc.getc(); // Read hyperterminal1
+ a = decodeTurn(c,a);
+ b = decodeDC(c,b);
+ pc.printf("a %f \r\n",a);
+ pc.printf("Pressed %c \r\n",c);
+ if(!button){
+ led = 1; // ON
+ wait(0.05);
+ led = 0; // ON
+ wait(0.05);
+ }
+
+ if(timer.read_ms() >= 200) { // check for timeout
timer.stop(); // stop timer
timer.reset(); // reset timer
counter++; // increment counter
voltage = analogIn * 3.3f; // read the small drift voltage from analog input
+ voltage = a;
txMsg.clear(); // clear Tx message storage
txMsg.id = TX_ID; // set ID
// append data (total data length must not exceed 8 bytes!)
txMsg << counter; // one byte
txMsg << voltage; // four bytes
+ txMsg << message; // bytes
if(can.write(txMsg)) { // transmit message
led = OFF; // turn the LED off
@@ -135,10 +283,13 @@
pc.printf("CAN message sent\r\n");
printMsg(txMsg);
pc.printf(" counter = %d\r\n", counter);
- pc.printf(" voltage = %e V\r\n", voltage);
+ pc.printf(" value = %e \r\n", voltage);
+ pc.printf(" message = %s \r\n", message);
}
else
pc.printf("Transmission error\r\n");
+ pc.printf("-------------------------------------\r\n");
}
+ //timer.start(); // start timer
}
}