Diff: main.cpp

Revision:

0:f25ac5f8c95e

Child:

1:f06777cfcc8d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Sep 06 05:53:03 2020 +0000
@@ -0,0 +1,80 @@
+// mbed-os rev.171(mbed_os=2, very old)  (r020904,sige)
+// (Ticker, wait) used.
+// 1--CANtest-mbed_os_2-01_02  
+//   cp + mod CAN loopback example of the official doc (r020811,sige)
+//   std data frame of (position command of the HT02 motor) is dispatched
+//   thru can1, which is then received by can2.
+//   (can1,can2) seems half duplex.  
+//
+//   (the actual HT02 motor would send back the response data frame?)
+
+//#if !DEVICE_CAN
+//#error [NOT_SUPPORTED] CAN not supported for this target
+//#endif
+
+#include "mbed.h"
+#include "CAN.h"
+// CAN.h is required, or ERR occurred..
+// #include "rtos.h"
+// where is rtos?
+
+Ticker ticker;
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+//  MBED_CONF_APP_CAN1_RD undefined,
+//  thus explicitly defines (RX, Tx) pins instead.
+//    The constructor takes in RX, and TX pin respectively.
+//    These pins, for this example, are defined in mbed_app.json
+//    CAN can1(MBED_CONF_APP_CAN1_RD, MBED_CONF_APP_CAN1_TD);
+//    CAN can2(MBED_CONF_APP_CAN2_RD, MBED_CONF_APP_CAN2_TD);
+
+CAN can1(p30, p29);     // (RX,TX)pins in this order
+CAN can2( p9, p10);
+
+char c_sent=0, c_read=0, cloop=0 ;   // counters of (sent, read, loop)
+char dseg[8]={0xFF, 0x01, 0x00, 0x64, 0x00, 0x80, 0x00, 0x00};
+//
+// data segment specific to the HT02 motor
+//  [0]=host_addr(0xff=this_MCU, 0x01=motor_#01),
+//  [1]=func_code(01=pos.cmd), [2]=[4]=reserved(?)
+//  [3]=acce=*256[rpm/s], [5]=target velo.[rpm] (of the motor axis, maybe)
+//  [6]=pos.lower byte,      [7]=pos.higher byte (2^16[ppc]=65536)
+//
+// 0xFFFF=0x10000-1=16^4-1=65535, 0xFF00=0xFF *16^2=0xFF *256
+// 0x0100=0x01 *16^2[p]= 360/16^4[deg/p] *16^2[p]=360/16^2[deg]=1.40625[deg]
+// with the reduction ratio R=6, the output axis=360/16^2/6=0.234375[deg]
+//
+void send()
+{
+    printf("+sending can1... \n\r");
+    if( can1.write(CANMessage(1, dseg, 8, CANData, CANStandard)) ) {
+        c_sent++;
+        dseg[7]+=1;
+        printf(" ++sent can1 c_sent=%d dseg[7]=%02x\n\r", c_sent, dseg[7]);  }
+    else
+        printf(" ++failed can1.write c_sent=%d dseg[7]=%02x\n\r", c_sent, dseg[7]);
+ 
+    led1 = !led1;
+}   //  endof send       
+
+int main()
+{
+    printf("+entered main. attached send to the ticker (of mbed_os_2) every 1s. \n\r");
+    can1.frequency(1000000);    can2.frequency(1000000);  // CANbus=1Mbps
+    ticker.attach(&send, 1);
+    CANMessage msg;      // remote msg? what determines the size(msg)?
+    while(1){
+        cloop++;
+        printf("+inwhile. cloop=%d ..... \n\r", cloop);
+        if (can2.read(msg)) {   // org=can2
+            c_read++;
+            printf(" ++fetched can2. c_read=%d, d[7]_read=%d\n\r", c_read, msg.data[7]);
+            led2 = !led2;
+        }
+        else
+            printf(" ++failed can2.read...  sent=%d\n\r", c_sent);
+        wait(0.2);
+//      ThisThread::sleep_for(200);   // in [ms], maybe.. ThisThread in rtos?
+    }   //  endof inf_while
+}       //  endof main