François .
main.cpp@0:96c0a1b1070f, 2011-08-24 (annotated)
- Committer:
- bouguereau
- Date:
- Wed Aug 24 09:47:13 2011 +0000
- Revision:
- 0:96c0a1b1070f
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bouguereau | 0:96c0a1b1070f | 1 | #include "mbed.h" |
| bouguereau | 0:96c0a1b1070f | 2 | #include "CAN.h" |
| bouguereau | 0:96c0a1b1070f | 3 | |
| bouguereau | 0:96c0a1b1070f | 4 | Ticker ticker; |
| bouguereau | 0:96c0a1b1070f | 5 | |
| bouguereau | 0:96c0a1b1070f | 6 | DigitalOut led1(LED1); |
| bouguereau | 0:96c0a1b1070f | 7 | DigitalOut led2(LED2); |
| bouguereau | 0:96c0a1b1070f | 8 | |
| bouguereau | 0:96c0a1b1070f | 9 | LocalFileSystem local("local"); |
| bouguereau | 0:96c0a1b1070f | 10 | |
| bouguereau | 0:96c0a1b1070f | 11 | // CAN_RS pin at Philips PCA82C250 can bus controller. |
| bouguereau | 0:96c0a1b1070f | 12 | // activate transceiver by pulling this pin to GND. |
| bouguereau | 0:96c0a1b1070f | 13 | // (Rise and fall slope controlled by resistor R_s) |
| bouguereau | 0:96c0a1b1070f | 14 | // (+5V result in tranceiver standby mode) |
| bouguereau | 0:96c0a1b1070f | 15 | // For further information see datasheet page 4 |
| bouguereau | 0:96c0a1b1070f | 16 | DigitalOut can_Pca82c250SlopePin(p28); |
| bouguereau | 0:96c0a1b1070f | 17 | |
| bouguereau | 0:96c0a1b1070f | 18 | // second can controller on these pins. Not used here. |
| bouguereau | 0:96c0a1b1070f | 19 | CAN can2(p9, p10); |
| bouguereau | 0:96c0a1b1070f | 20 | |
| bouguereau | 0:96c0a1b1070f | 21 | // We use can on mbed pins 29(CAN_TXD) and 30(CAN_RXD). |
| bouguereau | 0:96c0a1b1070f | 22 | // CAN can2(p30, p29); |
| bouguereau | 0:96c0a1b1070f | 23 | |
| bouguereau | 0:96c0a1b1070f | 24 | void send() { |
| bouguereau | 0:96c0a1b1070f | 25 | static char counter = 0; |
| bouguereau | 0:96c0a1b1070f | 26 | if (can2.write(CANMessage(0x300, &counter, 1))) { |
| bouguereau | 0:96c0a1b1070f | 27 | printf("CanTx--> id: 0x200 dlc: 1 data: %x\n\r", counter); |
| bouguereau | 0:96c0a1b1070f | 28 | counter++; |
| bouguereau | 0:96c0a1b1070f | 29 | } |
| bouguereau | 0:96c0a1b1070f | 30 | // toggle led1 after every transmission |
| bouguereau | 0:96c0a1b1070f | 31 | led1 = !led1; |
| bouguereau | 0:96c0a1b1070f | 32 | } |
| bouguereau | 0:96c0a1b1070f | 33 | |
| bouguereau | 0:96c0a1b1070f | 34 | int main() { |
| bouguereau | 0:96c0a1b1070f | 35 | |
| bouguereau | 0:96c0a1b1070f | 36 | FILE *test1 = fopen("/local/test.txt", "w"); |
| bouguereau | 0:96c0a1b1070f | 37 | |
| bouguereau | 0:96c0a1b1070f | 38 | bool flag = false; |
| bouguereau | 0:96c0a1b1070f | 39 | int i =0 ; |
| bouguereau | 0:96c0a1b1070f | 40 | |
| bouguereau | 0:96c0a1b1070f | 41 | // 500kbit/s |
| bouguereau | 0:96c0a1b1070f | 42 | can2.frequency(500000); |
| bouguereau | 0:96c0a1b1070f | 43 | // activate external can transceiver |
| bouguereau | 0:96c0a1b1070f | 44 | can_Pca82c250SlopePin = 0; |
| bouguereau | 0:96c0a1b1070f | 45 | // every 500ms |
| bouguereau | 0:96c0a1b1070f | 46 | ticker.attach(&send, 0.5); |
| bouguereau | 0:96c0a1b1070f | 47 | /// create message object for message reception |
| bouguereau | 0:96c0a1b1070f | 48 | CANMessage can_MsgRx; |
| bouguereau | 0:96c0a1b1070f | 49 | while(i<10) |
| bouguereau | 0:96c0a1b1070f | 50 | { |
| bouguereau | 0:96c0a1b1070f | 51 | while (flag!=true) |
| bouguereau | 0:96c0a1b1070f | 52 | { |
| bouguereau | 0:96c0a1b1070f | 53 | // send received messages to the pc via serial line (9k6, 8n1) |
| bouguereau | 0:96c0a1b1070f | 54 | if (can2.read(can_MsgRx)) |
| bouguereau | 0:96c0a1b1070f | 55 | { |
| bouguereau | 0:96c0a1b1070f | 56 | led2 = !led2; |
| bouguereau | 0:96c0a1b1070f | 57 | flag = true; |
| bouguereau | 0:96c0a1b1070f | 58 | } |
| bouguereau | 0:96c0a1b1070f | 59 | |
| bouguereau | 0:96c0a1b1070f | 60 | |
| bouguereau | 0:96c0a1b1070f | 61 | } |
| bouguereau | 0:96c0a1b1070f | 62 | |
| bouguereau | 0:96c0a1b1070f | 63 | fprintf(test1,"%d-%d-%c%c%c%c%c%c%c%c\r",can_MsgRx.len,can_MsgRx.id,can_MsgRx.data[0],can_MsgRx.data[1],can_MsgRx.data[2],can_MsgRx.data[3],can_MsgRx.data[4],can_MsgRx.data[5],can_MsgRx.data[6],can_MsgRx.data[7]); |
| bouguereau | 0:96c0a1b1070f | 64 | flag = false ; |
| bouguereau | 0:96c0a1b1070f | 65 | i++; |
| bouguereau | 0:96c0a1b1070f | 66 | } |
| bouguereau | 0:96c0a1b1070f | 67 | fclose(test1); |
| bouguereau | 0:96c0a1b1070f | 68 | } |