Sungjin Park
c
main.cpp@3:12c2fd911f22, 2010-06-16 (annotated)
- Committer:
- tecnosys
- Date:
- Wed Jun 16 12:31:39 2010 +0000
- Revision:
- 3:12c2fd911f22
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| tecnosys | 3:12c2fd911f22 | 1 | // Flip an LED every time we see the rising edge interrupt on a pin |
| tecnosys | 3:12c2fd911f22 | 2 | #include "mbed.h" |
| tecnosys | 3:12c2fd911f22 | 3 | #include "CAN3.h" |
| tecnosys | 3:12c2fd911f22 | 4 | #include "mcp2515.h" |
| tecnosys | 3:12c2fd911f22 | 5 | #include "mcp2515_can.h" |
| tecnosys | 3:12c2fd911f22 | 6 | |
| tecnosys | 3:12c2fd911f22 | 7 | |
| tecnosys | 3:12c2fd911f22 | 8 | |
| tecnosys | 3:12c2fd911f22 | 9 | |
| tecnosys | 3:12c2fd911f22 | 10 | DigitalOut led_can(LED1); |
| tecnosys | 3:12c2fd911f22 | 11 | DigitalOut led_serial(LED2); |
| tecnosys | 3:12c2fd911f22 | 12 | DigitalOut led_analog(LED3); |
| tecnosys | 3:12c2fd911f22 | 13 | DigitalOut led_status(LED4); |
| tecnosys | 3:12c2fd911f22 | 14 | Serial console(USBTX, USBRX); // tx, rx |
| tecnosys | 3:12c2fd911f22 | 15 | |
| tecnosys | 3:12c2fd911f22 | 16 | //InterruptIn can3_int(p16); |
| tecnosys | 3:12c2fd911f22 | 17 | |
| tecnosys | 3:12c2fd911f22 | 18 | //mcp2515 can3(p5, p6, p7, p11); |
| tecnosys | 3:12c2fd911f22 | 19 | SPI spi1(p5, p6, p7); |
| tecnosys | 3:12c2fd911f22 | 20 | |
| tecnosys | 3:12c2fd911f22 | 21 | CAN3 can3(spi1, p19, p11); |
| tecnosys | 3:12c2fd911f22 | 22 | CAN3 can4(spi1, p20, p12); |
| tecnosys | 3:12c2fd911f22 | 23 | //CAN3 can5(spi1, p21, p23); |
| tecnosys | 3:12c2fd911f22 | 24 | |
| tecnosys | 3:12c2fd911f22 | 25 | CAN can2(p30, p29); |
| tecnosys | 3:12c2fd911f22 | 26 | |
| tecnosys | 3:12c2fd911f22 | 27 | Ticker mbed_can_ticker; |
| tecnosys | 3:12c2fd911f22 | 28 | Ticker mcp2515_s1_can_ticker; |
| tecnosys | 3:12c2fd911f22 | 29 | Ticker mcp2515_s2_can_ticker; |
| tecnosys | 3:12c2fd911f22 | 30 | //Ticker mcp2515_s3_can_ticker; |
| tecnosys | 3:12c2fd911f22 | 31 | |
| tecnosys | 3:12c2fd911f22 | 32 | char testbytes[] = { 0xA1, 0xA2, 0xAA, 0xAA, 0x00, 0x00, 0x00, 0xF0 }; |
| tecnosys | 3:12c2fd911f22 | 33 | |
| tecnosys | 3:12c2fd911f22 | 34 | void send() { |
| tecnosys | 3:12c2fd911f22 | 35 | static char counter = 0; |
| tecnosys | 3:12c2fd911f22 | 36 | if (can2.write(CANMessage(0x200, &counter, 1))) { |
| tecnosys | 3:12c2fd911f22 | 37 | printf("\n\rCAN2 CanTx--> id: 0x200 dlc: 1 data: %x\n\r", counter); |
| tecnosys | 3:12c2fd911f22 | 38 | counter++; |
| tecnosys | 3:12c2fd911f22 | 39 | } |
| tecnosys | 3:12c2fd911f22 | 40 | // toggle led1 after every transmission |
| tecnosys | 3:12c2fd911f22 | 41 | led_status = !led_status; |
| tecnosys | 3:12c2fd911f22 | 42 | } |
| tecnosys | 3:12c2fd911f22 | 43 | |
| tecnosys | 3:12c2fd911f22 | 44 | void sendSPICAN3() { |
| tecnosys | 3:12c2fd911f22 | 45 | |
| tecnosys | 3:12c2fd911f22 | 46 | |
| tecnosys | 3:12c2fd911f22 | 47 | CANMessage test(0x300, testbytes, 8); |
| tecnosys | 3:12c2fd911f22 | 48 | can3.send(&test); |
| tecnosys | 3:12c2fd911f22 | 49 | |
| tecnosys | 3:12c2fd911f22 | 50 | } |
| tecnosys | 3:12c2fd911f22 | 51 | |
| tecnosys | 3:12c2fd911f22 | 52 | void sendSPICAN4() { |
| tecnosys | 3:12c2fd911f22 | 53 | |
| tecnosys | 3:12c2fd911f22 | 54 | |
| tecnosys | 3:12c2fd911f22 | 55 | CANMessage test(0x400, testbytes, 8); |
| tecnosys | 3:12c2fd911f22 | 56 | can4.send(&test); |
| tecnosys | 3:12c2fd911f22 | 57 | |
| tecnosys | 3:12c2fd911f22 | 58 | } |
| tecnosys | 3:12c2fd911f22 | 59 | |
| tecnosys | 3:12c2fd911f22 | 60 | void sendSPICAN5() { |
| tecnosys | 3:12c2fd911f22 | 61 | |
| tecnosys | 3:12c2fd911f22 | 62 | |
| tecnosys | 3:12c2fd911f22 | 63 | CANMessage test(0x500, testbytes, 8); |
| tecnosys | 3:12c2fd911f22 | 64 | can4.send(&test); |
| tecnosys | 3:12c2fd911f22 | 65 | |
| tecnosys | 3:12c2fd911f22 | 66 | } |
| tecnosys | 3:12c2fd911f22 | 67 | /////// |
| tecnosys | 3:12c2fd911f22 | 68 | void canmsg1() { |
| tecnosys | 3:12c2fd911f22 | 69 | |
| tecnosys | 3:12c2fd911f22 | 70 | led_can=!led_can; |
| tecnosys | 3:12c2fd911f22 | 71 | |
| tecnosys | 3:12c2fd911f22 | 72 | if ( ( can4.can_checkReceive() == CAN_MSGAVAIL ) ) { |
| tecnosys | 3:12c2fd911f22 | 73 | printf("\n\n\rrecieved some shit on can4\n \r"); |
| tecnosys | 3:12c2fd911f22 | 74 | can4.process_CANMessages(); |
| tecnosys | 3:12c2fd911f22 | 75 | } |
| tecnosys | 3:12c2fd911f22 | 76 | } |
| tecnosys | 3:12c2fd911f22 | 77 | |
| tecnosys | 3:12c2fd911f22 | 78 | /* |
| tecnosys | 3:12c2fd911f22 | 79 | void canmsg2() { |
| tecnosys | 3:12c2fd911f22 | 80 | |
| tecnosys | 3:12c2fd911f22 | 81 | led_can=!led_can; |
| tecnosys | 3:12c2fd911f22 | 82 | |
| tecnosys | 3:12c2fd911f22 | 83 | if ( ( can5.can_checkReceive() == CAN_MSGAVAIL ) ) { |
| tecnosys | 3:12c2fd911f22 | 84 | printf("\n\n\rrecieved some shit on can5\n \r"); |
| tecnosys | 3:12c2fd911f22 | 85 | can5.process_CANMessages(); |
| tecnosys | 3:12c2fd911f22 | 86 | } |
| tecnosys | 3:12c2fd911f22 | 87 | } |
| tecnosys | 3:12c2fd911f22 | 88 | */ |
| tecnosys | 3:12c2fd911f22 | 89 | void canmsg() { |
| tecnosys | 3:12c2fd911f22 | 90 | |
| tecnosys | 3:12c2fd911f22 | 91 | led_can=!led_can; |
| tecnosys | 3:12c2fd911f22 | 92 | printf("\n\n\rrecieved some shit on can3\n \r"); |
| tecnosys | 3:12c2fd911f22 | 93 | if ( ( can3.can_checkReceive() == CAN_MSGAVAIL ) ) { |
| tecnosys | 3:12c2fd911f22 | 94 | can3.process_CANMessages(); |
| tecnosys | 3:12c2fd911f22 | 95 | } |
| tecnosys | 3:12c2fd911f22 | 96 | canmsg1();//canmsg2(); |
| tecnosys | 3:12c2fd911f22 | 97 | |
| tecnosys | 3:12c2fd911f22 | 98 | } |
| tecnosys | 3:12c2fd911f22 | 99 | |
| tecnosys | 3:12c2fd911f22 | 100 | |
| tecnosys | 3:12c2fd911f22 | 101 | int main() { |
| tecnosys | 3:12c2fd911f22 | 102 | |
| tecnosys | 3:12c2fd911f22 | 103 | |
| tecnosys | 3:12c2fd911f22 | 104 | // console.baud(57600); |
| tecnosys | 3:12c2fd911f22 | 105 | console.printf("\nStarting\n\n"); |
| tecnosys | 3:12c2fd911f22 | 106 | |
| tecnosys | 3:12c2fd911f22 | 107 | spi1.frequency(5000000); // anything above 5000000 5MHZ works |
| tecnosys | 3:12c2fd911f22 | 108 | |
| tecnosys | 3:12c2fd911f22 | 109 | can2.frequency(125000);//(500000); 50KBPS 1250000 |
| tecnosys | 3:12c2fd911f22 | 110 | |
| tecnosys | 3:12c2fd911f22 | 111 | console.printf("\n\r\rCAN3 \n\r"); |
| tecnosys | 3:12c2fd911f22 | 112 | can3.frequency(CAN_125KBPS); |
| tecnosys | 3:12c2fd911f22 | 113 | |
| tecnosys | 3:12c2fd911f22 | 114 | console.printf("\n\r\rCAN4 \n\r"); |
| tecnosys | 3:12c2fd911f22 | 115 | can4.frequency(CAN_125KBPS); |
| tecnosys | 3:12c2fd911f22 | 116 | |
| tecnosys | 3:12c2fd911f22 | 117 | console.printf("\n\r\rCAN3 \n\r"); |
| tecnosys | 3:12c2fd911f22 | 118 | can3.frequency(CAN_125KBPS); |
| tecnosys | 3:12c2fd911f22 | 119 | |
| tecnosys | 3:12c2fd911f22 | 120 | console.printf("\n\r\rCAN4 \n\r"); |
| tecnosys | 3:12c2fd911f22 | 121 | can4.frequency(CAN_125KBPS); |
| tecnosys | 3:12c2fd911f22 | 122 | |
| tecnosys | 3:12c2fd911f22 | 123 | |
| tecnosys | 3:12c2fd911f22 | 124 | console.printf("\n\r\rCAN5 \n\r"); |
| tecnosys | 3:12c2fd911f22 | 125 | //can5.frequency(CAN_125KBPS); |
| tecnosys | 3:12c2fd911f22 | 126 | |
| tecnosys | 3:12c2fd911f22 | 127 | |
| tecnosys | 3:12c2fd911f22 | 128 | wait(.1); |
| tecnosys | 3:12c2fd911f22 | 129 | led_can=0; |
| tecnosys | 3:12c2fd911f22 | 130 | led_serial=0; |
| tecnosys | 3:12c2fd911f22 | 131 | led_analog=0; |
| tecnosys | 3:12c2fd911f22 | 132 | led_status=0; |
| tecnosys | 3:12c2fd911f22 | 133 | |
| tecnosys | 3:12c2fd911f22 | 134 | |
| tecnosys | 3:12c2fd911f22 | 135 | //can3._spi.frequency(5000000); // anything above 5000000 5MHZ works |
| tecnosys | 3:12c2fd911f22 | 136 | |
| tecnosys | 3:12c2fd911f22 | 137 | can3.fall(&canmsg); |
| tecnosys | 3:12c2fd911f22 | 138 | can4.fall(&canmsg1); |
| tecnosys | 3:12c2fd911f22 | 139 | //can5.fall(&canmsg2); |
| tecnosys | 3:12c2fd911f22 | 140 | |
| tecnosys | 3:12c2fd911f22 | 141 | |
| tecnosys | 3:12c2fd911f22 | 142 | printf("\n\r\n\r\n\r\n\r\n\r"); |
| tecnosys | 3:12c2fd911f22 | 143 | wait(.1); |
| tecnosys | 3:12c2fd911f22 | 144 | mbed_can_ticker.attach(&send, 3); |
| tecnosys | 3:12c2fd911f22 | 145 | mcp2515_s1_can_ticker.attach(&sendSPICAN3, 2); |
| tecnosys | 3:12c2fd911f22 | 146 | mcp2515_s2_can_ticker.attach(&sendSPICAN4, 3); |
| tecnosys | 3:12c2fd911f22 | 147 | //mcp2515_s3_can_ticker.attach(&sendSPICAN5, 1); |
| tecnosys | 3:12c2fd911f22 | 148 | |
| tecnosys | 3:12c2fd911f22 | 149 | while (1) { |
| tecnosys | 3:12c2fd911f22 | 150 | |
| tecnosys | 3:12c2fd911f22 | 151 | |
| tecnosys | 3:12c2fd911f22 | 152 | wait(1); |
| tecnosys | 3:12c2fd911f22 | 153 | |
| tecnosys | 3:12c2fd911f22 | 154 | // canmsg1(); |
| tecnosys | 3:12c2fd911f22 | 155 | /* |
| tecnosys | 3:12c2fd911f22 | 156 | //MODE_NORMAL |
| tecnosys | 3:12c2fd911f22 | 157 | if ( ( can3.can_checkReceive() == CAN_MSGAVAIL ) ) { |
| tecnosys | 3:12c2fd911f22 | 158 | can3.process_CANMessages(); |
| tecnosys | 3:12c2fd911f22 | 159 | } |
| tecnosys | 3:12c2fd911f22 | 160 | //MODE_NORMAL |
| tecnosys | 3:12c2fd911f22 | 161 | if ( ( can4.can_checkReceive() == CAN_MSGAVAIL ) ) { |
| tecnosys | 3:12c2fd911f22 | 162 | can4.process_CANMessages(); |
| tecnosys | 3:12c2fd911f22 | 163 | } |
| tecnosys | 3:12c2fd911f22 | 164 | */ |
| tecnosys | 3:12c2fd911f22 | 165 | //can3.dumpExtendedStatus(); |
| tecnosys | 3:12c2fd911f22 | 166 | |
| tecnosys | 3:12c2fd911f22 | 167 | } |
| tecnosys | 3:12c2fd911f22 | 168 | |
| tecnosys | 3:12c2fd911f22 | 169 | |
| tecnosys | 3:12c2fd911f22 | 170 | } |