Farhad Ahmed / Mbed 2 deprecated Grayhill67AJoystick2CANBus

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Dependencies:   SERVO_PPM mbed

main.cpp@0:27339bb50fd6, 2021-07-13 (annotated)

Committer:
MarcusEA
Date:
Tue Jul 13 01:51:12 2021 +0000
Revision:
0:27339bb50fd6
Child:
1:248c00db9e9d
Initial push

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MarcusEA 0:27339bb50fd6 1 #include "mbed.h"
MarcusEA 0:27339bb50fd6 2
MarcusEA 0:27339bb50fd6 3 #define CAN_TD D2
MarcusEA 0:27339bb50fd6 4 #define CAN_RD D10
MarcusEA 0:27339bb50fd6 5
MarcusEA 0:27339bb50fd6 6 #define INTERRUPT D8
MarcusEA 0:27339bb50fd6 7
MarcusEA 0:27339bb50fd6 8 #define LEFTJOYSTICK true
MarcusEA 0:27339bb50fd6 9
MarcusEA 0:27339bb50fd6 10 I2C i2c(I2C_SDA, I2C_SCL);
MarcusEA 0:27339bb50fd6 11 InterruptIn interrupt(INTERRUPT);
MarcusEA 0:27339bb50fd6 12 Serial pc(USBTX, USBRX);
MarcusEA 0:27339bb50fd6 13
MarcusEA 0:27339bb50fd6 14 CAN can1(CAN_RD, CAN_TD);
MarcusEA 0:27339bb50fd6 15
MarcusEA 0:27339bb50fd6 16 const int main_addr = 0x81;
MarcusEA 0:27339bb50fd6 17 const int alt_addr = 0x83;
MarcusEA 0:27339bb50fd6 18 const int control = 0x76;
MarcusEA 0:27339bb50fd6 19
MarcusEA 0:27339bb50fd6 20 char rawReading[2];
MarcusEA 0:27339bb50fd6 21
MarcusEA 0:27339bb50fd6 22 int xAxis = 0;
MarcusEA 0:27339bb50fd6 23 int yAxis = 0;
MarcusEA 0:27339bb50fd6 24
MarcusEA 0:27339bb50fd6 25 int main() {
MarcusEA 0:27339bb50fd6 26
MarcusEA 0:27339bb50fd6 27 pc.printf("Starting I2C converter \n");
MarcusEA 0:27339bb50fd6 28 //interrupt.fall(&readSensor);
MarcusEA 0:27339bb50fd6 29
MarcusEA 0:27339bb50fd6 30 can1.frequency(250000);
MarcusEA 0:27339bb50fd6 31 //can1.filter(0x70,0x70,CANExtended); //CANbus filtering to only accept 0x70
MarcusEA 0:27339bb50fd6 32
MarcusEA 0:27339bb50fd6 33 CANMessage msg;
MarcusEA 0:27339bb50fd6 34
MarcusEA 0:27339bb50fd6 35 msg.format = CANExtended;
MarcusEA 0:27339bb50fd6 36 msg.id = 0x71; //messageID
MarcusEA 0:27339bb50fd6 37 msg.len = 8; //length in bytes
MarcusEA 0:27339bb50fd6 38
MarcusEA 0:27339bb50fd6 39 for(int i = 3; i<8; i++) {
MarcusEA 0:27339bb50fd6 40 msg.data[i] = 0;
MarcusEA 0:27339bb50fd6 41 }
MarcusEA 0:27339bb50fd6 42
MarcusEA 0:27339bb50fd6 43 int addr = main_addr;
MarcusEA 0:27339bb50fd6 44
MarcusEA 0:27339bb50fd6 45 if(LEFTJOYSTICK) {
MarcusEA 0:27339bb50fd6 46 addr = main_addr;
MarcusEA 0:27339bb50fd6 47 msg.data[0] = 0;
MarcusEA 0:27339bb50fd6 48 }
MarcusEA 0:27339bb50fd6 49 else {
MarcusEA 0:27339bb50fd6 50 addr = alt_addr;
MarcusEA 0:27339bb50fd6 51 msg.data[0] = 1;
MarcusEA 0:27339bb50fd6 52 }
MarcusEA 0:27339bb50fd6 53
MarcusEA 0:27339bb50fd6 54 while(1) {
MarcusEA 0:27339bb50fd6 55
MarcusEA 0:27339bb50fd6 56 i2c.read(addr, rawReading, 2);
MarcusEA 0:27339bb50fd6 57 xAxis = (int8_t)(rawReading[0]);
MarcusEA 0:27339bb50fd6 58 yAxis = (int8_t)(rawReading[1]);
MarcusEA 0:27339bb50fd6 59 msg.data[1] = xAxis;
MarcusEA 0:27339bb50fd6 60 msg.data[2] = yAxis;
MarcusEA 0:27339bb50fd6 61
MarcusEA 0:27339bb50fd6 62 //pc.printf("X: %d, Y: %d \n", xAxis, yAxis);
MarcusEA 0:27339bb50fd6 63
MarcusEA 0:27339bb50fd6 64 can1.write(msg);
MarcusEA 0:27339bb50fd6 65 if(can1.read(msg)) {
MarcusEA 0:27339bb50fd6 66 //pc.printf("Recv: %d\n", msg.id);
MarcusEA 0:27339bb50fd6 67 }
MarcusEA 0:27339bb50fd6 68
MarcusEA 0:27339bb50fd6 69 //send out CANBus value
MarcusEA 0:27339bb50fd6 70 wait(0.02);
MarcusEA 0:27339bb50fd6 71 }
MarcusEA 0:27339bb50fd6 72 }