Feby Mathew
Feby's Can
Revision 0:84a4dc1cd81d, committed 2020-12-09
- Comitter:
- feby
- Date:
- Wed Dec 09 17:26:40 2020 +0000
- Commit message:
- Febys_can
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/C12832.lib Wed Dec 09 17:26:40 2020 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/askksa12543/code/C12832/#990d5eec2ef6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LM75B.lib Wed Dec 09 17:26:40 2020 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/chris/code/LM75B/#6a70c9303bbe
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Dec 09 17:26:40 2020 +0000
@@ -0,0 +1,351 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "LM75B.h"
+#include "C12832.h"
+
+CANMessage msg;
+
+// STEP 1/////////////////////////////////////////////////////
+//baseboard address
+#define BASE_ADDRESS 140
+
+
+
+// STEP 2//////////////////////////////////////////////////////
+// phyiscal inputs
+DigitalIn joy_up(p15);
+DigitalIn joy_down(p12);
+DigitalIn joy_left(p13);
+DigitalIn joy_right(p16);
+DigitalIn joy_fire(p14);
+
+LM75B sensor(p28,p27);
+
+
+
+//STEP 3///////////////////////////////////////////////////////
+//physical outputs
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+PwmOut spkr(p26);
+PwmOut r (p23);
+PwmOut g (p24);
+PwmOut b (p25);
+
+//STEP 4///////////////////////////////////////////////////////
+// message structure can
+
+///////////////////////////////////////////////////////
+typedef struct {
+
+ int id; /* can id */
+ char data[8]; /*can data */
+
+} can_message_t;
+
+
+
+
+
+//STEP 4///////////////////////////////////////////////////////
+// ipc for can write thread
+///////////////////////////////////////////////////////
+MemoryPool<can_message_t, 8> can_write_mpool;
+Queue<can_message_t, 8> can_write_queue;
+
+//STEP 5///////////////////////////////////////////////////////
+// ipc for digital output thread
+
+////////////////////////////////////////////////////////
+MemoryPool<can_message_t, 8> digital_output_mpool;
+Queue<can_message_t, 8> digital_output_queue;
+
+
+//STEP 6///////////////////////////////////////////////////////
+// ipc for analog output thread
+
+////////////////////////////////////////////////////////
+MemoryPool<can_message_t, 8> analog_output_mpool;
+Queue<can_message_t, 8> analog_output_queue;
+
+//STEP 7///////////////////////////////////////////////////////
+// set up canbus
+///////////////////////////////////////////////////////
+CAN can1(p30, p29);
+//CAN can1(p9, p10);
+
+//STEP 8///////////////////////////////////////////////////////
+/* digital input Thread */
+//////////////////////////////////////////////////////
+void digital_input_thread (void const *args) {
+
+ while (true) {
+
+ can_message_t *message = can_write_mpool.alloc();
+ message->id = BASE_ADDRESS + 0;
+ message->data[0] = joy_up;
+ message->data[1] = joy_down;
+ message->data[2] = joy_left;
+ message->data[3] = joy_right;
+ message->data[4] = joy_fire;
+
+
+
+ can_write_queue.put(message);
+
+ //fun bit nod yes on fire
+ if(joy_left)
+ {
+ can_message_t *message = can_write_mpool.alloc();
+ message->id = 142;
+ message->data[0] = 5;
+
+ can_write_queue.put(message);
+ }
+ else if(joy_fire)
+ {
+ can_message_t *message = can_write_mpool.alloc();
+ message->id = 144; //even addresses only for now !!!!
+ message->data[0] = 1;
+
+ can_write_queue.put(message);
+ }
+ else if(joy_right == 1)
+ {
+ can_message_t *message = can_write_mpool.alloc();
+ message->id = 144;
+ message->data[0] = 2;
+
+ can_write_queue.put(message);
+ }
+ else if(joy_up == 1)
+ {
+ can_message_t *message = can_write_mpool.alloc();
+ message->id = 144;
+ message->data[0] = 4;
+
+ can_write_queue.put(message);
+ }
+ else if(joy_down == 1)
+ {
+ can_message_t *message = can_write_mpool.alloc();
+ message->id = 144;
+ message->data[0] = 3;
+
+ can_write_queue.put(message);
+ }
+
+ Thread::wait(500);
+ }
+
+}
+
+//STEP 9///////////////////////////////////////////////////////
+/* analog input Thread */
+//////////////////////////////////////////////////////
+void analog_input_thread (void const *args) {
+
+//if (sensor.open()) {
+
+ // printf("Device detected!\n");
+ while (true) {
+ can_message_t *message = can_write_mpool.alloc();
+ message->id = BASE_ADDRESS + 4;
+ message->data[0] = sensor.read();
+ can_write_queue.put(message);
+
+ Thread::wait(500);
+ }
+ //else{
+
+ // printf("Device faulty!\n");
+
+ //}
+}
+
+//STEP 10///////////////////////////////////////////////////////
+// Can write thread
+//////////////////////////////////////////////////////
+void can_write_thread(void const *args) {
+
+ while (true) {
+ osEvent evt = can_write_queue.get();
+ if (evt.status == osEventMessage) {
+ can_message_t *message = (can_message_t*)evt.value.p;
+
+ //send canbus message
+ //can1.write(CANMessage(message->id, message->data, 8));
+ can1.write(CANMessage(message->id,message->data, 8));
+ can_write_mpool.free(message);
+ }
+
+ }
+
+}
+
+
+
+//STEP 11///////////////////////////////////////////////////////
+//Can read thread
+//////////////////////////////////////////////////////
+void can_read_thread (void const *args) {
+
+ while (true) {
+ printf("loop()\n");
+ if(can1.read(msg))
+ {
+
+ if(msg.id == BASE_ADDRESS + 4) // Then its an analog out message
+ {
+ //send to analog output ipc
+ can_message_t *message = analog_output_mpool.alloc();
+ message->id = msg.id;
+ message->data[0] = msg.data[0];
+ analog_output_queue.put(message);
+
+ Thread::wait(500);
+ }
+
+
+ else if(msg.id == BASE_ADDRESS + 6) //then its an do message
+ {
+ //send to digital output ipc
+ can_message_t *message = digital_output_mpool.alloc();
+
+ message->id = msg.id;
+ message->data[0] = msg.data[0];
+
+ digital_output_queue.put(message);
+ Thread::wait(500);
+
+ }
+
+ // else {
+
+ //handler for other messages
+
+ // }
+
+ Thread::wait(100);
+
+ }//end of if can.read
+
+ }//end of while(1)
+
+} //end of thread
+
+
+
+
+
+
+
+//STEP 12///////////////////////////////////////////////////////
+// Analog_ouptut_thread
+//////////////////////////////////////////////////////
+void Analog_ouptut_thread(void const *args) {
+
+ while (true) {
+
+ osEvent evt = analog_output_queue.get();
+
+
+ if (evt.status == osEventMessage) {
+ can_message_t *message = (can_message_t*)evt.value.p;
+
+
+ //drive the speaker based on can message
+ //// spkr.period(1/(2000 + (message->data[0]* 50))); //generate a tone based on data[0] value range from 2000 + 0*50 to 2000 + 255*50
+ // spkr=0.5;
+ r = message->data[0]/255;
+ g = message->data[1]/255;
+ b = message->data[2]/255;
+
+ //led1 test
+ led1 = !led1;
+
+
+ analog_output_mpool.free(message);
+ }
+ }
+
+}
+
+
+
+//STEP 13///////////////////////////////////////////////////////
+// Digital_ouptut_thread
+//////////////////////////////////////////////////////
+void Digital_output_thread(void const *args) {
+
+ while (true) {
+
+ osEvent evt = digital_output_queue.get();
+
+
+ if (evt.status == osEventMessage) {
+ can_message_t *message = (can_message_t*)evt.value.p;
+
+ //drive the digital ouptut based on can message
+
+ if (message->data[0] == 1 )
+ {
+ led1 = 1;
+ }
+ else if(message->data[0] == 0 )
+ {
+ led1 = 0;
+ }
+
+ if (message->data[0] == 2 )
+ {
+ led2 = 1;
+ }
+
+ else if (message->data[0] == 3 )
+ {
+
+ led2 = 0;
+ }
+
+
+ digital_output_mpool.free(message);
+
+ } //end of if statement
+
+ }//end of while loop
+
+}
+
+
+
+//STEP 13///////////////////////////////////////////////////////
+// START THREADS
+//////////////////////////////////////////////////////
+int main() {
+Thread thread1(Digital_output_thread);
+
+Thread thread2(Analog_ouptut_thread);
+
+Thread thread3(can_read_thread);
+
+Thread thread4(can_write_thread);
+
+Thread thread5(analog_input_thread );
+
+Thread thread6(digital_input_thread);
+
+
+while(true)
+
+ {
+
+ led2 !=led2;
+
+ Thread::wait(500);
+
+ }
+
+
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Wed Dec 09 17:26:40 2020 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#2885c1b41e63158cb6faf5f107cd821ae06ef26c