Nenad Djalovic
CAN Receive with STM32 F469NI Discovery LCD display board
Dependencies: BSP_DISCO_F469NI LCD_DISCO_F469NI mbed
Diff: main.cpp
- Revision:
- 0:aa6b01316e93
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Apr 11 14:18:07 2018 +0000
@@ -0,0 +1,225 @@
+#include "mbed.h"
+#include "LCD_DISCO_F469NI.h"
+
+// define all CAN IDs in the vehicle
+// DTA ID are fixed and cannot be changed
+#define DTA_1 0x2000
+#define DTA_2 0x2001
+#define DTA_3 0x2002
+#define DTA_4 0x2003
+#define DTA_5 0x2004
+#define DTA_6 0x2006
+// This IDs can be changed as they are our own IDs
+#define LVDT_FRONT 0x1000
+#define LVDT_REAR 0x1001
+#define BRAKES 0x1002
+// If we add some other IDs in the vehicle add them here
+
+// Receive Flag
+uint32_t rx_flag=0x00000000;
+
+// CAN Message variables, one variable for each ID
+// If new IDs are added, add variables for them
+CANMessage msgDTA1; // RPM, TPS %, Water temp C, Air temp C
+uint8_t msgDTA2[8]; // MAP Kpa, Lambda x1000, KPH x10, Oil P Kpa
+uint8_t msgDTA3[8]; // Fuel P Kpa, Oil temp C, Volts x10, Fuel Con. L/Hr x10
+uint8_t msgDTA4[8]; // Gear, Advance Deg x10, Injection ms x100, Fuel Con L/100km x10
+uint8_t msgDTA5[8]; // Ana1 mV, Ana2 mV, Ana3 mV, Cam Advance x10
+uint8_t msgDTA6[8]; // Cam Targ x10, Cam PWM x10, Crank Errors, Cam Errors
+uint8_t msgLVDTFront[8]; // Left, Right, Steering Wheel
+uint8_t msgLVDTRear[8]; // Left, Right
+uint8_t msgBrakes[8]; // Brake system preassure, Braking On/Off
+
+// CAN Variables
+uint16_t rpm,tps,waterTemp, airTemp, map, Lambda, Volts, oilTemp, KPH, oilPress, Gear, lvdtFL, lvdtFR, lvdtRL, lvdtRR, steeringWheel, brakePress, BrakeOn;
+
+// number of different IDs
+int noID=9;
+
+// initialize LCD
+LCD_DISCO_F469NI lcd;
+// initialize internal LEDs
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+// initialize CAN object
+CAN can1(PB_5, PB_13);
+
+// CAN RX Interrupt Function
+void CAN_Msg_Receive(){
+ CANMessage tmpMsg;
+ if (can1.read(tmpMsg)) {
+ pc.printf("%x\n",tmpMsg.id);
+ switch(tmpMsg.id){
+ case(0):
+ rx_flag|=(1<<0);
+ //for(int k=0;k<8;k++){
+ msgDTA1=tmpMsg;
+ //};
+ break;
+ case(DTA_2):
+ rx_flag|=(1<<1);
+ for(int k=0;k<8;k++){
+ msgDTA2[k]=tmpMsg.data[k];
+ };
+ break;
+ case(DTA_3):
+ rx_flag|=(1<<2);
+ for(int k=0;k<8;k++){
+ msgDTA3[k]=tmpMsg.data[k];
+ };
+ break;
+ case(DTA_4):
+ rx_flag|=(1<<3);
+ for(int k=0;k<8;k++){
+ msgDTA4[k]=tmpMsg.data[k];
+ };
+ break;
+ case(DTA_5):
+ rx_flag|=(1<<4);
+ for(int k=0;k<8;k++){
+ msgDTA5[k]=tmpMsg.data[k];
+ };
+ break;
+ case(DTA_6):
+ rx_flag|=(1<<5);
+ for(int k=0;k<8;k++){
+ msgDTA6[k]=tmpMsg.data[k];
+ };
+ break;
+ case(LVDT_FRONT):
+ rx_flag|=(1<<6);
+ for(int k=0;k<8;k++){
+ msgLVDTFront[k]=tmpMsg.data[k];
+ };
+ break;
+ case(LVDT_REAR):
+ rx_flag|=(1<<7);
+ for(int k=0;k<8;k++){
+ msgLVDTRear[k]=tmpMsg.data[k];
+ };
+ break;
+ case(BRAKES):
+ rx_flag|=(1<<8);
+ for(int k=0;k<8;k++){
+ msgBrakes[k]=tmpMsg.data[k];
+ };
+ break;
+ };
+ printf("%x\n",rx_flag);
+ };
+};
+
+void parse_DTA1();
+void parse_DTA2();
+void parse_DTA3();
+void parse_DTA4();
+void parse_DTA5();
+void parse_DTA6();
+void parse_LVDTFRONT();
+void parse_LVDTREAR();
+void parse_BRAKES();
+
+int main(){
+ // attach interrupt function to CAN RX
+ can1.attach(&CAN_Msg_Receive,CAN::RxIrq);
+ lcd.DisplayStringAt(0,50,(uint8_t*)"Initialised",LEFT_MODE);
+ while(1){
+ // the code which checks the CAN RX Flags, and call appropriate data handler function
+ for (int i=0;i<noID;i++){
+ uint8_t flagBit;
+ flagBit = rx_flag & (1<<i);
+ //printf("i=%d\n",i);
+ if (flagBit==1) {
+
+ switch(i){
+ case(0):
+ parse_DTA1();
+ rx_flag = rx_flag ^ (1<<0);
+ break;
+ case(1):
+ parse_DTA2();
+ rx_flag = rx_flag ^ (1<<1);
+ break;
+ case(2):
+ parse_DTA3();
+ rx_flag = rx_flag ^ (1<<2);
+ break;
+ case(3):
+ parse_DTA4();
+ rx_flag = rx_flag ^ (1<<3);
+ break;
+ case(4):
+ parse_DTA5();
+ rx_flag = rx_flag ^ (1<<4);
+ break;
+ case(5):
+ parse_DTA6();
+ rx_flag = rx_flag ^ (1<<5);
+ break;
+ case(6):
+ parse_LVDTFRONT();
+ rx_flag = rx_flag ^ (1<<6);
+ break;
+ case(7):
+ parse_LVDTREAR();
+ rx_flag = rx_flag ^ (1<<7);
+ break;
+ case(8):
+ parse_BRAKES();
+ rx_flag = rx_flag ^ (1<<8);
+ break;
+ // for each new id add new case statement
+
+ }
+ }
+ }
+
+ }
+};
+
+void parse_DTA1(){
+ rpm=(msgDTA1.data[1]<<8) | msgDTA1.data[0];
+ tps=(msgDTA1.data[3]<<8) | msgDTA1.data[2];
+ waterTemp=(msgDTA1.data[5]<<8) | msgDTA1.data[4];
+ airTemp=(msgDTA1.data[7]<<8) | msgDTA1.data[6];
+ lcd.DisplayStringAt(0,0,(uint8_t*)"DTA1",LEFT_MODE);
+ printf("rpm=%x%x, tps=%x%x, waterTemp=%x%x, airTemp=%x%x\n",msgDTA1.data[1],msgDTA1.data[0],msgDTA1.data[3],msgDTA1.data[2],msgDTA1.data[5],msgDTA1.data[4],msgDTA1.data[7],msgDTA1.data[6]);
+};
+
+void parse_DTA2(){
+ printf("DTA2\n");
+};
+
+void parse_DTA3(){
+ oilTemp=(msgDTA3[3]<<8) | msgDTA3[2];
+ Volts=(msgDTA3[5]<<8) | msgDTA3[4];
+ lcd.DisplayStringAt(0,0,(uint8_t*)"DTA3",LEFT_MODE);
+ printf("oilTemp=%d, Volts=%d\n",oilTemp,Volts);
+};
+
+void parse_DTA4(){
+ printf("DTA4\n");
+};
+
+void parse_DTA5(){
+ printf("DTA5\n");
+};
+
+void parse_DTA6(){
+ printf("DTA6\n");
+};
+
+void parse_LVDTFRONT(){
+ // add function which parses the received data
+};
+
+void parse_LVDTREAR(){
+ // add function which parses the received data
+};
+
+void parse_BRAKES(){
+ // add function which parses the received data
+};
+
+
+