Jérémy Courtois / Mbed 2 deprecated Nucleo-Courtois

Nucleo by Cach

Dependencies:   C12832 CANnucleo LM75B mbed

Fork of CANnucleo_Hello by Zoltan Hudak

main.cpp@10:d295b0df4b82, 2016-01-29 (annotated)

Committer:
jcourtois
Date:
Fri Jan 29 16:58:28 2016 +0000
Revision:
10:d295b0df4b82
Parent:
7:2dce8ed51091 
Test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:c5e5d0df6f2a 1 /*
hudakz 0:c5e5d0df6f2a 2 * An example showing how to use the CANnucleo library:
hudakz 0:c5e5d0df6f2a 3 *
hudakz 6:7ff95ce72f6d 4 * Two affordable (less than $4 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash),
hudakz 6:7ff95ce72f6d 5 * compatible with the NUCLEO-F103RB platform (20kB SRAM, 128kB Flash),
hudakz 6:7ff95ce72f6d 6 * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.).
hudakz 6:7ff95ce72f6d 7 * CAN transceivers are not part of NUCLEO boards, therefore must be added by you.
hudakz 6:7ff95ce72f6d 8 * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends.
hudakz 6:7ff95ce72f6d 9 *
hudakz 6:7ff95ce72f6d 10 * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/>
hudakz 6:7ff95ce72f6d 11 *
hudakz 6:7ff95ce72f6d 12 * NOTE: If you'd like to use the official NUCLEO-F103RB boards
hudakz 6:7ff95ce72f6d 13 * comment out the line #define TARGET_STM32F103C8T6 1
hudakz 6:7ff95ce72f6d 14 *
hudakz 6:7ff95ce72f6d 15 * The same code is used for both NUCLEO boards, but:
hudakz 0:c5e5d0df6f2a 16 * For board #1 compile the example without any change.
hudakz 4:ccf4ac2deac8 17 * For board #2 comment out the line #define BOARD1 1 before compiling
hudakz 4:ccf4ac2deac8 18 *
hudakz 6:7ff95ce72f6d 19 * Once the binaries have been downloaded to the boards reset board #1.
hudakz 0:c5e5d0df6f2a 20 *
hudakz 0:c5e5d0df6f2a 21 */
hudakz 0:c5e5d0df6f2a 22
hudakz 0:c5e5d0df6f2a 23 #include "mbed.h"
hudakz 0:c5e5d0df6f2a 24 #include "CAN.h"
jcourtois 10:d295b0df4b82 25 #include "C12832.h"
jcourtois 10:d295b0df4b82 26 #include "LM75B.h"
hudakz 0:c5e5d0df6f2a 27
hudakz 6:7ff95ce72f6d 28 #define BOARD1 1 // comment out this line when compiling for board #2
hudakz 0:c5e5d0df6f2a 29
hudakz 0:c5e5d0df6f2a 30 #if defined(BOARD1)
hudakz 0:c5e5d0df6f2a 31 #define RX_ID 0x100
jcourtois 10:d295b0df4b82 32 #define TX_ID 0x7FF
hudakz 0:c5e5d0df6f2a 33 #else
hudakz 0:c5e5d0df6f2a 34 #define RX_ID 0x101
jcourtois 10:d295b0df4b82 35 #define TX_ID 0x7FF
hudakz 0:c5e5d0df6f2a 36 #endif
hudakz 0:c5e5d0df6f2a 37
hudakz 6:7ff95ce72f6d 38 // See wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/>
hudakz 7:2dce8ed51091 39 //#define TARGET_STM32F103C8T6 1 // comment out this line if you'd like to use the official NUCLEO-F103RB boards
hudakz 6:7ff95ce72f6d 40
hudakz 6:7ff95ce72f6d 41 #if defined(TARGET_STM32F103C8T6)
hudakz 6:7ff95ce72f6d 42 DigitalOut led(PC_13);
hudakz 6:7ff95ce72f6d 43 #else
hudakz 6:7ff95ce72f6d 44 DigitalOut led(LED1);
hudakz 6:7ff95ce72f6d 45 #endif
hudakz 6:7ff95ce72f6d 46
jcourtois 10:d295b0df4b82 47 DigitalIn fire(D4);
jcourtois 10:d295b0df4b82 48 C12832 lcd(D11, D13, D12, D7, D10);
jcourtois 10:d295b0df4b82 49 LM75B sensor(D14,D15);
jcourtois 10:d295b0df4b82 50 AnalogIn pot1 (A0);
jcourtois 10:d295b0df4b82 51 AnalogIn pot2 (A1);
jcourtois 10:d295b0df4b82 52 PwmOut r (D5);
jcourtois 10:d295b0df4b82 53 PwmOut g (D8);
jcourtois 10:d295b0df4b82 54 PwmOut b (D9);
jcourtois 10:d295b0df4b82 55
hudakz 5:c6503b7ae971 56 int ledReceived;
hudakz 0:c5e5d0df6f2a 57 Timer timer;
hudakz 5:c6503b7ae971 58 CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name, Automatic recovery from bus-off state enabled by default
hudakz 0:c5e5d0df6f2a 59 CANMessage rxMsg;
hudakz 0:c5e5d0df6f2a 60 CANMessage txMsg;
hudakz 5:c6503b7ae971 61 int counter = 0;
hudakz 0:c5e5d0df6f2a 62 volatile bool msgAvailable = false;
hudakz 0:c5e5d0df6f2a 63
hudakz 0:c5e5d0df6f2a 64 /**
hudakz 0:c5e5d0df6f2a 65 * @brief 'CAN receive-complete' interrup handler.
hudakz 0:c5e5d0df6f2a 66 * @note Called on arrival of new CAN message.
hudakz 0:c5e5d0df6f2a 67 * Keep it as short as possible.
hudakz 0:c5e5d0df6f2a 68 * @param
hudakz 0:c5e5d0df6f2a 69 * @retval
hudakz 0:c5e5d0df6f2a 70 */
jcourtois 10:d295b0df4b82 71
hudakz 0:c5e5d0df6f2a 72 void onMsgReceived() {
hudakz 0:c5e5d0df6f2a 73 msgAvailable = true;
hudakz 0:c5e5d0df6f2a 74 }
hudakz 0:c5e5d0df6f2a 75
hudakz 0:c5e5d0df6f2a 76 /**
hudakz 0:c5e5d0df6f2a 77 * @brief Main
hudakz 0:c5e5d0df6f2a 78 * @note
hudakz 0:c5e5d0df6f2a 79 * @param
hudakz 0:c5e5d0df6f2a 80 * @retval
hudakz 0:c5e5d0df6f2a 81 */
hudakz 0:c5e5d0df6f2a 82 int main() {
hudakz 5:c6503b7ae971 83 can.frequency(1000000); // set bit rate to 1Mbps
hudakz 5:c6503b7ae971 84 can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler
jcourtois 10:d295b0df4b82 85 char buff_2[8];
hudakz 0:c5e5d0df6f2a 86 #if defined(BOARD1)
hudakz 6:7ff95ce72f6d 87 #if defined(TARGET_STM32F103C8T6)
hudakz 6:7ff95ce72f6d 88 led = 0; // turn LED on
hudakz 6:7ff95ce72f6d 89 #else
hudakz 6:7ff95ce72f6d 90 led = 1; // turn LED on
hudakz 6:7ff95ce72f6d 91 #endif
hudakz 2:49c9430860d1 92 timer.start();
hudakz 0:c5e5d0df6f2a 93 #else
hudakz 6:7ff95ce72f6d 94 #if defined(TARGET_STM32F103C8T6)
hudakz 6:7ff95ce72f6d 95 led = 1; // turn LED off
hudakz 6:7ff95ce72f6d 96 #else
hudakz 6:7ff95ce72f6d 97 led = 0; // turn LED off
hudakz 6:7ff95ce72f6d 98 #endif
hudakz 0:c5e5d0df6f2a 99 #endif
jcourtois 10:d295b0df4b82 100 lcd.cls();
hudakz 0:c5e5d0df6f2a 101 while(1) {
jcourtois 10:d295b0df4b82 102 wait (0.1);
jcourtois 10:d295b0df4b82 103 lcd.cls();
jcourtois 10:d295b0df4b82 104 lcd.locate(0,3);
jcourtois 10:d295b0df4b82 105 lcd.printf("%d %d %d",char(sensor.temp()),char(pot1*255.0), char(pot2*255.0));
jcourtois 10:d295b0df4b82 106 lcd.locate(0,14);
jcourtois 10:d295b0df4b82 107 lcd.printf("I:%dF:%dl:%d Data:", rxMsg.id, rxMsg.type, rxMsg.len);
jcourtois 10:d295b0df4b82 108 for(int i = 0; i < rxMsg.len; i++)
jcourtois 10:d295b0df4b82 109 {
jcourtois 10:d295b0df4b82 110 lcd.printf("%x", buff_2[i]);
jcourtois 10:d295b0df4b82 111 }
jcourtois 10:d295b0df4b82 112 if(fire) { // check for timeout
hudakz 0:c5e5d0df6f2a 113 timer.stop(); // stop timer
hudakz 0:c5e5d0df6f2a 114 timer.reset(); // reset timer (to avaoid repeated send)
hudakz 0:c5e5d0df6f2a 115 counter++; // increment counter
hudakz 0:c5e5d0df6f2a 116 txMsg.clear(); // clear Tx message storage
hudakz 0:c5e5d0df6f2a 117 txMsg.id = TX_ID; // set ID
jcourtois 10:d295b0df4b82 118 txMsg << char(sensor.temp()); // append first data item (make sure that CAN message total data lenght <= 8 bytes!)
jcourtois 10:d295b0df4b82 119 txMsg << char(0x00);
jcourtois 10:d295b0df4b82 120 txMsg << char(pot1*255.0); // append second data item (make sure that CAN message total data lenght <= 8 bytes!)
jcourtois 10:d295b0df4b82 121 txMsg << char(pot2*255.0);
hudakz 0:c5e5d0df6f2a 122 can.write(txMsg); // transmit message
hudakz 0:c5e5d0df6f2a 123 printf("CAN message sent\r\n");
hudakz 6:7ff95ce72f6d 124
jcourtois 10:d295b0df4b82 125
jcourtois 10:d295b0df4b82 126
hudakz 6:7ff95ce72f6d 127 #if defined(TARGET_STM32F103C8T6)
hudakz 6:7ff95ce72f6d 128 led = 1; // turn LED off
hudakz 6:7ff95ce72f6d 129 #else
hudakz 6:7ff95ce72f6d 130 led = 0; // turn LED off
hudakz 6:7ff95ce72f6d 131 #endif
jcourtois 10:d295b0df4b82 132 while(fire);
hudakz 0:c5e5d0df6f2a 133 }
hudakz 0:c5e5d0df6f2a 134 if(msgAvailable) {
hudakz 0:c5e5d0df6f2a 135 msgAvailable = false; // reset flag for next use
hudakz 0:c5e5d0df6f2a 136 can.read(rxMsg); // read message into Rx message storage
hudakz 2:49c9430860d1 137 printf("CAN message received:\r\n");
hudakz 2:49c9430860d1 138 printf(" ID = %#x\r\n", rxMsg.id);
hudakz 2:49c9430860d1 139 printf(" Type = %d\r\n", rxMsg.type);
hudakz 2:49c9430860d1 140 printf(" Format = %d\r\n", rxMsg.format);
hudakz 2:49c9430860d1 141 printf(" Length = %d\r\n", rxMsg.len);
jcourtois 10:d295b0df4b82 142 printf(" Data =");
jcourtois 10:d295b0df4b82 143 lcd.locate(0,14);
jcourtois 10:d295b0df4b82 144 lcd.printf("I:%dF:%dl:%d", rxMsg.id, rxMsg.type, rxMsg.len);
jcourtois 10:d295b0df4b82 145
hudakz 2:49c9430860d1 146 for(int i = 0; i < rxMsg.len; i++)
jcourtois 10:d295b0df4b82 147 {
jcourtois 10:d295b0df4b82 148 lcd.printf(" %x", rxMsg.data[i]);
jcourtois 10:d295b0df4b82 149 buff_2[i] = rxMsg.data[i];
jcourtois 10:d295b0df4b82 150 }
jcourtois 10:d295b0df4b82 151 r = (rxMsg.data[0]/255.0);
jcourtois 10:d295b0df4b82 152 g = (rxMsg.data[1]/255.0);
jcourtois 10:d295b0df4b82 153 b = (rxMsg.data[2]/255.0);
jcourtois 10:d295b0df4b82 154 if(rxMsg.data[0] == 1) lcd.cls();
hudakz 2:49c9430860d1 155 printf("\r\n");
hudakz 0:c5e5d0df6f2a 156 if(rxMsg.id == RX_ID) { // if ID matches
hudakz 0:c5e5d0df6f2a 157 rxMsg >> counter; // extract first data item
hudakz 5:c6503b7ae971 158 rxMsg >> ledReceived; // extract second data item
hudakz 5:c6503b7ae971 159 led = ledReceived; // set LED
hudakz 1:267d6288df33 160 printf("counter = %d\r\n", counter);
hudakz 0:c5e5d0df6f2a 161 timer.start();
hudakz 0:c5e5d0df6f2a 162 }
hudakz 0:c5e5d0df6f2a 163 }
hudakz 0:c5e5d0df6f2a 164 }
hudakz 0:c5e5d0df6f2a 165 }
hudakz 7:2dce8ed51091 166