main.cpp

00001 /*
00002  * An example showing how to use the CANnucleo library:
00003  *
00004  * Two affordable (less than $4 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), 
00005  * compatible with the NUCLEO-F103RB platform (20kB SRAM, 128kB Flash), 
00006  * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). 
00007  * CAN transceivers are not part of NUCLEO boards, therefore must be added by you. 
00008  * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends.
00009  *
00010  * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/>
00011  *
00012  * NOTE: If you'd like to use the official NUCLEO-F103RB boards
00013  *       comment out the line #define TARGET_STM32F103C8T6  1
00014  *
00015  * The same code is used for both NUCLEO boards, but:
00016  *      For board #1 compile the example without any change.
00017  *      For board #2 comment out the line #define BOARD1 1 before compiling 
00018  *
00019  * Once the binaries have been downloaded to the boards reset board #1.
00020  *
00021  */ 
00022 
00023 #include "mbed.h"
00024 #include "CAN.h"
00025 #include "C12832.h"
00026 #include "LM75B.h"
00027 
00028 #define BOARD1    1                 // comment out this line when compiling for board #2
00029 
00030 #if defined(BOARD1)
00031     #define RX_ID   0x100
00032     #define TX_ID   0x7FF
00033 #else
00034     #define RX_ID   0x101
00035     #define TX_ID   0x7FF
00036 #endif
00037 
00038 // See wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/>
00039 //#define TARGET_STM32F103C8T6  1     // comment out this line if you'd like to use the official NUCLEO-F103RB boards
00040                                     
00041 #if defined(TARGET_STM32F103C8T6)  
00042     DigitalOut  led(PC_13);
00043 #else
00044     DigitalOut  led(LED1);
00045 #endif
00046 
00047     DigitalIn fire(D4);
00048     C12832 lcd(D11, D13, D12, D7, D10);
00049     LM75B sensor(D14,D15);
00050     AnalogIn pot1 (A0);
00051     AnalogIn pot2 (A1);
00052     PwmOut r (D5);
00053     PwmOut g (D8);
00054     PwmOut b (D9);
00055       
00056 int             ledReceived;
00057 Timer           timer;
00058 CAN             can(PA_11, PA_12);  // CAN Rx pin name, CAN Tx pin name, Automatic recovery from bus-off state enabled by default
00059 CANMessage      rxMsg;
00060 CANMessage      txMsg;
00061 int             counter = 0;
00062 volatile bool   msgAvailable = false;
00063 
00064 /**
00065  * @brief   'CAN receive-complete' interrup handler.
00066  * @note    Called on arrival of new CAN message.
00067  *          Keep it as short as possible.
00068  * @param   
00069  * @retval  
00070  */
00071  
00072 void onMsgReceived() {
00073     msgAvailable = true;
00074 }
00075 
00076 /**
00077  * @brief   Main
00078  * @note
00079  * @param 
00080  * @retval
00081  */
00082 int main() {
00083     can.frequency(1000000);                     // set bit rate to 1Mbps
00084     can.attach(&onMsgReceived, CAN::RxIrq);     // attach 'CAN receive-complete' interrupt handler
00085     char buff_2[8];
00086 #if defined(BOARD1)
00087     #if defined(TARGET_STM32F103C8T6)
00088         led = 0;    // turn LED on
00089     #else
00090         led = 1;    // turn LED on
00091     #endif
00092     timer.start();
00093 #else
00094     #if defined(TARGET_STM32F103C8T6)
00095         led = 1;    // turn LED off
00096     #else
00097         led = 0;    // turn LED off
00098     #endif
00099 #endif
00100     lcd.cls();
00101     while(1) {
00102         wait (0.1);
00103         lcd.cls();
00104         lcd.locate(0,3);
00105         lcd.printf("%d %d %d",char(sensor.temp()),char(pot1*255.0), char(pot2*255.0));
00106         lcd.locate(0,14);
00107         lcd.printf("I:%dF:%dl:%d Data:", rxMsg.id, rxMsg.type, rxMsg.len);
00108         for(int i = 0; i < rxMsg.len; i++)
00109         {
00110             lcd.printf("%x", buff_2[i]);
00111         }
00112         if(fire) {               // check for timeout
00113             timer.stop();                       // stop timer
00114             timer.reset();                      // reset timer (to avaoid repeated send)
00115             counter++;                          // increment counter
00116             txMsg.clear();                      // clear Tx message storage
00117             txMsg.id = TX_ID;                   // set ID
00118             txMsg << char(sensor.temp());                   // append first data item (make sure that CAN message total data lenght <= 8 bytes!)
00119             txMsg << char(0x00);
00120             txMsg << char(pot1*255.0);                // append second data item (make sure that CAN message total data lenght <= 8 bytes!)
00121             txMsg << char(pot2*255.0); 
00122             can.write(txMsg);                   // transmit message
00123             printf("CAN message sent\r\n");
00124             
00125            
00126             
00127             #if defined(TARGET_STM32F103C8T6)
00128                 led = 1;                        // turn LED off
00129             #else
00130                 led = 0;                        // turn LED off
00131             #endif
00132             while(fire);
00133         }
00134         if(msgAvailable) {
00135             msgAvailable = false;               // reset flag for next use
00136             can.read(rxMsg);                    // read message into Rx message storage
00137             printf("CAN message received:\r\n");
00138             printf("  ID     = %#x\r\n", rxMsg.id);
00139             printf("  Type   = %d\r\n", rxMsg.type);
00140             printf("  Format = %d\r\n", rxMsg.format);
00141             printf("  Length = %d\r\n", rxMsg.len);
00142             printf("  Data   =");      
00143             lcd.locate(0,14);
00144             lcd.printf("I:%dF:%dl:%d", rxMsg.id, rxMsg.type, rxMsg.len);    
00145             
00146             for(int i = 0; i < rxMsg.len; i++)
00147             {
00148                 lcd.printf(" %x", rxMsg.data[i]);
00149                 buff_2[i] =  rxMsg.data[i];
00150             }   
00151             r = (rxMsg.data[0]/255.0);
00152             g = (rxMsg.data[1]/255.0);
00153             b = (rxMsg.data[2]/255.0);
00154             if(rxMsg.data[0] == 1) lcd.cls();
00155             printf("\r\n");            
00156             if(rxMsg.id == RX_ID) {             // if ID matches
00157                 rxMsg >> counter;               // extract first data item
00158                 rxMsg >> ledReceived;           // extract second data item
00159                 led = ledReceived;              // set LED
00160                 printf("counter = %d\r\n", counter);
00161                 timer.start();
00162             }
00163         }
00164     }
00165 }
00166