Jean-Pierre Aulas / Mbed 2 deprecated CanS-Homes

start adapt S-Homes structure

Dependencies:   mbed CANMsg

CANJpa/CANJpa.h@11:e837b1a581cb, 2020-09-06 (annotated)

Committer:
jeanpierreaulas
Date:
Sun Sep 06 19:36:44 2020 +0000
Revision:
11:e837b1a581cb
add CANJpa.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jeanpierreaulas 11:e837b1a581cb 1 #ifndef CANJpa_H
jeanpierreaulas 11:e837b1a581cb 2 #define CANJpa_H
jeanpierreaulas 11:e837b1a581cb 3
jeanpierreaulas 11:e837b1a581cb 4 extern Serial pc(PA_2, PA_3);
jeanpierreaulas 11:e837b1a581cb 5 extern CAN can(PA_2, PA_3); // CAN Rx pin name, CAN Tx pin name
jeanpierreaulas 11:e837b1a581cb 6 //CAN can(p30, p29); // CAN Rx pin name, CAN Tx pin name
jeanpierreaulas 11:e837b1a581cb 7 CANMsg rxMsg;
jeanpierreaulas 11:e837b1a581cb 8 CANMsg txMsg;
jeanpierreaulas 11:e837b1a581cb 9
jeanpierreaulas 11:e837b1a581cb 10 uint8_t counter = 0;
jeanpierreaulas 11:e837b1a581cb 11 AnalogIn analogIn(A0);
jeanpierreaulas 11:e837b1a581cb 12 float voltage;
jeanpierreaulas 11:e837b1a581cb 13 Timer timer;
jeanpierreaulas 11:e837b1a581cb 14 DigitalOut led(LED_PIN);
jeanpierreaulas 11:e837b1a581cb 15
jeanpierreaulas 11:e837b1a581cb 16 /**
jeanpierreaulas 11:e837b1a581cb 17 * @brief Prints CAN message to PC's serial terminal
jeanpierreaulas 11:e837b1a581cb 18 * @note
jeanpierreaulas 11:e837b1a581cb 19 * @param CANMessage to print
jeanpierreaulas 11:e837b1a581cb 20 * @retval
jeanpierreaulas 11:e837b1a581cb 21 */
jeanpierreaulas 11:e837b1a581cb 22 void printMsgCan(CANMessage& msg)
jeanpierreaulas 11:e837b1a581cb 23 {
jeanpierreaulas 11:e837b1a581cb 24 pc.printf(" ID = 0x%.3x\r\n", msg.id);
jeanpierreaulas 11:e837b1a581cb 25 pc.printf(" Type = %d\r\n", msg.type);
jeanpierreaulas 11:e837b1a581cb 26 pc.printf(" Format = %d\r\n", msg.format);
jeanpierreaulas 11:e837b1a581cb 27 pc.printf(" Length = %d\r\n", msg.len);
jeanpierreaulas 11:e837b1a581cb 28 pc.printf(" Data =");
jeanpierreaulas 11:e837b1a581cb 29 for(int i = 0; i < msg.len; i++)
jeanpierreaulas 11:e837b1a581cb 30 pc.printf(" 0x%.2X", msg.data[i]);
jeanpierreaulas 11:e837b1a581cb 31 pc.printf("\r\n");
jeanpierreaulas 11:e837b1a581cb 32 }
jeanpierreaulas 11:e837b1a581cb 33
jeanpierreaulas 11:e837b1a581cb 34
jeanpierreaulas 11:e837b1a581cb 35 /**
jeanpierreaulas 11:e837b1a581cb 36 * @brief Handles received CAN messages
jeanpierreaulas 11:e837b1a581cb 37 * @note Called on 'CAN message received' interrupt.
jeanpierreaulas 11:e837b1a581cb 38 * @param
jeanpierreaulas 11:e837b1a581cb 39 * @retval
jeanpierreaulas 11:e837b1a581cb 40 */
jeanpierreaulas 11:e837b1a581cb 41 void onCanReceived(void)
jeanpierreaulas 11:e837b1a581cb 42 {
jeanpierreaulas 11:e837b1a581cb 43 can.read(rxMsg);
jeanpierreaulas 11:e837b1a581cb 44 pc.printf("-------------------------------------\r\n");
jeanpierreaulas 11:e837b1a581cb 45 pc.printf("CAN message received\r\n");
jeanpierreaulas 11:e837b1a581cb 46 printMsgCan(rxMsg);
jeanpierreaulas 11:e837b1a581cb 47
jeanpierreaulas 11:e837b1a581cb 48 if (rxMsg.id == RX_ID) {
jeanpierreaulas 11:e837b1a581cb 49 // extract data from the received CAN message
jeanpierreaulas 11:e837b1a581cb 50 // in the same order as it was added on the transmitter side
jeanpierreaulas 11:e837b1a581cb 51 rxMsg >> counter;
jeanpierreaulas 11:e837b1a581cb 52 rxMsg >> voltage;
jeanpierreaulas 11:e837b1a581cb 53 pc.printf(" counter = %d\r\n", counter);
jeanpierreaulas 11:e837b1a581cb 54 pc.printf(" voltage = %e V\r\n", voltage);
jeanpierreaulas 11:e837b1a581cb 55 }
jeanpierreaulas 11:e837b1a581cb 56 timer.start(); // to transmit next message in main
jeanpierreaulas 11:e837b1a581cb 57 }
jeanpierreaulas 11:e837b1a581cb 58
jeanpierreaulas 11:e837b1a581cb 59 void can_write()
jeanpierreaulas 11:e837b1a581cb 60 {
jeanpierreaulas 11:e837b1a581cb 61 counter++; // increment counter
jeanpierreaulas 11:e837b1a581cb 62 voltage = analogIn * 3.3f; // read the small drift voltage from analog input
jeanpierreaulas 11:e837b1a581cb 63 txMsg.clear(); // clear Tx message storage
jeanpierreaulas 11:e837b1a581cb 64 txMsg.id = TX_ID; // set ID
jeanpierreaulas 11:e837b1a581cb 65 // append data (total data length must not exceed 8 bytes!)
jeanpierreaulas 11:e837b1a581cb 66 txMsg << counter; // one byte
jeanpierreaulas 11:e837b1a581cb 67 txMsg << voltage; // four bytes
jeanpierreaulas 11:e837b1a581cb 68
jeanpierreaulas 11:e837b1a581cb 69 if(can.write(txMsg)) { // transmit message
jeanpierreaulas 11:e837b1a581cb 70 led = OFF; // turn the LED off
jeanpierreaulas 11:e837b1a581cb 71 pc.printf("-------------------------------------\r\n");
jeanpierreaulas 11:e837b1a581cb 72 pc.printf("-------------------------------------\r\n");
jeanpierreaulas 11:e837b1a581cb 73 pc.printf("CAN message sent\r\n");
jeanpierreaulas 11:e837b1a581cb 74 printMsgCan(txMsg);
jeanpierreaulas 11:e837b1a581cb 75 pc.printf(" counter = %d\r\n", counter);
jeanpierreaulas 11:e837b1a581cb 76 pc.printf(" voltage = %e V\r\n", voltage);
jeanpierreaulas 11:e837b1a581cb 77 }
jeanpierreaulas 11:e837b1a581cb 78 else
jeanpierreaulas 11:e837b1a581cb 79 pc.printf("Transmission error\r\n");
jeanpierreaulas 11:e837b1a581cb 80 }
jeanpierreaulas 11:e837b1a581cb 81
jeanpierreaulas 11:e837b1a581cb 82 void init_can()
jeanpierreaulas 11:e837b1a581cb 83 {
jeanpierreaulas 11:e837b1a581cb 84 can.frequency(1000000); // set CAN bit rate to 1Mbps
jeanpierreaulas 11:e837b1a581cb 85 can.filter(RX_ID, 0xFFF, CANStandard, 0); // set filter #0 to accept only standard messages with ID == RX_ID
jeanpierreaulas 11:e837b1a581cb 86 can.attach(onCanReceived); // attach ISR to handle received messages
jeanpierreaulas 11:e837b1a581cb 87 pc.printf("CAN_Hello board start\r\n");
jeanpierreaulas 11:e837b1a581cb 88 }
jeanpierreaulas 11:e837b1a581cb 89
jeanpierreaulas 11:e837b1a581cb 90 #endif // CANJpa_H