Diff: CANJpa/CANJpa.h

Revision:

11:e837b1a581cb

diff -r eadd73cf3981 -r e837b1a581cb CANJpa/CANJpa.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CANJpa/CANJpa.h	Sun Sep 06 19:36:44 2020 +0000
@@ -0,0 +1,90 @@
+#ifndef CANJpa_H
+#define CANJpa_H
+
+extern Serial              pc(PA_2, PA_3);
+extern CAN                 can(PA_2, PA_3);  // CAN Rx pin name, CAN Tx pin name
+//CAN                 can(p30, p29);  // CAN Rx pin name, CAN Tx pin name
+CANMsg              rxMsg;
+CANMsg              txMsg;
+
+uint8_t             counter = 0;
+AnalogIn            analogIn(A0);
+float               voltage;
+Timer               timer;
+DigitalOut          led(LED_PIN);
+
+/**
+ * @brief   Prints CAN message to PC's serial terminal
+ * @note
+ * @param   CANMessage to print
+ * @retval
+ */
+void printMsgCan(CANMessage& msg)
+{
+    pc.printf("  ID      = 0x%.3x\r\n", msg.id);
+    pc.printf("  Type    = %d\r\n", msg.type);
+    pc.printf("  Format  = %d\r\n", msg.format);
+    pc.printf("  Length  = %d\r\n", msg.len);
+    pc.printf("  Data    =");
+    for(int i = 0; i < msg.len; i++)
+        pc.printf(" 0x%.2X", msg.data[i]);
+    pc.printf("\r\n");
+}
+
+
+/**
+ * @brief   Handles received CAN messages
+ * @note    Called on 'CAN message received' interrupt.
+ * @param
+ * @retval
+ */
+void onCanReceived(void)
+{
+    can.read(rxMsg);
+    pc.printf("-------------------------------------\r\n");
+    pc.printf("CAN message received\r\n");
+    printMsgCan(rxMsg);
+
+    if (rxMsg.id == RX_ID) {
+        // extract data from the received CAN message 
+        // in the same order as it was added on the transmitter side
+        rxMsg >> counter;
+        rxMsg >> voltage;    
+        pc.printf("  counter = %d\r\n", counter);
+        pc.printf("  voltage = %e V\r\n", voltage);
+    }
+    timer.start(); // to transmit next message in main
+}
+
+void can_write()
+    {
+            counter++;                   // increment counter
+            voltage = analogIn * 3.3f;   // read the small drift voltage from analog input
+            txMsg.clear();               // clear Tx message storage
+            txMsg.id = TX_ID;            // set ID
+            // append data (total data length must not exceed 8 bytes!)
+            txMsg << counter;   // one byte
+            txMsg << voltage;   // four bytes
+             
+            if(can.write(txMsg)) {       // transmit message
+                led = OFF;               // turn the LED off
+                pc.printf("-------------------------------------\r\n");
+                pc.printf("-------------------------------------\r\n");
+                pc.printf("CAN message sent\r\n");
+                printMsgCan(txMsg);
+                pc.printf("  counter = %d\r\n", counter);
+                pc.printf("  voltage = %e V\r\n", voltage);
+            }
+            else
+                pc.printf("Transmission error\r\n");
+      }
+          
+void init_can()
+    {
+    can.frequency(1000000); // set CAN bit rate to 1Mbps
+    can.filter(RX_ID, 0xFFF, CANStandard, 0); // set filter #0 to accept only standard messages with ID == RX_ID
+    can.attach(onCanReceived);                // attach ISR to handle received messages   
+    pc.printf("CAN_Hello board start\r\n");
+    }
+
+#endif // CANJpa_H
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