Diff: main.cpp

Revision:

11:e837b1a581cb

Parent:

10:eadd73cf3981

diff -r eadd73cf3981 -r e837b1a581cb main.cpp
--- a/main.cpp	Sun Sep 06 17:42:37 2020 +0000
+++ b/main.cpp	Sun Sep 06 19:36:44 2020 +0000
@@ -29,70 +29,17 @@
     const int           OFF = 0;
     const int           ON = 1;
 #endif
-
-#if defined(BOARD1)
-    const unsigned int  RX_ID = 0x100;
-    const unsigned int  TX_ID = 0x101;
-#else
     const unsigned int  RX_ID = 0x101;
     const unsigned int  TX_ID = 0x100;
-#endif
 
 #include "mbed.h"
 #include "CANMsg.h"
-
-Serial              pc(PA_2, PA_3);
-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;
-DigitalOut          led(LED_PIN);
-Timer               timer;
-uint8_t             counter = 0;
-AnalogIn            analogIn(A0);
-float               voltage;
+#include "CANJpa.h"
 
-/**
- * @brief   Prints CAN message to PC's serial terminal
- * @note
- * @param   CANMessage to print
- * @retval
- */
-void printMsg(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");
-}
+//Serial              pc(PA_2, PA_3);
 
-/**
- * @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");
-    printMsg(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 init_can();
+void can_write();
 
 
 /**
@@ -104,41 +51,15 @@
 int main(void)
 {
     pc.baud(9600);          // set serial speed
-    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
-
-#if defined(BOARD1)
+    init_can();
     led = ON;               // turn the LED on
     timer.start();          // start timer
-    pc.printf("CAN_Hello board #1\r\n");
-#else
-    led = OFF;      // turn LED off
-    pc.printf("CAN_Hello board #2\r\n");
-#endif
     while(1) {
         if(timer.read_ms() >= 2000) {    // check for timeout
             timer.stop();                // stop timer
             timer.reset();               // reset timer
-            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");
-                printMsg(txMsg);
-                pc.printf("  counter = %d\r\n", counter);
-                pc.printf("  voltage = %e V\r\n", voltage);
-            }
-            else
-                pc.printf("Transmission error\r\n");
+            can_write();
+
         }
     }
 }