Revision 1:309149d38e77, committed 2019-10-30

Comitter:

jsoh91

Date:

Wed Oct 30 06:26:56 2019 +0000

Parent:

0:e367ec7e677f

Commit message:

CAN problem fix

Changed in this revision

diff -r e367ec7e677f -r 309149d38e77 main.cpp
--- a/main.cpp	Tue Oct 15 03:41:29 2019 +0000
+++ b/main.cpp	Wed Oct 30 06:26:56 2019 +0000
@@ -1,10 +1,10 @@
-#if !FEATURE_LWIP
-#error [NOT_SUPPORTED] LWIP not supported for this target
-#endif
+//#if !FEATURE_LWIP
+//#error [NOT_SUPPORTED] LWIP not supported for this target
+//#endif
 
 
 #include "mbed.h"
-#include "EthernetInterface.h"
+//#include "EthernetInterface.h"
 
 #define IP          "10.12.3.26"
 #define NETMASK     "255.255.255.0"
@@ -12,7 +12,10 @@
 
 #define serv_IP     "10.12.3.25"
 
-#define TMR3_COUNT  54000000      // loop 5k
+#define TMR3_COUNT  21800      // loop 5k ,   for stm32f767zi
+#define TMR3_COUNT  10900      // loop 10k ,   for stm32f767zi
+//#define TMR3_COUNT  18000      // loop 5k   ,   for stm32f446re
+//#define TMR3_COUNT  9000      // loop 10k   ,   for stm32f446re
 
 #include <cstdlib>
 #include <iostream>
@@ -20,19 +23,13 @@
 using namespace std;
 
 float calc_time = 0.0f;
-    
+
 Timer t;
 
-extern "C" void TIM3_IRQHandler(void)
-{
-    if ( TIM3->SR & TIM_SR_UIF ) {
+//DigitalOut tpin(PC_8);
 
 
 
-    }
-    TIM3->SR = 0x0;
-}
-
 void Init_TMR3()
 {
 
@@ -50,21 +47,98 @@
     TIM3->RCR |= 0x001;                                         // update event once per up/down count of TIM3
     TIM3->EGR |= TIM_EGR_UG;
 
-    TIM3->PSC = 0x4;                                            // no prescaler, timer counts up in sync with the peripheral clock
+    TIM3->PSC = 0x0;                                            // no prescaler, timer counts up in sync with the peripheral clock
     TIM3->ARR = TMR3_COUNT;                                          // set auto reload, 5 khz
     TIM3->CCER |= ~(TIM_CCER_CC1NP);                            // Interupt when low side is on.
     TIM3->CR1 |= TIM_CR1_CEN;                                   // enable TIM4
 }
 
+//CAN can(PB_8, PB_9);           //for stm32f446re
 
+CAN          can(PD_0, PD_1);      // CAN Rx pin name, CAN Tx pin name, for stm32f767zi
+CANMessage   rxMsg;
+CANMessage   txMsg;
+
+void onMsgReceived()
+{
+    //msgAvailable = true;
+//    printf("%df\n\r", rxMsg.id);
+    can.read(rxMsg);
+    if((rxMsg.id == 20)) {
+
+
+
+        can.write(txMsg);
+
+
+//        controller.timeout = 0;
+//        if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) & (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFC))){
+//            state = MOTOR_MODE;
+//            state_change = 1;
+//            }
+//        else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))){
+//            state = REST_MODE;
+//            state_change = 1;
+//            gpio.led->write(0);;
+//            }
+//        else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){
+//            spi.ZeroPosition();
+//            }
+//        else if(state == MOTOR_MODE){
+//            unpack_cmd(rxMsg, &controller);
+//            }
+//        pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
+//        can.write(txMsg);
+    }
+
+}
+
+extern "C" void TIM3_IRQHandler(void)
+{
+    if ( TIM3->SR & TIM_SR_UIF ) {
+
+        can.write(txMsg);
+        
+//        if(tpin == 1)
+//            tpin = 0;
+//        else
+//            tpin = 1;
+
+    }
+    TIM3->SR = 0x0;
+}
 int main()
 {
+
+//    NVIC_SetPriority(CAN1_RX0_IRQn, 3);
+//    can.filter(20, 0xFFE00004, CANStandard, 0);
+
+//    txMsg.id = CAN_MASTER;
+//    txMsg.len = 6;
+    rxMsg.len = 4;
+    txMsg.len = 4;
+    txMsg.id = 10;
+    txMsg.data[0] = 'a';
+    txMsg.data[1] = 'b';
+    txMsg.data[2] = 'c';
+    txMsg.data[3] = 'd';
+    can.attach(&onMsgReceived);                                     // attach 'CAN receive-complete' interrupt handler
+    NVIC_SetPriority(CAN1_RX0_IRQn, 3);
+    can.filter(20,0xFFF00,CANStandard,0);
+   
+    if(!can.frequency(1000000))
+        cout << "CAN freq setting fail !" << endl;
+    else
+        cout << "CAN 1Mbps setting OK !" << endl;
+    
     Init_TMR3();
     TIM3->CR1 ^= TIM_CR1_UDIS;
     NVIC_SetPriority(TIM3_IRQn, 2);
-
-    t.reset();
-    t.start();
+    
+    
+//
+//    t.reset();
+//    t.start();
 //
 //    wait(1.0);
 //    printf("Basic HTTP client example\n");
@@ -91,9 +165,12 @@
 //    char rbuffer[128];
 
     while (true) {
-
-        cout << "t : " << calc_time << endl;
-        wait(0.2f);
+        
+//        cout << "result : " << result << endl;
+//        wait(1.0f);
+//
+//        cout << "t : " << calc_time << endl;
+//        wait(0.2f);