Luis Silvio Cordova Rivadeneira
CAN_SPI_modulo_Seed_Studio
Revision 2:7e78ba1e5921, committed 2013-11-12
- Comitter:
- Just4pLeisure
- Date:
- Tue Nov 12 21:06:15 2013 +0000
- Parent:
- 1:d31ce42d53a1
- Commit message:
- Updated 12-11-2013 to make use of newly working interrupt 'attach' functions/methods
Changed in this revision
| SEEED_CAN.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r d31ce42d53a1 -r 7e78ba1e5921 SEEED_CAN.lib --- a/SEEED_CAN.lib Wed Nov 06 20:24:49 2013 +0000 +++ b/SEEED_CAN.lib Tue Nov 12 21:06:15 2013 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/Just4pLeisure/code/SEEED_CAN/#ad71faa09868 +http://mbed.org/users/Just4pLeisure/code/SEEED_CAN/#fd026fcfde94
diff -r d31ce42d53a1 -r 7e78ba1e5921 main.cpp
--- a/main.cpp Wed Nov 06 20:24:49 2013 +0000
+++ b/main.cpp Tue Nov 12 21:06:15 2013 +0000
@@ -1,17 +1,38 @@
#include "mbed.h"
#include "seeed_can.h"
-SEEED_CAN CAN; // No parameters needed when Seeed Studios' CAN-BUS Shield is plugged into a FRDM-KL25Z mbed
+SEEED_CAN can; // No parameters needed when Seeed Studios' CAN-BUS Shield is plugged into a FRDM-KL25Z mbed
+ // or an LPC1768b and using pins p9, p10, p11, p12 and p13.
Serial pc(USBTX, USBRX); // USB serial port TTYACM0 (or COMn in a Windows environment - use device manager to find 'n')
Ticker minute;
Timer timestamp;
-void resetTimestamp()
+bool msgRxFlag = 0;
+
+void canInterrupt()
+{
+ can.attach(NULL); // Disable the interrupt - the application must re-anable the interrupt after it has acted upon it
+ msgRxFlag = 1; // Set a 'Flag' to say that there is an interrupt that needs to be processed
+}
+
+void resetTimestamp() // Resets the 'timestamp' Timer (attached to the 'minute' Ticker)
{
timestamp.reset();
}
+void displayMessage() // Display a CAN message if there is one in a receive buffer
+{
+ SEEED_CANMessage canMsg;
+
+ if (can.read(canMsg)) {
+ printf("*** T%05dI%03xL%dD", timestamp.read_ms(), canMsg.id, canMsg.len); // Show a Timestamp in ms, message Id and message Length
+ for (uint32_t i = 0; i < canMsg.len; i++)
+ printf("%02x", canMsg.data[i]); // Show the message's data bytes in Hex representation
+ printf(" ***\r");
+ }
+}
+
int main()
{
SEEED_CANMessage canMsg;
@@ -22,36 +43,37 @@
printf("Seeed Studios CAN-BUS Shield 'Hello World' program :-)\r\n");
timestamp.start();
minute.attach(&resetTimestamp, 60.0); // Reset the 'Timestamp' timer every minute
- CAN.open(500000); // Initialise Seeed Studios' CAN-BUS shield with a baudrate of 500 kbps (P-bus)
- CAN.mask(0, 0x7FF); // Configure Mask 0 to check all bits of a Standard CAN message Id
- CAN.mask(1, 0x7FF, CANStandard); // Configure Mask 1 to check all bits of a Standard CAN message Id
- CAN.filter(0, 0x7E8); // Configure Filter 0 - 0x7E8 is the id used by ECUs on GMLAN
- while (CAN.read(canMsg)); // Empty any unfiltered messages in the receive buffers
+ can.open(500000, SEEED_CAN::Config); // Initialise Seeed Studios' CAN-BUS shield with a baudrate of 500 kbps (P-bus)
+ can.mask(0, 0x7FF); // Configure Mask 0 to check all bits of a Standard CAN message Id
+ can.mask(1, 0x7FF, CANStandard); // Configure Mask 1 to check all bits of a Standard CAN message Id
+ can.filter(0, 0x7E8); // Configure Filter 0 - 0x7E8 is the id used by ECUs on GMLAN
// Read and Display the VIN code stored in a GMLAN ECU
-//
+//
// ***!!! NOTE: Using while(...) as I am here is not a good idea because !!!***
// ***!!! this 'Hello World' will get stuck if the message never arrives !!!***
// ***!!! I should really perform checking and include a timeout. !!!***
// ***!!! It's sort of OK for a quick demo (Just don't show Nigel Jones) !!!***
-//
- CAN.write(SEEED_CANMessage(0x7E0, reqvin)); // Request VIN using ReadDataByIdentifier method (GMLAN_DID)
- while (!(CAN.read(canMsg) && (canMsg.id == 0x7E8))); // Wait for the response
+//
+ can.write(SEEED_CANMessage(0x7E0, reqvin)); // Request VIN using ReadDataByIdentifier method (GMLAN_DID)
+ while (!(can.read(canMsg) && (canMsg.id == 0x7E8))); // Wait for the response
memcpy(VIN+0, canMsg.data+4, 4); // 1st 4 Bytes are part of message protocol, last 4 bytes are 1st 4 characters of VIN
- CAN.write(SEEED_CANMessage(0x7E0, floctl)); // Send Trionic8 a "Flow Control Message to get the rest of the VIN
- while (!(CAN.read(canMsg) && (canMsg.id == 0x7E8))); // Wait for the 1st continuation message
+ can.write(SEEED_CANMessage(0x7E0, floctl)); // Send Trionic8 a "Flow Control Message to get the rest of the VIN
+ while (!(can.read(canMsg) && (canMsg.id == 0x7E8))); // Wait for the 1st continuation message
memcpy(VIN+4, canMsg.data+1, 7); // 1st Byte is message continuation sequence number, last 7 bytes are next 7 characters of VIN
- while (!(CAN.read(canMsg) && (canMsg.id == 0x7E8))); // Wait for the last message
+ while (!(can.read(canMsg) && (canMsg.id == 0x7E8))); // Wait for the last message
memcpy(VIN+11, canMsg.data+1, 6); // 1st Byte is message continuation sequence number, last 6 bytes are remaining characters of VIN
printf("VIN code: %s\r\n",VIN);
// Display all messages on the CAN-BUS
- CAN.monitor(1); // Select Moniter mode to listen only (do not ack messages on the CAN bus)
- CAN.mask(0, NULL); // Clear acceptance mask 0 (i.e. accept all meassages)
+ can.monitor(1); // Select Moniter mode to listen only (do not ack messages on the CAN bus)
+ can.mask(0, NULL); // Clear acceptance mask 0 (i.e. accept all meassages)
+ can.attach(&canInterrupt, SEEED_CAN::RxAny);
while (1) {
- if (CAN.read(canMsg)) {
- printf("*** T%05dI%03xL%dD", timestamp.read_ms(), canMsg.id, canMsg.len);
- for (uint32_t i=0; i<canMsg.len; i++)
- printf("%02x", canMsg.data[i]);
- printf(" ***\r");
+ if (msgRxFlag) {
+ displayMessage();
+ if (can.interrupts(SEEED_CAN::RxAny)) {
+ msgRxFlag = 0;
+ can.attach(&canInterrupt, SEEED_CAN::RxAny);
+ }
}
}
}