Luis Silvio Cordova Rivadeneira / CAN_ex_0

Ejemplo CAN Hello W!

Dependencies:   mbed-dev CANnucleo

main.cpp@25:1d0488a03905, 2017-03-08 (annotated)

Committer:
hudakz
Date:
Wed Mar 08 19:19:22 2017 +0000
Revision:
25:1d0488a03905
Parent:
24:e2907bcba75e
Child:
26:f71400b1fa56
Updated.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:c5e5d0df6f2a 1 /*
hudakz 16:a86f339d1c25 2 * An example showing how to use the CANnucleo library:
hudakz 0:c5e5d0df6f2a 3 *
hudakz 20:eb1a8042605e 4 * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash),
hudakz 20:eb1a8042605e 5 * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details)
hudakz 6:7ff95ce72f6d 6 * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.).
hudakz 6:7ff95ce72f6d 7 * CAN transceivers are not part of NUCLEO boards, therefore must be added by you.
hudakz 6:7ff95ce72f6d 8 * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends.
hudakz 6:7ff95ce72f6d 9 *
hudakz 16:a86f339d1c25 10 * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/>
hudakz 6:7ff95ce72f6d 11 *
hudakz 21:7120a0dcc8ee 12 * NOTE: If you'd like to use an STM32F103C8T6 board uncomment line 23
hudakz 6:7ff95ce72f6d 13 *
hudakz 6:7ff95ce72f6d 14 * The same code is used for both NUCLEO boards, but:
hudakz 0:c5e5d0df6f2a 15 * For board #1 compile the example without any change.
hudakz 18:22977a898fe9 16 * For board #2 comment out line 23 before compiling
hudakz 4:ccf4ac2deac8 17 *
hudakz 6:7ff95ce72f6d 18 * Once the binaries have been downloaded to the boards reset board #1.
hudakz 0:c5e5d0df6f2a 19 *
hudakz 0:c5e5d0df6f2a 20 */
hudakz 0:c5e5d0df6f2a 21
hudakz 22:f4682a5ddda6 22 #define BOARD1 1 // comment out this line when compiling for board #2
hudakz 25:1d0488a03905 23 //#define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards!
hudakz 0:c5e5d0df6f2a 24
hudakz 16:a86f339d1c25 25 #if defined(TARGET_STM32F103C8T6)
hudakz 21:7120a0dcc8ee 26 #include "stm32f103c8t6.h"
hudakz 19:872e304d7e17 27 #define LED_PIN PC_13
hudakz 10:66da8731bdb6 28 const int OFF = 1;
hudakz 10:66da8731bdb6 29 const int ON = 0;
hudakz 0:c5e5d0df6f2a 30 #else
hudakz 19:872e304d7e17 31 #define LED_PIN LED1
hudakz 10:66da8731bdb6 32 const int OFF = 0;
hudakz 10:66da8731bdb6 33 const int ON = 1;
hudakz 0:c5e5d0df6f2a 34 #endif
hudakz 0:c5e5d0df6f2a 35
hudakz 10:66da8731bdb6 36 #if defined(BOARD1)
hudakz 10:66da8731bdb6 37 const unsigned int RX_ID = 0x100;
hudakz 10:66da8731bdb6 38 const unsigned int TX_ID = 0x101;
hudakz 6:7ff95ce72f6d 39 #else
hudakz 10:66da8731bdb6 40 const unsigned int RX_ID = 0x101;
hudakz 10:66da8731bdb6 41 const unsigned int TX_ID = 0x100;
hudakz 6:7ff95ce72f6d 42 #endif
hudakz 6:7ff95ce72f6d 43
hudakz 24:e2907bcba75e 44 #include "CANnucleo.h"
hudakz 16:a86f339d1c25 45 #include "mbed.h"
hudakz 16:a86f339d1c25 46
hudakz 17:18d4d0ff26a6 47 /*
hudakz 17:18d4d0ff26a6 48 * To avaoid name collision with the CAN and CANMessage classes built into the mbed library
hudakz 17:18d4d0ff26a6 49 * the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace.
hudakz 20:eb1a8042605e 50 * Remember to qualify them with the CANnucleo namespace.
hudakz 17:18d4d0ff26a6 51 */
hudakz 21:7120a0dcc8ee 52 CANnucleo::CAN* can;
hudakz 17:18d4d0ff26a6 53 CANnucleo::CANMessage rxMsg;
hudakz 17:18d4d0ff26a6 54 CANnucleo::CANMessage txMsg;
hudakz 19:872e304d7e17 55 DigitalOut led(LED_PIN);
hudakz 18:22977a898fe9 56 Timer timer;
hudakz 25:1d0488a03905 57 uint8_t counter = 0;
hudakz 25:1d0488a03905 58 AnalogIn analogIn(A0);
hudakz 25:1d0488a03905 59 float voltage;
hudakz 17:18d4d0ff26a6 60 volatile bool msgAvailable = false;
hudakz 22:f4682a5ddda6 61 Serial* pc;
hudakz 0:c5e5d0df6f2a 62
hudakz 16:a86f339d1c25 63 /**
hudakz 16:a86f339d1c25 64 * @brief 'CAN receive-complete' interrup handler.
hudakz 16:a86f339d1c25 65 * @note Called on arrival of new CAN message.
hudakz 16:a86f339d1c25 66 * Keep it as short as possible.
hudakz 16:a86f339d1c25 67 * @param
hudakz 16:a86f339d1c25 68 * @retval
hudakz 16:a86f339d1c25 69 */
hudakz 16:a86f339d1c25 70 void onMsgReceived() {
hudakz 16:a86f339d1c25 71 msgAvailable = true;
hudakz 16:a86f339d1c25 72 }
hudakz 16:a86f339d1c25 73
hudakz 16:a86f339d1c25 74 /**
hudakz 25:1d0488a03905 75 * @brief Prints CAN msg to PC's serial terminal
hudakz 25:1d0488a03905 76 * @note}
hudakz 25:1d0488a03905 77 * @param CANMessage to print
hudakz 25:1d0488a03905 78 * @retval none
hudakz 25:1d0488a03905 79 */
hudakz 25:1d0488a03905 80 void printMsg(CANnucleo::CANMessage& msg) {
hudakz 25:1d0488a03905 81 pc->printf(" ID = 0x%.3x\r\n", msg.id);
hudakz 25:1d0488a03905 82 pc->printf(" Type = %d\r\n", msg.type);
hudakz 25:1d0488a03905 83 pc->printf(" Format = %d\r\n", msg.format);
hudakz 25:1d0488a03905 84 pc->printf(" Length = %d\r\n", msg.len);
hudakz 25:1d0488a03905 85 pc->printf(" Data =");
hudakz 25:1d0488a03905 86 for(int i = 0; i < msg.len; i++)
hudakz 25:1d0488a03905 87 pc->printf(" %.2x", msg.data[i]);
hudakz 25:1d0488a03905 88 pc->printf("\r\n");
hudakz 25:1d0488a03905 89 }
hudakz 25:1d0488a03905 90
hudakz 25:1d0488a03905 91 /**
hudakz 16:a86f339d1c25 92 * @brief Main
hudakz 16:a86f339d1c25 93 * @note
hudakz 16:a86f339d1c25 94 * @param
hudakz 16:a86f339d1c25 95 * @retval
hudakz 16:a86f339d1c25 96 */
hudakz 16:a86f339d1c25 97 int main() {
hudakz 21:7120a0dcc8ee 98 #if defined(TARGET_STM32F103C8T6)
hudakz 21:7120a0dcc8ee 99 confSysClock(); //Configure system clock (72MHz HSE clock, 48MHz USB clock)
hudakz 21:7120a0dcc8ee 100 #endif
hudakz 22:f4682a5ddda6 101 pc = new Serial(PA_2, PA_3);
hudakz 21:7120a0dcc8ee 102 can = new CANnucleo::CAN(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
hudakz 21:7120a0dcc8ee 103 can->frequency(1000000); // set bit rate to 1Mbps
hudakz 21:7120a0dcc8ee 104 can->attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
hudakz 16:a86f339d1c25 105
hudakz 0:c5e5d0df6f2a 106 #if defined(BOARD1)
hudakz 10:66da8731bdb6 107 led = ON; // turn LED on
hudakz 10:66da8731bdb6 108 timer.start(); // start timer
hudakz 22:f4682a5ddda6 109 pc->printf("CANnucleo_Hello board #1\r\n");
hudakz 0:c5e5d0df6f2a 110 #else
hudakz 10:66da8731bdb6 111 led = OFF; // turn LED off
hudakz 22:f4682a5ddda6 112 pc->printf("CANnucleo_Hello board #2\r\n");
hudakz 0:c5e5d0df6f2a 113 #endif
hudakz 0:c5e5d0df6f2a 114
hudakz 0:c5e5d0df6f2a 115 while(1) {
hudakz 23:069287e799cd 116 if(timer.read_ms() >= 1000) { // check for timeout
hudakz 16:a86f339d1c25 117 timer.stop(); // stop timer
hudakz 16:a86f339d1c25 118 timer.reset(); // reset timer
hudakz 16:a86f339d1c25 119 counter++; // increment counter
hudakz 16:a86f339d1c25 120 txMsg.clear(); // clear Tx message storage
hudakz 16:a86f339d1c25 121 txMsg.id = TX_ID; // set ID
hudakz 25:1d0488a03905 122 voltage = (analogIn * 5)/4096.0f; // small floating voltage at analog input
hudakz 25:1d0488a03905 123 txMsg << counter << voltage; // append data (total data length must be <= 8 bytes!)
hudakz 16:a86f339d1c25 124 led = OFF; // turn LED off
hudakz 24:e2907bcba75e 125 if(can->write(txMsg)) { // transmit message
hudakz 24:e2907bcba75e 126 pc->printf("-----------------------------------\r\n");
hudakz 25:1d0488a03905 127 pc->printf("CAN message sent\r\n");
hudakz 25:1d0488a03905 128 printMsg(txMsg);
hudakz 24:e2907bcba75e 129 pc->printf(" counter = %d\r\n", counter);
hudakz 25:1d0488a03905 130 pc->printf(" voltage = %e V\r\n", voltage);
hudakz 25:1d0488a03905 131 }
hudakz 10:66da8731bdb6 132 else
hudakz 22:f4682a5ddda6 133 pc->printf("Transmission error\r\n");
hudakz 0:c5e5d0df6f2a 134 }
hudakz 16:a86f339d1c25 135 if(msgAvailable) {
hudakz 16:a86f339d1c25 136 msgAvailable = false; // reset flag for next use
hudakz 24:e2907bcba75e 137 can->read(rxMsg); // read message into Rx message storage
hudakz 22:f4682a5ddda6 138 pc->printf("CAN message received\r\n");
hudakz 25:1d0488a03905 139 printMsg(rxMsg);
hudakz 16:a86f339d1c25 140 // Filtering performed by software:
hudakz 24:e2907bcba75e 141 if(rxMsg.id == RX_ID) { // About filtering performed by hardware see comments in CANnucleo.cpp
hudakz 25:1d0488a03905 142 rxMsg >> counter >> voltage; // extract data
hudakz 22:f4682a5ddda6 143 pc->printf(" counter = %d\r\n", counter);
hudakz 25:1d0488a03905 144 pc->printf(" voltage = %e V\r\n", voltage);
hudakz 16:a86f339d1c25 145 led = ON; // turn LED on
hudakz 16:a86f339d1c25 146 timer.start(); // transmission lag
hudakz 0:c5e5d0df6f2a 147 }
hudakz 0:c5e5d0df6f2a 148 }
hudakz 0:c5e5d0df6f2a 149 }
hudakz 0:c5e5d0df6f2a 150 }
hudakz 24:e2907bcba75e 151
hudakz 24:e2907bcba75e 152
hudakz 24:e2907bcba75e 153