Luis Silvio Cordova Rivadeneira / CAN_ex_0

Ejemplo CAN Hello W!

Dependencies:   mbed-dev CANnucleo

main.cpp@21:7120a0dcc8ee, 2016-12-01 (annotated)

Committer:
hudakz
Date:
Thu Dec 01 21:14:59 2016 +0000
Revision:
21:7120a0dcc8ee
Parent:
20:eb1a8042605e
Child:
22:f4682a5ddda6
CAN bus frequency for STM32F103C8T6 board corrected.

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 21:7120a0dcc8ee 22 //#define BOARD1 1 // comment out this line when compiling for board #2
hudakz 21:7120a0dcc8ee 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 19:872e304d7e17 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 int ledState;
hudakz 18:22977a898fe9 57 Timer timer;
hudakz 17:18d4d0ff26a6 58 int counter = 0;
hudakz 17:18d4d0ff26a6 59 volatile bool msgAvailable = false;
hudakz 0:c5e5d0df6f2a 60
hudakz 16:a86f339d1c25 61 /**
hudakz 16:a86f339d1c25 62 * @brief 'CAN receive-complete' interrup handler.
hudakz 16:a86f339d1c25 63 * @note Called on arrival of new CAN message.
hudakz 16:a86f339d1c25 64 * Keep it as short as possible.
hudakz 16:a86f339d1c25 65 * @param
hudakz 16:a86f339d1c25 66 * @retval
hudakz 16:a86f339d1c25 67 */
hudakz 16:a86f339d1c25 68 void onMsgReceived() {
hudakz 16:a86f339d1c25 69 msgAvailable = true;
hudakz 16:a86f339d1c25 70 }
hudakz 16:a86f339d1c25 71
hudakz 16:a86f339d1c25 72 /**
hudakz 16:a86f339d1c25 73 * @brief Main
hudakz 16:a86f339d1c25 74 * @note
hudakz 16:a86f339d1c25 75 * @param
hudakz 16:a86f339d1c25 76 * @retval
hudakz 16:a86f339d1c25 77 */
hudakz 16:a86f339d1c25 78 int main() {
hudakz 21:7120a0dcc8ee 79 #if defined(TARGET_STM32F103C8T6)
hudakz 21:7120a0dcc8ee 80 confSysClock(); //Configure system clock (72MHz HSE clock, 48MHz USB clock)
hudakz 21:7120a0dcc8ee 81 #endif
hudakz 21:7120a0dcc8ee 82 can = new CANnucleo::CAN(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
hudakz 21:7120a0dcc8ee 83 can->frequency(1000000); // set bit rate to 1Mbps
hudakz 21:7120a0dcc8ee 84 can->attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
hudakz 16:a86f339d1c25 85
hudakz 0:c5e5d0df6f2a 86 #if defined(BOARD1)
hudakz 10:66da8731bdb6 87 led = ON; // turn LED on
hudakz 10:66da8731bdb6 88 timer.start(); // start timer
hudakz 16:a86f339d1c25 89 printf("CANnucleo_Hello board #1\r\n");
hudakz 0:c5e5d0df6f2a 90 #else
hudakz 10:66da8731bdb6 91 led = OFF; // turn LED off
hudakz 16:a86f339d1c25 92 printf("CANnucleo_Hello board #2\r\n");
hudakz 0:c5e5d0df6f2a 93 #endif
hudakz 0:c5e5d0df6f2a 94
hudakz 0:c5e5d0df6f2a 95 while(1) {
hudakz 21:7120a0dcc8ee 96 if(timer.read_ms() >= 1000) { // check for timeout
hudakz 16:a86f339d1c25 97 timer.stop(); // stop timer
hudakz 16:a86f339d1c25 98 timer.reset(); // reset timer
hudakz 16:a86f339d1c25 99 counter++; // increment counter
hudakz 16:a86f339d1c25 100 ledState = led.read(); // get led state
hudakz 16:a86f339d1c25 101 txMsg.clear(); // clear Tx message storage
hudakz 16:a86f339d1c25 102 txMsg.id = TX_ID; // set ID
hudakz 16:a86f339d1c25 103 txMsg << counter; // append first data item
hudakz 16:a86f339d1c25 104 txMsg << ledState; // append second data item (total data lenght must be <= 8 bytes!)
hudakz 16:a86f339d1c25 105 led = OFF; // turn LED off
hudakz 21:7120a0dcc8ee 106 if(can->write(txMsg)) // transmit message
hudakz 16:a86f339d1c25 107 printf("CAN message sent\r\n");
hudakz 10:66da8731bdb6 108 else
hudakz 16:a86f339d1c25 109 printf("Transmission error\r\n");
hudakz 0:c5e5d0df6f2a 110 }
hudakz 16:a86f339d1c25 111 if(msgAvailable) {
hudakz 16:a86f339d1c25 112 msgAvailable = false; // reset flag for next use
hudakz 21:7120a0dcc8ee 113 can->read(rxMsg); // read message into Rx message storage
hudakz 19:872e304d7e17 114 printf("CAN message received\r\n");
hudakz 19:872e304d7e17 115 printf(" ID = 0x%.3x\r\n", rxMsg.id);
hudakz 19:872e304d7e17 116 printf(" Type = %d\r\n", rxMsg.type);
hudakz 19:872e304d7e17 117 printf(" Format = %d\r\n", rxMsg.format);
hudakz 19:872e304d7e17 118 printf(" Length = %d\r\n", rxMsg.len);
hudakz 19:872e304d7e17 119 printf(" Data =");
hudakz 2:49c9430860d1 120 for(int i = 0; i < rxMsg.len; i++)
hudakz 19:872e304d7e17 121 printf(" %.2x", rxMsg.data[i]);
hudakz 10:66da8731bdb6 122 printf("\r\n");
hudakz 16:a86f339d1c25 123 // Filtering performed by software:
hudakz 21:7120a0dcc8ee 124 if(rxMsg.id == RX_ID) { // See comments in CANnucleo.cpp for filtering performed by hardware
hudakz 16:a86f339d1c25 125 rxMsg >> counter; // extract first data item
hudakz 16:a86f339d1c25 126 rxMsg >> ledState; // extract second data item
hudakz 16:a86f339d1c25 127 printf(" counter = %d\r\n", counter);
hudakz 16:a86f339d1c25 128 led = ON; // turn LED on
hudakz 16:a86f339d1c25 129 timer.start(); // transmission lag
hudakz 0:c5e5d0df6f2a 130 }
hudakz 0:c5e5d0df6f2a 131 }
hudakz 0:c5e5d0df6f2a 132 }
hudakz 0:c5e5d0df6f2a 133 }
hudakz 7:2dce8ed51091 134
hudakz 12:e91e44924194 135
hudakz 17:18d4d0ff26a6 136