Mario Bambagini
program which tests the CAR project (concerning the CAN bus)
Revision 1:8446a0d14877, committed 2015-08-31
- Comitter:
- mariob
- Date:
- Mon Aug 31 22:27:29 2015 +0000
- Parent:
- 0:8097eeede645
- Commit message:
- program which tests the CAR project (concerning the CAN comunication)
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| net.hpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 8097eeede645 -r 8446a0d14877 main.cpp
--- a/main.cpp Sun Aug 02 12:55:55 2015 +0000
+++ b/main.cpp Mon Aug 31 22:27:29 2015 +0000
@@ -27,21 +27,30 @@
DigitalOut led_body(LED1);
DigitalOut led_engine(LED2);
DigitalOut led_time(LED3);
+DigitalOut led_driver(LED4);
CAN can(p9, p10);
can_cmd_body_t can_cmd_body;
+can_cmd_engine_t can_cmd_engine;
+can_cmd_driver_t can_cmd_driver;
+can_cmd_time_t can_cmd_time;
int counter = 0;
+int echo = 0;
-#define BODY_ 2
-#define ENGINE_ 13
-#define TIME_ 40
+#define BODY_ 4
+#define ENGINE_ 2
+#define DRIVER_ 5
+#define TIME_ 11
void send() {
- printf("send()\r\n");
+ //printf("send()\r\n");
static int body_n_sent = 0;
+ static int engine_n_sent = 0;
+ static int driver_n_sent = 0;
+ static int time_n_sent = 0;
counter++;
@@ -50,12 +59,47 @@
can_cmd_body.payload.msg.light_l = (body_n_sent&0x0002)==0x0002;
can_cmd_body.payload.msg.light_c = (body_n_sent&0x0004)==0x0004;
if(can.write(CANMessage(CAN_CMD_BODY_ID, (char*)(can_cmd_body.payload.buf), 4)))
- printf("BODY OK\r\n");
+ led_body = !led_body;//printf("BODY OK\r\n");
else
printf("BODY NOT OK\r\n");
- led_body = !led_body;
+
body_n_sent++;
}
+
+ if ((counter%ENGINE_)==0) {
+ can_cmd_engine.payload.msg.steering = engine_n_sent;
+ can_cmd_engine.payload.msg.power = engine_n_sent+2;
+ can_cmd_engine.payload.msg.direction = engine_n_sent%2;
+ can_cmd_engine.payload.msg.breaking = (engine_n_sent%2)?0:1;
+ if(can.write(CANMessage(CAN_CMD_ENGINE_ID, (char*)(can_cmd_engine.payload.buf), 4)))
+ led_engine = !led_engine;//printf("ENGINE OK\r\n");
+ else
+ printf("ENGINE NOT OK\r\n");
+
+ engine_n_sent++;
+ }
+
+ if ((counter%DRIVER_)==0) {
+ can_cmd_driver.payload.msg.cmd = 0x0A0A;
+ echo = counter;
+ can_cmd_driver.payload.msg.data = counter;
+ if(can.write(CANMessage(CAN_CMD_DRIVER_ID, (char*)(can_cmd_driver.payload.buf), 8)))
+ led_driver = !led_driver;//printf("DRIVER OK\r\n");
+ else
+ printf("DRIVER NOT OK\r\n");
+
+ driver_n_sent++;
+ }
+
+ if ((counter%TIME_)==0) {
+ can_cmd_time.payload.msg.time = time(NULL);
+ if(can.write(CANMessage(CAN_CMD_TIME_ID, (char*)(can_cmd_time.payload.buf), 4)))
+ led_time = !led_time;//printf("TIME OK\r\n");
+ else
+ printf("TIME NOT OK\r\n");
+
+ time_n_sent++;
+ }
}
@@ -76,15 +120,27 @@
*/
printf("main()\r\n");
- ticker.attach(&send, 1);
-
+ ticker.attach(&send, 0.5);
+set_time(0);
CANMessage msg;
while(1) {
if(can.read(msg)) {
- can_sts_body_payload_t x;
- x.buf[0] = msg.data[0]; x.buf[1] = msg.data[1]; x.buf[2] = msg.data[2]; x.buf[3] = msg.data[3];
- x.buf[4] = msg.data[4]; x.buf[5] = msg.data[5]; x.buf[6] = msg.data[6]; x.buf[7] = msg.data[7];
- printf("Message received: %d %d %d %d\r\n", x.buf[0], x.msg.eye_back_l, x.msg.eye_back_r, x.msg.eye_front);
+ switch(msg.id) {
+ case CAN_CMD_BODY_ID:
+ can_sts_body_payload_t x;
+ x.buf[0] = msg.data[0]; x.buf[1] = msg.data[1]; x.buf[2] = msg.data[2]; x.buf[3] = msg.data[3];
+ x.buf[4] = msg.data[4]; x.buf[5] = msg.data[5]; x.buf[6] = msg.data[6]; x.buf[7] = msg.data[7];
+ printf("Message received: %d %d %d %d\r\n", x.buf[0], x.msg.eye_back_l, x.msg.eye_back_r, x.msg.eye_front);
+ break;
+ case CAN_STS_DRIVER_ID:
+ can_sts_driver_payload_t y;
+ y.buf[0] = msg.data[0]; y.buf[1] = msg.data[1]; y.buf[2] = msg.data[2]; y.buf[3] = msg.data[3];
+ if (y.msg.data == echo)
+ printf("ECHO %d\r\n", y.msg.data);
+ else
+ printf("NO ECHO %d\r\n", y.msg.data);
+ break;
+ }
}
wait(1.0);
}
diff -r 8097eeede645 -r 8446a0d14877 net.hpp
--- a/net.hpp Sun Aug 02 12:55:55 2015 +0000
+++ b/net.hpp Mon Aug 31 22:27:29 2015 +0000
@@ -7,6 +7,11 @@
#define CAN_FLAG_RECEIVED 0x01
#define CAN_FLAG_SEND 0x02
+#define CAN_THREAD_PERIOD 100 //ms
+
+
+
+#define CMD_ECHO 0x0A0A
/**************************************************
* GLOBAL DEFINES
@@ -18,10 +23,24 @@
#define CAN_CMD_DRIVER_ID 0x11
#define CAN_STS_DRIVER_ID 0x10
-#define PERIOD_1s 10
-#define PERIOD_500ms 5
+#define PERIOD_3s (3000/CAN_THREAD_PERIOD)
+#define PERIOD_1s (1000/CAN_THREAD_PERIOD)
+#define PERIOD_500ms (500/CAN_THREAD_PERIOD)
+#define PERIOD_400ms (400/CAN_THREAD_PERIOD)
+#define PERIOD_300ms (300/CAN_THREAD_PERIOD)
+#define PERIOD_200ms (200/CAN_THREAD_PERIOD)
+#define PERIOD_100ms (100/CAN_THREAD_PERIOD)
-#define CAN_STS_BODY_PERIOD PERIOD_500ms
+#define CAN_STS_BODY_PERIOD PERIOD_1s
+
+
+#define CAN_MISSING_DETECTION PERIOD_3s
+
+#define CAN_MISSING_BODY_ID 0
+#define CAN_MISSING_ENGINE_ID 1
+#define CAN_MISSING_TIME_ID 2
+
+#define CAN_RX_PERIODIC_MSG 3
/**************************************************
* GLOBAL TYPES
@@ -100,7 +119,7 @@
uint32 data;
} msg;
} can_cmd_driver_payload_t;
-typedef struct can_driver_time_s {
+typedef struct can_cmd_driver_s {
can_cmd_driver_payload_t payload;
uint8 flag;
} can_cmd_driver_t;
@@ -119,6 +138,6 @@
/**************************************************
* DATA STRUCTURES
**************************************************/
-void init_can(CAN *device);
+
#endif //__NET_H__