main.cpp

00001 #include "mbed.h"
00002 
00003 #if !DEVICE_CAN
00004   #error [NOT_SUPPORTED] CAN not supported
00005 #endif
00006 
00007 Ticker ticker;
00008 DigitalOut led1(LED1);
00009 DigitalOut led2(LED2);
00010 
00011 #if defined(TARGET_LPC1549)
00012 // LPC1549 support only single CAN channel
00013 CAN can1(D2, D3);
00014 #elif defined(TARGET_B96B_F446VE)
00015 // B96B_F446VE support only single CAN channel
00016 CAN can1(PD_0, PD_1);
00017 #elif defined(TARGET_NUCLEO_F091RC) || defined(TARGET_NUCLEO_F072RB) || \
00018       defined(TARGET_NUCLEO_F042K6) || defined(TARGET_NUCLEO_F334R8) || \
00019       defined(TARGET_NUCLEO_F303RE) || defined(TARGET_NUCLEO_F303K8) || \
00020       defined(TARGET_NUCLEO_F302R8) || defined(TARGET_NUCLEO_F446RE) || \
00021       defined(TARGET_DISCO_F429ZI)  || defined(TARGET_NUCLEO_F103RB) || \
00022       defined(TARGET_NUCLEO_F746ZG) || defined(TARGET_NUCLEO_L476RG) || \
00023       defined(TARGET_NUCLEO_L432KC)
00024 CAN can1(PA_11, PA_12);
00025 #elif defined(TARGET_DISCO_F469NI) ||defined(TARGET_DISCO_F746NG)
00026 CAN can1(PB_8, PB_9);
00027 #else
00028 CAN can1(p9, p10);
00029 #endif
00030 
00031 #if defined(TARGET_LPC4088) || defined(TARGET_LPC4088_DM)
00032 CAN can2(p34, p33);
00033 #elif defined (TARGET_LPC1768)
00034 CAN can2(p30, p29);
00035 #elif defined(TARGET_NUCLEO_F446RE) || defined(TARGET_DISCO_F469NI) || \
00036       defined(TARGET_DISCO_F429ZI)  || defined(TARGET_NUCLEO_F746ZG) || \
00037       defined(TARGET_DISCO_F746NG)
00038 CAN can2(PB_5, PB_6);
00039 #endif
00040 char counter = 0;
00041 
00042 void printmsg(char *title, CANMessage *msg) {
00043     printf("%s [%03X]", title, msg->id);
00044     for(char i = 0; i < msg->len; i++) {
00045         printf(" %02X", msg->data[i]);
00046     }
00047     printf("\n");
00048 }
00049 
00050 void send() {
00051     printf("send()\n");
00052     CANMessage msg = CANMessage(1337, &counter, 1);
00053     if(can1.write(msg)) {
00054         printmsg("Tx message:", &msg);
00055         counter++;
00056     }
00057     led1 = !led1;
00058 }
00059 
00060 int main() {
00061     printf("main()\n");
00062     ticker.attach(&send, 1);
00063     CANMessage msg;
00064     while(1) {
00065 #if (!defined (TARGET_LPC1549) && !defined(TARGET_B96B_F446VE) && \
00066      !defined(TARGET_NUCLEO_F091RC) && !defined(TARGET_NUCLEO_F072RB) && \
00067      !defined(TARGET_NUCLEO_F042K6) && !defined(TARGET_NUCLEO_F334R8) && \
00068      !defined(TARGET_NUCLEO_F303RE) && !defined(TARGET_NUCLEO_F303K8) && \
00069      !defined(TARGET_NUCLEO_F302R8) && !defined(TARGET_NUCLEO_F103RB) && \
00070      !defined(TARGET_DISCO_L476VG)  && !defined(TARGET_NUCLEO_L476RG) && \
00071      !defined(TARGET_NUCLEO_L432KC))
00072       printf("loop()\n");
00073         if(can2.read(msg)) {
00074             printmsg("Rx message:", &msg);
00075             led2 = !led2;
00076         }
00077 #endif
00078         wait(0.2);
00079     }
00080 }