Diff: Nucleo_L432KC_CAN3_BNO_Servo_EW485A.cpp

Revision:

1:269a9d669b48

Parent:

0:ee3eb98ec375

--- a/Nucleo_L432KC_CAN3_BNO_Servo_EW485A.cpp	Thu Jul 22 23:05:18 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,113 +0,0 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2019 ARM Limited
- * SPDX-License-Identifier: Apache-2.0
- */
-// Program to test the CAN bus using SPI on the L432KC Nucleo board
-// to an MCP2551 CAN transceiver bus IC using https://os.mbed.com/users/tecnosys/code/mcp2515/
-
-// J. Bradshaw 20210512
-#include "mbed.h"
-#include "platform/mbed_thread.h"
-#include "CAN3.h"
-#include "BNO055.h"
-#include "ServoOut.h"
-
-#define THIS_CAN_ID     0x05   //Address of this CAN device
-#define DEST_CAN_ID     0   //Address of destination
-
-Serial pc(USBTX, USBRX);    //pc serial (tx, rx) uses USB PA_9 and PA_10 on Nucleo D1 and D0 pins
-BNO055 bno(D4, D5);
-SPI spi(D11, D12, D13);   // mosi, miso, sclk
-CAN3 can3(spi, D10, D2);         // spi bus, CS for MCP2515 controller
-ServoOut servoOut1(PA_0);   //A0);     // PA_0 is the servo output pulse
-AnalogIn ain3(A3);
-
-unsigned char can_txBufLen = 0;
-unsigned char can_tx_buf[8] = {0, 0, 0, 0, 0, 0, 0, 0};
-CANMessage canTx_msg;
-
-unsigned char can_rx_bufLen = 8;
-unsigned char can_rx_buf[8];
-unsigned short can_rxId = 0;
-CANMessage canRx_msg;
-
-Timer t;
-
-void bno_init(void){    
-    if(bno.check()){
-        pc.printf("BNO055 connected\r\n");
-        bno.setmode(OPERATION_MODE_CONFIG);
-        bno.SetExternalCrystal(1);
-        //bno.set_orientation(1);
-        bno.setmode(OPERATION_MODE_NDOF);  //Uses magnetometer
-        //bno.setmode(OPERATION_MODE_NDOF_FMC_OFF);   //no magnetometer
-        bno.set_angle_units(RADIANS);
-    }
-    else{
-        pc.printf("BNO055 NOT connected\r\n Program Trap.");
-        while(1);
-    }    
-}
-    
-int main() {        
-    thread_sleep_for(500);
-    
-    t.start();        
-    pc.baud(115200);
-    bno_init();
-    //can3.reset();            // reset the can bus interface
-    can3.frequency(500000);    // set up for 500K baudrate
-    
-    servoOut1.pulse_us = 1500;
-            
-    pc.printf("CAN MCP2515 test: %s\r\n", __FILE__);
-    while(1) {
-        
-        servoOut1.pulse_us = 1000 + (1000.0*ain3);
-        
-        bno.get_angles();
-        
-        pc.printf("%.2f %.2f %.2f\r\n",bno.euler.roll, bno.euler.pitch, bno.euler.yaw);
-        //sprintf(can_rx_buf, "b%.2f\r\n", bno.euler.yaw);    //format output message string
-        can_tx_buf[0] = bno.euler.rawroll & 0x00ff;
-        can_tx_buf[1] = (bno.euler.rawroll >> 8) & 0x00ff;
-        can_tx_buf[2] = bno.euler.rawpitch & 0x00ff;
-        can_tx_buf[3] = (bno.euler.rawpitch >> 8) & 0x00ff;
-        can_tx_buf[4] = bno.euler.rawyaw & 0x00ff;
-        can_tx_buf[5] = (bno.euler.rawyaw >> 8) & 0x00ff;
-        can_tx_buf[6] = 0;
-        can_tx_buf[7] = 0;
-
-        // CAN write message
-        for(int i=0;i<8;i++){
-            canTx_msg.data[i] = can_tx_buf[i];
-        }        
-        canTx_msg.id = THIS_CAN_ID; //(rand() % 0xff);    // Randomize transmit ID or  THIS_CAN_ID;
-        
-        can3.write(&canTx_msg);
-        pc.printf("%.2f CAN TX id=%02X data: ", t.read(), canTx_msg.id);
-        for(int i=0;i<8;i++){
-            pc.printf(" %2X", can_tx_buf[i]);
-        }
-        pc.printf("\r\n");
-        //set up a random delay time of up to .79 seconds
-        //delayT = ((rand() % 7) * 31.0)  + ((rand() % 9) * .1) + runTime.sec_total;                        
-        
-        // CAN receive message       
-        if(can3.read(&canRx_msg) == CAN_OK){ //if message is available, read into msg
-            pc.printf("CAN RX id=0x%02X data: ", canRx_msg.id);
-            for (int i = 0; i < canRx_msg.len; i++) {
-                pc.printf(" %2X", canRx_msg.data[i]);
-            }
-            pc.printf("\r\n");
-        }
-        
-        //if(canTxErrors > 50){            
-//            can.reset();
-//        }
-//        if(canRxErrors > 50){            
-//            can.reset();
-//        }
-        thread_sleep_for(50);     
-    }//while(1)
-}//main