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USNA-UMBC Project Data (Yaw) Generator / Transmitter
Dependencies: ServoOut mcp2515 BNO055
Diff: Nucleo_L432KC_CAN3_BNO_Servo_EW485A.cpp
- Revision:
- 0:ee3eb98ec375
diff -r 000000000000 -r ee3eb98ec375 Nucleo_L432KC_CAN3_BNO_Servo_EW485A.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Nucleo_L432KC_CAN3_BNO_Servo_EW485A.cpp Thu Jul 22 23:05:18 2021 +0000 @@ -0,0 +1,113 @@ +/* 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