Joao Vieira / Mbed 2 deprecated BMS_2

TLMoto

Dependencies:   CANnucleo CANnucleo_Hello LTC68041 mbed

Fork of CANnucleo_Hello by Zoltan Hudak

main.cpp@13:e741def3e4ff, 2016-07-27 (annotated)

Committer:
hudakz
Date:
Wed Jul 27 09:16:40 2016 +0000
Revision:
13:e741def3e4ff
Parent:
12:e91e44924194
Child:
14:e12ebd1260b1
Modified to use CAN support built into the mbed library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:c5e5d0df6f2a 1 /*
hudakz 13:e741def3e4ff 2 * An example of using CAN bus with NUCLEO boards:
hudakz 0:c5e5d0df6f2a 3 *
hudakz 6:7ff95ce72f6d 4 * Two affordable (less than $4 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash),
hudakz 6:7ff95ce72f6d 5 * compatible with the NUCLEO-F103RB platform (20kB SRAM, 128kB Flash),
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 13:e741def3e4ff 10 * For more details see the wiki page [https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/]
hudakz 6:7ff95ce72f6d 11 *
hudakz 13:e741def3e4ff 12 * NOTE: If you'd like to use the official NUCLEO boards comment out line 24
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 13:e741def3e4ff 16 * For board #2 comment out line 25 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 0:c5e5d0df6f2a 22 #include "mbed.h"
hudakz 0:c5e5d0df6f2a 23
hudakz 13:e741def3e4ff 24 #define TARGET_STM32F103C8T6 1 // comment out this line when using official NUCLEO boards!
hudakz 10:66da8731bdb6 25 #define BOARD1 1 // comment out this line when compiling for board #2
hudakz 0:c5e5d0df6f2a 26
hudakz 10:66da8731bdb6 27 #if defined(TARGET_STM32F103C8T6)
hudakz 10:66da8731bdb6 28 #define LED_PIN PC_13
hudakz 10:66da8731bdb6 29 const int OFF = 1;
hudakz 10:66da8731bdb6 30 const int ON = 0;
hudakz 0:c5e5d0df6f2a 31 #else
hudakz 10:66da8731bdb6 32 #define LED_PIN LED1
hudakz 10:66da8731bdb6 33 const int OFF = 0;
hudakz 10:66da8731bdb6 34 const int ON = 1;
hudakz 0:c5e5d0df6f2a 35 #endif
hudakz 0:c5e5d0df6f2a 36
hudakz 10:66da8731bdb6 37 #if defined(BOARD1)
hudakz 10:66da8731bdb6 38 const unsigned int RX_ID = 0x100;
hudakz 10:66da8731bdb6 39 const unsigned int TX_ID = 0x101;
hudakz 6:7ff95ce72f6d 40 #else
hudakz 10:66da8731bdb6 41 const unsigned int RX_ID = 0x101;
hudakz 10:66da8731bdb6 42 const unsigned int TX_ID = 0x100;
hudakz 6:7ff95ce72f6d 43 #endif
hudakz 6:7ff95ce72f6d 44
hudakz 11:07d927da1a94 45 DigitalOut led(LED_PIN);
hudakz 11:07d927da1a94 46 Timer timer;
hudakz 11:07d927da1a94 47 CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
hudakz 11:07d927da1a94 48 CANMessage rxMsg;
hudakz 11:07d927da1a94 49 CANMessage txMsg;
hudakz 13:e741def3e4ff 50 char counter = 0;
hudakz 0:c5e5d0df6f2a 51
hudakz 0:c5e5d0df6f2a 52 /**
hudakz 0:c5e5d0df6f2a 53 * @brief Main
hudakz 0:c5e5d0df6f2a 54 * @note
hudakz 0:c5e5d0df6f2a 55 * @param
hudakz 0:c5e5d0df6f2a 56 * @retval
hudakz 0:c5e5d0df6f2a 57 */
hudakz 0:c5e5d0df6f2a 58 int main() {
hudakz 6:7ff95ce72f6d 59
hudakz 0:c5e5d0df6f2a 60 #if defined(BOARD1)
hudakz 10:66da8731bdb6 61 led = ON; // turn LED on
hudakz 10:66da8731bdb6 62 timer.start(); // start timer
hudakz 0:c5e5d0df6f2a 63 #else
hudakz 10:66da8731bdb6 64 led = OFF; // turn LED off
hudakz 0:c5e5d0df6f2a 65 #endif
hudakz 0:c5e5d0df6f2a 66
hudakz 0:c5e5d0df6f2a 67 while(1) {
hudakz 13:e741def3e4ff 68 if(timer.read_ms() >= 200) { // check for timeout
hudakz 0:c5e5d0df6f2a 69 timer.stop(); // stop timer
hudakz 10:66da8731bdb6 70 timer.reset(); // reset timer
hudakz 0:c5e5d0df6f2a 71 counter++; // increment counter
hudakz 0:c5e5d0df6f2a 72 txMsg.id = TX_ID; // set ID
hudakz 13:e741def3e4ff 73 txMsg.data[0] = counter; // set data
hudakz 10:66da8731bdb6 74 led = OFF; // turn LED off
hudakz 10:66da8731bdb6 75 if(can.write(txMsg)) // transmit message
hudakz 10:66da8731bdb6 76 printf("CAN message sent\r\n");
hudakz 10:66da8731bdb6 77 else
hudakz 10:66da8731bdb6 78 printf("Transmission error\r\n");
hudakz 0:c5e5d0df6f2a 79 }
hudakz 13:e741def3e4ff 80 if(can.read(rxMsg)) {
hudakz 2:49c9430860d1 81 printf("CAN message received:\r\n");
hudakz 2:49c9430860d1 82 printf(" ID = %#x\r\n", rxMsg.id);
hudakz 2:49c9430860d1 83 printf(" Type = %d\r\n", rxMsg.type);
hudakz 2:49c9430860d1 84 printf(" Format = %d\r\n", rxMsg.format);
hudakz 2:49c9430860d1 85 printf(" Length = %d\r\n", rxMsg.len);
hudakz 2:49c9430860d1 86 printf(" Data =");
hudakz 2:49c9430860d1 87 for(int i = 0; i < rxMsg.len; i++)
hudakz 2:49c9430860d1 88 printf(" %x", rxMsg.data[i]);
hudakz 10:66da8731bdb6 89 printf("\r\n");
hudakz 13:e741def3e4ff 90
hudakz 13:e741def3e4ff 91 if(rxMsg.id == RX_ID) {
hudakz 13:e741def3e4ff 92 counter = rxMsg.data[0]; // set counter
hudakz 1:267d6288df33 93 printf("counter = %d\r\n", counter);
hudakz 13:e741def3e4ff 94 led = !led; // set LED
hudakz 10:66da8731bdb6 95 timer.start(); // transmission lag
hudakz 0:c5e5d0df6f2a 96 }
hudakz 0:c5e5d0df6f2a 97 }
hudakz 0:c5e5d0df6f2a 98 }
hudakz 0:c5e5d0df6f2a 99 }
hudakz 7:2dce8ed51091 100
hudakz 12:e91e44924194 101