Joao Vieira
TLMoto
Dependencies: CANnucleo CANnucleo_Hello mbed
Fork of
CANnucleo_Hello
by 
Zoltan Hudak
Revision 21:13ac27349025, committed 2016-10-22
- Comitter:
- ser1516
- Date:
- Sat Oct 22 16:35:07 2016 +0000
- Parent:
- 20:eb1a8042605e
- Commit message:
- comit antes de gerardo mexer
Changed in this revision
diff -r eb1a8042605e -r 13ac27349025 CANnucleo_Hello.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CANnucleo_Hello.lib Sat Oct 22 16:35:07 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/hudakz/code/CANnucleo_Hello/#eb1a8042605e
diff -r eb1a8042605e -r 13ac27349025 main.cpp
--- a/main.cpp Tue Aug 16 21:13:47 2016 +0000
+++ b/main.cpp Sat Oct 22 16:35:07 2016 +0000
@@ -1,10 +1,10 @@
/*
* An example showing how to use the CANnucleo library:
*
- * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash),
- * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details)
- * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.).
- * CAN transceivers are not part of NUCLEO boards, therefore must be added by you.
+ * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash),
+ * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details)
+ * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.).
+ * CAN transceivers are not part of NUCLEO boards, therefore must be added by you.
* Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends.
*
* For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/>
@@ -13,37 +13,24 @@
*
* The same code is used for both NUCLEO boards, but:
* For board #1 compile the example without any change.
- * For board #2 comment out line 23 before compiling
+ * For board #2 comment out line 23 before compiling
*
* Once the binaries have been downloaded to the boards reset board #1.
*
- */
+ */
-//#define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards!
-#define BOARD1 1 // comment out this line when compiling for board #2
+//#define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards!
+//#define BOARD1 1 // comment out this line when compiling for board #2
-#if defined(TARGET_STM32F103C8T6)
- #define LED_PIN PC_13
- const int OFF = 1;
- const int ON = 0;
-#else
- #define LED_PIN LED1
- const int OFF = 0;
- const int ON = 1;
-#endif
+
-#if defined(BOARD1)
- const unsigned int RX_ID = 0x100;
- const unsigned int TX_ID = 0x101;
-#else
- const unsigned int RX_ID = 0x101;
- const unsigned int TX_ID = 0x100;
-#endif
+const unsigned int RX_ID = 0x100;
+const unsigned int TX_ID = 0x101;
#include "CANnucleo.h"
#include "mbed.h"
-/*
+/*
* To avaoid name collision with the CAN and CANMessage classes built into the mbed library
* the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace.
* Remember to qualify them with the CANnucleo namespace.
@@ -51,77 +38,113 @@
CANnucleo::CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
CANnucleo::CANMessage rxMsg;
CANnucleo::CANMessage txMsg;
-DigitalOut led(LED_PIN);
-int ledState;
+CANnucleo::CANMessage throttle_txMsg;
+
+
+DigitalOut led(PA_5);
+
Timer timer;
int counter = 0;
volatile bool msgAvailable = false;
+volatile bool to_send = false;
/**
* @brief 'CAN receive-complete' interrup handler.
* @note Called on arrival of new CAN message.
* Keep it as short as possible.
- * @param
- * @retval
+ * @param
+ * @retval
*/
-void onMsgReceived() {
+void onMsgReceived()
+{
msgAvailable = true;
}
/**
* @brief Main
* @note
- * @param
+ * @param
* @retval
*/
-int main() {
+
+bool key_switch = 0;
+
+void flip()
+{
+ key_switch = !key_switch;
+ led = key_switch;
+
+ to_send=1;
+ //printf("controller switch\r\n");
+
+
+
+ // to_send = 1;
+}
+
+Ticker flipper;
+
+typedef union can_union {
+ int i[2];
+ char bytes[8];
+ float f[2];
+} data;
+
+int main()
+
+{
can.frequency(1000000); // set bit rate to 1Mbps
can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
-
-#if defined(BOARD1)
- led = ON; // turn LED on
+ flipper.attach(&flip, 30); // turn on or off
+ led=key_switch;
timer.start(); // start timer
- printf("CANnucleo_Hello board #1\r\n");
-#else
- led = OFF; // turn LED off
- printf("CANnucleo_Hello board #2\r\n");
-#endif
+
+ printf("started\r\n");
+ while(true) {
+
+ if(msgAvailable) {
+ static int counter = 0;
+ data data;
+ int len = can.read(rxMsg);
+ data.bytes[0] = rxMsg.data[0];
+ data.bytes[1] = rxMsg.data[1];
+ data.bytes[2] = rxMsg.data[2];
+ data.bytes[3] = rxMsg.data[3];
+ msgAvailable = false; // reset flag for next use
+ printf(" Id: %d, data: %f, counter : %d\n", rxMsg.id, data.f[0],rxMsg.data[4]);
- while(1) {
- if(timer.read() >= 1.0) { // check for timeout
- timer.stop(); // stop timer
- timer.reset(); // reset timer
- counter++; // increment counter
- ledState = led.read(); // get led state
- txMsg.clear(); // clear Tx message storage
- txMsg.id = TX_ID; // set ID
- txMsg << counter; // append first data item
- txMsg << ledState; // append second data item (total data lenght must be <= 8 bytes!)
- led = OFF; // turn LED off
- if(can.write(txMsg)) // transmit message
- printf("CAN message sent\r\n");
- else
- printf("Transmission error\r\n");
+ /*
+ printf("\r\nreceived message ID: \t%d\n\r", rxMsg.id);
+ for(int i=0; i<len; i++) {
+ printf("\t%x",rxMsg.data[i]);
+ }*/
+ printf("\r\n");
+ counter++;
+ if(counter == 12) {
+
+ counter = 0;
+ printf("\r\n""""""""""""""""""""""""""""""""""""""""""""""""\r\n");
+ }
+ // Filtering performed by software:
}
- if(msgAvailable) {
- msgAvailable = false; // reset flag for next use
- can.read(rxMsg); // read message into Rx message storage
- printf("CAN message received\r\n");
- printf(" ID = 0x%.3x\r\n", rxMsg.id);
- printf(" Type = %d\r\n", rxMsg.type);
- printf(" Format = %d\r\n", rxMsg.format);
- printf(" Length = %d\r\n", rxMsg.len);
- printf(" Data =");
- for(int i = 0; i < rxMsg.len; i++)
- printf(" %.2x", rxMsg.data[i]);
- printf("\r\n");
- // Filtering performed by software:
- if(rxMsg.id == RX_ID) { // See comments in CAN.cpp for filtering performed by hardware
- rxMsg >> counter; // extract first data item
- rxMsg >> ledState; // extract second data item
- printf(" counter = %d\r\n", counter);
- led = ON; // turn LED on
- timer.start(); // transmission lag
+ if(to_send) {
+ to_send = 0;
+ txMsg.clear();
+ txMsg.id = 10;
+ txMsg << key_switch;
+ if(can.write(txMsg)) {
+ printf("sent message\r\n");
+ } else {
+ static char count = 0;
+ count++;
+ printf("transmission error\n\r overflow: %x\n\r", count);
+ if(count == 3) {
+ count = 0;
+ NVIC_SystemReset();
+ // attach 'CAN receive-complete' interrupt handler
+
+ }
+
}
}
}
diff -r eb1a8042605e -r 13ac27349025 mbed.bld --- a/mbed.bld Tue Aug 16 21:13:47 2016 +0000 +++ b/mbed.bld Sat Oct 22 16:35:07 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/b0220dba8be7 \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/2e9cc70d1897 \ No newline at end of file