TLMoto
Dependencies: CANnucleo CANnucleo_Hello mbed
Fork of CANnucleo_Hello by
main.cpp@21:dd8c642ca404, 2016-10-22 (annotated)
- Committer:
- ser1516
- Date:
- Sat Oct 22 16:34:56 2016 +0000
- Revision:
- 21:dd8c642ca404
- Parent:
- 20:eb1a8042605e
comit antes de gerardo mexer
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hudakz | 0:c5e5d0df6f2a | 1 | /* |
hudakz | 16:a86f339d1c25 | 2 | * An example showing how to use the CANnucleo library: |
hudakz | 0:c5e5d0df6f2a | 3 | * |
ser1516 | 21:dd8c642ca404 | 4 | * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), |
ser1516 | 21:dd8c642ca404 | 5 | * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details) |
ser1516 | 21:dd8c642ca404 | 6 | * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). |
ser1516 | 21:dd8c642ca404 | 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 | 16:a86f339d1c25 | 10 | * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/> |
hudakz | 6:7ff95ce72f6d | 11 | * |
hudakz | 17:18d4d0ff26a6 | 12 | * NOTE: If you'd like to use the official NUCLEO boards comment out line 22 |
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. |
ser1516 | 21:dd8c642ca404 | 16 | * For board #2 comment out line 23 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 | * |
ser1516 | 21:dd8c642ca404 | 20 | */ |
hudakz | 0:c5e5d0df6f2a | 21 | |
ser1516 | 21:dd8c642ca404 | 22 | //#define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards! |
ser1516 | 21:dd8c642ca404 | 23 | //#define BOARD1 1 // comment out this line when compiling for board #2 |
hudakz | 0:c5e5d0df6f2a | 24 | |
ser1516 | 21:dd8c642ca404 | 25 | |
hudakz | 0:c5e5d0df6f2a | 26 | |
ser1516 | 21:dd8c642ca404 | 27 | const unsigned int RX_ID = 0x100; |
ser1516 | 21:dd8c642ca404 | 28 | const unsigned int TX_ID = 0x101; |
hudakz | 6:7ff95ce72f6d | 29 | |
hudakz | 19:872e304d7e17 | 30 | #include "CANnucleo.h" |
hudakz | 16:a86f339d1c25 | 31 | #include "mbed.h" |
hudakz | 16:a86f339d1c25 | 32 | |
ser1516 | 21:dd8c642ca404 | 33 | /* |
hudakz | 17:18d4d0ff26a6 | 34 | * To avaoid name collision with the CAN and CANMessage classes built into the mbed library |
hudakz | 17:18d4d0ff26a6 | 35 | * the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace. |
hudakz | 20:eb1a8042605e | 36 | * Remember to qualify them with the CANnucleo namespace. |
hudakz | 17:18d4d0ff26a6 | 37 | */ |
hudakz | 17:18d4d0ff26a6 | 38 | CANnucleo::CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name |
hudakz | 17:18d4d0ff26a6 | 39 | CANnucleo::CANMessage rxMsg; |
hudakz | 17:18d4d0ff26a6 | 40 | CANnucleo::CANMessage txMsg; |
ser1516 | 21:dd8c642ca404 | 41 | CANnucleo::CANMessage throttle_txMsg; |
ser1516 | 21:dd8c642ca404 | 42 | |
ser1516 | 21:dd8c642ca404 | 43 | |
ser1516 | 21:dd8c642ca404 | 44 | DigitalOut led(PA_5); |
ser1516 | 21:dd8c642ca404 | 45 | |
hudakz | 18:22977a898fe9 | 46 | Timer timer; |
hudakz | 17:18d4d0ff26a6 | 47 | int counter = 0; |
hudakz | 17:18d4d0ff26a6 | 48 | volatile bool msgAvailable = false; |
ser1516 | 21:dd8c642ca404 | 49 | volatile bool to_send = false; |
hudakz | 0:c5e5d0df6f2a | 50 | |
hudakz | 16:a86f339d1c25 | 51 | /** |
hudakz | 16:a86f339d1c25 | 52 | * @brief 'CAN receive-complete' interrup handler. |
hudakz | 16:a86f339d1c25 | 53 | * @note Called on arrival of new CAN message. |
hudakz | 16:a86f339d1c25 | 54 | * Keep it as short as possible. |
ser1516 | 21:dd8c642ca404 | 55 | * @param |
ser1516 | 21:dd8c642ca404 | 56 | * @retval |
hudakz | 16:a86f339d1c25 | 57 | */ |
ser1516 | 21:dd8c642ca404 | 58 | void onMsgReceived() |
ser1516 | 21:dd8c642ca404 | 59 | { |
hudakz | 16:a86f339d1c25 | 60 | msgAvailable = true; |
hudakz | 16:a86f339d1c25 | 61 | } |
hudakz | 16:a86f339d1c25 | 62 | |
hudakz | 16:a86f339d1c25 | 63 | /** |
hudakz | 16:a86f339d1c25 | 64 | * @brief Main |
hudakz | 16:a86f339d1c25 | 65 | * @note |
ser1516 | 21:dd8c642ca404 | 66 | * @param |
hudakz | 16:a86f339d1c25 | 67 | * @retval |
hudakz | 16:a86f339d1c25 | 68 | */ |
ser1516 | 21:dd8c642ca404 | 69 | |
ser1516 | 21:dd8c642ca404 | 70 | bool key_switch = 0; |
ser1516 | 21:dd8c642ca404 | 71 | |
ser1516 | 21:dd8c642ca404 | 72 | void flip() |
ser1516 | 21:dd8c642ca404 | 73 | { |
ser1516 | 21:dd8c642ca404 | 74 | key_switch = !key_switch; |
ser1516 | 21:dd8c642ca404 | 75 | led = key_switch; |
ser1516 | 21:dd8c642ca404 | 76 | txMsg.clear(); |
ser1516 | 21:dd8c642ca404 | 77 | txMsg.id = 1000; |
ser1516 | 21:dd8c642ca404 | 78 | txMsg << key_switch; |
ser1516 | 21:dd8c642ca404 | 79 | to_send=1; |
hudakz | 16:a86f339d1c25 | 80 | |
ser1516 | 21:dd8c642ca404 | 81 | |
ser1516 | 21:dd8c642ca404 | 82 | |
ser1516 | 21:dd8c642ca404 | 83 | //to_send = 1; |
ser1516 | 21:dd8c642ca404 | 84 | } |
ser1516 | 21:dd8c642ca404 | 85 | |
ser1516 | 21:dd8c642ca404 | 86 | Ticker flipper; |
hudakz | 0:c5e5d0df6f2a | 87 | |
ser1516 | 21:dd8c642ca404 | 88 | typedef union can_union { |
ser1516 | 21:dd8c642ca404 | 89 | int i[2]; |
ser1516 | 21:dd8c642ca404 | 90 | char bytes[8]; |
ser1516 | 21:dd8c642ca404 | 91 | float f[2]; |
ser1516 | 21:dd8c642ca404 | 92 | } data; |
ser1516 | 21:dd8c642ca404 | 93 | float received[12]; |
ser1516 | 21:dd8c642ca404 | 94 | char missed_can=0; |
ser1516 | 21:dd8c642ca404 | 95 | int main() |
ser1516 | 21:dd8c642ca404 | 96 | |
ser1516 | 21:dd8c642ca404 | 97 | { |
ser1516 | 21:dd8c642ca404 | 98 | |
ser1516 | 21:dd8c642ca404 | 99 | flipper.attach(&flip, 5); // turn on or off |
ser1516 | 21:dd8c642ca404 | 100 | led=key_switch; |
ser1516 | 21:dd8c642ca404 | 101 | timer.start(); // start timer |
ser1516 | 21:dd8c642ca404 | 102 | char counter = 0; |
ser1516 | 21:dd8c642ca404 | 103 | printf("started\r\n"); can.frequency(1000000); |
ser1516 | 21:dd8c642ca404 | 104 | data data; // set bit rate to 1Mbps |
ser1516 | 21:dd8c642ca404 | 105 | can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler |
ser1516 | 21:dd8c642ca404 | 106 | while(true) { |
ser1516 | 21:dd8c642ca404 | 107 | |
hudakz | 16:a86f339d1c25 | 108 | if(msgAvailable) { |
hudakz | 16:a86f339d1c25 | 109 | msgAvailable = false; // reset flag for next use |
ser1516 | 21:dd8c642ca404 | 110 | rxMsg.clear(); |
ser1516 | 21:dd8c642ca404 | 111 | can.read(rxMsg); |
ser1516 | 21:dd8c642ca404 | 112 | //printf("ID: \t%d\n\r", rxMsg.id); |
ser1516 | 21:dd8c642ca404 | 113 | /*for(int i=0;i<rxMsg.len;i++){ |
ser1516 | 21:dd8c642ca404 | 114 | printf("\t%x",rxMsg.data[i]); |
ser1516 | 21:dd8c642ca404 | 115 | } |
ser1516 | 21:dd8c642ca404 | 116 | */ |
ser1516 | 21:dd8c642ca404 | 117 | data.bytes[0] = rxMsg.data[0]; |
ser1516 | 21:dd8c642ca404 | 118 | data.bytes[1] = rxMsg.data[1]; |
ser1516 | 21:dd8c642ca404 | 119 | data.bytes[2] = rxMsg.data[2]; |
ser1516 | 21:dd8c642ca404 | 120 | data.bytes[3] = rxMsg.data[3]; |
ser1516 | 21:dd8c642ca404 | 121 | data.bytes[4] = rxMsg.data[4]; |
ser1516 | 21:dd8c642ca404 | 122 | |
ser1516 | 21:dd8c642ca404 | 123 | //printf("\r\n"); |
ser1516 | 21:dd8c642ca404 | 124 | //printf("%f\t%d\r\n", data.f[0], data.bytes[4]); |
ser1516 | 21:dd8c642ca404 | 125 | // Filtering performed by software: |
ser1516 | 21:dd8c642ca404 | 126 | received[counter]=data.f[0]; |
ser1516 | 21:dd8c642ca404 | 127 | |
ser1516 | 21:dd8c642ca404 | 128 | counter++; |
ser1516 | 21:dd8c642ca404 | 129 | } |
ser1516 | 21:dd8c642ca404 | 130 | if(counter == 12) { |
ser1516 | 21:dd8c642ca404 | 131 | printf("=======================\r\n"); |
ser1516 | 21:dd8c642ca404 | 132 | printf("%d: %f, %d: %f, %d: %f, %d: %f,%d: %f, %d: %f, %d: %f, %d: %f,%d: %f, %d: %f, %d: %f, %d: %f\r\n",1,received[0],2,received[1], |
ser1516 | 21:dd8c642ca404 | 133 | 3,received[2],4,received[3],5,received[4], |
ser1516 | 21:dd8c642ca404 | 134 | 6,received[5],7,received[6],8,received[7], |
ser1516 | 21:dd8c642ca404 | 135 | 9,received[8],10,received[9],11,received[10],12,received[11]); |
ser1516 | 21:dd8c642ca404 | 136 | counter = 0; |
ser1516 | 21:dd8c642ca404 | 137 | } |
ser1516 | 21:dd8c642ca404 | 138 | if(to_send) { |
ser1516 | 21:dd8c642ca404 | 139 | to_send = 0; |
ser1516 | 21:dd8c642ca404 | 140 | if(can.write(txMsg)) { |
ser1516 | 21:dd8c642ca404 | 141 | printf("sent message"); |
ser1516 | 21:dd8c642ca404 | 142 | |
ser1516 | 21:dd8c642ca404 | 143 | } else { |
ser1516 | 21:dd8c642ca404 | 144 | |
ser1516 | 21:dd8c642ca404 | 145 | printf("transmission error\n\r"); |
ser1516 | 21:dd8c642ca404 | 146 | //to_send=1; |
hudakz | 0:c5e5d0df6f2a | 147 | } |
hudakz | 0:c5e5d0df6f2a | 148 | } |
hudakz | 0:c5e5d0df6f2a | 149 | } |
ser1516 | 21:dd8c642ca404 | 150 | |
hudakz | 0:c5e5d0df6f2a | 151 | } |
hudakz | 7:2dce8ed51091 | 152 | |
hudakz | 12:e91e44924194 | 153 | |
hudakz | 17:18d4d0ff26a6 | 154 |