Joao Vieira / Mbed 2 deprecated ECU_1

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Dependencies:   CANnucleo CANnucleo_Hello mbed

Fork of CANnucleo_Hello by Zoltan Hudak

main.cpp@7:2dce8ed51091, 2015-12-22 (annotated)

Committer:
hudakz
Date:
Tue Dec 22 18:20:06 2015 +0000
Revision:
7:2dce8ed51091
Parent:
6:7ff95ce72f6d
Child:
10:66da8731bdb6
Support for NUCLEO-F303RE added.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:c5e5d0df6f2a 1 /*
hudakz 0:c5e5d0df6f2a 2 * An example showing how to use the CANnucleo library:
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 6:7ff95ce72f6d 10 * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/>
hudakz 6:7ff95ce72f6d 11 *
hudakz 6:7ff95ce72f6d 12 * NOTE: If you'd like to use the official NUCLEO-F103RB boards
hudakz 6:7ff95ce72f6d 13 * comment out the line #define TARGET_STM32F103C8T6 1
hudakz 6:7ff95ce72f6d 14 *
hudakz 6:7ff95ce72f6d 15 * The same code is used for both NUCLEO boards, but:
hudakz 0:c5e5d0df6f2a 16 * For board #1 compile the example without any change.
hudakz 4:ccf4ac2deac8 17 * For board #2 comment out the line #define BOARD1 1 before compiling
hudakz 4:ccf4ac2deac8 18 *
hudakz 6:7ff95ce72f6d 19 * Once the binaries have been downloaded to the boards reset board #1.
hudakz 0:c5e5d0df6f2a 20 *
hudakz 0:c5e5d0df6f2a 21 */
hudakz 0:c5e5d0df6f2a 22
hudakz 0:c5e5d0df6f2a 23 #include "mbed.h"
hudakz 0:c5e5d0df6f2a 24 #include "CAN.h"
hudakz 0:c5e5d0df6f2a 25
hudakz 6:7ff95ce72f6d 26 #define BOARD1 1 // comment out this line when compiling for board #2
hudakz 0:c5e5d0df6f2a 27
hudakz 0:c5e5d0df6f2a 28 #if defined(BOARD1)
hudakz 0:c5e5d0df6f2a 29 #define RX_ID 0x100
hudakz 0:c5e5d0df6f2a 30 #define TX_ID 0x101
hudakz 0:c5e5d0df6f2a 31 #else
hudakz 0:c5e5d0df6f2a 32 #define RX_ID 0x101
hudakz 0:c5e5d0df6f2a 33 #define TX_ID 0x100
hudakz 0:c5e5d0df6f2a 34 #endif
hudakz 0:c5e5d0df6f2a 35
hudakz 6:7ff95ce72f6d 36 // See wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Nucleo_Hello/>
hudakz 7:2dce8ed51091 37 //#define TARGET_STM32F103C8T6 1 // comment out this line if you'd like to use the official NUCLEO-F103RB boards
hudakz 6:7ff95ce72f6d 38
hudakz 6:7ff95ce72f6d 39 #if defined(TARGET_STM32F103C8T6)
hudakz 6:7ff95ce72f6d 40 DigitalOut led(PC_13);
hudakz 6:7ff95ce72f6d 41 #else
hudakz 6:7ff95ce72f6d 42 DigitalOut led(LED1);
hudakz 6:7ff95ce72f6d 43 #endif
hudakz 6:7ff95ce72f6d 44
hudakz 5:c6503b7ae971 45 int ledReceived;
hudakz 0:c5e5d0df6f2a 46 Timer timer;
hudakz 5:c6503b7ae971 47 CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name, Automatic recovery from bus-off state enabled by default
hudakz 0:c5e5d0df6f2a 48 CANMessage rxMsg;
hudakz 0:c5e5d0df6f2a 49 CANMessage txMsg;
hudakz 5:c6503b7ae971 50 int counter = 0;
hudakz 0:c5e5d0df6f2a 51 volatile bool msgAvailable = false;
hudakz 0:c5e5d0df6f2a 52
hudakz 0:c5e5d0df6f2a 53 /**
hudakz 0:c5e5d0df6f2a 54 * @brief 'CAN receive-complete' interrup handler.
hudakz 0:c5e5d0df6f2a 55 * @note Called on arrival of new CAN message.
hudakz 0:c5e5d0df6f2a 56 * Keep it as short as possible.
hudakz 0:c5e5d0df6f2a 57 * @param
hudakz 0:c5e5d0df6f2a 58 * @retval
hudakz 0:c5e5d0df6f2a 59 */
hudakz 0:c5e5d0df6f2a 60 void onMsgReceived() {
hudakz 0:c5e5d0df6f2a 61 msgAvailable = true;
hudakz 0:c5e5d0df6f2a 62 }
hudakz 0:c5e5d0df6f2a 63
hudakz 0:c5e5d0df6f2a 64 /**
hudakz 0:c5e5d0df6f2a 65 * @brief Main
hudakz 0:c5e5d0df6f2a 66 * @note
hudakz 0:c5e5d0df6f2a 67 * @param
hudakz 0:c5e5d0df6f2a 68 * @retval
hudakz 0:c5e5d0df6f2a 69 */
hudakz 0:c5e5d0df6f2a 70 int main() {
hudakz 5:c6503b7ae971 71 can.frequency(1000000); // set bit rate to 1Mbps
hudakz 5:c6503b7ae971 72 can.attach(&onMsgReceived, CAN::RxIrq); // attach 'CAN receive-complete' interrupt handler
hudakz 6:7ff95ce72f6d 73
hudakz 0:c5e5d0df6f2a 74 #if defined(BOARD1)
hudakz 6:7ff95ce72f6d 75 #if defined(TARGET_STM32F103C8T6)
hudakz 6:7ff95ce72f6d 76 led = 0; // turn LED on
hudakz 6:7ff95ce72f6d 77 #else
hudakz 6:7ff95ce72f6d 78 led = 1; // turn LED on
hudakz 6:7ff95ce72f6d 79 #endif
hudakz 2:49c9430860d1 80 timer.start();
hudakz 0:c5e5d0df6f2a 81 #else
hudakz 6:7ff95ce72f6d 82 #if defined(TARGET_STM32F103C8T6)
hudakz 6:7ff95ce72f6d 83 led = 1; // turn LED off
hudakz 6:7ff95ce72f6d 84 #else
hudakz 6:7ff95ce72f6d 85 led = 0; // turn LED off
hudakz 6:7ff95ce72f6d 86 #endif
hudakz 0:c5e5d0df6f2a 87 #endif
hudakz 0:c5e5d0df6f2a 88
hudakz 0:c5e5d0df6f2a 89 while(1) {
hudakz 4:ccf4ac2deac8 90 if(timer.read() >= 1.0) { // check for timeout
hudakz 0:c5e5d0df6f2a 91 timer.stop(); // stop timer
hudakz 0:c5e5d0df6f2a 92 timer.reset(); // reset timer (to avaoid repeated send)
hudakz 0:c5e5d0df6f2a 93 counter++; // increment counter
hudakz 0:c5e5d0df6f2a 94 txMsg.clear(); // clear Tx message storage
hudakz 0:c5e5d0df6f2a 95 txMsg.id = TX_ID; // set ID
hudakz 5:c6503b7ae971 96 txMsg << counter; // append first data item (make sure that CAN message total data lenght <= 8 bytes!)
hudakz 5:c6503b7ae971 97 txMsg << led.read(); // append second data item (make sure that CAN message total data lenght <= 8 bytes!)
hudakz 0:c5e5d0df6f2a 98 can.write(txMsg); // transmit message
hudakz 0:c5e5d0df6f2a 99 printf("CAN message sent\r\n");
hudakz 6:7ff95ce72f6d 100
hudakz 6:7ff95ce72f6d 101 #if defined(TARGET_STM32F103C8T6)
hudakz 6:7ff95ce72f6d 102 led = 1; // turn LED off
hudakz 6:7ff95ce72f6d 103 #else
hudakz 6:7ff95ce72f6d 104 led = 0; // turn LED off
hudakz 6:7ff95ce72f6d 105 #endif
hudakz 0:c5e5d0df6f2a 106 }
hudakz 0:c5e5d0df6f2a 107 if(msgAvailable) {
hudakz 0:c5e5d0df6f2a 108 msgAvailable = false; // reset flag for next use
hudakz 0:c5e5d0df6f2a 109 can.read(rxMsg); // read message into Rx message storage
hudakz 2:49c9430860d1 110 printf("CAN message received:\r\n");
hudakz 2:49c9430860d1 111 printf(" ID = %#x\r\n", rxMsg.id);
hudakz 2:49c9430860d1 112 printf(" Type = %d\r\n", rxMsg.type);
hudakz 2:49c9430860d1 113 printf(" Format = %d\r\n", rxMsg.format);
hudakz 2:49c9430860d1 114 printf(" Length = %d\r\n", rxMsg.len);
hudakz 2:49c9430860d1 115 printf(" Data =");
hudakz 2:49c9430860d1 116 for(int i = 0; i < rxMsg.len; i++)
hudakz 2:49c9430860d1 117 printf(" %x", rxMsg.data[i]);
hudakz 2:49c9430860d1 118 printf("\r\n");
hudakz 0:c5e5d0df6f2a 119 if(rxMsg.id == RX_ID) { // if ID matches
hudakz 0:c5e5d0df6f2a 120 rxMsg >> counter; // extract first data item
hudakz 5:c6503b7ae971 121 rxMsg >> ledReceived; // extract second data item
hudakz 5:c6503b7ae971 122 led = ledReceived; // set LED
hudakz 1:267d6288df33 123 printf("counter = %d\r\n", counter);
hudakz 0:c5e5d0df6f2a 124 timer.start();
hudakz 0:c5e5d0df6f2a 125 }
hudakz 0:c5e5d0df6f2a 126 }
hudakz 0:c5e5d0df6f2a 127 }
hudakz 0:c5e5d0df6f2a 128 }
hudakz 7:2dce8ed51091 129