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@19:872e304d7e17, 2016-08-13 (annotated)

Committer:
hudakz
Date:
Sat Aug 13 12:45:16 2016 +0000
Revision:
19:872e304d7e17
Parent:
18:22977a898fe9
Child:
20:eb1a8042605e
Updated.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:c5e5d0df6f2a 1 /*
hudakz 16:a86f339d1c25 2 * An example showing how to use the CANnucleo library:
hudakz 0:c5e5d0df6f2a 3 *
hudakz 16:a86f339d1c25 4 * Two affordable (less than $4 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash),
hudakz 16:a86f339d1c25 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 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.
hudakz 18:22977a898fe9 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 *
hudakz 0:c5e5d0df6f2a 20 */
hudakz 0:c5e5d0df6f2a 21
hudakz 19:872e304d7e17 22 //#define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards!
hudakz 10:66da8731bdb6 23 #define BOARD1 1 // comment out this line when compiling for board #2
hudakz 0:c5e5d0df6f2a 24
hudakz 16:a86f339d1c25 25 #if defined(TARGET_STM32F103C8T6)
hudakz 19:872e304d7e17 26 #define LED_PIN PC_13
hudakz 10:66da8731bdb6 27 const int OFF = 1;
hudakz 10:66da8731bdb6 28 const int ON = 0;
hudakz 0:c5e5d0df6f2a 29 #else
hudakz 19:872e304d7e17 30 #define LED_PIN LED1
hudakz 10:66da8731bdb6 31 const int OFF = 0;
hudakz 10:66da8731bdb6 32 const int ON = 1;
hudakz 0:c5e5d0df6f2a 33 #endif
hudakz 0:c5e5d0df6f2a 34
hudakz 10:66da8731bdb6 35 #if defined(BOARD1)
hudakz 10:66da8731bdb6 36 const unsigned int RX_ID = 0x100;
hudakz 10:66da8731bdb6 37 const unsigned int TX_ID = 0x101;
hudakz 6:7ff95ce72f6d 38 #else
hudakz 10:66da8731bdb6 39 const unsigned int RX_ID = 0x101;
hudakz 10:66da8731bdb6 40 const unsigned int TX_ID = 0x100;
hudakz 6:7ff95ce72f6d 41 #endif
hudakz 6:7ff95ce72f6d 42
hudakz 19:872e304d7e17 43 #include "CANnucleo.h"
hudakz 16:a86f339d1c25 44 #include "mbed.h"
hudakz 16:a86f339d1c25 45
hudakz 17:18d4d0ff26a6 46 /*
hudakz 17:18d4d0ff26a6 47 * To avaoid name collision with the CAN and CANMessage classes built into the mbed library
hudakz 17:18d4d0ff26a6 48 * the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace.
hudakz 17:18d4d0ff26a6 49 * So remember to qualify them with the CANnucleo namespace.
hudakz 17:18d4d0ff26a6 50 */
hudakz 17:18d4d0ff26a6 51 CANnucleo::CAN can(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
hudakz 17:18d4d0ff26a6 52 CANnucleo::CANMessage rxMsg;
hudakz 17:18d4d0ff26a6 53 CANnucleo::CANMessage txMsg;
hudakz 19:872e304d7e17 54 DigitalOut led(LED_PIN);
hudakz 18:22977a898fe9 55 int ledState;
hudakz 18:22977a898fe9 56 Timer timer;
hudakz 17:18d4d0ff26a6 57 int counter = 0;
hudakz 17:18d4d0ff26a6 58 volatile bool msgAvailable = false;
hudakz 0:c5e5d0df6f2a 59
hudakz 16:a86f339d1c25 60 /**
hudakz 16:a86f339d1c25 61 * @brief 'CAN receive-complete' interrup handler.
hudakz 16:a86f339d1c25 62 * @note Called on arrival of new CAN message.
hudakz 16:a86f339d1c25 63 * Keep it as short as possible.
hudakz 16:a86f339d1c25 64 * @param
hudakz 16:a86f339d1c25 65 * @retval
hudakz 16:a86f339d1c25 66 */
hudakz 16:a86f339d1c25 67 void onMsgReceived() {
hudakz 16:a86f339d1c25 68 msgAvailable = true;
hudakz 16:a86f339d1c25 69 }
hudakz 16:a86f339d1c25 70
hudakz 16:a86f339d1c25 71 /**
hudakz 16:a86f339d1c25 72 * @brief Main
hudakz 16:a86f339d1c25 73 * @note
hudakz 16:a86f339d1c25 74 * @param
hudakz 16:a86f339d1c25 75 * @retval
hudakz 16:a86f339d1c25 76 */
hudakz 16:a86f339d1c25 77 int main() {
hudakz 16:a86f339d1c25 78 can.frequency(1000000); // set bit rate to 1Mbps
hudakz 16:a86f339d1c25 79 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
hudakz 16:a86f339d1c25 80
hudakz 0:c5e5d0df6f2a 81 #if defined(BOARD1)
hudakz 10:66da8731bdb6 82 led = ON; // turn LED on
hudakz 10:66da8731bdb6 83 timer.start(); // start timer
hudakz 16:a86f339d1c25 84 printf("CANnucleo_Hello board #1\r\n");
hudakz 0:c5e5d0df6f2a 85 #else
hudakz 10:66da8731bdb6 86 led = OFF; // turn LED off
hudakz 16:a86f339d1c25 87 printf("CANnucleo_Hello board #2\r\n");
hudakz 0:c5e5d0df6f2a 88 #endif
hudakz 0:c5e5d0df6f2a 89
hudakz 0:c5e5d0df6f2a 90 while(1) {
hudakz 16:a86f339d1c25 91 if(timer.read() >= 1.0) { // check for timeout
hudakz 16:a86f339d1c25 92 timer.stop(); // stop timer
hudakz 16:a86f339d1c25 93 timer.reset(); // reset timer
hudakz 16:a86f339d1c25 94 counter++; // increment counter
hudakz 16:a86f339d1c25 95 ledState = led.read(); // get led state
hudakz 16:a86f339d1c25 96 txMsg.clear(); // clear Tx message storage
hudakz 16:a86f339d1c25 97 txMsg.id = TX_ID; // set ID
hudakz 16:a86f339d1c25 98 txMsg << counter; // append first data item
hudakz 16:a86f339d1c25 99 txMsg << ledState; // append second data item (total data lenght must be <= 8 bytes!)
hudakz 16:a86f339d1c25 100 led = OFF; // turn LED off
hudakz 16:a86f339d1c25 101 if(can.write(txMsg)) // transmit message
hudakz 16:a86f339d1c25 102 printf("CAN message sent\r\n");
hudakz 10:66da8731bdb6 103 else
hudakz 16:a86f339d1c25 104 printf("Transmission error\r\n");
hudakz 0:c5e5d0df6f2a 105 }
hudakz 16:a86f339d1c25 106 if(msgAvailable) {
hudakz 16:a86f339d1c25 107 msgAvailable = false; // reset flag for next use
hudakz 16:a86f339d1c25 108 can.read(rxMsg); // read message into Rx message storage
hudakz 19:872e304d7e17 109 printf("CAN message received\r\n");
hudakz 19:872e304d7e17 110 printf(" ID = 0x%.3x\r\n", rxMsg.id);
hudakz 19:872e304d7e17 111 printf(" Type = %d\r\n", rxMsg.type);
hudakz 19:872e304d7e17 112 printf(" Format = %d\r\n", rxMsg.format);
hudakz 19:872e304d7e17 113 printf(" Length = %d\r\n", rxMsg.len);
hudakz 19:872e304d7e17 114 printf(" Data =");
hudakz 2:49c9430860d1 115 for(int i = 0; i < rxMsg.len; i++)
hudakz 19:872e304d7e17 116 printf(" %.2x", rxMsg.data[i]);
hudakz 10:66da8731bdb6 117 printf("\r\n");
hudakz 16:a86f339d1c25 118 // Filtering performed by software:
hudakz 16:a86f339d1c25 119 if(rxMsg.id == RX_ID) { // See comments in CAN.cpp for filtering performed by hardware
hudakz 16:a86f339d1c25 120 rxMsg >> counter; // extract first data item
hudakz 16:a86f339d1c25 121 rxMsg >> ledState; // extract second data item
hudakz 16:a86f339d1c25 122 printf(" counter = %d\r\n", counter);
hudakz 16:a86f339d1c25 123 led = ON; // turn LED on
hudakz 16:a86f339d1c25 124 timer.start(); // transmission lag
hudakz 0:c5e5d0df6f2a 125 }
hudakz 0:c5e5d0df6f2a 126 }
hudakz 0:c5e5d0df6f2a 127 }
hudakz 0:c5e5d0df6f2a 128 }
hudakz 7:2dce8ed51091 129
hudakz 12:e91e44924194 130
hudakz 17:18d4d0ff26a6 131