comit to publish
Dependencies: CANnucleo CANnucleo_Hello mbed
Fork of CANnucleo_Hello by
Revision 21:f3a7ffd48020, committed 2016-11-28
- Comitter:
- ser1516
- Date:
- Mon Nov 28 23:15:14 2016 +0000
- Parent:
- 20:eb1a8042605e
- Commit message:
- comit to publish
Changed in this revision
diff -r eb1a8042605e -r f3a7ffd48020 CANnucleo_Hello.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CANnucleo_Hello.lib Mon Nov 28 23:15:14 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/hudakz/code/CANnucleo_Hello/#eb1a8042605e
diff -r eb1a8042605e -r f3a7ffd48020 main.cpp --- a/main.cpp Tue Aug 16 21:13:47 2016 +0000 +++ b/main.cpp Mon Nov 28 23:15:14 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 +13,28 @@ * * 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 +#define start_charge_msg "\x22\x80\x24\x01" +#define stop_charge_msg "\x22\x80\x24\x02" +#define charger_startup_msg "\x0\xB\x0\x0\x0\x0\x0\xB" // charger writes this during startup +#define change_charger_can_bitrate_1Mbs "\x22\xDA\x20\x01\x04" -#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 +42,136 @@ 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); +DigitalOut controller_key_switch(PA_6); // SS_Rel + 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() { - 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 - 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 +bool to_charge = 0; +bool charge = 0; +void led_error() +{ + + led = !led; + wait(0.1); + led=!led; + wait(0.1); + led = !led; + wait(0.1); + led = !led; + wait(0.1); + led = !led; + +} +int build_message(unsigned char * badjoras, const char * command) +{ + char *src; + strcpy(src,command); + strncpy((char *) badjoras,src,sizeof(command)-1); + return (sizeof(command)-1); +} - 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"); - } +void flip() +{ + to_send=1; // append first data item + to_charge=1; + //controller_key_switch = !controller_key_switch; + led = !led; + charge = !charge; +} + +bool controller = 0;//flag for turning on controller_key_switch +Ticker flipper; +void change_can_bitrate(){ + to_send= 1; +} +InterruptIn button(PC_13); + +int main() + +{ + can.frequency(125000); // set bit rate to 1Mbps + can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler + flipper.attach(&change_can_bitrate, 5); //heartbeat + button.rise(&flip); + led=0; + printf("badjoras\n"); + + while(true) { + 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 + int len = can.read(rxMsg); + printf("Id: %x ", rxMsg.id); + for(int i = 0; i<len; i++) { + printf("%x,", rxMsg.data[i]); + } + printf("\n\r"); + /* + rxMsg >> controller; + led = controller; + controller_key_switch = controller;*/ + if(rxMsg.id == 0x28B) { + if (memcmp(rxMsg.data,charger_startup_msg,8)==0) { + printf(" this is the message\n\r"); + txMsg.clear(); // clear Tx message storage + txMsg.id = 0x60B; + build_message(txMsg.data,stop_charge_msg); + txMsg.len = 4; + to_send = 1; + } + } + } + if(to_send) { + to_send = 0; + if(to_charge) { + to_charge = 0; + if(charge) { + txMsg.clear(); // clear Tx message storage + txMsg.id = 0x60B; + build_message(txMsg.data,start_charge_msg); + txMsg.len = 4; + } else { + txMsg.clear(); // clear Tx message storage + txMsg.id = 0x60B; + build_message(txMsg.data,stop_charge_msg); + txMsg.len = 4; + } + + } else { + txMsg.clear(); + txMsg.id = 0x60B; + build_message(txMsg.data, change_charger_can_bitrate_1Mbs); + txMsg.len = 8; + } + if(!can.write(txMsg)) { + led_error(); + } else { + printf("sent message: ID: %x DATA: %x %x %x %x %x %x %x %x\n\r",txMsg.id,txMsg.data[0],txMsg.data[1],txMsg.data[2],txMsg.data[3],txMsg.data[4],txMsg.data[5],txMsg.data[6],txMsg.data[7]); } } }
diff -r eb1a8042605e -r f3a7ffd48020 mbed.bld --- a/mbed.bld Tue Aug 16 21:13:47 2016 +0000 +++ b/mbed.bld Mon Nov 28 23:15:14 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