Angel David Yaguana Hernandez / Mbed 2 deprecated 0_TUTO_CAN_to_CAN

(CAN) using any type of character and strings with a maxim of 8 bits

Dependencies:   mbed

main.cpp@1:328932c34ba1, 2013-01-08 (annotated)

Committer:
sherckuith
Date:
Tue Jan 08 06:44:56 2013 +0000
Revision:
1:328932c34ba1
Parent:
0:8ef426505c79 
(CAN) using any type of character and strings with a maxim of 8 bits

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sherckuith 0:8ef426505c79 1 #include "mbed.h"
sherckuith 0:8ef426505c79 2 #include "CAN.h"
sherckuith 0:8ef426505c79 3
sherckuith 0:8ef426505c79 4 DigitalOut led1(LED1);
sherckuith 0:8ef426505c79 5 DigitalOut led2(LED2);
sherckuith 0:8ef426505c79 6 DigitalOut led3(LED3);
sherckuith 0:8ef426505c79 7 DigitalOut led4(LED4);
sherckuith 0:8ef426505c79 8 CAN can1(p9, p10);
sherckuith 0:8ef426505c79 9 CAN can2(p30, p29);
sherckuith 0:8ef426505c79 10 Serial pc(USBTX,USBRX); //tx. rx
sherckuith 0:8ef426505c79 11
sherckuith 0:8ef426505c79 12 int main()
sherckuith 0:8ef426505c79 13 {
sherckuith 0:8ef426505c79 14 char a[8] = {0x6D,0x62,0x65,0x64,0x00,0x00,0x00,0x00};
sherckuith 0:8ef426505c79 15 char b[5] = "hola";
sherckuith 0:8ef426505c79 16 char c[8] = {"1234567"};
sherckuith 0:8ef426505c79 17 const char d[8] = {0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x00};
sherckuith 0:8ef426505c79 18 CANMessage msg;
sherckuith 0:8ef426505c79 19 pc.baud(9600);
sherckuith 0:8ef426505c79 20 can1.frequency(125000);
sherckuith 0:8ef426505c79 21 can2.frequency(125000);
sherckuith 0:8ef426505c79 22 while(1) {
sherckuith 1:328932c34ba1 23 if(can1.read(msg))
sherckuith 0:8ef426505c79 24 led1 = 1;
sherckuith 1:328932c34ba1 25 if(can2.read(msg))
sherckuith 1:328932c34ba1 26 led2 = 1;
sherckuith 0:8ef426505c79 27
sherckuith 1:328932c34ba1 28 /***********inicio de comunicacion CAN1 -> CAN2 ****************************/
sherckuith 0:8ef426505c79 29 pc.printf("************************************\n\r");
sherckuith 0:8ef426505c79 30 can1.write(CANMessage(01, &a[0], 8));
sherckuith 0:8ef426505c79 31 pc.printf("write a: %s ",&a[0]);
sherckuith 0:8ef426505c79 32 if(can2.read(msg)) {
sherckuith 0:8ef426505c79 33 led1 = 1;led2 = 0;led3 = 0;led4 = 0;
sherckuith 0:8ef426505c79 34 pc.printf("read a:-%s-\n",&msg.data[0]);
sherckuith 0:8ef426505c79 35 }
sherckuith 1:328932c34ba1 36 else {
sherckuith 1:328932c34ba1 37 printf("CAN1 RD error: %d, TD error: %d\r\n", can1.rderror(), can1.tderror() );
sherckuith 1:328932c34ba1 38 printf("CAN2 RD error: %d, TD error: %d\r\n", can2.rderror(), can2.tderror() );
sherckuith 1:328932c34ba1 39 }
sherckuith 1:328932c34ba1 40
sherckuith 0:8ef426505c79 41 can1.write(CANMessage(01, &b[0], 4));
sherckuith 0:8ef426505c79 42 pc.printf("write b: %s ",&b[0]);
sherckuith 0:8ef426505c79 43 if(can2.read(msg)) {
sherckuith 1:328932c34ba1 44 led1 = 0;led2 = 1;led3 = 0;led4 = 0;
sherckuith 0:8ef426505c79 45 pc.printf("read b:-%s-\n",&msg.data[0]);
sherckuith 0:8ef426505c79 46 }
sherckuith 1:328932c34ba1 47 else {
sherckuith 1:328932c34ba1 48 printf("CAN1 RD error: %d, TD error: %d\r\n", can1.rderror(), can1.tderror() );
sherckuith 1:328932c34ba1 49 printf("CAN2 RD error: %d, TD error: %d\r\n", can2.rderror(), can2.tderror() );
sherckuith 1:328932c34ba1 50 }
sherckuith 1:328932c34ba1 51
sherckuith 0:8ef426505c79 52 can1.write(CANMessage(01, &c[0], 8));
sherckuith 0:8ef426505c79 53 pc.printf("write c: %s ",&c[0]);
sherckuith 0:8ef426505c79 54 if(can2.read(msg)) {
sherckuith 1:328932c34ba1 55 led1 = 0;led2 = 0;led3 = 1;led4 = 0;
sherckuith 0:8ef426505c79 56 pc.printf("read c:-%s-\n",&msg.data[0]);
sherckuith 0:8ef426505c79 57 }
sherckuith 1:328932c34ba1 58 else {
sherckuith 1:328932c34ba1 59 printf("CAN1 RD error: %d, TD error: %d\r\n", can1.rderror(), can1.tderror() );
sherckuith 1:328932c34ba1 60 printf("CAN2 RD error: %d, TD error: %d\r\n", can2.rderror(), can2.tderror() );
sherckuith 1:328932c34ba1 61 }
sherckuith 1:328932c34ba1 62
sherckuith 0:8ef426505c79 63 can1.write(CANMessage(01, &d[0], 8));
sherckuith 0:8ef426505c79 64 pc.printf("write d: %s ",&d[0]);
sherckuith 0:8ef426505c79 65 if(can2.read(msg)) {
sherckuith 1:328932c34ba1 66 led1 = 0;led2 = 0;led3 = 0;led4 = 1;
sherckuith 0:8ef426505c79 67 pc.printf("read d:-%s-\n",&msg.data[0]);
sherckuith 0:8ef426505c79 68 }
sherckuith 1:328932c34ba1 69 else {
sherckuith 1:328932c34ba1 70 printf("CAN1 RD error: %d, TD error: %d\r\n", can1.rderror(), can1.tderror() );
sherckuith 1:328932c34ba1 71 printf("CAN2 RD error: %d, TD error: %d\r\n", can2.rderror(), can2.tderror() );
sherckuith 1:328932c34ba1 72 }
sherckuith 1:328932c34ba1 73
sherckuith 1:328932c34ba1 74 //wait(1);
sherckuith 1:328932c34ba1 75 led1 = 0;led2 = 0;led3 = 0;led4 = 0;
sherckuith 1:328932c34ba1 76
sherckuith 1:328932c34ba1 77 /************************fin**********************************/
sherckuith 1:328932c34ba1 78
sherckuith 1:328932c34ba1 79 /***********inicio de comunicacion CAN2 -> CAN1 ****************************/
sherckuith 1:328932c34ba1 80 pc.printf("************************************\n\r");
sherckuith 1:328932c34ba1 81 can2.write(CANMessage(01, &a[0], 8));
sherckuith 1:328932c34ba1 82 pc.printf("write a: %s ",&a[0]);
sherckuith 1:328932c34ba1 83 if(can1.read(msg)) {
sherckuith 1:328932c34ba1 84 led1 = 0;led2 = 0;led3 = 0;led4 = 1;
sherckuith 1:328932c34ba1 85 pc.printf("read a:-%s-\n",&msg.data[0]);
sherckuith 1:328932c34ba1 86 }
sherckuith 1:328932c34ba1 87 else {
sherckuith 1:328932c34ba1 88 printf("CAN1 RD error: %d, TD error: %d\r\n", can1.rderror(), can1.tderror() );
sherckuith 1:328932c34ba1 89 printf("CAN2 RD error: %d, TD error: %d\r\n", can2.rderror(), can2.tderror() );
sherckuith 1:328932c34ba1 90 }
sherckuith 1:328932c34ba1 91
sherckuith 1:328932c34ba1 92 can2.write(CANMessage(01, &b[0], 4));
sherckuith 1:328932c34ba1 93 pc.printf("write b: %s ",&b[0]);
sherckuith 1:328932c34ba1 94 if(can1.read(msg)) {
sherckuith 1:328932c34ba1 95 led1 = 0;led2 = 0;led3 = 1;led4 = 0;
sherckuith 1:328932c34ba1 96 pc.printf("read b:-%s-\n",&msg.data[0]);
sherckuith 1:328932c34ba1 97 }
sherckuith 1:328932c34ba1 98 else {
sherckuith 1:328932c34ba1 99 printf("CAN1 RD error: %d, TD error: %d\r\n", can1.rderror(), can1.tderror() );
sherckuith 1:328932c34ba1 100 printf("CAN2 RD error: %d, TD error: %d\r\n", can2.rderror(), can2.tderror() );
sherckuith 1:328932c34ba1 101 }
sherckuith 1:328932c34ba1 102
sherckuith 1:328932c34ba1 103 can2.write(CANMessage(01, &c[0], 8));
sherckuith 1:328932c34ba1 104 pc.printf("write c: %s ",&c[0]);
sherckuith 1:328932c34ba1 105 if(can1.read(msg)) {
sherckuith 1:328932c34ba1 106 led1 = 0;led2 = 1;led3 = 0;led4 = 0;
sherckuith 1:328932c34ba1 107 pc.printf("read c:-%s-\n",&msg.data[0]);
sherckuith 1:328932c34ba1 108 }
sherckuith 1:328932c34ba1 109 else {
sherckuith 1:328932c34ba1 110 printf("CAN1 RD error: %d, TD error: %d\r\n", can1.rderror(), can1.tderror() );
sherckuith 1:328932c34ba1 111 printf("CAN2 RD error: %d, TD error: %d\r\n", can2.rderror(), can2.tderror() );
sherckuith 1:328932c34ba1 112 }
sherckuith 1:328932c34ba1 113
sherckuith 1:328932c34ba1 114 can2.write(CANMessage(01, &d[0], 8));
sherckuith 1:328932c34ba1 115 pc.printf("write d: %s ",&d[0]);
sherckuith 1:328932c34ba1 116 if(can1.read(msg)) {
sherckuith 1:328932c34ba1 117 led1 = 1;led2 = 0;led3 = 0;led4 = 0;
sherckuith 1:328932c34ba1 118 pc.printf("read d:-%s-\n",&msg.data[0]);
sherckuith 1:328932c34ba1 119 }
sherckuith 1:328932c34ba1 120 else {
sherckuith 1:328932c34ba1 121 printf("CAN1 RD error: %d, TD error: %d\r\n", can1.rderror(), can1.tderror() );
sherckuith 1:328932c34ba1 122 printf("CAN2 RD error: %d, TD error: %d\r\n", can2.rderror(), can2.tderror() );
sherckuith 1:328932c34ba1 123 }
sherckuith 1:328932c34ba1 124
sherckuith 1:328932c34ba1 125 //wait(1);
sherckuith 0:8ef426505c79 126 led1 = 0;led2 = 0;led3 = 0;led4 = 0;
sherckuith 0:8ef426505c79 127
sherckuith 0:8ef426505c79 128 /************************fin**********************************/
sherckuith 0:8ef426505c79 129 }
sherckuith 0:8ef426505c79 130 }
sherckuith 0:8ef426505c79 131
sherckuith 0:8ef426505c79 132
sherckuith 0:8ef426505c79 133 /*
sherckuith 0:8ef426505c79 134 (NXP TJA 1051/3)
sherckuith 0:8ef426505c79 135 mbed TJA1 TJA2
sherckuith 0:8ef426505c79 136 ----------------------
sherckuith 0:8ef426505c79 137 5V Vcc Vcc
sherckuith 0:8ef426505c79 138 GND GND GND
sherckuith 0:8ef426505c79 139 p9 RXD -
sherckuith 0:8ef426505c79 140 p10 TXD -
sherckuith 0:8ef426505c79 141 p29 - TXD
sherckuith 0:8ef426505c79 142 p30 - RXD
sherckuith 0:8ef426505c79 143 - CANL CANL
sherckuith 0:8ef426505c79 144 - CANH CANH
sherckuith 0:8ef426505c79 145 3.3v Vio Vio
sherckuith 0:8ef426505c79 146
sherckuith 0:8ef426505c79 147 GND -> 60Ohm-CANL
sherckuith 0:8ef426505c79 148 GND -> 60Ohm-CANH
sherckuith 0:8ef426505c79 149 GND -> 10KOhm-S-TJA1
sherckuith 0:8ef426505c79 150 GND -> 10KOhm-S-TJA2
sherckuith 0:8ef426505c79 151 */