Diego Hamilton / Mbed OS CAN_STABLE_EINSTEIN

Can Stable Einstein Version

Dependencies:   mbed-STM32F103C8T6 CANMsg

main.cpp@5:3a5281126310, 2018-12-15 (annotated)

Committer:
sid26
Date:
Sat Dec 15 19:06:43 2018 +0000
Revision:
5:3a5281126310
Parent:
4:09d564da0e24 
123

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:1b9561cd1c36 1 /*
hudakz 1:6f8ffb2c2dd7 2 * An example showing how to use the mbed CAN API:
hudakz 0:1b9561cd1c36 3 *
hudakz 3:87a128bca8f5 4 * Two affordable (about $2 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash),
hudakz 1:6f8ffb2c2dd7 5 * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details)
hudakz 0:1b9561cd1c36 6 * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.).
hudakz 0:1b9561cd1c36 7 * CAN transceivers are not part of NUCLEO boards, therefore must be added by you.
hudakz 0:1b9561cd1c36 8 * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends.
hudakz 1:6f8ffb2c2dd7 9 *
hudakz 1:6f8ffb2c2dd7 10 * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CAN_Hello/>
hudakz 0:1b9561cd1c36 11 *
hudakz 4:09d564da0e24 12 * NOTE: When using an STM32F103C8T6 board uncomment line 22 and import the mbed-STM32F103C8T6 library
hudakz 0:1b9561cd1c36 13 *
hudakz 1:6f8ffb2c2dd7 14 * The same code is used for both mbed boards, but:
hudakz 0:1b9561cd1c36 15 * For board #1 compile the example without any change.
hudakz 3:87a128bca8f5 16 * For board #2 comment out line 21 before compiling
hudakz 0:1b9561cd1c36 17 *
hudakz 3:87a128bca8f5 18 * Once the binaries have been downloaded to the boards reset both boards at the same time.
hudakz 0:1b9561cd1c36 19 *
hudakz 0:1b9561cd1c36 20 */
hudakz 1:6f8ffb2c2dd7 21
sid26 5:3a5281126310 22 #define TARGET_STM32F103C8T6 1 // uncomment this line and import the mbed-STM32F103C8T6 library when using STM32F103C8T6 boards!
hudakz 4:09d564da0e24 23
sid26 5:3a5281126310 24 //#define BOARD1 1 // comment out this line when compiling for board #2
hudakz 0:1b9561cd1c36 25
hudakz 0:1b9561cd1c36 26 #if defined(TARGET_STM32F103C8T6)
sid26 5:3a5281126310 27 //#include "stm32f103c8t6.h"
hudakz 0:1b9561cd1c36 28 #define LED_PIN PC_13
hudakz 0:1b9561cd1c36 29 const int OFF = 1;
hudakz 0:1b9561cd1c36 30 const int ON = 0;
hudakz 0:1b9561cd1c36 31 #else
hudakz 0:1b9561cd1c36 32 #define LED_PIN LED1
hudakz 0:1b9561cd1c36 33 const int OFF = 0;
hudakz 0:1b9561cd1c36 34 const int ON = 1;
hudakz 0:1b9561cd1c36 35 #endif
hudakz 0:1b9561cd1c36 36 #if defined(BOARD1)
hudakz 0:1b9561cd1c36 37 const unsigned int RX_ID = 0x100;
hudakz 0:1b9561cd1c36 38 const unsigned int TX_ID = 0x101;
hudakz 0:1b9561cd1c36 39 #else
hudakz 0:1b9561cd1c36 40 const unsigned int RX_ID = 0x101;
hudakz 0:1b9561cd1c36 41 const unsigned int TX_ID = 0x100;
hudakz 0:1b9561cd1c36 42 #endif
hudakz 0:1b9561cd1c36 43 #include "mbed.h"
hudakz 0:1b9561cd1c36 44 #include "CANMsg.h"
hudakz 0:1b9561cd1c36 45
sid26 5:3a5281126310 46 #define CAN_RF0R (*((volatile unsigned long *)0x4000640C))
sid26 5:3a5281126310 47 #define CAN_RF1R (*((volatile unsigned long *)0x40006410))
sid26 5:3a5281126310 48 #define CAN_IER (*((volatile unsigned long *)0x40006414))
sid26 5:3a5281126310 49
sid26 5:3a5281126310 50
sid26 5:3a5281126310 51 Serial pc(PA_9, PA_10);
sid26 5:3a5281126310 52 CAN can2(PA_11, PA_12);
sid26 5:3a5281126310 53 CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
hudakz 0:1b9561cd1c36 54 CANMsg rxMsg;
hudakz 0:1b9561cd1c36 55 CANMsg txMsg;
hudakz 0:1b9561cd1c36 56 DigitalOut led(LED_PIN);
hudakz 0:1b9561cd1c36 57 Timer timer;
hudakz 0:1b9561cd1c36 58 uint8_t counter = 0;
hudakz 0:1b9561cd1c36 59 AnalogIn analogIn(A0);
hudakz 0:1b9561cd1c36 60 float voltage;
sid26 5:3a5281126310 61 volatile bool got_message = false;
hudakz 0:1b9561cd1c36 62 /**
hudakz 0:1b9561cd1c36 63 * @brief Prints CAN msg to PC's serial terminal
hudakz 2:6546e4a2d593 64 * @note
hudakz 1:6f8ffb2c2dd7 65 * @param CANMessage to print
hudakz 3:87a128bca8f5 66 * @retval
hudakz 0:1b9561cd1c36 67 */
hudakz 1:6f8ffb2c2dd7 68 void printMsg(CANMessage& msg) {
hudakz 0:1b9561cd1c36 69 pc.printf(" ID = 0x%.3x\r\n", msg.id);
hudakz 0:1b9561cd1c36 70 pc.printf(" Type = %d\r\n", msg.type);
hudakz 0:1b9561cd1c36 71 pc.printf(" Format = %d\r\n", msg.format);
hudakz 0:1b9561cd1c36 72 pc.printf(" Length = %d\r\n", msg.len);
hudakz 0:1b9561cd1c36 73 pc.printf(" Data =");
hudakz 0:1b9561cd1c36 74 for(int i = 0; i < msg.len; i++)
hudakz 0:1b9561cd1c36 75 pc.printf(" 0x%.2X", msg.data[i]);
hudakz 0:1b9561cd1c36 76 pc.printf("\r\n");
hudakz 0:1b9561cd1c36 77 }
hudakz 0:1b9561cd1c36 78
sid26 5:3a5281126310 79 void RxIsr(){
sid26 5:3a5281126310 80 CANMsg temp;
sid26 5:3a5281126310 81 led = ON;
sid26 5:3a5281126310 82 can.read(temp);
sid26 5:3a5281126310 83 got_message = true;
sid26 5:3a5281126310 84 return;
sid26 5:3a5281126310 85 }
sid26 5:3a5281126310 86
hudakz 0:1b9561cd1c36 87 /**
hudakz 0:1b9561cd1c36 88 * @brief Main
hudakz 0:1b9561cd1c36 89 * @note
hudakz 0:1b9561cd1c36 90 * @param
hudakz 0:1b9561cd1c36 91 * @retval
hudakz 0:1b9561cd1c36 92 */
hudakz 0:1b9561cd1c36 93 int main(void)
hudakz 0:1b9561cd1c36 94 {
hudakz 0:1b9561cd1c36 95 #if defined(TARGET_STM32F103C8T6)
sid26 5:3a5281126310 96 // confSysClock(); //Configure system clock (72MHz HSE clock, 48MHz USB clock)
hudakz 0:1b9561cd1c36 97 #endif
hudakz 1:6f8ffb2c2dd7 98 pc.baud(9600); // set Serial speed
sid26 5:3a5281126310 99 can.frequency(5000000); // set bit rate to 1Mbps
sid26 5:3a5281126310 100 can.mode(CAN::Normal);
sid26 5:3a5281126310 101 can.attach(&RxIsr, CAN::RxIrq);
sid26 5:3a5281126310 102 #if defined(BOARD1)
hudakz 1:6f8ffb2c2dd7 103 led = ON; // turn the LED on
sid26 5:3a5281126310 104 timer.start(); // start timert
hudakz 1:6f8ffb2c2dd7 105 pc.printf("CAN_Hello board #1\r\n");
hudakz 0:1b9561cd1c36 106 #else
hudakz 0:1b9561cd1c36 107 led = OFF; // turn LED off
hudakz 1:6f8ffb2c2dd7 108 pc.printf("CAN_Hello board #2\r\n");
hudakz 0:1b9561cd1c36 109 #endif
sid26 5:3a5281126310 110
sid26 5:3a5281126310 111 while(1) {
sid26 5:3a5281126310 112 pc.printf("%d\n",got_message);
hudakz 3:87a128bca8f5 113 if(timer.read_ms() >= 1000) { // check for timeout
hudakz 3:87a128bca8f5 114 timer.stop(); // stop timer
hudakz 3:87a128bca8f5 115 timer.reset(); // reset timer
hudakz 3:87a128bca8f5 116 counter++; // increment counter
hudakz 3:87a128bca8f5 117 voltage = analogIn * 3.3f; // read the small drifting voltage from analog input
hudakz 3:87a128bca8f5 118 txMsg.clear(); // clear Tx message storage
hudakz 3:87a128bca8f5 119 txMsg.id = TX_ID; // set ID
hudakz 3:87a128bca8f5 120 txMsg << counter << voltage; // append data (total data length must not exceed 8 bytes!)
hudakz 3:87a128bca8f5 121 if(can.write(txMsg)) { // transmit message
hudakz 3:87a128bca8f5 122 led = OFF; // turn the LED off
hudakz 0:1b9561cd1c36 123 pc.printf("-------------------------------------\r\n");
hudakz 0:1b9561cd1c36 124 pc.printf("CAN message sent\r\n");
hudakz 0:1b9561cd1c36 125 printMsg(txMsg);
hudakz 0:1b9561cd1c36 126 pc.printf(" counter = %d\r\n", counter);
hudakz 0:1b9561cd1c36 127 pc.printf(" voltage = %e V\r\n", voltage);
hudakz 0:1b9561cd1c36 128 }
hudakz 0:1b9561cd1c36 129 else
hudakz 0:1b9561cd1c36 130 pc.printf("Transmission error\r\n");
hudakz 0:1b9561cd1c36 131 }
sid26 5:3a5281126310 132
sid26 5:3a5281126310 133 if(got_message){
sid26 5:3a5281126310 134 got_message = false;
sid26 5:3a5281126310 135 can.read(rxMsg);
hudakz 0:1b9561cd1c36 136 pc.printf("-------------------------------------\r\n");
hudakz 0:1b9561cd1c36 137 pc.printf("CAN message received\r\n");
hudakz 0:1b9561cd1c36 138 printMsg(rxMsg);
hudakz 0:1b9561cd1c36 139
hudakz 0:1b9561cd1c36 140 // Filtering performed by software:
sid26 5:3a5281126310 141 //if(rxMsg.id == RX_ID) {
hudakz 0:1b9561cd1c36 142 rxMsg >> counter >> voltage; // extract data from the received CAN message
hudakz 0:1b9561cd1c36 143 pc.printf(" counter = %d\r\n", counter);
hudakz 0:1b9561cd1c36 144 pc.printf(" voltage = %e V\r\n", voltage);
hudakz 1:6f8ffb2c2dd7 145 timer.start(); // transmission lag
sid26 5:3a5281126310 146 // }
hudakz 0:1b9561cd1c36 147 }
sid26 5:3a5281126310 148
hudakz 0:1b9561cd1c36 149 }
hudakz 0:1b9561cd1c36 150 }