Nagito Sukegawa
2019 Off season development Test of CAN communication Nucleo Board STM32 F446RE
Revision 0:bc4e55608ee9, committed 2020-03-12
- Comitter:
- st17099ng
- Date:
- Thu Mar 12 15:05:59 2020 +0000
- Commit message:
- Initial version
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r bc4e55608ee9 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Mar 12 15:05:59 2020 +0000
@@ -0,0 +1,262 @@
+#include <mbed.h>
+int PT = 0;
+int OLD_PT = 0;
+char counter[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
+char RcvData[8];
+
+void CAN1_Trans(void);
+void CAN2_Rcv(void);
+void CHECK_PT(void);
+void PT0(void);//ﾋｺｳｼﾞｮｰ
+void PT1(void);//DJ
+void PT2(void);//ﾜｯｶｲｯﾃﾓﾄﾞｯﾃ
+void PT3(void);//ﾌﾞﾂｶｯﾁｬｳ
+void PT4(void);//ｷﾞｬｸﾋｺｳｼﾞｮｰ
+void PT5(void);//ﾄｹｲ
+void PT6(void);//ﾊﾝﾄｹｲ
+void PT7(void);
+void PT8(void);
+void PT9(void);
+
+
+DigitalOut GLS[] = {
+ DigitalOut(PC_3),
+ DigitalOut(PC_2),
+ DigitalOut(PC_13),
+ DigitalOut(PB_7),
+ DigitalOut(PA_15),
+ DigitalOut(PC_12),
+ DigitalOut(PC_11),
+ DigitalOut(PC_10)
+};
+
+DigitalOut YLS[] = {
+ DigitalOut(PC_4),
+ DigitalOut(PA_10),
+ DigitalOut(PB_3),
+ DigitalOut(PB_4),
+ DigitalOut(PB_10),
+ DigitalOut(PA_8),
+ DigitalOut(PA_9),
+ DigitalOut(PC_7)
+};
+
+DigitalOut RLS[] = {
+ DigitalOut(PA_12),
+ DigitalOut(PA_11),
+ DigitalOut(PB_12),
+ DigitalOut(PB_2),
+ DigitalOut(PB_1),
+ DigitalOut(PB_15),
+ DigitalOut(PB_14),
+ DigitalOut(PB_13)
+};
+
+DigitalIn SW1(PC_6);
+DigitalIn SW2(PC_5);
+
+Ticker ticker;
+Serial pc(USBTX,NC,115200);
+CAN can1(PB_8, PB_9,500000);
+CAN can2(PB_5, PB_6,500000);
+CANMessage msg1(0x114,counter,8,CANData,CANStandard);
+CANMessage msg2(0x114,CANStandard);
+
+int main(void)
+{
+ SW1.mode(PullUp);
+ SW2.mode(PullUp);
+ ticker.attach(&CAN1_Trans, 0.1);
+ can2.attach(&CAN2_Rcv,CAN::RxIrq);
+ pc.printf("\033[2J");
+ while(1) {
+ }
+}
+
+void CAN1_Trans(void)
+{
+ msg1.id = 0x114;
+ if(SW1 == 1 && SW2 == 1) {
+ for(uint8_t i=0; i<8; i++) {
+ msg1.data[i] = 0x00;
+ }
+ } else if(SW1 == 0 && SW2 == 0) {
+ for(uint8_t i=0; i<8; i++) {
+ msg1.data[i] = 0x33;
+ }
+ } else if(SW1 == 0) {
+ for(uint8_t i=0; i<8; i++) {
+ msg1.data[i] = 0x11;
+ }
+ } else if(SW2 == 0) {
+ for(uint8_t i=0; i<8; i++) {
+ msg1.data[i] = 0x22;
+ }
+ }
+ if(can1.write(msg1)) {
+ pc.printf("\033[1;1HCAN1 TRANSID: 0x%x", msg1.id);
+ pc.printf("\033[2;1HCAN1 DATA[0]: 0x%x", msg1.data[0]);
+ pc.printf("\033[3;1HCAN1 DATA[1]: 0x%x", msg1.data[1]);
+ pc.printf("\033[4;1HCAN1 DATA[2]: 0x%x", msg1.data[2]);
+ pc.printf("\033[5;1HCAN1 DATA[3]: 0x%x", msg1.data[3]);
+ pc.printf("\033[6;1HCAN1 DATA[4]: 0x%x", msg1.data[4]);
+ pc.printf("\033[7;1HCAN1 DATA[5]: 0x%x", msg1.data[5]);
+ pc.printf("\033[8;1HCAN1 DATA[6]: 0x%x", msg1.data[6]);
+ pc.printf("\033[9;1HCAN1 DATA[7]: 0x%x", msg1.data[7]);
+ }
+}
+
+void CAN2_Rcv(void)
+{
+ can2.read(msg2);
+ pc.printf("\033[1;25HCAN2 RCVID: 0x%x\n", msg2.id);
+ if(msg2.id == 0x114) {
+ for(uint8_t i=0; i<8; i++) {
+ RcvData[i] = msg2.data[i];
+ }
+ if(RcvData[0] == 0x00) {
+ PT = 0;
+ CHECK_PT();
+ PT0();
+ } else if(RcvData[0] == 0x33) {
+ PT = 3;
+ CHECK_PT();
+ PT4();
+ } else if(RcvData[0] == 0x11) {
+ PT = 1;
+ CHECK_PT();
+ PT1();
+ } else if(RcvData[0] == 0x22) {
+ PT = 2;
+ CHECK_PT();
+ PT2();
+ }
+ OLD_PT = PT;
+ pc.printf("\033[2;25HCAN2 DATA[0]: 0x%x", RcvData[0]);
+ pc.printf("\033[3;25HCAN2 DATA[0]: 0x%x", RcvData[1]);
+ pc.printf("\033[4;25HCAN2 DATA[0]: 0x%x", RcvData[2]);
+ pc.printf("\033[5;25HCAN2 DATA[0]: 0x%x", RcvData[3]);
+ pc.printf("\033[6;25HCAN2 DATA[0]: 0x%x", RcvData[4]);
+ pc.printf("\033[7;25HCAN2 DATA[0]: 0x%x", RcvData[5]);
+ pc.printf("\033[8;25HCAN2 DATA[0]: 0x%x", RcvData[6]);
+ pc.printf("\033[9;25HCAN2 DATA[0]: 0x%x", RcvData[7]);
+ }
+}
+
+void CHECK_PT(void)
+{
+ if(OLD_PT != PT) {
+ for(int i = 0; i<8; i++) {
+ GLS[i] = 0;
+ YLS[i] = 0;
+ RLS[i] = 0;
+ }
+ pc.printf("\033[2J");
+ }
+}
+
+void PT0(void)//ﾋｺｳｼﾞｮｰ
+{
+ for(int i = 0; i<8; i++) {
+ GLS[i] = !GLS[i];
+ YLS[i] = !YLS[i];
+ RLS[i] = !RLS[i];
+ wait(0.03);
+ }
+}
+
+void PT1(void)//DJ
+{
+ for(int i = 0; i < 8; i++) {
+ GLS[i] = 1;
+ YLS[i] = 1;
+ RLS[i] = 1;
+ wait(0.03);
+ }
+ for(int i = 7; i >= 0; i--) {
+ GLS[i] = 0;
+ YLS[i] = 0;
+ RLS[i] = 0;
+ wait(0.03);
+ }
+}
+
+void PT2(void)//ﾜｯｶｲｯﾃﾓﾄﾞｯﾃ
+{
+ for(int i = 7; i >= 0; i--) {
+ GLS[i] = 1;
+ wait(0.03);
+ }
+ for(int i = 7; i >= 0; i--) {
+ YLS[i] = 1;
+ wait(0.03);
+ }
+ for(int i = 7; i >= 0; i--) {
+ RLS[i] = 1;
+ wait(0.03);
+ }
+
+ for(int i = 0; i < 8; i++) {
+ RLS[i] = 0;
+ wait(0.03);
+ }
+
+ for(int i = 0; i < 8; i++) {
+ YLS[i] = 0;
+ wait(0.03);
+ }
+ for(int i = 0; i < 8; i++) {
+ GLS[i] = 0;
+ wait(0.03);
+ }
+}
+
+void PT3(void)//ﾌﾞﾂｶｯﾁｬｳ
+{
+ for(int i = 7; i >= 0; i--) {
+ GLS[i] = 1;
+ RLS[7-i] = 1;
+ wait(0.03);
+ }
+ for(int i = 0; i < 4; i++) {
+ YLS[i] = 1;
+ YLS[7-i] = 1;
+ wait(0.03);
+ }
+ for(int i = 3; i >= 0; i--) {
+ YLS[i] = 0;
+ YLS[7-i] = 0;
+ wait(0.03);
+ }
+ for(int i = 7; i >= 0; i--) {
+ GLS[7-i] = 0;
+ RLS[i] = 0;
+ wait(0.03);
+ }
+}
+
+void PT4(void)//ｷﾞｬｸﾋｺｳｼﾞｮｰ
+{
+ for(int i = 7; i >= 0; i--) {
+ GLS[i] = !GLS[i];
+ YLS[i] = !YLS[i];
+ RLS[i] = !RLS[i];
+ wait(0.03);
+ }
+}
+
+void PT5(void)//ﾄｹｲ
+{
+ for(int i = 0; i<8; i++) {
+ GLS[i] = 1;
+ wait(0.03);
+ }
+ for(int i = 0; i<8; i++) {
+ GLS[i] = 0;
+ }
+}
+
+void PT6(void)//ﾊﾝﾄｹｲ
+{
+
+}
\ No newline at end of file
diff -r 000000000000 -r bc4e55608ee9 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Mar 12 15:05:59 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file