Nagito Sukegawa / Mbed 2 deprecated Test_CAN_F446re

2019 Off season development Test of CAN communication Nucleo Board STM32 F446RE

Dependencies:   mbed

main.cpp@0:79abbe95bdcd, 2020-03-12 (annotated)

Committer:
st17099ng
Date:
Thu Mar 12 14:24:05 2020 +0000
Revision:
0:79abbe95bdcd
Initial version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
st17099ng 0:79abbe95bdcd 1 /** NucleoF446re CAN1,CAN2 TEST CODE **/
st17099ng 0:79abbe95bdcd 2 /** 2019/11/27 Coding by Nagito Sukegawa **/
st17099ng 0:79abbe95bdcd 3 /** 2019/11/28 Add can2Rcv Function **/
st17099ng 0:79abbe95bdcd 4 /** 参考元 福島B Coding by YutaTogashi,@nitfc_togatogah URL:https://os.mbed.com/users/YutaTogashi/code/robocon2019_AutoRobot_mbed_testVer/ **/
st17099ng 0:79abbe95bdcd 5
st17099ng 0:79abbe95bdcd 6 #include "mbed.h"
st17099ng 0:79abbe95bdcd 7
st17099ng 0:79abbe95bdcd 8 void can1Trans(void);
st17099ng 0:79abbe95bdcd 9 void can2Rcv(void);
st17099ng 0:79abbe95bdcd 10 char counter[8] = {0x00,0x01,0x02,0x03,0x04,0x05,0x06,0x07};
st17099ng 0:79abbe95bdcd 11 char RcvData[8];
st17099ng 0:79abbe95bdcd 12 Ticker ticker;
st17099ng 0:79abbe95bdcd 13 DigitalOut myled(LED1);
st17099ng 0:79abbe95bdcd 14 CAN can1(PB_8, PB_9,500000); //データ吐く方//D15,D14
st17099ng 0:79abbe95bdcd 15 CAN can2(PB_5, PB_6,500000); //データ受ける方//D4,D10
st17099ng 0:79abbe95bdcd 16 Serial pc(USBTX,NC,115200);
st17099ng 0:79abbe95bdcd 17 CANMessage msg1(0x456,counter,8,CANData,CANStandard);
st17099ng 0:79abbe95bdcd 18 CANMessage msg2(0x539,CANStandard);
st17099ng 0:79abbe95bdcd 19
st17099ng 0:79abbe95bdcd 20
st17099ng 0:79abbe95bdcd 21 int main()
st17099ng 0:79abbe95bdcd 22 {
st17099ng 0:79abbe95bdcd 23 ticker.attach(&can1Trans, 0.05);
st17099ng 0:79abbe95bdcd 24 can2.attach(&can2Rcv,CAN::RxIrq);
st17099ng 0:79abbe95bdcd 25 pc.printf("\033[2J");
st17099ng 0:79abbe95bdcd 26 while(1) {
st17099ng 0:79abbe95bdcd 27 // pc.printf("TEST_CAN\n");
st17099ng 0:79abbe95bdcd 28 wait(0.01);
st17099ng 0:79abbe95bdcd 29 }
st17099ng 0:79abbe95bdcd 30 }
st17099ng 0:79abbe95bdcd 31
st17099ng 0:79abbe95bdcd 32
st17099ng 0:79abbe95bdcd 33 /** CAN1送信関数 **/
st17099ng 0:79abbe95bdcd 34 void can1Trans(void)
st17099ng 0:79abbe95bdcd 35 {
st17099ng 0:79abbe95bdcd 36 if(counter[0] % 0x10 == 0) {
st17099ng 0:79abbe95bdcd 37 msg1.id = 0x456;
st17099ng 0:79abbe95bdcd 38 for(uint8_t i=0; i<8; i++) {
st17099ng 0:79abbe95bdcd 39 msg1.data[i] = counter[i]++;
st17099ng 0:79abbe95bdcd 40 }
st17099ng 0:79abbe95bdcd 41 } else {
st17099ng 0:79abbe95bdcd 42 msg1.id = 0x500;
st17099ng 0:79abbe95bdcd 43 for(uint8_t i=0; i<8; i++) {
st17099ng 0:79abbe95bdcd 44 msg1.data[i] = counter[i]++;
st17099ng 0:79abbe95bdcd 45 }
st17099ng 0:79abbe95bdcd 46 }
st17099ng 0:79abbe95bdcd 47 if(can1.write(msg1)) {
st17099ng 0:79abbe95bdcd 48 myled = !myled;
st17099ng 0:79abbe95bdcd 49 pc.printf("\033[1;1HCAN1 TRANSID: 0x%x", msg1.id);
st17099ng 0:79abbe95bdcd 50 pc.printf("\033[2;1HCAN1 DATA[0]: 0x%x", msg1.data[0]);
st17099ng 0:79abbe95bdcd 51 pc.printf("\033[3;1HCAN1 DATA[1]: 0x%x", msg1.data[1]);
st17099ng 0:79abbe95bdcd 52 pc.printf("\033[4;1HCAN1 DATA[2]: 0x%x", msg1.data[2]);
st17099ng 0:79abbe95bdcd 53 pc.printf("\033[5;1HCAN1 DATA[3]: 0x%x", msg1.data[3]);
st17099ng 0:79abbe95bdcd 54 pc.printf("\033[6;1HCAN1 DATA[4]: 0x%x", msg1.data[4]);
st17099ng 0:79abbe95bdcd 55 pc.printf("\033[7;1HCAN1 DATA[5]: 0x%x", msg1.data[5]);
st17099ng 0:79abbe95bdcd 56 pc.printf("\033[8;1HCAN1 DATA[6]: 0x%x", msg1.data[6]);
st17099ng 0:79abbe95bdcd 57 pc.printf("\033[9;1HCAN1 DATA[7]: 0x%x", msg1.data[7]);
st17099ng 0:79abbe95bdcd 58 }
st17099ng 0:79abbe95bdcd 59 if(counter[0] >= 0xF0)
st17099ng 0:79abbe95bdcd 60 pc.printf("\033[2J");
st17099ng 0:79abbe95bdcd 61 }
st17099ng 0:79abbe95bdcd 62
st17099ng 0:79abbe95bdcd 63 /** CAN2受信関数 **/
st17099ng 0:79abbe95bdcd 64 void can2Rcv(void)
st17099ng 0:79abbe95bdcd 65 {
st17099ng 0:79abbe95bdcd 66 can2.read(msg2);
st17099ng 0:79abbe95bdcd 67 pc.printf("\033[1;25HCAN2 RCVID: 0x%x\n", msg2.id);
st17099ng 0:79abbe95bdcd 68 if(msg2.id == 0x539) {
st17099ng 0:79abbe95bdcd 69 for(uint8_t i=0; i<8; i++) {
st17099ng 0:79abbe95bdcd 70 RcvData[i] = msg2.data[i];
st17099ng 0:79abbe95bdcd 71 }
st17099ng 0:79abbe95bdcd 72 pc.printf("\033[2;25HCAN2 DATA[0]: 0x%x", RcvData[0]);
st17099ng 0:79abbe95bdcd 73 pc.printf("\033[3;25HCAN2 DATA[0]: 0x%x", RcvData[1]);
st17099ng 0:79abbe95bdcd 74 pc.printf("\033[4;25HCAN2 DATA[0]: 0x%x", RcvData[2]);
st17099ng 0:79abbe95bdcd 75 pc.printf("\033[5;25HCAN2 DATA[0]: 0x%x", RcvData[3]);
st17099ng 0:79abbe95bdcd 76 pc.printf("\033[6;25HCAN2 DATA[0]: 0x%x", RcvData[4]);
st17099ng 0:79abbe95bdcd 77 pc.printf("\033[7;25HCAN2 DATA[0]: 0x%x", RcvData[5]);
st17099ng 0:79abbe95bdcd 78 pc.printf("\033[8;25HCAN2 DATA[0]: 0x%x", RcvData[6]);
st17099ng 0:79abbe95bdcd 79 pc.printf("\033[9;25HCAN2 DATA[0]: 0x%x", RcvData[7]);
st17099ng 0:79abbe95bdcd 80 myled = !myled;
st17099ng 0:79abbe95bdcd 81 }
st17099ng 0:79abbe95bdcd 82 }