stefan frey / FSTW16_Display_V4_pub

pub

Dependencies:   CANnucleo mbed-dev

Fork of CANnucleo_Hello by Zoltan Hudak

main.cpp@25:e2907bcba75e, 2017-03-07 (annotated)

Committer:
hudakz
Date:
Tue Mar 07 21:28:19 2017 +0000
Revision:
25:e2907bcba75e
Parent:
24:069287e799cd
Child:
26:1d0488a03905
Updated.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:c5e5d0df6f2a 1 /*
hudakz 17:a86f339d1c25 2 * An example showing how to use the CANnucleo library:
hudakz 0:c5e5d0df6f2a 3 *
hudakz 21:eb1a8042605e 4 * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash),
hudakz 21:eb1a8042605e 5 * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details)
hudakz 6:7ff95ce72f6d 6 * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.).
hudakz 6:7ff95ce72f6d 7 * CAN transceivers are not part of NUCLEO boards, therefore must be added by you.
hudakz 6:7ff95ce72f6d 8 * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends.
hudakz 6:7ff95ce72f6d 9 *
hudakz 17:a86f339d1c25 10 * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/>
hudakz 6:7ff95ce72f6d 11 *
hudakz 22:7120a0dcc8ee 12 * NOTE: If you'd like to use an STM32F103C8T6 board uncomment line 23
hudakz 6:7ff95ce72f6d 13 *
hudakz 6:7ff95ce72f6d 14 * The same code is used for both NUCLEO boards, but:
hudakz 0:c5e5d0df6f2a 15 * For board #1 compile the example without any change.
hudakz 19:22977a898fe9 16 * For board #2 comment out line 23 before compiling
hudakz 4:ccf4ac2deac8 17 *
hudakz 6:7ff95ce72f6d 18 * Once the binaries have been downloaded to the boards reset board #1.
hudakz 0:c5e5d0df6f2a 19 *
hudakz 0:c5e5d0df6f2a 20 */
hudakz 0:c5e5d0df6f2a 21
hudakz 23:f4682a5ddda6 22 #define BOARD1 1 // comment out this line when compiling for board #2
hudakz 25:e2907bcba75e 23 #define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards!
hudakz 0:c5e5d0df6f2a 24
hudakz 17:a86f339d1c25 25 #if defined(TARGET_STM32F103C8T6)
hudakz 22:7120a0dcc8ee 26 #include "stm32f103c8t6.h"
hudakz 20:872e304d7e17 27 #define LED_PIN PC_13
hudakz 10:66da8731bdb6 28 const int OFF = 1;
hudakz 10:66da8731bdb6 29 const int ON = 0;
hudakz 0:c5e5d0df6f2a 30 #else
hudakz 20:872e304d7e17 31 #define LED_PIN LED1
hudakz 10:66da8731bdb6 32 const int OFF = 0;
hudakz 10:66da8731bdb6 33 const int ON = 1;
hudakz 0:c5e5d0df6f2a 34 #endif
hudakz 0:c5e5d0df6f2a 35
hudakz 10:66da8731bdb6 36 #if defined(BOARD1)
hudakz 10:66da8731bdb6 37 const unsigned int RX_ID = 0x100;
hudakz 10:66da8731bdb6 38 const unsigned int TX_ID = 0x101;
hudakz 6:7ff95ce72f6d 39 #else
hudakz 10:66da8731bdb6 40 const unsigned int RX_ID = 0x101;
hudakz 10:66da8731bdb6 41 const unsigned int TX_ID = 0x100;
hudakz 6:7ff95ce72f6d 42 #endif
hudakz 6:7ff95ce72f6d 43
hudakz 25:e2907bcba75e 44 #include "CANnucleo.h"
hudakz 17:a86f339d1c25 45 #include "mbed.h"
hudakz 17:a86f339d1c25 46
hudakz 18:18d4d0ff26a6 47 /*
hudakz 18:18d4d0ff26a6 48 * To avaoid name collision with the CAN and CANMessage classes built into the mbed library
hudakz 18:18d4d0ff26a6 49 * the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace.
hudakz 21:eb1a8042605e 50 * Remember to qualify them with the CANnucleo namespace.
hudakz 18:18d4d0ff26a6 51 */
hudakz 22:7120a0dcc8ee 52 CANnucleo::CAN* can;
hudakz 18:18d4d0ff26a6 53 CANnucleo::CANMessage rxMsg;
hudakz 18:18d4d0ff26a6 54 CANnucleo::CANMessage txMsg;
hudakz 20:872e304d7e17 55 DigitalOut led(LED_PIN);
hudakz 25:e2907bcba75e 56 int ledState;
hudakz 19:22977a898fe9 57 Timer timer;
hudakz 18:18d4d0ff26a6 58 int counter = 0;
hudakz 18:18d4d0ff26a6 59 volatile bool msgAvailable = false;
hudakz 23:f4682a5ddda6 60 Serial* pc;
hudakz 0:c5e5d0df6f2a 61
hudakz 17:a86f339d1c25 62 /**
hudakz 17:a86f339d1c25 63 * @brief 'CAN receive-complete' interrup handler.
hudakz 17:a86f339d1c25 64 * @note Called on arrival of new CAN message.
hudakz 17:a86f339d1c25 65 * Keep it as short as possible.
hudakz 17:a86f339d1c25 66 * @param
hudakz 17:a86f339d1c25 67 * @retval
hudakz 17:a86f339d1c25 68 */
hudakz 17:a86f339d1c25 69 void onMsgReceived() {
hudakz 17:a86f339d1c25 70 msgAvailable = true;
hudakz 17:a86f339d1c25 71 }
hudakz 17:a86f339d1c25 72
hudakz 17:a86f339d1c25 73 /**
hudakz 17:a86f339d1c25 74 * @brief Main
hudakz 17:a86f339d1c25 75 * @note
hudakz 17:a86f339d1c25 76 * @param
hudakz 17:a86f339d1c25 77 * @retval
hudakz 17:a86f339d1c25 78 */
hudakz 17:a86f339d1c25 79 int main() {
hudakz 22:7120a0dcc8ee 80 #if defined(TARGET_STM32F103C8T6)
hudakz 22:7120a0dcc8ee 81 confSysClock(); //Configure system clock (72MHz HSE clock, 48MHz USB clock)
hudakz 22:7120a0dcc8ee 82 #endif
hudakz 23:f4682a5ddda6 83 pc = new Serial(PA_2, PA_3);
hudakz 22:7120a0dcc8ee 84 can = new CANnucleo::CAN(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name
hudakz 22:7120a0dcc8ee 85 can->frequency(1000000); // set bit rate to 1Mbps
hudakz 22:7120a0dcc8ee 86 can->attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
hudakz 17:a86f339d1c25 87
hudakz 0:c5e5d0df6f2a 88 #if defined(BOARD1)
hudakz 10:66da8731bdb6 89 led = ON; // turn LED on
hudakz 10:66da8731bdb6 90 timer.start(); // start timer
hudakz 23:f4682a5ddda6 91 pc->printf("CANnucleo_Hello board #1\r\n");
hudakz 0:c5e5d0df6f2a 92 #else
hudakz 10:66da8731bdb6 93 led = OFF; // turn LED off
hudakz 23:f4682a5ddda6 94 pc->printf("CANnucleo_Hello board #2\r\n");
hudakz 0:c5e5d0df6f2a 95 #endif
hudakz 0:c5e5d0df6f2a 96
hudakz 0:c5e5d0df6f2a 97 while(1) {
hudakz 24:069287e799cd 98 if(timer.read_ms() >= 1000) { // check for timeout
hudakz 17:a86f339d1c25 99 timer.stop(); // stop timer
hudakz 17:a86f339d1c25 100 timer.reset(); // reset timer
hudakz 17:a86f339d1c25 101 counter++; // increment counter
hudakz 25:e2907bcba75e 102 ledState = led.read(); // get led state
hudakz 17:a86f339d1c25 103 txMsg.clear(); // clear Tx message storage
hudakz 17:a86f339d1c25 104 txMsg.id = TX_ID; // set ID
hudakz 25:e2907bcba75e 105 txMsg << counter << ledState; // append data (total data length must be <= 8 bytes!)
hudakz 17:a86f339d1c25 106 led = OFF; // turn LED off
hudakz 25:e2907bcba75e 107 if(can->write(txMsg)) { // transmit message
hudakz 25:e2907bcba75e 108 pc->printf("-----------------------------------\r\n");
hudakz 23:f4682a5ddda6 109 pc->printf("CAN message sent\r\n");
hudakz 25:e2907bcba75e 110 pc->printf(" ID = 0x%.3x\r\n", txMsg.id);
hudakz 25:e2907bcba75e 111 pc->printf(" Type = %d\r\n", txMsg.type);
hudakz 25:e2907bcba75e 112 pc->printf(" Format = %d\r\n", txMsg.format);
hudakz 25:e2907bcba75e 113 pc->printf(" Length = %d\r\n", txMsg.len);
hudakz 25:e2907bcba75e 114 pc->printf(" Data =");
hudakz 25:e2907bcba75e 115 for(int i = 0; i < txMsg.len; i++)
hudakz 25:e2907bcba75e 116 pc->printf(" %.2x", txMsg.data[i]);
hudakz 25:e2907bcba75e 117 pc->printf("\r\n");
hudakz 25:e2907bcba75e 118 pc->printf(" counter = %d\r\n", counter);
hudakz 25:e2907bcba75e 119 }
hudakz 10:66da8731bdb6 120 else
hudakz 23:f4682a5ddda6 121 pc->printf("Transmission error\r\n");
hudakz 0:c5e5d0df6f2a 122 }
hudakz 17:a86f339d1c25 123 if(msgAvailable) {
hudakz 17:a86f339d1c25 124 msgAvailable = false; // reset flag for next use
hudakz 25:e2907bcba75e 125 can->read(rxMsg); // read message into Rx message storage
hudakz 23:f4682a5ddda6 126 pc->printf("CAN message received\r\n");
hudakz 23:f4682a5ddda6 127 pc->printf(" ID = 0x%.3x\r\n", rxMsg.id);
hudakz 23:f4682a5ddda6 128 pc->printf(" Type = %d\r\n", rxMsg.type);
hudakz 23:f4682a5ddda6 129 pc->printf(" Format = %d\r\n", rxMsg.format);
hudakz 23:f4682a5ddda6 130 pc->printf(" Length = %d\r\n", rxMsg.len);
hudakz 23:f4682a5ddda6 131 pc->printf(" Data =");
hudakz 2:49c9430860d1 132 for(int i = 0; i < rxMsg.len; i++)
hudakz 23:f4682a5ddda6 133 pc->printf(" %.2x", rxMsg.data[i]);
hudakz 23:f4682a5ddda6 134 pc->printf("\r\n");
hudakz 17:a86f339d1c25 135 // Filtering performed by software:
hudakz 25:e2907bcba75e 136 if(rxMsg.id == RX_ID) { // About filtering performed by hardware see comments in CANnucleo.cpp
hudakz 25:e2907bcba75e 137 rxMsg >> counter >> ledState; // extract data
hudakz 23:f4682a5ddda6 138 pc->printf(" counter = %d\r\n", counter);
hudakz 17:a86f339d1c25 139 led = ON; // turn LED on
hudakz 17:a86f339d1c25 140 timer.start(); // transmission lag
hudakz 0:c5e5d0df6f2a 141 }
hudakz 0:c5e5d0df6f2a 142 }
hudakz 0:c5e5d0df6f2a 143 }
hudakz 0:c5e5d0df6f2a 144 }
hudakz 25:e2907bcba75e 145
hudakz 25:e2907bcba75e 146
hudakz 25:e2907bcba75e 147