pub
Dependencies: CANnucleo mbed-dev
Fork of CANnucleo_Hello by
main.cpp
- Committer:
- hudakz
- Date:
- 2017-03-07
- Revision:
- 25:e2907bcba75e
- Parent:
- 24:069287e799cd
- Child:
- 26:1d0488a03905
File content as of revision 25:e2907bcba75e:
/* * An example showing how to use the CANnucleo library: * * Two affordable (less than $3 on ebay) STM32F103C8T6 boards (20kB SRAM, 64kB Flash), * (see [https://developer.mbed.org/users/hudakz/code/STM32F103C8T6_Hello/] for more details) * are connected to the same CAN bus via transceivers (MCP2551 or TJA1040, or etc.). * CAN transceivers are not part of NUCLEO boards, therefore must be added by you. * Remember also that CAN bus (even a short one) must be terminated with 120 Ohm resitors at both ends. * * For more details see the wiki page <https://developer.mbed.org/users/hudakz/code/CANnucleo_Hello/> * * NOTE: If you'd like to use an STM32F103C8T6 board uncomment line 23 * * The same code is used for both NUCLEO boards, but: * For board #1 compile the example without any change. * For board #2 comment out line 23 before compiling * * Once the binaries have been downloaded to the boards reset board #1. * */ #define BOARD1 1 // comment out this line when compiling for board #2 #define TARGET_STM32F103C8T6 1 // uncomment this line when using STM32F103C8T6 boards! #if defined(TARGET_STM32F103C8T6) #include "stm32f103c8t6.h" #define LED_PIN PC_13 const int OFF = 1; const int ON = 0; #else #define LED_PIN LED1 const int OFF = 0; const int ON = 1; #endif #if defined(BOARD1) const unsigned int RX_ID = 0x100; const unsigned int TX_ID = 0x101; #else const unsigned int RX_ID = 0x101; const unsigned int TX_ID = 0x100; #endif #include "CANnucleo.h" #include "mbed.h" /* * To avaoid name collision with the CAN and CANMessage classes built into the mbed library * the CANnucleo's CAN and CANMessage classes have been moved into the CANnucleo namespace. * Remember to qualify them with the CANnucleo namespace. */ CANnucleo::CAN* can; CANnucleo::CANMessage rxMsg; CANnucleo::CANMessage txMsg; DigitalOut led(LED_PIN); int ledState; Timer timer; int counter = 0; volatile bool msgAvailable = false; Serial* pc; /** * @brief 'CAN receive-complete' interrup handler. * @note Called on arrival of new CAN message. * Keep it as short as possible. * @param * @retval */ void onMsgReceived() { msgAvailable = true; } /** * @brief Main * @note * @param * @retval */ int main() { #if defined(TARGET_STM32F103C8T6) confSysClock(); //Configure system clock (72MHz HSE clock, 48MHz USB clock) #endif pc = new Serial(PA_2, PA_3); can = new CANnucleo::CAN(PA_11, PA_12); // CAN Rx pin name, CAN Tx pin name can->frequency(1000000); // set bit rate to 1Mbps can->attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler #if defined(BOARD1) led = ON; // turn LED on timer.start(); // start timer pc->printf("CANnucleo_Hello board #1\r\n"); #else led = OFF; // turn LED off pc->printf("CANnucleo_Hello board #2\r\n"); #endif while(1) { if(timer.read_ms() >= 1000) { // check for timeout timer.stop(); // stop timer timer.reset(); // reset timer counter++; // increment counter ledState = led.read(); // get led state txMsg.clear(); // clear Tx message storage txMsg.id = TX_ID; // set ID txMsg << counter << ledState; // append data (total data length must be <= 8 bytes!) led = OFF; // turn LED off if(can->write(txMsg)) { // transmit message pc->printf("-----------------------------------\r\n"); pc->printf("CAN message sent\r\n"); pc->printf(" ID = 0x%.3x\r\n", txMsg.id); pc->printf(" Type = %d\r\n", txMsg.type); pc->printf(" Format = %d\r\n", txMsg.format); pc->printf(" Length = %d\r\n", txMsg.len); pc->printf(" Data ="); for(int i = 0; i < txMsg.len; i++) pc->printf(" %.2x", txMsg.data[i]); pc->printf("\r\n"); pc->printf(" counter = %d\r\n", counter); } else pc->printf("Transmission error\r\n"); } if(msgAvailable) { msgAvailable = false; // reset flag for next use can->read(rxMsg); // read message into Rx message storage pc->printf("CAN message received\r\n"); pc->printf(" ID = 0x%.3x\r\n", rxMsg.id); pc->printf(" Type = %d\r\n", rxMsg.type); pc->printf(" Format = %d\r\n", rxMsg.format); pc->printf(" Length = %d\r\n", rxMsg.len); pc->printf(" Data ="); for(int i = 0; i < rxMsg.len; i++) pc->printf(" %.2x", rxMsg.data[i]); pc->printf("\r\n"); // Filtering performed by software: if(rxMsg.id == RX_ID) { // About filtering performed by hardware see comments in CANnucleo.cpp rxMsg >> counter >> ledState; // extract data pc->printf(" counter = %d\r\n", counter); led = ON; // turn LED on timer.start(); // transmission lag } } } }