Samir Bouaziz
communication CAN avec affichage sur console
main.cpp@0:79662ac4d61a, 2011-02-17 (annotated)
- Committer:
- bouaziz
- Date:
- Thu Feb 17 13:28:35 2011 +0000
- Revision:
- 0:79662ac4d61a
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bouaziz | 0:79662ac4d61a | 1 | #include "mbed.h" |
| bouaziz | 0:79662ac4d61a | 2 | #include "CAN.h" |
| bouaziz | 0:79662ac4d61a | 3 | |
| bouaziz | 0:79662ac4d61a | 4 | LocalFileSystem local("local"); |
| bouaziz | 0:79662ac4d61a | 5 | |
| bouaziz | 0:79662ac4d61a | 6 | Ticker ticker; |
| bouaziz | 0:79662ac4d61a | 7 | |
| bouaziz | 0:79662ac4d61a | 8 | DigitalOut led1(LED1); |
| bouaziz | 0:79662ac4d61a | 9 | DigitalOut led2(LED2); |
| bouaziz | 0:79662ac4d61a | 10 | DigitalOut led3(LED3); |
| bouaziz | 0:79662ac4d61a | 11 | DigitalOut led4(LED4); |
| bouaziz | 0:79662ac4d61a | 12 | |
| bouaziz | 0:79662ac4d61a | 13 | |
| bouaziz | 0:79662ac4d61a | 14 | // CAN_RS pin at Philips PCA82C250 can bus controller. |
| bouaziz | 0:79662ac4d61a | 15 | // activate transceiver by pulling this pin to GND. |
| bouaziz | 0:79662ac4d61a | 16 | // (Rise and fall slope controlled by resistor R_s) |
| bouaziz | 0:79662ac4d61a | 17 | // (+5V result in tranceiver standby mode) |
| bouaziz | 0:79662ac4d61a | 18 | // For further information see datasheet page 4 |
| bouaziz | 0:79662ac4d61a | 19 | //DigitalOut can_Pca82c250SlopePin(p28); |
| bouaziz | 0:79662ac4d61a | 20 | |
| bouaziz | 0:79662ac4d61a | 21 | // second can controller on these pins. Not used here. |
| bouaziz | 0:79662ac4d61a | 22 | // CAN can1(p9, p10); |
| bouaziz | 0:79662ac4d61a | 23 | |
| bouaziz | 0:79662ac4d61a | 24 | // We use can on mbed pins 29(CAN_TXD) and 30(CAN_RXD). |
| bouaziz | 0:79662ac4d61a | 25 | CAN can2(p30, p29); |
| bouaziz | 0:79662ac4d61a | 26 | Serial pc(p13,p14); |
| bouaziz | 0:79662ac4d61a | 27 | |
| bouaziz | 0:79662ac4d61a | 28 | FILE *fp ; |
| bouaziz | 0:79662ac4d61a | 29 | unsigned int flag=0; |
| bouaziz | 0:79662ac4d61a | 30 | |
| bouaziz | 0:79662ac4d61a | 31 | void send() { |
| bouaziz | 0:79662ac4d61a | 32 | static char counter = 0; |
| bouaziz | 0:79662ac4d61a | 33 | if (can2.write(CANMessage(0x200, &counter, 1))) { |
| bouaziz | 0:79662ac4d61a | 34 | |
| bouaziz | 0:79662ac4d61a | 35 | // LPC_CAN2->CMR &= 0xEF; // stop back Tx |
| bouaziz | 0:79662ac4d61a | 36 | pc.printf("CanTx--> id: 0x200 dlc: 1 data: %x\n\r", counter); |
| bouaziz | 0:79662ac4d61a | 37 | counter++; |
| bouaziz | 0:79662ac4d61a | 38 | } |
| bouaziz | 0:79662ac4d61a | 39 | // toggle led1 after every transmission |
| bouaziz | 0:79662ac4d61a | 40 | led1 = !led1; |
| bouaziz | 0:79662ac4d61a | 41 | |
| bouaziz | 0:79662ac4d61a | 42 | } |
| bouaziz | 0:79662ac4d61a | 43 | |
| bouaziz | 0:79662ac4d61a | 44 | int main() { |
| bouaziz | 0:79662ac4d61a | 45 | // 500kbit/s |
| bouaziz | 0:79662ac4d61a | 46 | can2.frequency(500000); |
| bouaziz | 0:79662ac4d61a | 47 | // every 500ms |
| bouaziz | 0:79662ac4d61a | 48 | ticker.attach(&send, 0.5); |
| bouaziz | 0:79662ac4d61a | 49 | /// create message object for message reception |
| bouaziz | 0:79662ac4d61a | 50 | CANMessage can_MsgRx; |
| bouaziz | 0:79662ac4d61a | 51 | pc.baud(38400); |
| bouaziz | 0:79662ac4d61a | 52 | pc.format(8,Serial::None,1); |
| bouaziz | 0:79662ac4d61a | 53 | while (1) { |
| bouaziz | 0:79662ac4d61a | 54 | // send received messages to the pc via serial line (9k6, 8n1) |
| bouaziz | 0:79662ac4d61a | 55 | if (can2.read(can_MsgRx)) { |
| bouaziz | 0:79662ac4d61a | 56 | |
| bouaziz | 0:79662ac4d61a | 57 | led3= can_MsgRx.data[0]&0x01; |
| bouaziz | 0:79662ac4d61a | 58 | led4= (can_MsgRx.data[0]&0x02)>>1; |
| bouaziz | 0:79662ac4d61a | 59 | // any incoming message: toggle led2 |
| bouaziz | 0:79662ac4d61a | 60 | pc.printf("Receive %3x %2u\n\r",can_MsgRx.id,can_MsgRx.len); |
| bouaziz | 0:79662ac4d61a | 61 | led2 = !led2; |
| bouaziz | 0:79662ac4d61a | 62 | } |
| bouaziz | 0:79662ac4d61a | 63 | } |
| bouaziz | 0:79662ac4d61a | 64 | } |