Diff: main.cpp

Revision:

0:ed26402e7a0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jan 02 18:05:53 2010 +0000
@@ -0,0 +1,53 @@
+#include "mbed.h"
+#include "CAN.h"
+
+Ticker ticker;
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+// CAN_RS pin at Philips PCA82C250 can bus controller.
+// activate transceiver by pulling this pin to GND.
+// (Rise and fall slope controlled by resistor R_s)
+// (+5V result in tranceiver standby mode)
+// For further information see datasheet page 4
+DigitalOut can_Pca82c250SlopePin(p28);
+
+// second can controller on these pins. Not used here.
+// CAN can1(p9, p10);
+
+// We use can on mbed pins 29(CAN_TXD) and 30(CAN_RXD).
+CAN can2(p30, p29);
+
+void send() {
+    static char counter = 0;
+    if (can2.write(CANMessage(0x200, &counter, 1))) {
+        printf("CanTx--> id: 0x200  dlc: 1  data: %x\n\r", counter);
+        counter++;
+    }
+    // toggle led1 after every transmission
+    led1 = !led1;
+}
+
+int main() {
+    // 500kbit/s
+    can2.frequency(500000);
+    // activate external can transceiver
+    can_Pca82c250SlopePin = 0;
+    // every 500ms
+    ticker.attach(&send, 0.5);
+    /// create message object for message reception
+    CANMessage can_MsgRx;
+    while (1) {
+        // send received messages to the pc via serial line (9k6, 8n1)
+        if (can2.read(can_MsgRx)) {
+            printf("CanRx--> id: 0x%x  dlc: %d  data: ", can_MsgRx.id, can_MsgRx.len);
+            for (char i=0; i<can_MsgRx.len; i++) {
+                printf("%x ", can_MsgRx.data[i]);
+            }
+            printf("\n\r");
+            // any incoming message: toggle led2
+            led2 = !led2;
+        }
+    }
+}
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