main.cpp

#include "mbed.h"
#include "CAN.h"
 
 Ticker ticker;
 
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 
 LocalFileSystem local("local");
 
 // 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);

char trames[250];
//int j = 0;

 void send() {
     static char counter = 0;
     if (can2.write(CANMessage(0x300, &counter, 1))) {
         printf("CanTx--> id: 0x200  dlc: 1  data: %x\n\r", counter);
         counter++;
     }
     // toggle led1 after every transmission
     led1 = !led1;
 }

 int main() {
 
  FILE *test1 = fopen("/local/test.txt", "w");
 
  bool flag = false;
 
     // 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 (flag!=true)
        {
             // send received messages to the pc via serial line (9k6, 8n1)
                 if (can2.read(can_MsgRx))
                {
                      led2 = !led2;
                      flag = true;
                }
      
         
        }
      
        fprintf(test1,"\n%d-%d-%c%c%c%c%c%c%c%c",can_MsgRx.len,can_MsgRx.id,can_MsgRx.data[0],can_MsgRx.data[1],can_MsgRx.data[2],can_MsgRx.data[3],can_MsgRx.data[4],can_MsgRx.data[5],can_MsgRx.data[6],can_MsgRx.data[7]);
        fclose(test1);
}