Melchior Pau
With this program you can configure and run a CAN compatible (also LSS protocol compatible) motor through the mbed\'s CANbus. Further more it gives a basic template that lets you create your own CAN messages. I\'ve implemented a configuration and a running example that the program runs through. Also there\'s 2 kinds of loops it can go into after it\'s ran through it\'s configuration and/or speed setting. It can continuously ask for the motor\'s status (node guarding kind of thing) OR it can continuously ask for the motor\'s position. Make sure you have a if, (elsif), else structure so the counter doesn\'t run out of control. I\'ve tried to put as many comments in as I could. I hope it helps you in understanding the basics of CAN and running devices. I\'m new to it myself, so any critisism is welcome. Enjoy.
Revision 1:3759c5f6cf76, committed 2011-02-14
- Comitter:
- OTBsolar
- Date:
- Mon Feb 14 13:26:46 2011 +0000
- Parent:
- 0:af731d8a8d2c
- Commit message:
- V1.0: My motor runs.
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Feb 11 14:57:24 2011 +0000
+++ b/main.cpp Mon Feb 14 13:26:46 2011 +0000
@@ -1,19 +1,26 @@
+
+
#include "mbed.h"
#include "CAN.h"
Ticker ticker;
DigitalOut led1(LED1);
DigitalOut led2(LED2);
-CAN can1(p9, p10); // rd, td
-CAN can2(p30, p29);
+CAN can1(p9, p10); // rd, td Transmitter
+CAN can2(p30, p29); // rd, td Monitor
int counter = 0;
char data[8];
-CANMessage msg;
+//***************void send is the data you are sending**************
+void send() {
-void send() {
- if(counter==0) {
+//-------------------------CONFIGURATION-----------------------------
+// Send this part if you want to configure your LSS compatible motor!
+// Read more about the LSS protocol for more information.
+// Don't forget to include an "else {}" part.(scroll down some)
+
+ /*if(counter==0) {
//--------Global Start nodes
data[0] = (char)(0x01); // NMT Start RemoteNode
data[1] = (char)(0x00); // Global
@@ -30,9 +37,9 @@
counter ++;
}
else if(counter==1) {
- //--------LSS Configure mode
+ //--------LSS Configure Mode
data[0] = (char)(0x04); // LSS Set Mode
- data[1] = (char)(0x01); // Mode Configure
+ data[1] = (char)(0x01); // Mode configure
data[2] = (char)(0x00);
data[3] = (char)(0x00);
data[4] = (char)(0x00);
@@ -40,7 +47,7 @@
data[6] = (char)(0x00);
data[7] = (char)(0x00);
if(can1.write(CANMessage(2021,data,2))) {
- printf("LSS Config mode sent \n");
+ printf("LSS Configure mode sent \n");
}
led1 = !led1;
counter ++;
@@ -48,7 +55,7 @@
else if(counter==2) {
//--------LSS Set Node_ID
data[0] = (char)(0x11); // LSS Set Node_ID
- data[1] = (char)(0x01); // to Node_ID: 01
+ data[1] = (char)(0x03); // to Node_ID: 03
data[2] = (char)(0x00);
data[3] = (char)(0x00);
data[4] = (char)(0x00);
@@ -56,28 +63,12 @@
data[6] = (char)(0x00);
data[7] = (char)(0x00);
if(can1.write(CANMessage(2021,data,2))) {
- printf("LSS Set Node_ID to 0x01 sent \n");
+ printf("LSS Set Node_ID to 0x03 sent \n");
}
led1 = !led1;
counter ++;
}
else if(counter==3) {
- //--------LSS Save Config
- data[0] = (char)(0x17); // LSS Save Config
- data[1] = (char)(0x00);
- data[2] = (char)(0x00);
- data[3] = (char)(0x00);
- data[4] = (char)(0x00);
- data[5] = (char)(0x00);
- data[6] = (char)(0x00);
- data[7] = (char)(0x00);
- if(can1.write(CANMessage(2021,data,1))) {
- printf("LSS Save Config sent \n");
- }
- led1 = !led1;
- counter ++;
- }
- else if(counter==4) {
//--------LSS Set Baudrate
data[0] = (char)(0x13); // LSS Set Baudrate
data[1] = (char)(0x00); //
@@ -88,28 +79,28 @@
data[6] = (char)(0x00);
data[7] = (char)(0x00);
if(can1.write(CANMessage(2021,data,3))) {
- printf("LSS Config mode sent \n");
+ printf("LSS Set Baudrate sent \n");
}
led1 = !led1;
counter ++;
}
- /*else if(counter==5) (
- //--------LSS Set Bit timing
- data[0] = (char)(0x15); // LSS Set Bit timing
- data[1] = (char)(0x00); // Mode Configure
- data[2] = (char)(0x00);
+ else if(counter==4) {
+ //--------LSS Save Config
+ data[0] = (char)(0x17); // LSS Save Config
+ data[1] = (char)(0x00);
+ data[2] = (char)(0x00);
data[3] = (char)(0x00);
data[4] = (char)(0x00);
data[5] = (char)(0x00);
data[6] = (char)(0x00);
data[7] = (char)(0x00);
- if(can1.write(CANMessage(2021,data,2))) {
- printf("LSS Config mode sent \n");
+ if(can1.write(CANMessage(2021,data,3))) {
+ printf("LSS Save Config sent \n");
}
led1 = !led1;
counter ++;
- }*/
- else if(counter==5) {
+ }
+ else if(counter==6) {
//--------LSS Operation Mode
data[0] = (char)(0x04); // LSS Set Mode
data[1] = (char)(0x00); // Mode operation
@@ -124,10 +115,104 @@
}
led1 = !led1;
counter ++;
+ }*/
+//-----------------------END OF CONFIGURATION---------------------
+
+
+//-----------------------Running your motor-----------------------
+// Look up how to make your motor run.
+// This example works on a FAULHABER 3242 G024 BX4 CC
+// Don't forget to include an "else {}". Scroll down a bit.
+
+ if(counter==0) {
+ //--------Start node 3--------
+ data[0] = (char)(0x01); // Start Node
+ data[1] = (char)(0x03); // ID 03
+ data[2] = (char)(0x00);
+ data[3] = (char)(0x00);
+ data[4] = (char)(0x00);
+ data[5] = (char)(0x00);
+ data[6] = (char)(0x00);
+ data[7] = (char)(0x00);
+ if(can1.write(CANMessage(0000,data,2))) {
+ printf("Start Node_ID 03 sent \n");
+ }
+ led1 = !led1;
+ counter ++;
}
+ else if(counter==1) {
+ //--------FAULHABER Mode
+ data[0] = (char)(0xFD); // FAULHABER MODE
+ data[1] = (char)(0xFF);
+ data[2] = (char)(0xFF);
+ data[3] = (char)(0xFF);
+ data[4] = (char)(0xFF);
+ data[5] = (char)(0x00);
+ data[6] = (char)(0x00);
+ data[7] = (char)(0x00);
+ if(can1.write(CANMessage(771,data,5))) {
+ printf("Operation mode: FAULHABER sent \n");
+ }
+ led1 = !led1;
+ counter ++;
+ }
+ else if(counter==2) {
+ //--------Switch ON using FAULHABER
+ data[0] = (char)(0x0F); // FAULHABER MODE
+ data[1] = (char)(0x00);
+ data[2] = (char)(0x00);
+ data[3] = (char)(0x00);
+ data[4] = (char)(0x00);
+ data[5] = (char)(0x00);
+ data[6] = (char)(0x00);
+ data[7] = (char)(0x00);
+ if(can1.write(CANMessage(771,data,5))) {
+ printf("Switch ON sent \n");
+ }
+ led1 = !led1;
+ counter ++;
+ }
+ else if(counter==3) {
+ //--------Speed setting
+ data[0] = (char)(0x93); // FAULHABER MODE
+ data[1] = (char)(0xF4);
+ data[2] = (char)(0x01);
+ data[3] = (char)(0x00);
+ data[4] = (char)(0x00);
+ data[5] = (char)(0x00);
+ data[6] = (char)(0x00);
+ data[7] = (char)(0x00);
+ if(can1.write(CANMessage(771,data,5))) {
+ printf("Speed = 500RPM sent \n");
+ }
+ led1 = !led1;
+ counter ++;
+ }
+ else if(counter==4) {
+ //--------Datarequest setting
+ data[0] = (char)(0x40); // FAULHABER MODE
+ data[1] = (char)(0x00);
+ data[2] = (char)(0x00);
+ data[3] = (char)(0x00);
+ data[4] = (char)(0x00);
+ data[5] = (char)(0x00);
+ data[6] = (char)(0x00);
+ data[7] = (char)(0x00);
+ if(can1.write(CANMessage(771,data,5))) {
+ printf("Requesttype: position sent \n");
+ }
+ led1 = !led1;
+ counter ++;
+ }
+//--------------------End run motor--------------------------------
+
+
+//---------------------Request Position----------------------------
+// Run this one to request the position of my motor.
+// Check the datasheet of your motor to confirm if this works.
else {
- //--------Inquire IDNode_ID
- data[0] = (char)(0x5E);
+ //--------Positie opvragen
+ data[0] = (char)(0x00);
data[1] = (char)(0x00);
data[2] = (char)(0x00);
data[3] = (char)(0x00);
@@ -135,18 +220,87 @@
data[5] = (char)(0x00);
data[6] = (char)(0x00);
data[7] = (char)(0x00);
- if(can1.write(CANMessage(2021,data,1))) {
+ if(can1.write(CANMessage(643))) {
+ printf("Positie check sent \n");
+ }
+ led1 = !led1;
+ counter = 10;
+ }
+//--------------------End request position-------------------
+
+
+//---------------------Request Status--------------------------
+// Run this one to request the status of my motor.
+// Check the datasheet of your motor to confirm if this works.
+ /* else {
+ //--------Status check
+ data[0] = (char)(0x00);
+ data[1] = (char)(0x00);
+ data[2] = (char)(0x00);
+ data[3] = (char)(0x00);
+ data[4] = (char)(0x00);
+ data[5] = (char)(0x00);
+ data[6] = (char)(0x00);
+ data[7] = (char)(0x00);
+ if(can1.write(CANMessage(387))) {
printf("Status check sent \n");
}
led1 = !led1;
counter = 10;
- }
+ }*/
+//------------------End request status------------------
+
+
+//---------Example------------------
+
+ /*if(counter==0) {
+ //--------8 bytes of data
+ data[0] = (char)(0xFF);
+ data[1] = (char)(0xFF);
+ data[2] = (char)(0xFF);
+ data[3] = (char)(0xFF);
+ data[4] = (char)(0xFF);
+ data[5] = (char)(0x00);
+ data[6] = (char)(0x00);
+ data[7] = (char)(0x00);
+ if(can1.write(CANMessage(2021,data,8))) {
+ printf("8bytes test sent \n");
+ }
+ led1 = !led1;
+ counter ++;
+ }
+ else {
+ //--------2 bytes of data
+ data[0] = (char)(0x00);
+ data[1] = (char)(0xAA);
+ data[2] = (char)(0x00);
+ data[3] = (char)(0x00);
+ data[4] = (char)(0x00);
+ data[5] = (char)(0x00);
+ data[6] = (char)(0x00);
+ data[7] = (char)(0x00);
+ if(can1.write(CANMessage(2021,data,2))) {
+ printf("2bytes test sent \n");
+ }
+ led1 = !led1;
+ counter = 10;
+ }*/
+//-------End of example--------------
}
+//*************************************************************
+
+//**********The main program*********************
int main() {
+//----------------Initialization-----------------------
can2.frequency(500000); //500kbit/s
can1.frequency(500000);
+ //can2.monitor(1); //Works without this, in my case.
ticker.attach(&send, 1); //Send every second
+ CANMessage msg;
+//-----------------------------------------------------
+
+//---------------The read out----------------------
while(1) {
if(can2.read(msg)) {
printf("Message read with ID: %d\n", msg.id);
@@ -161,7 +315,9 @@
printf("Length: %d", msg.len);
printf(", Type: %d", msg.type);
printf(", Format: %d\n\n", msg.format);
- led2 = !led2;
+ led2 = !led2; //Blink!
}
}
-}
\ No newline at end of file
+//----------------------------------------------------
+}
+//*********************************************************
\ No newline at end of file
--- a/mbed.bld Fri Feb 11 14:57:24 2011 +0000 +++ b/mbed.bld Mon Feb 14 13:26:46 2011 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/9a9732ce53a1 +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912