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 0:af731d8a8d2c, committed 2011-02-11
- Comitter:
- OTBsolar
- Date:
- Fri Feb 11 14:57:24 2011 +0000
- Child:
- 1:3759c5f6cf76
- Commit message:
- BETA
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 |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Feb 11 14:57:24 2011 +0000
@@ -0,0 +1,167 @@
+#include "mbed.h"
+#include "CAN.h"
+
+Ticker ticker;
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+CAN can1(p9, p10); // rd, td
+CAN can2(p30, p29);
+
+int counter = 0;
+char data[8];
+CANMessage msg;
+
+
+void send() {
+ if(counter==0) {
+ //--------Global Start nodes
+ data[0] = (char)(0x01); // NMT Start RemoteNode
+ data[1] = (char)(0x00); // Global
+ 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("Startup sent \n");
+ }
+ led1 = !led1;
+ counter ++;
+ }
+ else if(counter==1) {
+ //--------LSS Configure mode
+ data[0] = (char)(0x04); // LSS Set Mode
+ data[1] = (char)(0x01); // Mode Configure
+ 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");
+ }
+ led1 = !led1;
+ counter ++;
+ }
+ 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[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 Set Node_ID to 0x01 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); //
+ data[2] = (char)(0x02); // Baudrate index (500kb/s)
+ 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,3))) {
+ printf("LSS Config mode 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);
+ 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");
+ }
+ led1 = !led1;
+ counter ++;
+ }*/
+ else if(counter==5) {
+ //--------LSS Operation Mode
+ data[0] = (char)(0x04); // LSS Set Mode
+ data[1] = (char)(0x00); // Mode operation
+ 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 Operation mode sent \n");
+ }
+ led1 = !led1;
+ counter ++;
+ }
+ else {
+ //--------Inquire IDNode_ID
+ data[0] = (char)(0x5E);
+ 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("Status check sent \n");
+ }
+ led1 = !led1;
+ counter = 10;
+ }
+}
+
+int main() {
+ can2.frequency(500000); //500kbit/s
+ can1.frequency(500000);
+ ticker.attach(&send, 1); //Send every second
+ while(1) {
+ if(can2.read(msg)) {
+ printf("Message read with ID: %d\n", msg.id);
+ printf("Data: %x", msg.data[0]);
+ printf(" %x", msg.data[1]);
+ printf(" %x", msg.data[2]);
+ printf(" %x", msg.data[3]);
+ printf(" %x", msg.data[4]);
+ printf(" %x", msg.data[5]);
+ printf(" %x", msg.data[6]);
+ printf(" %x\n", msg.data[7]);
+ printf("Length: %d", msg.len);
+ printf(", Type: %d", msg.type);
+ printf(", Format: %d\n\n", msg.format);
+ led2 = !led2;
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Feb 11 14:57:24 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9a9732ce53a1