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#include "mbed.h"
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#include "CAN.h"
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Ticker ticker;
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DigitalOut led1(LED1);
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DigitalOut led2(LED2);
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DigitalOut led3(LED3);
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DigitalOut led4(LED4);
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LocalFileSystem local("local");
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12
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// CAN_RS pin at Philips PCA82C250 can bus controller.
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// activate transceiver by pulling this pin to GND.
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// (Rise and fall slope controlled by resistor R_s)
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// (+5V result in tranceiver standby mode)
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// For further information see datasheet page 4
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DigitalOut can_Pca82c250SlopePin(p28);
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// second can controller on these pins. Not used here.
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CAN can2(p9, p10);
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// We use can on mbed pins 29(CAN_TXD) and 30(CAN_RXD).
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CAN can1(p30, p29);
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/* void send1() {
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static char counter1 = 0;
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if (can1.write(CANMessage(0x200, &counter1, 1))) {
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printf("CanTx--> id: 0x200 dlc: 1 data: %x\n\r", counter1);
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counter1++;
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}
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// toggle led1 after every transmission
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led1 = !led1;
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}*/
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/* void send2() {
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static char counter2 = 0;
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if (can2.write(CANMessage(0x300, &counter2, 1))) {
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printf("CanTx--> id: 0x300 dlc: 2 data: %x\n\r", counter2);
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counter2++;
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}
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// toggle led2 after every transmission
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led2 = !led2;
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}*/
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void send() {
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static char counter = 0;
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if (can2.write(CANMessage(0x300, &counter, 1))) {
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printf("CanTx--> id: 0x300 dlc: 2 data: %x\n\r", counter);
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counter++;
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}
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if (can1.write(CANMessage(0x200, &counter, 2))) {
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printf("CanTx--> id: 0x300 dlc: 2 data: %x\n\r", counter);
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counter++;
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}
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// toggle led2 after every transmission
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led2 = !led2;
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}
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int main() {
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FILE *test1 = fopen("/local/test1.txt", "w");
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FILE *test2 = fopen("/local/test2.txt","w");
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bool flag1 = false;
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bool flag2 = false;
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int i =0 ;
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// 500kbit/s
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can1.frequency(500000);
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can2.frequency(500000);
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// activate external can transceiver
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can_Pca82c250SlopePin = 0;
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// every 500ms
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ticker.attach(&send, 0.5);
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// create message object for message reception
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// CANMessage can_MsgRx;
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CANMessage can_MsgRx1;
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CANMessage can_MsgRx2;
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//------------------------RECEPTION--------------------------------------\\
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while(i<10)
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{
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while (flag1!=true)
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// send received messages to the pc via serial line (9k6, 8n1)
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if (can1.read(can_MsgRx1))
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{
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led3 = !led3;
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flag1 = true;
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}
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while ( flag2!=true )
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if (can2.read(can_MsgRx2))
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{
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led4 = !led4;
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flag2 = true;
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}
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104
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fprintf(test1,"%d-%d-%c%c%c%c%c%c%c%c\r",can_MsgRx1.len,can_MsgRx1.id,can_MsgRx1.data[0],can_MsgRx1.data[1],can_MsgRx1.data[2],can_MsgRx1.data[3],can_MsgRx1.data[4],can_MsgRx1.data[5],can_MsgRx1.data[6],can_MsgRx1.data[7]);
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fprintf(test2,"%d-%d-%c%c%c%c%c%c%c%c\r",can_MsgRx2.len,can_MsgRx2.id,can_MsgRx2.data[0],can_MsgRx2.data[1],can_MsgRx2.data[2],can_MsgRx2.data[3],can_MsgRx2.data[4],can_MsgRx2.data[5],can_MsgRx2.data[6],can_MsgRx2.data[7]);
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flag1 = false ;
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flag2 = false ;
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i++;
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}
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112
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fclose(test1);
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fclose(test2);
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}
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François .