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| kevin |
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1
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#include "mbed.h"
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| kevin |
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2
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#include "TextLCD.h"
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| kevin |
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3
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// included in libmbed rev14
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| kevin |
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4
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#include "CAN.h"
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5
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//enable additional serial debug messages
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//#define DEBUG_CAN_TX 1
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#define DEBUG_IR_RAW 1
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9
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10
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AnalogIn ain(p20);
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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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14
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DigitalOut led4(LED4);
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15
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TextLCD lcd(p14, p15, p16, p17, p18, p19, p21, 8);
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| kevin |
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16
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Ticker TickerSerialTx;
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Ticker TickerLcdUpdate;
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Ticker TickerCanTx;
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20
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21
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// conversion from IR sensor input voltage to nominal gas value
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| kevin |
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#define CAN_GAS_MAX 4000
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#define CAN_GAS_MIN 700
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#define IR_MIN 0.28
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#define IR_MAX 0.76
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// 0.12 - 0.13 idle update: seen 0.02 ..
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// 0.76 max
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28
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29
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// CAN defines
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| kevin |
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#define CAN_ID_EGAS_CTRL 0x700
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| kevin |
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#define CAN_DLC_EGAS_CTRL 1
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#define CAN_ID_EGAS_NOMINAL_VALUE 0x701
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| kevin |
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#define CAN_DLC_EGAS_NOMINAL_VALUE 2
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| kevin |
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#define CAN_BYTE_HIGH_EGAS_NOMINAL_VALUE 1
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#define CAN_BYTE_LOW_EGAS_NOMINAL_VALUE 0
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36
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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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| kevin |
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DigitalOut can_Pca82c250SlopePin(p28);
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// We use can on mbed pins 29(CAN_TXD) and 30(CAN_RXD).
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| kevin |
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CAN can2(p30, p29);
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// value which will be sent via can
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| kevin |
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unsigned short u16_CanGasNominal = CAN_GAS_MIN;
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| kevin |
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// IR sensor value
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| kevin |
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float f_IrDistance = 0.0;
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| kevin |
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50
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// 2 can objects for TX
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| kevin |
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CANMessage can_MsgTx_EgasCtrl;
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| kevin |
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CANMessage can_MsgTx_EgasNominalValue;
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void CanSendEgas() {
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// idle
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if ( (f_IrDistance > IR_MAX) || (f_IrDistance < IR_MIN) ) {
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u16_CanGasNominal = CAN_GAS_MIN;
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}
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| kevin |
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// valid input range
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else {
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u16_CanGasNominal = (unsigned short)( (((CAN_GAS_MAX-CAN_GAS_MIN)*(f_IrDistance-IR_MIN))/(IR_MAX-IR_MIN))+CAN_GAS_MIN );
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| kevin |
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}
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| kevin |
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// debug
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| kevin |
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//printf("u16_CanGasNominal: %d\n\r", u16_CanGasNominal);
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| kevin |
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66
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| kevin |
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if (can2.write(can_MsgTx_EgasCtrl)) {
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| kevin |
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68
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#ifdef DEBUG_CAN_TX
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| kevin |
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printf("CanTx--> id: 0x%x dlc: %d data: ", can_MsgTx_EgasCtrl.id, can_MsgTx_EgasCtrl.len);
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| kevin |
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for (char i=0; i<can_MsgTx_EgasCtrl.len; i++) {
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| kevin |
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printf("%x ", can_MsgTx_EgasCtrl.data[i]);
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| kevin |
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}
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| kevin |
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printf("\n\r");
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| kevin |
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#endif
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| kevin |
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75
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}
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| kevin |
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76
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| kevin |
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can_MsgTx_EgasNominalValue.data[CAN_BYTE_LOW_EGAS_NOMINAL_VALUE] = (unsigned char)(u16_CanGasNominal);
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| kevin |
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can_MsgTx_EgasNominalValue.data[CAN_BYTE_HIGH_EGAS_NOMINAL_VALUE] = (unsigned char)(u16_CanGasNominal>>8);
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| kevin |
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79
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if (can2.write(can_MsgTx_EgasNominalValue)) {
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| kevin |
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80
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#ifdef DEBUG_CAN_TX
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| kevin |
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printf("CanTx--> id: 0x%x dlc: %d data: ", can_MsgTx_EgasNominalValue.id, can_MsgTx_EgasNominalValue.len);
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| kevin |
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for (char i=0; i<can_MsgTx_EgasNominalValue.len; i++) {
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printf("%x ", can_MsgTx_EgasNominalValue.data[i]);
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| kevin |
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}
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printf("\n\r");
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| kevin |
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#endif
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| kevin |
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}
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| kevin |
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| kevin |
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}
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| kevin |
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90
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| kevin |
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void SerialSendIrDistance() {
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| kevin |
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printf("f_IrDistance: %f\r\n", f_IrDistance);
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| kevin |
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}
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| kevin |
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| kevin |
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void LcdPrintIrDistance() {
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| kevin |
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lcd.printf("IrDist: %f", f_IrDistance);
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}
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| kevin |
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98
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| kevin |
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int main() {
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| kevin |
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100
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// 500kbit/s
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| kevin |
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101
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can2.frequency(500000);
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| kevin |
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102
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// activate external can transceiver
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| kevin |
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can_Pca82c250SlopePin = 0;
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| kevin |
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104
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// init everything
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| kevin |
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105
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can_MsgTx_EgasCtrl.id = CAN_ID_EGAS_CTRL;
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| kevin |
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can_MsgTx_EgasCtrl.len = CAN_DLC_EGAS_CTRL;
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| kevin |
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107
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can_MsgTx_EgasCtrl.data[0] = 1;
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| kevin |
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108
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can_MsgTx_EgasNominalValue.data[CAN_BYTE_LOW_EGAS_NOMINAL_VALUE] = (unsigned char)(u16_CanGasNominal);
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| kevin |
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can_MsgTx_EgasNominalValue.data[CAN_BYTE_HIGH_EGAS_NOMINAL_VALUE] = (unsigned char)(u16_CanGasNominal>>8);
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| kevin |
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can_MsgTx_EgasNominalValue.id = CAN_ID_EGAS_NOMINAL_VALUE;
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| kevin |
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111
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can_MsgTx_EgasNominalValue.len = CAN_DLC_EGAS_NOMINAL_VALUE;
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| kevin |
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112
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| kevin |
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113
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#ifdef DEBUG_IR_RAW
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| kevin |
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114
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TickerSerialTx.attach(&SerialSendIrDistance, 0.35);
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| kevin |
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115
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#endif
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| kevin |
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116
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TickerLcdUpdate.attach(&LcdPrintIrDistance, 0.75);
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| kevin |
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117
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TickerCanTx.attach(&CanSendEgas, 0.1);
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| kevin |
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118
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| kevin |
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119
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while (1) {
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| kevin |
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120
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// get new distance from sensor
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| kevin |
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121
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f_IrDistance = ain.read();
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| kevin |
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122
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| kevin |
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123
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// show distance with the 4 leds
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| kevin |
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led1 = (f_IrDistance > 0.11) ? 1 : 0;
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| kevin |
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led2 = (f_IrDistance > 0.30) ? 1 : 0;
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| kevin |
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led3 = (f_IrDistance > 0.47) ? 1 : 0;
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| kevin |
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led4 = (f_IrDistance > 0.74) ? 1 : 0;
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| kevin |
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128
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}
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| kevin |
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129
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}
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| kevin |
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130
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| kevin |
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131
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// TODO: no global variables |
Kevin Konradt