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STM32F1/libraries/HardwareCAN/examples/HardwareCANexample/HardwareCANexample.ino
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|---|---|---|
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| #include <HardwareCAN.h> | ||
| #include "changes.h" | ||
| /* | ||
| * Example of use of the HardwareCAN library | ||
| * This application receives two frames containing various data. It also produces data that are sent periodically using another two frames. | ||
| * Please read the file changes.h to see the changes to be performed to the core in order to use this | ||
| */ | ||
| // Define the values of the identifiers | ||
| #define GYRO_ID 0x27 | ||
| #define JOYSTICK_VALUES_ID 0x5A | ||
| #define TANK_LEVEL_ID 0x78 | ||
| #define MOTOR_CONTROL_ID 0x92 | ||
|
|
||
| // Limit time to flag a CAN error | ||
| #define CAN_TIMEOUT 100 | ||
| #define CAN_DELAY 10 // ms between two processings of incoming messages | ||
| #define CAN_SEND_RATE 200 // ms between two successive sendings | ||
|
|
||
| // Message structures. Each message has its own identifier. As many such variables should be defined | ||
| // as the number of different CAN frames the application has to send. Here, they are two. | ||
| CanMsg msgGyroscope ; | ||
| CanMsg msgMotorControl ; | ||
|
|
||
| // Traffic handling data | ||
| int CANquietTime ; // Quiet time counter to detect no activity on CAN bus | ||
| bool CANError ; // Indicates that incoming CAN traffic is missing | ||
| int CANsendDivider ; // Used to send frames once every so many times loop() is called | ||
|
|
||
| // Applicaton variables | ||
| int Contents[4] ; // Contents of the four tanks | ||
| int JoystickX ; // Setting of the joystick, X axis | ||
| int JoystickY ; // ... Y axis | ||
| int AngularRate ; // Output of local gyroscope | ||
| int Throttle ; // Motor control value, produced by some local processing | ||
| bool ErreurGyroscope = false ; | ||
|
|
||
| // Instanciation of CAN interface | ||
| HardwareCAN canBus(CAN1_BASE); | ||
|
|
||
|
|
||
| // Note : for the predefined identifiers, please have a look in file can.h | ||
|
|
||
| void CANSetup(void) | ||
| { | ||
| CAN_STATUS Stat ; | ||
|
|
||
| // Initialize the message structures | ||
| // A CAN structure includes the following fields: | ||
| msgGyroscope.IDE = CAN_ID_STD; // Indicates a standard identifier ; CAN_ID_EXT would mean this frame uses an extended identifier | ||
| msgGyroscope.RTR = CAN_RTR_DATA; // Indicated this is a data frame, as opposed to a remote frame (would then be CAN_RTR_REMOTE) | ||
| msgGyroscope.ID = GYRO_ID ; // Identifier of the frame : 0-2047 (0-0x3ff) for standard idenfiers; 0-0x1fffffff for extended identifiers | ||
| msgGyroscope.DLC = 3; // Number of data bytes to follow | ||
| msgGyroscope.Data[0] = 0x0; // Data bytes, there can be 0 to 8 bytes. | ||
| msgGyroscope.Data[1] = 0x0; | ||
| msgGyroscope.Data[2] = 0x0; | ||
|
|
||
| msgMotorControl.IDE = CAN_ID_STD; | ||
| msgMotorControl.RTR = CAN_RTR_DATA; | ||
| msgMotorControl.ID = MOTOR_CONTROL_ID ; | ||
| msgMotorControl.DLC = 2; | ||
| msgMotorControl.Data[0] = 0x0; | ||
| msgMotorControl.Data[1] = 0x0; | ||
|
|
||
| // Initialize CAN module | ||
| canBus.map(CAN_GPIO_PB8_PB9); // This setting is already wired in the Olimexino-STM32 board | ||
| Stat = canBus.begin(CAN_SPEED_125, CAN_MODE_NORMAL); // Other speeds go from 125 kbps to 1000 kbps. CAN allows even more choices. | ||
|
|
||
| canBus.filter(0, 0, 0); | ||
| canBus.set_irq_mode(); // Use irq mode (recommended), so the handling of incoming messages | ||
| // will be performed at ease in a task or in the loop. The software fifo is 16 cells long, | ||
| // allowing at least 15 ms before processing the fifo is needed at 125 kbps | ||
| Stat = canBus.status(); | ||
| if (Stat != CAN_OK) | ||
| /* Your own error processing here */ ; // Initialization failed | ||
| } | ||
|
|
||
| // Send one frame. Parameter is a pointer to a frame structure (above), that has previously been updated with data. | ||
| // If no mailbox is available, wait until one becomes empty. There are 3 mailboxes. | ||
| CAN_TX_MBX CANsend(CanMsg *pmsg) | ||
| { | ||
| CAN_TX_MBX mbx; | ||
|
|
||
| do | ||
| { | ||
| mbx = canBus.send(pmsg) ; | ||
| #ifdef USE_MULTITASK | ||
| vTaskDelay( 1 ) ; // Infinite loops are not multitasking-friendly | ||
| #endif | ||
| } | ||
| while(mbx == CAN_TX_NO_MBX) ; // Waiting outbound frames will eventually be sent, unless there is a CAN bus failure. | ||
| return mbx ; | ||
| } | ||
|
|
||
| // Process incoming messages | ||
| // Note : frames are not fully checked for correctness: DLC value is not checked, neither are the IDE and RTR fields. However, the data is guaranteed to be corrrect. | ||
| void ProcessMessages(void) | ||
| { | ||
| int Pr = 0 ; | ||
| int i ; | ||
|
|
||
| CanMsg *r_msg; | ||
|
|
||
| // Loop for every message in the fifo | ||
| while ((r_msg = canBus.recv()) != NULL) | ||
| { | ||
| CANquietTime = 0 ; // Reset at each received frame | ||
| CANError = false ; // Clear CAN silence error | ||
| switch ( r_msg->ID ) | ||
| { | ||
| case TANK_LEVEL_ID : // This frame contains four 16-bit words, little endian coded | ||
| for ( i = 0 ; i < 4 ; i++ ) | ||
| Contents[i] = (int)r_msg->Data[2*i] | ((int)r_msg->Data[(2*i)+1]) << 8 ; | ||
| break ; | ||
|
|
||
| case JOYSTICK_VALUES_ID : // This frame contains two 16-bit words, little endian coded | ||
| Pr = (int)r_msg->Data[0] ; | ||
| Pr |= (int)r_msg->Data[1] << 8 ; | ||
| JoystickX = Pr ; | ||
|
|
||
| Pr = (int)r_msg->Data[2] ; | ||
| Pr |= (int)r_msg->Data[3] << 8 ; | ||
| JoystickY = Pr ; | ||
| break ; | ||
|
|
||
| default : // Any frame with a different identifier is ignored | ||
| break ; | ||
| } | ||
|
|
||
| canBus.free(); // Remove processed message from buffer, whatever the identifier | ||
| #ifdef USE_MULTITASK | ||
| vTaskDelay( 1 ) ; // Infinite loops are not multitasking-friendly | ||
| #endif | ||
| } | ||
| } | ||
|
|
||
| // Send messages | ||
| // Prepare and send 2 frames containing the value of process variables | ||
| // Sending all frames at once is a choice; they could be sent separately, at different times and rates. | ||
| void SendCANmessages(void) | ||
| { | ||
| // Prepare Gyroscope frame : send angular rate | ||
| msgGyroscope.Data[0] = AngularRate & 0xff ; | ||
| msgGyroscope.Data[1] = ( AngularRate >> 8 ) & 0xff ; | ||
| msgGyroscope.Data[2] = ErreurGyroscope ? 1 : 0 ; | ||
| CANsend(&msgGyroscope) ; // Send this frame | ||
|
|
||
| msgMotorControl.Data[0] = Throttle & 0xff ; | ||
| msgMotorControl.Data[1] = ( Throttle >> 8 ) & 0xff ; | ||
| CANsend(&msgMotorControl) ; | ||
| } | ||
|
|
||
| // The application program starts here | ||
| void setup() { | ||
| // put your setup code here, to run once: | ||
| CANSetup() ; // Initialize the CAN module and prepare the message structures. | ||
| } | ||
|
|
||
| void loop() { | ||
| // Process incoming messages periodically (should be often enough to avoid overflowing the fifo) | ||
| ProcessMessages() ; // Process all incoming messages, update local variables accordingly | ||
|
|
||
| // This is an example of timeout management. Here it is global to all received frames; | ||
| // it could be on a frame by frame basis, with as many control variables as the number of frames. | ||
| CANquietTime++ ; | ||
| if ( CANquietTime > CAN_TIMEOUT ) | ||
| { | ||
| CANquietTime = CAN_TIMEOUT + 1 ; // To prevent overflowing this variable if silence prolongs... | ||
| CANError = true ; // Flag CAN silence error. Will be cleared at first frame received | ||
| } | ||
|
|
||
| // Send messages containing variables to publish. Sent less frequently than the processing of incoming frames (here, every 200 ms) | ||
| CANsendDivider-- ; | ||
| if ( CANsendDivider < 0 ) | ||
| { | ||
| CANsendDivider = CAN_SEND_RATE / CAN_DELAY ; | ||
| SendCANmessages() ; | ||
| } | ||
| delay(CAN_DELAY) ; // The delay must not be greater than the time to overflow the incoming fifo (here about 15 ms) | ||
| } | ||
|
|
||
| #include <HardwareCAN.h> | ||
| //#include "changes.h" | ||
| /* | ||
| * Example of use of the HardwareCAN library | ||
| * This application receives two frames containing various data. It also produces data that are sent periodically using another two frames. | ||
| * Please read the file changes.h to see the changes to be performed to the core in order to use this | ||
| */ | ||
| // Define the values of the identifiers | ||
| #define GYRO_ID 0x27 | ||
| #define JOYSTICK_VALUES_ID 0x5A | ||
| #define TANK_LEVEL_ID 0x78 | ||
| #define MOTOR_CONTROL_ID 0x92 | ||
|
|
||
| // Limit time to flag a CAN error | ||
| #define CAN_TIMEOUT 100 | ||
| #define CAN_DELAY 10 // ms between two processings of incoming messages | ||
| #define CAN_SEND_RATE 200 // ms between two successive sendings | ||
|
|
||
| // Message structures. Each message has its own identifier. As many such variables should be defined | ||
| // as the number of different CAN frames the application has to send. Here, they are two. | ||
| CanMsg msgGyroscope ; | ||
| CanMsg msgMotorControl ; | ||
|
|
||
| // Traffic handling data | ||
| int CANquietTime ; // Quiet time counter to detect no activity on CAN bus | ||
| bool CANError ; // Indicates that incoming CAN traffic is missing | ||
| int CANsendDivider ; // Used to send frames once every so many times loop() is called | ||
|
|
||
| // Applicaton variables | ||
| int Contents[4] ; // Contents of the four tanks | ||
| int JoystickX ; // Setting of the joystick, X axis | ||
| int JoystickY ; // ... Y axis | ||
| int AngularRate ; // Output of local gyroscope | ||
| int Throttle ; // Motor control value, produced by some local processing | ||
| bool ErreurGyroscope = false ; | ||
|
|
||
| // Instanciation of CAN interface | ||
| HardwareCAN canBus(CAN1_BASE); | ||
|
|
||
|
|
||
| // Note : for the predefined identifiers, please have a look in file can.h | ||
|
|
||
| void CANSetup(void) | ||
| { | ||
| CAN_STATUS Stat ; | ||
|
|
||
| // Initialize the message structures | ||
| // A CAN structure includes the following fields: | ||
| msgGyroscope.IDE = CAN_ID_STD; // Indicates a standard identifier ; CAN_ID_EXT would mean this frame uses an extended identifier | ||
| msgGyroscope.RTR = CAN_RTR_DATA; // Indicated this is a data frame, as opposed to a remote frame (would then be CAN_RTR_REMOTE) | ||
| msgGyroscope.ID = GYRO_ID ; // Identifier of the frame : 0-2047 (0-0x3ff) for standard idenfiers; 0-0x1fffffff for extended identifiers | ||
| msgGyroscope.DLC = 3; // Number of data bytes to follow | ||
| msgGyroscope.Data[0] = 0x0; // Data bytes, there can be 0 to 8 bytes. | ||
| msgGyroscope.Data[1] = 0x0; | ||
| msgGyroscope.Data[2] = 0x0; | ||
|
|
||
| msgMotorControl.IDE = CAN_ID_STD; | ||
| msgMotorControl.RTR = CAN_RTR_DATA; | ||
| msgMotorControl.ID = MOTOR_CONTROL_ID ; | ||
| msgMotorControl.DLC = 2; | ||
| msgMotorControl.Data[0] = 0x0; | ||
| msgMotorControl.Data[1] = 0x0; | ||
|
|
||
| // Initialize CAN module | ||
| canBus.map(CAN_GPIO_PB8_PB9); // This setting is already wired in the Olimexino-STM32 board | ||
| Stat = canBus.begin(CAN_SPEED_125, CAN_MODE_NORMAL); // Other speeds go from 125 kbps to 1000 kbps. CAN allows even more choices. | ||
|
|
||
| canBus.filter(0, 0, 0); | ||
| canBus.set_irq_mode(); // Use irq mode (recommended), so the handling of incoming messages | ||
| // will be performed at ease in a task or in the loop. The software fifo is 16 cells long, | ||
| // allowing at least 15 ms before processing the fifo is needed at 125 kbps | ||
| Stat = canBus.status(); | ||
| if (Stat != CAN_OK) | ||
| /* Your own error processing here */ ; // Initialization failed | ||
| } | ||
|
|
||
| // Send one frame. Parameter is a pointer to a frame structure (above), that has previously been updated with data. | ||
| // If no mailbox is available, wait until one becomes empty. There are 3 mailboxes. | ||
| CAN_TX_MBX CANsend(CanMsg *pmsg) | ||
| { | ||
| CAN_TX_MBX mbx; | ||
|
|
||
| do | ||
| { | ||
| mbx = canBus.send(pmsg) ; | ||
| #ifdef USE_MULTITASK | ||
| vTaskDelay( 1 ) ; // Infinite loops are not multitasking-friendly | ||
| #endif | ||
| } | ||
| while(mbx == CAN_TX_NO_MBX) ; // Waiting outbound frames will eventually be sent, unless there is a CAN bus failure. | ||
| return mbx ; | ||
| } | ||
|
|
||
| // Process incoming messages | ||
| // Note : frames are not fully checked for correctness: DLC value is not checked, neither are the IDE and RTR fields. However, the data is guaranteed to be corrrect. | ||
| void ProcessMessages(void) | ||
| { | ||
| int Pr = 0 ; | ||
| int i ; | ||
|
|
||
| CanMsg *r_msg; | ||
|
|
||
| // Loop for every message in the fifo | ||
| while ((r_msg = canBus.recv()) != NULL) | ||
| { | ||
| CANquietTime = 0 ; // Reset at each received frame | ||
| CANError = false ; // Clear CAN silence error | ||
| switch ( r_msg->ID ) | ||
| { | ||
| case TANK_LEVEL_ID : // This frame contains four 16-bit words, little endian coded | ||
| for ( i = 0 ; i < 4 ; i++ ) | ||
| Contents[i] = (int)r_msg->Data[2*i] | ((int)r_msg->Data[(2*i)+1]) << 8 ; | ||
| break ; | ||
|
|
||
| case JOYSTICK_VALUES_ID : // This frame contains two 16-bit words, little endian coded | ||
| Pr = (int)r_msg->Data[0] ; | ||
| Pr |= (int)r_msg->Data[1] << 8 ; | ||
| JoystickX = Pr ; | ||
|
|
||
| Pr = (int)r_msg->Data[2] ; | ||
| Pr |= (int)r_msg->Data[3] << 8 ; | ||
| JoystickY = Pr ; | ||
| break ; | ||
|
|
||
| default : // Any frame with a different identifier is ignored | ||
| break ; | ||
| } | ||
|
|
||
| canBus.free(); // Remove processed message from buffer, whatever the identifier | ||
| #ifdef USE_MULTITASK | ||
| vTaskDelay( 1 ) ; // Infinite loops are not multitasking-friendly | ||
| #endif | ||
| } | ||
| } | ||
|
|
||
| // Send messages | ||
| // Prepare and send 2 frames containing the value of process variables | ||
| // Sending all frames at once is a choice; they could be sent separately, at different times and rates. | ||
| void SendCANmessages(void) | ||
| { | ||
| // Prepare Gyroscope frame : send angular rate | ||
| msgGyroscope.Data[0] = AngularRate & 0xff ; | ||
| msgGyroscope.Data[1] = ( AngularRate >> 8 ) & 0xff ; | ||
| msgGyroscope.Data[2] = ErreurGyroscope ? 1 : 0 ; | ||
| CANsend(&msgGyroscope) ; // Send this frame | ||
|
|
||
| msgMotorControl.Data[0] = Throttle & 0xff ; | ||
| msgMotorControl.Data[1] = ( Throttle >> 8 ) & 0xff ; | ||
| CANsend(&msgMotorControl) ; | ||
| } | ||
|
|
||
| // The application program starts here | ||
| void setup() { | ||
| // put your setup code here, to run once: | ||
| CANSetup() ; // Initialize the CAN module and prepare the message structures. | ||
| } | ||
|
|
||
| void loop() { | ||
| // Process incoming messages periodically (should be often enough to avoid overflowing the fifo) | ||
| ProcessMessages() ; // Process all incoming messages, update local variables accordingly | ||
|
|
||
| // This is an example of timeout management. Here it is global to all received frames; | ||
| // it could be on a frame by frame basis, with as many control variables as the number of frames. | ||
| CANquietTime++ ; | ||
| if ( CANquietTime > CAN_TIMEOUT ) | ||
| { | ||
| CANquietTime = CAN_TIMEOUT + 1 ; // To prevent overflowing this variable if silence prolongs... | ||
| CANError = true ; // Flag CAN silence error. Will be cleared at first frame received | ||
| } | ||
|
|
||
| // Send messages containing variables to publish. Sent less frequently than the processing of incoming frames (here, every 200 ms) | ||
| CANsendDivider-- ; | ||
| if ( CANsendDivider < 0 ) | ||
| { | ||
| CANsendDivider = CAN_SEND_RATE / CAN_DELAY ; | ||
| SendCANmessages() ; | ||
| } | ||
| delay(CAN_DELAY) ; // The delay must not be greater than the time to overflow the incoming fifo (here about 15 ms) | ||
| } | ||
|
|
||
|
|