rsantos88
commented
6 years ago The first step is to check the communications between the MBED and the computer. I am trying to send or receive messages over the CAN. Steps taken until now:
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First, I've checked the connections. I've taken this model to revise the connections between the pins 29-30, and the transceiver. The same between the transceiver and the can bus connector:
I detected a bad welding and @jmgarciah revised and re-welded again the transceiver, because there was bad contact with the pins and the board. -
Once I revised the connections, now I am trying to know if there is a communication. I did a simple program that allow us to send messages from the
mbedto manipulation computer:#include "mbed.h"
Ticker ticker; Serial pc(USBTX, USBRX); // Serial connection DigitalOut live_led(LED4); // CAN read toggle led (activity) DigitalOut led1(LED1); // sended DigitalOut led2(LED2); // received CAN can(p30, p29); // tx,rx char counter = 0;
void liveled() // Toggles the led { live_led=!live_led; }
void send() { printf("send()\n"); // create the message CANMessage messageOut;
messageOut.format = CANStandard; // or CANExtended; standard or extended ID (can be skipped for standard)
messageOut.id = 10;
messageOut.len = 1; // length in bytes (1 to 8);
messageOut.data[0] = counter; // repeat for each byte.
// send the message
if(can.write(messageOut)) {
printf("Message sent: %d\n", messageOut.data[0]);
}
counter++;
led1 = !led1;}
void receive() { CANMessage msg; if(can.read(msg)) { pc.printf("Message received: %d\n", msg.data[0]); led2 = !led2; } }
int main() {
pc.baud(115200); // configure PC baudrate for USB
pc.printf("main()\n");
// set up the can bus
can.frequency(1000000); // 1Mbit/s (the same as the drivers configuration)
can.reset();
ticker.attach(&liveled, 1); // Send every 1 sec (to know that the mbed is running at this point)
while(1) {
send();
wait(0.2);
}
}
With this program we can send packets every 200ms and with `dumpCanBus` running on manipulation-pc we should see the messages sent but there is no message captured .
* In other way, you can modify easily the code to call the `receive()` function within the loop instead `send()` function and do the same process but running `launchManipulation` on manipulation computer and receiving some can message through `mbed`. To verify this, I've connected the `mbed` by USB to my computer to monitoring the arrived messages using a serial connection program like [moserial](https://wiki.gnome.org/moserial) but no messages received over the `mbed`.
jgvictores
From @jmgarciah on March 13, 2018 10:2
Once the PCB for the hand is developed. It is necessary to adapt the old code of the PIC to the new MBED.
Copied from original issue: roboticslab-uc3m/teo-hardware-issues#19