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--- en:projects:can_windscreen_wiper [2010/03/14 18:46] – mikk.leini
+++ en:projects:can_windscreen_wiper [2020/07/20 12:00] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
+====== CAN windscreen wiper ======
+//Requirements: [HW] 2 x [[en:hardware:arm-can:controller]], [HW] Servo-motor//
+[{{  :images:projects:can_windscreen_wiper:windscreen_wiper.gif|Windscreen wiper in different modes}}]
+This project demonstrates how to use CAN interface to transfer commands from one device to other. Two ARM-CAN contollers are need of which one acts as a lever on the steering wheel of a car and another one as a windscreen wiper controller. When buttons is pressed on lever controller, next wiping mode is selected and wiper is notified. Servo-motor is used for simulating the wiper. There are three modes:
+  * Stop mode. Wiper is not moving. Red LED's are on.
+  * Slow mode. Wiper is moving slowly from side to side. Green LED's are on.
+  * Fast mode. Wiper is moving rapidly from side to side. Blue LED's are on.
+~~CL~~
+===== windscreen_wiper_control.c =====
+<code c>
+//*****************************************************************************
+//
+// Windscreen wiper control
+//
+// Program is entirely interrupts based.
+//
+// Copyright (c) 2009 TUT Department of Mechatronics
+//
+//*****************************************************************************
+#include <inc/hw_ints.h>
+#include <inc/hw_memmap.h>
+#include <inc/hw_types.h>
+#include <driverlib/sysctl.h>
+#include <driverlib/interrupt.h>
+#include <driverlib/gpio.h>
+#include <driverlib/timer.h>
+#include <driverlib/can.h>
+#include <drivers/general.h>
+#include <drivers/rgb_led.h>
+//*****************************************************************************
+//
+// Configuration.
+//
+//*****************************************************************************
+#define CAN_BITRATE           250000
+#define CAN_ACTUATOR_MSG_ID   0x01
+#define CAN_ACTUATOR_MSG_BOX  1
+//*****************************************************************************
+//
+// Global variables.
+//
+//*****************************************************************************
+unsigned char g_ucMode = 0;
+//*****************************************************************************
+//
+// The interrupt handler for the port B interrupt.
+//
+//*****************************************************************************
+void PortBIntHandler(void)
+{
+	tCANMsgObject psCommandMsg;
+	//
+	// Clear the port interrupt.
+	//
+	GPIOPinIntClear(GPIO_PORTB_BASE, GPIO_PIN_7);
+	//
+	// Next wiper mode of 3 modes.
+	//
+	g_ucMode = (g_ucMode + 1) % 3;
+	//
+	// Create message.
+	//
+	psCommandMsg.ulMsgID    = CAN_ACTUATOR_MSG_ID;
+	psCommandMsg.ulFlags    = MSG_OBJ_NO_FLAGS;
+	psCommandMsg.ulMsgLen   = 1;
+	psCommandMsg.pucMsgData = &g_ucMode;
+	//
+	// Set message.
+	//
+	CANMessageSet(CAN0_BASE, CAN_ACTUATOR_MSG_BOX,
+	              &psCommandMsg, MSG_OBJ_TYPE_TX);
+	//
+	// Turn on the appropriate LED.
+	//
+	RGBLEDSetRGB((g_ucMode == 0 ? 255 : 0),
+	             (g_ucMode == 1 ? 255 : 0),
+	             (g_ucMode == 2 ? 255 : 0));
+}
+//*****************************************************************************
+//
+// Main function.
+//
+//*****************************************************************************
+int main(void)
+{
+	//
+	// Set the clocking to run from the PLL at 50MHz
+	//
+	SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
+	SYSCTL_XTAL_8MHZ);
+	//
+	// Enable peripherals.
+	//
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
+	//
+	// Enable the peripherals that should continue to run when the processor
+	// is sleeping.
+	//
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOC);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOD);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_CAN0);
+	//
+	// Drivers configuring.
+	//
+	DeviceConfigure();
+	RGBLEDConfigure();
+	//
+	// Configure button to generate interrupt on press.
+	//
+	GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_7, GPIO_FALLING_EDGE);
+	GPIOPinIntEnable(GPIO_PORTB_BASE, GPIO_PIN_7);
+	IntEnable(INT_GPIOB);
+	//
+	// Configure CAN pins.
+	//
+	GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
+	//
+	// Enable the CAN controller.
+	//
+	CANInit(CAN0_BASE);
+	CANBitRateSet(CAN0_BASE, SysCtlClockGet(), CAN_BITRATE);
+	CANEnable(CAN0_BASE);
+	//
+	// Enable processor interrupts.
+	//
+	IntMasterEnable();
+	//
+	// Loop forever.
+	//
+	while (1)
+	{
+		//
+		// Save power - turn off CPU.
+		//
+		SysCtlSleep();
+	}
+}
+</code>
+===== windscreen_wiper_actuator.c =====
+<code c>
+//*****************************************************************************
+//
+// Windscreen wiper actuator
+//
+// Program is entirely interrupts based.
+//
+// Copyright (c) 2009 TUT Department of Mechatronics
+//
+//*****************************************************************************
+#include <inc/hw_ints.h>
+#include <inc/hw_memmap.h>
+#include <inc/hw_types.h>
+#include <driverlib/sysctl.h>
+#include <driverlib/interrupt.h>
+#include <driverlib/gpio.h>
+#include <driverlib/timer.h>
+#include <driverlib/can.h>
+#include <drivers/general.h>
+#include <drivers/rgb_led.h>
+#include <drivers/servo_motor.h>
+//*****************************************************************************
+//
+// Configuration.
+//
+//*****************************************************************************
+#define SERVO_INDEX                0
+#define CAN_BITRATE                250000
+#define CAN_ACTUATOR_MSG_ID        0x01
+#define CAN_ACTUATOR_MSG_BOX       1
+#define CAN_ACTUATOR_MSG_BOX_FLAG  (1 << (CAN_ACTUATOR_MSG_BOX - 1))
+//*****************************************************************************
+//
+// Global variables.
+//
+//*****************************************************************************
+signed long g_slWiperDirection = 1;
+//*****************************************************************************
+//
+// The interrupt handler for the timer2 interrupt.
+//
+//*****************************************************************************
+void Timer2IntHandler(void)
+{
+	//
+	// Clear the timer interrupt.
+	//
+	TimerIntClear(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
+	//
+	// Set servo position.
+	//
+	ServoSetPulseWidth(SERVO_INDEX, 100 * g_slWiperDirection);
+	//
+	// Reverse wiper direction.
+	//
+	g_slWiperDirection = -g_slWiperDirection;
+}
+//*****************************************************************************
+//
+// Wiper mode setting.
+//
+//*****************************************************************************
+void WiperModeSet(unsigned char ucMode)
+{
+	unsigned long ulPeriod = 0;
+	//
+	// Turn on the appropriate LED.
+	//
+	RGBLEDSetRGB((ucMode == 0 ? 255 : 0),
+	             (ucMode == 1 ? 255 : 0),
+	             (ucMode == 2 ? 255 : 0));
+	//
+	// Mode 0 ?
+	//
+	if (ucMode == 0)
+	{
+		//
+		// Disable wiper timer.
+		//
+		TimerDisable(TIMER2_BASE, TIMER_A);
+		//
+		// Stop servo motor.
+		//
+		ServoSetPulseWidth(SERVO_INDEX, 0);
+	}
+	//
+	// Mode 1 or 2 ?
+	//
+	else if (ucMode <= 2)
+	{
+		//
+		// Set period according to the mode.
+		//
+		switch (ucMode)
+		{
+			case 1:
+				ulPeriod = SysCtlClockGet() * 2; // 2 s
+				break;
+			case 2:
+				ulPeriod = SysCtlClockGet() / 2; // 500 ms
+				break;
+		}
+		//
+		// Configure periodic timer to generate interrupt.
+		//
+		TimerLoadSet(TIMER2_BASE, TIMER_A, ulPeriod);
+		TimerEnable(TIMER2_BASE, TIMER_A);
+	}
+}
+//*****************************************************************************
+//
+// The interrupt handler for the CAN interrupt.
+//
+//*****************************************************************************
+void CAN0IntHandler(void)
+{
+	tCANMsgObject psCommandMsg;
+	unsigned char pucRxData[8];
+	unsigned char ucMode = 0;
+	//
+	// Set pointer to data.
+	//
+	psCommandMsg.pucMsgData = pucRxData;
+	//
+	// New CAN message received ?
+	//
+	if (CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT) & CAN_ACTUATOR_MSG_BOX_FLAG)
+	{
+		//
+		// Get the message.
+		//
+		CANMessageGet(CAN0_BASE, CAN_ACTUATOR_MSG_BOX_FLAG, &psCommandMsg, true);
+		//
+		// Check message length.
+		//
+		if (psCommandMsg.ulMsgLen == 1)
+		{
+			//
+			// Get mode from data.
+			//
+			ucMode = *psCommandMsg.pucMsgData;
+			//
+			// Set wiper mode.
+			//
+			WiperModeSet(ucMode);
+		}
+	}
+}
+//*****************************************************************************
+//
+// Main function.
+//
+//*****************************************************************************
+int main(void)
+{
+	tCANMsgObject psCommandMsg;
+	//
+	// Set the clocking to run from the PLL at 50MHz
+	//
+	SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
+	   SYSCTL_XTAL_8MHZ);
+	//
+	// Enable peripherals.
+	//
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
+	SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
+	//
+	// Enable the peripherals that should continue to run when the processor
+	// is sleeping.
+	//
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOC);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOD);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER2);
+	SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_CAN0);
+	//
+	// Drivers configuring.
+	//
+	DeviceConfigure();
+	RGBLEDConfigure();
+	ServoConfigure(SERVO_INDEX);
+	//
+	// Configure timer 2 as periodic wiper timer.
+	//
+	TimerConfigure(TIMER2_BASE, TIMER_CFG_32_BIT_PER);
+	//
+	// Enable timer 2 interrupt.
+	//
+	TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
+	IntEnable(INT_TIMER2A);
+	//
+	// Configure CAN pins.
+	//
+	GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
+	//
+	// Enable the CAN controller.
+	//
+	CANInit(CAN0_BASE);
+	CANBitRateSet(CAN0_BASE, SysCtlClockGet(), CAN_BITRATE);
+	CANEnable(CAN0_BASE);
+	//
+	// Enable CAN interrupts.
+	//
+	CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_STATUS);
+	IntEnable(INT_CAN0);
+	//
+	// Create receive command message object.
+	//
+	psCommandMsg.ulMsgID     = CAN_ACTUATOR_MSG_ID;
+	psCommandMsg.ulMsgIDMask = CAN_ACTUATOR_MSG_ID;
+	psCommandMsg.ulFlags     = MSG_OBJ_RX_INT_ENABLE;
+	//
+	// Set message object.
+	//
+	CANMessageSet(CAN0_BASE, CAN_ACTUATOR_MSG_BOX, &psCommandMsg, MSG_OBJ_TYPE_RX);
+	//
+	// Enable processor interrupts.
+	//
+	IntMasterEnable();
+	//
+	// Loop forever.
+	//
+	while (1)
+	{
+		//
+		// Save power - turn off CPU.
+		//
+		SysCtlSleep();
+	}
+}
+</code>