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SLCAN
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slcan.cpp@2:1327e61cc56b, 2016-06-09 (annotated)
- Committer:
- devanlai
- Date:
- Thu Jun 09 06:29:08 2016 +0000
- Revision:
- 2:1327e61cc56b
- Parent:
- 1:3644b10bce2f
- Child:
- 3:bc163d555ddc
Add enough commands to satisfy USBtinViewer
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| devanlai | 0:f2565808eea5 | 1 | #include "slcan.h" |
| devanlai | 0:f2565808eea5 | 2 | |
| devanlai | 0:f2565808eea5 | 3 | // Helper methods for parsing commands |
| devanlai | 0:f2565808eea5 | 4 | static bool parse_hex_digits(const char* input, uint8_t num_digits, uint32_t* value_out) { |
| devanlai | 0:f2565808eea5 | 5 | bool success = true; |
| devanlai | 0:f2565808eea5 | 6 | uint32_t value = 0; |
| devanlai | 0:f2565808eea5 | 7 | |
| devanlai | 0:f2565808eea5 | 8 | uint8_t i; |
| devanlai | 0:f2565808eea5 | 9 | for (i=0; i < num_digits; i++) { |
| devanlai | 0:f2565808eea5 | 10 | uint32_t nibble = 0; |
| devanlai | 0:f2565808eea5 | 11 | if (input[i] >= '0' && input[i] <= '9') { |
| devanlai | 0:f2565808eea5 | 12 | nibble = 0x0 + (input[i] - '0'); |
| devanlai | 0:f2565808eea5 | 13 | } else if (input[i] >= 'a' && input[i] <= 'f') { |
| devanlai | 0:f2565808eea5 | 14 | nibble = 0xA + (input[i] - 'a'); |
| devanlai | 0:f2565808eea5 | 15 | } else if (input[i] >= 'A' && input[i] <= 'F') { |
| devanlai | 0:f2565808eea5 | 16 | nibble = 0xA + (input[i] - 'A'); |
| devanlai | 0:f2565808eea5 | 17 | } else { |
| devanlai | 0:f2565808eea5 | 18 | success = false; |
| devanlai | 0:f2565808eea5 | 19 | break; |
| devanlai | 0:f2565808eea5 | 20 | } |
| devanlai | 0:f2565808eea5 | 21 | uint8_t offset = 4*(num_digits-i-1); |
| devanlai | 0:f2565808eea5 | 22 | value |= (nibble << offset); |
| devanlai | 0:f2565808eea5 | 23 | } |
| devanlai | 0:f2565808eea5 | 24 | |
| devanlai | 0:f2565808eea5 | 25 | if (success) { |
| devanlai | 0:f2565808eea5 | 26 | *value_out = value; |
| devanlai | 0:f2565808eea5 | 27 | } |
| devanlai | 0:f2565808eea5 | 28 | |
| devanlai | 0:f2565808eea5 | 29 | return success; |
| devanlai | 0:f2565808eea5 | 30 | } |
| devanlai | 0:f2565808eea5 | 31 | |
| devanlai | 0:f2565808eea5 | 32 | static bool parse_hex_values(const char* input, uint8_t num_values, uint8_t* values_out) { |
| devanlai | 0:f2565808eea5 | 33 | uint8_t i; |
| devanlai | 0:f2565808eea5 | 34 | for (i=0; i < num_values; i++) { |
| devanlai | 0:f2565808eea5 | 35 | uint32_t value; |
| devanlai | 0:f2565808eea5 | 36 | if (parse_hex_digits(input, 2, &value)) { |
| devanlai | 0:f2565808eea5 | 37 | values_out[i] = (uint8_t)value; |
| devanlai | 0:f2565808eea5 | 38 | } else { |
| devanlai | 0:f2565808eea5 | 39 | return false; |
| devanlai | 0:f2565808eea5 | 40 | } |
| devanlai | 0:f2565808eea5 | 41 | input += 2; |
| devanlai | 0:f2565808eea5 | 42 | } |
| devanlai | 0:f2565808eea5 | 43 | |
| devanlai | 0:f2565808eea5 | 44 | return true; |
| devanlai | 0:f2565808eea5 | 45 | } |
| devanlai | 0:f2565808eea5 | 46 | |
| devanlai | 0:f2565808eea5 | 47 | static bool parse_dec_digit(const char* input, uint8_t* value_out) { |
| devanlai | 0:f2565808eea5 | 48 | if (input[0] >= '0' && input[0] <= '9') { |
| devanlai | 0:f2565808eea5 | 49 | *value_out = 0 + (input[0] - '0'); |
| devanlai | 0:f2565808eea5 | 50 | return true; |
| devanlai | 0:f2565808eea5 | 51 | } else { |
| devanlai | 0:f2565808eea5 | 52 | return false; |
| devanlai | 0:f2565808eea5 | 53 | } |
| devanlai | 0:f2565808eea5 | 54 | } |
| devanlai | 0:f2565808eea5 | 55 | |
| devanlai | 0:f2565808eea5 | 56 | static inline char format_nibble(uint8_t x) { |
| devanlai | 0:f2565808eea5 | 57 | uint8_t nibble = x & 0x0F; |
| devanlai | 0:f2565808eea5 | 58 | return (nibble < 10) ? ('0' + nibble) : ('A' + (nibble - 10)); |
| devanlai | 0:f2565808eea5 | 59 | } |
| devanlai | 0:f2565808eea5 | 60 | |
| devanlai | 0:f2565808eea5 | 61 | static inline char format_digit(uint8_t d) { |
| devanlai | 0:f2565808eea5 | 62 | return '0' + d; |
| devanlai | 0:f2565808eea5 | 63 | } |
| devanlai | 0:f2565808eea5 | 64 | |
| devanlai | 0:f2565808eea5 | 65 | SLCANBase::SLCANBase() { |
| devanlai | 0:f2565808eea5 | 66 | |
| devanlai | 0:f2565808eea5 | 67 | } |
| devanlai | 0:f2565808eea5 | 68 | |
| devanlai | 0:f2565808eea5 | 69 | SLCANBase::~SLCANBase() { |
| devanlai | 0:f2565808eea5 | 70 | |
| devanlai | 0:f2565808eea5 | 71 | } |
| devanlai | 0:f2565808eea5 | 72 | |
| devanlai | 2:1327e61cc56b | 73 | uint8_t SLCANBase::getFirmwareVersion() { |
| devanlai | 2:1327e61cc56b | 74 | // firmware version in BCD |
| devanlai | 2:1327e61cc56b | 75 | return 0x10; |
| devanlai | 2:1327e61cc56b | 76 | } |
| devanlai | 2:1327e61cc56b | 77 | |
| devanlai | 2:1327e61cc56b | 78 | uint8_t SLCANBase::getHardwareVersion() { |
| devanlai | 2:1327e61cc56b | 79 | // hardware version in BCD |
| devanlai | 2:1327e61cc56b | 80 | return 0x10; |
| devanlai | 2:1327e61cc56b | 81 | } |
| devanlai | 2:1327e61cc56b | 82 | |
| devanlai | 2:1327e61cc56b | 83 | const char* SLCANBase::getSerialString() { |
| devanlai | 2:1327e61cc56b | 84 | // 4 character serial number |
| devanlai | 2:1327e61cc56b | 85 | return "C254"; |
| devanlai | 2:1327e61cc56b | 86 | } |
| devanlai | 2:1327e61cc56b | 87 | |
| devanlai | 0:f2565808eea5 | 88 | bool SLCANBase::update() { |
| devanlai | 0:f2565808eea5 | 89 | bool active = false; |
| devanlai | 0:f2565808eea5 | 90 | if (processCommands()) { |
| devanlai | 0:f2565808eea5 | 91 | active = true; |
| devanlai | 0:f2565808eea5 | 92 | } |
| devanlai | 0:f2565808eea5 | 93 | if (processCANMessages()) { |
| devanlai | 0:f2565808eea5 | 94 | active = true; |
| devanlai | 0:f2565808eea5 | 95 | } |
| devanlai | 0:f2565808eea5 | 96 | |
| devanlai | 0:f2565808eea5 | 97 | if (active) { |
| devanlai | 0:f2565808eea5 | 98 | flush(); |
| devanlai | 0:f2565808eea5 | 99 | } |
| devanlai | 0:f2565808eea5 | 100 | |
| devanlai | 0:f2565808eea5 | 101 | return active; |
| devanlai | 0:f2565808eea5 | 102 | } |
| devanlai | 0:f2565808eea5 | 103 | |
| devanlai | 0:f2565808eea5 | 104 | size_t SLCANBase::formattedCANMessageLength(const CANMessage& msg) { |
| devanlai | 0:f2565808eea5 | 105 | size_t len; |
| devanlai | 0:f2565808eea5 | 106 | if (msg.format == CANStandard) { |
| devanlai | 0:f2565808eea5 | 107 | len = 1 + 3 + 1 + (2 * msg.len) + 1; |
| devanlai | 0:f2565808eea5 | 108 | } else { |
| devanlai | 0:f2565808eea5 | 109 | len = 1 + 8 + 1 + (2 * msg.len) + 1; |
| devanlai | 0:f2565808eea5 | 110 | } |
| devanlai | 0:f2565808eea5 | 111 | |
| devanlai | 0:f2565808eea5 | 112 | return len; |
| devanlai | 0:f2565808eea5 | 113 | } |
| devanlai | 0:f2565808eea5 | 114 | |
| devanlai | 0:f2565808eea5 | 115 | size_t SLCANBase::formatCANMessage(const CANMessage& msg, char* buf, size_t max_len) { |
| devanlai | 0:f2565808eea5 | 116 | size_t len = formattedCANMessageLength(msg); |
| devanlai | 0:f2565808eea5 | 117 | if (len > max_len) { |
| devanlai | 0:f2565808eea5 | 118 | return 0; |
| devanlai | 0:f2565808eea5 | 119 | } |
| devanlai | 0:f2565808eea5 | 120 | |
| devanlai | 0:f2565808eea5 | 121 | if (msg.format == CANStandard) { |
| devanlai | 0:f2565808eea5 | 122 | *buf++ = (msg.type == CANData) ? 't' : 'r'; |
| devanlai | 0:f2565808eea5 | 123 | *buf++ = format_nibble((uint8_t)(msg.id >> 8)); |
| devanlai | 0:f2565808eea5 | 124 | *buf++ = format_nibble((uint8_t)(msg.id >> 4)); |
| devanlai | 0:f2565808eea5 | 125 | *buf++ = format_nibble((uint8_t)(msg.id >> 0)); |
| devanlai | 0:f2565808eea5 | 126 | *buf++ = format_digit(msg.len); |
| devanlai | 0:f2565808eea5 | 127 | } else { |
| devanlai | 0:f2565808eea5 | 128 | *buf++ = (msg.type == CANData) ? 'T' : 'R'; |
| devanlai | 0:f2565808eea5 | 129 | *buf++ = format_nibble((uint8_t)(msg.id >> 28)); |
| devanlai | 0:f2565808eea5 | 130 | *buf++ = format_nibble((uint8_t)(msg.id >> 24)); |
| devanlai | 0:f2565808eea5 | 131 | *buf++ = format_nibble((uint8_t)(msg.id >> 20)); |
| devanlai | 0:f2565808eea5 | 132 | *buf++ = format_nibble((uint8_t)(msg.id >> 16)); |
| devanlai | 0:f2565808eea5 | 133 | *buf++ = format_nibble((uint8_t)(msg.id >> 12)); |
| devanlai | 0:f2565808eea5 | 134 | *buf++ = format_nibble((uint8_t)(msg.id >> 8)); |
| devanlai | 0:f2565808eea5 | 135 | *buf++ = format_nibble((uint8_t)(msg.id >> 4)); |
| devanlai | 0:f2565808eea5 | 136 | *buf++ = format_nibble((uint8_t)(msg.id >> 0)); |
| devanlai | 0:f2565808eea5 | 137 | *buf++ = format_digit(msg.len); |
| devanlai | 0:f2565808eea5 | 138 | } |
| devanlai | 0:f2565808eea5 | 139 | |
| devanlai | 0:f2565808eea5 | 140 | for (unsigned char i=0; i < msg.len; i++) { |
| devanlai | 0:f2565808eea5 | 141 | *buf++ = format_nibble((uint8_t)(msg.data[i] >> 4)); |
| devanlai | 0:f2565808eea5 | 142 | *buf++ = format_nibble((uint8_t)(msg.data[i] >> 0)); |
| devanlai | 0:f2565808eea5 | 143 | } |
| devanlai | 0:f2565808eea5 | 144 | |
| devanlai | 0:f2565808eea5 | 145 | *buf++ = '\r'; |
| devanlai | 0:f2565808eea5 | 146 | |
| devanlai | 0:f2565808eea5 | 147 | return len; |
| devanlai | 0:f2565808eea5 | 148 | } |
| devanlai | 0:f2565808eea5 | 149 | |
| devanlai | 2:1327e61cc56b | 150 | size_t SLCANBase::commandResponseLength(const char* command) { |
| devanlai | 2:1327e61cc56b | 151 | if (command[0] == 'N') { |
| devanlai | 2:1327e61cc56b | 152 | return 6; |
| devanlai | 2:1327e61cc56b | 153 | } else if (command[0] == 'V') { |
| devanlai | 2:1327e61cc56b | 154 | return 6; |
| devanlai | 2:1327e61cc56b | 155 | } else if (command[0] == 'v') { |
| devanlai | 2:1327e61cc56b | 156 | return 4; |
| devanlai | 2:1327e61cc56b | 157 | } else { |
| devanlai | 2:1327e61cc56b | 158 | return 1; |
| devanlai | 2:1327e61cc56b | 159 | } |
| devanlai | 2:1327e61cc56b | 160 | } |
| devanlai | 2:1327e61cc56b | 161 | |
| devanlai | 2:1327e61cc56b | 162 | bool SLCANBase::execCommand(const char* command, char* response) { |
| devanlai | 0:f2565808eea5 | 163 | bool success = false; |
| devanlai | 2:1327e61cc56b | 164 | if (response) { |
| devanlai | 2:1327e61cc56b | 165 | response[0] = '\0'; |
| devanlai | 2:1327e61cc56b | 166 | } |
| devanlai | 0:f2565808eea5 | 167 | |
| devanlai | 0:f2565808eea5 | 168 | switch (command[0]) { |
| devanlai | 0:f2565808eea5 | 169 | // Configuration commands |
| devanlai | 0:f2565808eea5 | 170 | case 'S': |
| devanlai | 0:f2565808eea5 | 171 | case 'O': |
| devanlai | 0:f2565808eea5 | 172 | case 'L': |
| devanlai | 0:f2565808eea5 | 173 | case 'l': |
| devanlai | 0:f2565808eea5 | 174 | case 'C': { |
| devanlai | 0:f2565808eea5 | 175 | success = execConfigCommand(command); |
| devanlai | 0:f2565808eea5 | 176 | break; |
| devanlai | 0:f2565808eea5 | 177 | } |
| devanlai | 0:f2565808eea5 | 178 | // Transmission commands |
| devanlai | 0:f2565808eea5 | 179 | case 't': |
| devanlai | 0:f2565808eea5 | 180 | case 'T': |
| devanlai | 0:f2565808eea5 | 181 | case 'r': |
| devanlai | 0:f2565808eea5 | 182 | case 'R': { |
| devanlai | 0:f2565808eea5 | 183 | success = execTransmitCommand(command); |
| devanlai | 0:f2565808eea5 | 184 | break; |
| devanlai | 0:f2565808eea5 | 185 | } |
| devanlai | 2:1327e61cc56b | 186 | // Diagnostic commands |
| devanlai | 2:1327e61cc56b | 187 | case 'V': |
| devanlai | 2:1327e61cc56b | 188 | case 'v': |
| devanlai | 2:1327e61cc56b | 189 | case 'N': |
| devanlai | 2:1327e61cc56b | 190 | case 'W': |
| devanlai | 2:1327e61cc56b | 191 | success = execDiagnosticCommand(command, response); |
| devanlai | 2:1327e61cc56b | 192 | break; |
| devanlai | 0:f2565808eea5 | 193 | default: { |
| devanlai | 0:f2565808eea5 | 194 | success = false; |
| devanlai | 0:f2565808eea5 | 195 | break; |
| devanlai | 0:f2565808eea5 | 196 | } |
| devanlai | 0:f2565808eea5 | 197 | } |
| devanlai | 0:f2565808eea5 | 198 | |
| devanlai | 0:f2565808eea5 | 199 | return success; |
| devanlai | 0:f2565808eea5 | 200 | } |
| devanlai | 0:f2565808eea5 | 201 | |
| devanlai | 0:f2565808eea5 | 202 | bool SLCANBase::execConfigCommand(const char* command) { |
| devanlai | 0:f2565808eea5 | 203 | bool success = false; |
| devanlai | 0:f2565808eea5 | 204 | size_t len = strlen(command); |
| devanlai | 0:f2565808eea5 | 205 | |
| devanlai | 0:f2565808eea5 | 206 | // Validate command length |
| devanlai | 0:f2565808eea5 | 207 | if (len != 1 && command[0] != 'S') { |
| devanlai | 0:f2565808eea5 | 208 | return false; |
| devanlai | 0:f2565808eea5 | 209 | } else if (command[0] == 'S' && len != 2) { |
| devanlai | 0:f2565808eea5 | 210 | return false; |
| devanlai | 0:f2565808eea5 | 211 | } |
| devanlai | 0:f2565808eea5 | 212 | |
| devanlai | 0:f2565808eea5 | 213 | switch (command[0]) { |
| devanlai | 0:f2565808eea5 | 214 | case 'S': { |
| devanlai | 0:f2565808eea5 | 215 | bool known = true; |
| devanlai | 0:f2565808eea5 | 216 | int baudrate; |
| devanlai | 0:f2565808eea5 | 217 | switch (command[1]) { |
| devanlai | 0:f2565808eea5 | 218 | case '0': baudrate = 10000; break; |
| devanlai | 0:f2565808eea5 | 219 | case '1': baudrate = 20000; break; |
| devanlai | 0:f2565808eea5 | 220 | case '2': baudrate = 50000; break; |
| devanlai | 0:f2565808eea5 | 221 | case '3': baudrate = 100000; break; |
| devanlai | 0:f2565808eea5 | 222 | case '4': baudrate = 125000; break; |
| devanlai | 0:f2565808eea5 | 223 | case '5': baudrate = 250000; break; |
| devanlai | 0:f2565808eea5 | 224 | case '6': baudrate = 500000; break; |
| devanlai | 0:f2565808eea5 | 225 | case '7': baudrate = 800000; break; |
| devanlai | 0:f2565808eea5 | 226 | case '8': baudrate = 1000000; break; |
| devanlai | 0:f2565808eea5 | 227 | default: known = false; break; |
| devanlai | 0:f2565808eea5 | 228 | } |
| devanlai | 0:f2565808eea5 | 229 | |
| devanlai | 0:f2565808eea5 | 230 | if (known) { |
| devanlai | 0:f2565808eea5 | 231 | success = setBaudrate(baudrate); |
| devanlai | 0:f2565808eea5 | 232 | } |
| devanlai | 0:f2565808eea5 | 233 | |
| devanlai | 0:f2565808eea5 | 234 | break; |
| devanlai | 0:f2565808eea5 | 235 | } |
| devanlai | 0:f2565808eea5 | 236 | case 'O': { |
| devanlai | 0:f2565808eea5 | 237 | success = setMode(CAN::Normal); |
| devanlai | 0:f2565808eea5 | 238 | break; |
| devanlai | 0:f2565808eea5 | 239 | } |
| devanlai | 0:f2565808eea5 | 240 | case 'L': { |
| devanlai | 0:f2565808eea5 | 241 | success = setMode(CAN::Silent); |
| devanlai | 0:f2565808eea5 | 242 | break; |
| devanlai | 0:f2565808eea5 | 243 | } |
| devanlai | 0:f2565808eea5 | 244 | case 'l': { |
| devanlai | 0:f2565808eea5 | 245 | success = setMode(CAN::SilentTest); |
| devanlai | 0:f2565808eea5 | 246 | break; |
| devanlai | 0:f2565808eea5 | 247 | } |
| devanlai | 0:f2565808eea5 | 248 | case 'C': { |
| devanlai | 0:f2565808eea5 | 249 | success = setMode(CAN::Reset); |
| devanlai | 0:f2565808eea5 | 250 | break; |
| devanlai | 0:f2565808eea5 | 251 | } |
| devanlai | 0:f2565808eea5 | 252 | default: { |
| devanlai | 0:f2565808eea5 | 253 | success = false; |
| devanlai | 0:f2565808eea5 | 254 | break; |
| devanlai | 0:f2565808eea5 | 255 | } |
| devanlai | 0:f2565808eea5 | 256 | } |
| devanlai | 0:f2565808eea5 | 257 | |
| devanlai | 0:f2565808eea5 | 258 | return success; |
| devanlai | 0:f2565808eea5 | 259 | } |
| devanlai | 0:f2565808eea5 | 260 | |
| devanlai | 0:f2565808eea5 | 261 | bool SLCANBase::execTransmitCommand(const char* command) { |
| devanlai | 0:f2565808eea5 | 262 | bool success = false; |
| devanlai | 0:f2565808eea5 | 263 | |
| devanlai | 0:f2565808eea5 | 264 | size_t len = strlen(command); |
| devanlai | 0:f2565808eea5 | 265 | |
| devanlai | 0:f2565808eea5 | 266 | bool validMessage = false; |
| devanlai | 0:f2565808eea5 | 267 | CANMessage msg; |
| devanlai | 0:f2565808eea5 | 268 | if (command[0] == 't' || command[0] == 'T') { |
| devanlai | 0:f2565808eea5 | 269 | msg.type = CANData; |
| devanlai | 0:f2565808eea5 | 270 | msg.format = (command[0] == 't') ? CANStandard : CANExtended; |
| devanlai | 0:f2565808eea5 | 271 | size_t idLen = msg.format == CANStandard ? 3 : 8; |
| devanlai | 0:f2565808eea5 | 272 | if ((len >= idLen + 2) && |
| devanlai | 0:f2565808eea5 | 273 | parse_hex_digits(&command[1], idLen, (uint32_t*)&msg.id) && |
| devanlai | 0:f2565808eea5 | 274 | parse_dec_digit(&command[idLen + 1], &msg.len)) { |
| devanlai | 0:f2565808eea5 | 275 | if ((len == idLen + 2 + 2*msg.len) && |
| devanlai | 0:f2565808eea5 | 276 | (msg.len <= 8) && |
| devanlai | 0:f2565808eea5 | 277 | parse_hex_values(&command[idLen + 2], msg.len, msg.data)) { |
| devanlai | 0:f2565808eea5 | 278 | validMessage = true; |
| devanlai | 0:f2565808eea5 | 279 | } |
| devanlai | 0:f2565808eea5 | 280 | } |
| devanlai | 0:f2565808eea5 | 281 | } else if (command[0] == 'r' || command[0] == 'R') { |
| devanlai | 0:f2565808eea5 | 282 | msg.type = CANRemote; |
| devanlai | 0:f2565808eea5 | 283 | msg.format = (command[0] == 'r') ? CANStandard : CANExtended; |
| devanlai | 0:f2565808eea5 | 284 | size_t idLen = msg.format == CANStandard ? 3 : 8; |
| devanlai | 0:f2565808eea5 | 285 | if ((len == idLen + 2) && |
| devanlai | 0:f2565808eea5 | 286 | parse_hex_digits(&command[1], idLen, (uint32_t*)(&msg.id)) && |
| devanlai | 0:f2565808eea5 | 287 | parse_dec_digit(&command[idLen + 1], &msg.len)) { |
| devanlai | 0:f2565808eea5 | 288 | if (msg.len <= 8) { |
| devanlai | 0:f2565808eea5 | 289 | validMessage = true; |
| devanlai | 0:f2565808eea5 | 290 | } |
| devanlai | 0:f2565808eea5 | 291 | } |
| devanlai | 0:f2565808eea5 | 292 | } |
| devanlai | 0:f2565808eea5 | 293 | |
| devanlai | 0:f2565808eea5 | 294 | if (validMessage) { |
| devanlai | 0:f2565808eea5 | 295 | success = transmitMessage(msg); |
| devanlai | 0:f2565808eea5 | 296 | } |
| devanlai | 0:f2565808eea5 | 297 | |
| devanlai | 0:f2565808eea5 | 298 | return success; |
| devanlai | 0:f2565808eea5 | 299 | } |
| devanlai | 0:f2565808eea5 | 300 | |
| devanlai | 2:1327e61cc56b | 301 | bool SLCANBase::execDiagnosticCommand(const char* command, char* response) { |
| devanlai | 2:1327e61cc56b | 302 | bool success = false; |
| devanlai | 2:1327e61cc56b | 303 | size_t len = strlen(command); |
| devanlai | 2:1327e61cc56b | 304 | |
| devanlai | 2:1327e61cc56b | 305 | // Validate command length |
| devanlai | 2:1327e61cc56b | 306 | if (command[0] == 'W') { |
| devanlai | 2:1327e61cc56b | 307 | if (len != 5) { |
| devanlai | 2:1327e61cc56b | 308 | return false; |
| devanlai | 2:1327e61cc56b | 309 | } |
| devanlai | 2:1327e61cc56b | 310 | } else if (len != 1) { |
| devanlai | 2:1327e61cc56b | 311 | return false; |
| devanlai | 2:1327e61cc56b | 312 | } |
| devanlai | 2:1327e61cc56b | 313 | |
| devanlai | 2:1327e61cc56b | 314 | if (!response) { |
| devanlai | 2:1327e61cc56b | 315 | return false; |
| devanlai | 2:1327e61cc56b | 316 | } |
| devanlai | 2:1327e61cc56b | 317 | |
| devanlai | 2:1327e61cc56b | 318 | switch (command[0]) { |
| devanlai | 2:1327e61cc56b | 319 | case 'V': { |
| devanlai | 2:1327e61cc56b | 320 | success = true; |
| devanlai | 2:1327e61cc56b | 321 | uint8_t hwVersion = getHardwareVersion(); |
| devanlai | 2:1327e61cc56b | 322 | uint8_t fwVersion = getFirmwareVersion(); |
| devanlai | 2:1327e61cc56b | 323 | |
| devanlai | 2:1327e61cc56b | 324 | response[0] = 'V'; |
| devanlai | 2:1327e61cc56b | 325 | response[1] = format_nibble(hwVersion >> 4); |
| devanlai | 2:1327e61cc56b | 326 | response[2] = format_nibble(hwVersion >> 0); |
| devanlai | 2:1327e61cc56b | 327 | response[3] = format_nibble(fwVersion >> 4); |
| devanlai | 2:1327e61cc56b | 328 | response[4] = format_nibble(fwVersion >> 0); |
| devanlai | 2:1327e61cc56b | 329 | response[5] = '\0'; |
| devanlai | 2:1327e61cc56b | 330 | break; |
| devanlai | 2:1327e61cc56b | 331 | } |
| devanlai | 2:1327e61cc56b | 332 | case 'v': { |
| devanlai | 2:1327e61cc56b | 333 | success = true; |
| devanlai | 2:1327e61cc56b | 334 | uint8_t fwVersion = getFirmwareVersion(); |
| devanlai | 2:1327e61cc56b | 335 | response[0] = 'v'; |
| devanlai | 2:1327e61cc56b | 336 | response[1] = format_nibble(fwVersion >> 4); |
| devanlai | 2:1327e61cc56b | 337 | response[2] = format_nibble(fwVersion >> 0); |
| devanlai | 2:1327e61cc56b | 338 | response[3] = '\0'; |
| devanlai | 2:1327e61cc56b | 339 | break; |
| devanlai | 2:1327e61cc56b | 340 | } |
| devanlai | 2:1327e61cc56b | 341 | case 'N': { |
| devanlai | 2:1327e61cc56b | 342 | success = true; |
| devanlai | 2:1327e61cc56b | 343 | const char* serial = getSerialString(); |
| devanlai | 2:1327e61cc56b | 344 | size_t index = 0; |
| devanlai | 2:1327e61cc56b | 345 | response[index++] = 'N'; |
| devanlai | 2:1327e61cc56b | 346 | for (int i=0; i < 4; i++) { |
| devanlai | 2:1327e61cc56b | 347 | char c = serial[i]; |
| devanlai | 2:1327e61cc56b | 348 | if (c == '\0') { |
| devanlai | 2:1327e61cc56b | 349 | break; |
| devanlai | 2:1327e61cc56b | 350 | } else { |
| devanlai | 2:1327e61cc56b | 351 | response[index++] = c; |
| devanlai | 2:1327e61cc56b | 352 | } |
| devanlai | 2:1327e61cc56b | 353 | } |
| devanlai | 2:1327e61cc56b | 354 | response[index] = '\0'; |
| devanlai | 2:1327e61cc56b | 355 | break; |
| devanlai | 2:1327e61cc56b | 356 | } |
| devanlai | 2:1327e61cc56b | 357 | case 'W': { |
| devanlai | 2:1327e61cc56b | 358 | // Just swallow the MCP2515 register write command |
| devanlai | 2:1327e61cc56b | 359 | success = true; |
| devanlai | 2:1327e61cc56b | 360 | break; |
| devanlai | 2:1327e61cc56b | 361 | } |
| devanlai | 2:1327e61cc56b | 362 | default: { |
| devanlai | 2:1327e61cc56b | 363 | success = false; |
| devanlai | 2:1327e61cc56b | 364 | break; |
| devanlai | 2:1327e61cc56b | 365 | } |
| devanlai | 2:1327e61cc56b | 366 | } |
| devanlai | 2:1327e61cc56b | 367 | |
| devanlai | 2:1327e61cc56b | 368 | return success; |
| devanlai | 2:1327e61cc56b | 369 | } |
| devanlai | 2:1327e61cc56b | 370 | |
| devanlai | 0:f2565808eea5 | 371 | USBSLCAN::USBSLCAN(USBSerial& stream, CAN& can) |
| devanlai | 0:f2565808eea5 | 372 | : stream(stream), |
| devanlai | 0:f2565808eea5 | 373 | can(can), |
| devanlai | 0:f2565808eea5 | 374 | messageQueued(false), |
| devanlai | 0:f2565808eea5 | 375 | commandQueued(false), |
| devanlai | 0:f2565808eea5 | 376 | commandOverflow(false), |
| devanlai | 0:f2565808eea5 | 377 | inputCommandLen(0), |
| devanlai | 0:f2565808eea5 | 378 | outputPacketLen(0) { |
| devanlai | 0:f2565808eea5 | 379 | |
| devanlai | 0:f2565808eea5 | 380 | } |
| devanlai | 0:f2565808eea5 | 381 | |
| devanlai | 0:f2565808eea5 | 382 | bool USBSLCAN::setBaudrate(int baudrate) { |
| devanlai | 0:f2565808eea5 | 383 | return (can.frequency(baudrate) == 1); |
| devanlai | 0:f2565808eea5 | 384 | } |
| devanlai | 0:f2565808eea5 | 385 | |
| devanlai | 0:f2565808eea5 | 386 | bool USBSLCAN::setMode(CAN::Mode mode) { |
| devanlai | 0:f2565808eea5 | 387 | return (can.mode(mode) == 1); |
| devanlai | 0:f2565808eea5 | 388 | } |
| devanlai | 0:f2565808eea5 | 389 | |
| devanlai | 0:f2565808eea5 | 390 | bool USBSLCAN::transmitMessage(CANMessage& msg) { |
| devanlai | 0:f2565808eea5 | 391 | return (can.write(msg) == 1); |
| devanlai | 0:f2565808eea5 | 392 | } |
| devanlai | 0:f2565808eea5 | 393 | |
| devanlai | 0:f2565808eea5 | 394 | bool USBSLCAN::getNextCANMessage(CANMessage& msg) { |
| devanlai | 0:f2565808eea5 | 395 | return (can.read(msg) == 1); |
| devanlai | 0:f2565808eea5 | 396 | } |
| devanlai | 0:f2565808eea5 | 397 | |
| devanlai | 0:f2565808eea5 | 398 | /* Parse and execute a single SLCAN command and enqueue the response */ |
| devanlai | 0:f2565808eea5 | 399 | bool USBSLCAN::processCommands() { |
| devanlai | 0:f2565808eea5 | 400 | bool active = false; |
| devanlai | 0:f2565808eea5 | 401 | |
| devanlai | 0:f2565808eea5 | 402 | // Buffer an entire command |
| devanlai | 0:f2565808eea5 | 403 | while (!commandQueued && stream.readable()) { |
| devanlai | 0:f2565808eea5 | 404 | char c = (char)stream.getc(); |
| devanlai | 0:f2565808eea5 | 405 | if (c == '\r') { |
| devanlai | 0:f2565808eea5 | 406 | if (commandOverflow) { |
| devanlai | 0:f2565808eea5 | 407 | // Replace with a dummy invalid command so we return an error |
| devanlai | 0:f2565808eea5 | 408 | inputCommandBuffer[0] = '!'; |
| devanlai | 0:f2565808eea5 | 409 | inputCommandBuffer[1] = '\0'; |
| devanlai | 0:f2565808eea5 | 410 | inputCommandLen = 0; |
| devanlai | 0:f2565808eea5 | 411 | commandOverflow = false; |
| devanlai | 0:f2565808eea5 | 412 | active = true; |
| devanlai | 0:f2565808eea5 | 413 | } else { |
| devanlai | 0:f2565808eea5 | 414 | // Null-terminate the buffered command |
| devanlai | 0:f2565808eea5 | 415 | inputCommandBuffer[inputCommandLen] = '\0'; |
| devanlai | 0:f2565808eea5 | 416 | inputCommandLen = 0; |
| devanlai | 0:f2565808eea5 | 417 | active = true; |
| devanlai | 0:f2565808eea5 | 418 | } |
| devanlai | 0:f2565808eea5 | 419 | commandQueued = true; |
| devanlai | 0:f2565808eea5 | 420 | } else if (c == '\n' && inputCommandLen == 0) { |
| devanlai | 0:f2565808eea5 | 421 | // Ignore line feeds immediately after a carriage return |
| devanlai | 0:f2565808eea5 | 422 | } else if (commandOverflow) { |
| devanlai | 0:f2565808eea5 | 423 | // Swallow the rest of the command when overflow occurs |
| devanlai | 0:f2565808eea5 | 424 | } else { |
| devanlai | 0:f2565808eea5 | 425 | // Append to the end of the command |
| devanlai | 0:f2565808eea5 | 426 | inputCommandBuffer[inputCommandLen++] = c; |
| devanlai | 0:f2565808eea5 | 427 | |
| devanlai | 0:f2565808eea5 | 428 | if (inputCommandLen >= sizeof(inputCommandBuffer)) { |
| devanlai | 0:f2565808eea5 | 429 | commandOverflow = true; |
| devanlai | 0:f2565808eea5 | 430 | } |
| devanlai | 0:f2565808eea5 | 431 | } |
| devanlai | 0:f2565808eea5 | 432 | } |
| devanlai | 0:f2565808eea5 | 433 | |
| devanlai | 0:f2565808eea5 | 434 | // Process the current command if there's space to send the response |
| devanlai | 2:1327e61cc56b | 435 | if (commandQueued) { |
| devanlai | 2:1327e61cc56b | 436 | size_t responseLength = commandResponseLength(inputCommandBuffer); |
| devanlai | 2:1327e61cc56b | 437 | if ((outputPacketLen + responseLength) <= sizeof(outputPacketBuffer)) { |
| devanlai | 2:1327e61cc56b | 438 | char outputResponseBuffer[32]; |
| devanlai | 2:1327e61cc56b | 439 | outputResponseBuffer[0] = '\0'; |
| devanlai | 2:1327e61cc56b | 440 | if (execCommand(inputCommandBuffer, outputResponseBuffer)) { |
| devanlai | 2:1327e61cc56b | 441 | // Success |
| devanlai | 2:1327e61cc56b | 442 | for (char* s = outputResponseBuffer; *s != '\0'; s++) { |
| devanlai | 2:1327e61cc56b | 443 | outputPacketBuffer[outputPacketLen++] = *s; |
| devanlai | 2:1327e61cc56b | 444 | } |
| devanlai | 2:1327e61cc56b | 445 | outputPacketBuffer[outputPacketLen++] = '\r'; |
| devanlai | 2:1327e61cc56b | 446 | } else { |
| devanlai | 2:1327e61cc56b | 447 | // Failure |
| devanlai | 2:1327e61cc56b | 448 | outputPacketBuffer[outputPacketLen++] = '\a'; |
| devanlai | 2:1327e61cc56b | 449 | } |
| devanlai | 2:1327e61cc56b | 450 | commandQueued = false; |
| devanlai | 2:1327e61cc56b | 451 | active = true; |
| devanlai | 0:f2565808eea5 | 452 | } |
| devanlai | 0:f2565808eea5 | 453 | } |
| devanlai | 0:f2565808eea5 | 454 | |
| devanlai | 0:f2565808eea5 | 455 | return active; |
| devanlai | 0:f2565808eea5 | 456 | } |
| devanlai | 0:f2565808eea5 | 457 | |
| devanlai | 0:f2565808eea5 | 458 | /* Read and enqueue as many received CAN messages as will fit */ |
| devanlai | 0:f2565808eea5 | 459 | bool USBSLCAN::processCANMessages() { |
| devanlai | 0:f2565808eea5 | 460 | bool active = false; |
| devanlai | 0:f2565808eea5 | 461 | |
| devanlai | 1:3644b10bce2f | 462 | size_t bytesAvailable = sizeof(outputPacketBuffer) - outputPacketLen; |
| devanlai | 0:f2565808eea5 | 463 | char* packetTail = &outputPacketBuffer[outputPacketLen]; |
| devanlai | 0:f2565808eea5 | 464 | |
| devanlai | 0:f2565808eea5 | 465 | if (messageQueued) { |
| devanlai | 0:f2565808eea5 | 466 | size_t bytesConsumed = formatCANMessage(queuedMessage, packetTail, bytesAvailable); |
| devanlai | 0:f2565808eea5 | 467 | if (bytesConsumed > 0) { |
| devanlai | 0:f2565808eea5 | 468 | active = true; |
| devanlai | 0:f2565808eea5 | 469 | messageQueued = false; |
| devanlai | 0:f2565808eea5 | 470 | bytesAvailable -= bytesConsumed; |
| devanlai | 0:f2565808eea5 | 471 | packetTail += bytesConsumed; |
| devanlai | 0:f2565808eea5 | 472 | outputPacketLen += bytesConsumed; |
| devanlai | 0:f2565808eea5 | 473 | } |
| devanlai | 0:f2565808eea5 | 474 | } |
| devanlai | 0:f2565808eea5 | 475 | |
| devanlai | 0:f2565808eea5 | 476 | if (!messageQueued) { |
| devanlai | 0:f2565808eea5 | 477 | while (getNextCANMessage(queuedMessage)) { |
| devanlai | 0:f2565808eea5 | 478 | size_t bytesConsumed = formatCANMessage(queuedMessage, packetTail, bytesAvailable); |
| devanlai | 0:f2565808eea5 | 479 | if (bytesConsumed > 0) { |
| devanlai | 0:f2565808eea5 | 480 | active = true; |
| devanlai | 0:f2565808eea5 | 481 | bytesAvailable -= bytesConsumed; |
| devanlai | 0:f2565808eea5 | 482 | packetTail += bytesConsumed; |
| devanlai | 0:f2565808eea5 | 483 | outputPacketLen += bytesConsumed; |
| devanlai | 0:f2565808eea5 | 484 | } else { |
| devanlai | 0:f2565808eea5 | 485 | messageQueued = true; |
| devanlai | 0:f2565808eea5 | 486 | break; |
| devanlai | 0:f2565808eea5 | 487 | } |
| devanlai | 0:f2565808eea5 | 488 | } |
| devanlai | 0:f2565808eea5 | 489 | } |
| devanlai | 0:f2565808eea5 | 490 | |
| devanlai | 0:f2565808eea5 | 491 | return active; |
| devanlai | 0:f2565808eea5 | 492 | } |
| devanlai | 0:f2565808eea5 | 493 | |
| devanlai | 0:f2565808eea5 | 494 | /* Attempt to transmit the output queue */ |
| devanlai | 0:f2565808eea5 | 495 | bool USBSLCAN::flush() { |
| devanlai | 0:f2565808eea5 | 496 | bool active = false; |
| devanlai | 0:f2565808eea5 | 497 | if (outputPacketLen > 0) { |
| devanlai | 0:f2565808eea5 | 498 | bool sent = stream.writeBlock((uint8_t*)(outputPacketBuffer), |
| devanlai | 0:f2565808eea5 | 499 | (uint16_t)(outputPacketLen)); |
| devanlai | 0:f2565808eea5 | 500 | if (sent) { |
| devanlai | 0:f2565808eea5 | 501 | active = true; |
| devanlai | 0:f2565808eea5 | 502 | outputPacketLen = 0; |
| devanlai | 0:f2565808eea5 | 503 | } |
| devanlai | 0:f2565808eea5 | 504 | } |
| devanlai | 0:f2565808eea5 | 505 | return active; |
| devanlai | 0:f2565808eea5 | 506 | } |
| devanlai | 0:f2565808eea5 | 507 | |
| devanlai | 0:f2565808eea5 | 508 | SerialSLCAN::SerialSLCAN(Serial& stream, CAN& can) |
| devanlai | 0:f2565808eea5 | 509 | : stream(stream), |
| devanlai | 0:f2565808eea5 | 510 | can(can), |
| devanlai | 0:f2565808eea5 | 511 | commandQueued(false), |
| devanlai | 0:f2565808eea5 | 512 | commandOverflow(false), |
| devanlai | 0:f2565808eea5 | 513 | inputCommandLen(0) { |
| devanlai | 0:f2565808eea5 | 514 | } |
| devanlai | 0:f2565808eea5 | 515 | |
| devanlai | 0:f2565808eea5 | 516 | bool SerialSLCAN::setBaudrate(int baudrate) { |
| devanlai | 0:f2565808eea5 | 517 | return (can.frequency(baudrate) == 1); |
| devanlai | 0:f2565808eea5 | 518 | } |
| devanlai | 0:f2565808eea5 | 519 | |
| devanlai | 0:f2565808eea5 | 520 | bool SerialSLCAN::setMode(CAN::Mode mode) { |
| devanlai | 0:f2565808eea5 | 521 | return (can.mode(mode) == 1); |
| devanlai | 0:f2565808eea5 | 522 | } |
| devanlai | 0:f2565808eea5 | 523 | |
| devanlai | 0:f2565808eea5 | 524 | bool SerialSLCAN::transmitMessage(CANMessage& msg) { |
| devanlai | 0:f2565808eea5 | 525 | return (can.write(msg) == 1); |
| devanlai | 0:f2565808eea5 | 526 | } |
| devanlai | 0:f2565808eea5 | 527 | |
| devanlai | 0:f2565808eea5 | 528 | bool SerialSLCAN::getNextCANMessage(CANMessage& msg) { |
| devanlai | 0:f2565808eea5 | 529 | return (can.read(msg) == 1); |
| devanlai | 0:f2565808eea5 | 530 | } |
| devanlai | 0:f2565808eea5 | 531 | |
| devanlai | 0:f2565808eea5 | 532 | /* Parse and execute a single SLCAN command and enqueue the response */ |
| devanlai | 0:f2565808eea5 | 533 | bool SerialSLCAN::processCommands() { |
| devanlai | 0:f2565808eea5 | 534 | bool active = false; |
| devanlai | 0:f2565808eea5 | 535 | |
| devanlai | 0:f2565808eea5 | 536 | // Buffer an entire command |
| devanlai | 0:f2565808eea5 | 537 | while (!commandQueued && stream.readable()) { |
| devanlai | 0:f2565808eea5 | 538 | char c = (char)stream.getc(); |
| devanlai | 0:f2565808eea5 | 539 | if (c == '\r') { |
| devanlai | 0:f2565808eea5 | 540 | if (commandOverflow) { |
| devanlai | 0:f2565808eea5 | 541 | // Replace with a dummy invalid command so we return an error |
| devanlai | 0:f2565808eea5 | 542 | inputCommandBuffer[0] = '!'; |
| devanlai | 0:f2565808eea5 | 543 | inputCommandBuffer[1] = '\0'; |
| devanlai | 0:f2565808eea5 | 544 | inputCommandLen = 0; |
| devanlai | 0:f2565808eea5 | 545 | commandOverflow = false; |
| devanlai | 0:f2565808eea5 | 546 | active = true; |
| devanlai | 0:f2565808eea5 | 547 | } else { |
| devanlai | 0:f2565808eea5 | 548 | // Null-terminate the buffered command |
| devanlai | 0:f2565808eea5 | 549 | inputCommandBuffer[inputCommandLen] = '\0'; |
| devanlai | 0:f2565808eea5 | 550 | inputCommandLen = 0; |
| devanlai | 0:f2565808eea5 | 551 | active = true; |
| devanlai | 0:f2565808eea5 | 552 | } |
| devanlai | 0:f2565808eea5 | 553 | commandQueued = true; |
| devanlai | 0:f2565808eea5 | 554 | } else if (c == '\n' && inputCommandLen == 0) { |
| devanlai | 0:f2565808eea5 | 555 | // Ignore line feeds immediately after a carriage return |
| devanlai | 0:f2565808eea5 | 556 | } else if (commandOverflow) { |
| devanlai | 0:f2565808eea5 | 557 | // Swallow the rest of the command when overflow occurs |
| devanlai | 0:f2565808eea5 | 558 | } else { |
| devanlai | 0:f2565808eea5 | 559 | // Append to the end of the command |
| devanlai | 0:f2565808eea5 | 560 | inputCommandBuffer[inputCommandLen++] = c; |
| devanlai | 0:f2565808eea5 | 561 | |
| devanlai | 0:f2565808eea5 | 562 | if (inputCommandLen >= sizeof(inputCommandBuffer)) { |
| devanlai | 0:f2565808eea5 | 563 | commandOverflow = true; |
| devanlai | 0:f2565808eea5 | 564 | } |
| devanlai | 0:f2565808eea5 | 565 | } |
| devanlai | 0:f2565808eea5 | 566 | } |
| devanlai | 0:f2565808eea5 | 567 | |
| devanlai | 2:1327e61cc56b | 568 | // Process the current command |
| devanlai | 0:f2565808eea5 | 569 | if (commandQueued) { |
| devanlai | 2:1327e61cc56b | 570 | char outputResponseBuffer[32]; |
| devanlai | 2:1327e61cc56b | 571 | outputResponseBuffer[0] = '\0'; |
| devanlai | 2:1327e61cc56b | 572 | if (execCommand(inputCommandBuffer, outputResponseBuffer)) { |
| devanlai | 0:f2565808eea5 | 573 | // Success |
| devanlai | 2:1327e61cc56b | 574 | stream.puts(outputResponseBuffer); |
| devanlai | 0:f2565808eea5 | 575 | stream.putc('\r'); |
| devanlai | 0:f2565808eea5 | 576 | } else { |
| devanlai | 0:f2565808eea5 | 577 | // Failure |
| devanlai | 0:f2565808eea5 | 578 | stream.putc('\a'); |
| devanlai | 0:f2565808eea5 | 579 | } |
| devanlai | 0:f2565808eea5 | 580 | commandQueued = false; |
| devanlai | 0:f2565808eea5 | 581 | active = true; |
| devanlai | 0:f2565808eea5 | 582 | } |
| devanlai | 0:f2565808eea5 | 583 | |
| devanlai | 0:f2565808eea5 | 584 | return active; |
| devanlai | 0:f2565808eea5 | 585 | } |
| devanlai | 0:f2565808eea5 | 586 | |
| devanlai | 0:f2565808eea5 | 587 | /* Read and enqueue as many received CAN messages as will fit */ |
| devanlai | 0:f2565808eea5 | 588 | bool SerialSLCAN::processCANMessages() { |
| devanlai | 0:f2565808eea5 | 589 | bool active = false; |
| devanlai | 0:f2565808eea5 | 590 | CANMessage msg; |
| devanlai | 0:f2565808eea5 | 591 | while (getNextCANMessage(msg)) { |
| devanlai | 0:f2565808eea5 | 592 | char buffer[32]; |
| devanlai | 0:f2565808eea5 | 593 | size_t len = formatCANMessage(msg, buffer, sizeof(buffer)); |
| devanlai | 0:f2565808eea5 | 594 | buffer[len] = '\0'; |
| devanlai | 0:f2565808eea5 | 595 | stream.puts(buffer); |
| devanlai | 0:f2565808eea5 | 596 | active = true; |
| devanlai | 0:f2565808eea5 | 597 | } |
| devanlai | 0:f2565808eea5 | 598 | |
| devanlai | 0:f2565808eea5 | 599 | return active; |
| devanlai | 0:f2565808eea5 | 600 | } |
| devanlai | 0:f2565808eea5 | 601 | |
| devanlai | 0:f2565808eea5 | 602 | /* Attempt to transmit the output queue */ |
| devanlai | 0:f2565808eea5 | 603 | bool SerialSLCAN::flush() { |
| devanlai | 0:f2565808eea5 | 604 | return false; |
| devanlai | 0:f2565808eea5 | 605 | } |