Innomatix Support / InnomatixSupport

Official support library for using mbed as a programmable coprocessor in the Innomatix DAP-III+ telematics platform

InnomatixCanAPI/can_example.txt@10:5fbe72ffb725, 2017-09-06 (annotated)

Committer:
Innomatix
Date:
Wed Sep 06 19:17:07 2017 +0000
Revision:
10:5fbe72ffb725
Innomatix Support Library v1.0.7

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Innomatix 10:5fbe72ffb725 1 /*******************************************************************
Innomatix 10:5fbe72ffb725 2 *
Innomatix 10:5fbe72ffb725 3 * File: can_example.cpp
Innomatix 10:5fbe72ffb725 4 *
Innomatix 10:5fbe72ffb725 5 * Copyright 2017 Innomatix, LLC, All Rights Reserved
Innomatix 10:5fbe72ffb725 6 *
Innomatix 10:5fbe72ffb725 7 * Example of using the Innomatix CAN API for mbed
Innomatix 10:5fbe72ffb725 8 *
Innomatix 10:5fbe72ffb725 9 *******************************************************************/
Innomatix 10:5fbe72ffb725 10 #include "InnomatixCanAPI.h"
Innomatix 10:5fbe72ffb725 11
Innomatix 10:5fbe72ffb725 12 // Create the CAN objects per "the mbed way"
Innomatix 10:5fbe72ffb725 13 CAN can0( p9, p10 );
Innomatix 10:5fbe72ffb725 14 CAN can1( p30, p29 );
Innomatix 10:5fbe72ffb725 15
Innomatix 10:5fbe72ffb725 16
Innomatix 10:5fbe72ffb725 17 /******************************************************************************/
Innomatix 10:5fbe72ffb725 18 void CanExampleOpen()
Innomatix 10:5fbe72ffb725 19 {
Innomatix 10:5fbe72ffb725 20 CanResults_e canresult;
Innomatix 10:5fbe72ffb725 21 unsigned long can_baud = 500000;
Innomatix 10:5fbe72ffb725 22
Innomatix 10:5fbe72ffb725 23 /*-----------------------------------------------*/
Innomatix 10:5fbe72ffb725 24 // Initialize the CAN library
Innomatix 10:5fbe72ffb725 25 CanInit( &can0, &can1 );
Innomatix 10:5fbe72ffb725 26
Innomatix 10:5fbe72ffb725 27 /*-----------------------------------------------*/
Innomatix 10:5fbe72ffb725 28 // Open the CAN channels at the specified baud rate
Innomatix 10:5fbe72ffb725 29 canresult = CanOpen( canChDAP3, can_baud );
Innomatix 10:5fbe72ffb725 30 // Have to manually attache the Rx event handler
Innomatix 10:5fbe72ffb725 31 can0.attach( OnReceiveCanZero );
Innomatix 10:5fbe72ffb725 32 printf( "Innomatix CAN API initialization for Ch3 @ %dbps: %s\r\n", can_baud, (canSuccess == canresult ? "INITIALIZED" : "FAILED") );
Innomatix 10:5fbe72ffb725 33
Innomatix 10:5fbe72ffb725 34 /*-----------------------------------------------*/
Innomatix 10:5fbe72ffb725 35 canresult = CanOpen( canChDAP4, can_baud );
Innomatix 10:5fbe72ffb725 36 can1.attach( OnReceiveCanOne );
Innomatix 10:5fbe72ffb725 37 printf( "Innomatix CAN API initialization for Ch4 @ %dbps: %s\r\n", can_baud, (canSuccess == canresult ? "INITIALIZED" : "FAILED") );
Innomatix 10:5fbe72ffb725 38
Innomatix 10:5fbe72ffb725 39 /*-----------------------------------------------*/
Innomatix 10:5fbe72ffb725 40 // Pause a moment to let all the CAN init stuff take effect, else
Innomatix 10:5fbe72ffb725 41 // sometimes we dont receive the first message on the bus
Innomatix 10:5fbe72ffb725 42 wait_ms( 100 );
Innomatix 10:5fbe72ffb725 43 }
Innomatix 10:5fbe72ffb725 44
Innomatix 10:5fbe72ffb725 45
Innomatix 10:5fbe72ffb725 46
Innomatix 10:5fbe72ffb725 47
Innomatix 10:5fbe72ffb725 48 /******************************************************************************/
Innomatix 10:5fbe72ffb725 49 void CanExampleClose()
Innomatix 10:5fbe72ffb725 50 {
Innomatix 10:5fbe72ffb725 51 // Close the channels and clean up the library
Innomatix 10:5fbe72ffb725 52 CanClose( canChDAP3 );
Innomatix 10:5fbe72ffb725 53 CanClose( canChDAP4 );
Innomatix 10:5fbe72ffb725 54 }
Innomatix 10:5fbe72ffb725 55
Innomatix 10:5fbe72ffb725 56
Innomatix 10:5fbe72ffb725 57
Innomatix 10:5fbe72ffb725 58 /******************************************************************************/
Innomatix 10:5fbe72ffb725 59 void CanExampleMain()
Innomatix 10:5fbe72ffb725 60 {
Innomatix 10:5fbe72ffb725 61 CanResults_e canresult;
Innomatix 10:5fbe72ffb725 62 unsigned long msgid;
Innomatix 10:5fbe72ffb725 63 char msglen;
Innomatix 10:5fbe72ffb725 64 unsigned char msgbuff[ 8 ] = {0};
Innomatix 10:5fbe72ffb725 65 CanFormat_e msgformat;
Innomatix 10:5fbe72ffb725 66 unsigned long timestamp;
Innomatix 10:5fbe72ffb725 67
Innomatix 10:5fbe72ffb725 68
Innomatix 10:5fbe72ffb725 69 /*-----------------------------------------------*/
Innomatix 10:5fbe72ffb725 70 // Get a message from CAN3
Innomatix 10:5fbe72ffb725 71 canresult = CanReceive( canChDAP3, &timestamp, &msgid, (CanFormat_e *)&msgformat, msgbuff, &msglen );
Innomatix 10:5fbe72ffb725 72 if( canSuccess == canresult )
Innomatix 10:5fbe72ffb725 73 {
Innomatix 10:5fbe72ffb725 74 // Check msgid to see if we're interested in this message
Innomatix 10:5fbe72ffb725 75 if( 0x100 == msgid )
Innomatix 10:5fbe72ffb725 76 {
Innomatix 10:5fbe72ffb725 77 // get some data from the message
Innomatix 10:5fbe72ffb725 78 unsigned short val = 0;
Innomatix 10:5fbe72ffb725 79 val += msgbuff[0] << 8;
Innomatix 10:5fbe72ffb725 80 val += msgbuff[1];
Innomatix 10:5fbe72ffb725 81
Innomatix 10:5fbe72ffb725 82 //TODO do something with the value....
Innomatix 10:5fbe72ffb725 83
Innomatix 10:5fbe72ffb725 84 }else if( canNoData != canresult )
Innomatix 10:5fbe72ffb725 85 {
Innomatix 10:5fbe72ffb725 86 // No CAN message available
Innomatix 10:5fbe72ffb725 87 }else
Innomatix 10:5fbe72ffb725 88 {
Innomatix 10:5fbe72ffb725 89 // Something went wrong, check InnomatixCanAPI.h for result codes
Innomatix 10:5fbe72ffb725 90 }
Innomatix 10:5fbe72ffb725 91
Innomatix 10:5fbe72ffb725 92
Innomatix 10:5fbe72ffb725 93
Innomatix 10:5fbe72ffb725 94 /*-----------------------------------------------*/
Innomatix 10:5fbe72ffb725 95 // detect receive overruns - this means CAN messages are arrving faster
Innomatix 10:5fbe72ffb725 96 // than the application is reading them via CanReceive()
Innomatix 10:5fbe72ffb725 97 {
Innomatix 10:5fbe72ffb725 98 static unsigned long overflow = 0;
Innomatix 10:5fbe72ffb725 99 StatisticsStruct_t Stats;
Innomatix 10:5fbe72ffb725 100
Innomatix 10:5fbe72ffb725 101 // Check if there are more overrun errors this time than last time
Innomatix 10:5fbe72ffb725 102 CanStatistics( canChDAP3, &Stats );
Innomatix 10:5fbe72ffb725 103 if( Stats.OverflowCount > 0 && Stats.OverflowCount != overflow )
Innomatix 10:5fbe72ffb725 104 {
Innomatix 10:5fbe72ffb725 105 // save the new overflow count so we can tell if it changes next time
Innomatix 10:5fbe72ffb725 106 overflow = Stats.OverflowCount;
Innomatix 10:5fbe72ffb725 107
Innomatix 10:5fbe72ffb725 108 // publish the overflow count to a data bin
Innomatix 10:5fbe72ffb725 109 sprintf( str, "CAN3 OVF: %d", overflow );
Innomatix 10:5fbe72ffb725 110 PutString( StatusBin, str );
Innomatix 10:5fbe72ffb725 111 }
Innomatix 10:5fbe72ffb725 112 }
Innomatix 10:5fbe72ffb725 113
Innomatix 10:5fbe72ffb725 114
Innomatix 10:5fbe72ffb725 115
Innomatix 10:5fbe72ffb725 116 /*-----------------------------------------------*/
Innomatix 10:5fbe72ffb725 117 // Send a message on CAN4
Innomatix 10:5fbe72ffb725 118 memset( msgbuff, 0x00, sizeof(txbuff) );
Innomatix 10:5fbe72ffb725 119 msgbuff[ 0 ] = 0xF0;
Innomatix 10:5fbe72ffb725 120 msgbuff[ 1 ] = 0x0D;
Innomatix 10:5fbe72ffb725 121 canresult = CanSend( canChDAP4, 0x200, canFormatStandard, msgbuff, 8 );
Innomatix 10:5fbe72ffb725 122 if( canSuccess == canresult )
Innomatix 10:5fbe72ffb725 123 {
Innomatix 10:5fbe72ffb725 124 // success
Innomatix 10:5fbe72ffb725 125 }else
Innomatix 10:5fbe72ffb725 126 {
Innomatix 10:5fbe72ffb725 127 // fail - check InnomatixCanAPI.h for result codes
Innomatix 10:5fbe72ffb725 128 }
Innomatix 10:5fbe72ffb725 129 }
Innomatix 10:5fbe72ffb725 130
Innomatix 10:5fbe72ffb725 131