Innomatix Support / InnomatixSupport

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

example.cpp@4:fd93c4cb05df, 2016-09-28 (annotated)

Committer:
Innomatix
Date:
Wed Sep 28 19:53:11 2016 +0000
Revision:
4:fd93c4cb05df
Parent:
0:b9e1003fbee7
Child:
10:5fbe72ffb725
v1.04 Tweaks to example app in prep for public release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Innomatix 0:b9e1003fbee7 1 /*******************************************************************
Innomatix 0:b9e1003fbee7 2 *
Innomatix 0:b9e1003fbee7 3 * File: main.cpp
Innomatix 0:b9e1003fbee7 4 *
Innomatix 0:b9e1003fbee7 5 * Description: Example of using Innomatix Coprocessor Support functionality
Innomatix 0:b9e1003fbee7 6 *
Innomatix 0:b9e1003fbee7 7 * Copyright 2015 Innomatix, LLC., All Rights Reserved
Innomatix 0:b9e1003fbee7 8 *
Innomatix 0:b9e1003fbee7 9 * THIS DOCUMENT AND ITS CONTENTS ARE INTELLECTUAL PROPERTY
Innomatix 0:b9e1003fbee7 10 * OF INNOMATIX, LLC. ANY DUPLICATION IN PART OR WHOLE
Innomatix 0:b9e1003fbee7 11 * WITHOUT PRIOR WRITTEN CONSENT IS STRICTLY PROHIBITED.
Innomatix 0:b9e1003fbee7 12 *
Innomatix 0:b9e1003fbee7 13 *******************************************************************/
Innomatix 0:b9e1003fbee7 14 #include "mbed.h"
Innomatix 0:b9e1003fbee7 15 #include "Timer.h"
Innomatix 0:b9e1003fbee7 16
Innomatix 0:b9e1003fbee7 17
Innomatix 0:b9e1003fbee7 18 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 19 #include "RemoteDataStoreAPI.h"
Innomatix 0:b9e1003fbee7 20 RdsResults_e eRDSReady = rdsGeneralError;
Innomatix 0:b9e1003fbee7 21
Innomatix 0:b9e1003fbee7 22 // Name of the data bins we'll use
Innomatix 0:b9e1003fbee7 23 char PCopVersBinName[] = "CoprocVersion";
Innomatix 0:b9e1003fbee7 24 char PCopStatusBinName[] = "CoprocStatus";
Innomatix 0:b9e1003fbee7 25
Innomatix 0:b9e1003fbee7 26 char Press1BinName[] = "LeftFrontPressure";
Innomatix 0:b9e1003fbee7 27 char Press2BinName[] = "RightFrontPressure";
Innomatix 0:b9e1003fbee7 28 char Press3BinName[] = "LeftRearPressure";
Innomatix 0:b9e1003fbee7 29 char Press4BinName[] = "RightRearPressure";
Innomatix 0:b9e1003fbee7 30
Innomatix 0:b9e1003fbee7 31 // Data bin identifiers returned from GetDataBinInfo()
Innomatix 0:b9e1003fbee7 32 unsigned int VersBin = BinId_None;
Innomatix 0:b9e1003fbee7 33 unsigned int StatusBin = BinId_None;
Innomatix 0:b9e1003fbee7 34
Innomatix 0:b9e1003fbee7 35 unsigned int Press1Bin = BinId_None;
Innomatix 0:b9e1003fbee7 36 unsigned int Press2Bin = BinId_None;
Innomatix 0:b9e1003fbee7 37 unsigned int Press3Bin = BinId_None;
Innomatix 0:b9e1003fbee7 38 unsigned int Press4Bin = BinId_None;
Innomatix 0:b9e1003fbee7 39
Innomatix 0:b9e1003fbee7 40 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 41 #include "InnomatixCanAPI.h"
Innomatix 0:b9e1003fbee7 42 CanResults_e eCan3Ready = canGeneralError;
Innomatix 0:b9e1003fbee7 43 CanResults_e eCan4Ready = canGeneralError;
Innomatix 0:b9e1003fbee7 44
Innomatix 0:b9e1003fbee7 45
Innomatix 0:b9e1003fbee7 46 /*************************************************************************/
Innomatix 0:b9e1003fbee7 47 unsigned int GetDBinInfo( const char * name )
Innomatix 0:b9e1003fbee7 48 {
Innomatix 0:b9e1003fbee7 49 unsigned int id = BinId_None;
Innomatix 0:b9e1003fbee7 50 RdsResults_e result = rdsNoConnection;
Innomatix 0:b9e1003fbee7 51 BinInfoStruct_t info;
Innomatix 0:b9e1003fbee7 52
Innomatix 0:b9e1003fbee7 53 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 54 printf( "RemoteDataStore getting info for databin %s...", name );
Innomatix 0:b9e1003fbee7 55 result = GetDataBinInfo( name, &info );
Innomatix 0:b9e1003fbee7 56 if( rdsSuccess == result )
Innomatix 0:b9e1003fbee7 57 {
Innomatix 0:b9e1003fbee7 58 // we only care about the databin ID for this example
Innomatix 0:b9e1003fbee7 59 id = info.BinId;
Innomatix 0:b9e1003fbee7 60 printf( "SUCCESS, ID is %d\r\n", id );
Innomatix 0:b9e1003fbee7 61 }else
Innomatix 0:b9e1003fbee7 62 {
Innomatix 0:b9e1003fbee7 63 printf( "FAILED (%d)\r\n", result );
Innomatix 0:b9e1003fbee7 64 }
Innomatix 0:b9e1003fbee7 65 return( id );
Innomatix 0:b9e1003fbee7 66 }
Innomatix 0:b9e1003fbee7 67
Innomatix 0:b9e1003fbee7 68 /*************************************************************************/
Innomatix 0:b9e1003fbee7 69 void ExampleInit()
Innomatix 0:b9e1003fbee7 70 {
Innomatix 0:b9e1003fbee7 71 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 72 eRDSReady = DataStoreInit( "usb", 0 );
Innomatix 0:b9e1003fbee7 73 printf( "Innomatix RemoteDataStore API initialization: %s\r\n", (rdsSuccess == eRDSReady ? "INITIALIZED" : "FAILED") );
Innomatix 0:b9e1003fbee7 74
Innomatix 0:b9e1003fbee7 75 if( rdsSuccess == eRDSReady )
Innomatix 0:b9e1003fbee7 76 {
Innomatix 0:b9e1003fbee7 77 VersBin = GetDBinInfo( PCopVersBinName );
Innomatix 0:b9e1003fbee7 78 StatusBin = GetDBinInfo( PCopStatusBinName );
Innomatix 0:b9e1003fbee7 79
Innomatix 0:b9e1003fbee7 80 Press1Bin = GetDBinInfo( Press1BinName );
Innomatix 0:b9e1003fbee7 81 Press2Bin = GetDBinInfo( Press2BinName );
Innomatix 0:b9e1003fbee7 82 Press3Bin = GetDBinInfo( Press3BinName );
Innomatix 0:b9e1003fbee7 83 Press4Bin = GetDBinInfo( Press4BinName );
Innomatix 4:fd93c4cb05df 84 }
Innomatix 0:b9e1003fbee7 85
Innomatix 4:fd93c4cb05df 86
Innomatix 4:fd93c4cb05df 87
Innomatix 0:b9e1003fbee7 88 unsigned long can_baud = 500000;
Innomatix 0:b9e1003fbee7 89 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 90 // Params are: channel enum, baud rate
Innomatix 0:b9e1003fbee7 91 eCan3Ready = CanInit( canChDAP3, can_baud );
Innomatix 0:b9e1003fbee7 92 printf( "Innomatix CAN API initialization for Ch3 @ %dbps: %s\r\n", can_baud, (canSuccess == eCan3Ready ? "INITIALIZED" : "FAILED") );
Innomatix 0:b9e1003fbee7 93
Innomatix 0:b9e1003fbee7 94 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 95 eCan4Ready = CanInit( canChDAP4, can_baud );
Innomatix 0:b9e1003fbee7 96 printf( "Innomatix CAN API initialization for Ch4 @ %dbps: %s\r\n", can_baud, (canSuccess == eCan4Ready ? "INITIALIZED" : "FAILED") );
Innomatix 0:b9e1003fbee7 97
Innomatix 0:b9e1003fbee7 98 // Pause a moment to let all the CAN init stuff take effect, else
Innomatix 0:b9e1003fbee7 99 // sometimes we dont receive the first message on the bus
Innomatix 0:b9e1003fbee7 100 wait_ms( 100 );
Innomatix 4:fd93c4cb05df 101
Innomatix 0:b9e1003fbee7 102 }
Innomatix 0:b9e1003fbee7 103 /*************************************************************************/
Innomatix 0:b9e1003fbee7 104 void ExampleClose()
Innomatix 0:b9e1003fbee7 105 {
Innomatix 0:b9e1003fbee7 106 CanClose( canChDAP3 );
Innomatix 0:b9e1003fbee7 107 CanClose( canChDAP4 );
Innomatix 0:b9e1003fbee7 108 DataStoreClose();
Innomatix 0:b9e1003fbee7 109 }
Innomatix 0:b9e1003fbee7 110
Innomatix 0:b9e1003fbee7 111 /*************************************************************************/
Innomatix 0:b9e1003fbee7 112 /*************************************************************************/
Innomatix 0:b9e1003fbee7 113 int DoExample( char *zVersion )
Innomatix 0:b9e1003fbee7 114 {
Innomatix 0:b9e1003fbee7 115 char str[ 128 ] = {0};
Innomatix 0:b9e1003fbee7 116 unsigned long count = 0;
Innomatix 4:fd93c4cb05df 117
Innomatix 0:b9e1003fbee7 118 DigitalOut rxled(LED1); // RX activity toggle
Innomatix 0:b9e1003fbee7 119 DigitalOut rxeled(LED2); // RX error (overrun) toggle
Innomatix 0:b9e1003fbee7 120 DigitalOut txled(LED3); // TX activity toggle
Innomatix 0:b9e1003fbee7 121 DigitalOut txeled(LED4); // TX error toggle
Innomatix 0:b9e1003fbee7 122
Innomatix 4:fd93c4cb05df 123
Innomatix 0:b9e1003fbee7 124 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 125 CanResults_e canresult;
Innomatix 0:b9e1003fbee7 126 unsigned char msgbuff[ 8 ] = {0};
Innomatix 0:b9e1003fbee7 127 unsigned long msgid;
Innomatix 0:b9e1003fbee7 128 char msglen;
Innomatix 4:fd93c4cb05df 129 CanFormat_e msgformat;
Innomatix 0:b9e1003fbee7 130 unsigned long timestamp;
Innomatix 0:b9e1003fbee7 131
Innomatix 0:b9e1003fbee7 132 unsigned char txbuff[ 8 ] = {0};
Innomatix 0:b9e1003fbee7 133 unsigned short pressure = 0;
Innomatix 4:fd93c4cb05df 134
Innomatix 0:b9e1003fbee7 135 Timer TxTimer;
Innomatix 4:fd93c4cb05df 136
Innomatix 0:b9e1003fbee7 137
Innomatix 0:b9e1003fbee7 138 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 139 // Init the Support Library subsystems we'll use for this example
Innomatix 0:b9e1003fbee7 140 ExampleInit();
Innomatix 0:b9e1003fbee7 141 PutString( StatusBin, "Starting PCop Example" );
Innomatix 0:b9e1003fbee7 142 PutString( VersBin, zVersion );
Innomatix 0:b9e1003fbee7 143
Innomatix 0:b9e1003fbee7 144
Innomatix 0:b9e1003fbee7 145 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 146 // Use the Remote DataStore's special "debug" API
Innomatix 0:b9e1003fbee7 147 // The server will update a pre-determined data bin with the string.
Innomatix 0:b9e1003fbee7 148 // Typically the debug data bin is shown on the diagnostic display
Innomatix 0:b9e1003fbee7 149 // and is included in the data stream to the host.
Innomatix 0:b9e1003fbee7 150 PutDebug( "Entering example loop" );
Innomatix 0:b9e1003fbee7 151
Innomatix 0:b9e1003fbee7 152
Innomatix 0:b9e1003fbee7 153 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 154 //
Innomatix 0:b9e1003fbee7 155 // The coprocessor example is a CAN network bridge
Innomatix 0:b9e1003fbee7 156 //
Innomatix 4:fd93c4cb05df 157 // We will receive messages on CAN3 representing the air pressure in four tires.
Innomatix 4:fd93c4cb05df 158 // The four pressure values are published to the remote data store individually,
Innomatix 0:b9e1003fbee7 159 // and are combined into a single message which is transmitted on CAN4 at 1Hz
Innomatix 0:b9e1003fbee7 160 //
Innomatix 0:b9e1003fbee7 161 // CAN3 messages are ID 0x101, 0x102, 0x103, 0x104
Innomatix 0:b9e1003fbee7 162 // Data in the CAN3 messages are a 2-byte value in bytes [0] and [1]
Innomatix 0:b9e1003fbee7 163 //
Innomatix 0:b9e1003fbee7 164 // CAN4 message is ID 0x200
Innomatix 0:b9e1003fbee7 165 // Data in the CAN4 message are the same 2-byte values in order
Innomatix 0:b9e1003fbee7 166 //
Innomatix 4:fd93c4cb05df 167
Innomatix 0:b9e1003fbee7 168 TxTimer.start();
Innomatix 0:b9e1003fbee7 169 while( 1 )
Innomatix 0:b9e1003fbee7 170 {
Innomatix 0:b9e1003fbee7 171 count++;
Innomatix 0:b9e1003fbee7 172
Innomatix 0:b9e1003fbee7 173 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 174 // Get a message from CAN3
Innomatix 0:b9e1003fbee7 175 canresult = CanReceive( canChDAP3, &timestamp, &msgid, (CanFormat_e *)&msgformat, msgbuff, &msglen );
Innomatix 0:b9e1003fbee7 176 if( canSuccess == canresult )
Innomatix 0:b9e1003fbee7 177 {
Innomatix 0:b9e1003fbee7 178 //printf( "Got CAN message x%0x\r\n", msgid );
Innomatix 0:b9e1003fbee7 179 rxled = !rxled;
Innomatix 4:fd93c4cb05df 180
Innomatix 0:b9e1003fbee7 181 // if the message is one we are interested in
Innomatix 0:b9e1003fbee7 182 if( 0x100 == msgid )
Innomatix 0:b9e1003fbee7 183 {
Innomatix 0:b9e1003fbee7 184 // Copy the 2-byte value from the rx buffer to the proper
Innomatix 0:b9e1003fbee7 185 // location in the tx buffer
Innomatix 0:b9e1003fbee7 186 txbuff[ 0 ] = msgbuff[ 0 ];
Innomatix 0:b9e1003fbee7 187 txbuff[ 1 ] = msgbuff[ 1 ];
Innomatix 0:b9e1003fbee7 188
Innomatix 4:fd93c4cb05df 189 // Assemble the 2 bytes into a 2-byte value and publish
Innomatix 0:b9e1003fbee7 190 // to the remote data store
Innomatix 0:b9e1003fbee7 191 pressure = (msgbuff[ 0 ] << 8) + msgbuff[ 1 ];
Innomatix 0:b9e1003fbee7 192 PutUnsignedInteger( Press1Bin, pressure );
Innomatix 0:b9e1003fbee7 193
Innomatix 0:b9e1003fbee7 194 }else if( 0x101 == msgid )
Innomatix 0:b9e1003fbee7 195 {
Innomatix 0:b9e1003fbee7 196 txbuff[ 2 ] = msgbuff[ 0 ];
Innomatix 0:b9e1003fbee7 197 txbuff[ 3 ] = msgbuff[ 1 ];
Innomatix 0:b9e1003fbee7 198 pressure = (msgbuff[ 0 ] << 8) + msgbuff[ 1 ];
Innomatix 0:b9e1003fbee7 199 PutUnsignedInteger( Press2Bin, pressure );
Innomatix 0:b9e1003fbee7 200
Innomatix 0:b9e1003fbee7 201 }else if( 0x102 == msgid )
Innomatix 0:b9e1003fbee7 202 {
Innomatix 0:b9e1003fbee7 203 txbuff[ 4 ] = msgbuff[ 0 ];
Innomatix 0:b9e1003fbee7 204 txbuff[ 5 ] = msgbuff[ 1 ];
Innomatix 0:b9e1003fbee7 205 pressure = (msgbuff[ 0 ] << 8) + msgbuff[ 1 ];
Innomatix 0:b9e1003fbee7 206 PutUnsignedInteger( Press3Bin, pressure );
Innomatix 0:b9e1003fbee7 207
Innomatix 0:b9e1003fbee7 208 }else if( 0x103 == msgid )
Innomatix 0:b9e1003fbee7 209 {
Innomatix 0:b9e1003fbee7 210 txbuff[ 6 ] = msgbuff[ 0 ];
Innomatix 0:b9e1003fbee7 211 txbuff[ 7 ] = msgbuff[ 1 ];
Innomatix 0:b9e1003fbee7 212 pressure = (msgbuff[ 0 ] << 8) + msgbuff[ 1 ];
Innomatix 0:b9e1003fbee7 213 PutUnsignedInteger( Press4Bin, pressure );
Innomatix 4:fd93c4cb05df 214 }
Innomatix 0:b9e1003fbee7 215 }else if( canNoData != canresult )
Innomatix 0:b9e1003fbee7 216 {
Innomatix 4:fd93c4cb05df 217 sprintf( str, "CanReceive() error %d", canresult );
Innomatix 4:fd93c4cb05df 218 PutString( StatusBin, str );
Innomatix 4:fd93c4cb05df 219 printf( "%s\r\n", str );
Innomatix 0:b9e1003fbee7 220 }
Innomatix 4:fd93c4cb05df 221
Innomatix 0:b9e1003fbee7 222 /*-----------------------------------------------*/
Innomatix 0:b9e1003fbee7 223 // detect receive overruns - this means CAN messages are arrving faster
Innomatix 0:b9e1003fbee7 224 // than the application is reading them via CanReceive()
Innomatix 0:b9e1003fbee7 225 {
Innomatix 0:b9e1003fbee7 226 static unsigned long overflow = 0;
Innomatix 0:b9e1003fbee7 227 StatisticsStruct_t Stats;
Innomatix 0:b9e1003fbee7 228
Innomatix 0:b9e1003fbee7 229 // Check if there are more overrun errors this time than last time
Innomatix 0:b9e1003fbee7 230 CanStatistics( canChDAP3, &Stats );
Innomatix 0:b9e1003fbee7 231 if( Stats.OverflowCount > 0 && Stats.OverflowCount != overflow )
Innomatix 0:b9e1003fbee7 232 {
Innomatix 4:fd93c4cb05df 233 rxeled = !rxeled;
Innomatix 0:b9e1003fbee7 234 overflow = Stats.OverflowCount;
Innomatix 0:b9e1003fbee7 235 // publish the overflow count to the RDS
Innomatix 0:b9e1003fbee7 236 sprintf( str, "CAN3 OVF: %d", overflow );
Innomatix 0:b9e1003fbee7 237 PutString( StatusBin, str );
Innomatix 0:b9e1003fbee7 238 printf( "%s\r\n", str );
Innomatix 0:b9e1003fbee7 239 }
Innomatix 0:b9e1003fbee7 240 }
Innomatix 0:b9e1003fbee7 241
Innomatix 0:b9e1003fbee7 242
Innomatix 0:b9e1003fbee7 243 /*-----------------------------------------------*/
Innomatix 4:fd93c4cb05df 244 // send the combined pressure message at 5Hz
Innomatix 4:fd93c4cb05df 245 if( TxTimer.read_ms() >= 200 )
Innomatix 0:b9e1003fbee7 246 {
Innomatix 0:b9e1003fbee7 247 txled = !txled;
Innomatix 0:b9e1003fbee7 248
Innomatix 0:b9e1003fbee7 249 canresult = CanSend( canChDAP4, 0x200, canFormatStandard, txbuff, 8 );
Innomatix 0:b9e1003fbee7 250 if( canSuccess != canresult )
Innomatix 0:b9e1003fbee7 251 {
Innomatix 4:fd93c4cb05df 252 sprintf( str, "CanSend() error %d", canresult );
Innomatix 4:fd93c4cb05df 253 PutString( StatusBin, str );
Innomatix 4:fd93c4cb05df 254 printf( "%s\r\n", str );
Innomatix 4:fd93c4cb05df 255
Innomatix 0:b9e1003fbee7 256 txeled = !txeled;
Innomatix 0:b9e1003fbee7 257 }
Innomatix 0:b9e1003fbee7 258
Innomatix 0:b9e1003fbee7 259 // Also publish the loop count to the remote data store "debug" data bin
Innomatix 0:b9e1003fbee7 260 sprintf( str, "PCop Loop %d", count );
Innomatix 0:b9e1003fbee7 261 PutDebug( str );
Innomatix 4:fd93c4cb05df 262
Innomatix 0:b9e1003fbee7 263 // And restart the timer at 0
Innomatix 0:b9e1003fbee7 264 TxTimer.reset();
Innomatix 0:b9e1003fbee7 265 }
Innomatix 0:b9e1003fbee7 266 }
Innomatix 0:b9e1003fbee7 267
Innomatix 0:b9e1003fbee7 268 ExampleClose();
Innomatix 0:b9e1003fbee7 269
Innomatix 0:b9e1003fbee7 270 return( 0 );
Innomatix 0:b9e1003fbee7 271 }
Innomatix 0:b9e1003fbee7 272