Sophie Dexter / Mbed 2 deprecated Seeed_CAN_Hello_World

This 'Hello World' program uses many of the SEEED_CAN library functions to display the VIN number stored in a GMLAN ECU then display all CAN messages on the CAN-BUS.

Dependencies:   SEEED_CAN mbed

Fork of Seeed_CAN_Hello_World by Sophie Dexter

main.cpp@1:d31ce42d53a1, 2013-11-06 (annotated)

Committer:
Just4pLeisure
Date:
Wed Nov 06 20:24:49 2013 +0000
Revision:
1:d31ce42d53a1
Parent:
0:d3e39839c3e3
Child:
2:7e78ba1e5921
Simple Demo for my Seeed Studios' CAN-BUS Shield library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Just4pLeisure 0:d3e39839c3e3 1 #include "mbed.h"
Just4pLeisure 0:d3e39839c3e3 2 #include "seeed_can.h"
Just4pLeisure 0:d3e39839c3e3 3
Just4pLeisure 1:d31ce42d53a1 4 SEEED_CAN CAN; // No parameters needed when Seeed Studios' CAN-BUS Shield is plugged into a FRDM-KL25Z mbed
Just4pLeisure 1:d31ce42d53a1 5 Serial pc(USBTX, USBRX); // USB serial port TTYACM0 (or COMn in a Windows environment - use device manager to find 'n')
Just4pLeisure 0:d3e39839c3e3 6
Just4pLeisure 0:d3e39839c3e3 7 Ticker minute;
Just4pLeisure 0:d3e39839c3e3 8 Timer timestamp;
Just4pLeisure 0:d3e39839c3e3 9
Just4pLeisure 0:d3e39839c3e3 10 void resetTimestamp()
Just4pLeisure 0:d3e39839c3e3 11 {
Just4pLeisure 0:d3e39839c3e3 12 timestamp.reset();
Just4pLeisure 0:d3e39839c3e3 13 }
Just4pLeisure 0:d3e39839c3e3 14
Just4pLeisure 0:d3e39839c3e3 15 int main()
Just4pLeisure 0:d3e39839c3e3 16 {
Just4pLeisure 0:d3e39839c3e3 17 SEEED_CANMessage canMsg;
Just4pLeisure 1:d31ce42d53a1 18 char VIN[18] = {NULL}; // VIN code is 17 characters long + 1 for string terminator character (NULL or \0)
Just4pLeisure 1:d31ce42d53a1 19 char reqvin[] = {0x02,0x1A,0x90,0x00,0x00,0x00,0x00,0x00}; // CAN message to request VIN code
Just4pLeisure 1:d31ce42d53a1 20 char floctl[] = {0x30,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; // CAN message to request all remaining frames in a multi-frame message
Just4pLeisure 0:d3e39839c3e3 21
Just4pLeisure 0:d3e39839c3e3 22 printf("Seeed Studios CAN-BUS Shield 'Hello World' program :-)\r\n");
Just4pLeisure 0:d3e39839c3e3 23 timestamp.start();
Just4pLeisure 0:d3e39839c3e3 24 minute.attach(&resetTimestamp, 60.0); // Reset the 'Timestamp' timer every minute
Just4pLeisure 1:d31ce42d53a1 25 CAN.open(500000); // Initialise Seeed Studios' CAN-BUS shield with a baudrate of 500 kbps (P-bus)
Just4pLeisure 1:d31ce42d53a1 26 CAN.mask(0, 0x7FF); // Configure Mask 0 to check all bits of a Standard CAN message Id
Just4pLeisure 1:d31ce42d53a1 27 CAN.mask(1, 0x7FF, CANStandard); // Configure Mask 1 to check all bits of a Standard CAN message Id
Just4pLeisure 1:d31ce42d53a1 28 CAN.filter(0, 0x7E8); // Configure Filter 0 - 0x7E8 is the id used by ECUs on GMLAN
Just4pLeisure 0:d3e39839c3e3 29 while (CAN.read(canMsg)); // Empty any unfiltered messages in the receive buffers
Just4pLeisure 0:d3e39839c3e3 30 // Read and Display the VIN code stored in a GMLAN ECU
Just4pLeisure 1:d31ce42d53a1 31 //
Just4pLeisure 1:d31ce42d53a1 32 // ***!!! NOTE: Using while(...) as I am here is not a good idea because !!!***
Just4pLeisure 1:d31ce42d53a1 33 // ***!!! this 'Hello World' will get stuck if the message never arrives !!!***
Just4pLeisure 1:d31ce42d53a1 34 // ***!!! I should really perform checking and include a timeout. !!!***
Just4pLeisure 1:d31ce42d53a1 35 // ***!!! It's sort of OK for a quick demo (Just don't show Nigel Jones) !!!***
Just4pLeisure 1:d31ce42d53a1 36 //
Just4pLeisure 1:d31ce42d53a1 37 CAN.write(SEEED_CANMessage(0x7E0, reqvin)); // Request VIN using ReadDataByIdentifier method (GMLAN_DID)
Just4pLeisure 1:d31ce42d53a1 38 while (!(CAN.read(canMsg) && (canMsg.id == 0x7E8))); // Wait for the response
Just4pLeisure 1:d31ce42d53a1 39 memcpy(VIN+0, canMsg.data+4, 4); // 1st 4 Bytes are part of message protocol, last 4 bytes are 1st 4 characters of VIN
Just4pLeisure 1:d31ce42d53a1 40 CAN.write(SEEED_CANMessage(0x7E0, floctl)); // Send Trionic8 a "Flow Control Message to get the rest of the VIN
Just4pLeisure 1:d31ce42d53a1 41 while (!(CAN.read(canMsg) && (canMsg.id == 0x7E8))); // Wait for the 1st continuation message
Just4pLeisure 1:d31ce42d53a1 42 memcpy(VIN+4, canMsg.data+1, 7); // 1st Byte is message continuation sequence number, last 7 bytes are next 7 characters of VIN
Just4pLeisure 1:d31ce42d53a1 43 while (!(CAN.read(canMsg) && (canMsg.id == 0x7E8))); // Wait for the last message
Just4pLeisure 1:d31ce42d53a1 44 memcpy(VIN+11, canMsg.data+1, 6); // 1st Byte is message continuation sequence number, last 6 bytes are remaining characters of VIN
Just4pLeisure 0:d3e39839c3e3 45 printf("VIN code: %s\r\n",VIN);
Just4pLeisure 0:d3e39839c3e3 46 // Display all messages on the CAN-BUS
Just4pLeisure 1:d31ce42d53a1 47 CAN.monitor(1); // Select Moniter mode to listen only (do not ack messages on the CAN bus)
Just4pLeisure 1:d31ce42d53a1 48 CAN.mask(0, NULL); // Clear acceptance mask 0 (i.e. accept all meassages)
Just4pLeisure 0:d3e39839c3e3 49 while (1) {
Just4pLeisure 0:d3e39839c3e3 50 if (CAN.read(canMsg)) {
Just4pLeisure 0:d3e39839c3e3 51 printf("*** T%05dI%03xL%dD", timestamp.read_ms(), canMsg.id, canMsg.len);
Just4pLeisure 0:d3e39839c3e3 52 for (uint32_t i=0; i<canMsg.len; i++)
Just4pLeisure 0:d3e39839c3e3 53 printf("%02x", canMsg.data[i]);
Just4pLeisure 0:d3e39839c3e3 54 printf(" ***\r");
Just4pLeisure 0:d3e39839c3e3 55 }
Just4pLeisure 0:d3e39839c3e3 56 }
Just4pLeisure 0:d3e39839c3e3 57 }