Revision 6:dae9630af6e3, committed 2014-10-27

Comitter:

LAvtec818

Date:

Mon Oct 27 02:46:55 2014 +0000

Parent:

5:46a6a3e36e05

Commit message:

report

Changed in this revision

diff -r 46a6a3e36e05 -r dae9630af6e3 FATFileSystem.lib
--- a/FATFileSystem.lib	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_unsupported/code/FatFileSystem/#333d6e93e58f

diff -r 46a6a3e36e05 -r dae9630af6e3 GPS.lib
--- a/GPS.lib	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/pangsk/code/GPS/#0f423a982334

diff -r 46a6a3e36e05 -r dae9630af6e3 SDFileSystem.cpp
--- a/SDFileSystem.cpp	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,457 +0,0 @@
-/* mbed SDFileSystem Library, for providing file access to SD cards
- * Copyright (c) 2008-2010, sford
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-/* Introduction
- * ------------
- * SD and MMC cards support a number of interfaces, but common to them all
- * is one based on SPI. This is the one I'm implmenting because it means
- * it is much more portable even though not so performant, and we already 
- * have the mbed SPI Interface!
- *
- * The main reference I'm using is Chapter 7, "SPI Mode" of: 
- *  http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
- *
- * SPI Startup
- * -----------
- * The SD card powers up in SD mode. The SPI interface mode is selected by
- * asserting CS low and sending the reset command (CMD0). The card will 
- * respond with a (R1) response.
- *
- * CMD8 is optionally sent to determine the voltage range supported, and 
- * indirectly determine whether it is a version 1.x SD/non-SD card or 
- * version 2.x. I'll just ignore this for now.
- *
- * ACMD41 is repeatedly issued to initialise the card, until "in idle"
- * (bit 0) of the R1 response goes to '0', indicating it is initialised.
- *
- * You should also indicate whether the host supports High Capicity cards,
- * and check whether the card is high capacity - i'll also ignore this
- *
- * SPI Protocol
- * ------------
- * The SD SPI protocol is based on transactions made up of 8-bit words, with
- * the host starting every bus transaction by asserting the CS signal low. The
- * card always responds to commands, data blocks and errors.
- * 
- * The protocol supports a CRC, but by default it is off (except for the 
- * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
- * I'll leave the CRC off I think! 
- * 
- * Standard capacity cards have variable data block sizes, whereas High 
- * Capacity cards fix the size of data block to 512 bytes. I'll therefore
- * just always use the Standard Capacity cards with a block size of 512 bytes.
- * This is set with CMD16.
- *
- * You can read and write single blocks (CMD17, CMD25) or multiple blocks 
- * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
- * the card gets a read command, it responds with a response token, and then 
- * a data token or an error.
- * 
- * SPI Command Format
- * ------------------
- * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
- *
- * +---------------+------------+------------+-----------+----------+--------------+
- * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
- * +---------------+------------+------------+-----------+----------+--------------+
- *
- * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
- *
- * All Application Specific commands shall be preceded with APP_CMD (CMD55).
- *
- * SPI Response Format
- * -------------------
- * The main response format (R1) is a status byte (normally zero). Key flags:
- *  idle - 1 if the card is in an idle state/initialising 
- *  cmd  - 1 if an illegal command code was detected
- *
- *    +-------------------------------------------------+
- * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
- *    +-------------------------------------------------+
- *
- * R1b is the same, except it is followed by a busy signal (zeros) until
- * the first non-zero byte when it is ready again.
- *
- * Data Response Token
- * -------------------
- * Every data block written to the card is acknowledged by a byte 
- * response token
- *
- * +----------------------+
- * | xxx | 0 | status | 1 |
- * +----------------------+
- *              010 - OK!
- *              101 - CRC Error
- *              110 - Write Error
- *
- * Single Block Read and Write
- * ---------------------------
- *
- * Block transfers have a byte header, followed by the data, followed
- * by a 16-bit CRC. In our case, the data will always be 512 bytes.
- *  
- * +------+---------+---------+- -  - -+---------+-----------+----------+
- * | 0xFE | data[0] | data[1] |        | data[n] | crc[15:8] | crc[7:0] | 
- * +------+---------+---------+- -  - -+---------+-----------+----------+
- */
- 
-#include "SDFileSystem.h"
-
-#define SD_COMMAND_TIMEOUT 5000
-
-SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) :
-  FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) {
-      _cs = 1; 
-}
-
-#define R1_IDLE_STATE           (1 << 0)
-#define R1_ERASE_RESET          (1 << 1)
-#define R1_ILLEGAL_COMMAND      (1 << 2)
-#define R1_COM_CRC_ERROR        (1 << 3)
-#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
-#define R1_ADDRESS_ERROR        (1 << 5)
-#define R1_PARAMETER_ERROR      (1 << 6)
-
-// Types
-//  - v1.x Standard Capacity
-//  - v2.x Standard Capacity
-//  - v2.x High Capacity
-//  - Not recognised as an SD Card
-
-#define SDCARD_FAIL 0
-#define SDCARD_V1   1
-#define SDCARD_V2   2
-#define SDCARD_V2HC 3
-
-int SDFileSystem::initialise_card() {
-    // Set to 100kHz for initialisation, and clock card with cs = 1
-    _spi.frequency(100000); 
-    _cs = 1;
-    for(int i=0; i<16; i++) {   
-        _spi.write(0xFF);
-    }
-
-    // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
-    if(_cmd(0, 0) != R1_IDLE_STATE) { 
-        fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n");
-        return SDCARD_FAIL;
-    }
-
-    // send CMD8 to determine whther it is ver 2.x
-    int r = _cmd8();
-    if(r == R1_IDLE_STATE) {
-        return initialise_card_v2();
-    } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
-        return initialise_card_v1();
-    } else {
-        fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n");
-        return SDCARD_FAIL;
-    }
-}
-
-int SDFileSystem::initialise_card_v1() {
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        _cmd(55, 0); 
-        if(_cmd(41, 0) == 0) { 
-            return SDCARD_V1;
-        }
-    }
-
-    fprintf(stderr, "Timeout waiting for v1.x card\n");
-    return SDCARD_FAIL;
-}
-
-int SDFileSystem::initialise_card_v2() {
-    
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        _cmd(55, 0); 
-        if(_cmd(41, 0) == 0) { 
-            _cmd58();
-            return SDCARD_V2;
-        }
-    }
-
-    fprintf(stderr, "Timeout waiting for v2.x card\n");
-    return SDCARD_FAIL;
-}
-
-int SDFileSystem::disk_initialize() {
-
-    int i = initialise_card();
-//    printf("init card = %d\n", i);
-//    printf("OK\n");
-
-    _sectors = _sd_sectors();
-
-    // Set block length to 512 (CMD16)
-    if(_cmd(16, 512) != 0) {
-        fprintf(stderr, "Set 512-byte block timed out\n");
-        return 1;
-    }
-        
-    _spi.frequency(1000000); // Set to 1MHz for data transfer
-    return 0;
-}
-
-int SDFileSystem::disk_write(const char *buffer, int block_number) {
-    // set write address for single block (CMD24)
-    if(_cmd(24, block_number * 512) != 0) {
-        return 1;
-    }
-
-    // send the data block
-    _write(buffer, 512);    
-    return 0;    
-}
-
-int SDFileSystem::disk_read(char *buffer, int block_number) {        
-    // set read address for single block (CMD17)
-    if(_cmd(17, block_number * 512) != 0) {
-        return 1;
-    }
-    
-    // receive the data
-    _read(buffer, 512);
-    return 0;
-}
-
-int SDFileSystem::disk_status() { return 0; }
-int SDFileSystem::disk_sync() { return 0; }
-int SDFileSystem::disk_sectors() { return _sectors; }
-
-// PRIVATE FUNCTIONS
-
-int SDFileSystem::_cmd(int cmd, int arg) {
-    _cs = 0; 
-
-    // send a command
-    _spi.write(0x40 | cmd);
-    _spi.write(arg >> 24);
-    _spi.write(arg >> 16);
-    _spi.write(arg >> 8);
-    _spi.write(arg >> 0);
-    _spi.write(0x95);
-
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        int response = _spi.write(0xFF);
-        if(!(response & 0x80)) {
-            _cs = 1;
-            _spi.write(0xFF);
-            return response;
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
-int SDFileSystem::_cmdx(int cmd, int arg) {
-    _cs = 0; 
-
-    // send a command
-    _spi.write(0x40 | cmd);
-    _spi.write(arg >> 24);
-    _spi.write(arg >> 16);
-    _spi.write(arg >> 8);
-    _spi.write(arg >> 0);
-    _spi.write(0x95);
-
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        int response = _spi.write(0xFF);
-        if(!(response & 0x80)) {
-            return response;
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
-
-
-int SDFileSystem::_cmd58() {
-    _cs = 0; 
-    int arg = 0;
-    
-    // send a command
-    _spi.write(0x40 | 58);
-    _spi.write(arg >> 24);
-    _spi.write(arg >> 16);
-    _spi.write(arg >> 8);
-    _spi.write(arg >> 0);
-    _spi.write(0x95);
-
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        int response = _spi.write(0xFF);
-        if(!(response & 0x80)) {
-            int ocr = _spi.write(0xFF) << 24;
-            ocr |= _spi.write(0xFF) << 16;
-            ocr |= _spi.write(0xFF) << 8;
-            ocr |= _spi.write(0xFF) << 0;
-//            printf("OCR = 0x%08X\n", ocr);
-            _cs = 1;
-            _spi.write(0xFF);
-            return response;
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
-
-int SDFileSystem::_cmd8() {
-    _cs = 0; 
-    
-    // send a command
-    _spi.write(0x40 | 8); // CMD8
-    _spi.write(0x00);     // reserved
-    _spi.write(0x00);     // reserved
-    _spi.write(0x01);     // 3.3v
-    _spi.write(0xAA);     // check pattern
-    _spi.write(0x87);     // crc
-
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) {
-        char response[5];
-        response[0] = _spi.write(0xFF);
-        if(!(response[0] & 0x80)) {
-                for(int j=1; j<5; j++) {
-                    response[i] = _spi.write(0xFF);
-                }
-                _cs = 1;
-                _spi.write(0xFF);
-                return response[0];
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
-
-int SDFileSystem::_read(char *buffer, int length) {
-    _cs = 0;
-
-    // read until start byte (0xFF)
-    while(_spi.write(0xFF) != 0xFE);
-
-    // read data
-    for(int i=0; i<length; i++) {
-        buffer[i] = _spi.write(0xFF);
-    }
-    _spi.write(0xFF); // checksum
-    _spi.write(0xFF);
-
-    _cs = 1;    
-    _spi.write(0xFF);
-    return 0;
-}
-
-int SDFileSystem::_write(const char *buffer, int length) {
-    _cs = 0;
-    
-    // indicate start of block
-    _spi.write(0xFE);
-    
-    // write the data
-    for(int i=0; i<length; i++) {
-        _spi.write(buffer[i]);
-    }
-    
-    // write the checksum
-    _spi.write(0xFF); 
-    _spi.write(0xFF);
-
-    // check the repsonse token
-    if((_spi.write(0xFF) & 0x1F) != 0x05) {
-        _cs = 1;
-        _spi.write(0xFF);        
-        return 1;
-    }
-
-    // wait for write to finish
-    while(_spi.write(0xFF) == 0);
-
-    _cs = 1; 
-    _spi.write(0xFF);
-    return 0;
-}
-
-static int ext_bits(char *data, int msb, int lsb) {
-    int bits = 0;
-    int size = 1 + msb - lsb; 
-    for(int i=0; i<size; i++) {
-        int position = lsb + i;
-        int byte = 15 - (position >> 3);
-        int bit = position & 0x7;
-        int value = (data[byte] >> bit) & 1;
-        bits |= value << i;
-    }
-    return bits;
-}
-
-int SDFileSystem::_sd_sectors() {
-
-    // CMD9, Response R2 (R1 byte + 16-byte block read)
-    if(_cmdx(9, 0) != 0) {
-        fprintf(stderr, "Didn't get a response from the disk\n");
-        return 0;
-    }
-    
-    char csd[16];    
-    if(_read(csd, 16) != 0) {
-        fprintf(stderr, "Couldn't read csd response from disk\n");
-        return 0;
-    }
-
-    // csd_structure : csd[127:126]
-    // c_size        : csd[73:62]
-    // c_size_mult   : csd[49:47]
-    // read_bl_len   : csd[83:80] - the *maximum* read block length
-
-    int csd_structure = ext_bits(csd, 127, 126);
-    int c_size = ext_bits(csd, 73, 62);
-    int c_size_mult = ext_bits(csd, 49, 47);
-    int read_bl_len = ext_bits(csd, 83, 80);
-
-//    printf("CSD_STRUCT = %d\n", csd_structure);
-    
-    if(csd_structure != 0) {
-        fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n");
-        return 0;
-    }
-             
-    // memory capacity = BLOCKNR * BLOCK_LEN
-    // where
-    //  BLOCKNR = (C_SIZE+1) * MULT
-    //  MULT = 2^(C_SIZE_MULT+2) (C_SIZE_MULT < 8)
-    //  BLOCK_LEN = 2^READ_BL_LEN, (READ_BL_LEN < 12)         
-                            
-    int block_len = 1 << read_bl_len;
-    int mult = 1 << (c_size_mult + 2);
-    int blocknr = (c_size + 1) * mult;
-    int capacity = blocknr * block_len;
-        
-    int blocks = capacity / 512;
-        
-    return blocks;
-}

diff -r 46a6a3e36e05 -r dae9630af6e3 SDFileSystem.h
--- a/SDFileSystem.h	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,81 +0,0 @@
-/* mbed SDFileSystem Library, for providing file access to SD cards
- * Copyright (c) 2008-2010, sford
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#ifndef MBED_SDFILESYSTEM_H
-#define MBED_SDFILESYSTEM_H
-
-#include "mbed.h"
-#include "FATFileSystem.h"
-
-/** Access the filesystem on an SD Card using SPI
- *
- * @code
- * #include "mbed.h"
- * #include "SDFileSystem.h"
- *
- * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs
- *  
- * int main() {
- *     FILE *fp = fopen("/sd/myfile.txt", "w");
- *     fprintf(fp, "Hello World!\n");
- *     fclose(fp);
- * }
- */
-class SDFileSystem : public FATFileSystem {
-public:
-
-    /** Create the File System for accessing an SD Card using SPI
-     *
-     * @param mosi SPI mosi pin connected to SD Card
-     * @param miso SPI miso pin conencted to SD Card
-     * @param sclk SPI sclk pin connected to SD Card
-     * @param cs   DigitalOut pin used as SD Card chip select
-     * @param name The name used to access the virtual filesystem
-     */
-    SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
-    virtual int disk_initialize();
-    virtual int disk_write(const char *buffer, int block_number);
-    virtual int disk_read(char *buffer, int block_number);    
-    virtual int disk_status();
-    virtual int disk_sync();
-    virtual int disk_sectors();
-
-protected:
-
-    int _cmd(int cmd, int arg);
-    int _cmdx(int cmd, int arg);
-    int _cmd8();
-    int _cmd58();
-    int initialise_card();
-    int initialise_card_v1();
-    int initialise_card_v2();
-    
-    int _read(char *buffer, int length);
-    int _write(const char *buffer, int length);
-    int _sd_sectors();
-    int _sectors;
-    
-    SPI _spi;
-    DigitalOut _cs;     
-};
-
-#endif

diff -r 46a6a3e36e05 -r dae9630af6e3 TextLCD.lib
--- a/TextLCD.lib	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/pangsk/code/TextLCD/#ec079a141883

diff -r 46a6a3e36e05 -r dae9630af6e3 TextLCD/TextLCD.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD/TextLCD.cpp	Mon Oct 27 02:46:55 2014 +0000
@@ -0,0 +1,165 @@
+/* mbed TextLCD Library, for a 4-bit LCD based on HD44780
+ * Copyright (c) 2007-2010, sford, http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "TextLCD.h"
+#include "mbed.h"
+
+
+TextLCD::TextLCD(PinName rs, PinName rw, PinName e, PinName d4, PinName d5,
+                 PinName d6, PinName d7, LCDType type) : _rs(rs), _rw(rw),
+        _e(e), _d(d4, d5, d6, d7),
+        _type(type) {
+
+    _rw = 0;
+    _e  = 1;
+    _rs = 0;            // command mode
+
+    wait(0.015);        // Wait 15ms to ensure powered up
+
+    // send "Display Settings" 3 times (Only top nibble of 0x30 as we've got 4-bit bus)
+    for (int i=0; i<3; i++) {
+        writeNibble(0x3);        
+        wait(0.00164);  // this command takes 1.64ms, so wait for it
+    }
+    
+    writeNibble(0x2);     // 4-bit mode    
+
+    writeCommand(0x28); // Function set 001 BW N F - -
+    writeCommand(0x0C);
+    writeCommand(0x6);  // Cursor Direction and Display Shift : 0000 01 CD S (CD 0-left, 1-right S(hift) 0-no, 1-yes
+    cls();
+}
+
+void TextLCD::character(int column, int row, int c) {
+    int a = address(column, row);
+    writeCommand(a);
+    writeData(c);
+}
+
+void TextLCD::cls() {
+    writeCommand(0x01); // cls, and set cursor to 0
+    wait(0.00164f);     // This command takes 1.64 ms
+    locate(0, 0);
+}
+
+void TextLCD::locate(int column, int row) {
+    _column = column;
+    _row = row;
+}
+
+int TextLCD::_putc(int value) {
+    if (value == '\n') {
+        _column = 0;
+        _row++;
+        if (_row >= rows()) {
+            _row = 0;
+        }
+    } else {
+        character(_column, _row, value);
+        _column++;
+        if (_column >= columns()) {
+            _column = 0;
+            _row++;
+            if (_row >= rows()) {
+                _row = 0;
+            }
+        }
+    }
+    return value;
+}
+
+int TextLCD::_getc() {
+    return -1;
+}
+
+void TextLCD::writeByte(int value) {
+    writeNibble(value >> 4);
+    writeNibble(value >> 0);
+}
+
+void TextLCD::writeCommand(int command) {
+    _rs = 0;
+    writeByte(command);
+}
+
+void TextLCD::clock(void) {
+    wait(0.000040f);
+    _e = 0;
+    wait(0.000040f);
+    _e = 1;
+}
+
+void TextLCD::writeNibble(int data) {
+    _d = data;
+    clock();
+}
+
+void TextLCD::writeData(int data) {
+    _rs = 1;
+    writeByte(data);
+}
+
+int TextLCD::address(int column, int row) {
+    switch (_type) {
+        case LCD20x4:
+            switch (row) {
+                case 0:
+                    return 0x80 + column;
+                case 1:
+                    return 0xc0 + column;
+                case 2:
+                    return 0x94 + column;
+                case 3:
+                    return 0xd4 + column;
+            }
+        case LCD16x2B:
+            return 0x80 + (row * 40) + column;
+        case LCD16x2:
+        case LCD20x2:
+        default:
+            return 0x80 + (row * 0x40) + column;
+    }
+}
+
+int TextLCD::columns() {
+    switch (_type) {
+        case LCD20x4:
+        case LCD20x2:
+            return 20;
+        case LCD16x2:
+        case LCD16x2B:
+        default:
+            return 16;
+    }
+}
+
+int TextLCD::rows() {
+    switch (_type) {
+        case LCD20x4:
+            return 4;
+        case LCD16x2:
+        case LCD16x2B:
+        case LCD20x2:
+        default:
+            return 2;
+    }
+}

diff -r 46a6a3e36e05 -r dae9630af6e3 TextLCD/TextLCD.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD/TextLCD.h	Mon Oct 27 02:46:55 2014 +0000
@@ -0,0 +1,113 @@
+/* mbed TextLCD Library, for a 4-bit LCD based on HD44780
+ * Copyright (c) 2007-2010, sford, http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_TEXTLCD_H
+#define MBED_TEXTLCD_H
+
+#include "mbed.h"
+
+/** A TextLCD interface for driving 4-bit HD44780-based LCDs
+ *
+ * Currently supports 16x2, 20x2 and 20x4 panels
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "TextLCD.h"
+ * 
+ * TextLCD lcd(p10, p12, p15, p16, p29, p30); // rs, e, d4-d7
+ * 
+ * int main() {
+ *     lcd.printf("Hello World!\n");
+ * }
+ * @endcode
+ */
+class TextLCD : public Stream {
+public:
+
+    /** LCD panel format */
+    enum LCDType {
+        LCD16x2     /**< 16x2 LCD panel (default) */
+        , LCD16x2B  /**< 16x2 LCD panel alternate addressing */
+        , LCD20x2   /**< 20x2 LCD panel */
+        , LCD20x4   /**< 20x4 LCD panel */
+    };
+
+    /** Create a TextLCD interface
+     *
+     * @param rs    Instruction/data control line
+     * @param e     Enable line (clock)
+     * @param d4-d7 Data lines for using as a 4-bit interface
+     * @param type  Sets the panel size/addressing mode (default = LCD16x2)
+     */
+    TextLCD(PinName rs, PinName rw, PinName e, PinName d4, PinName d5, PinName d6, PinName d7, LCDType type = LCD16x2);
+
+#if DOXYGEN_ONLY
+    /** Write a character to the LCD
+     *
+     * @param c The character to write to the display
+     */
+    int putc(int c);
+
+    /** Write a formated string to the LCD
+     *
+     * @param format A printf-style format string, followed by the
+     *               variables to use in formating the string.
+     */
+    int printf(const char* format, ...);
+#endif
+
+    /** Locate to a screen column and row
+     *
+     * @param column  The horizontal position from the left, indexed from 0
+     * @param row     The vertical position from the top, indexed from 0
+     */
+    void locate(int column, int row);
+
+    /** Clear the screen and locate to 0,0 */
+    void cls();
+
+    int rows();
+    int columns();
+
+protected:
+
+    // Stream implementation functions
+    virtual int _putc(int value);
+    virtual int _getc();
+
+    int address(int column, int row);
+    void character(int column, int row, int c);
+    void writeByte(int value);
+    void writeCommand(int command);
+    void writeData(int data);
+    void writeNibble(int data);
+    void clock(void);
+    
+    DigitalOut _rs, _rw, _e;
+    BusOut _d;
+    LCDType _type;
+
+    int _column;
+    int _row;
+};
+
+#endif

diff -r 46a6a3e36e05 -r dae9630af6e3 ecu_reader.cpp
--- a/ecu_reader.cpp	Tue Aug 28 13:16:46 2012 +0000
+++ b/ecu_reader.cpp	Mon Oct 27 02:46:55 2014 +0000
@@ -3,7 +3,6 @@
 #include "globals.h"
 
 
-// Use a timer to see if things take too long
 Timer CANTimer;  
 namespace mbed { 
 
@@ -46,7 +45,7 @@
         if((can_MsgRx.id == PID_REPLY) && (can_MsgRx.data[2] == pid))
         { 
                         switch(can_MsgRx.data[2])
-                        {   /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
+                        {   
                             case ENGINE_RPM:              //   ((A*256)+B)/4    [RPM]
                                 engine_data =  ((can_MsgRx.data[3]*256) + can_MsgRx.data[4])/4;
                                 sprintf(buffer,"%d rpm ",(int) engine_data);
@@ -54,30 +53,42 @@
                             
                             case ENGINE_COOLANT_TEMP:     //     A-40              [degree C]
                                 engine_data =  can_MsgRx.data[3] - 40;
-                                sprintf(buffer,"%d degC ",(int) engine_data);
+                                sprintf(buffer,"%d degC: ",(int) engine_data);
                             
                             break;
                             
                             case VEHICLE_SPEED:         // A                  [km]
-                                engine_data =  can_MsgRx.data[3];
-                                sprintf(buffer,"%d km ",(int) engine_data);
+                                engine_data =  can_MsgRx.data[3]* 0.6;
+                                sprintf(buffer,"%d MPH: ",(int) engine_data);
                             
                             break;
 
                             case MAF_SENSOR:               // ((256*A)+B) / 100  [g/s]
                                 engine_data =  ((can_MsgRx.data[3]*256) + can_MsgRx.data[4])/100;
-                                sprintf(buffer,"%d g/s",(int) engine_data);
+                                sprintf(buffer,"%d g/s: ",(int) engine_data);
                             
                             break;
 
                             case O2_VOLTAGE:            // A * 0.005   (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
                                 engine_data = can_MsgRx.data[3]*0.005;
-                                sprintf(buffer,"%d v ",(int) engine_data);
+                                sprintf(buffer,"%d v: ",(int) engine_data);
+                            break;
      
                             case THROTTLE:            //
                                 engine_data = (can_MsgRx.data[3]*100)/255;
-                                sprintf(buffer,"%d %% ",(int) engine_data);
-                             
+                                sprintf(buffer,"%d Pos: ",(int) engine_data);     
+
+                            break;
+                            
+                            case AIR_INTAKE_TEMP:               // ((256*A)+B) / 100  [g/s]
+                                engine_data =  can_MsgRx.data[3] - 40;
+                                sprintf(buffer,"%d degC: ",(int) engine_data);
+                            
+                            break;
+                            
+                            case FUEL_PRESSURE:               // ((256*A)+B) / 100  [g/s]
+                                engine_data =  (can_MsgRx.data[3] * 3) * 0.1450;
+                                sprintf(buffer,"%d Fuel PSI: ",(int) engine_data);
                             
                             break;
                         }
@@ -95,4 +106,5 @@
 
 
 }
-} // namespace mbed 
\ No newline at end of file
+} 
+

diff -r 46a6a3e36e05 -r dae9630af6e3 ecu_reader.h
--- a/ecu_reader.h	Tue Aug 28 13:16:46 2012 +0000
+++ b/ecu_reader.h	Mon Oct 27 02:46:55 2014 +0000
@@ -12,9 +12,26 @@
 #define MAF_SENSOR          0x10
 #define THROTTLE            0x11
 #define O2_VOLTAGE          0x14
+#define AIR_INTAKE_TEMP     0x0F
+#define FUEL_PRESSURE       0x0A
 
-#define PID_REQUEST         0x7DF
-#define PID_REPLY           0x7E8
+#define PID_REQUEST         0x7DF       //tx
+#define PID_REPLY           0x7E8       //rx
+#define Ext_Diag            0x7E0       //tx
+
+//To Filter this IDs
+#define Filter1             0x1EA
+#define Filter2             0x1EB
+#define Filter3             0x156
+#define Filter4             0x18E
+#define Filter5             0x1A6
+#define Filter6             0x13C
+#define Filter7             0x158
+#define Filter8             0x1A4
+#define Filter9             0x1B0
+#define Filtera             0x255
+#define Filterb             0x1D0
+#define Filterc             0x191
 
 namespace mbed { 
 
@@ -40,4 +57,4 @@
 
 
 
-#endif
\ No newline at end of file
+#endif

diff -r 46a6a3e36e05 -r dae9630af6e3 main.cpp
--- a/main.cpp	Tue Aug 28 13:16:46 2012 +0000
+++ b/main.cpp	Mon Oct 27 02:46:55 2014 +0000
@@ -1,88 +1,150 @@
-/*
-
-mbed Can-Bus demo
-
-This program is to demonstrate the CAN-bus capability of the mbed module.
-
-http://www.skpang.co.uk/catalog/product_info.php?products_id=741
-
-v1.0 July 2010
-
-********************************************************************************
-
-WARNING: Use at your own risk, sadly this software comes with no guarantees.
-This software is provided 'free' and in good faith, but the author does not
-accept liability for any damage arising from its use.
-
-********************************************************************************
-
-
-*/
 
 #include "mbed.h"
 #include "ecu_reader.h"
 #include "globals.h"
 #include "TextLCD.h"
-#include "GPS.h"
-#include "SDFileSystem.h"
-
-GPS gps(p28, p27);
-TextLCD lcd(p18, p19, p20, p17, p16, p15, p14); // rs, rw, e, d0, d1, d2, d3
-SDFileSystem sd(p5, p6, p7, p13, "sd");
+#include <stdio.h>
+#include <string>
+//#include "SDFileSystem.h"
 
-DigitalIn click(p21);   // Joystick inputs
-DigitalIn right(p22);
-DigitalIn down(p23);
-DigitalIn left(p24);
-DigitalIn up(p25);
+TextLCD lcd(p26, p25, p24, p23, p22, p20, p19, TextLCD::LCD20x4);//(p18, p19, p20, p17, p16, p15, p14); // rs, rw, e, d0, d1, d2, d3
+//SDFileSystem sd(p5, p6, p7, p13, "sd");
+
 Serial pc(USBTX, USBRX);
+DigitalIn enable(p8);
+
+Serial xbee1(p9, p10); //Creates a variable for serial comunication through pin 9 and 10
+DigitalOut rst1(p11); //Digital reset for the XBee, 200ns for reset
 
 
 ecu_reader obdii(CANSPEED_500);     //Create object and set CAN speed
-void gps_demo(void);
-void sd_demo(void);
+//void sd_demo(void);
+
+void Rx_interrupt() {
+       float rx_data[8];
+       int first_byte[8];
+       int second_byte[8];
+       char buffer[30];
+    if (can2.read(can_MsgRx)){
+     //xbee1.printf("\n\rPackets Received:\n\r");
+     
+     if((can_MsgRx.id == Filter1) || (can_MsgRx.id == Filter1) || (can_MsgRx.id == Filter2) || (can_MsgRx.id == Filter3) || (can_MsgRx.id == Filter4) || (can_MsgRx.id == Filter5) || (can_MsgRx.id == Filter6)
+                || (can_MsgRx.id == Filter7) || (can_MsgRx.id == Filter8) || (can_MsgRx.id == Filter9) || (can_MsgRx.id == Filtera) || (can_MsgRx.id == Filterb) || (can_MsgRx.id == Filterc)){
+                    //xbee1.printf("\n\rIgnored\n\r");
+                }
+
+                 else{
+                    for (int z = 0; z < 8; z++){
+                    rx_data[z] = (can_MsgRx.data[z]);
+                    if (rx_data[z] > 15){
+                    first_byte[z] = rx_data[z]/16;
+                    second_byte[z] = (int)(rx_data[z])%16;}                
+                    else {
+                    first_byte[z] = 0;
+                    second_byte[z] = rx_data[z];
+                        }}
+                    
+                        sprintf(buffer,"\n\r%d, %d, %d, %d, %d, %d, %d, %d", (int) rx_data[0],(int) rx_data[1],(int) rx_data[2],(int) rx_data[3],(int) rx_data[4],(int) rx_data[5],(int) rx_data[6],(int) rx_data[7] ); 
+                        xbee1.printf(buffer, "\n\r"); 
+                        sprintf(buffer,"%d%d %d%d %d%d %d%d %d%d %d%d %d%d %d%d", (int) first_byte[0],(int) second_byte[0],(int) first_byte[1],(int) second_byte[1],(int) first_byte[2],(int) second_byte[2],(int) first_byte[3],(int) second_byte[3],
+                        (int) first_byte[4],(int) second_byte[4],(int) first_byte[5],(int) second_byte[5],(int) first_byte[6],(int) second_byte[6],(int) first_byte[7],(int) second_byte[7]);
+                        xbee1.printf(buffer);  
+                        xbee1.printf("\n\r");     
+                    }
+                    }
+    }
 
 int main() {
-    pc.baud(115200);
-    char buffer[20];
+   
+   int Mod1 = 0;
+   int Mod2 = 0;
+   
+    rst1 = 0; //Set reset pin to 0
+    wait_ms(1);//Wait at least one millisecond
+    rst1 = 1;//Set reset pin to 1
+    wait_ms(1);
     
-    //Enable Pullup 
-    click.mode(PullUp);
-    right.mode(PullUp);
-    down.mode(PullUp);
-    left.mode(PullUp);
-    up.mode(PullUp);
+    //pc.baud(115200);
+   // xbee1.baud(9600);
+   xbee1.baud(115200);      //set serial baurd rate, need to configure the xbees to 115200 manually 
+    char buffer[30];
     
-    printf("ECU Reader \n"); 
-    lcd.locate(0,0);                // Set LCD cursor position
-    lcd.printf("CAN-Bus demo");
+   // xbee1.printf("ECU Reader \n"); 
+  //  lcd.locate(0,0);                // Set LCD cursor position
+  //  lcd.printf("ECU Malicious Attack");
     
-    lcd.locate(0,1);
-    lcd.printf("www.skpang.co.uk");
+  //  lcd.locate(0,1);
+  //  lcd.printf("    UCLA EE202A");
+  
+   can2.attach(&Rx_interrupt);//, CAN::RxIrq );  //need to figure this out ///////
        
-    pc.printf("\n\rCAN-bus demo...");
-    
-    wait(3);
-    lcd.cls();
-    lcd.printf("Use joystick");
+    xbee1.printf("\n\rECU Malicious Attack\n\rUCLA EE202A\n\r");
+    //wait(3);
+    //lcd.cls();
+   // lcd.locate(0,2); 
+    //lcd.printf("Use joystick");
 
-    lcd.locate(0,1);
-    lcd.printf("U-CAN:D-GPS:L-SD");
-    
-    pc.printf("\nU-CAN:D-GPS:L-SD");
+   // lcd.locate(0,3);
+   // lcd.printf(" Push BTN1 to Start");
+    int can_bus_speed = 500000;
+        
+        xbee1.printf("\n\r\n\rSelect CAN BUS Frequency\n\r0: 125Kbps\n\r1: 250Kbps\n\r2: 500Kbps\n\r3: 1Mbps\n\r ");
+        
+    while(1){
+        if (xbee1.readable()){
+            
+            char c_freq = xbee1.getc();
+            
+            if (c_freq == '0'){
+                can_bus_speed = 125000;
+                break;}
+            if (c_freq == '1'){
+                can_bus_speed = 25000;
+                break;}
+            if (c_freq == '2'){
+                can_bus_speed = 500000;
+                break;}
+            if (c_freq == '3'){
+                can_bus_speed = 1000000;  
+                break;} 
+                
+            }
+        }
+            
+     can2.frequency(can_bus_speed);
+     
+     xbee1.printf("\n\rPush BTN1 to Start\n\r");
 
     while(1)    // Wait until option is selected by the joystick
     {
-   
-        if(down == 0) gps_demo();
-        if(left == 0) sd_demo();
-               
-        if(up == 0) break;
+                  
+        if(enable == 0) break;
         
     }
-    lcd.cls();
+    wait(1);
+   // lcd.cls();
+    
+    xbee1.printf("\n\r\n\rSelect Mode of Operation:\n\r\n\r0: PID Reading (RPM, Air Intake Temp., Fuel Pressure, and Etc...)\n\r1: Transmit and Receive CAN Packets\n\r");
+    
+    while (1)
+    {
+       if (xbee1.readable()) {
+         char c1 = xbee1.getc();
+        if (c1 == '0'){
+            Mod1 = 1;
+            xbee1.printf("\n\rPID Mode Selected!\n\r");
+            break; } 
+        if (c1 == '1'){
+            Mod2 = 1;
+            xbee1.printf("\n\rCAN Packet Communication Mode Selected!\n\r");
+            break;}
+        }
+    }
 
     while(1) {  // Main CAN loop
+       
+       if (Mod1 == 1){
+             
         led2 = 1;
         wait(0.1);
         led2 = 0;
@@ -92,85 +154,192 @@
         {
             lcd.locate(0,0);
             lcd.printf(buffer);
-              pc.printf(buffer);
+              xbee1.printf(buffer);
+              xbee1.printf("\n\r");
         }   
          
         if(obdii.request(ENGINE_COOLANT_TEMP,buffer) == 1)
         {
             lcd.locate(9,0);
             lcd.printf(buffer);
+            xbee1.printf(buffer);
+            xbee1.printf("\n\r");
         }
         
         if(obdii.request(VEHICLE_SPEED,buffer) == 1)
         {
             lcd.locate(0,1);
             lcd.printf(buffer);
+            xbee1.printf(buffer);
+            xbee1.printf("\n\r");
         }
      
         if(obdii.request(THROTTLE,buffer) ==1 )
         {
             lcd.locate(9,1);
-            lcd.printf(buffer);          
+            lcd.printf(buffer);    
+            xbee1.printf(buffer); 
+            xbee1.printf("\n\r");     
         }   
        
-    }
-}
-
-void gps_demo(void)
-{
-    lcd.cls();
-    lcd.printf("GPS demo");
-    lcd.locate(0,1);
-    lcd.printf("Waiting for lock");
- 
-    wait(3);    
-    lcd.cls();
-   
-    while(1)
+        if(obdii.request(AIR_INTAKE_TEMP,buffer) ==1 )  
+        {
+            lcd.locate(0,2);
+            lcd.printf(buffer);    
+            xbee1.printf(buffer); 
+            xbee1.printf("\n\r");     
+        }   
+        
+         if(obdii.request(FUEL_PRESSURE,buffer) ==1 )  
+        {
+            lcd.locate(9,2);
+            lcd.printf(buffer);    
+            xbee1.printf(buffer); 
+            xbee1.printf("\n\r");     
+        }   
+       }
+    
+     else if (Mod2 == 1){
+        led4 = 1;
+        wait(0.1);
+        led4 = 0;
+        wait(0.1);
+       float rx_data[8];
+       int first_byte[8];
+       int second_byte[8];
+        
+        int packet1 = 0;
+        int packet2 = 0;
+        int packet3 = 0;
+        int packet4 = 0;
+        int receive0 = 0;
+                
+        char can_bus_msg[8];
+        
+xbee1.printf("\n\r\n\rSelect Type of Packet to Transmit:\n\r\n\ra: Flow Control\n\rb: Tester Present\n\rc: Enhanced Diagnostics\n\rd: Security Access: Request Seed\n\re: Sniff Packets");
+        
+    
+            while (1)
     {
-      if(gps.sample()) {
-         lcd.cls();
-        lcd.printf("Long:%f", gps.longitude);
-           lcd.locate(0,1);
-        lcd.printf("Lat:%f", gps.latitude);
-            pc.printf("I'm at %f, %f\n", gps.longitude, gps.latitude);
-        } else {
-            pc.printf("Oh Dear! No lock :(\n");
-            lcd.cls();
-            lcd.printf("Waiting for lock");
-   
+       if (xbee1.readable()) {
+        char c = xbee1.getc();
+        if (c == 'a'){
+            packet1 = 1;
+            xbee1.printf("\n\rFlow Control Packet Selected!\n\r");
+            break; } 
+        if (c == 'b'){
+            packet2 = 1;
+            xbee1.printf("\n\rTester Present Packet Selected!\n\r");
+            break;}
+        if (c == 'e'){
+            receive0 = 1;
+            xbee1.printf("\n\rRead Filtered Packets!\n\r");
+            break;}
+        if (c == 'c'){
+            packet3 = 1;
+            xbee1.printf("\n\rEnhanced Diagnostics Packet Selected!\n\r");
+            break;}
+            
+        if (c == 'd'){
+            packet4 = 1;
+            xbee1.printf("\n\rRequest Seed Packet Selected!\n\r");
+            break;}    
         }
     }
- 
-}
-
-void sd_demo(void)
-{
-    lcd.cls();
-     printf("\nSD demo");
-    lcd.printf("SD demo");
-    wait(2);      
-    lcd.cls();
+    
+    if (packet1) {              //flow control packet 
+        
+            can_bus_msg[0] = 0x30;   //0x30 Clear To Send, 0x31 Wait
+            can_bus_msg[1] = 0;      //Block Size, 0 -> Don't wait, send as many frames as are in the message
+            can_bus_msg[2] = 0;      //Separation Time -> 0 -> Send As Fast As Possible, 101-255 are viable numbers 
+            can_bus_msg[3] = 0;      //Don't Care
+            can_bus_msg[4] = 0;      //Don't Care
+            can_bus_msg[5] = 0;      //Don't Care  
+            can_bus_msg[6] = 0;      //Don't Care
+            can_bus_msg[7] = 0;      //Don't Care
+            
+            can2.write(CANMessage(Ext_Diag, can_bus_msg, 8));           //7E0 Extension Diag. TX
+            packet1 = 0;
+        
+        }
+        
+    else if (packet2) {
+            
+            can_bus_msg[0] = 0x02;  
+            can_bus_msg[1] = 0x3E;
+            can_bus_msg[2] = 0x02;  
+            can_bus_msg[3] = 0;
+            can_bus_msg[4] = 0;  
+            can_bus_msg[5] = 0;
+            can_bus_msg[6] = 0;  
+            can_bus_msg[7] = 0;
+            
+            can2.write(CANMessage(Ext_Diag, can_bus_msg, 8));           //7E0 Extension Diag. TX
+            packet2 = 0;
+        }
     
-    FILE *fp = fopen("/sd/sdtest2.txt", "w");
-    if(fp == NULL) {
-        lcd.cls();
-        lcd.printf("Could not open file for write\n");
-         pc.printf("\nCould not open file for write");
-    }
-    fprintf(fp, "Hello fun SD Card World! testing 1234");
-    fclose(fp); 
-    lcd.locate(0,1);
-    lcd.printf("Writtern to SD card");
-    pc.printf("\nWrittern to SD card");
+    else if (packet3) {
+            
+            can_bus_msg[0] = 0x02;  
+            can_bus_msg[1] = 0x10;
+            can_bus_msg[2] = 0x82;  
+            can_bus_msg[3] = 0;
+            can_bus_msg[4] = 0;  
+            can_bus_msg[5] = 0;
+            can_bus_msg[6] = 0;  
+            can_bus_msg[7] = 0;
+            
+            can2.write(CANMessage(Ext_Diag, can_bus_msg, 8));           //7E0 Extension Diag. TX
+            packet3 = 0;
+        }
+    else if (packet4) {
+            
+            can_bus_msg[0] = 0x02;  
+            can_bus_msg[1] = 0x27;
+            can_bus_msg[2] = 0x01;  
+            can_bus_msg[3] = 0;
+            can_bus_msg[4] = 0;  
+            can_bus_msg[5] = 0;
+            can_bus_msg[6] = 0;  
+            can_bus_msg[7] = 0;
+            
+            can2.write(CANMessage(Ext_Diag, can_bus_msg, 8));           //7E0 Extension Diag. TX
+            packet3 = 0;
+        }
+    
+    else if (receive0) {
         
-    while(1)
-    {
-        led2 = 1;
-        wait(0.1);
-        led2 = 0;
-        wait(0.1);
-   
-    }
- 
-}
+            if (can2.read(can_MsgRx)){
+                
+                if((can_MsgRx.id == Filter1) || (can_MsgRx.id == Filter1) || (can_MsgRx.id == Filter2) || (can_MsgRx.id == Filter3) || (can_MsgRx.id == Filter4) || (can_MsgRx.id == Filter5) || (can_MsgRx.id == Filter6)
+                || (can_MsgRx.id == Filter7) || (can_MsgRx.id == Filter8) || (can_MsgRx.id == Filter9) || (can_MsgRx.id == Filtera) || (can_MsgRx.id == Filterb) || (can_MsgRx.id == Filterc)){
+                    xbee1.printf("\n\rIgnored\n\r");
+                }
+
+                 else{
+                    for (int z = 0; z < 8; z++){
+                    rx_data[z] = (can_MsgRx.data[z]);
+                    if (rx_data[z] > 15){
+                    first_byte[z] = rx_data[z]/16;
+                    second_byte[z] = (int)(rx_data[z])%16;}                
+                    else {
+                    first_byte[z] = 0;
+                    second_byte[z] = rx_data[z];
+                        }}
+                    
+                        sprintf(buffer,"%d, %d, %d, %d, %d, %d, %d, %d", (int) rx_data[0],(int) rx_data[1],(int) rx_data[2],(int) rx_data[3],(int) rx_data[4],(int) rx_data[5],(int) rx_data[6],(int) rx_data[7] ); 
+                        xbee1.printf(buffer); 
+                        xbee1.printf("\n\r");
+                        sprintf(buffer,"%d%d %d%d %d%d %d%d %d%d %d%d %d%d %d%d", (int) first_byte[0],(int) second_byte[0],(int) first_byte[1],(int) second_byte[1],(int) first_byte[2],(int) second_byte[2],(int) first_byte[3],(int) second_byte[3],
+                        (int) first_byte[4],(int) second_byte[4],(int) first_byte[5],(int) second_byte[5],(int) first_byte[6],(int) second_byte[6],(int) first_byte[7],(int) second_byte[7]);
+                        xbee1.printf(buffer);  
+                        xbee1.printf("\n\r");     
+                    }
+        }
+        
+        }
+         } // end else
+    } //end while
+}//end main
+
+