Sergeh Vartanian
Final Report
Fork of
ecu_reader
by 
Sukkin Pang
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
--- 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
--- 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
--- 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;
-}
--- 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
--- 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
--- /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;
+ }
+}
--- /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
--- 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
+}
+
--- 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
--- 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
+
+