USB2CAN - Monitors the CANbus and prints read messages over…

Users » Melchiorp » Code » USB2CAN

Melchior Pau / Mbed 2 deprecated USB2CAN

Monitors the CANbus and prints read messages over USB Allows you to send messages via USB to the CANbus Use a terminal application like PuTTY for windows or MoSerial for Ubuntu.

Dependencies: mbed

main.cpp@0:0b6fe59204c3, 2011-05-31 (annotated)

Committer:: Melchiorp
Date:: Tue May 31 10:22:49 2011 +0000
Revision:: 0:0b6fe59204c3

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User	Revision	Line number	New contents of line
Melchiorp	0:0b6fe59204c3	1	#include "mbed.h"
Melchiorp	0:0b6fe59204c3	2	#include "CAN.h"
Melchiorp	0:0b6fe59204c3	3	#include "stdio.h"
Melchiorp	0:0b6fe59204c3	4	#include "stdlib.h"
Melchiorp	0:0b6fe59204c3	5	#include "string.h"
Melchiorp	0:0b6fe59204c3	6
Melchiorp	0:0b6fe59204c3	7	Ticker ticker;
Melchiorp	0:0b6fe59204c3	8	Serial pc(USBTX, USBRX);
Melchiorp	0:0b6fe59204c3	9	DigitalOut write_activity(LED1); //CAN activity
Melchiorp	0:0b6fe59204c3	10	DigitalOut read_activity(LED2);
Melchiorp	0:0b6fe59204c3	11	DigitalOut pc_activity(LED3); //USB activity
Melchiorp	0:0b6fe59204c3	12	//CAN can1(p9, p10); // rd, td Transmitter
Melchiorp	0:0b6fe59204c3	13	CAN can2(p30, p29); // rd, td Monitor (Now the only CAN port)
Melchiorp	0:0b6fe59204c3	14
Melchiorp	0:0b6fe59204c3	15	int counter = 0;
Melchiorp	0:0b6fe59204c3	16	char candata[8];
Melchiorp	0:0b6fe59204c3	17	char pc_msg[50];
Melchiorp	0:0b6fe59204c3	18	CANType pc_type;
Melchiorp	0:0b6fe59204c3	19	CANFormat pc_format;
Melchiorp	0:0b6fe59204c3	20	int pc_ID; //standard 11bit ID
Melchiorp	0:0b6fe59204c3	21	int pc_IDe; //extended 29 (not used yet)
Melchiorp	0:0b6fe59204c3	22	int pc_length;
Melchiorp	0:0b6fe59204c3	23	int pcd0; int pcd1; int pcd2; int pcd3; int pcd4; int pcd5; int pcd6; int pcd7; //8 bytes data
Melchiorp	0:0b6fe59204c3	24	CANMessage msg;
Melchiorp	0:0b6fe59204c3	25
Melchiorp	0:0b6fe59204c3	26	void setdata(int d0, int d1, int d2, int d3, int d4, int d5, int d6, int d7) {
Melchiorp	0:0b6fe59204c3	27	candata[0] = (char) (d0); // LSB
Melchiorp	0:0b6fe59204c3	28	candata[1] = (char) (d1);
Melchiorp	0:0b6fe59204c3	29	candata[2] = (char) (d2);
Melchiorp	0:0b6fe59204c3	30	candata[3] = (char) (d3);
Melchiorp	0:0b6fe59204c3	31	candata[4] = (char) (d4);
Melchiorp	0:0b6fe59204c3	32	candata[5] = (char) (d5);
Melchiorp	0:0b6fe59204c3	33	candata[6] = (char) (d6);
Melchiorp	0:0b6fe59204c3	34	candata[7] = (char) (d7); // MSB
Melchiorp	0:0b6fe59204c3	35	}
Melchiorp	0:0b6fe59204c3	36
Melchiorp	0:0b6fe59204c3	37	void canread() {
Melchiorp	0:0b6fe59204c3	38	//printf("CANmessage: %c\n", msg);
Melchiorp	0:0b6fe59204c3	39	can2.read(msg);
Melchiorp	0:0b6fe59204c3	40	pc.printf("Read: [ ID: %4x", msg.id);
Melchiorp	0:0b6fe59204c3	41	pc.printf(" Length: %d", msg.len);
Melchiorp	0:0b6fe59204c3	42	pc.printf(" Data: %2x", msg.data[0]);
Melchiorp	0:0b6fe59204c3	43	pc.printf(" %2x", msg.data[1]);
Melchiorp	0:0b6fe59204c3	44	pc.printf(" %2x", msg.data[2]);
Melchiorp	0:0b6fe59204c3	45	pc.printf(" %2x", msg.data[3]);
Melchiorp	0:0b6fe59204c3	46	pc.printf(" %2x", msg.data[4]);
Melchiorp	0:0b6fe59204c3	47	pc.printf(" %2x", msg.data[5]);
Melchiorp	0:0b6fe59204c3	48	pc.printf(" %2x", msg.data[6]);
Melchiorp	0:0b6fe59204c3	49	pc.printf(" %2x", msg.data[7]);
Melchiorp	0:0b6fe59204c3	50	pc.printf(" Type: %d", msg.type);
Melchiorp	0:0b6fe59204c3	51	pc.printf(" Format: %d ]\r\n", msg.format);
Melchiorp	0:0b6fe59204c3	52	read_activity = !read_activity; //Blink!
Melchiorp	0:0b6fe59204c3	53	//can2.reset();
Melchiorp	0:0b6fe59204c3	54	}
Melchiorp	0:0b6fe59204c3	55
Melchiorp	0:0b6fe59204c3	56	void pc_msg_read() {
Melchiorp	0:0b6fe59204c3	57	// Data to be sent as !<format>_<type>_<ID>_<length>_<d0>_<d1>_<d2>_<d3>_<d4>_<d5>_<d6>_<d7> ("_" = space)
Melchiorp	0:0b6fe59204c3	58
Melchiorp	0:0b6fe59204c3	59	// Read the string and copy it to the char array pc_msg
Melchiorp	0:0b6fe59204c3	60	pc.scanf("%[^\x0d]s",pc_msg);
Melchiorp	0:0b6fe59204c3	61
Melchiorp	0:0b6fe59204c3	62	// Read pc_msg and extract all data
Melchiorp	0:0b6fe59204c3	63	sscanf(pc_msg,"%d %d %d %d %x %x %x %x %x %x %x %x", &pc_format, &pc_type, &pc_ID, &pc_length,
Melchiorp	0:0b6fe59204c3	64	&pcd0, &pcd1, &pcd2, &pcd3, &pcd4, &pcd5, &pcd6, &pcd7);
Melchiorp	0:0b6fe59204c3	65
Melchiorp	0:0b6fe59204c3	66	// Printing extracted data, mostly for testing
Melchiorp	0:0b6fe59204c3	67	pc.printf("Entered: [ ID: %4d ",pc_ID);
Melchiorp	0:0b6fe59204c3	68	pc.printf("length: %d ",pc_length);
Melchiorp	0:0b6fe59204c3	69	pc.printf("data: %2x %2x %2x %2x %2x %2x %2x %2x ",pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7);
Melchiorp	0:0b6fe59204c3	70	pc.printf("type: %d ",pc_type);
Melchiorp	0:0b6fe59204c3	71	pc.printf("format: %d ]\r\n",pc_format);
Melchiorp	0:0b6fe59204c3	72
Melchiorp	0:0b6fe59204c3	73	// Setting the data to CANMessage.data format
Melchiorp	0:0b6fe59204c3	74	setdata(pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7);
Melchiorp	0:0b6fe59204c3	75
Melchiorp	0:0b6fe59204c3	76	// Transmitting CANMessage
Melchiorp	0:0b6fe59204c3	77	if(pc_type==0) {
Melchiorp	0:0b6fe59204c3	78	if(can2.write(CANMessage(pc_ID,candata,(char)pc_length,pc_type,pc_format))) {
Melchiorp	0:0b6fe59204c3	79	pc.printf("MBED: [ Message compiled and sent. ]\r\n");
Melchiorp	0:0b6fe59204c3	80	write_activity = !write_activity;
Melchiorp	0:0b6fe59204c3	81	}
Melchiorp	0:0b6fe59204c3	82	}
Melchiorp	0:0b6fe59204c3	83	else if(pc_type==1) {
Melchiorp	0:0b6fe59204c3	84	if(can2.write(CANMessage(pc_ID,pc_format))) {
Melchiorp	0:0b6fe59204c3	85	pc.printf("MBED: [ RTR Message compiled and sent. ]\r\n");
Melchiorp	0:0b6fe59204c3	86	write_activity = !write_activity;
Melchiorp	0:0b6fe59204c3	87	}
Melchiorp	0:0b6fe59204c3	88	}
Melchiorp	0:0b6fe59204c3	89	//can2.reset();
Melchiorp	0:0b6fe59204c3	90	}
Melchiorp	0:0b6fe59204c3	91
Melchiorp	0:0b6fe59204c3	92	void initcan() {
Melchiorp	0:0b6fe59204c3	93	can2.frequency(1000000); //1Mbit/s
Melchiorp	0:0b6fe59204c3	94	can2.reset();
Melchiorp	0:0b6fe59204c3	95	can2.attach(&canread);
Melchiorp	0:0b6fe59204c3	96	}
Melchiorp	0:0b6fe59204c3	97
Melchiorp	0:0b6fe59204c3	98	int main() {
Melchiorp	0:0b6fe59204c3	99	//----------------Initialization-----------------------
Melchiorp	0:0b6fe59204c3	100	initcan();
Melchiorp	0:0b6fe59204c3	101	//can1.frequency(1000000);
Melchiorp	0:0b6fe59204c3	102	//can2.monitor(1); // If you want the node to only monitor the CAN network.
Melchiorp	0:0b6fe59204c3	103	pc.baud(115200); //Tested, works. Set terminal to the same. Also works with the c file.
Melchiorp	0:0b6fe59204c3	104	//ticker.attach(&cansend, 0.5); //Send every 1 seconds.
Melchiorp	0:0b6fe59204c3	105	//-----------------------------------------------------
Melchiorp	0:0b6fe59204c3	106
Melchiorp	0:0b6fe59204c3	107	char test;
Melchiorp	0:0b6fe59204c3	108	char dump;
Melchiorp	0:0b6fe59204c3	109	pc.printf(" [ Please enter !format_type_ID_length_d0_d1_d2_d3_d4_d5_d6_d7 ('_' = space) ]\r\n");
Melchiorp	0:0b6fe59204c3	110
Melchiorp	0:0b6fe59204c3	111	while(1) {
Melchiorp	0:0b6fe59204c3	112	if (pc.readable()) { // If there's data available from pc
Melchiorp	0:0b6fe59204c3	113	pc_activity = !pc_activity; // LED
Melchiorp	0:0b6fe59204c3	114	test = pc.getc();
Melchiorp	0:0b6fe59204c3	115	if (test == '!') { // See if it's a valid message
Melchiorp	0:0b6fe59204c3	116	pc_msg_read(); // Valid => read the message and extract the data
Melchiorp	0:0b6fe59204c3	117	//pc.printf("Left pc_msg_read\n"); // "Left the function" test
Melchiorp	0:0b6fe59204c3	118	}
Melchiorp	0:0b6fe59204c3	119	else { // Invalid data or leftover characters
Melchiorp	0:0b6fe59204c3	120	pc.printf(" [ Dumped: ");
Melchiorp	0:0b6fe59204c3	121	while(pc.readable()) { // Keep dumping the leftovers
Melchiorp	0:0b6fe59204c3	122	dump = pc.getc();
Melchiorp	0:0b6fe59204c3	123	pc.printf("%c",dump);
Melchiorp	0:0b6fe59204c3	124	}
Melchiorp	0:0b6fe59204c3	125	pc.printf(" ]\r\n");
Melchiorp	0:0b6fe59204c3	126	}
Melchiorp	0:0b6fe59204c3	127	//pc.printf("Leaving pc.readable()\n"); // Left the !test
Melchiorp	0:0b6fe59204c3	128	}
Melchiorp	0:0b6fe59204c3	129	}
Melchiorp	0:0b6fe59204c3	130	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	31 May 2011
Imports:	295
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	1
Followers:	13

main.cpp@0:0b6fe59204c3, 2011-05-31 (annotated)

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