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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.
Diff: USB2CAN.cpp
- Revision:
- 1:4097ba8d8a3c
diff -r 0b6fe59204c3 -r 4097ba8d8a3c USB2CAN.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USB2CAN.cpp Tue May 31 12:04:38 2011 +0000 @@ -0,0 +1,174 @@ +// ------------------------------------------------------------------------- // +// File: USB2CAN.cpp // +// Contents: Converts a serial string to a canmessage and the other way // +// around. Accepts both standard and extended format. // +// Data to be sent as : // +// !<format>_<type>_<ID>_<length>_<d0>_<d1>_<d2>_<d3>_<d4>_<d5>_<d6>_<d7> // +// in which "_" are spaces. // +// Author: Melchior du Pau // +// Date: 31-05-2011 // +// ------------------------------------------------------------------------- // +#include "mbed.h" +#include "CAN.h" +#include "stdio.h" +#include "stdlib.h" +#include "string.h" + +Ticker ticker; // Liveled toggle ticker +Serial pc(USBTX, USBRX); // Serial connection +DigitalOut write_activity(LED1);// CAN write toggle led +DigitalOut read_activity(LED2); // CAN read toggle led +DigitalOut pc_activity(LED3); // USB activity toggle led +DigitalOut live_led(LED4); // Live toggle led +CAN can(p30, p29); // RD, TD + +CANMessage msg; // The canmessage +int pc_ID; // Standard 11bit ID +int pc_IDe; // Extended 29bit ID +char candata[8]; // 8 databytes +int pc_length; // 1 - 8 +int pc_format; // 0 = standard, 1 = extended +int pc_type; // 0 = data, 1 = remote + +char pc_msg[60]; // The string received via USB +int pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7; //8 data bytes + + +void setdata(int d0, int d1, int d2, int d3, int d4, int d5, int d6, int d7) +// converts 8 ints into an array of chars so it can be sent in the CANMessage +{ + candata[0] = (char) (d0); // LSB + candata[1] = (char) (d1); + candata[2] = (char) (d2); + candata[3] = (char) (d3); + candata[4] = (char) (d4); + candata[5] = (char) (d5); + candata[6] = (char) (d6); + candata[7] = (char) (d7); // MSB +} + +void canread() +// Reads a CANMessage and prints it's contents via serial +{ + // Reading the message + can.read(msg); + + // Printing what was read + pc.printf("Read: [ ID: %9x", msg.id); + pc.printf(" Length: %d", msg.len); + pc.printf(" Data: %2x", msg.data[0]); + pc.printf(" %2x", msg.data[1]); + pc.printf(" %2x", msg.data[2]); + pc.printf(" %2x", msg.data[3]); + pc.printf(" %2x", msg.data[4]); + pc.printf(" %2x", msg.data[5]); + pc.printf(" %2x", msg.data[6]); + pc.printf(" %2x", msg.data[7]); + pc.printf(" Type: %d", msg.type); // 0 = data, 1 = remote + pc.printf(" Format: %d ]\r\n", msg.format); // 0 = standard, 1 = extended + read_activity = !read_activity; //Blink! +} + +void pc_msg_read() +// Reads a serial string, converts it to a CANMessage and sends it via CAN +{ + // Read the string and copy it to the char array pc_msg + pc.scanf("%[^\x0d]s",pc_msg); + + // Read pc_msg and extract all data + sscanf(pc_msg,"%d %d %x %d %x %x %x %x %x %x %x %x", &pc_format, &pc_type, &pc_ID, &pc_length, + &pcd0, &pcd1, &pcd2, &pcd3, &pcd4, &pcd5, &pcd6, &pcd7); + + // Printing extracted data, mostly for testing (Echo) + pc.printf("Entered: [ ID: %9x ",pc_ID); + pc.printf("length: %d ",pc_length); + pc.printf("data: %2x %2x %2x %2x %2x %2x %2x %2x ",pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7); + pc.printf("type: %d ",pc_type); + pc.printf("format: %d ]\r\n",pc_format); + + // Setting the data to CANMessage.data format + setdata(pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7); + + // Transmitting CANMessage + if(pc_format == 0) + { // CANStandard + if(pc_type==0) + { // CANData + if(can.write(CANMessage(pc_ID,candata,(char)pc_length,CANData,CANStandard))) + { + pc.printf("MBED: [ Message compiled and sent. ]\r\n"); + write_activity = !write_activity; + } + } + else if(pc_type==1) + { // CANRemote + if(can.write(CANMessage(pc_ID,CANStandard))) { + pc.printf("MBED: [ RTR Message compiled and sent. ]\r\n"); + write_activity = !write_activity; + } + } + } + else if(pc_format == 1) + { // CANExtended + if(pc_type==0) + { // CANData + if(can.write(CANMessage(pc_ID,candata,(char)pc_length,CANData,CANExtended))) + { + pc.printf("MBED: [ Message compiled and sent. ]\r\n"); + write_activity = !write_activity; + } + } + else if(pc_type==1) + { // CANRemote + if(can.write(CANMessage(pc_ID,CANExtended))) { + pc.printf("MBED: [ RTR Message compiled and sent. ]\r\n"); + write_activity = !write_activity; + } + } + } +} + +void initcan() +// Initializes MBED's CAN port +{ + can.frequency(1000000); // 1Mbit/s + can.reset(); + can.attach(&canread); // Run canread on CAN reception interrupt +} + +void liveled() +// Toggles the led +{ + live_led=!live_led; +} + +int main() +{ + initcan(); + //can.monitor(1); // If you want the node to only monitor the CAN network. + pc.baud(115200); // PC baudrate + ticker.attach(&liveled, 1); // Send every 1 sec + + char test; // Used to check for "!". + char dump; // Used to dump strings that did not start with "!" + + pc.printf(" [ Please enter !format_type_ID_length_d0_d1_d2_d3_d4_d5_d6_d7 ('_'=space) ]\r\n"); + + while(1) { + if (pc.readable()) { // If there's data available from pc + pc_activity = !pc_activity; // LED + test = pc.getc(); // Get the first character of the string + if (test == '!') { // See if it's a "valid" message + pc_msg_read(); // Valid => read the message and extract the data + } + else { // Invalid data or leftover characters + pc.printf(" [ Dumped: "); + while(pc.readable()) { // Keep dumping the leftovers + dump = pc.getc(); + pc.printf("%c",dump); + } + pc.printf(" ]\r\n"); // Done dumping buffer + } + } + } +} \ No newline at end of file