Diff: main.cpp

Revision:

0:4abab30c3917

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 22 13:51:59 2011 +0000
@@ -0,0 +1,250 @@
+#include "mbed.h"
+#include "CAN.h"
+#include "stdio.h"
+#include "stdlib.h"
+#include "string.h"
+#include "EthernetNetIf.h"
+#include "TCPSocket.h"
+
+Ticker ticker;      
+Serial pc(USBTX, USBRX);
+EthernetNetIf eth;
+DigitalOut write_activity(LED1); //CAN activity
+DigitalOut read_activity(LED2);
+DigitalOut ethernet_activity(LED3);    //Ethernet activity
+DigitalOut live(LED4);           //program running
+CAN can1(p9, p10);  // rd, td Transmitter
+CAN can2(p30, p29); // rd, td Monitor
+
+TCPSocket tcp;  //The listening port where requests are queued
+TCPSocket* link; //The port where accepted requests can communicate
+
+Host local(IpAddr(130,144,3,9), 24682); //mbed IP
+Host client;
+
+TCPSocketErr accErr;
+
+int counter = 0;
+int shift = 0;
+char candata[8];
+char pc_msg[128];
+char pc_canmsg[128];
+CANType pc_type;
+CANFormat pc_format;
+int pc_ID; //standard 11bit ID
+//int pc_IDe; //extended 29 (not used yet)
+int pc_length;
+int pcd0; int pcd1; int pcd2; int pcd3; int pcd4; int pcd5; int pcd6; int pcd7; //8 bytes data
+CANMessage msg;
+int size;
+char test;
+char *dump;
+char *buffer;
+
+
+/************************************************************************************
+ *                                   CAN STUFF                                      *
+ ************************************************************************************/
+void setdata(int d0, int d1, int d2, int d3, int d4, int d5, int d6, int d7) {
+    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() {
+    pc.printf("Read:    [ ID: %d", msg.id);
+    pc.printf(" Length: %d", msg.len);
+    pc.printf(" Data: %x", msg.data[0]);
+    pc.printf(" %x", msg.data[1]);
+    pc.printf(" %x", msg.data[2]);
+    pc.printf(" %x", msg.data[3]);
+    pc.printf(" %x", msg.data[4]);
+    pc.printf(" %x", msg.data[5]);
+    pc.printf(" %x", msg.data[6]);
+    pc.printf(" %x", msg.data[7]);
+    pc.printf(" Type: %d", msg.type);
+    pc.printf(" Format: %d ]\n", msg.format);
+    
+    read_activity = !read_activity;  //Blink!
+    
+    sprintf(pc_canmsg,"!%d %d %d %d %x %x %x %x %x %x %x %x",
+    msg.format, msg.type, msg.id, msg.len, 
+    msg.data[0], msg.data[1], msg.data[2], msg.data[3], 
+    msg.data[4], msg.data[5], msg.data[6], msg.data[7]);
+    link->send(pc_canmsg,sizeof(pc_canmsg));
+
+}
+
+void pc_msg_read() {
+    // Data to be sent as ("_" = space):
+    //!<format>_<type>_<ID>_<length>_<d0>_<d1>_<d2>_<d3>_<d4>_<d5>_<d6>_<d7> 
+    for(shift=0;shift<128;shift++) {
+        pc_msg[shift] = pc_msg[shift+1];
+    }
+    // Read pc_msg and extract all data
+    sscanf(pc_msg,"%d %d %d %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
+    pc.printf("Entered: [ ID: %d ",pc_ID);
+    pc.printf("length: %d ",pc_length);
+    pc.printf("data: %x %x %x %x %x %x %x %x ",
+    pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7);
+    pc.printf("type: %d ",pc_type);
+    pc.printf("format: %d ]\n",pc_format);
+    
+    // Setting the data to CANMessage.data format
+    setdata(pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7);
+    
+    // Transmitting CANMessage
+    if(pc_type==0) {
+        if(can1.write(CANMessage(pc_ID,candata,(char)pc_length,pc_type,pc_format))) {
+            pc.printf("MBED:    [ Message compiled and sent. ]\n");
+            write_activity = !write_activity;
+        }
+    }
+    else if(pc_type==1) {
+        if(can1.write(CANMessage(pc_ID,pc_format))) {
+            pc.printf("MBED:    [ RTR Message compiled and sent. ]\n");
+            write_activity = !write_activity;
+        }
+    }
+}
+
+
+/************************************************************************************
+ *                                   TCP STUFF                                      *
+ ************************************************************************************/
+void eth_act() {
+    ethernet_activity = !ethernet_activity;
+} 
+ 
+void tcperrcheck(TCPSocketErr tcpsocketerr,char *phase) {
+    switch(tcpsocketerr) {
+    case TCPSOCKET_SETUP:   printf("Err:Setup\n");      break;  //TCPSocket not properly configured.
+    case TCPSOCKET_TIMEOUT: printf("Err:Timeout\n");    break;  //Connection timed out.
+    case TCPSOCKET_IF:      printf("Err:Interface\n");  break;  //Interface has problems, does not exist or is not initialized.
+    case TCPSOCKET_MEM:     printf("Err:Memory\n");     break;  //Not enough mem.
+    case TCPSOCKET_INUSE:   printf("Err:In use\n");     break;  //Interface / Port is in use.
+    case TCPSOCKET_EMPTY:   printf("Err:Empty\n");      break;  //Connections queue is empty.
+    case TCPSOCKET_RST:     printf("Err:Reset\n");      break;  //Connection was reset by remote host.
+    case TCPSOCKET_OK:      if(phase == "bind") printf("Bound to port\n");
+                            if(phase == "listen") printf("Listening\n");
+                            if(phase == "accept") printf("Accepted: ");
+                            break;  //Success.
+    }
+}
+
+void onLinkSocketEvent(TCPSocketEvent e) {
+    switch(e) {
+        case TCPSOCKET_CONNECTED: eth_act(); printf("TCP Socket Connected\r\n"); break;
+        case TCPSOCKET_WRITEABLE: eth_act(); printf("TCP Socket Writable\r\n"); break;
+        case TCPSOCKET_READABLE: {
+            //Can now read some data...
+            eth_act(); 
+            printf("TCP Socket Readable\r\n");
+            // Read in any available data into the buffer
+            int len = link->recv(pc_msg, 128);
+            test = pc_msg[0];
+            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:%s\n",pc_msg);
+                memset(pc_msg, 0, sizeof(pc_msg));
+                printf("%s",pc_msg);
+            }
+        }
+        break;
+        case TCPSOCKET_CONTIMEOUT: eth_act(); printf("TCP Socket Timeout\r\n"); break;
+        case TCPSOCKET_CONRST: eth_act(); printf("TCP Socket CONRST\r\n"); break;
+        case TCPSOCKET_CONABRT: eth_act(); printf("TCP Socket CONABRT\r\n"); break;
+        case TCPSOCKET_ERROR: eth_act(); printf("TCP Socket Error\r\n"); break;
+        case TCPSOCKET_DISCONNECTED: {
+            //Close socket...
+            printf("TCP Socket Disconnected\r\n");        
+            link->close();
+        }
+        break;
+        default: printf("DEFAULT\r\n"); 
+    }
+}
+
+void onTCPSocketEvent(TCPSocketEvent e) {
+    switch(e) {
+        case TCPSOCKET_CONNECTED: eth_act(); printf("Connected\n"); break;
+        case TCPSOCKET_ACCEPT: {
+            eth_act();
+            accErr = tcp.accept(&client,&link);
+            tcperrcheck(accErr,"accept");
+            link->setOnEvent(&onLinkSocketEvent);
+            IpAddr clientIp = client.getIp();
+            printf("Incoming TCP connection from %d.%d.%d.%d\r\n", 
+            clientIp[0], clientIp[1], clientIp[2], clientIp[3]);
+        }
+        break;
+        case TCPSOCKET_READABLE: eth_act(); printf("Readable\n"); break;
+        case TCPSOCKET_WRITEABLE: eth_act(); printf("Writeable\n"); break;
+        case TCPSOCKET_CONTIMEOUT: eth_act(); printf("Timeout\n"); break;
+        case TCPSOCKET_CONRST: eth_act(); printf("Reset\n"); break;
+        case TCPSOCKET_CONABRT: eth_act(); printf("Aborted\n"); break;
+        case TCPSOCKET_ERROR: eth_act(); printf("Error\n"); break;
+        case TCPSOCKET_DISCONNECTED: eth_act(); printf("Disconnected\n"); tcp.close(); break;    
+    }
+}
+
+int main() {
+    //----------------Initialization-----------------------
+    can2.frequency(1000000);             //kbit/s
+    can1.frequency(1000000);
+    can2.monitor(1); //Works without this, in my case.
+    pc.baud(115200); //Tested, works. Set terminal to the same. Also works with the c file.
+    
+    //Ethernet setup
+    printf("Setting up ethernet\n");
+    EthernetErr ethErr = eth.setup();
+    if (ethErr) {
+        printf("Error %d in setup.\n", ethErr);
+        return -1;
+    }
+    IpAddr ip = eth.getIp();
+    printf("Setup OK. ");
+    printf("MBED IP is %d.%d.%d.%d\n", ip[0], ip[1], ip[2], ip[3]);
+
+    //Generate method to deal with requests
+    tcp.setOnEvent(&onTCPSocketEvent); 
+    
+    //Bind to local port
+    printf("Init bind... ");
+    TCPSocketErr bindErr = tcp.bind(local);
+    tcperrcheck(bindErr, "bind");
+            
+    //Listen to local port
+    printf("Init listen... ");
+    TCPSocketErr listenErr = tcp.listen();
+    tcperrcheck(listenErr, "listen");
+    
+    //Start timer
+    Timer tmr;
+    tmr.start();
+    
+
+    pc.printf("Please enter !<format>_<type>_<ID>_<length>_<d0>_<d1>_<d2>_<d3>_<d4>_<d5>_<d6>_<d7> ('_' = space)\n");
+    while(1) {
+        Net::poll();
+        if(tmr.read() > 1) //Every second
+        {
+            tmr.reset();
+            live=!live; //Show that we are alive
+        }
+        if (can2.read(msg)) {
+            canread(); //Read when interupted.
+        }
+    }
+}
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