A program that allows you to send CANMessages from your PC via ethernet.

Dependencies:   EthernetNetIf mbed

Files at this revision

API Documentation at this revision

Comitter:
OTBsolar
Date:
Tue Mar 22 13:51:59 2011 +0000
Commit message:
V0,2
BETA

Changed in this revision

EthernetNetIf.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 4abab30c3917 EthernetNetIf.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EthernetNetIf.lib	Tue Mar 22 13:51:59 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/donatien/code/EthernetNetIf/#bc7df6da7589
diff -r 000000000000 -r 4abab30c3917 main.cpp
--- /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.
+        }
+    }
+}
\ No newline at end of file
diff -r 000000000000 -r 4abab30c3917 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Mar 22 13:51:59 2011 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912