Diff: USB2CAN.cpp

Revision:

0:495bc2a030c1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USB2CAN.cpp	Thu Feb 24 16:01:37 2011 +0000
@@ -0,0 +1,117 @@
+#include "mbed.h"
+#include "CAN.h"
+#include "stdio.h"
+#include "stdlib.h"
+#include "string.h"
+
+Ticker ticker;      
+Serial pc(USBTX, USBRX);
+DigitalOut write_activity(LED1); //CAN activity
+DigitalOut read_activity(LED2);
+DigitalOut pc_activity(LED3);    //USB activity
+CAN can1(p9, p10);  // rd, td Transmitter
+CAN can2(p30, p29); // rd, td Monitor
+
+int counter = 0;
+char candata[8];
+char pc_msg[50]; 
+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;
+
+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() {
+    //printf("CANmessage: %c\n", msg);
+    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!
+    can2.reset();
+}
+
+void pc_msg_read() {
+    // Data to be sent as !<format>_<type>_<ID>_<length>_<d0>_<d1>_<d2>_<d3>_<d4>_<d5>_<d6>_<d7> ("_" = space)
+ 
+    // Read the string and copy it to the char array pc_msg 
+    pc.scanf("%[^\n]s",pc_msg);
+    pc.printf("Entered:%s",pc_msg);
+
+    // 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("Sent: [ 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(can1.write(CANMessage(pc_ID,candata,(char)pc_length,pc_type,pc_format))) {
+        pc.printf("Message compiled and sent.\n");
+    }
+    pc.printf("Please enter any additional commands in the same manner.\n");
+    
+}
+
+int main() {
+    //----------------Initialization-----------------------
+    can2.frequency(500000);             //500kbit/s
+    can1.frequency(500000);
+    can2.monitor(1); //Works without this, in my case.
+    //ticker.attach(&cansend, 0.5); //Send every 1 seconds.
+    //-----------------------------------------------------
+    
+    char test;
+    char dump;
+    pc.printf("Please enter !<format>_<type>_<ID>_<length>_<d0>_<d1>_<d2>_<d3>_<d4>_<d5>_<d6>_<d7> ('_' = space)\n");
+        
+    while(1) {
+        if (pc.readable()) {            // If there's data available from pc
+            pc_activity = !pc_activity; // LED
+            test = pc.getc();       
+            if (test == '!') {          // See if it's a valid message
+                pc_msg_read();          // Valid => read the message and extract the data
+                //pc.printf("Left pc_msg_read\n"); // "Left the function" test
+            }
+            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("Leaving pc.readable()\n"); // Left the !test
+        }
+        if (can2.read(msg)) {
+            canread(); //Read when interupted.
+        }
+    }
+}
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