Tick Tock / Mbed 2 deprecated CANcan

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Dependencies:   SDHCFileSystem mbed

main.cpp@3:51134a275609, 2012-12-03 (annotated)

Committer:
TickTock
Date:
Mon Dec 03 03:25:56 2012 +0000
Revision:
3:51134a275609
Parent:
2:55b2357f0cf9
Child:
4:fb373a391155
both channels simultaneously TX & RX

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TickTock 0:1596b8644523 1 #include "mbed.h"
TickTock 0:1596b8644523 2 #include "CAN.h"
TickTock 1:dafb963c3c14 3 #include "SDHCFileSystem.h"
TickTock 0:1596b8644523 4
TickTock 1:dafb963c3c14 5 #define upLine "\033[1A"
TickTock 1:dafb963c3c14 6
TickTock 1:dafb963c3c14 7 //CANcan.cpp
TickTock 1:dafb963c3c14 8
TickTock 1:dafb963c3c14 9 //LEAF OBD
TickTock 1:dafb963c3c14 10 //1:
TickTock 1:dafb963c3c14 11 //2:
TickTock 1:dafb963c3c14 12 //3: AVCAN-L White/Blue
TickTock 1:dafb963c3c14 13 //4:
TickTock 1:dafb963c3c14 14 //5: VSS Brown,White/Brown
TickTock 1:dafb963c3c14 15 //6: CARCAN-H Green
TickTock 1:dafb963c3c14 16 //7:
TickTock 1:dafb963c3c14 17 //8: 12V-SW Orange,White/Orange
TickTock 1:dafb963c3c14 18 //9:
TickTock 1:dafb963c3c14 19 //10:
TickTock 1:dafb963c3c14 20 //11: AVCAN-H Blue
TickTock 1:dafb963c3c14 21 //12: EVCAN-L White/Grey
TickTock 1:dafb963c3c14 22 //13: EVCAN-H Grey
TickTock 1:dafb963c3c14 23 //14: CARCAN-L White/Green
TickTock 1:dafb963c3c14 24 //15:
TickTock 1:dafb963c3c14 25 //16: 12V-AON Red/Blue,Blue/Red
TickTock 1:dafb963c3c14 26
TickTock 0:1596b8644523 27 //VP230
TickTock 1:dafb963c3c14 28 //1:D
TickTock 1:dafb963c3c14 29 //2:GND
TickTock 1:dafb963c3c14 30 //3:VCC
TickTock 1:dafb963c3c14 31 //4:R
TickTock 1:dafb963c3c14 32 //5:Vref
TickTock 1:dafb963c3c14 33 //6:CANL
TickTock 1:dafb963c3c14 34 //7:CANH
TickTock 1:dafb963c3c14 35 //8:RS
TickTock 0:1596b8644523 36
TickTock 0:1596b8644523 37 //LPC1768
TickTock 0:1596b8644523 38 //1: VSS
TickTock 1:dafb963c3c14 39 //2: NC:VIN (4.5-9V supply)
TickTock 0:1596b8644523 40 //3: NC:VB
TickTock 0:1596b8644523 41 //4: NC:nR
TickTock 0:1596b8644523 42 //5: SPI:MOSI --> 6:SDRAM:DI
TickTock 0:1596b8644523 43 //6: SPI:MISO --> 2:SDRAM:DO
TickTock 0:1596b8644523 44 //7: SPI:SCLK --> 4:SDRAM:SCLK
TickTock 0:1596b8644523 45 //8: CS --> 7:SDRAM:CS
TickTock 1:dafb963c3c14 46 //9: CAN1:RX --> 4:CAN1:R
TickTock 1:dafb963c3c14 47 //10: CAN1:TX --> 1:CAN1:D
TickTock 0:1596b8644523 48 //11: RS --> 4:LCD:RS
TickTock 0:1596b8644523 49 //12: E --> 6:LCD:E
TickTock 0:1596b8644523 50 //13: D4 --> 11:LCD:D4
TickTock 0:1596b8644523 51 //14: D5 --> 12:LCD:D5
TickTock 0:1596b8644523 52 //15: D6 --> 13:LCD:D6
TickTock 0:1596b8644523 53 //16: D7 --> 14:LCD:D7
TickTock 0:1596b8644523 54 //17: CD --> 1:SDRAM:CD
TickTock 1:dafb963c3c14 55 //18: MON12V --> 4K to 12V, 1K to VSS (To be implemented)
TickTock 0:1596b8644523 56 //19: PB2
TickTock 0:1596b8644523 57 //20: PB1
TickTock 0:1596b8644523 58 //21: Spkr+
TickTock 1:dafb963c3c14 59 //22: Spkr- (optional complimentary output for more volume)
TickTock 0:1596b8644523 60 //23: NC:pwm
TickTock 1:dafb963c3c14 61 //24: LEDBLU --> 18:LCD:BLU (only used for tri-color displays)
TickTock 1:dafb963c3c14 62 //25: LEDGRN --> 17:LCD:GRN (only used for tri-color displays)
TickTock 1:dafb963c3c14 63 //26: LEDRED --> 16:LCD:RED
TickTock 0:1596b8644523 64 //27: CAN1:Sleep --> 8:CAN1:RS
TickTock 0:1596b8644523 65 //28: CAN2:Sleep --> 8:CAN2:RS
TickTock 1:dafb963c3c14 66 //29: CAN2:TX --> 1:CAN2:D
TickTock 1:dafb963c3c14 67 //30: CAN2:RX --> 4:CAN2:R
TickTock 0:1596b8644523 68 //31: NC:USB_D+
TickTock 0:1596b8644523 69 //32: NC:USB_D-
TickTock 0:1596b8644523 70 //33: NC:Eth_TD+
TickTock 0:1596b8644523 71 //34: NC:Eth_TD-
TickTock 0:1596b8644523 72 //35: NC:Eth_RD+
TickTock 0:1596b8644523 73 //36: NC:Eth_RD-
TickTock 0:1596b8644523 74 //37: NC:IF+
TickTock 0:1596b8644523 75 //38: NC:IF-
TickTock 1:dafb963c3c14 76 //39: NC:5Vout (only available when connected as USB device)
TickTock 0:1596b8644523 77 //40: VCC3.3
TickTock 0:1596b8644523 78
TickTock 3:51134a275609 79 extern bool logOpen;
TickTock 1:dafb963c3c14 80 void Log (char *message);
TickTock 1:dafb963c3c14 81 void LogErr (char *message);
TickTock 1:dafb963c3c14 82
TickTock 1:dafb963c3c14 83 time_t seconds ;
TickTock 1:dafb963c3c14 84 DigitalIn CD(p17);
TickTock 2:55b2357f0cf9 85 DigitalIn PB1( p20 );
TickTock 1:dafb963c3c14 86 SDFileSystem sd(p5, p6, p7, p8, "sd" ); // SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name)
TickTock 3:51134a275609 87 Ticker ticker1;
TickTock 3:51134a275609 88 Ticker ticker2;
TickTock 1:dafb963c3c14 89 Timer timer;
TickTock 0:1596b8644523 90 DigitalOut led1(LED1);
TickTock 0:1596b8644523 91 DigitalOut led2(LED2);
TickTock 0:1596b8644523 92 DigitalOut led3(LED3);
TickTock 0:1596b8644523 93 DigitalOut led4(LED4);
TickTock 1:dafb963c3c14 94 CAN can1(p9, p10); // CAN1 uses pins 9 and 10 (rx, tx) and pin 27 (rs)
TickTock 2:55b2357f0cf9 95 DigitalOut can1_SleepMode(p27); // Use pin 27 to control the sleep mode of can1
TickTock 1:dafb963c3c14 96 CAN can2(p30, p29); // CAN2 uses pins 30 and 29 (rx, tx) and pin 28 (rs)
TickTock 2:55b2357f0cf9 97 DigitalOut can2_SleepMode(p28); // Use pin 28 to control the sleep mode of can2
TickTock 3:51134a275609 98 bool logOpen = false;
TickTock 2:55b2357f0cf9 99 FILE *file;
TickTock 2:55b2357f0cf9 100 char fileName[32] = "" ;
TickTock 3:51134a275609 101 char writeBuffer[2048][13];
TickTock 2:55b2357f0cf9 102 int bufPointer = 0;
TickTock 0:1596b8644523 103
TickTock 0:1596b8644523 104 Serial pc(USBTX, USBRX); // tx, rx default settings (9600 8N1)
TickTock 0:1596b8644523 105
TickTock 2:55b2357f0cf9 106 extern "C" void RTC_IRQHandler() {
TickTock 2:55b2357f0cf9 107 timer.reset() ; // zero ms at the-seconds-tick
TickTock 3:51134a275609 108 if ((bufPointer>1536)||((bufPointer>0)&!logOpen)) {
TickTock 3:51134a275609 109 file = fopen(fileName, "a");
TickTock 3:51134a275609 110 if (file == NULL) {
TickTock 3:51134a275609 111 logOpen = false;
TickTock 3:51134a275609 112 } else {
TickTock 3:51134a275609 113 int i=0;
TickTock 3:51134a275609 114 while (i<bufPointer) {
TickTock 3:51134a275609 115 for (int j = 0; j<13; j++){
TickTock 3:51134a275609 116 fprintf(file,"%c",writeBuffer[i][j]);
TickTock 3:51134a275609 117 }
TickTock 3:51134a275609 118 i++;
TickTock 2:55b2357f0cf9 119 }
TickTock 3:51134a275609 120 bufPointer = 0;
TickTock 3:51134a275609 121 led3 = !led3;
TickTock 3:51134a275609 122 fclose(file);
TickTock 2:55b2357f0cf9 123 }
TickTock 1:dafb963c3c14 124 }
TickTock 2:55b2357f0cf9 125 LPC_RTC->ILR |= (1<<0); // turn on Low Bit - works
TickTock 2:55b2357f0cf9 126 }
TickTock 2:55b2357f0cf9 127
TickTock 2:55b2357f0cf9 128 extern "C" void RTC_Init (void) {
TickTock 2:55b2357f0cf9 129 LPC_RTC->ILR=0x00; // set up the RTC interrupts
TickTock 2:55b2357f0cf9 130 //LPC_RTC->CIIR=0x02; // interrupts each minute
TickTock 2:55b2357f0cf9 131 LPC_RTC->CIIR=0x01; // interrupts each second
TickTock 2:55b2357f0cf9 132 //LPC_RTC->CCR = 0x11; // use for interrupts every minute ????
TickTock 2:55b2357f0cf9 133 //LPC_RTC->CCR = 0x00; // Stop the RTC (apparently)
TickTock 2:55b2357f0cf9 134 LPC_RTC->CCR = 0x01; // Start RTC (apparently use for interrupt every second)
TickTock 3:51134a275609 135 NVIC_SetPriority( RTC_IRQn, 10 );
TickTock 2:55b2357f0cf9 136 NVIC_EnableIRQ( RTC_IRQn );
TickTock 2:55b2357f0cf9 137 }
TickTock 2:55b2357f0cf9 138
TickTock 2:55b2357f0cf9 139 unsigned short getTimeStamp() {
TickTock 2:55b2357f0cf9 140 int msec = timer.read_ms() ; // read ms from the timer
TickTock 2:55b2357f0cf9 141 unsigned long secs = time(NULL); // seconds past 12:00:00 AM 1 Jan 1900
TickTock 2:55b2357f0cf9 142 int isecs = secs%60 ; // modulo 60 for 0-59 seconds from RTC
TickTock 2:55b2357f0cf9 143 return ((isecs<<10)+msec) ; // return the two byte time stamp
TickTock 1:dafb963c3c14 144 }
TickTock 1:dafb963c3c14 145
TickTock 2:55b2357f0cf9 146 void readLog (){
TickTock 2:55b2357f0cf9 147 unsigned char c;
TickTock 2:55b2357f0cf9 148 int i=0;
TickTock 3:51134a275609 149 char lastMsgNum[]={0,0};
TickTock 3:51134a275609 150 char curMsgNum[]={0,0};
TickTock 3:51134a275609 151 char canNum=0;
TickTock 2:55b2357f0cf9 152 pc.printf("printing file\n");
TickTock 2:55b2357f0cf9 153 file = fopen(fileName, "r");
TickTock 2:55b2357f0cf9 154 if (file == NULL) {
TickTock 2:55b2357f0cf9 155 pc.printf("no file found\n");
TickTock 1:dafb963c3c14 156 }
TickTock 2:55b2357f0cf9 157 while (!feof(file)) {
TickTock 2:55b2357f0cf9 158 c=fgetc(file);
TickTock 2:55b2357f0cf9 159 pc.printf("%02x ",c);
TickTock 3:51134a275609 160 if (i==0){
TickTock 3:51134a275609 161 canNum=c;
TickTock 3:51134a275609 162 }else if (i==5){
TickTock 3:51134a275609 163 curMsgNum[canNum]=c;
TickTock 2:55b2357f0cf9 164 }
TickTock 2:55b2357f0cf9 165 if (++i>12) {
TickTock 3:51134a275609 166 if (curMsgNum[canNum]>(lastMsgNum[canNum]+1)) {
TickTock 2:55b2357f0cf9 167 pc.printf(" ***");
TickTock 2:55b2357f0cf9 168 }
TickTock 3:51134a275609 169 lastMsgNum[canNum]=curMsgNum[canNum];
TickTock 2:55b2357f0cf9 170 pc.printf("\n");
TickTock 2:55b2357f0cf9 171 i=0;
TickTock 2:55b2357f0cf9 172 }
TickTock 2:55b2357f0cf9 173 }
TickTock 2:55b2357f0cf9 174 pc.printf("\n\n");
TickTock 2:55b2357f0cf9 175 fclose(file);
TickTock 2:55b2357f0cf9 176 }
TickTock 1:dafb963c3c14 177
TickTock 2:55b2357f0cf9 178 void logCan (char mtype, CANMessage canRXmsg) {
TickTock 2:55b2357f0cf9 179 unsigned short ts = getTimeStamp();
TickTock 2:55b2357f0cf9 180 writeBuffer[bufPointer][0]=mtype;
TickTock 2:55b2357f0cf9 181 writeBuffer[bufPointer][1]=ts>>8;
TickTock 2:55b2357f0cf9 182 writeBuffer[bufPointer][2]=ts&0xff;
TickTock 2:55b2357f0cf9 183 writeBuffer[bufPointer][3]=canRXmsg.id&0xff;
TickTock 2:55b2357f0cf9 184 writeBuffer[bufPointer][4]=(canRXmsg.id>>8)+(canRXmsg.len<<4);
TickTock 2:55b2357f0cf9 185 for (int i = 5; i<13; i++){
TickTock 2:55b2357f0cf9 186 writeBuffer[bufPointer][i]=canRXmsg.data[i-5];
TickTock 0:1596b8644523 187 }
TickTock 3:51134a275609 188 if (bufPointer++>2047)
TickTock 3:51134a275609 189 bufPointer=2047;
TickTock 1:dafb963c3c14 190 }
TickTock 0:1596b8644523 191
TickTock 1:dafb963c3c14 192 void send1() {
TickTock 1:dafb963c3c14 193 static char counter = 0; // use for fake data
TickTock 1:dafb963c3c14 194 can1.write(CANMessage(0x350, &counter, 1));
TickTock 1:dafb963c3c14 195 counter++;
TickTock 2:55b2357f0cf9 196 /*can1.write(CANMessage(0x351, &counter, 1));
TickTock 2:55b2357f0cf9 197 counter++;
TickTock 3:51134a275609 198 /*can1.write(CANMessage(0x352, &counter, 1));
TickTock 3:51134a275609 199 counter++;*/
TickTock 3:51134a275609 200 }
TickTock 3:51134a275609 201
TickTock 3:51134a275609 202 void send2() {
TickTock 3:51134a275609 203 static char counter = 0; // use for fake data
TickTock 3:51134a275609 204 can2.write(CANMessage(0x351, &counter, 1));
TickTock 3:51134a275609 205 counter++;
TickTock 3:51134a275609 206 /*can2.write(CANMessage(0x351, &counter, 1));
TickTock 3:51134a275609 207 counter++;
TickTock 3:51134a275609 208 can2.write(CANMessage(0x352, &counter, 1));
TickTock 2:55b2357f0cf9 209 counter++;*/
TickTock 0:1596b8644523 210 }
TickTock 0:1596b8644523 211
TickTock 0:1596b8644523 212 void recieve1() {
TickTock 2:55b2357f0cf9 213 CANMessage msg1;
TickTock 2:55b2357f0cf9 214 unsigned short msgTime=getTimeStamp();
TickTock 3:51134a275609 215 static int lastMsg1 = 0;
TickTock 0:1596b8644523 216 can1.read(msg1);
TickTock 3:51134a275609 217 if (msg1.id!=0x000) {
TickTock 3:51134a275609 218 if (msg1.data[0]>(lastMsg1+1)) {
TickTock 3:51134a275609 219 pc.printf("%sCan1 Message %d missed! \n", upLine, lastMsg1+1);
TickTock 1:dafb963c3c14 220 }
TickTock 3:51134a275609 221 lastMsg1=msg1.data[0];
TickTock 3:51134a275609 222 if(logOpen) {
TickTock 3:51134a275609 223 if((PB1==0)||(CD==0)) {
TickTock 3:51134a275609 224 logOpen=false;
TickTock 3:51134a275609 225 pc.printf("Stopping log\n\n");
TickTock 3:51134a275609 226 wait(1.1);
TickTock 3:51134a275609 227 readLog();
TickTock 3:51134a275609 228 } else {
TickTock 3:51134a275609 229 logCan(1, msg1);
TickTock 3:51134a275609 230 }
TickTock 3:51134a275609 231 }
TickTock 3:51134a275609 232 led1 = !led1;
TickTock 1:dafb963c3c14 233 }
TickTock 0:1596b8644523 234 }
TickTock 2:55b2357f0cf9 235
TickTock 0:1596b8644523 236 void recieve2() {
TickTock 2:55b2357f0cf9 237 CANMessage msg2;
TickTock 2:55b2357f0cf9 238 unsigned short msgTime=getTimeStamp();
TickTock 3:51134a275609 239 static int lastMsg2 = 0;
TickTock 0:1596b8644523 240 can2.read(msg2);
TickTock 3:51134a275609 241 if (msg2.id!=0x000) {
TickTock 3:51134a275609 242 if (msg2.data[0]>(lastMsg2+1)) {
TickTock 3:51134a275609 243 pc.printf("%sCan2 Message %d missed! \n", upLine, lastMsg2+1);
TickTock 3:51134a275609 244 }
TickTock 3:51134a275609 245 lastMsg2=msg2.data[0];
TickTock 3:51134a275609 246 if(logOpen) {
TickTock 3:51134a275609 247 if((PB1==0)||(CD==0)) {
TickTock 3:51134a275609 248 logOpen=false;
TickTock 3:51134a275609 249 pc.printf("Stopping log\n\n");
TickTock 3:51134a275609 250 wait(1.1);
TickTock 3:51134a275609 251 readLog();
TickTock 3:51134a275609 252 } else {
TickTock 3:51134a275609 253 logCan(2, msg2);
TickTock 3:51134a275609 254 }
TickTock 3:51134a275609 255 }
TickTock 3:51134a275609 256 led2 = !led2;
TickTock 2:55b2357f0cf9 257 }
TickTock 0:1596b8644523 258 }
TickTock 0:1596b8644523 259
TickTock 0:1596b8644523 260 int main() {
TickTock 2:55b2357f0cf9 261 pc.baud(460800); // change serial interface to pc to 115200, 8N1
TickTock 2:55b2357f0cf9 262 CANMessage tsMsg;
TickTock 1:dafb963c3c14 263 can1.frequency(1000000);
TickTock 1:dafb963c3c14 264 can2.frequency(1000000);
TickTock 2:55b2357f0cf9 265 can1_SleepMode = 0; // Enable TX
TickTock 2:55b2357f0cf9 266 can2_SleepMode = 0; // Enable TX
TickTock 1:dafb963c3c14 267 //can1_SleepMode = 1; // Turn on Monitor_only Mode
TickTock 1:dafb963c3c14 268 //can2_SleepMode = 1; // Turn on Monitor_only Mode
TickTock 0:1596b8644523 269 CD.mode(PullUp) ; //SDRAM Chip Detect
TickTock 2:55b2357f0cf9 270 PB1.mode(PullUp) ; //Pushbutton 1
TickTock 0:1596b8644523 271 can1.attach(&recieve1);
TickTock 0:1596b8644523 272 can2.attach(&recieve2);
TickTock 1:dafb963c3c14 273
TickTock 1:dafb963c3c14 274 timer.start() ;
TickTock 2:55b2357f0cf9 275 RTC_Init(); // start the RTC Interrupts that sync the timer
TickTock 2:55b2357f0cf9 276 wait(1.1); // give time to sync
TickTock 1:dafb963c3c14 277
TickTock 0:1596b8644523 278 if(CD == 1) {
TickTock 2:55b2357f0cf9 279 int fileNum = 0;
TickTock 2:55b2357f0cf9 280 sprintf(fileName,"/sd/canary%d.evc",fileNum);
TickTock 2:55b2357f0cf9 281 file = fopen(fileName, "r");
TickTock 2:55b2357f0cf9 282 while ((file != NULL)&&(fileNum++<100)) {
TickTock 2:55b2357f0cf9 283 fclose(file);
TickTock 2:55b2357f0cf9 284 sprintf(fileName,"/sd/canary%d.evc",fileNum);
TickTock 2:55b2357f0cf9 285 file = fopen(fileName, "r");
TickTock 2:55b2357f0cf9 286 }
TickTock 2:55b2357f0cf9 287
TickTock 2:55b2357f0cf9 288 file = fopen(fileName, "wb");
TickTock 2:55b2357f0cf9 289 if(file==NULL){
TickTock 2:55b2357f0cf9 290 pc.printf("\nUnable to open canlog\n\n\n\n");
TickTock 2:55b2357f0cf9 291 } else {
TickTock 3:51134a275609 292 logOpen = true;
TickTock 2:55b2357f0cf9 293 pc.printf("\nStarting Can Log %s\n\n\n\n",fileName);
TickTock 2:55b2357f0cf9 294 unsigned long secs = time(NULL); // seconds past 12:00:00 AM 1 Jan 1900
TickTock 2:55b2357f0cf9 295 tsMsg.id=0xfff;
TickTock 2:55b2357f0cf9 296 tsMsg.len=0xf;
TickTock 2:55b2357f0cf9 297 tsMsg.data[0]=secs&0xff;
TickTock 2:55b2357f0cf9 298 tsMsg.data[1]=(secs>>0)&0xff;
TickTock 2:55b2357f0cf9 299 tsMsg.data[2]=(secs>>16)&0xff;
TickTock 2:55b2357f0cf9 300 tsMsg.data[3]=secs>>24;
TickTock 2:55b2357f0cf9 301 tsMsg.data[4]=0xff;
TickTock 2:55b2357f0cf9 302 tsMsg.data[5]=0xff;
TickTock 2:55b2357f0cf9 303 tsMsg.data[6]=0xff;
TickTock 2:55b2357f0cf9 304 tsMsg.data[7]=0xff;
TickTock 2:55b2357f0cf9 305 logCan(0,tsMsg); //write full timestamp
TickTock 2:55b2357f0cf9 306 fclose(file);
TickTock 2:55b2357f0cf9 307 }
TickTock 2:55b2357f0cf9 308 } else {
TickTock 2:55b2357f0cf9 309 pc.printf("\nNo SDRAM Inserted.\n\n\n\n");
TickTock 0:1596b8644523 310 }
TickTock 2:55b2357f0cf9 311
TickTock 2:55b2357f0cf9 312
TickTock 2:55b2357f0cf9 313 //.02 logs all; .01 misses some when logging;
TickTock 2:55b2357f0cf9 314 //.05 gets all when not logging;.02 misses some always
TickTock 3:51134a275609 315 ticker1.attach(&send1, .0052); //start sending messages
TickTock 3:51134a275609 316 ticker2.attach(&send2, .0051); //start sending messages
TickTock 0:1596b8644523 317 }