Tick Tock / Mbed 2 deprecated CANcan

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Dependencies:   SDHCFileSystem mbed

main.cpp@10:663bff0a6144, 2012-12-05 (annotated)

Committer:
TickTock
Date:
Wed Dec 05 01:38:40 2012 +0000
Revision:
10:663bff0a6144
Parent:
9:8396b76e42fc
Child:
11:d97071bf877b
works

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TickTock 1:dafb963c3c14 1 //CANcan.cpp
TickTock 8:6872945e8e91 2 //A dual canbus monitoring "blackbox" application for the Nissan Leaf
TickTock 8:6872945e8e91 3 //Dumps all messages to a file on the SDRAM
TickTock 8:6872945e8e91 4 //Todo:
TickTock 8:6872945e8e91 5 // bigger buffer to avoid overflow (or messge filtering - ignore 174?)
TickTock 8:6872945e8e91 6 //
TickTock 8:6872945e8e91 7 // Connections:
TickTock 1:dafb963c3c14 8 //LEAF OBD
TickTock 7:281df0ba57d0 9 //1:
TickTock 1:dafb963c3c14 10 //2:
TickTock 1:dafb963c3c14 11 //3: AVCAN-L White/Blue
TickTock 7:281df0ba57d0 12 //4:
TickTock 1:dafb963c3c14 13 //5: VSS Brown,White/Brown
TickTock 7:281df0ba57d0 14 //6: CARCAN-H Green --> VP230b:7
TickTock 1:dafb963c3c14 15 //7:
TickTock 1:dafb963c3c14 16 //8: 12V-SW Orange,White/Orange
TickTock 1:dafb963c3c14 17 //9:
TickTock 1:dafb963c3c14 18 //10:
TickTock 1:dafb963c3c14 19 //11: AVCAN-H Blue
TickTock 7:281df0ba57d0 20 //12: EVCAN-L White/Grey --> VP230a:6
TickTock 7:281df0ba57d0 21 //13: EVCAN-H Grey --> VP230a:7
TickTock 7:281df0ba57d0 22 //14: CARCAN-L White/Green --> VP230b:6
TickTock 7:281df0ba57d0 23 //15: 6V
TickTock 7:281df0ba57d0 24 //16: 12V-AON Red/Blue,Blue/Red ----|<---- LPC1768:2
TickTock 7:281df0ba57d0 25 //note 1: pins 4 & 5 longer
TickTock 7:281df0ba57d0 26 //note 2: pins 12 & 13 next to key
TickTock 7:281df0ba57d0 27 //note 3: pins 1 & 9 on right side looking into male connector with key on bottom
TickTock 1:dafb963c3c14 28
TickTock 8:6872945e8e91 29 //VP230{a,b}
TickTock 1:dafb963c3c14 30 //1:D
TickTock 1:dafb963c3c14 31 //2:GND
TickTock 1:dafb963c3c14 32 //3:VCC
TickTock 1:dafb963c3c14 33 //4:R
TickTock 1:dafb963c3c14 34 //5:Vref
TickTock 7:281df0ba57d0 35 //6:CANL --> OBD:12,14
TickTock 7:281df0ba57d0 36 //7:CANH --> OBD:13,6
TickTock 7:281df0ba57d0 37 //8:RS --> LPC1768:27,28
TickTock 0:1596b8644523 38
TickTock 0:1596b8644523 39 //LPC1768
TickTock 8:6872945e8e91 40 //1: VSS 6V
TickTock 8:6872945e8e91 41 //2: VIN (4.5-9V supply) ---->|---- OBD:16
TickTock 0:1596b8644523 42 //3: NC:VB
TickTock 0:1596b8644523 43 //4: NC:nR
TickTock 0:1596b8644523 44 //5: SPI:MOSI --> 6:SDRAM:DI
TickTock 0:1596b8644523 45 //6: SPI:MISO --> 2:SDRAM:DO
TickTock 0:1596b8644523 46 //7: SPI:SCLK --> 4:SDRAM:SCLK
TickTock 0:1596b8644523 47 //8: CS --> 7:SDRAM:CS
TickTock 1:dafb963c3c14 48 //9: CAN1:RX --> 4:CAN1:R
TickTock 1:dafb963c3c14 49 //10: CAN1:TX --> 1:CAN1:D
TickTock 8:6872945e8e91 50 //11: NC:RS --> 4:LCD:RS
TickTock 8:6872945e8e91 51 //12: NC:E --> 6:LCD:E
TickTock 8:6872945e8e91 52 //13: NC:D4 --> 11:LCD:D4
TickTock 8:6872945e8e91 53 //14: NC:D5 --> 12:LCD:D5
TickTock 8:6872945e8e91 54 //15: NC:D6 --> 13:LCD:D6
TickTock 8:6872945e8e91 55 //16: NC:D7 --> 14:LCD:D7
TickTock 0:1596b8644523 56 //17: CD --> 1:SDRAM:CD
TickTock 8:6872945e8e91 57 //18: NC:MON12V --> 4K to 12V, 1K to VSS (To be implemented)
TickTock 0:1596b8644523 58 //19: PB2
TickTock 0:1596b8644523 59 //20: PB1
TickTock 8:6872945e8e91 60 //21: NC:Spkr+
TickTock 8:6872945e8e91 61 //22: NC:Spkr- (optional complimentary output for more volume)
TickTock 0:1596b8644523 62 //23: NC:pwm
TickTock 8:6872945e8e91 63 //24: NC:LEDBLU --> 18:LCD:BLU (only used for tri-color displays)
TickTock 8:6872945e8e91 64 //25: NC:LEDGRN --> 17:LCD:GRN (only used for tri-color displays)
TickTock 8:6872945e8e91 65 //26: NC:LEDRED --> 16:LCD:RED
TickTock 0:1596b8644523 66 //27: CAN1:Sleep --> 8:CAN1:RS
TickTock 0:1596b8644523 67 //28: CAN2:Sleep --> 8:CAN2:RS
TickTock 1:dafb963c3c14 68 //29: CAN2:TX --> 1:CAN2:D
TickTock 1:dafb963c3c14 69 //30: CAN2:RX --> 4:CAN2:R
TickTock 0:1596b8644523 70 //31: NC:USB_D+
TickTock 0:1596b8644523 71 //32: NC:USB_D-
TickTock 0:1596b8644523 72 //33: NC:Eth_TD+
TickTock 0:1596b8644523 73 //34: NC:Eth_TD-
TickTock 0:1596b8644523 74 //35: NC:Eth_RD+
TickTock 0:1596b8644523 75 //36: NC:Eth_RD-
TickTock 0:1596b8644523 76 //37: NC:IF+
TickTock 0:1596b8644523 77 //38: NC:IF-
TickTock 1:dafb963c3c14 78 //39: NC:5Vout (only available when connected as USB device)
TickTock 0:1596b8644523 79 //40: VCC3.3
TickTock 0:1596b8644523 80
TickTock 8:6872945e8e91 81 #include "mbed.h"
TickTock 8:6872945e8e91 82 #include "CAN.h"
TickTock 8:6872945e8e91 83 #include "SDHCFileSystem.h"
TickTock 8:6872945e8e91 84
TickTock 8:6872945e8e91 85 #define upLine "\033[1A"
TickTock 8:6872945e8e91 86 #define maxBufLen 2048
TickTock 8:6872945e8e91 87 #define canTimeout 5
TickTock 8:6872945e8e91 88
TickTock 1:dafb963c3c14 89 void Log (char *message);
TickTock 1:dafb963c3c14 90 void LogErr (char *message);
TickTock 6:594d9717e609 91 extern "C" void mbed_reset();
TickTock 1:dafb963c3c14 92
TickTock 1:dafb963c3c14 93 time_t seconds ;
TickTock 9:8396b76e42fc 94 DigitalIn CD(p17);
TickTock 9:8396b76e42fc 95 DigitalIn PB1( p20 );
TickTock 1:dafb963c3c14 96 SDFileSystem sd(p5, p6, p7, p8, "sd" ); // SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name)
TickTock 1:dafb963c3c14 97 Timer timer;
TickTock 0:1596b8644523 98 DigitalOut led1(LED1);
TickTock 0:1596b8644523 99 DigitalOut led2(LED2);
TickTock 0:1596b8644523 100 DigitalOut led3(LED3);
TickTock 0:1596b8644523 101 DigitalOut led4(LED4);
TickTock 1:dafb963c3c14 102 CAN can1(p9, p10); // CAN1 uses pins 9 and 10 (rx, tx) and pin 27 (rs)
TickTock 2:55b2357f0cf9 103 DigitalOut can1_SleepMode(p27); // Use pin 27 to control the sleep mode of can1
TickTock 1:dafb963c3c14 104 CAN can2(p30, p29); // CAN2 uses pins 30 and 29 (rx, tx) and pin 28 (rs)
TickTock 2:55b2357f0cf9 105 DigitalOut can2_SleepMode(p28); // Use pin 28 to control the sleep mode of can2
TickTock 3:51134a275609 106 bool logOpen = false;
TickTock 2:55b2357f0cf9 107 FILE *file;
TickTock 2:55b2357f0cf9 108 char fileName[32] = "" ;
TickTock 4:fb373a391155 109 char writeBuffer[maxBufLen][13];
TickTock 9:8396b76e42fc 110 int writePointer = 0;
TickTock 9:8396b76e42fc 111 int secsIdle = canTimeout;
TickTock 10:663bff0a6144 112 bool canIdle = true;
TickTock 10:663bff0a6144 113 Serial pc(USBTX, USBRX);
TickTock 0:1596b8644523 114
TickTock 2:55b2357f0cf9 115 extern "C" void RTC_IRQHandler() {
TickTock 9:8396b76e42fc 116 timer.reset(); // zero ms at the-seconds-tic
TickTock 10:663bff0a6144 117 canIdle=(++secsIdle>canTimeout);
TickTock 8:6872945e8e91 118 LPC_RTC->ILR |= (1<<0); // clear interrupt to prepare for next
TickTock 2:55b2357f0cf9 119 }
TickTock 2:55b2357f0cf9 120
TickTock 2:55b2357f0cf9 121 extern "C" void RTC_Init (void) {
TickTock 2:55b2357f0cf9 122 LPC_RTC->ILR=0x00; // set up the RTC interrupts
TickTock 2:55b2357f0cf9 123 LPC_RTC->CIIR=0x01; // interrupts each second
TickTock 8:6872945e8e91 124 LPC_RTC->CCR = 0x01; // Clock enable
TickTock 9:8396b76e42fc 125 //NVIC_SetPriority( RTC_IRQn, 10 );
TickTock 2:55b2357f0cf9 126 NVIC_EnableIRQ( RTC_IRQn );
TickTock 2:55b2357f0cf9 127 }
TickTock 2:55b2357f0cf9 128
TickTock 2:55b2357f0cf9 129 unsigned short getTimeStamp() {
TickTock 2:55b2357f0cf9 130 int msec = timer.read_ms() ; // read ms from the timer
TickTock 2:55b2357f0cf9 131 unsigned long secs = time(NULL); // seconds past 12:00:00 AM 1 Jan 1900
TickTock 2:55b2357f0cf9 132 int isecs = secs%60 ; // modulo 60 for 0-59 seconds from RTC
TickTock 2:55b2357f0cf9 133 return ((isecs<<10)+msec) ; // return the two byte time stamp
TickTock 1:dafb963c3c14 134 }
TickTock 1:dafb963c3c14 135
TickTock 2:55b2357f0cf9 136 void readLog (){
TickTock 2:55b2357f0cf9 137 unsigned char c;
TickTock 2:55b2357f0cf9 138 int i=0;
TickTock 3:51134a275609 139 char lastMsgNum[]={0,0};
TickTock 3:51134a275609 140 char curMsgNum[]={0,0};
TickTock 3:51134a275609 141 char canNum=0;
TickTock 2:55b2357f0cf9 142 pc.printf("printing file\n");
TickTock 2:55b2357f0cf9 143 file = fopen(fileName, "r");
TickTock 2:55b2357f0cf9 144 if (file == NULL) {
TickTock 2:55b2357f0cf9 145 pc.printf("no file found\n");
TickTock 1:dafb963c3c14 146 }
TickTock 2:55b2357f0cf9 147 while (!feof(file)) {
TickTock 2:55b2357f0cf9 148 c=fgetc(file);
TickTock 2:55b2357f0cf9 149 pc.printf("%02x ",c);
TickTock 3:51134a275609 150 if (i==0){
TickTock 3:51134a275609 151 canNum=c;
TickTock 3:51134a275609 152 }else if (i==5){
TickTock 3:51134a275609 153 curMsgNum[canNum]=c;
TickTock 2:55b2357f0cf9 154 }
TickTock 2:55b2357f0cf9 155 if (++i>12) {
TickTock 3:51134a275609 156 if (curMsgNum[canNum]>(lastMsgNum[canNum]+1)) {
TickTock 2:55b2357f0cf9 157 pc.printf(" ***");
TickTock 2:55b2357f0cf9 158 }
TickTock 3:51134a275609 159 lastMsgNum[canNum]=curMsgNum[canNum];
TickTock 2:55b2357f0cf9 160 pc.printf("\n");
TickTock 2:55b2357f0cf9 161 i=0;
TickTock 2:55b2357f0cf9 162 }
TickTock 2:55b2357f0cf9 163 }
TickTock 10:663bff0a6144 164 pc.printf("\n\n");
TickTock 2:55b2357f0cf9 165 fclose(file);
TickTock 2:55b2357f0cf9 166 }
TickTock 1:dafb963c3c14 167
TickTock 2:55b2357f0cf9 168 void logCan (char mtype, CANMessage canRXmsg) {
TickTock 2:55b2357f0cf9 169 unsigned short ts = getTimeStamp();
TickTock 9:8396b76e42fc 170 writeBuffer[writePointer][0]=mtype;
TickTock 9:8396b76e42fc 171 writeBuffer[writePointer][1]=ts>>8;
TickTock 9:8396b76e42fc 172 writeBuffer[writePointer][2]=ts&0xff;
TickTock 9:8396b76e42fc 173 writeBuffer[writePointer][3]=canRXmsg.id&0xff;
TickTock 9:8396b76e42fc 174 writeBuffer[writePointer][4]=(canRXmsg.id>>8)+(canRXmsg.len<<4);
TickTock 2:55b2357f0cf9 175 for (int i = 5; i<13; i++){
TickTock 9:8396b76e42fc 176 writeBuffer[writePointer][i]=canRXmsg.data[i-5];
TickTock 0:1596b8644523 177 }
TickTock 9:8396b76e42fc 178 if (++writePointer >= maxBufLen) {
TickTock 9:8396b76e42fc 179 writePointer = 0;
TickTock 4:fb373a391155 180 led4 = !led4;
TickTock 4:fb373a391155 181 }
TickTock 1:dafb963c3c14 182 }
TickTock 0:1596b8644523 183
TickTock 0:1596b8644523 184 void recieve1() {
TickTock 2:55b2357f0cf9 185 CANMessage msg1;
TickTock 2:55b2357f0cf9 186 unsigned short msgTime=getTimeStamp();
TickTock 3:51134a275609 187 static int lastMsg1 = 0;
TickTock 9:8396b76e42fc 188 secsIdle=0; // reset deadman switch
TickTock 0:1596b8644523 189 can1.read(msg1);
TickTock 3:51134a275609 190 if (msg1.id!=0x000) {
TickTock 3:51134a275609 191 if (msg1.data[0]>(lastMsg1+1)) {
TickTock 3:51134a275609 192 pc.printf("%sCan1 Message %d missed! \n", upLine, lastMsg1+1);
TickTock 1:dafb963c3c14 193 }
TickTock 3:51134a275609 194 lastMsg1=msg1.data[0];
TickTock 10:663bff0a6144 195 if(logOpen)
TickTock 4:fb373a391155 196 logCan(1, msg1);
TickTock 3:51134a275609 197 led1 = !led1;
TickTock 1:dafb963c3c14 198 }
TickTock 0:1596b8644523 199 }
TickTock 2:55b2357f0cf9 200
TickTock 0:1596b8644523 201 void recieve2() {
TickTock 2:55b2357f0cf9 202 CANMessage msg2;
TickTock 2:55b2357f0cf9 203 unsigned short msgTime=getTimeStamp();
TickTock 3:51134a275609 204 static int lastMsg2 = 0;
TickTock 9:8396b76e42fc 205 secsIdle=0; // reset deadman switch
TickTock 0:1596b8644523 206 can2.read(msg2);
TickTock 3:51134a275609 207 if (msg2.id!=0x000) {
TickTock 3:51134a275609 208 if (msg2.data[0]>(lastMsg2+1)) {
TickTock 3:51134a275609 209 pc.printf("%sCan2 Message %d missed! \n", upLine, lastMsg2+1);
TickTock 3:51134a275609 210 }
TickTock 3:51134a275609 211 lastMsg2=msg2.data[0];
TickTock 10:663bff0a6144 212 if(logOpen)
TickTock 4:fb373a391155 213 logCan(2, msg2);
TickTock 3:51134a275609 214 led2 = !led2;
TickTock 2:55b2357f0cf9 215 }
TickTock 0:1596b8644523 216 }
TickTock 0:1596b8644523 217
TickTock 0:1596b8644523 218 int main() {
TickTock 9:8396b76e42fc 219 int readPointer=0;
TickTock 10:663bff0a6144 220 pc.baud(460800); // change serial interface to pc to 450800, 8N1
TickTock 2:55b2357f0cf9 221 CANMessage tsMsg;
TickTock 7:281df0ba57d0 222 can1.frequency(500000);
TickTock 7:281df0ba57d0 223 can2.frequency(500000);
TickTock 10:663bff0a6144 224 can1_SleepMode = 1; // Monitor_only Mode
TickTock 10:663bff0a6144 225 can2_SleepMode = 1; // Monitor_only Mode
TickTock 0:1596b8644523 226 CD.mode(PullUp) ; //SDRAM Chip Detect
TickTock 2:55b2357f0cf9 227 PB1.mode(PullUp) ; //Pushbutton 1
TickTock 0:1596b8644523 228 can1.attach(&recieve1);
TickTock 0:1596b8644523 229 can2.attach(&recieve2);
TickTock 1:dafb963c3c14 230
TickTock 1:dafb963c3c14 231 timer.start() ;
TickTock 2:55b2357f0cf9 232 RTC_Init(); // start the RTC Interrupts that sync the timer
TickTock 2:55b2357f0cf9 233 wait(1.1); // give time to sync
TickTock 1:dafb963c3c14 234
TickTock 6:594d9717e609 235 while (true) {
TickTock 6:594d9717e609 236 if(CD == 1) {
TickTock 6:594d9717e609 237 int fileNum = 0;
TickTock 8:6872945e8e91 238 sprintf(fileName,"/sd/CANcan%d.alc",fileNum);
TickTock 2:55b2357f0cf9 239 file = fopen(fileName, "r");
TickTock 6:594d9717e609 240 while ((file != NULL)&&(fileNum++<100)) {
TickTock 6:594d9717e609 241 fclose(file);
TickTock 8:6872945e8e91 242 sprintf(fileName,"/sd/CANcan%d.alc",fileNum);
TickTock 6:594d9717e609 243 file = fopen(fileName, "r");
TickTock 6:594d9717e609 244 }
TickTock 6:594d9717e609 245
TickTock 6:594d9717e609 246 file = fopen(fileName, "wb");
TickTock 6:594d9717e609 247 if(file==NULL){
TickTock 6:594d9717e609 248 pc.printf("\nUnable to open canlog\n\n\n\n");
TickTock 6:594d9717e609 249 mbed_reset();
TickTock 6:594d9717e609 250 } else {
TickTock 6:594d9717e609 251 logOpen = true;
TickTock 9:8396b76e42fc 252 readPointer=writePointer;
TickTock 6:594d9717e609 253 pc.printf("\nStarting Can Log %s\n\n\n\n",fileName);
TickTock 6:594d9717e609 254 unsigned long secs = time(NULL); // seconds past 12:00:00 AM 1 Jan 1900
TickTock 6:594d9717e609 255 tsMsg.id=0xfff;
TickTock 6:594d9717e609 256 tsMsg.len=0xf;
TickTock 6:594d9717e609 257 tsMsg.data[0]=secs&0xff;
TickTock 6:594d9717e609 258 tsMsg.data[1]=(secs>>0)&0xff;
TickTock 6:594d9717e609 259 tsMsg.data[2]=(secs>>16)&0xff;
TickTock 6:594d9717e609 260 tsMsg.data[3]=secs>>24;
TickTock 6:594d9717e609 261 tsMsg.data[4]=0xff;
TickTock 6:594d9717e609 262 tsMsg.data[5]=0xff;
TickTock 6:594d9717e609 263 tsMsg.data[6]=0xff;
TickTock 6:594d9717e609 264 tsMsg.data[7]=0xff;
TickTock 6:594d9717e609 265 logCan(0,tsMsg); //write full timestamp
TickTock 6:594d9717e609 266 fclose(file);
TickTock 6:594d9717e609 267 }
TickTock 9:8396b76e42fc 268
TickTock 9:8396b76e42fc 269 do {
TickTock 10:663bff0a6144 270 if (((writePointer+maxBufLen-readPointer)%maxBufLen)>(maxBufLen/2)||canIdle||(PB1==0)) {
TickTock 10:663bff0a6144 271 // Dump buffer if > 1/2 full, canbus has stopped, or PB1 pressed
TickTock 9:8396b76e42fc 272 if (logOpen) {
TickTock 9:8396b76e42fc 273 file = fopen(fileName, "ab");
TickTock 9:8396b76e42fc 274 if (file == NULL) {
TickTock 9:8396b76e42fc 275 logOpen = false;
TickTock 9:8396b76e42fc 276 pc.printf("Failed to append log file.\n\n");
TickTock 9:8396b76e42fc 277 } else {
TickTock 9:8396b76e42fc 278 while (readPointer != writePointer) {
TickTock 9:8396b76e42fc 279 for (int j = 0; j<13; j++){
TickTock 9:8396b76e42fc 280 fprintf(file,"%c",writeBuffer[readPointer][j]);
TickTock 9:8396b76e42fc 281 }
TickTock 9:8396b76e42fc 282 if(++readPointer >= maxBufLen)
TickTock 9:8396b76e42fc 283 readPointer=0;
TickTock 9:8396b76e42fc 284 }
TickTock 9:8396b76e42fc 285 led3 = !led3;
TickTock 9:8396b76e42fc 286 fclose(file);
TickTock 9:8396b76e42fc 287 }
TickTock 10:663bff0a6144 288 } // if (logOpen)
TickTock 9:8396b76e42fc 289 }
TickTock 10:663bff0a6144 290 if (canIdle) { // canbus idle --> sleep to save power
TickTock 9:8396b76e42fc 291 LPC_RTC->CIIR=0x00; // block RTC interrupts
TickTock 10:663bff0a6144 292 led1=0;
TickTock 10:663bff0a6144 293 led2=0;
TickTock 10:663bff0a6144 294 led3=0;
TickTock 10:663bff0a6144 295 led4=0;
TickTock 10:663bff0a6144 296 while (secsIdle>canTimeout)
TickTock 10:663bff0a6144 297 __wfi(); // freeze CPU and wait for interrupt (from canbus)
TickTock 10:663bff0a6144 298 LPC_RTC->CIIR=0x01; // re-enable RTC interrupts
TickTock 9:8396b76e42fc 299 }
TickTock 10:663bff0a6144 300 wait(0.25); // We get >2K messages per second
TickTock 10:663bff0a6144 301 } while ((PB1==1)&&(CD==1)&&!canIdle); // keep going until button or SDram removed
TickTock 9:8396b76e42fc 302
TickTock 6:594d9717e609 303 logOpen=false;
TickTock 6:594d9717e609 304 pc.printf("Stopping log\n\n");
TickTock 2:55b2357f0cf9 305 } else {
TickTock 6:594d9717e609 306 pc.printf("\nNo SDRAM Inserted.\n\n\n\n");
TickTock 10:663bff0a6144 307 } //if (CD==1)
TickTock 6:594d9717e609 308 wait(1);
TickTock 9:8396b76e42fc 309 } //while (true)
TickTock 9:8396b76e42fc 310 }
TickTock 9:8396b76e42fc 311