Tick Tock / Mbed 2 deprecated CANcan

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Dependencies:   SDHCFileSystem mbed

main.cpp@2:55b2357f0cf9, 2012-12-01 (annotated)

Committer:
TickTock
Date:
Sat Dec 01 16:03:14 2012 +0000
Revision:
2:55b2357f0cf9
Parent:
1:dafb963c3c14
Child:
3:51134a275609
Got speed up to 2ms send rate but still drop a few every second on sdwrite

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 1:dafb963c3c14 79 extern bool LogCreated;
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 0:1596b8644523 87 Ticker ticker;
TickTock 1:dafb963c3c14 88 Timer timer;
TickTock 0:1596b8644523 89 DigitalOut led1(LED1);
TickTock 0:1596b8644523 90 DigitalOut led2(LED2);
TickTock 0:1596b8644523 91 DigitalOut led3(LED3);
TickTock 0:1596b8644523 92 DigitalOut led4(LED4);
TickTock 1:dafb963c3c14 93 CAN can1(p9, p10); // CAN1 uses pins 9 and 10 (rx, tx) and pin 27 (rs)
TickTock 2:55b2357f0cf9 94 DigitalOut can1_SleepMode(p27); // Use pin 27 to control the sleep mode of can1
TickTock 1:dafb963c3c14 95 CAN can2(p30, p29); // CAN2 uses pins 30 and 29 (rx, tx) and pin 28 (rs)
TickTock 2:55b2357f0cf9 96 DigitalOut can2_SleepMode(p28); // Use pin 28 to control the sleep mode of can2
TickTock 1:dafb963c3c14 97 bool logCreated = false;
TickTock 2:55b2357f0cf9 98 char counter = 0;
TickTock 2:55b2357f0cf9 99 FILE *file;
TickTock 2:55b2357f0cf9 100 char fileName[32] = "" ;
TickTock 2:55b2357f0cf9 101 char writeBuffer[512][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 2:55b2357f0cf9 108 file = fopen(fileName, "a");
TickTock 0:1596b8644523 109 if (file == NULL) {
TickTock 1:dafb963c3c14 110 if (logCreated)
TickTock 1:dafb963c3c14 111 logCreated = false;
TickTock 2:55b2357f0cf9 112 } else {
TickTock 2:55b2357f0cf9 113 for (int i = 0; i<bufPointer; i++) {
TickTock 2:55b2357f0cf9 114 for (int j = 0; j<13; j++){
TickTock 2:55b2357f0cf9 115 fprintf(file,"%c",writeBuffer[i][j]);
TickTock 2:55b2357f0cf9 116 }
TickTock 2:55b2357f0cf9 117 }
TickTock 1:dafb963c3c14 118 fclose(file);
TickTock 1:dafb963c3c14 119 }
TickTock 2:55b2357f0cf9 120 bufPointer = 0;
TickTock 2:55b2357f0cf9 121 LPC_RTC->ILR |= (1<<0); // turn on Low Bit - works
TickTock 2:55b2357f0cf9 122 }
TickTock 2:55b2357f0cf9 123
TickTock 2:55b2357f0cf9 124 extern "C" void RTC_Init (void) {
TickTock 2:55b2357f0cf9 125 LPC_RTC->ILR=0x00; // set up the RTC interrupts
TickTock 2:55b2357f0cf9 126 //LPC_RTC->CIIR=0x02; // interrupts each minute
TickTock 2:55b2357f0cf9 127 LPC_RTC->CIIR=0x01; // interrupts each second
TickTock 2:55b2357f0cf9 128 //LPC_RTC->CCR = 0x11; // use for interrupts every minute ????
TickTock 2:55b2357f0cf9 129 //LPC_RTC->CCR = 0x00; // Stop the RTC (apparently)
TickTock 2:55b2357f0cf9 130 LPC_RTC->CCR = 0x01; // Start RTC (apparently use for interrupt every second)
TickTock 2:55b2357f0cf9 131 // NVIC_SetPriority( RTC_IRQn, LOW_PR );
TickTock 2:55b2357f0cf9 132 NVIC_EnableIRQ( RTC_IRQn );
TickTock 2:55b2357f0cf9 133 }
TickTock 2:55b2357f0cf9 134
TickTock 2:55b2357f0cf9 135 unsigned short getTimeStamp() {
TickTock 2:55b2357f0cf9 136 int msec = timer.read_ms() ; // read ms from the timer
TickTock 2:55b2357f0cf9 137 unsigned long secs = time(NULL); // seconds past 12:00:00 AM 1 Jan 1900
TickTock 2:55b2357f0cf9 138 int isecs = secs%60 ; // modulo 60 for 0-59 seconds from RTC
TickTock 2:55b2357f0cf9 139 return ((isecs<<10)+msec) ; // return the two byte time stamp
TickTock 1:dafb963c3c14 140 }
TickTock 1:dafb963c3c14 141
TickTock 2:55b2357f0cf9 142 void readLog (){
TickTock 2:55b2357f0cf9 143 unsigned char c;
TickTock 2:55b2357f0cf9 144 int i=0;
TickTock 2:55b2357f0cf9 145 char lastMsgNum=0;
TickTock 2:55b2357f0cf9 146 char curMsgNum=0;
TickTock 2:55b2357f0cf9 147 pc.printf("printing file\n");
TickTock 2:55b2357f0cf9 148 file = fopen(fileName, "r");
TickTock 2:55b2357f0cf9 149 if (file == NULL) {
TickTock 2:55b2357f0cf9 150 pc.printf("no file found\n");
TickTock 1:dafb963c3c14 151 }
TickTock 2:55b2357f0cf9 152 while (!feof(file)) {
TickTock 2:55b2357f0cf9 153 c=fgetc(file);
TickTock 2:55b2357f0cf9 154 pc.printf("%02x ",c);
TickTock 2:55b2357f0cf9 155 if (i==5){
TickTock 2:55b2357f0cf9 156 curMsgNum=c;
TickTock 2:55b2357f0cf9 157 }
TickTock 2:55b2357f0cf9 158 if (++i>12) {
TickTock 2:55b2357f0cf9 159 if (curMsgNum>(lastMsgNum+1)) {
TickTock 2:55b2357f0cf9 160 pc.printf(" ***");
TickTock 2:55b2357f0cf9 161 }
TickTock 2:55b2357f0cf9 162 lastMsgNum=curMsgNum;
TickTock 2:55b2357f0cf9 163 pc.printf("\n");
TickTock 2:55b2357f0cf9 164 i=0;
TickTock 2:55b2357f0cf9 165 }
TickTock 2:55b2357f0cf9 166 }
TickTock 2:55b2357f0cf9 167 pc.printf("\n\n");
TickTock 2:55b2357f0cf9 168 fclose(file);
TickTock 2:55b2357f0cf9 169 }
TickTock 1:dafb963c3c14 170
TickTock 2:55b2357f0cf9 171 void logCan (char mtype, CANMessage canRXmsg) {
TickTock 2:55b2357f0cf9 172 unsigned short ts = getTimeStamp();
TickTock 2:55b2357f0cf9 173 writeBuffer[bufPointer][0]=mtype;
TickTock 2:55b2357f0cf9 174 writeBuffer[bufPointer][1]=ts>>8;
TickTock 2:55b2357f0cf9 175 writeBuffer[bufPointer][2]=ts&0xff;
TickTock 2:55b2357f0cf9 176 writeBuffer[bufPointer][3]=canRXmsg.id&0xff;
TickTock 2:55b2357f0cf9 177 writeBuffer[bufPointer][4]=(canRXmsg.id>>8)+(canRXmsg.len<<4);
TickTock 2:55b2357f0cf9 178 for (int i = 5; i<13; i++){
TickTock 2:55b2357f0cf9 179 writeBuffer[bufPointer][i]=canRXmsg.data[i-5];
TickTock 0:1596b8644523 180 }
TickTock 2:55b2357f0cf9 181 bufPointer++;
TickTock 1:dafb963c3c14 182 }
TickTock 0:1596b8644523 183
TickTock 1:dafb963c3c14 184 void send1() {
TickTock 1:dafb963c3c14 185 static char counter = 0; // use for fake data
TickTock 1:dafb963c3c14 186 can1.write(CANMessage(0x350, &counter, 1));
TickTock 1:dafb963c3c14 187 counter++;
TickTock 2:55b2357f0cf9 188 /*can1.write(CANMessage(0x351, &counter, 1));
TickTock 2:55b2357f0cf9 189 counter++;
TickTock 2:55b2357f0cf9 190 can1.write(CANMessage(0x352, &counter, 1));
TickTock 2:55b2357f0cf9 191 counter++;*/
TickTock 0:1596b8644523 192 }
TickTock 0:1596b8644523 193
TickTock 0:1596b8644523 194 void recieve1() {
TickTock 2:55b2357f0cf9 195 CANMessage msg1;
TickTock 2:55b2357f0cf9 196 unsigned short msgTime=getTimeStamp();
TickTock 0:1596b8644523 197 can1.read(msg1);
TickTock 2:55b2357f0cf9 198 //pc.printf("%sCan1 Message received: %d \n", upLine, msg1.data[0]);
TickTock 1:dafb963c3c14 199 if(logCreated) {
TickTock 2:55b2357f0cf9 200 if((PB1==0)||(CD==0)) {
TickTock 1:dafb963c3c14 201 logCreated=false;
TickTock 1:dafb963c3c14 202 pc.printf("Stopping log\n", counter);
TickTock 1:dafb963c3c14 203 readLog();
TickTock 2:55b2357f0cf9 204 } else {
TickTock 2:55b2357f0cf9 205 logCan(1, msg1);
TickTock 1:dafb963c3c14 206 }
TickTock 1:dafb963c3c14 207 }
TickTock 0:1596b8644523 208 led2 = !led2;
TickTock 0:1596b8644523 209 }
TickTock 2:55b2357f0cf9 210
TickTock 0:1596b8644523 211 void recieve2() {
TickTock 2:55b2357f0cf9 212 CANMessage msg2;
TickTock 2:55b2357f0cf9 213 unsigned short msgTime=getTimeStamp();
TickTock 2:55b2357f0cf9 214 static int lastMsg = 0;
TickTock 0:1596b8644523 215 can2.read(msg2);
TickTock 2:55b2357f0cf9 216 if (msg2.data[0]>(lastMsg+1)) {
TickTock 2:55b2357f0cf9 217 pc.printf("%sCan2 Message %d missed! \n\n\n", upLine, msg2.data[0]-1);
TickTock 2:55b2357f0cf9 218 }
TickTock 2:55b2357f0cf9 219 lastMsg=msg2.data[0];
TickTock 2:55b2357f0cf9 220 //pc.printf("%sCan2 Message received: %d \n", upLine, msg2.data[0]);
TickTock 1:dafb963c3c14 221 if(logCreated) {
TickTock 2:55b2357f0cf9 222 if((PB1==0)||(CD==0)) {
TickTock 1:dafb963c3c14 223 logCreated=false;
TickTock 1:dafb963c3c14 224 pc.printf("Stopping log\n\n", counter);
TickTock 1:dafb963c3c14 225 readLog();
TickTock 2:55b2357f0cf9 226 } else {
TickTock 2:55b2357f0cf9 227 logCan(2, msg2);
TickTock 1:dafb963c3c14 228 }
TickTock 1:dafb963c3c14 229 }
TickTock 0:1596b8644523 230 led3 = !led3;
TickTock 0:1596b8644523 231 }
TickTock 0:1596b8644523 232
TickTock 0:1596b8644523 233 int main() {
TickTock 2:55b2357f0cf9 234 pc.baud(460800); // change serial interface to pc to 115200, 8N1
TickTock 2:55b2357f0cf9 235 CANMessage tsMsg;
TickTock 1:dafb963c3c14 236 can1.frequency(1000000);
TickTock 1:dafb963c3c14 237 can2.frequency(1000000);
TickTock 2:55b2357f0cf9 238 can1_SleepMode = 0; // Enable TX
TickTock 2:55b2357f0cf9 239 can2_SleepMode = 0; // Enable TX
TickTock 1:dafb963c3c14 240 //can1_SleepMode = 1; // Turn on Monitor_only Mode
TickTock 1:dafb963c3c14 241 //can2_SleepMode = 1; // Turn on Monitor_only Mode
TickTock 0:1596b8644523 242 CD.mode(PullUp) ; //SDRAM Chip Detect
TickTock 2:55b2357f0cf9 243 PB1.mode(PullUp) ; //Pushbutton 1
TickTock 0:1596b8644523 244 can1.attach(&recieve1);
TickTock 0:1596b8644523 245 can2.attach(&recieve2);
TickTock 1:dafb963c3c14 246
TickTock 1:dafb963c3c14 247 timer.start() ;
TickTock 2:55b2357f0cf9 248 RTC_Init(); // start the RTC Interrupts that sync the timer
TickTock 2:55b2357f0cf9 249 wait(1.1); // give time to sync
TickTock 1:dafb963c3c14 250
TickTock 0:1596b8644523 251 if(CD == 1) {
TickTock 2:55b2357f0cf9 252 int fileNum = 0;
TickTock 2:55b2357f0cf9 253 sprintf(fileName,"/sd/canary%d.evc",fileNum);
TickTock 2:55b2357f0cf9 254 file = fopen(fileName, "r");
TickTock 2:55b2357f0cf9 255 while ((file != NULL)&&(fileNum++<100)) {
TickTock 2:55b2357f0cf9 256 fclose(file);
TickTock 2:55b2357f0cf9 257 sprintf(fileName,"/sd/canary%d.evc",fileNum);
TickTock 2:55b2357f0cf9 258 file = fopen(fileName, "r");
TickTock 2:55b2357f0cf9 259 }
TickTock 2:55b2357f0cf9 260
TickTock 2:55b2357f0cf9 261 file = fopen(fileName, "wb");
TickTock 2:55b2357f0cf9 262 if(file==NULL){
TickTock 2:55b2357f0cf9 263 pc.printf("\nUnable to open canlog\n\n\n\n");
TickTock 2:55b2357f0cf9 264 } else {
TickTock 2:55b2357f0cf9 265 logCreated = true;
TickTock 2:55b2357f0cf9 266 pc.printf("\nStarting Can Log %s\n\n\n\n",fileName);
TickTock 2:55b2357f0cf9 267 unsigned long secs = time(NULL); // seconds past 12:00:00 AM 1 Jan 1900
TickTock 2:55b2357f0cf9 268 tsMsg.id=0xfff;
TickTock 2:55b2357f0cf9 269 tsMsg.len=0xf;
TickTock 2:55b2357f0cf9 270 tsMsg.data[0]=secs&0xff;
TickTock 2:55b2357f0cf9 271 tsMsg.data[1]=(secs>>0)&0xff;
TickTock 2:55b2357f0cf9 272 tsMsg.data[2]=(secs>>16)&0xff;
TickTock 2:55b2357f0cf9 273 tsMsg.data[3]=secs>>24;
TickTock 2:55b2357f0cf9 274 tsMsg.data[4]=0xff;
TickTock 2:55b2357f0cf9 275 tsMsg.data[5]=0xff;
TickTock 2:55b2357f0cf9 276 tsMsg.data[6]=0xff;
TickTock 2:55b2357f0cf9 277 tsMsg.data[7]=0xff;
TickTock 2:55b2357f0cf9 278 logCan(0,tsMsg); //write full timestamp
TickTock 2:55b2357f0cf9 279 fclose(file);
TickTock 2:55b2357f0cf9 280
TickTock 2:55b2357f0cf9 281 }
TickTock 2:55b2357f0cf9 282 } else {
TickTock 2:55b2357f0cf9 283 pc.printf("\nNo SDRAM Inserted.\n\n\n\n");
TickTock 0:1596b8644523 284 }
TickTock 2:55b2357f0cf9 285
TickTock 2:55b2357f0cf9 286
TickTock 2:55b2357f0cf9 287 //.02 logs all; .01 misses some when logging;
TickTock 2:55b2357f0cf9 288 //.05 gets all when not logging;.02 misses some always
TickTock 2:55b2357f0cf9 289 ticker.attach(&send1, .002); //start sending messages
TickTock 0:1596b8644523 290 }