Tick Tock / Mbed 2 deprecated CANcan

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Dependencies:   SDHCFileSystem mbed

main.cpp@1:dafb963c3c14, 2012-11-29 (annotated)

Committer:
TickTock
Date:
Thu Nov 29 12:18:37 2012 +0000
Revision:
1:dafb963c3c14
Parent:
0:1596b8644523
Child:
2:55b2357f0cf9
initial working version;

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 0:1596b8644523 3 #include "TextLCD.h"
TickTock 1:dafb963c3c14 4 #include "SDHCFileSystem.h"
TickTock 0:1596b8644523 5 #include "DebounceIn.h"
TickTock 0:1596b8644523 6 #include "beep.h"
TickTock 0:1596b8644523 7
TickTock 1:dafb963c3c14 8 #define upLine "\033[1A"
TickTock 1:dafb963c3c14 9 #define LOGFILE "/sd/canary.log"
TickTock 1:dafb963c3c14 10
TickTock 1:dafb963c3c14 11 //CANcan.cpp
TickTock 1:dafb963c3c14 12
TickTock 1:dafb963c3c14 13 //LEAF OBD
TickTock 1:dafb963c3c14 14 //1:
TickTock 1:dafb963c3c14 15 //2:
TickTock 1:dafb963c3c14 16 //3: AVCAN-L White/Blue
TickTock 1:dafb963c3c14 17 //4:
TickTock 1:dafb963c3c14 18 //5: VSS Brown,White/Brown
TickTock 1:dafb963c3c14 19 //6: CARCAN-H Green
TickTock 1:dafb963c3c14 20 //7:
TickTock 1:dafb963c3c14 21 //8: 12V-SW Orange,White/Orange
TickTock 1:dafb963c3c14 22 //9:
TickTock 1:dafb963c3c14 23 //10:
TickTock 1:dafb963c3c14 24 //11: AVCAN-H Blue
TickTock 1:dafb963c3c14 25 //12: EVCAN-L White/Grey
TickTock 1:dafb963c3c14 26 //13: EVCAN-H Grey
TickTock 1:dafb963c3c14 27 //14: CARCAN-L White/Green
TickTock 1:dafb963c3c14 28 //15:
TickTock 1:dafb963c3c14 29 //16: 12V-AON Red/Blue,Blue/Red
TickTock 1:dafb963c3c14 30
TickTock 0:1596b8644523 31 //VP230
TickTock 1:dafb963c3c14 32 //1:D
TickTock 1:dafb963c3c14 33 //2:GND
TickTock 1:dafb963c3c14 34 //3:VCC
TickTock 1:dafb963c3c14 35 //4:R
TickTock 1:dafb963c3c14 36 //5:Vref
TickTock 1:dafb963c3c14 37 //6:CANL
TickTock 1:dafb963c3c14 38 //7:CANH
TickTock 1:dafb963c3c14 39 //8:RS
TickTock 0:1596b8644523 40
TickTock 0:1596b8644523 41 //LPC1768
TickTock 0:1596b8644523 42 //1: VSS
TickTock 1:dafb963c3c14 43 //2: NC:VIN (4.5-9V supply)
TickTock 0:1596b8644523 44 //3: NC:VB
TickTock 0:1596b8644523 45 //4: NC:nR
TickTock 0:1596b8644523 46 //5: SPI:MOSI --> 6:SDRAM:DI
TickTock 0:1596b8644523 47 //6: SPI:MISO --> 2:SDRAM:DO
TickTock 0:1596b8644523 48 //7: SPI:SCLK --> 4:SDRAM:SCLK
TickTock 0:1596b8644523 49 //8: CS --> 7:SDRAM:CS
TickTock 1:dafb963c3c14 50 //9: CAN1:RX --> 4:CAN1:R
TickTock 1:dafb963c3c14 51 //10: CAN1:TX --> 1:CAN1:D
TickTock 0:1596b8644523 52 //11: RS --> 4:LCD:RS
TickTock 0:1596b8644523 53 //12: E --> 6:LCD:E
TickTock 0:1596b8644523 54 //13: D4 --> 11:LCD:D4
TickTock 0:1596b8644523 55 //14: D5 --> 12:LCD:D5
TickTock 0:1596b8644523 56 //15: D6 --> 13:LCD:D6
TickTock 0:1596b8644523 57 //16: D7 --> 14:LCD:D7
TickTock 0:1596b8644523 58 //17: CD --> 1:SDRAM:CD
TickTock 1:dafb963c3c14 59 //18: MON12V --> 4K to 12V, 1K to VSS (To be implemented)
TickTock 0:1596b8644523 60 //19: PB2
TickTock 0:1596b8644523 61 //20: PB1
TickTock 0:1596b8644523 62 //21: Spkr+
TickTock 1:dafb963c3c14 63 //22: Spkr- (optional complimentary output for more volume)
TickTock 0:1596b8644523 64 //23: NC:pwm
TickTock 1:dafb963c3c14 65 //24: LEDBLU --> 18:LCD:BLU (only used for tri-color displays)
TickTock 1:dafb963c3c14 66 //25: LEDGRN --> 17:LCD:GRN (only used for tri-color displays)
TickTock 1:dafb963c3c14 67 //26: LEDRED --> 16:LCD:RED
TickTock 0:1596b8644523 68 //27: CAN1:Sleep --> 8:CAN1:RS
TickTock 0:1596b8644523 69 //28: CAN2:Sleep --> 8:CAN2:RS
TickTock 1:dafb963c3c14 70 //29: CAN2:TX --> 1:CAN2:D
TickTock 1:dafb963c3c14 71 //30: CAN2:RX --> 4:CAN2:R
TickTock 0:1596b8644523 72 //31: NC:USB_D+
TickTock 0:1596b8644523 73 //32: NC:USB_D-
TickTock 0:1596b8644523 74 //33: NC:Eth_TD+
TickTock 0:1596b8644523 75 //34: NC:Eth_TD-
TickTock 0:1596b8644523 76 //35: NC:Eth_RD+
TickTock 0:1596b8644523 77 //36: NC:Eth_RD-
TickTock 0:1596b8644523 78 //37: NC:IF+
TickTock 0:1596b8644523 79 //38: NC:IF-
TickTock 1:dafb963c3c14 80 //39: NC:5Vout (only available when connected as USB device)
TickTock 0:1596b8644523 81 //40: VCC3.3
TickTock 0:1596b8644523 82
TickTock 1:dafb963c3c14 83 extern bool LogCreated;
TickTock 1:dafb963c3c14 84 void Log (char *message);
TickTock 1:dafb963c3c14 85 void LogErr (char *message);
TickTock 1:dafb963c3c14 86
TickTock 1:dafb963c3c14 87 time_t seconds ;
TickTock 0:1596b8644523 88 Beep buzzer(p21);
TickTock 1:dafb963c3c14 89 DigitalIn CD(p17);
TickTock 1:dafb963c3c14 90 DebounceIn dbPB1( p20 );
TickTock 1:dafb963c3c14 91 ;DigitalIn PB1(p20);
TickTock 1:dafb963c3c14 92 SDFileSystem sd(p5, p6, p7, p8, "sd" ); // SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name)
TickTock 0:1596b8644523 93 TextLCD lcd(p11, p12, p13, p14, p15, p16); // rs, e, d0-d3 (RW to GND)
TickTock 0:1596b8644523 94 Ticker ticker;
TickTock 1:dafb963c3c14 95 Timer timer;
TickTock 0:1596b8644523 96 DigitalOut led1(LED1);
TickTock 0:1596b8644523 97 DigitalOut led2(LED2);
TickTock 0:1596b8644523 98 DigitalOut led3(LED3);
TickTock 0:1596b8644523 99 DigitalOut led4(LED4);
TickTock 1:dafb963c3c14 100 CAN can1(p9, p10); // CAN1 uses pins 9 and 10 (rx, tx) and pin 27 (rs)
TickTock 1:dafb963c3c14 101 CAN can2(p30, p29); // CAN2 uses pins 30 and 29 (rx, tx) and pin 28 (rs)
TickTock 1:dafb963c3c14 102 bool logCreated = false;
TickTock 0:1596b8644523 103 char logMsg[64];
TickTock 0:1596b8644523 104
TickTock 0:1596b8644523 105 char counter = 0;
TickTock 0:1596b8644523 106 //DigitalOut can1_SleepMode(p11); // Use pin 11 to control the sleep mode of can1
TickTock 0:1596b8644523 107 //DigitalOut can2_SleepMode(p28); // Use pin 28 to control the sleep mode of can2
TickTock 0:1596b8644523 108 Serial pc(USBTX, USBRX); // tx, rx default settings (9600 8N1)
TickTock 0:1596b8644523 109
TickTock 1:dafb963c3c14 110 unsigned short getTimeStamp() {// from Gary's code
TickTock 1:dafb963c3c14 111
TickTock 1:dafb963c3c14 112 int msec = timer.read_ms(); // not synchronized with RTC
TickTock 1:dafb963c3c14 113 //unsigned long secs = time(NULL); // seconds past 12:00:00 AM 1 Jan 1900
TickTock 1:dafb963c3c14 114 unsigned long secs = msec / 1000;
TickTock 1:dafb963c3c14 115 int isecs = secs % 60; // modulo 60 for 0-59 seconds from RTC
TickTock 1:dafb963c3c14 116 return ((isecs << 10) + (msec%1000)); // return the two byte time stamp
TickTock 1:dafb963c3c14 117 }
TickTock 1:dafb963c3c14 118
TickTock 1:dafb963c3c14 119 void readLog ()
TickTock 0:1596b8644523 120 {
TickTock 0:1596b8644523 121 FILE *file;
TickTock 1:dafb963c3c14 122 unsigned char c;
TickTock 1:dafb963c3c14 123 int i=0;
TickTock 1:dafb963c3c14 124 pc.printf("printing file\n");
TickTock 1:dafb963c3c14 125 file = fopen(LOGFILE, "r");
TickTock 1:dafb963c3c14 126 if (file == NULL) {
TickTock 1:dafb963c3c14 127 pc.printf("no file found\n");
TickTock 1:dafb963c3c14 128 }
TickTock 1:dafb963c3c14 129 while (!feof(file))
TickTock 1:dafb963c3c14 130 {
TickTock 1:dafb963c3c14 131 c=fgetc(file);
TickTock 1:dafb963c3c14 132 pc.printf("%02x ",c);
TickTock 1:dafb963c3c14 133 if (++i>11)
TickTock 1:dafb963c3c14 134 {
TickTock 1:dafb963c3c14 135 pc.printf("\n");
TickTock 1:dafb963c3c14 136 i=0;
TickTock 1:dafb963c3c14 137 }
TickTock 1:dafb963c3c14 138 }
TickTock 1:dafb963c3c14 139 pc.printf("\n");
TickTock 1:dafb963c3c14 140 pc.printf("\n");
TickTock 1:dafb963c3c14 141 fclose(file);
TickTock 1:dafb963c3c14 142 }
TickTock 1:dafb963c3c14 143
TickTock 1:dafb963c3c14 144 void logCan (CANMessage canRXmsg)
TickTock 1:dafb963c3c14 145 {
TickTock 1:dafb963c3c14 146 FILE *file;
TickTock 1:dafb963c3c14 147 unsigned short ts;
TickTock 1:dafb963c3c14 148
TickTock 1:dafb963c3c14 149 ts=getTimeStamp();
TickTock 0:1596b8644523 150
TickTock 1:dafb963c3c14 151 if (!logCreated) {
TickTock 0:1596b8644523 152 file = fopen(LOGFILE, "w");
TickTock 1:dafb963c3c14 153 logCreated = true;
TickTock 0:1596b8644523 154 }
TickTock 0:1596b8644523 155 else
TickTock 0:1596b8644523 156 file = fopen(LOGFILE, "a");
TickTock 0:1596b8644523 157
TickTock 0:1596b8644523 158 if (file == NULL) {
TickTock 1:dafb963c3c14 159 if (logCreated)
TickTock 1:dafb963c3c14 160 logCreated = false;
TickTock 1:dafb963c3c14 161 return;
TickTock 1:dafb963c3c14 162 }
TickTock 1:dafb963c3c14 163 else
TickTock 1:dafb963c3c14 164 {
TickTock 1:dafb963c3c14 165 fprintf(file,"%c%c%c%c%c%c%c%c%c%c%c%c",ts>>8,ts&0xff,canRXmsg.id&0xff,(canRXmsg.id>>8)+(canRXmsg.len<<4),canRXmsg.data[0],canRXmsg.data[1],canRXmsg.data[2],canRXmsg.data[3],canRXmsg.data[4],canRXmsg.data[5],canRXmsg.data[6],canRXmsg.data[7]);
TickTock 1:dafb963c3c14 166 fclose(file);
TickTock 1:dafb963c3c14 167 }
TickTock 1:dafb963c3c14 168 }
TickTock 1:dafb963c3c14 169
TickTock 1:dafb963c3c14 170 void Log (char *message)
TickTock 1:dafb963c3c14 171 {
TickTock 1:dafb963c3c14 172 FILE *file;
TickTock 1:dafb963c3c14 173
TickTock 1:dafb963c3c14 174 if (!logCreated) {
TickTock 1:dafb963c3c14 175 file = fopen(LOGFILE, "w");
TickTock 1:dafb963c3c14 176 logCreated = true;
TickTock 1:dafb963c3c14 177 }
TickTock 1:dafb963c3c14 178 else
TickTock 1:dafb963c3c14 179 file = fopen(LOGFILE, "a");
TickTock 1:dafb963c3c14 180
TickTock 1:dafb963c3c14 181 if (file == NULL) {
TickTock 1:dafb963c3c14 182 if (logCreated)
TickTock 1:dafb963c3c14 183 logCreated = false;
TickTock 0:1596b8644523 184 return;
TickTock 0:1596b8644523 185 }
TickTock 0:1596b8644523 186 else
TickTock 0:1596b8644523 187 {
TickTock 0:1596b8644523 188 fputs(message, file);
TickTock 0:1596b8644523 189 fclose(file);
TickTock 0:1596b8644523 190 }
TickTock 1:dafb963c3c14 191 }
TickTock 0:1596b8644523 192
TickTock 1:dafb963c3c14 193 void send1() {
TickTock 1:dafb963c3c14 194 static char counter = 0; // use for fake data
TickTock 1:dafb963c3c14 195
TickTock 1:dafb963c3c14 196 can1.write(CANMessage(0x350, &counter, 1));
TickTock 1:dafb963c3c14 197 counter++;
TickTock 1:dafb963c3c14 198 // test sending 3 quickly
TickTock 1:dafb963c3c14 199 //can1.write(CANMessage(0x351, &counter, 1));
TickTock 1:dafb963c3c14 200 //can1.write(CANMessage(0x352, &counter, 1));
TickTock 1:dafb963c3c14 201
TickTock 0:1596b8644523 202 }
TickTock 0:1596b8644523 203
TickTock 0:1596b8644523 204
TickTock 0:1596b8644523 205 void recieve1() {
TickTock 0:1596b8644523 206 static CANMessage msg1;
TickTock 1:dafb963c3c14 207 unsigned short msgTime;
TickTock 1:dafb963c3c14 208
TickTock 1:dafb963c3c14 209 msgTime=getTimeStamp();
TickTock 0:1596b8644523 210 can1.read(msg1);
TickTock 1:dafb963c3c14 211 pc.printf("%sCan1 Message received: %d %x\n", upLine, msg1.data[0], msgTime);
TickTock 0:1596b8644523 212 lcd.printf("Can1 rxd: %d\n", msg1.data[0]);
TickTock 1:dafb963c3c14 213 if(logCreated) {
TickTock 1:dafb963c3c14 214 if((PB1==0)||(CD==0)){
TickTock 1:dafb963c3c14 215 logCreated=false;
TickTock 1:dafb963c3c14 216 pc.printf("Stopping log\n", counter);
TickTock 1:dafb963c3c14 217 readLog();
TickTock 1:dafb963c3c14 218 }else{
TickTock 1:dafb963c3c14 219 logCan(msg1);
TickTock 1:dafb963c3c14 220 }
TickTock 1:dafb963c3c14 221 }
TickTock 0:1596b8644523 222 led2 = !led2;
TickTock 0:1596b8644523 223 }
TickTock 0:1596b8644523 224 void recieve2() {
TickTock 0:1596b8644523 225 static CANMessage msg2;
TickTock 1:dafb963c3c14 226 unsigned short msgTime;
TickTock 1:dafb963c3c14 227 int milisec;
TickTock 1:dafb963c3c14 228
TickTock 1:dafb963c3c14 229 msgTime=getTimeStamp();
TickTock 1:dafb963c3c14 230 milisec=timer.read_ms();
TickTock 1:dafb963c3c14 231
TickTock 0:1596b8644523 232 can2.read(msg2);
TickTock 1:dafb963c3c14 233 pc.printf("%sCan2 Message received: %d %04x %d \n", upLine, msg2.data[0],msgTime,milisec);
TickTock 1:dafb963c3c14 234 ;lcd.printf("Can2 rxd: %d\n", msg2.data[0]);
TickTock 1:dafb963c3c14 235 if(logCreated) {
TickTock 1:dafb963c3c14 236 if((PB1==0)||(CD==0)){
TickTock 1:dafb963c3c14 237 logCreated=false;
TickTock 1:dafb963c3c14 238 pc.printf("Stopping log\n\n", counter);
TickTock 1:dafb963c3c14 239 readLog();
TickTock 1:dafb963c3c14 240 }else{
TickTock 1:dafb963c3c14 241 logCan(msg2);
TickTock 1:dafb963c3c14 242 }
TickTock 1:dafb963c3c14 243 }
TickTock 0:1596b8644523 244 led3 = !led3;
TickTock 0:1596b8644523 245 }
TickTock 0:1596b8644523 246
TickTock 0:1596b8644523 247 int main() {
TickTock 0:1596b8644523 248 pc.baud(115200); // change serial interface to pc to 115200, 8N1
TickTock 1:dafb963c3c14 249 can1.frequency(1000000);
TickTock 1:dafb963c3c14 250 can2.frequency(1000000);
TickTock 1:dafb963c3c14 251 //can1_SleepMode = 0; // Enable TX
TickTock 1:dafb963c3c14 252 //can2_SleepMode = 0; // Enable TX
TickTock 1:dafb963c3c14 253 //can1_SleepMode = 1; // Turn on Monitor_only Mode
TickTock 1:dafb963c3c14 254 //can2_SleepMode = 1; // Turn on Monitor_only Mode
TickTock 0:1596b8644523 255 CD.mode(PullUp) ; //SDRAM Chip Detect
TickTock 1:dafb963c3c14 256 dbPB1.mode(PullUp) ; //Pushbutton 1
TickTock 1:dafb963c3c14 257 ticker.attach(&send1, 1.1);
TickTock 0:1596b8644523 258 can1.attach(&recieve1);
TickTock 0:1596b8644523 259 can2.attach(&recieve2);
TickTock 1:dafb963c3c14 260
TickTock 1:dafb963c3c14 261 timer.start() ;
TickTock 1:dafb963c3c14 262
TickTock 1:dafb963c3c14 263
TickTock 0:1596b8644523 264 if(CD == 1) {
TickTock 1:dafb963c3c14 265 pc.printf("Starting Can Log\n\n\n\n");
TickTock 1:dafb963c3c14 266 Log("");
TickTock 0:1596b8644523 267 }
TickTock 0:1596b8644523 268 else {
TickTock 1:dafb963c3c14 269 pc.printf("No SDRAM Inserted.\n\n\n\n");
TickTock 0:1596b8644523 270 }
TickTock 0:1596b8644523 271 }