Diff: CANadapter.cpp

Revision:

0:ea85c59ec672

Child:

1:6b831d0c058c

diff -r 000000000000 -r ea85c59ec672 CANadapter.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CANadapter.cpp	Mon Apr 11 11:32:05 2011 +0000
@@ -0,0 +1,329 @@
+/// CANadapter is a simple program that permits monitoring as well as transmitting
+/// on both CAN buses that the mbed supports. It communicates to either the user or
+/// a PC hosted program via the USB Serial port.
+///
+/// For robustness, there is a small CommandProcessor, which permits setting
+/// CAN interface metrics, reviewing statistics, and sending messages.
+///
+/// There is also a watchdog, which will keep the system running and recover
+/// if there was a problem.
+///
+/// @note Copyright &copr; 2011 by Smartware Computing, all rights reserved.
+///     Individuals may use this application for evaluation or non-commercial
+///     purposes. Within this restriction, changes may be made to this application
+///     as long as this copyright notice is retained. The user shall make
+///     clear that their work is a derived work, and not the original.
+///     Users of this application and sources accept this application "as is" and
+///     shall hold harmless Smartware Computing, for any undesired results while
+///     using this application - whether real or imagined.
+/// @author David Smart, Smartware Computing
+///
+#include "mbed.h"
+#include "Watchdog.h"
+#include "CommandProcessor.h"
+#include "CANUtilities.h"
+#include "CANQueue.h"
+#include "vs_string.h"      // helpers that normalize between compilers for string functions
+
+extern "C" void mbed_reset();
+
+Serial pc(USBTX, USBRX);    ///!< Used as the console for interactively reporting progress
+DigitalOut myled(LED4);     /// LED sign of life
+
+Watchdog wd;
+
+//Ticker ticker;          // for automated sending of messages during development
+
+//Timer timestamp;
+CAN can1(p9, p10);      // bind CAN1 to the hardware
+CAN can2(p30, p29);     // bind CAN2 to the hardware
+Timeout t1;             // create a timeout mechanism for can1
+Timeout t2;             // create a timeout mechanism for can2
+void c1off();           // extinquish the can1 activity indicator
+void c2off();           // extinquish the can2 activity indicator
+
+struct {
+    CAN *can;
+    Timeout *flash;
+    DigitalOut led;
+    void (*off)(void);
+    bool active;
+    int bitrate;
+    uint32_t txCounter;
+    uint32_t rxCounter;
+} can[] = {
+    {&can1, &t1, LED1, c1off, false, 250000, 0, 0},
+    {&can2, &t2, LED2, c2off, false, 250000, 0, 0}
+};
+
+CANQueue inQueue(10);
+
+bool CANTransmitMsg(CANmsg msg);
+
+RUNRESULT_T CANconfig(char *p);
+const CMD_T CANconfigCmd = {"CANconfig", "Configure [channel mode speed], ? for more", CANconfig, visible};
+RUNRESULT_T CANmessage(char *p);
+const CMD_T CANmessageCmd = {"CANmessage", "Shows the CAN message format", CANmessage, visible};
+RUNRESULT_T CANtransmit(char *p);
+const CMD_T CANtransmitCmd = {"t", "transmit a CAN message (see CANmessage format)", CANtransmit, visible};
+RUNRESULT_T CANstatistics(char *p);
+const CMD_T CANstatisticsCmd = {"CANstats", "Shows the CAN statistics", CANstatistics, visible};
+RUNRESULT_T CANreset(char *p);
+const CMD_T CANresetCmd = {"CANreset", "Reset CAN channel [0|1|*]", CANreset, visible};
+RUNRESULT_T Free(char *p);
+const CMD_T FreeCmd = {"Free", "Shows the free memory in bytes", Free, visible};
+RUNRESULT_T Reboot(char *p);
+const CMD_T RebootCmd = {"Reboot", "Causes a near immediate reboot", Reboot, visible};
+
+RUNRESULT_T Reboot(char *p) {
+    (void)p;
+    pc.printf(" now...\r\n");
+    wait(0.5);
+    mbed_reset();
+    return runok;
+}
+
+RUNRESULT_T Free(char *p) {
+    (void)p;
+    uint32_t max = 100000;
+    uint32_t x = max / 2;
+    uint32_t min = 0;
+
+    while (min < max-1) {
+        void * p = malloc(x);
+        if (p) {
+            free(p);
+            min = x;
+        } else {
+            max = x;
+        }
+        x = (max + min)/2;
+    }
+    pc.printf("\r\n%u bytes free\r\n", x);
+    return runok;
+}
+
+
+RUNRESULT_T CANconfig(char *p) {
+    int ch, mode, bitrate;
+    char *token;
+    char *search = " ,\t";
+
+    token = strtok(p, search);
+    ch = atoi(token);
+    token = strtok(NULL, search);
+    if (mystrnicmp(token, "monitor", 7) == 0)
+        mode = 0;
+    else if (mystrnicmp(token, "0", 1) == 0)
+        mode = 0;
+    else if (mystrnicmp(token, "active", 7) == 0)
+        mode = 1;
+    else if (mystrnicmp(token, "1", 1) == 0)
+        mode = 1;
+    else
+        mode = -1;
+    token = strtok(NULL, search);
+    bitrate = atoi(token);
+
+    if (ch >=1 && ch <= 2 && mode != -1 && bitrate > 1000 && bitrate <= 1000000) {
+        can[ch-1].can->monitor(mode);
+        can[ch-1].can->frequency(bitrate);
+        pc.printf("\r\n");
+    } else {
+        pc.printf("\r\n CANconfig [channel mode bits/sec]\r\n"
+                  "     channel = 1 or 2\r\n"
+                  "     mode    = 0|monitor|1|active\r\n"
+                  "     speed   = baud rate (e.g. 10000, 250000, 500000, etc.)\r\n"
+                  "");
+    }
+    return runok;
+}
+
+RUNRESULT_T CANreset(char *p) {
+    if (*p == '1' || *p == '*')
+        can[CH1].can->reset();
+    if (*p == '2' || *p == '*')
+        can[CH2].can->reset();
+    pc.printf("\r\n");
+    return runok;
+}
+
+
+RUNRESULT_T CANmessage(char *p) {
+    pc.printf( "\r\n// CAN Message Format\r\n"
+               "//\r\n"
+               "// +--- 'r'eceive or 't'ransmit\r\n"
+               "// |  +--- 'nrm' 11 bit identifier, 'xtd' 29 bit identifier\r\n"
+               "// |  |   +--- channel '1' to '2'\r\n"
+               "// |  |   |     +--- identifier in hex\r\n"
+               "// |  |   |     |     +--- dlc is data length control from 0 to 8\r\n"
+               "// |  |   |     |     |            +---  data bytes 1 to 8\r\n"
+               "// |  |   |     |     |            |            [Below not required to send\r\n"
+               "// |  |   |     |     |            |            +--- fixed zero\r\n"
+               "// |  |   |     |     |            |            |   +--- err count\r\n"
+               "// |  |   |     |     |            |            |   |    +--- timestamp\r\n"
+               "// |  |   |     |     |            |            |   |    |\r\n"
+               "// _ ___ __ ________ __ _______________________ _ ___ ___________\r\n"
+               "// r xtd 02 1CF00400 08 11 22 33 44 55 66 77 88 0   0 1234.567890\r\n"
+               "// t xtd 01 18EAFF03 03 EE EE 00                0   0 1235.654321\r\n"
+               "// 12345678901234567890123456789012345678901234567890123456789012\r\n");
+    return runok;
+}
+
+RUNRESULT_T CANtransmit(char *p) {
+    if (*p) {
+        CANmsg msg(p);
+        if (msg.dir == xmt)
+            CANTransmitMsg(msg);
+        pc.printf("\r\n");
+    } else {
+        pc.printf( "\r\n't'ransmit a CAN message in the message format\r\n");
+    }
+    return runok;
+}
+
+RUNRESULT_T CANstatistics(char *p) {
+    pc.printf("\r\n  ch    mode  bitrate rxCount rxErrors txCount txErrors\r\n");
+    for (int i=0; i<CANCHANNELS; i++)
+        pc.printf("  %2u %7s %8u %7u %8u %7u %8u\r\n",
+                  i+1,
+                  can[i].active ? "active" : "monitor",
+                  can[i].bitrate,
+                  can[i].rxCounter,
+                  can[i].can->rderror(),
+                  can[i].txCounter,
+                  can[i].can->tderror()
+                 );
+    return runok;
+}
+
+
+
+
+int mReadable() {
+    return pc.readable();
+}
+int mGetCh() {
+    return pc.getc();
+}
+int mPutCh(int a) {
+    return pc.putc(a);
+}
+int mPutS(const char * s) {
+    return pc.printf("%s\r\n", s);
+}
+
+void c1off() {
+    can[CH1].led = false;
+}
+void c2off() {
+    can[CH2].led = false;
+}
+
+void canreceive(CANCHANNEL_T ch) {
+    CANMessage msg;
+
+    if (can[ch].can->read(msg)) {
+        CANmsg _msg(ch, rcv, msg);
+
+        inQueue.Enqueue(_msg);
+        can[ch].rxCounter++;
+        can[ch].led = true;
+        can[ch].flash->attach(can[ch].off, 0.02);
+    }
+}
+
+
+void can1rcv() {
+    canreceive(CH1);
+}
+void can2rcv() {
+    canreceive(CH2);
+}
+
+bool CANTransmitMsg(CANmsg msg) {
+    if (msg.dir == xmt) {
+        if (can[msg.ch].can->write(CANMessage(msg.id, (char *)&msg.data, msg.len, CANData, msg.format)))
+            return true;
+    }
+    return false;
+}
+
+void cantransmit(int ch) {
+    char byte = (char)can[ch].txCounter;
+
+    if (can[ch].can->write(CANMessage(1337, &byte, 1))) {
+        can[ch].txCounter++;
+    }
+}
+
+void can1send() {
+    cantransmit(1);
+}
+void can2send() {
+    cantransmit(2);
+}
+
+
+
+int main(int argc, char* argv[]) {
+    CMDP_T * cp = GetCommandProcessor();
+    RUNRESULT_T cp_state;
+
+    pc.baud(921600);
+    if (wd.WatchdogCausedReset())
+        pc.printf("Watchdog caused reset. WD is now rearmed\r\n");
+    wd.Configure(2.0);  // sets the timeout interval pretty short
+
+    // Set up the Command Processor interface
+    cp->Init(
+        0xFFFF,     // Everything is enabled
+        TRUE,       // Case Insensitive
+        TRUE,       // Echo on
+        50,         // Command Buffer length
+        mReadable,  // User provided API (kbhit())
+        mGetCh,     // User provided API
+        mPutCh,     // User provided API
+        mPutS);     // User provided API
+    cp->Add(&CANconfigCmd);
+    cp->Add(&CANmessageCmd);
+    cp->Add(&CANtransmitCmd);
+    cp->Add(&CANstatisticsCmd);
+    cp->Add(&CANresetCmd);
+    cp->Add(&FreeCmd);
+    cp->Add(&RebootCmd);
+
+    can2.attach(can2rcv);
+    can1.attach(can1rcv);
+    can[CH1].can->monitor(false);       // make them active on the network or tx errors result
+    can[CH2].can->monitor(false);
+
+    // This just sends a message every now and again
+    //ticker.attach(&can1send, 1);
+
+    // Do nothing to waste time in here...
+    do {
+        myled = !myled;         // activity indicator
+        
+        wd.Service();           // service the dog
+        cp_state = cp->Run();   // user interactions on the console interface
+
+        while (inQueue.QueueCount()) {  // If we handle messages badly, could watchdog in here
+            CANmsg msg;
+
+            if (inQueue.Dequeue(&msg)) {
+                char buf[100];
+                msg.FormatCANMessage(buf, sizeof(buf));
+                pc.printf("%s\r\n", buf);
+                // To test, just enable the following, which tosses the ball back and forth
+                //wait(0.2);
+                //msg.dir = xmt;      // What we received, we reflect back
+                //CANTransmitMsg(msg);
+            }
+        }
+    } while (cp_state == runok);
+    cp->End();
+    return 0;
+}
+
+