Diff: serial_bus.cpp

Revision:

0:265e6a986bf1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/serial_bus.cpp	Thu Jul 27 12:53:20 2017 +0000
@@ -0,0 +1,186 @@
+#include "serial_bus.h"
+#include "mbed.h"
+#include "rtos.h"
+#include "Queue/queue.h"
+
+/* CAN BUS */
+CAN HSCAN(p30, p29);
+
+void can_bus_rx_IRQ()
+{
+    uint8 msg_raw[12];
+    CANMessage msg;
+    if(HSCAN.read(msg))
+    {
+       msg_raw[0] = (uint8)(msg.id >> 24);
+       msg_raw[1] = (uint8)(msg.id >> 16);
+       msg_raw[2] = (uint8)(msg.id >> 8);
+       msg_raw[3] = (uint8)(msg.id >> 0);
+       for(int i=0;i<8;i++)
+        msg_raw[i+4] = msg.data[i];
+        
+       send_serial_bus(msg_raw,12);
+    }
+}
+
+void can_init(void)
+{
+    HSCAN.frequency(500000);
+    HSCAN.attach(can_bus_rx_IRQ,CAN::RxIrq);
+}
+
+void can_send(uint32 id, uint8 * data)
+{
+    HSCAN.write(CANMessage((int)id, (char *)data, 8));
+}
+
+/***********************/
+
+extern Serial pc;
+RawSerial uart0(p13,p14);
+
+
+#define PACKETS       10
+#define PACKET_SIZE   518
+#define BAUDRATE    921600
+
+Queue uartQueue(1,PACKETS * PACKET_SIZE);
+
+/********************************/
+
+void serial_data_callback()
+{
+    while(uart0.readable()) 
+    {
+       uint8 data = uart0.getc();
+       uartQueue.PutIrq(&data);
+    }
+    
+}
+
+#define STARTOFFRAME    4
+#define HEADER          0
+#define PAYLOAD         1
+#define CHECKSUM        2
+
+
+uint16 success = 0;
+uint16 errors = 0;
+
+void wait_packet_layer(void)
+{
+    static uint8 packet[PACKET_SIZE];
+    uint16 packet_index = 0;
+    uint8 packet_state = STARTOFFRAME;
+    uint16 packet_size = 0;
+    uint8 packet_checksum = 0;
+    
+    /* flush the data */
+    while(uart0.readable()) uart0.getc();
+    
+    uart0.attach(&serial_data_callback, Serial::RxIrq);
+    wait(1.0);
+   
+    uint8 data;
+    while(1)
+    {
+       
+       /* get queue data */
+       while(uartQueue.Get(&data))
+       {
+           switch(packet_state)
+            {
+                case STARTOFFRAME:
+                    if(data == 0xC0)
+                    {
+                        packet_state = HEADER;
+                        packet_index = 0;
+                    }
+                    break;
+                case HEADER:
+                    packet[packet_index++] = data;
+                if(packet_index == 4)
+                {
+                    /* validating the packet header */
+                    if( (packet[0] ^ packet[2]) == 0xFF && (packet[1] ^ packet[3]) == 0xFF )
+                     {
+                        packet_size = ((uint16)packet[0] << 8) | (packet[1]);
+                        packet_state = PAYLOAD;
+                        packet_index = 0;
+                        packet_checksum = 0;
+                     }
+                     else
+                     {
+                       pc.printf("Wrong header\r\n");
+                       packet_state = STARTOFFRAME;
+                       packet_index = 0;  
+                       errors++;                     
+                     }
+                }
+                break;
+                
+                case PAYLOAD:
+                    packet[packet_index++] = data;
+                    packet_checksum = packet_checksum ^ data;
+                    if(packet_index == (packet_size + 1))
+                    {
+                        if(packet_checksum == 0)
+                        {
+                            packet_state = STARTOFFRAME;
+                            packet_index = 0;
+                            /* mark the packet for processing */
+                            //pc.printf("Success = %d, Errors = %d \r\n",success,errors);
+                            //send_serial_bus(packet,packet_size);
+                            can_send(0x7E0,packet);
+                            success++;
+                        }
+                        else
+                        {
+                            pc.printf("Wrong checksum\r\n");
+                            /* dropping the packet */
+                            packet_state = STARTOFFRAME;
+                            packet_index = 0;
+                            errors++;
+                        }                        
+                    }
+                break;
+              }
+          }
+    }
+}
+
+
+void send_serial_bus(uint8 * packet, uint16 size)
+{
+    uint8 cks = 0;
+    uart0.putc(0xC0);
+    uart0.putc((size >> 8) & 0xFF);
+    uart0.putc((size >> 0) & 0xFF);
+    size = size ^ 0xFFFF;
+    uart0.putc((size >> 8) & 0xFF);
+    uart0.putc((size >> 0) & 0xFF);
+    size = size ^ 0xFFFF;
+    
+    while(size > 0)
+    {
+        if(uart0.writeable())
+        {
+            cks = cks ^ (*packet);
+            uart0.putc(*packet++);    
+            size--;  
+        }
+    }
+    uart0.putc(cks);
+    
+        
+}
+
+Thread uartThread;
+
+void start_serial_bus(void)
+{
+    can_init();
+    uart0.baud(BAUDRATE);
+    uart0.attach(&serial_data_callback,Serial::RxIrq);
+    uartThread.start(&wait_packet_layer);
+}