Devan Lai
/
SLCAN
SLCAN/CAN-USB implementation for mbed targets
slcan.cpp@0:f2565808eea5, 2016-06-04 (annotated)
- Committer:
- devanlai
- Date:
- Sat Jun 04 04:40:58 2016 +0000
- Revision:
- 0:f2565808eea5
- Child:
- 1:3644b10bce2f
SLCAN implementation working over hardware serial; USBSerial not yet functional
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
devanlai | 0:f2565808eea5 | 1 | #include "slcan.h" |
devanlai | 0:f2565808eea5 | 2 | |
devanlai | 0:f2565808eea5 | 3 | // Helper methods for parsing commands |
devanlai | 0:f2565808eea5 | 4 | static bool parse_hex_digits(const char* input, uint8_t num_digits, uint32_t* value_out) { |
devanlai | 0:f2565808eea5 | 5 | bool success = true; |
devanlai | 0:f2565808eea5 | 6 | uint32_t value = 0; |
devanlai | 0:f2565808eea5 | 7 | |
devanlai | 0:f2565808eea5 | 8 | uint8_t i; |
devanlai | 0:f2565808eea5 | 9 | for (i=0; i < num_digits; i++) { |
devanlai | 0:f2565808eea5 | 10 | uint32_t nibble = 0; |
devanlai | 0:f2565808eea5 | 11 | if (input[i] >= '0' && input[i] <= '9') { |
devanlai | 0:f2565808eea5 | 12 | nibble = 0x0 + (input[i] - '0'); |
devanlai | 0:f2565808eea5 | 13 | } else if (input[i] >= 'a' && input[i] <= 'f') { |
devanlai | 0:f2565808eea5 | 14 | nibble = 0xA + (input[i] - 'a'); |
devanlai | 0:f2565808eea5 | 15 | } else if (input[i] >= 'A' && input[i] <= 'F') { |
devanlai | 0:f2565808eea5 | 16 | nibble = 0xA + (input[i] - 'A'); |
devanlai | 0:f2565808eea5 | 17 | } else { |
devanlai | 0:f2565808eea5 | 18 | success = false; |
devanlai | 0:f2565808eea5 | 19 | break; |
devanlai | 0:f2565808eea5 | 20 | } |
devanlai | 0:f2565808eea5 | 21 | uint8_t offset = 4*(num_digits-i-1); |
devanlai | 0:f2565808eea5 | 22 | value |= (nibble << offset); |
devanlai | 0:f2565808eea5 | 23 | } |
devanlai | 0:f2565808eea5 | 24 | |
devanlai | 0:f2565808eea5 | 25 | if (success) { |
devanlai | 0:f2565808eea5 | 26 | *value_out = value; |
devanlai | 0:f2565808eea5 | 27 | } |
devanlai | 0:f2565808eea5 | 28 | |
devanlai | 0:f2565808eea5 | 29 | return success; |
devanlai | 0:f2565808eea5 | 30 | } |
devanlai | 0:f2565808eea5 | 31 | |
devanlai | 0:f2565808eea5 | 32 | static bool parse_hex_values(const char* input, uint8_t num_values, uint8_t* values_out) { |
devanlai | 0:f2565808eea5 | 33 | uint8_t i; |
devanlai | 0:f2565808eea5 | 34 | for (i=0; i < num_values; i++) { |
devanlai | 0:f2565808eea5 | 35 | uint32_t value; |
devanlai | 0:f2565808eea5 | 36 | if (parse_hex_digits(input, 2, &value)) { |
devanlai | 0:f2565808eea5 | 37 | values_out[i] = (uint8_t)value; |
devanlai | 0:f2565808eea5 | 38 | } else { |
devanlai | 0:f2565808eea5 | 39 | return false; |
devanlai | 0:f2565808eea5 | 40 | } |
devanlai | 0:f2565808eea5 | 41 | input += 2; |
devanlai | 0:f2565808eea5 | 42 | } |
devanlai | 0:f2565808eea5 | 43 | |
devanlai | 0:f2565808eea5 | 44 | return true; |
devanlai | 0:f2565808eea5 | 45 | } |
devanlai | 0:f2565808eea5 | 46 | |
devanlai | 0:f2565808eea5 | 47 | static bool parse_dec_digit(const char* input, uint8_t* value_out) { |
devanlai | 0:f2565808eea5 | 48 | if (input[0] >= '0' && input[0] <= '9') { |
devanlai | 0:f2565808eea5 | 49 | *value_out = 0 + (input[0] - '0'); |
devanlai | 0:f2565808eea5 | 50 | return true; |
devanlai | 0:f2565808eea5 | 51 | } else { |
devanlai | 0:f2565808eea5 | 52 | return false; |
devanlai | 0:f2565808eea5 | 53 | } |
devanlai | 0:f2565808eea5 | 54 | } |
devanlai | 0:f2565808eea5 | 55 | |
devanlai | 0:f2565808eea5 | 56 | static inline char format_nibble(uint8_t x) { |
devanlai | 0:f2565808eea5 | 57 | uint8_t nibble = x & 0x0F; |
devanlai | 0:f2565808eea5 | 58 | return (nibble < 10) ? ('0' + nibble) : ('A' + (nibble - 10)); |
devanlai | 0:f2565808eea5 | 59 | } |
devanlai | 0:f2565808eea5 | 60 | |
devanlai | 0:f2565808eea5 | 61 | static inline char format_digit(uint8_t d) { |
devanlai | 0:f2565808eea5 | 62 | return '0' + d; |
devanlai | 0:f2565808eea5 | 63 | } |
devanlai | 0:f2565808eea5 | 64 | |
devanlai | 0:f2565808eea5 | 65 | SLCANBase::SLCANBase() { |
devanlai | 0:f2565808eea5 | 66 | |
devanlai | 0:f2565808eea5 | 67 | } |
devanlai | 0:f2565808eea5 | 68 | |
devanlai | 0:f2565808eea5 | 69 | SLCANBase::~SLCANBase() { |
devanlai | 0:f2565808eea5 | 70 | |
devanlai | 0:f2565808eea5 | 71 | } |
devanlai | 0:f2565808eea5 | 72 | |
devanlai | 0:f2565808eea5 | 73 | bool SLCANBase::update() { |
devanlai | 0:f2565808eea5 | 74 | bool active = false; |
devanlai | 0:f2565808eea5 | 75 | if (processCommands()) { |
devanlai | 0:f2565808eea5 | 76 | active = true; |
devanlai | 0:f2565808eea5 | 77 | } |
devanlai | 0:f2565808eea5 | 78 | if (processCANMessages()) { |
devanlai | 0:f2565808eea5 | 79 | active = true; |
devanlai | 0:f2565808eea5 | 80 | } |
devanlai | 0:f2565808eea5 | 81 | |
devanlai | 0:f2565808eea5 | 82 | if (active) { |
devanlai | 0:f2565808eea5 | 83 | flush(); |
devanlai | 0:f2565808eea5 | 84 | } |
devanlai | 0:f2565808eea5 | 85 | |
devanlai | 0:f2565808eea5 | 86 | return active; |
devanlai | 0:f2565808eea5 | 87 | } |
devanlai | 0:f2565808eea5 | 88 | |
devanlai | 0:f2565808eea5 | 89 | size_t SLCANBase::formattedCANMessageLength(const CANMessage& msg) { |
devanlai | 0:f2565808eea5 | 90 | size_t len; |
devanlai | 0:f2565808eea5 | 91 | if (msg.format == CANStandard) { |
devanlai | 0:f2565808eea5 | 92 | len = 1 + 3 + 1 + (2 * msg.len) + 1; |
devanlai | 0:f2565808eea5 | 93 | } else { |
devanlai | 0:f2565808eea5 | 94 | len = 1 + 8 + 1 + (2 * msg.len) + 1; |
devanlai | 0:f2565808eea5 | 95 | } |
devanlai | 0:f2565808eea5 | 96 | |
devanlai | 0:f2565808eea5 | 97 | return len; |
devanlai | 0:f2565808eea5 | 98 | } |
devanlai | 0:f2565808eea5 | 99 | |
devanlai | 0:f2565808eea5 | 100 | size_t SLCANBase::formatCANMessage(const CANMessage& msg, char* buf, size_t max_len) { |
devanlai | 0:f2565808eea5 | 101 | size_t len = formattedCANMessageLength(msg); |
devanlai | 0:f2565808eea5 | 102 | if (len > max_len) { |
devanlai | 0:f2565808eea5 | 103 | return 0; |
devanlai | 0:f2565808eea5 | 104 | } |
devanlai | 0:f2565808eea5 | 105 | |
devanlai | 0:f2565808eea5 | 106 | if (msg.format == CANStandard) { |
devanlai | 0:f2565808eea5 | 107 | *buf++ = (msg.type == CANData) ? 't' : 'r'; |
devanlai | 0:f2565808eea5 | 108 | *buf++ = format_nibble((uint8_t)(msg.id >> 8)); |
devanlai | 0:f2565808eea5 | 109 | *buf++ = format_nibble((uint8_t)(msg.id >> 4)); |
devanlai | 0:f2565808eea5 | 110 | *buf++ = format_nibble((uint8_t)(msg.id >> 0)); |
devanlai | 0:f2565808eea5 | 111 | *buf++ = format_digit(msg.len); |
devanlai | 0:f2565808eea5 | 112 | } else { |
devanlai | 0:f2565808eea5 | 113 | *buf++ = (msg.type == CANData) ? 'T' : 'R'; |
devanlai | 0:f2565808eea5 | 114 | *buf++ = format_nibble((uint8_t)(msg.id >> 28)); |
devanlai | 0:f2565808eea5 | 115 | *buf++ = format_nibble((uint8_t)(msg.id >> 24)); |
devanlai | 0:f2565808eea5 | 116 | *buf++ = format_nibble((uint8_t)(msg.id >> 20)); |
devanlai | 0:f2565808eea5 | 117 | *buf++ = format_nibble((uint8_t)(msg.id >> 16)); |
devanlai | 0:f2565808eea5 | 118 | *buf++ = format_nibble((uint8_t)(msg.id >> 12)); |
devanlai | 0:f2565808eea5 | 119 | *buf++ = format_nibble((uint8_t)(msg.id >> 8)); |
devanlai | 0:f2565808eea5 | 120 | *buf++ = format_nibble((uint8_t)(msg.id >> 4)); |
devanlai | 0:f2565808eea5 | 121 | *buf++ = format_nibble((uint8_t)(msg.id >> 0)); |
devanlai | 0:f2565808eea5 | 122 | *buf++ = format_digit(msg.len); |
devanlai | 0:f2565808eea5 | 123 | } |
devanlai | 0:f2565808eea5 | 124 | |
devanlai | 0:f2565808eea5 | 125 | for (unsigned char i=0; i < msg.len; i++) { |
devanlai | 0:f2565808eea5 | 126 | *buf++ = format_nibble((uint8_t)(msg.data[i] >> 4)); |
devanlai | 0:f2565808eea5 | 127 | *buf++ = format_nibble((uint8_t)(msg.data[i] >> 0)); |
devanlai | 0:f2565808eea5 | 128 | } |
devanlai | 0:f2565808eea5 | 129 | |
devanlai | 0:f2565808eea5 | 130 | *buf++ = '\r'; |
devanlai | 0:f2565808eea5 | 131 | |
devanlai | 0:f2565808eea5 | 132 | return len; |
devanlai | 0:f2565808eea5 | 133 | } |
devanlai | 0:f2565808eea5 | 134 | |
devanlai | 0:f2565808eea5 | 135 | bool SLCANBase::execCommand(const char* command) { |
devanlai | 0:f2565808eea5 | 136 | bool success = false; |
devanlai | 0:f2565808eea5 | 137 | |
devanlai | 0:f2565808eea5 | 138 | switch (command[0]) { |
devanlai | 0:f2565808eea5 | 139 | // Configuration commands |
devanlai | 0:f2565808eea5 | 140 | case 'S': |
devanlai | 0:f2565808eea5 | 141 | case 'O': |
devanlai | 0:f2565808eea5 | 142 | case 'L': |
devanlai | 0:f2565808eea5 | 143 | case 'l': |
devanlai | 0:f2565808eea5 | 144 | case 'C': { |
devanlai | 0:f2565808eea5 | 145 | success = execConfigCommand(command); |
devanlai | 0:f2565808eea5 | 146 | break; |
devanlai | 0:f2565808eea5 | 147 | } |
devanlai | 0:f2565808eea5 | 148 | // Transmission commands |
devanlai | 0:f2565808eea5 | 149 | case 't': |
devanlai | 0:f2565808eea5 | 150 | case 'T': |
devanlai | 0:f2565808eea5 | 151 | case 'r': |
devanlai | 0:f2565808eea5 | 152 | case 'R': { |
devanlai | 0:f2565808eea5 | 153 | success = execTransmitCommand(command); |
devanlai | 0:f2565808eea5 | 154 | break; |
devanlai | 0:f2565808eea5 | 155 | } |
devanlai | 0:f2565808eea5 | 156 | default: { |
devanlai | 0:f2565808eea5 | 157 | success = false; |
devanlai | 0:f2565808eea5 | 158 | break; |
devanlai | 0:f2565808eea5 | 159 | } |
devanlai | 0:f2565808eea5 | 160 | } |
devanlai | 0:f2565808eea5 | 161 | |
devanlai | 0:f2565808eea5 | 162 | return success; |
devanlai | 0:f2565808eea5 | 163 | } |
devanlai | 0:f2565808eea5 | 164 | |
devanlai | 0:f2565808eea5 | 165 | bool SLCANBase::execConfigCommand(const char* command) { |
devanlai | 0:f2565808eea5 | 166 | bool success = false; |
devanlai | 0:f2565808eea5 | 167 | size_t len = strlen(command); |
devanlai | 0:f2565808eea5 | 168 | |
devanlai | 0:f2565808eea5 | 169 | // Validate command length |
devanlai | 0:f2565808eea5 | 170 | if (len != 1 && command[0] != 'S') { |
devanlai | 0:f2565808eea5 | 171 | return false; |
devanlai | 0:f2565808eea5 | 172 | } else if (command[0] == 'S' && len != 2) { |
devanlai | 0:f2565808eea5 | 173 | return false; |
devanlai | 0:f2565808eea5 | 174 | } |
devanlai | 0:f2565808eea5 | 175 | |
devanlai | 0:f2565808eea5 | 176 | switch (command[0]) { |
devanlai | 0:f2565808eea5 | 177 | case 'S': { |
devanlai | 0:f2565808eea5 | 178 | bool known = true; |
devanlai | 0:f2565808eea5 | 179 | int baudrate; |
devanlai | 0:f2565808eea5 | 180 | switch (command[1]) { |
devanlai | 0:f2565808eea5 | 181 | case '0': baudrate = 10000; break; |
devanlai | 0:f2565808eea5 | 182 | case '1': baudrate = 20000; break; |
devanlai | 0:f2565808eea5 | 183 | case '2': baudrate = 50000; break; |
devanlai | 0:f2565808eea5 | 184 | case '3': baudrate = 100000; break; |
devanlai | 0:f2565808eea5 | 185 | case '4': baudrate = 125000; break; |
devanlai | 0:f2565808eea5 | 186 | case '5': baudrate = 250000; break; |
devanlai | 0:f2565808eea5 | 187 | case '6': baudrate = 500000; break; |
devanlai | 0:f2565808eea5 | 188 | case '7': baudrate = 800000; break; |
devanlai | 0:f2565808eea5 | 189 | case '8': baudrate = 1000000; break; |
devanlai | 0:f2565808eea5 | 190 | default: known = false; break; |
devanlai | 0:f2565808eea5 | 191 | } |
devanlai | 0:f2565808eea5 | 192 | |
devanlai | 0:f2565808eea5 | 193 | if (known) { |
devanlai | 0:f2565808eea5 | 194 | success = setBaudrate(baudrate); |
devanlai | 0:f2565808eea5 | 195 | } |
devanlai | 0:f2565808eea5 | 196 | |
devanlai | 0:f2565808eea5 | 197 | break; |
devanlai | 0:f2565808eea5 | 198 | } |
devanlai | 0:f2565808eea5 | 199 | case 'O': { |
devanlai | 0:f2565808eea5 | 200 | success = setMode(CAN::Normal); |
devanlai | 0:f2565808eea5 | 201 | break; |
devanlai | 0:f2565808eea5 | 202 | } |
devanlai | 0:f2565808eea5 | 203 | case 'L': { |
devanlai | 0:f2565808eea5 | 204 | success = setMode(CAN::Silent); |
devanlai | 0:f2565808eea5 | 205 | break; |
devanlai | 0:f2565808eea5 | 206 | } |
devanlai | 0:f2565808eea5 | 207 | case 'l': { |
devanlai | 0:f2565808eea5 | 208 | success = setMode(CAN::SilentTest); |
devanlai | 0:f2565808eea5 | 209 | break; |
devanlai | 0:f2565808eea5 | 210 | } |
devanlai | 0:f2565808eea5 | 211 | case 'C': { |
devanlai | 0:f2565808eea5 | 212 | success = setMode(CAN::Reset); |
devanlai | 0:f2565808eea5 | 213 | break; |
devanlai | 0:f2565808eea5 | 214 | } |
devanlai | 0:f2565808eea5 | 215 | default: { |
devanlai | 0:f2565808eea5 | 216 | success = false; |
devanlai | 0:f2565808eea5 | 217 | break; |
devanlai | 0:f2565808eea5 | 218 | } |
devanlai | 0:f2565808eea5 | 219 | } |
devanlai | 0:f2565808eea5 | 220 | |
devanlai | 0:f2565808eea5 | 221 | return success; |
devanlai | 0:f2565808eea5 | 222 | } |
devanlai | 0:f2565808eea5 | 223 | |
devanlai | 0:f2565808eea5 | 224 | bool SLCANBase::execTransmitCommand(const char* command) { |
devanlai | 0:f2565808eea5 | 225 | bool success = false; |
devanlai | 0:f2565808eea5 | 226 | |
devanlai | 0:f2565808eea5 | 227 | size_t len = strlen(command); |
devanlai | 0:f2565808eea5 | 228 | |
devanlai | 0:f2565808eea5 | 229 | bool validMessage = false; |
devanlai | 0:f2565808eea5 | 230 | CANMessage msg; |
devanlai | 0:f2565808eea5 | 231 | if (command[0] == 't' || command[0] == 'T') { |
devanlai | 0:f2565808eea5 | 232 | msg.type = CANData; |
devanlai | 0:f2565808eea5 | 233 | msg.format = (command[0] == 't') ? CANStandard : CANExtended; |
devanlai | 0:f2565808eea5 | 234 | size_t idLen = msg.format == CANStandard ? 3 : 8; |
devanlai | 0:f2565808eea5 | 235 | if ((len >= idLen + 2) && |
devanlai | 0:f2565808eea5 | 236 | parse_hex_digits(&command[1], idLen, (uint32_t*)&msg.id) && |
devanlai | 0:f2565808eea5 | 237 | parse_dec_digit(&command[idLen + 1], &msg.len)) { |
devanlai | 0:f2565808eea5 | 238 | if ((len == idLen + 2 + 2*msg.len) && |
devanlai | 0:f2565808eea5 | 239 | (msg.len <= 8) && |
devanlai | 0:f2565808eea5 | 240 | parse_hex_values(&command[idLen + 2], msg.len, msg.data)) { |
devanlai | 0:f2565808eea5 | 241 | validMessage = true; |
devanlai | 0:f2565808eea5 | 242 | } |
devanlai | 0:f2565808eea5 | 243 | } |
devanlai | 0:f2565808eea5 | 244 | } else if (command[0] == 'r' || command[0] == 'R') { |
devanlai | 0:f2565808eea5 | 245 | msg.type = CANRemote; |
devanlai | 0:f2565808eea5 | 246 | msg.format = (command[0] == 'r') ? CANStandard : CANExtended; |
devanlai | 0:f2565808eea5 | 247 | size_t idLen = msg.format == CANStandard ? 3 : 8; |
devanlai | 0:f2565808eea5 | 248 | if ((len == idLen + 2) && |
devanlai | 0:f2565808eea5 | 249 | parse_hex_digits(&command[1], idLen, (uint32_t*)(&msg.id)) && |
devanlai | 0:f2565808eea5 | 250 | parse_dec_digit(&command[idLen + 1], &msg.len)) { |
devanlai | 0:f2565808eea5 | 251 | if (msg.len <= 8) { |
devanlai | 0:f2565808eea5 | 252 | validMessage = true; |
devanlai | 0:f2565808eea5 | 253 | } |
devanlai | 0:f2565808eea5 | 254 | } |
devanlai | 0:f2565808eea5 | 255 | } |
devanlai | 0:f2565808eea5 | 256 | |
devanlai | 0:f2565808eea5 | 257 | if (validMessage) { |
devanlai | 0:f2565808eea5 | 258 | success = transmitMessage(msg); |
devanlai | 0:f2565808eea5 | 259 | } |
devanlai | 0:f2565808eea5 | 260 | |
devanlai | 0:f2565808eea5 | 261 | return success; |
devanlai | 0:f2565808eea5 | 262 | } |
devanlai | 0:f2565808eea5 | 263 | |
devanlai | 0:f2565808eea5 | 264 | USBSLCAN::USBSLCAN(USBSerial& stream, CAN& can) |
devanlai | 0:f2565808eea5 | 265 | : stream(stream), |
devanlai | 0:f2565808eea5 | 266 | can(can), |
devanlai | 0:f2565808eea5 | 267 | messageQueued(false), |
devanlai | 0:f2565808eea5 | 268 | commandQueued(false), |
devanlai | 0:f2565808eea5 | 269 | commandOverflow(false), |
devanlai | 0:f2565808eea5 | 270 | inputCommandLen(0), |
devanlai | 0:f2565808eea5 | 271 | outputPacketLen(0) { |
devanlai | 0:f2565808eea5 | 272 | |
devanlai | 0:f2565808eea5 | 273 | } |
devanlai | 0:f2565808eea5 | 274 | |
devanlai | 0:f2565808eea5 | 275 | bool USBSLCAN::setBaudrate(int baudrate) { |
devanlai | 0:f2565808eea5 | 276 | return (can.frequency(baudrate) == 1); |
devanlai | 0:f2565808eea5 | 277 | } |
devanlai | 0:f2565808eea5 | 278 | |
devanlai | 0:f2565808eea5 | 279 | bool USBSLCAN::setMode(CAN::Mode mode) { |
devanlai | 0:f2565808eea5 | 280 | return (can.mode(mode) == 1); |
devanlai | 0:f2565808eea5 | 281 | } |
devanlai | 0:f2565808eea5 | 282 | |
devanlai | 0:f2565808eea5 | 283 | bool USBSLCAN::transmitMessage(CANMessage& msg) { |
devanlai | 0:f2565808eea5 | 284 | return (can.write(msg) == 1); |
devanlai | 0:f2565808eea5 | 285 | } |
devanlai | 0:f2565808eea5 | 286 | |
devanlai | 0:f2565808eea5 | 287 | bool USBSLCAN::getNextCANMessage(CANMessage& msg) { |
devanlai | 0:f2565808eea5 | 288 | return (can.read(msg) == 1); |
devanlai | 0:f2565808eea5 | 289 | } |
devanlai | 0:f2565808eea5 | 290 | |
devanlai | 0:f2565808eea5 | 291 | /* Parse and execute a single SLCAN command and enqueue the response */ |
devanlai | 0:f2565808eea5 | 292 | bool USBSLCAN::processCommands() { |
devanlai | 0:f2565808eea5 | 293 | bool active = false; |
devanlai | 0:f2565808eea5 | 294 | |
devanlai | 0:f2565808eea5 | 295 | // Buffer an entire command |
devanlai | 0:f2565808eea5 | 296 | while (!commandQueued && stream.readable()) { |
devanlai | 0:f2565808eea5 | 297 | char c = (char)stream.getc(); |
devanlai | 0:f2565808eea5 | 298 | if (c == '\r') { |
devanlai | 0:f2565808eea5 | 299 | if (commandOverflow) { |
devanlai | 0:f2565808eea5 | 300 | // Replace with a dummy invalid command so we return an error |
devanlai | 0:f2565808eea5 | 301 | inputCommandBuffer[0] = '!'; |
devanlai | 0:f2565808eea5 | 302 | inputCommandBuffer[1] = '\0'; |
devanlai | 0:f2565808eea5 | 303 | inputCommandLen = 0; |
devanlai | 0:f2565808eea5 | 304 | commandOverflow = false; |
devanlai | 0:f2565808eea5 | 305 | active = true; |
devanlai | 0:f2565808eea5 | 306 | } else { |
devanlai | 0:f2565808eea5 | 307 | // Null-terminate the buffered command |
devanlai | 0:f2565808eea5 | 308 | inputCommandBuffer[inputCommandLen] = '\0'; |
devanlai | 0:f2565808eea5 | 309 | stream.puts(inputCommandBuffer); |
devanlai | 0:f2565808eea5 | 310 | inputCommandLen = 0; |
devanlai | 0:f2565808eea5 | 311 | active = true; |
devanlai | 0:f2565808eea5 | 312 | } |
devanlai | 0:f2565808eea5 | 313 | commandQueued = true; |
devanlai | 0:f2565808eea5 | 314 | } else if (c == '\n' && inputCommandLen == 0) { |
devanlai | 0:f2565808eea5 | 315 | // Ignore line feeds immediately after a carriage return |
devanlai | 0:f2565808eea5 | 316 | } else if (commandOverflow) { |
devanlai | 0:f2565808eea5 | 317 | // Swallow the rest of the command when overflow occurs |
devanlai | 0:f2565808eea5 | 318 | } else { |
devanlai | 0:f2565808eea5 | 319 | // Append to the end of the command |
devanlai | 0:f2565808eea5 | 320 | inputCommandBuffer[inputCommandLen++] = c; |
devanlai | 0:f2565808eea5 | 321 | |
devanlai | 0:f2565808eea5 | 322 | if (inputCommandLen >= sizeof(inputCommandBuffer)) { |
devanlai | 0:f2565808eea5 | 323 | commandOverflow = true; |
devanlai | 0:f2565808eea5 | 324 | } |
devanlai | 0:f2565808eea5 | 325 | } |
devanlai | 0:f2565808eea5 | 326 | } |
devanlai | 0:f2565808eea5 | 327 | |
devanlai | 0:f2565808eea5 | 328 | // Process the current command if there's space to send the response |
devanlai | 0:f2565808eea5 | 329 | if (commandQueued && (outputPacketLen < sizeof(outputPacketBuffer))) { |
devanlai | 0:f2565808eea5 | 330 | if (execCommand(inputCommandBuffer)) { |
devanlai | 0:f2565808eea5 | 331 | // Success |
devanlai | 0:f2565808eea5 | 332 | outputPacketBuffer[outputPacketLen++] = '\r'; |
devanlai | 0:f2565808eea5 | 333 | } else { |
devanlai | 0:f2565808eea5 | 334 | // Failure |
devanlai | 0:f2565808eea5 | 335 | outputPacketBuffer[outputPacketLen++] = '\a'; |
devanlai | 0:f2565808eea5 | 336 | } |
devanlai | 0:f2565808eea5 | 337 | commandQueued = false; |
devanlai | 0:f2565808eea5 | 338 | active = true; |
devanlai | 0:f2565808eea5 | 339 | } |
devanlai | 0:f2565808eea5 | 340 | |
devanlai | 0:f2565808eea5 | 341 | return active; |
devanlai | 0:f2565808eea5 | 342 | } |
devanlai | 0:f2565808eea5 | 343 | |
devanlai | 0:f2565808eea5 | 344 | /* Read and enqueue as many received CAN messages as will fit */ |
devanlai | 0:f2565808eea5 | 345 | bool USBSLCAN::processCANMessages() { |
devanlai | 0:f2565808eea5 | 346 | bool active = false; |
devanlai | 0:f2565808eea5 | 347 | |
devanlai | 0:f2565808eea5 | 348 | size_t bytesAvailable = sizeof(outputPacketBuffer - outputPacketLen); |
devanlai | 0:f2565808eea5 | 349 | char* packetTail = &outputPacketBuffer[outputPacketLen]; |
devanlai | 0:f2565808eea5 | 350 | |
devanlai | 0:f2565808eea5 | 351 | if (messageQueued) { |
devanlai | 0:f2565808eea5 | 352 | size_t bytesConsumed = formatCANMessage(queuedMessage, packetTail, bytesAvailable); |
devanlai | 0:f2565808eea5 | 353 | if (bytesConsumed > 0) { |
devanlai | 0:f2565808eea5 | 354 | active = true; |
devanlai | 0:f2565808eea5 | 355 | messageQueued = false; |
devanlai | 0:f2565808eea5 | 356 | bytesAvailable -= bytesConsumed; |
devanlai | 0:f2565808eea5 | 357 | packetTail += bytesConsumed; |
devanlai | 0:f2565808eea5 | 358 | outputPacketLen += bytesConsumed; |
devanlai | 0:f2565808eea5 | 359 | } |
devanlai | 0:f2565808eea5 | 360 | } |
devanlai | 0:f2565808eea5 | 361 | |
devanlai | 0:f2565808eea5 | 362 | if (!messageQueued) { |
devanlai | 0:f2565808eea5 | 363 | while (getNextCANMessage(queuedMessage)) { |
devanlai | 0:f2565808eea5 | 364 | size_t bytesConsumed = formatCANMessage(queuedMessage, packetTail, bytesAvailable); |
devanlai | 0:f2565808eea5 | 365 | if (bytesConsumed > 0) { |
devanlai | 0:f2565808eea5 | 366 | active = true; |
devanlai | 0:f2565808eea5 | 367 | bytesAvailable -= bytesConsumed; |
devanlai | 0:f2565808eea5 | 368 | packetTail += bytesConsumed; |
devanlai | 0:f2565808eea5 | 369 | outputPacketLen += bytesConsumed; |
devanlai | 0:f2565808eea5 | 370 | } else { |
devanlai | 0:f2565808eea5 | 371 | messageQueued = true; |
devanlai | 0:f2565808eea5 | 372 | break; |
devanlai | 0:f2565808eea5 | 373 | } |
devanlai | 0:f2565808eea5 | 374 | } |
devanlai | 0:f2565808eea5 | 375 | } |
devanlai | 0:f2565808eea5 | 376 | |
devanlai | 0:f2565808eea5 | 377 | return active; |
devanlai | 0:f2565808eea5 | 378 | } |
devanlai | 0:f2565808eea5 | 379 | |
devanlai | 0:f2565808eea5 | 380 | /* Attempt to transmit the output queue */ |
devanlai | 0:f2565808eea5 | 381 | bool USBSLCAN::flush() { |
devanlai | 0:f2565808eea5 | 382 | bool active = false; |
devanlai | 0:f2565808eea5 | 383 | if (outputPacketLen > 0) { |
devanlai | 0:f2565808eea5 | 384 | bool sent = stream.writeBlock((uint8_t*)(outputPacketBuffer), |
devanlai | 0:f2565808eea5 | 385 | (uint16_t)(outputPacketLen)); |
devanlai | 0:f2565808eea5 | 386 | if (sent) { |
devanlai | 0:f2565808eea5 | 387 | active = true; |
devanlai | 0:f2565808eea5 | 388 | outputPacketLen = 0; |
devanlai | 0:f2565808eea5 | 389 | } |
devanlai | 0:f2565808eea5 | 390 | } |
devanlai | 0:f2565808eea5 | 391 | return active; |
devanlai | 0:f2565808eea5 | 392 | } |
devanlai | 0:f2565808eea5 | 393 | |
devanlai | 0:f2565808eea5 | 394 | SerialSLCAN::SerialSLCAN(Serial& stream, CAN& can) |
devanlai | 0:f2565808eea5 | 395 | : stream(stream), |
devanlai | 0:f2565808eea5 | 396 | can(can), |
devanlai | 0:f2565808eea5 | 397 | commandQueued(false), |
devanlai | 0:f2565808eea5 | 398 | commandOverflow(false), |
devanlai | 0:f2565808eea5 | 399 | inputCommandLen(0) { |
devanlai | 0:f2565808eea5 | 400 | } |
devanlai | 0:f2565808eea5 | 401 | |
devanlai | 0:f2565808eea5 | 402 | bool SerialSLCAN::setBaudrate(int baudrate) { |
devanlai | 0:f2565808eea5 | 403 | return (can.frequency(baudrate) == 1); |
devanlai | 0:f2565808eea5 | 404 | } |
devanlai | 0:f2565808eea5 | 405 | |
devanlai | 0:f2565808eea5 | 406 | bool SerialSLCAN::setMode(CAN::Mode mode) { |
devanlai | 0:f2565808eea5 | 407 | return (can.mode(mode) == 1); |
devanlai | 0:f2565808eea5 | 408 | } |
devanlai | 0:f2565808eea5 | 409 | |
devanlai | 0:f2565808eea5 | 410 | bool SerialSLCAN::transmitMessage(CANMessage& msg) { |
devanlai | 0:f2565808eea5 | 411 | return (can.write(msg) == 1); |
devanlai | 0:f2565808eea5 | 412 | } |
devanlai | 0:f2565808eea5 | 413 | |
devanlai | 0:f2565808eea5 | 414 | bool SerialSLCAN::getNextCANMessage(CANMessage& msg) { |
devanlai | 0:f2565808eea5 | 415 | return (can.read(msg) == 1); |
devanlai | 0:f2565808eea5 | 416 | } |
devanlai | 0:f2565808eea5 | 417 | |
devanlai | 0:f2565808eea5 | 418 | /* Parse and execute a single SLCAN command and enqueue the response */ |
devanlai | 0:f2565808eea5 | 419 | bool SerialSLCAN::processCommands() { |
devanlai | 0:f2565808eea5 | 420 | bool active = false; |
devanlai | 0:f2565808eea5 | 421 | |
devanlai | 0:f2565808eea5 | 422 | // Buffer an entire command |
devanlai | 0:f2565808eea5 | 423 | while (!commandQueued && stream.readable()) { |
devanlai | 0:f2565808eea5 | 424 | char c = (char)stream.getc(); |
devanlai | 0:f2565808eea5 | 425 | if (c == '\r') { |
devanlai | 0:f2565808eea5 | 426 | if (commandOverflow) { |
devanlai | 0:f2565808eea5 | 427 | // Replace with a dummy invalid command so we return an error |
devanlai | 0:f2565808eea5 | 428 | inputCommandBuffer[0] = '!'; |
devanlai | 0:f2565808eea5 | 429 | inputCommandBuffer[1] = '\0'; |
devanlai | 0:f2565808eea5 | 430 | inputCommandLen = 0; |
devanlai | 0:f2565808eea5 | 431 | commandOverflow = false; |
devanlai | 0:f2565808eea5 | 432 | active = true; |
devanlai | 0:f2565808eea5 | 433 | } else { |
devanlai | 0:f2565808eea5 | 434 | // Null-terminate the buffered command |
devanlai | 0:f2565808eea5 | 435 | inputCommandBuffer[inputCommandLen] = '\0'; |
devanlai | 0:f2565808eea5 | 436 | inputCommandLen = 0; |
devanlai | 0:f2565808eea5 | 437 | active = true; |
devanlai | 0:f2565808eea5 | 438 | } |
devanlai | 0:f2565808eea5 | 439 | commandQueued = true; |
devanlai | 0:f2565808eea5 | 440 | } else if (c == '\n' && inputCommandLen == 0) { |
devanlai | 0:f2565808eea5 | 441 | // Ignore line feeds immediately after a carriage return |
devanlai | 0:f2565808eea5 | 442 | } else if (commandOverflow) { |
devanlai | 0:f2565808eea5 | 443 | // Swallow the rest of the command when overflow occurs |
devanlai | 0:f2565808eea5 | 444 | } else { |
devanlai | 0:f2565808eea5 | 445 | // Append to the end of the command |
devanlai | 0:f2565808eea5 | 446 | inputCommandBuffer[inputCommandLen++] = c; |
devanlai | 0:f2565808eea5 | 447 | |
devanlai | 0:f2565808eea5 | 448 | if (inputCommandLen >= sizeof(inputCommandBuffer)) { |
devanlai | 0:f2565808eea5 | 449 | commandOverflow = true; |
devanlai | 0:f2565808eea5 | 450 | } |
devanlai | 0:f2565808eea5 | 451 | } |
devanlai | 0:f2565808eea5 | 452 | } |
devanlai | 0:f2565808eea5 | 453 | |
devanlai | 0:f2565808eea5 | 454 | // Process the current command if there's space to send the response |
devanlai | 0:f2565808eea5 | 455 | if (commandQueued) { |
devanlai | 0:f2565808eea5 | 456 | if (execCommand(inputCommandBuffer)) { |
devanlai | 0:f2565808eea5 | 457 | // Success |
devanlai | 0:f2565808eea5 | 458 | stream.putc('\r'); |
devanlai | 0:f2565808eea5 | 459 | } else { |
devanlai | 0:f2565808eea5 | 460 | // Failure |
devanlai | 0:f2565808eea5 | 461 | stream.putc('\a'); |
devanlai | 0:f2565808eea5 | 462 | } |
devanlai | 0:f2565808eea5 | 463 | commandQueued = false; |
devanlai | 0:f2565808eea5 | 464 | active = true; |
devanlai | 0:f2565808eea5 | 465 | } |
devanlai | 0:f2565808eea5 | 466 | |
devanlai | 0:f2565808eea5 | 467 | return active; |
devanlai | 0:f2565808eea5 | 468 | } |
devanlai | 0:f2565808eea5 | 469 | |
devanlai | 0:f2565808eea5 | 470 | /* Read and enqueue as many received CAN messages as will fit */ |
devanlai | 0:f2565808eea5 | 471 | bool SerialSLCAN::processCANMessages() { |
devanlai | 0:f2565808eea5 | 472 | bool active = false; |
devanlai | 0:f2565808eea5 | 473 | CANMessage msg; |
devanlai | 0:f2565808eea5 | 474 | while (getNextCANMessage(msg)) { |
devanlai | 0:f2565808eea5 | 475 | char buffer[32]; |
devanlai | 0:f2565808eea5 | 476 | size_t len = formatCANMessage(msg, buffer, sizeof(buffer)); |
devanlai | 0:f2565808eea5 | 477 | buffer[len] = '\0'; |
devanlai | 0:f2565808eea5 | 478 | stream.puts(buffer); |
devanlai | 0:f2565808eea5 | 479 | active = true; |
devanlai | 0:f2565808eea5 | 480 | } |
devanlai | 0:f2565808eea5 | 481 | |
devanlai | 0:f2565808eea5 | 482 | return active; |
devanlai | 0:f2565808eea5 | 483 | } |
devanlai | 0:f2565808eea5 | 484 | |
devanlai | 0:f2565808eea5 | 485 | /* Attempt to transmit the output queue */ |
devanlai | 0:f2565808eea5 | 486 | bool SerialSLCAN::flush() { |
devanlai | 0:f2565808eea5 | 487 | return false; |
devanlai | 0:f2565808eea5 | 488 | } |