Devan Lai
/
SLCAN
SLCAN/CAN-USB implementation for mbed targets
slcan.cpp@3:bc163d555ddc, 2017-02-04 (annotated)
- Committer:
- devanlai
- Date:
- Sat Feb 04 09:49:57 2017 +0000
- Revision:
- 3:bc163d555ddc
- Parent:
- 2:1327e61cc56b
Send z/Z response as expected for T/t/R/r commands.; Add minimal support for F/M/m/s commands for compatibility
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 | 2:1327e61cc56b | 73 | uint8_t SLCANBase::getFirmwareVersion() { |
devanlai | 2:1327e61cc56b | 74 | // firmware version in BCD |
devanlai | 2:1327e61cc56b | 75 | return 0x10; |
devanlai | 2:1327e61cc56b | 76 | } |
devanlai | 2:1327e61cc56b | 77 | |
devanlai | 2:1327e61cc56b | 78 | uint8_t SLCANBase::getHardwareVersion() { |
devanlai | 2:1327e61cc56b | 79 | // hardware version in BCD |
devanlai | 2:1327e61cc56b | 80 | return 0x10; |
devanlai | 2:1327e61cc56b | 81 | } |
devanlai | 2:1327e61cc56b | 82 | |
devanlai | 2:1327e61cc56b | 83 | const char* SLCANBase::getSerialString() { |
devanlai | 2:1327e61cc56b | 84 | // 4 character serial number |
devanlai | 2:1327e61cc56b | 85 | return "C254"; |
devanlai | 2:1327e61cc56b | 86 | } |
devanlai | 2:1327e61cc56b | 87 | |
devanlai | 0:f2565808eea5 | 88 | bool SLCANBase::update() { |
devanlai | 0:f2565808eea5 | 89 | bool active = false; |
devanlai | 0:f2565808eea5 | 90 | if (processCommands()) { |
devanlai | 0:f2565808eea5 | 91 | active = true; |
devanlai | 0:f2565808eea5 | 92 | } |
devanlai | 0:f2565808eea5 | 93 | if (processCANMessages()) { |
devanlai | 0:f2565808eea5 | 94 | active = true; |
devanlai | 0:f2565808eea5 | 95 | } |
devanlai | 0:f2565808eea5 | 96 | |
devanlai | 0:f2565808eea5 | 97 | if (active) { |
devanlai | 0:f2565808eea5 | 98 | flush(); |
devanlai | 0:f2565808eea5 | 99 | } |
devanlai | 0:f2565808eea5 | 100 | |
devanlai | 0:f2565808eea5 | 101 | return active; |
devanlai | 0:f2565808eea5 | 102 | } |
devanlai | 0:f2565808eea5 | 103 | |
devanlai | 0:f2565808eea5 | 104 | size_t SLCANBase::formattedCANMessageLength(const CANMessage& msg) { |
devanlai | 0:f2565808eea5 | 105 | size_t len; |
devanlai | 0:f2565808eea5 | 106 | if (msg.format == CANStandard) { |
devanlai | 0:f2565808eea5 | 107 | len = 1 + 3 + 1 + (2 * msg.len) + 1; |
devanlai | 0:f2565808eea5 | 108 | } else { |
devanlai | 0:f2565808eea5 | 109 | len = 1 + 8 + 1 + (2 * msg.len) + 1; |
devanlai | 0:f2565808eea5 | 110 | } |
devanlai | 0:f2565808eea5 | 111 | |
devanlai | 0:f2565808eea5 | 112 | return len; |
devanlai | 0:f2565808eea5 | 113 | } |
devanlai | 0:f2565808eea5 | 114 | |
devanlai | 0:f2565808eea5 | 115 | size_t SLCANBase::formatCANMessage(const CANMessage& msg, char* buf, size_t max_len) { |
devanlai | 0:f2565808eea5 | 116 | size_t len = formattedCANMessageLength(msg); |
devanlai | 0:f2565808eea5 | 117 | if (len > max_len) { |
devanlai | 0:f2565808eea5 | 118 | return 0; |
devanlai | 0:f2565808eea5 | 119 | } |
devanlai | 0:f2565808eea5 | 120 | |
devanlai | 0:f2565808eea5 | 121 | if (msg.format == CANStandard) { |
devanlai | 0:f2565808eea5 | 122 | *buf++ = (msg.type == CANData) ? 't' : 'r'; |
devanlai | 0:f2565808eea5 | 123 | *buf++ = format_nibble((uint8_t)(msg.id >> 8)); |
devanlai | 0:f2565808eea5 | 124 | *buf++ = format_nibble((uint8_t)(msg.id >> 4)); |
devanlai | 0:f2565808eea5 | 125 | *buf++ = format_nibble((uint8_t)(msg.id >> 0)); |
devanlai | 0:f2565808eea5 | 126 | *buf++ = format_digit(msg.len); |
devanlai | 0:f2565808eea5 | 127 | } else { |
devanlai | 0:f2565808eea5 | 128 | *buf++ = (msg.type == CANData) ? 'T' : 'R'; |
devanlai | 0:f2565808eea5 | 129 | *buf++ = format_nibble((uint8_t)(msg.id >> 28)); |
devanlai | 0:f2565808eea5 | 130 | *buf++ = format_nibble((uint8_t)(msg.id >> 24)); |
devanlai | 0:f2565808eea5 | 131 | *buf++ = format_nibble((uint8_t)(msg.id >> 20)); |
devanlai | 0:f2565808eea5 | 132 | *buf++ = format_nibble((uint8_t)(msg.id >> 16)); |
devanlai | 0:f2565808eea5 | 133 | *buf++ = format_nibble((uint8_t)(msg.id >> 12)); |
devanlai | 0:f2565808eea5 | 134 | *buf++ = format_nibble((uint8_t)(msg.id >> 8)); |
devanlai | 0:f2565808eea5 | 135 | *buf++ = format_nibble((uint8_t)(msg.id >> 4)); |
devanlai | 0:f2565808eea5 | 136 | *buf++ = format_nibble((uint8_t)(msg.id >> 0)); |
devanlai | 0:f2565808eea5 | 137 | *buf++ = format_digit(msg.len); |
devanlai | 0:f2565808eea5 | 138 | } |
devanlai | 0:f2565808eea5 | 139 | |
devanlai | 0:f2565808eea5 | 140 | for (unsigned char i=0; i < msg.len; i++) { |
devanlai | 0:f2565808eea5 | 141 | *buf++ = format_nibble((uint8_t)(msg.data[i] >> 4)); |
devanlai | 0:f2565808eea5 | 142 | *buf++ = format_nibble((uint8_t)(msg.data[i] >> 0)); |
devanlai | 0:f2565808eea5 | 143 | } |
devanlai | 0:f2565808eea5 | 144 | |
devanlai | 0:f2565808eea5 | 145 | *buf++ = '\r'; |
devanlai | 0:f2565808eea5 | 146 | |
devanlai | 0:f2565808eea5 | 147 | return len; |
devanlai | 0:f2565808eea5 | 148 | } |
devanlai | 0:f2565808eea5 | 149 | |
devanlai | 2:1327e61cc56b | 150 | size_t SLCANBase::commandResponseLength(const char* command) { |
devanlai | 3:bc163d555ddc | 151 | switch (command[0]) { |
devanlai | 3:bc163d555ddc | 152 | case 'N': |
devanlai | 3:bc163d555ddc | 153 | case 'V': { |
devanlai | 3:bc163d555ddc | 154 | return 6; |
devanlai | 3:bc163d555ddc | 155 | } |
devanlai | 3:bc163d555ddc | 156 | case 'v': |
devanlai | 3:bc163d555ddc | 157 | case 'F': { |
devanlai | 3:bc163d555ddc | 158 | return 4; |
devanlai | 3:bc163d555ddc | 159 | } |
devanlai | 3:bc163d555ddc | 160 | case 'T': |
devanlai | 3:bc163d555ddc | 161 | case 't': |
devanlai | 3:bc163d555ddc | 162 | case 'R': |
devanlai | 3:bc163d555ddc | 163 | case 'r': { |
devanlai | 3:bc163d555ddc | 164 | return 2; |
devanlai | 3:bc163d555ddc | 165 | } |
devanlai | 3:bc163d555ddc | 166 | default: { |
devanlai | 3:bc163d555ddc | 167 | return 1; |
devanlai | 3:bc163d555ddc | 168 | } |
devanlai | 2:1327e61cc56b | 169 | } |
devanlai | 2:1327e61cc56b | 170 | } |
devanlai | 2:1327e61cc56b | 171 | |
devanlai | 2:1327e61cc56b | 172 | bool SLCANBase::execCommand(const char* command, char* response) { |
devanlai | 0:f2565808eea5 | 173 | bool success = false; |
devanlai | 2:1327e61cc56b | 174 | if (response) { |
devanlai | 2:1327e61cc56b | 175 | response[0] = '\0'; |
devanlai | 2:1327e61cc56b | 176 | } |
devanlai | 0:f2565808eea5 | 177 | |
devanlai | 0:f2565808eea5 | 178 | switch (command[0]) { |
devanlai | 0:f2565808eea5 | 179 | // Configuration commands |
devanlai | 0:f2565808eea5 | 180 | case 'S': |
devanlai | 3:bc163d555ddc | 181 | case 's': |
devanlai | 0:f2565808eea5 | 182 | case 'O': |
devanlai | 0:f2565808eea5 | 183 | case 'L': |
devanlai | 0:f2565808eea5 | 184 | case 'l': |
devanlai | 3:bc163d555ddc | 185 | case 'C': |
devanlai | 3:bc163d555ddc | 186 | case 'Z': |
devanlai | 3:bc163d555ddc | 187 | case 'M': |
devanlai | 3:bc163d555ddc | 188 | case 'm': { |
devanlai | 0:f2565808eea5 | 189 | success = execConfigCommand(command); |
devanlai | 0:f2565808eea5 | 190 | break; |
devanlai | 0:f2565808eea5 | 191 | } |
devanlai | 0:f2565808eea5 | 192 | // Transmission commands |
devanlai | 0:f2565808eea5 | 193 | case 't': |
devanlai | 0:f2565808eea5 | 194 | case 'T': |
devanlai | 0:f2565808eea5 | 195 | case 'r': |
devanlai | 0:f2565808eea5 | 196 | case 'R': { |
devanlai | 3:bc163d555ddc | 197 | success = execTransmitCommand(command, response); |
devanlai | 0:f2565808eea5 | 198 | break; |
devanlai | 0:f2565808eea5 | 199 | } |
devanlai | 2:1327e61cc56b | 200 | // Diagnostic commands |
devanlai | 2:1327e61cc56b | 201 | case 'V': |
devanlai | 2:1327e61cc56b | 202 | case 'v': |
devanlai | 2:1327e61cc56b | 203 | case 'N': |
devanlai | 2:1327e61cc56b | 204 | case 'W': |
devanlai | 3:bc163d555ddc | 205 | case 'F': |
devanlai | 2:1327e61cc56b | 206 | success = execDiagnosticCommand(command, response); |
devanlai | 2:1327e61cc56b | 207 | break; |
devanlai | 0:f2565808eea5 | 208 | default: { |
devanlai | 0:f2565808eea5 | 209 | success = false; |
devanlai | 0:f2565808eea5 | 210 | break; |
devanlai | 0:f2565808eea5 | 211 | } |
devanlai | 0:f2565808eea5 | 212 | } |
devanlai | 0:f2565808eea5 | 213 | |
devanlai | 0:f2565808eea5 | 214 | return success; |
devanlai | 0:f2565808eea5 | 215 | } |
devanlai | 0:f2565808eea5 | 216 | |
devanlai | 0:f2565808eea5 | 217 | bool SLCANBase::execConfigCommand(const char* command) { |
devanlai | 0:f2565808eea5 | 218 | bool success = false; |
devanlai | 0:f2565808eea5 | 219 | size_t len = strlen(command); |
devanlai | 0:f2565808eea5 | 220 | |
devanlai | 0:f2565808eea5 | 221 | // Validate command length |
devanlai | 3:bc163d555ddc | 222 | if (command[0] == 'M' || command[0] == 'm') { |
devanlai | 3:bc163d555ddc | 223 | if (len != 9) { |
devanlai | 3:bc163d555ddc | 224 | return false; |
devanlai | 3:bc163d555ddc | 225 | } |
devanlai | 3:bc163d555ddc | 226 | } else if (command[0] == 's') { |
devanlai | 3:bc163d555ddc | 227 | if (!((len == 5) || (len == 7))) { |
devanlai | 3:bc163d555ddc | 228 | return false; |
devanlai | 3:bc163d555ddc | 229 | } |
devanlai | 3:bc163d555ddc | 230 | } else if (command[0] == 'S' || command[0] == 'Z') { |
devanlai | 3:bc163d555ddc | 231 | if (len != 2) { |
devanlai | 3:bc163d555ddc | 232 | return false; |
devanlai | 3:bc163d555ddc | 233 | } |
devanlai | 3:bc163d555ddc | 234 | } else if (len != 1) { |
devanlai | 0:f2565808eea5 | 235 | return false; |
devanlai | 0:f2565808eea5 | 236 | } |
devanlai | 0:f2565808eea5 | 237 | |
devanlai | 0:f2565808eea5 | 238 | switch (command[0]) { |
devanlai | 0:f2565808eea5 | 239 | case 'S': { |
devanlai | 0:f2565808eea5 | 240 | bool known = true; |
devanlai | 0:f2565808eea5 | 241 | int baudrate; |
devanlai | 0:f2565808eea5 | 242 | switch (command[1]) { |
devanlai | 0:f2565808eea5 | 243 | case '0': baudrate = 10000; break; |
devanlai | 0:f2565808eea5 | 244 | case '1': baudrate = 20000; break; |
devanlai | 0:f2565808eea5 | 245 | case '2': baudrate = 50000; break; |
devanlai | 0:f2565808eea5 | 246 | case '3': baudrate = 100000; break; |
devanlai | 0:f2565808eea5 | 247 | case '4': baudrate = 125000; break; |
devanlai | 0:f2565808eea5 | 248 | case '5': baudrate = 250000; break; |
devanlai | 0:f2565808eea5 | 249 | case '6': baudrate = 500000; break; |
devanlai | 0:f2565808eea5 | 250 | case '7': baudrate = 800000; break; |
devanlai | 0:f2565808eea5 | 251 | case '8': baudrate = 1000000; break; |
devanlai | 0:f2565808eea5 | 252 | default: known = false; break; |
devanlai | 0:f2565808eea5 | 253 | } |
devanlai | 0:f2565808eea5 | 254 | |
devanlai | 0:f2565808eea5 | 255 | if (known) { |
devanlai | 0:f2565808eea5 | 256 | success = setBaudrate(baudrate); |
devanlai | 0:f2565808eea5 | 257 | } |
devanlai | 0:f2565808eea5 | 258 | |
devanlai | 0:f2565808eea5 | 259 | break; |
devanlai | 0:f2565808eea5 | 260 | } |
devanlai | 0:f2565808eea5 | 261 | case 'O': { |
devanlai | 0:f2565808eea5 | 262 | success = setMode(CAN::Normal); |
devanlai | 0:f2565808eea5 | 263 | break; |
devanlai | 0:f2565808eea5 | 264 | } |
devanlai | 0:f2565808eea5 | 265 | case 'L': { |
devanlai | 0:f2565808eea5 | 266 | success = setMode(CAN::Silent); |
devanlai | 0:f2565808eea5 | 267 | break; |
devanlai | 0:f2565808eea5 | 268 | } |
devanlai | 0:f2565808eea5 | 269 | case 'l': { |
devanlai | 0:f2565808eea5 | 270 | success = setMode(CAN::SilentTest); |
devanlai | 0:f2565808eea5 | 271 | break; |
devanlai | 0:f2565808eea5 | 272 | } |
devanlai | 0:f2565808eea5 | 273 | case 'C': { |
devanlai | 0:f2565808eea5 | 274 | success = setMode(CAN::Reset); |
devanlai | 0:f2565808eea5 | 275 | break; |
devanlai | 0:f2565808eea5 | 276 | } |
devanlai | 3:bc163d555ddc | 277 | case 's': { |
devanlai | 3:bc163d555ddc | 278 | // TODO: implement direct BTR control |
devanlai | 3:bc163d555ddc | 279 | success = true; |
devanlai | 3:bc163d555ddc | 280 | break; |
devanlai | 3:bc163d555ddc | 281 | } |
devanlai | 3:bc163d555ddc | 282 | case 'M': |
devanlai | 3:bc163d555ddc | 283 | case 'm': { |
devanlai | 3:bc163d555ddc | 284 | // TODO: implement filtering |
devanlai | 3:bc163d555ddc | 285 | success = true; |
devanlai | 3:bc163d555ddc | 286 | break; |
devanlai | 3:bc163d555ddc | 287 | } |
devanlai | 3:bc163d555ddc | 288 | case 'Z': { |
devanlai | 3:bc163d555ddc | 289 | // TODO: implement timestamping |
devanlai | 3:bc163d555ddc | 290 | success = true; |
devanlai | 3:bc163d555ddc | 291 | break; |
devanlai | 3:bc163d555ddc | 292 | } |
devanlai | 0:f2565808eea5 | 293 | default: { |
devanlai | 0:f2565808eea5 | 294 | success = false; |
devanlai | 0:f2565808eea5 | 295 | break; |
devanlai | 0:f2565808eea5 | 296 | } |
devanlai | 0:f2565808eea5 | 297 | } |
devanlai | 0:f2565808eea5 | 298 | |
devanlai | 0:f2565808eea5 | 299 | return success; |
devanlai | 0:f2565808eea5 | 300 | } |
devanlai | 0:f2565808eea5 | 301 | |
devanlai | 3:bc163d555ddc | 302 | bool SLCANBase::execTransmitCommand(const char* command, char* response) { |
devanlai | 0:f2565808eea5 | 303 | bool success = false; |
devanlai | 0:f2565808eea5 | 304 | |
devanlai | 0:f2565808eea5 | 305 | size_t len = strlen(command); |
devanlai | 0:f2565808eea5 | 306 | |
devanlai | 0:f2565808eea5 | 307 | bool validMessage = false; |
devanlai | 0:f2565808eea5 | 308 | CANMessage msg; |
devanlai | 3:bc163d555ddc | 309 | |
devanlai | 0:f2565808eea5 | 310 | if (command[0] == 't' || command[0] == 'T') { |
devanlai | 0:f2565808eea5 | 311 | msg.type = CANData; |
devanlai | 0:f2565808eea5 | 312 | msg.format = (command[0] == 't') ? CANStandard : CANExtended; |
devanlai | 0:f2565808eea5 | 313 | size_t idLen = msg.format == CANStandard ? 3 : 8; |
devanlai | 0:f2565808eea5 | 314 | if ((len >= idLen + 2) && |
devanlai | 0:f2565808eea5 | 315 | parse_hex_digits(&command[1], idLen, (uint32_t*)&msg.id) && |
devanlai | 0:f2565808eea5 | 316 | parse_dec_digit(&command[idLen + 1], &msg.len)) { |
devanlai | 0:f2565808eea5 | 317 | if ((len == idLen + 2 + 2*msg.len) && |
devanlai | 0:f2565808eea5 | 318 | (msg.len <= 8) && |
devanlai | 0:f2565808eea5 | 319 | parse_hex_values(&command[idLen + 2], msg.len, msg.data)) { |
devanlai | 0:f2565808eea5 | 320 | validMessage = true; |
devanlai | 0:f2565808eea5 | 321 | } |
devanlai | 0:f2565808eea5 | 322 | } |
devanlai | 0:f2565808eea5 | 323 | } else if (command[0] == 'r' || command[0] == 'R') { |
devanlai | 0:f2565808eea5 | 324 | msg.type = CANRemote; |
devanlai | 0:f2565808eea5 | 325 | msg.format = (command[0] == 'r') ? CANStandard : CANExtended; |
devanlai | 0:f2565808eea5 | 326 | size_t idLen = msg.format == CANStandard ? 3 : 8; |
devanlai | 0:f2565808eea5 | 327 | if ((len == idLen + 2) && |
devanlai | 0:f2565808eea5 | 328 | parse_hex_digits(&command[1], idLen, (uint32_t*)(&msg.id)) && |
devanlai | 0:f2565808eea5 | 329 | parse_dec_digit(&command[idLen + 1], &msg.len)) { |
devanlai | 0:f2565808eea5 | 330 | if (msg.len <= 8) { |
devanlai | 0:f2565808eea5 | 331 | validMessage = true; |
devanlai | 0:f2565808eea5 | 332 | } |
devanlai | 0:f2565808eea5 | 333 | } |
devanlai | 0:f2565808eea5 | 334 | } |
devanlai | 3:bc163d555ddc | 335 | |
devanlai | 0:f2565808eea5 | 336 | if (validMessage) { |
devanlai | 3:bc163d555ddc | 337 | if (command[0] == 'T' || command[0] == 'R') { |
devanlai | 3:bc163d555ddc | 338 | response[0] = 'Z'; |
devanlai | 3:bc163d555ddc | 339 | response[1] = '\0'; |
devanlai | 3:bc163d555ddc | 340 | } else if (command[0] == 't' || command[0] == 'r') { |
devanlai | 3:bc163d555ddc | 341 | response[0] = 'z'; |
devanlai | 3:bc163d555ddc | 342 | response[1] = '\0'; |
devanlai | 3:bc163d555ddc | 343 | } |
devanlai | 0:f2565808eea5 | 344 | success = transmitMessage(msg); |
devanlai | 0:f2565808eea5 | 345 | } |
devanlai | 0:f2565808eea5 | 346 | |
devanlai | 0:f2565808eea5 | 347 | return success; |
devanlai | 0:f2565808eea5 | 348 | } |
devanlai | 0:f2565808eea5 | 349 | |
devanlai | 2:1327e61cc56b | 350 | bool SLCANBase::execDiagnosticCommand(const char* command, char* response) { |
devanlai | 2:1327e61cc56b | 351 | bool success = false; |
devanlai | 2:1327e61cc56b | 352 | size_t len = strlen(command); |
devanlai | 2:1327e61cc56b | 353 | |
devanlai | 2:1327e61cc56b | 354 | // Validate command length |
devanlai | 2:1327e61cc56b | 355 | if (command[0] == 'W') { |
devanlai | 2:1327e61cc56b | 356 | if (len != 5) { |
devanlai | 2:1327e61cc56b | 357 | return false; |
devanlai | 2:1327e61cc56b | 358 | } |
devanlai | 2:1327e61cc56b | 359 | } else if (len != 1) { |
devanlai | 2:1327e61cc56b | 360 | return false; |
devanlai | 2:1327e61cc56b | 361 | } |
devanlai | 2:1327e61cc56b | 362 | |
devanlai | 2:1327e61cc56b | 363 | if (!response) { |
devanlai | 2:1327e61cc56b | 364 | return false; |
devanlai | 2:1327e61cc56b | 365 | } |
devanlai | 2:1327e61cc56b | 366 | |
devanlai | 2:1327e61cc56b | 367 | switch (command[0]) { |
devanlai | 2:1327e61cc56b | 368 | case 'V': { |
devanlai | 2:1327e61cc56b | 369 | success = true; |
devanlai | 2:1327e61cc56b | 370 | uint8_t hwVersion = getHardwareVersion(); |
devanlai | 2:1327e61cc56b | 371 | uint8_t fwVersion = getFirmwareVersion(); |
devanlai | 2:1327e61cc56b | 372 | |
devanlai | 2:1327e61cc56b | 373 | response[0] = 'V'; |
devanlai | 2:1327e61cc56b | 374 | response[1] = format_nibble(hwVersion >> 4); |
devanlai | 2:1327e61cc56b | 375 | response[2] = format_nibble(hwVersion >> 0); |
devanlai | 2:1327e61cc56b | 376 | response[3] = format_nibble(fwVersion >> 4); |
devanlai | 2:1327e61cc56b | 377 | response[4] = format_nibble(fwVersion >> 0); |
devanlai | 2:1327e61cc56b | 378 | response[5] = '\0'; |
devanlai | 2:1327e61cc56b | 379 | break; |
devanlai | 2:1327e61cc56b | 380 | } |
devanlai | 2:1327e61cc56b | 381 | case 'v': { |
devanlai | 2:1327e61cc56b | 382 | success = true; |
devanlai | 2:1327e61cc56b | 383 | uint8_t fwVersion = getFirmwareVersion(); |
devanlai | 2:1327e61cc56b | 384 | response[0] = 'v'; |
devanlai | 2:1327e61cc56b | 385 | response[1] = format_nibble(fwVersion >> 4); |
devanlai | 2:1327e61cc56b | 386 | response[2] = format_nibble(fwVersion >> 0); |
devanlai | 2:1327e61cc56b | 387 | response[3] = '\0'; |
devanlai | 2:1327e61cc56b | 388 | break; |
devanlai | 2:1327e61cc56b | 389 | } |
devanlai | 2:1327e61cc56b | 390 | case 'N': { |
devanlai | 2:1327e61cc56b | 391 | success = true; |
devanlai | 2:1327e61cc56b | 392 | const char* serial = getSerialString(); |
devanlai | 2:1327e61cc56b | 393 | size_t index = 0; |
devanlai | 2:1327e61cc56b | 394 | response[index++] = 'N'; |
devanlai | 2:1327e61cc56b | 395 | for (int i=0; i < 4; i++) { |
devanlai | 2:1327e61cc56b | 396 | char c = serial[i]; |
devanlai | 2:1327e61cc56b | 397 | if (c == '\0') { |
devanlai | 2:1327e61cc56b | 398 | break; |
devanlai | 2:1327e61cc56b | 399 | } else { |
devanlai | 2:1327e61cc56b | 400 | response[index++] = c; |
devanlai | 2:1327e61cc56b | 401 | } |
devanlai | 2:1327e61cc56b | 402 | } |
devanlai | 2:1327e61cc56b | 403 | response[index] = '\0'; |
devanlai | 2:1327e61cc56b | 404 | break; |
devanlai | 2:1327e61cc56b | 405 | } |
devanlai | 3:bc163d555ddc | 406 | case 'F': { |
devanlai | 3:bc163d555ddc | 407 | success = true; |
devanlai | 3:bc163d555ddc | 408 | uint8_t status = 0x00; |
devanlai | 3:bc163d555ddc | 409 | response[0] = 'F'; |
devanlai | 3:bc163d555ddc | 410 | response[1] = format_nibble(status >> 4); |
devanlai | 3:bc163d555ddc | 411 | response[2] = format_nibble(status >> 0); |
devanlai | 3:bc163d555ddc | 412 | response[3] = '\0'; |
devanlai | 3:bc163d555ddc | 413 | } |
devanlai | 2:1327e61cc56b | 414 | case 'W': { |
devanlai | 2:1327e61cc56b | 415 | // Just swallow the MCP2515 register write command |
devanlai | 2:1327e61cc56b | 416 | success = true; |
devanlai | 2:1327e61cc56b | 417 | break; |
devanlai | 2:1327e61cc56b | 418 | } |
devanlai | 2:1327e61cc56b | 419 | default: { |
devanlai | 2:1327e61cc56b | 420 | success = false; |
devanlai | 2:1327e61cc56b | 421 | break; |
devanlai | 2:1327e61cc56b | 422 | } |
devanlai | 2:1327e61cc56b | 423 | } |
devanlai | 2:1327e61cc56b | 424 | |
devanlai | 2:1327e61cc56b | 425 | return success; |
devanlai | 2:1327e61cc56b | 426 | } |
devanlai | 2:1327e61cc56b | 427 | |
devanlai | 0:f2565808eea5 | 428 | USBSLCAN::USBSLCAN(USBSerial& stream, CAN& can) |
devanlai | 0:f2565808eea5 | 429 | : stream(stream), |
devanlai | 0:f2565808eea5 | 430 | can(can), |
devanlai | 0:f2565808eea5 | 431 | messageQueued(false), |
devanlai | 0:f2565808eea5 | 432 | commandQueued(false), |
devanlai | 0:f2565808eea5 | 433 | commandOverflow(false), |
devanlai | 0:f2565808eea5 | 434 | inputCommandLen(0), |
devanlai | 0:f2565808eea5 | 435 | outputPacketLen(0) { |
devanlai | 0:f2565808eea5 | 436 | |
devanlai | 0:f2565808eea5 | 437 | } |
devanlai | 0:f2565808eea5 | 438 | |
devanlai | 0:f2565808eea5 | 439 | bool USBSLCAN::setBaudrate(int baudrate) { |
devanlai | 0:f2565808eea5 | 440 | return (can.frequency(baudrate) == 1); |
devanlai | 0:f2565808eea5 | 441 | } |
devanlai | 0:f2565808eea5 | 442 | |
devanlai | 0:f2565808eea5 | 443 | bool USBSLCAN::setMode(CAN::Mode mode) { |
devanlai | 0:f2565808eea5 | 444 | return (can.mode(mode) == 1); |
devanlai | 0:f2565808eea5 | 445 | } |
devanlai | 0:f2565808eea5 | 446 | |
devanlai | 0:f2565808eea5 | 447 | bool USBSLCAN::transmitMessage(CANMessage& msg) { |
devanlai | 3:bc163d555ddc | 448 | return (can.write(msg) == 1); |
devanlai | 0:f2565808eea5 | 449 | } |
devanlai | 0:f2565808eea5 | 450 | |
devanlai | 0:f2565808eea5 | 451 | bool USBSLCAN::getNextCANMessage(CANMessage& msg) { |
devanlai | 0:f2565808eea5 | 452 | return (can.read(msg) == 1); |
devanlai | 0:f2565808eea5 | 453 | } |
devanlai | 0:f2565808eea5 | 454 | |
devanlai | 0:f2565808eea5 | 455 | /* Parse and execute a single SLCAN command and enqueue the response */ |
devanlai | 0:f2565808eea5 | 456 | bool USBSLCAN::processCommands() { |
devanlai | 0:f2565808eea5 | 457 | bool active = false; |
devanlai | 0:f2565808eea5 | 458 | |
devanlai | 0:f2565808eea5 | 459 | // Buffer an entire command |
devanlai | 0:f2565808eea5 | 460 | while (!commandQueued && stream.readable()) { |
devanlai | 0:f2565808eea5 | 461 | char c = (char)stream.getc(); |
devanlai | 0:f2565808eea5 | 462 | if (c == '\r') { |
devanlai | 0:f2565808eea5 | 463 | if (commandOverflow) { |
devanlai | 0:f2565808eea5 | 464 | // Replace with a dummy invalid command so we return an error |
devanlai | 0:f2565808eea5 | 465 | inputCommandBuffer[0] = '!'; |
devanlai | 0:f2565808eea5 | 466 | inputCommandBuffer[1] = '\0'; |
devanlai | 0:f2565808eea5 | 467 | inputCommandLen = 0; |
devanlai | 0:f2565808eea5 | 468 | commandOverflow = false; |
devanlai | 0:f2565808eea5 | 469 | active = true; |
devanlai | 0:f2565808eea5 | 470 | } else { |
devanlai | 0:f2565808eea5 | 471 | // Null-terminate the buffered command |
devanlai | 0:f2565808eea5 | 472 | inputCommandBuffer[inputCommandLen] = '\0'; |
devanlai | 0:f2565808eea5 | 473 | inputCommandLen = 0; |
devanlai | 0:f2565808eea5 | 474 | active = true; |
devanlai | 0:f2565808eea5 | 475 | } |
devanlai | 0:f2565808eea5 | 476 | commandQueued = true; |
devanlai | 0:f2565808eea5 | 477 | } else if (c == '\n' && inputCommandLen == 0) { |
devanlai | 0:f2565808eea5 | 478 | // Ignore line feeds immediately after a carriage return |
devanlai | 0:f2565808eea5 | 479 | } else if (commandOverflow) { |
devanlai | 0:f2565808eea5 | 480 | // Swallow the rest of the command when overflow occurs |
devanlai | 0:f2565808eea5 | 481 | } else { |
devanlai | 0:f2565808eea5 | 482 | // Append to the end of the command |
devanlai | 0:f2565808eea5 | 483 | inputCommandBuffer[inputCommandLen++] = c; |
devanlai | 0:f2565808eea5 | 484 | |
devanlai | 0:f2565808eea5 | 485 | if (inputCommandLen >= sizeof(inputCommandBuffer)) { |
devanlai | 0:f2565808eea5 | 486 | commandOverflow = true; |
devanlai | 0:f2565808eea5 | 487 | } |
devanlai | 0:f2565808eea5 | 488 | } |
devanlai | 0:f2565808eea5 | 489 | } |
devanlai | 0:f2565808eea5 | 490 | |
devanlai | 0:f2565808eea5 | 491 | // Process the current command if there's space to send the response |
devanlai | 2:1327e61cc56b | 492 | if (commandQueued) { |
devanlai | 2:1327e61cc56b | 493 | size_t responseLength = commandResponseLength(inputCommandBuffer); |
devanlai | 2:1327e61cc56b | 494 | if ((outputPacketLen + responseLength) <= sizeof(outputPacketBuffer)) { |
devanlai | 2:1327e61cc56b | 495 | char outputResponseBuffer[32]; |
devanlai | 2:1327e61cc56b | 496 | outputResponseBuffer[0] = '\0'; |
devanlai | 2:1327e61cc56b | 497 | if (execCommand(inputCommandBuffer, outputResponseBuffer)) { |
devanlai | 2:1327e61cc56b | 498 | // Success |
devanlai | 2:1327e61cc56b | 499 | for (char* s = outputResponseBuffer; *s != '\0'; s++) { |
devanlai | 2:1327e61cc56b | 500 | outputPacketBuffer[outputPacketLen++] = *s; |
devanlai | 2:1327e61cc56b | 501 | } |
devanlai | 2:1327e61cc56b | 502 | outputPacketBuffer[outputPacketLen++] = '\r'; |
devanlai | 2:1327e61cc56b | 503 | } else { |
devanlai | 2:1327e61cc56b | 504 | // Failure |
devanlai | 2:1327e61cc56b | 505 | outputPacketBuffer[outputPacketLen++] = '\a'; |
devanlai | 2:1327e61cc56b | 506 | } |
devanlai | 2:1327e61cc56b | 507 | commandQueued = false; |
devanlai | 2:1327e61cc56b | 508 | active = true; |
devanlai | 0:f2565808eea5 | 509 | } |
devanlai | 0:f2565808eea5 | 510 | } |
devanlai | 0:f2565808eea5 | 511 | |
devanlai | 0:f2565808eea5 | 512 | return active; |
devanlai | 0:f2565808eea5 | 513 | } |
devanlai | 0:f2565808eea5 | 514 | |
devanlai | 0:f2565808eea5 | 515 | /* Read and enqueue as many received CAN messages as will fit */ |
devanlai | 0:f2565808eea5 | 516 | bool USBSLCAN::processCANMessages() { |
devanlai | 0:f2565808eea5 | 517 | bool active = false; |
devanlai | 0:f2565808eea5 | 518 | |
devanlai | 1:3644b10bce2f | 519 | size_t bytesAvailable = sizeof(outputPacketBuffer) - outputPacketLen; |
devanlai | 0:f2565808eea5 | 520 | char* packetTail = &outputPacketBuffer[outputPacketLen]; |
devanlai | 0:f2565808eea5 | 521 | |
devanlai | 0:f2565808eea5 | 522 | if (messageQueued) { |
devanlai | 0:f2565808eea5 | 523 | size_t bytesConsumed = formatCANMessage(queuedMessage, packetTail, bytesAvailable); |
devanlai | 0:f2565808eea5 | 524 | if (bytesConsumed > 0) { |
devanlai | 0:f2565808eea5 | 525 | active = true; |
devanlai | 0:f2565808eea5 | 526 | messageQueued = false; |
devanlai | 0:f2565808eea5 | 527 | bytesAvailable -= bytesConsumed; |
devanlai | 0:f2565808eea5 | 528 | packetTail += bytesConsumed; |
devanlai | 0:f2565808eea5 | 529 | outputPacketLen += bytesConsumed; |
devanlai | 0:f2565808eea5 | 530 | } |
devanlai | 0:f2565808eea5 | 531 | } |
devanlai | 0:f2565808eea5 | 532 | |
devanlai | 0:f2565808eea5 | 533 | if (!messageQueued) { |
devanlai | 0:f2565808eea5 | 534 | while (getNextCANMessage(queuedMessage)) { |
devanlai | 0:f2565808eea5 | 535 | size_t bytesConsumed = formatCANMessage(queuedMessage, packetTail, bytesAvailable); |
devanlai | 0:f2565808eea5 | 536 | if (bytesConsumed > 0) { |
devanlai | 0:f2565808eea5 | 537 | active = true; |
devanlai | 0:f2565808eea5 | 538 | bytesAvailable -= bytesConsumed; |
devanlai | 0:f2565808eea5 | 539 | packetTail += bytesConsumed; |
devanlai | 0:f2565808eea5 | 540 | outputPacketLen += bytesConsumed; |
devanlai | 0:f2565808eea5 | 541 | } else { |
devanlai | 0:f2565808eea5 | 542 | messageQueued = true; |
devanlai | 0:f2565808eea5 | 543 | break; |
devanlai | 0:f2565808eea5 | 544 | } |
devanlai | 0:f2565808eea5 | 545 | } |
devanlai | 0:f2565808eea5 | 546 | } |
devanlai | 0:f2565808eea5 | 547 | |
devanlai | 0:f2565808eea5 | 548 | return active; |
devanlai | 0:f2565808eea5 | 549 | } |
devanlai | 0:f2565808eea5 | 550 | |
devanlai | 0:f2565808eea5 | 551 | /* Attempt to transmit the output queue */ |
devanlai | 0:f2565808eea5 | 552 | bool USBSLCAN::flush() { |
devanlai | 0:f2565808eea5 | 553 | bool active = false; |
devanlai | 0:f2565808eea5 | 554 | if (outputPacketLen > 0) { |
devanlai | 0:f2565808eea5 | 555 | bool sent = stream.writeBlock((uint8_t*)(outputPacketBuffer), |
devanlai | 0:f2565808eea5 | 556 | (uint16_t)(outputPacketLen)); |
devanlai | 0:f2565808eea5 | 557 | if (sent) { |
devanlai | 0:f2565808eea5 | 558 | active = true; |
devanlai | 0:f2565808eea5 | 559 | outputPacketLen = 0; |
devanlai | 0:f2565808eea5 | 560 | } |
devanlai | 0:f2565808eea5 | 561 | } |
devanlai | 0:f2565808eea5 | 562 | return active; |
devanlai | 0:f2565808eea5 | 563 | } |
devanlai | 0:f2565808eea5 | 564 | |
devanlai | 0:f2565808eea5 | 565 | SerialSLCAN::SerialSLCAN(Serial& stream, CAN& can) |
devanlai | 0:f2565808eea5 | 566 | : stream(stream), |
devanlai | 0:f2565808eea5 | 567 | can(can), |
devanlai | 0:f2565808eea5 | 568 | commandQueued(false), |
devanlai | 0:f2565808eea5 | 569 | commandOverflow(false), |
devanlai | 0:f2565808eea5 | 570 | inputCommandLen(0) { |
devanlai | 0:f2565808eea5 | 571 | } |
devanlai | 0:f2565808eea5 | 572 | |
devanlai | 0:f2565808eea5 | 573 | bool SerialSLCAN::setBaudrate(int baudrate) { |
devanlai | 0:f2565808eea5 | 574 | return (can.frequency(baudrate) == 1); |
devanlai | 0:f2565808eea5 | 575 | } |
devanlai | 0:f2565808eea5 | 576 | |
devanlai | 0:f2565808eea5 | 577 | bool SerialSLCAN::setMode(CAN::Mode mode) { |
devanlai | 0:f2565808eea5 | 578 | return (can.mode(mode) == 1); |
devanlai | 0:f2565808eea5 | 579 | } |
devanlai | 0:f2565808eea5 | 580 | |
devanlai | 0:f2565808eea5 | 581 | bool SerialSLCAN::transmitMessage(CANMessage& msg) { |
devanlai | 0:f2565808eea5 | 582 | return (can.write(msg) == 1); |
devanlai | 0:f2565808eea5 | 583 | } |
devanlai | 0:f2565808eea5 | 584 | |
devanlai | 0:f2565808eea5 | 585 | bool SerialSLCAN::getNextCANMessage(CANMessage& msg) { |
devanlai | 0:f2565808eea5 | 586 | return (can.read(msg) == 1); |
devanlai | 0:f2565808eea5 | 587 | } |
devanlai | 0:f2565808eea5 | 588 | |
devanlai | 0:f2565808eea5 | 589 | /* Parse and execute a single SLCAN command and enqueue the response */ |
devanlai | 0:f2565808eea5 | 590 | bool SerialSLCAN::processCommands() { |
devanlai | 0:f2565808eea5 | 591 | bool active = false; |
devanlai | 0:f2565808eea5 | 592 | |
devanlai | 0:f2565808eea5 | 593 | // Buffer an entire command |
devanlai | 0:f2565808eea5 | 594 | while (!commandQueued && stream.readable()) { |
devanlai | 0:f2565808eea5 | 595 | char c = (char)stream.getc(); |
devanlai | 0:f2565808eea5 | 596 | if (c == '\r') { |
devanlai | 0:f2565808eea5 | 597 | if (commandOverflow) { |
devanlai | 0:f2565808eea5 | 598 | // Replace with a dummy invalid command so we return an error |
devanlai | 0:f2565808eea5 | 599 | inputCommandBuffer[0] = '!'; |
devanlai | 0:f2565808eea5 | 600 | inputCommandBuffer[1] = '\0'; |
devanlai | 0:f2565808eea5 | 601 | inputCommandLen = 0; |
devanlai | 0:f2565808eea5 | 602 | commandOverflow = false; |
devanlai | 0:f2565808eea5 | 603 | active = true; |
devanlai | 0:f2565808eea5 | 604 | } else { |
devanlai | 0:f2565808eea5 | 605 | // Null-terminate the buffered command |
devanlai | 0:f2565808eea5 | 606 | inputCommandBuffer[inputCommandLen] = '\0'; |
devanlai | 0:f2565808eea5 | 607 | inputCommandLen = 0; |
devanlai | 0:f2565808eea5 | 608 | active = true; |
devanlai | 0:f2565808eea5 | 609 | } |
devanlai | 0:f2565808eea5 | 610 | commandQueued = true; |
devanlai | 0:f2565808eea5 | 611 | } else if (c == '\n' && inputCommandLen == 0) { |
devanlai | 0:f2565808eea5 | 612 | // Ignore line feeds immediately after a carriage return |
devanlai | 0:f2565808eea5 | 613 | } else if (commandOverflow) { |
devanlai | 0:f2565808eea5 | 614 | // Swallow the rest of the command when overflow occurs |
devanlai | 0:f2565808eea5 | 615 | } else { |
devanlai | 0:f2565808eea5 | 616 | // Append to the end of the command |
devanlai | 0:f2565808eea5 | 617 | inputCommandBuffer[inputCommandLen++] = c; |
devanlai | 0:f2565808eea5 | 618 | |
devanlai | 0:f2565808eea5 | 619 | if (inputCommandLen >= sizeof(inputCommandBuffer)) { |
devanlai | 0:f2565808eea5 | 620 | commandOverflow = true; |
devanlai | 0:f2565808eea5 | 621 | } |
devanlai | 0:f2565808eea5 | 622 | } |
devanlai | 0:f2565808eea5 | 623 | } |
devanlai | 0:f2565808eea5 | 624 | |
devanlai | 2:1327e61cc56b | 625 | // Process the current command |
devanlai | 0:f2565808eea5 | 626 | if (commandQueued) { |
devanlai | 2:1327e61cc56b | 627 | char outputResponseBuffer[32]; |
devanlai | 2:1327e61cc56b | 628 | outputResponseBuffer[0] = '\0'; |
devanlai | 2:1327e61cc56b | 629 | if (execCommand(inputCommandBuffer, outputResponseBuffer)) { |
devanlai | 0:f2565808eea5 | 630 | // Success |
devanlai | 2:1327e61cc56b | 631 | stream.puts(outputResponseBuffer); |
devanlai | 0:f2565808eea5 | 632 | stream.putc('\r'); |
devanlai | 0:f2565808eea5 | 633 | } else { |
devanlai | 0:f2565808eea5 | 634 | // Failure |
devanlai | 0:f2565808eea5 | 635 | stream.putc('\a'); |
devanlai | 0:f2565808eea5 | 636 | } |
devanlai | 0:f2565808eea5 | 637 | commandQueued = false; |
devanlai | 0:f2565808eea5 | 638 | active = true; |
devanlai | 0:f2565808eea5 | 639 | } |
devanlai | 0:f2565808eea5 | 640 | |
devanlai | 0:f2565808eea5 | 641 | return active; |
devanlai | 0:f2565808eea5 | 642 | } |
devanlai | 0:f2565808eea5 | 643 | |
devanlai | 0:f2565808eea5 | 644 | /* Read and enqueue as many received CAN messages as will fit */ |
devanlai | 0:f2565808eea5 | 645 | bool SerialSLCAN::processCANMessages() { |
devanlai | 0:f2565808eea5 | 646 | bool active = false; |
devanlai | 0:f2565808eea5 | 647 | CANMessage msg; |
devanlai | 0:f2565808eea5 | 648 | while (getNextCANMessage(msg)) { |
devanlai | 0:f2565808eea5 | 649 | char buffer[32]; |
devanlai | 0:f2565808eea5 | 650 | size_t len = formatCANMessage(msg, buffer, sizeof(buffer)); |
devanlai | 0:f2565808eea5 | 651 | buffer[len] = '\0'; |
devanlai | 0:f2565808eea5 | 652 | stream.puts(buffer); |
devanlai | 0:f2565808eea5 | 653 | active = true; |
devanlai | 0:f2565808eea5 | 654 | } |
devanlai | 0:f2565808eea5 | 655 | |
devanlai | 0:f2565808eea5 | 656 | return active; |
devanlai | 0:f2565808eea5 | 657 | } |
devanlai | 0:f2565808eea5 | 658 | |
devanlai | 0:f2565808eea5 | 659 | /* Attempt to transmit the output queue */ |
devanlai | 0:f2565808eea5 | 660 | bool SerialSLCAN::flush() { |
devanlai | 0:f2565808eea5 | 661 | return false; |
devanlai | 0:f2565808eea5 | 662 | } |