diags - test code for our MBED board

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test code for our MBED board

can.c@1:6877bb99aa17, 2011-05-04 (annotated)

Committer:: lolpcc
Date:: Wed May 04 08:30:52 2011 +0000
Revision:: 1:6877bb99aa17
Parent:: 0:9edfcca7cd25

Who changed what in which revision?

User	Revision	Line number	New contents of line
lolpcc	0:9edfcca7cd25	1	#include "mbed.h"
lolpcc	1:6877bb99aa17	2	#include "useful.h"
lolpcc	1:6877bb99aa17	3	#include "led.h"
lolpcc	1:6877bb99aa17	4	#include "cmd.h" /* used to get at the command code */
lolpcc	1:6877bb99aa17	5	#include "can_layer.h"
lolpcc	1:6877bb99aa17	6	#include "can.h"
lolpcc	0:9edfcca7cd25	7
lolpcc	0:9edfcca7cd25	8	// CAN_RS pin at Philips PCA82C250 can bus controller.
lolpcc	0:9edfcca7cd25	9	// activate transceiver by pulling this pin to GND.
lolpcc	0:9edfcca7cd25	10	// (Rise and fall slope controlled by resistor R_s)
lolpcc	0:9edfcca7cd25	11	// (+5V result in tranceiver standby mode)
lolpcc	0:9edfcca7cd25	12	// For further information see datasheet page 4
lolpcc	0:9edfcca7cd25	13	DigitalOut can_Pca82c250SlopePin(p28);
lolpcc	0:9edfcca7cd25	14
lolpcc	0:9edfcca7cd25	15	// We use can on mbed pins 29(CAN_TXD) and 30(CAN_RXD).
lolpcc	0:9edfcca7cd25	16	CAN can(p30, p29);
lolpcc	0:9edfcca7cd25	17
lolpcc	0:9edfcca7cd25	18	int can_cnt=0;
lolpcc	1:6877bb99aa17	19	extern char station_id;
lolpcc	1:6877bb99aa17	20	char *can_str;
lolpcc	0:9edfcca7cd25	21
lolpcc	0:9edfcca7cd25	22	/******************************************/
lolpcc	0:9edfcca7cd25	23	/* */
lolpcc	1:6877bb99aa17	24	/* Can Bus Send a string to remote add */
lolpcc	1:6877bb99aa17	25	/* */
lolpcc	1:6877bb99aa17	26	/******************************************/
lolpcc	1:6877bb99aa17	27	void can_send_string(char remote, char *str)
lolpcc	1:6877bb99aa17	28	{
lolpcc	1:6877bb99aa17	29	unsigned char buf[0x8];
lolpcc	1:6877bb99aa17	30	int len = strlen(str);
lolpcc	1:6877bb99aa17	31	int id;
lolpcc	1:6877bb99aa17	32	int cnt = 0;
lolpcc	1:6877bb99aa17	33	int sub;
lolpcc	1:6877bb99aa17	34	int pt = 0;
lolpcc	1:6877bb99aa17	35
lolpcc	1:6877bb99aa17	36	if(len > 128){
lolpcc	1:6877bb99aa17	37	lprintf("Max string lenght of 128 bytes, current string %d bytes long, not sending\n",len);
lolpcc	1:6877bb99aa17	38	return;
lolpcc	1:6877bb99aa17	39	}
lolpcc	1:6877bb99aa17	40
lolpcc	1:6877bb99aa17	41	/* Set up the TX buffer for start packet */
lolpcc	1:6877bb99aa17	42	can_clear_data(buf);
lolpcc	1:6877bb99aa17	43	buf[0] = station_id; /* who we are */
lolpcc	1:6877bb99aa17	44	buf[1] = len; /* number of bytes been sent, overall */
lolpcc	1:6877bb99aa17	45	buf[2] = (len/8)+1; /* guess at how many packets it should be */
lolpcc	1:6877bb99aa17	46
lolpcc	1:6877bb99aa17	47	id = can_build_id(station_id,remote,CAN_SPRT);
lolpcc	1:6877bb99aa17	48	if(!can.write(CANMessage(id, (char *)buf, 8))) {
lolpcc	1:6877bb99aa17	49	lprintf("Error sending %s packet (%03x),",cancmd[CAN_SPRT],id);
lolpcc	1:6877bb99aa17	50	can_dump_buffer(buf);
lolpcc	1:6877bb99aa17	51	lprintf("\n");
lolpcc	1:6877bb99aa17	52	return;
lolpcc	1:6877bb99aa17	53	}
lolpcc	1:6877bb99aa17	54	/* About to send the data */
lolpcc	1:6877bb99aa17	55	sub = 1;
lolpcc	1:6877bb99aa17	56	pt = 0;
lolpcc	1:6877bb99aa17	57	while(sub > 0){
lolpcc	1:6877bb99aa17	58	can_clear_data(buf);
lolpcc	1:6877bb99aa17	59	sub = can_build_data(len,pt,(unsigned char*)str,buf);
lolpcc	1:6877bb99aa17	60	id = can_build_id(station_id,remote,CAN_PRT);
lolpcc	1:6877bb99aa17	61	if(!can.write(CANMessage(id \| cnt, (char *)buf, 8))) {
lolpcc	1:6877bb99aa17	62	lprintf("Error sending %s packet PRT (%03x),",cancmd[CAN_PRT],id);
lolpcc	1:6877bb99aa17	63	can_dump_buffer(buf);
lolpcc	1:6877bb99aa17	64	lprintf("\n");
lolpcc	1:6877bb99aa17	65	} else {
lolpcc	1:6877bb99aa17	66	pt = sub;
lolpcc	1:6877bb99aa17	67	}
lolpcc	1:6877bb99aa17	68	wait(0.1);
lolpcc	1:6877bb99aa17	69	cnt++;
lolpcc	1:6877bb99aa17	70	}
lolpcc	1:6877bb99aa17	71
lolpcc	1:6877bb99aa17	72	/* Set up the TX buffer for end packet */
lolpcc	1:6877bb99aa17	73	can_clear_data(buf);
lolpcc	1:6877bb99aa17	74	buf[0] = station_id; /* Who we are */
lolpcc	1:6877bb99aa17	75	buf[1] = len; /* number of bytes sent */
lolpcc	1:6877bb99aa17	76	buf[2] = cnt; /* atual packet count */
lolpcc	1:6877bb99aa17	77	id = can_build_id(station_id,remote,CAN_EPRT);
lolpcc	1:6877bb99aa17	78	if(!can.write(CANMessage(id, (char *)buf, 8))) {
lolpcc	1:6877bb99aa17	79	lprintf("Error sending %s packet EPRT (%03x),",cancmd[CAN_EPRT],id);
lolpcc	1:6877bb99aa17	80	can_dump_buffer(buf);
lolpcc	1:6877bb99aa17	81	lprintf("\n");
lolpcc	1:6877bb99aa17	82	return;
lolpcc	1:6877bb99aa17	83	}
lolpcc	1:6877bb99aa17	84	}
lolpcc	1:6877bb99aa17	85	/******************************************/
lolpcc	1:6877bb99aa17	86	/* */
lolpcc	1:6877bb99aa17	87	/* Can Bus Send raw data to remote add */
lolpcc	1:6877bb99aa17	88	/* */
lolpcc	1:6877bb99aa17	89	/******************************************/
lolpcc	1:6877bb99aa17	90	void can_send_raw(char remote, char *str)
lolpcc	1:6877bb99aa17	91	{
lolpcc	1:6877bb99aa17	92	lprintf("In Can Send String with '%02x%02x%02x%02x%02x%02x%02x%02x' going to %d\n",
lolpcc	1:6877bb99aa17	93	str[0],str[1],str[2],str[3],str[4],str[5],str[6],str[7], remote);
lolpcc	1:6877bb99aa17	94	}
lolpcc	1:6877bb99aa17	95	/******************************************/
lolpcc	1:6877bb99aa17	96	/* */
lolpcc	1:6877bb99aa17	97	/* Can Bus Send BUS Reset */
lolpcc	1:6877bb99aa17	98	/* */
lolpcc	1:6877bb99aa17	99	/******************************************/
lolpcc	1:6877bb99aa17	100	void can_send_sync(void)
lolpcc	1:6877bb99aa17	101	{
lolpcc	1:6877bb99aa17	102	unsigned char buf[0x8];
lolpcc	1:6877bb99aa17	103	int id;
lolpcc	1:6877bb99aa17	104
lolpcc	1:6877bb99aa17	105	can_clear_data(buf);
lolpcc	1:6877bb99aa17	106	id = can_build_id(0,0,CAN_SYNC);
lolpcc	1:6877bb99aa17	107	if(!can.write(CANMessage(id, (char *)buf, 8))) {
lolpcc	1:6877bb99aa17	108	lprintf("Error sending %s packet SYNC (%03x),",cancmd[CAN_SYNC],id);
lolpcc	1:6877bb99aa17	109	lprintf("\n");
lolpcc	1:6877bb99aa17	110	return;
lolpcc	1:6877bb99aa17	111	}
lolpcc	1:6877bb99aa17	112	}
lolpcc	1:6877bb99aa17	113	/******************************************/
lolpcc	0:9edfcca7cd25	114	/* */
lolpcc	1:6877bb99aa17	115	/* Can Bus Send Intger to remote add */
lolpcc	1:6877bb99aa17	116	/* mode = 0, Int, mode = 1, Time */
lolpcc	0:9edfcca7cd25	117	/* */
lolpcc	1:6877bb99aa17	118	/******************************************/
lolpcc	1:6877bb99aa17	119	void can_send_int(int remote,int value,char mode)
lolpcc	1:6877bb99aa17	120	{
lolpcc	1:6877bb99aa17	121	unsigned char buf[0x8];
lolpcc	1:6877bb99aa17	122	int id;
lolpcc	1:6877bb99aa17	123
lolpcc	1:6877bb99aa17	124	can_clear_data(buf);
lolpcc	1:6877bb99aa17	125	if(mode==0)
lolpcc	1:6877bb99aa17	126	id = can_build_id(station_id,remote,CAN_INT);
lolpcc	1:6877bb99aa17	127	else if(mode == 1)
lolpcc	1:6877bb99aa17	128	id = can_build_id(station_id,remote,CAN_TIME);
lolpcc	1:6877bb99aa17	129	else {
lolpcc	1:6877bb99aa17	130	lprintf("can_send_int: unknown mode with %d\n",mode);
lolpcc	1:6877bb99aa17	131	return;
lolpcc	1:6877bb99aa17	132	}
lolpcc	1:6877bb99aa17	133	buf[0]=value & 0x000000ff;
lolpcc	1:6877bb99aa17	134	buf[1]=(value >> 8) & 0x000000ff;
lolpcc	1:6877bb99aa17	135	buf[2]=(value >> 16) & 0x000000ff;
lolpcc	1:6877bb99aa17	136	buf[3]=(value >> 24) & 0x000000ff;
lolpcc	1:6877bb99aa17	137	if(!can.write(CANMessage(id, (char *)buf, 8))) {
lolpcc	1:6877bb99aa17	138	lprintf("Error sending %s packet INT (%03x),",cancmd[CAN_INT],id);
lolpcc	1:6877bb99aa17	139	can_dump_buffer(buf);
lolpcc	1:6877bb99aa17	140	lprintf("\n");
lolpcc	1:6877bb99aa17	141	return;
lolpcc	1:6877bb99aa17	142	}
lolpcc	1:6877bb99aa17	143	}
lolpcc	1:6877bb99aa17	144	/******************************************/
lolpcc	0:9edfcca7cd25	145	/* */
lolpcc	1:6877bb99aa17	146	/* Can Bus Send Who is Out there mes */
lolpcc	1:6877bb99aa17	147	/* */
lolpcc	1:6877bb99aa17	148	/******************************************/
lolpcc	1:6877bb99aa17	149	void can_send_who(void)
lolpcc	1:6877bb99aa17	150	{
lolpcc	1:6877bb99aa17	151	unsigned char buf[0x8];
lolpcc	1:6877bb99aa17	152	int id;
lolpcc	1:6877bb99aa17	153
lolpcc	1:6877bb99aa17	154	can_clear_data(buf);
lolpcc	1:6877bb99aa17	155	buf[0]=station_id;
lolpcc	1:6877bb99aa17	156	id = can_build_id(station_id,0,CAN_WHOIS);
lolpcc	1:6877bb99aa17	157	if(!can.write(CANMessage(id, (char *)buf, 8))) {
lolpcc	1:6877bb99aa17	158	lprintf("Error sending %s packet WhoIs (%03x),",cancmd[CAN_WHOIS],id);
lolpcc	1:6877bb99aa17	159	can_dump_buffer(buf);
lolpcc	1:6877bb99aa17	160	lprintf("\n");
lolpcc	1:6877bb99aa17	161	return;
lolpcc	1:6877bb99aa17	162	}
lolpcc	1:6877bb99aa17	163	}
lolpcc	1:6877bb99aa17	164	/******************************************/
lolpcc	1:6877bb99aa17	165	/* */
lolpcc	1:6877bb99aa17	166	/* Can Bus Send I Am Out there mes */
lolpcc	1:6877bb99aa17	167	/* */
lolpcc	1:6877bb99aa17	168	/******************************************/
lolpcc	1:6877bb99aa17	169	void can_send_iam(int from)
lolpcc	1:6877bb99aa17	170	{
lolpcc	1:6877bb99aa17	171	unsigned char buf[0x8];
lolpcc	1:6877bb99aa17	172	int id;
lolpcc	1:6877bb99aa17	173
lolpcc	1:6877bb99aa17	174	can_clear_data(buf);
lolpcc	1:6877bb99aa17	175	buf[0]=station_id;
lolpcc	1:6877bb99aa17	176	buf[1]=from;
lolpcc	1:6877bb99aa17	177	id = can_build_id(station_id,from,CAN_IAM);
lolpcc	1:6877bb99aa17	178	if(!can.write(CANMessage(id, (char *)buf, 8))) {
lolpcc	1:6877bb99aa17	179	lprintf("Error sending %s packet I'm Here (%03x),",cancmd[CAN_IAM],id);
lolpcc	1:6877bb99aa17	180	can_dump_buffer(buf);
lolpcc	1:6877bb99aa17	181	lprintf("\n");
lolpcc	1:6877bb99aa17	182	return;
lolpcc	1:6877bb99aa17	183	}
lolpcc	1:6877bb99aa17	184	}
lolpcc	1:6877bb99aa17	185	/******************************************/
lolpcc	1:6877bb99aa17	186	/* */
lolpcc	1:6877bb99aa17	187	/* CAN Bus Send a ticker message */
lolpcc	1:6877bb99aa17	188	/* */
lolpcc	1:6877bb99aa17	189	/******************************************/
lolpcc	1:6877bb99aa17	190	void can_ticker_tx(int v)
lolpcc	1:6877bb99aa17	191	{
lolpcc	1:6877bb99aa17	192	unsigned char buf[0x8];
lolpcc	1:6877bb99aa17	193	int id;
lolpcc	1:6877bb99aa17	194
lolpcc	1:6877bb99aa17	195	can_clear_data(buf);
lolpcc	1:6877bb99aa17	196	buf[0]=station_id;
lolpcc	1:6877bb99aa17	197	buf[4]=v;
lolpcc	1:6877bb99aa17	198	id = can_build_id(station_id,0,CAN_IAM);
lolpcc	1:6877bb99aa17	199	if(!can.write(CANMessage(id, (char *)buf, 8))) {
lolpcc	1:6877bb99aa17	200	lprintf("Error sending %s packet CAN Ticker (%03x),",cancmd[CAN_IAM],id);
lolpcc	1:6877bb99aa17	201	can_dump_buffer(buf);
lolpcc	1:6877bb99aa17	202	lprintf("\n");
lolpcc	1:6877bb99aa17	203	return;
lolpcc	1:6877bb99aa17	204	}
lolpcc	1:6877bb99aa17	205	}
lolpcc	1:6877bb99aa17	206	/******************************************/
lolpcc	1:6877bb99aa17	207	/* */
lolpcc	1:6877bb99aa17	208	/* CAN Bus receiver, show the messages */
lolpcc	0:9edfcca7cd25	209	/* */
lolpcc	0:9edfcca7cd25	210	/******************************************/
lolpcc	1:6877bb99aa17	211	void can_receive(void)
lolpcc	1:6877bb99aa17	212	{
lolpcc	1:6877bb99aa17	213	CANMessage msg;
lolpcc	1:6877bb99aa17	214	int pt;
lolpcc	1:6877bb99aa17	215	time_t seconds;
lolpcc	1:6877bb99aa17	216
lolpcc	1:6877bb99aa17	217	if(can.read(msg)) {
lolpcc	1:6877bb99aa17	218	switch(can_decode_id(msg.id,CAN_GET_CMD)){
lolpcc	1:6877bb99aa17	219	case CAN_SYNC :
lolpcc	1:6877bb99aa17	220	lprintf("CAN SYNC MESSAGE< what do we do :-)\n");
lolpcc	1:6877bb99aa17	221	break;
lolpcc	1:6877bb99aa17	222	case CAN_RAW :
lolpcc	1:6877bb99aa17	223	break;
lolpcc	1:6877bb99aa17	224	case CAN_SPRT :
lolpcc	1:6877bb99aa17	225	if(can_str != NULL){
lolpcc	1:6877bb99aa17	226	lprintf("trying to start a string packet, when the buffer is in use\n");
lolpcc	1:6877bb99aa17	227	} else {
lolpcc	1:6877bb99aa17	228	can_str = can_buffer_create(msg.data[1]+2);
lolpcc	1:6877bb99aa17	229	}
lolpcc	1:6877bb99aa17	230	break;
lolpcc	1:6877bb99aa17	231	case CAN_EPRT :
lolpcc	1:6877bb99aa17	232	find_cmd(can_str);
lolpcc	1:6877bb99aa17	233	free(can_str);
lolpcc	1:6877bb99aa17	234	can_str = NULL;
lolpcc	1:6877bb99aa17	235	break;
lolpcc	1:6877bb99aa17	236	case CAN_INT :
lolpcc	1:6877bb99aa17	237	lprintf("Recieved an int 0x%08x\n", msg.data[0] \| msg.data[1]<<8 \| msg.data[2]<<16 \| msg.data[3]<<24);
lolpcc	1:6877bb99aa17	238	break;
lolpcc	1:6877bb99aa17	239	case CAN_TIME :
lolpcc	1:6877bb99aa17	240	seconds = msg.data[0] \| msg.data[1]<<8 \| msg.data[2]<<16 \| msg.data[3]<<24;
lolpcc	1:6877bb99aa17	241	set_time(seconds);
lolpcc	1:6877bb99aa17	242	break;
lolpcc	1:6877bb99aa17	243	case CAN_WHOIS :
lolpcc	1:6877bb99aa17	244	wait(station_id/10);
lolpcc	1:6877bb99aa17	245	can_send_iam(msg.data[0]);
lolpcc	1:6877bb99aa17	246	break;
lolpcc	1:6877bb99aa17	247	case CAN_IAM :
lolpcc	1:6877bb99aa17	248	lprintf("Can_I_AM responce station id %02x, you where %02x\n",
lolpcc	1:6877bb99aa17	249	msg.data[0],msg.data[1]);
lolpcc	1:6877bb99aa17	250	break;
lolpcc	1:6877bb99aa17	251	case CAN_PRT :
lolpcc	1:6877bb99aa17	252	pt = can_decode_id(msg.id,CAN_GET_CNT);
lolpcc	1:6877bb99aa17	253	can_str[(pt*8)+0] = msg.data[0];
lolpcc	1:6877bb99aa17	254	can_str[(pt*8)+1] = msg.data[1];
lolpcc	1:6877bb99aa17	255	can_str[(pt*8)+2] = msg.data[2];
lolpcc	1:6877bb99aa17	256	can_str[(pt*8)+3] = msg.data[3];
lolpcc	1:6877bb99aa17	257	can_str[(pt*8)+4] = msg.data[4];
lolpcc	1:6877bb99aa17	258	can_str[(pt*8)+5] = msg.data[5];
lolpcc	1:6877bb99aa17	259	can_str[(pt*8)+6] = msg.data[6];
lolpcc	1:6877bb99aa17	260	can_str[(pt*8)+7] = msg.data[7];
lolpcc	1:6877bb99aa17	261	break;
lolpcc	1:6877bb99aa17	262	default :
lolpcc	1:6877bb99aa17	263	lprintf("CAN receive, unknown message %d\n",can_decode_id(msg.id,CAN_GET_CMD));
lolpcc	1:6877bb99aa17	264	}
lolpcc	0:9edfcca7cd25	265	}
lolpcc	0:9edfcca7cd25	266	}
lolpcc	1:6877bb99aa17	267
lolpcc	1:6877bb99aa17	268	/******************************************/
lolpcc	1:6877bb99aa17	269	/* */
lolpcc	1:6877bb99aa17	270	/* Setup the CAN bus for use */
lolpcc	1:6877bb99aa17	271	/* */
lolpcc	1:6877bb99aa17	272	/******************************************/
lolpcc	1:6877bb99aa17	273	void can_init(void)
lolpcc	0:9edfcca7cd25	274	{
lolpcc	0:9edfcca7cd25	275	// 500kbit/s
lolpcc	1:6877bb99aa17	276	// can.frequency(500000);
lolpcc	1:6877bb99aa17	277	// 10kbits/s, for testing
lolpcc	1:6877bb99aa17	278	can.frequency(10000);
lolpcc	0:9edfcca7cd25	279	// activate external can transceiver
lolpcc	0:9edfcca7cd25	280	can_Pca82c250SlopePin = 0;
lolpcc	1:6877bb99aa17	281	can_str = NULL; /* Mark the input buffer as free */
lolpcc	1:6877bb99aa17	282	}
lolpcc	1:6877bb99aa17	283	/******************************************/
lolpcc	1:6877bb99aa17	284	/* */
lolpcc	1:6877bb99aa17	285	/* Setup the CAN message ID */
lolpcc	1:6877bb99aa17	286	/* */
lolpcc	1:6877bb99aa17	287	/******************************************/
lolpcc	1:6877bb99aa17	288	int can_build_id(char station, char dest, int cmd)
lolpcc	1:6877bb99aa17	289	{
lolpcc	1:6877bb99aa17	290	int add, dst,c = 0,id = 0;
lolpcc	1:6877bb99aa17	291	add = station << 8;
lolpcc	1:6877bb99aa17	292	dst = dest << 4;
lolpcc	0:9edfcca7cd25	293
lolpcc	1:6877bb99aa17	294	switch(cmd) {
lolpcc	1:6877bb99aa17	295	case CAN_SYNC :
lolpcc	1:6877bb99aa17	296	c = 0;
lolpcc	1:6877bb99aa17	297	add = 0;
lolpcc	1:6877bb99aa17	298	dst = 0;
lolpcc	1:6877bb99aa17	299	break;
lolpcc	1:6877bb99aa17	300	case CAN_RAW :
lolpcc	1:6877bb99aa17	301	c = 1;
lolpcc	1:6877bb99aa17	302	break;
lolpcc	1:6877bb99aa17	303	case CAN_SPRT :
lolpcc	1:6877bb99aa17	304	c = 2;
lolpcc	1:6877bb99aa17	305	break;
lolpcc	1:6877bb99aa17	306	case CAN_EPRT :
lolpcc	1:6877bb99aa17	307	c = 3;
lolpcc	1:6877bb99aa17	308	break;
lolpcc	1:6877bb99aa17	309	case CAN_INT :
lolpcc	1:6877bb99aa17	310	c = 4;
lolpcc	1:6877bb99aa17	311	break;
lolpcc	1:6877bb99aa17	312	case CAN_TIME :
lolpcc	1:6877bb99aa17	313	c = 5;
lolpcc	1:6877bb99aa17	314	break;
lolpcc	1:6877bb99aa17	315	case CAN_S2 :
lolpcc	1:6877bb99aa17	316	c = 6;
lolpcc	1:6877bb99aa17	317	break;
lolpcc	1:6877bb99aa17	318	case CAN_S3 :
lolpcc	1:6877bb99aa17	319	c = 7;
lolpcc	1:6877bb99aa17	320	break;
lolpcc	1:6877bb99aa17	321	case CAN_S4 :
lolpcc	1:6877bb99aa17	322	c = 8;
lolpcc	1:6877bb99aa17	323	break;
lolpcc	1:6877bb99aa17	324	case CAN_S5 :
lolpcc	1:6877bb99aa17	325	c = 9;
lolpcc	1:6877bb99aa17	326	break;
lolpcc	1:6877bb99aa17	327	case CAN_S6 :
lolpcc	1:6877bb99aa17	328	c = 0xa;
lolpcc	1:6877bb99aa17	329	break;
lolpcc	1:6877bb99aa17	330	case CAN_S7 :
lolpcc	1:6877bb99aa17	331	c = 0xb;
lolpcc	1:6877bb99aa17	332	break;
lolpcc	1:6877bb99aa17	333	case CAN_S8 :
lolpcc	1:6877bb99aa17	334	c = 0xc;
lolpcc	1:6877bb99aa17	335	break;
lolpcc	1:6877bb99aa17	336	case CAN_S9 :
lolpcc	1:6877bb99aa17	337	c = 0xd;
lolpcc	1:6877bb99aa17	338	break;
lolpcc	1:6877bb99aa17	339	case CAN_WHOIS :
lolpcc	1:6877bb99aa17	340	c = 0xe;
lolpcc	1:6877bb99aa17	341	break;
lolpcc	1:6877bb99aa17	342	case CAN_IAM :
lolpcc	1:6877bb99aa17	343	c = 0xf;
lolpcc	1:6877bb99aa17	344	break;
lolpcc	1:6877bb99aa17	345	case CAN_PRT :
lolpcc	1:6877bb99aa17	346	c = 0x80;
lolpcc	1:6877bb99aa17	347	break;
lolpcc	1:6877bb99aa17	348	default :
lolpcc	1:6877bb99aa17	349	lprintf("CAN Message Selector switch, unknown message %d\n",cmd);
lolpcc	1:6877bb99aa17	350	return(-1);
lolpcc	1:6877bb99aa17	351	}
lolpcc	1:6877bb99aa17	352	/* Build the message ID */
lolpcc	1:6877bb99aa17	353	id = c \| add \| dst;
lolpcc	1:6877bb99aa17	354	return(id);
lolpcc	1:6877bb99aa17	355	}
lolpcc	1:6877bb99aa17	356	/******************************************/
lolpcc	1:6877bb99aa17	357	/* */
lolpcc	1:6877bb99aa17	358	/* Get the data from the can message ID */
lolpcc	1:6877bb99aa17	359	/* */
lolpcc	1:6877bb99aa17	360	/******************************************/
lolpcc	1:6877bb99aa17	361	int can_decode_id(int id, int what)
lolpcc	1:6877bb99aa17	362	{
lolpcc	1:6877bb99aa17	363	switch(what){
lolpcc	1:6877bb99aa17	364	case CAN_SENDER_ID : /* Who sent the message */
lolpcc	1:6877bb99aa17	365	return((id & 0xf00)>>8);
lolpcc	1:6877bb99aa17	366	case CAN_OUR_ID : /* who is it for */
lolpcc	1:6877bb99aa17	367	return((id &0x070)>>4);
lolpcc	1:6877bb99aa17	368	case CAN_IS_PRT : /* is it a string packet */
lolpcc	1:6877bb99aa17	369	return((id &0x080));
lolpcc	1:6877bb99aa17	370	case CAN_GET_CNT : /* Get the packet count value */
lolpcc	1:6877bb99aa17	371	return((id & 0x00f));
lolpcc	1:6877bb99aa17	372	case CAN_GET_CMD : /* count and cmd live on the first 4 bits */
lolpcc	1:6877bb99aa17	373	if(can_decode_id(id,CAN_IS_PRT))
lolpcc	1:6877bb99aa17	374	return(CAN_PRT);
lolpcc	1:6877bb99aa17	375	return((id & 0x00f));
lolpcc	1:6877bb99aa17	376	default :
lolpcc	1:6877bb99aa17	377	lprintf("Unknown CAN Id decode request %02x\n",what);
lolpcc	1:6877bb99aa17	378	return(0);
lolpcc	1:6877bb99aa17	379	}
lolpcc	1:6877bb99aa17	380	}
lolpcc	1:6877bb99aa17	381	/******************************************/
lolpcc	1:6877bb99aa17	382	/* */
lolpcc	1:6877bb99aa17	383	/* Build a buffer for transmit, from a */
lolpcc	1:6877bb99aa17	384	/* source buffer, of variable length */
lolpcc	1:6877bb99aa17	385	/* this code is re-entrant, state held */
lolpcc	1:6877bb99aa17	386	/* in the parent routine */
lolpcc	1:6877bb99aa17	387	/* Safe for raw, and string data */
lolpcc	1:6877bb99aa17	388	/* */
lolpcc	1:6877bb99aa17	389	/******************************************/
lolpcc	1:6877bb99aa17	390	int can_build_data(int len, int pt, unsigned char data, unsigned char buffer)
lolpcc	1:6877bb99aa17	391	{
lolpcc	1:6877bb99aa17	392	int a = 0;
lolpcc	1:6877bb99aa17	393	int px;
lolpcc	1:6877bb99aa17	394
lolpcc	1:6877bb99aa17	395	px = pt;
lolpcc	1:6877bb99aa17	396
lolpcc	1:6877bb99aa17	397	while(a!=MAX_CAN_BUF){
lolpcc	1:6877bb99aa17	398	if(px<=len){
lolpcc	1:6877bb99aa17	399	buffer[a] = data[px];
lolpcc	1:6877bb99aa17	400	px++;
lolpcc	1:6877bb99aa17	401	} else {
lolpcc	1:6877bb99aa17	402	buffer[a] = 0x00;
lolpcc	1:6877bb99aa17	403	}
lolpcc	1:6877bb99aa17	404	a++;
lolpcc	1:6877bb99aa17	405	}
lolpcc	1:6877bb99aa17	406	if(px <= len)
lolpcc	1:6877bb99aa17	407	return(px);
lolpcc	1:6877bb99aa17	408	else
lolpcc	1:6877bb99aa17	409	return(0);
lolpcc	1:6877bb99aa17	410	}
lolpcc	1:6877bb99aa17	411	/******************************************/
lolpcc	1:6877bb99aa17	412	/* */
lolpcc	1:6877bb99aa17	413	/* Clear the TX buffer to Zero's */
lolpcc	1:6877bb99aa17	414	/* Safe for raw, and string data */
lolpcc	1:6877bb99aa17	415	/* */
lolpcc	1:6877bb99aa17	416	/******************************************/
lolpcc	1:6877bb99aa17	417	void can_clear_data(unsigned char *buffer)
lolpcc	1:6877bb99aa17	418	{
lolpcc	1:6877bb99aa17	419	int a = 0;
lolpcc	1:6877bb99aa17	420	while(a != MAX_CAN_BUF){
lolpcc	1:6877bb99aa17	421	buffer[a] = 0x00;
lolpcc	1:6877bb99aa17	422	a++;
lolpcc	1:6877bb99aa17	423	}
lolpcc	1:6877bb99aa17	424	}
lolpcc	1:6877bb99aa17	425	/******************************************/
lolpcc	1:6877bb99aa17	426	/* */
lolpcc	1:6877bb99aa17	427	/* Dump the TX buffer to the user */
lolpcc	1:6877bb99aa17	428	/* Safe for raw, and string data */
lolpcc	1:6877bb99aa17	429	/* */
lolpcc	1:6877bb99aa17	430	/******************************************/
lolpcc	1:6877bb99aa17	431	void can_dump_buffer(unsigned char *buffer)
lolpcc	1:6877bb99aa17	432	{
lolpcc	1:6877bb99aa17	433	int a = 0;
lolpcc	1:6877bb99aa17	434	lprintf(" ");
lolpcc	1:6877bb99aa17	435	while(a != MAX_CAN_BUF){
lolpcc	1:6877bb99aa17	436	lprintf("%02x",buffer[a]);
lolpcc	1:6877bb99aa17	437	if(buffer[a] > 0x20 & buffer[a] < 0x7f)
lolpcc	1:6877bb99aa17	438	lprintf("(%c),",buffer[a]);
lolpcc	1:6877bb99aa17	439	else
lolpcc	1:6877bb99aa17	440	lprintf(", ");
lolpcc	1:6877bb99aa17	441	a++;
lolpcc	1:6877bb99aa17	442	}
lolpcc	1:6877bb99aa17	443	}
lolpcc	1:6877bb99aa17	444	/******************************************/
lolpcc	1:6877bb99aa17	445	/* */
lolpcc	1:6877bb99aa17	446	/* Create a new string buffer for can RX */
lolpcc	1:6877bb99aa17	447	/* */
lolpcc	1:6877bb99aa17	448	/******************************************/
lolpcc	1:6877bb99aa17	449	char *can_buffer_create(int size)
lolpcc	1:6877bb99aa17	450	{
lolpcc	1:6877bb99aa17	451	char *str;
lolpcc	1:6877bb99aa17	452	int pt;
lolpcc	1:6877bb99aa17	453
lolpcc	1:6877bb99aa17	454	str = (char )malloc(sizeof(char)size);
lolpcc	1:6877bb99aa17	455	pt = 0;
lolpcc	1:6877bb99aa17	456	while(pt!=size){
lolpcc	1:6877bb99aa17	457	str[pt]='\0';
lolpcc	1:6877bb99aa17	458	pt++;
lolpcc	1:6877bb99aa17	459	}
lolpcc	1:6877bb99aa17	460	return(str);
lolpcc	1:6877bb99aa17	461	}
lolpcc	1:6877bb99aa17	462

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	12 Jan 2010
Imports:	24
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	2
Followers:	3

can.c@1:6877bb99aa17, 2011-05-04 (annotated)

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