Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_masternode

Can_open_masternode

Dependencies:   mbed

source/port_helper.cpp@0:9dd7c6129683, 2011-05-30 (annotated)

Committer:
sam_grove
Date:
Mon May 30 07:36:47 2011 +0000
Revision:
0:9dd7c6129683
Child:
1:cb8989598a0f
Initial public release of master node example

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:9dd7c6129683 1
sam_grove 0:9dd7c6129683 2
sam_grove 0:9dd7c6129683 3 #include "port_helper.h"
sam_grove 0:9dd7c6129683 4 #include "main.h"
sam_grove 0:9dd7c6129683 5
sam_grove 0:9dd7c6129683 6 Serial Debug(USBTX, USBRX);
sam_grove 0:9dd7c6129683 7 DigitalOut running_status(LED1);
sam_grove 0:9dd7c6129683 8
sam_grove 0:9dd7c6129683 9 extern uint8_t nodeID;
sam_grove 0:9dd7c6129683 10 extern uint8_t change_node_id;
sam_grove 0:9dd7c6129683 11 extern NMTStateAdjustment stack_state;
sam_grove 0:9dd7c6129683 12
sam_grove 0:9dd7c6129683 13 void initHelper()
sam_grove 0:9dd7c6129683 14 {
sam_grove 0:9dd7c6129683 15 Debug.baud(57600);
sam_grove 0:9dd7c6129683 16 printf(" CANopen port of CANfestival master node \n");
sam_grove 0:9dd7c6129683 17 }
sam_grove 0:9dd7c6129683 18
sam_grove 0:9dd7c6129683 19 void serviceHelper()
sam_grove 0:9dd7c6129683 20 {
sam_grove 0:9dd7c6129683 21 static uint32_t cnt = 0;
sam_grove 0:9dd7c6129683 22 // indicate that the stack is running
sam_grove 0:9dd7c6129683 23 if (cnt++ > 100){
sam_grove 0:9dd7c6129683 24 cnt = 0;
sam_grove 0:9dd7c6129683 25 running_status = !running_status;
sam_grove 0:9dd7c6129683 26 }
sam_grove 0:9dd7c6129683 27 }
sam_grove 0:9dd7c6129683 28
sam_grove 0:9dd7c6129683 29
sam_grove 0:9dd7c6129683 30 void printMsg(Message& msg)
sam_grove 0:9dd7c6129683 31 {
sam_grove 0:9dd7c6129683 32 CANMessage m(msg.cob_id, (char*)msg.data, msg.len, static_cast<CANType>(msg.rtr), CANStandard);
sam_grove 0:9dd7c6129683 33 // call the CANMessage formatted method
sam_grove 0:9dd7c6129683 34 printMsg(m);
sam_grove 0:9dd7c6129683 35 }
sam_grove 0:9dd7c6129683 36
sam_grove 0:9dd7c6129683 37 void printMsg(CANMessage& msg)
sam_grove 0:9dd7c6129683 38 {
sam_grove 0:9dd7c6129683 39 printf("ID: 0x%04X DLC: %d Data(0->7): 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n",
sam_grove 0:9dd7c6129683 40 msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2],
sam_grove 0:9dd7c6129683 41 msg.data[3], msg.data[4], msg.data[5], msg.data[6],msg.data[7]);
sam_grove 0:9dd7c6129683 42 }
sam_grove 0:9dd7c6129683 43
sam_grove 0:9dd7c6129683 44 void serviceCOMCommands()
sam_grove 0:9dd7c6129683 45 {
sam_grove 0:9dd7c6129683 46 static char msg[64];
sam_grove 0:9dd7c6129683 47 static char w_loc=0;
sam_grove 0:9dd7c6129683 48 if (Debug.readable()){
sam_grove 0:9dd7c6129683 49 // store the data
sam_grove 0:9dd7c6129683 50 if (w_loc < 64){
sam_grove 0:9dd7c6129683 51 msg[w_loc++] = Debug.getc();
sam_grove 0:9dd7c6129683 52 }
sam_grove 0:9dd7c6129683 53 // clear the buffer and try again
sam_grove 0:9dd7c6129683 54 else{
sam_grove 0:9dd7c6129683 55 // clear the buffer
sam_grove 0:9dd7c6129683 56 memset(msg, 0, 64);
sam_grove 0:9dd7c6129683 57 w_loc = 0;
sam_grove 0:9dd7c6129683 58 return;
sam_grove 0:9dd7c6129683 59 }
sam_grove 0:9dd7c6129683 60 // parse the message and act on it
sam_grove 0:9dd7c6129683 61 if ((msg[w_loc-1] == '\r') || (msg[w_loc-1] == '\n') ){
sam_grove 0:9dd7c6129683 62 // format the message
sam_grove 0:9dd7c6129683 63 // process the message and look for something familiar
sam_grove 0:9dd7c6129683 64 if (strncmp(msg, "help", strlen("help")) == 0){
sam_grove 0:9dd7c6129683 65 // print the help menu
sam_grove 0:9dd7c6129683 66 printf("\t HELP OPTIONS (case sesnitive):\n");
sam_grove 0:9dd7c6129683 67 printf("\t help - display the available options\n");
sam_grove 0:9dd7c6129683 68 printf("\t id=xxx - change the node id\n");
sam_grove 0:9dd7c6129683 69 printf("\t about - get info about the node\n");
sam_grove 0:9dd7c6129683 70 printf("\t state=xxxx - start, stop, reset\n");
sam_grove 0:9dd7c6129683 71 }
sam_grove 0:9dd7c6129683 72 else if (strncmp(msg, "id=", strlen("id=")) == 0){
sam_grove 0:9dd7c6129683 73 // change the node ID
sam_grove 0:9dd7c6129683 74 int res = atoi(msg+strlen("id="));
sam_grove 0:9dd7c6129683 75 if ( (res > 0) && (res < 128) ){
sam_grove 0:9dd7c6129683 76 nodeID = res;
sam_grove 0:9dd7c6129683 77 printf("the new node_id = %d\n", nodeID);
sam_grove 0:9dd7c6129683 78 change_node_id = 1;
sam_grove 0:9dd7c6129683 79 }
sam_grove 0:9dd7c6129683 80 else{
sam_grove 0:9dd7c6129683 81 printf("invalid parameter");
sam_grove 0:9dd7c6129683 82 }
sam_grove 0:9dd7c6129683 83 }
sam_grove 0:9dd7c6129683 84 else if (strncmp(msg, "about", strlen("about")) == 0){
sam_grove 0:9dd7c6129683 85 // our call tag
sam_grove 0:9dd7c6129683 86 printf(" CANopen port of CANfestival master node \n");
sam_grove 0:9dd7c6129683 87 }
sam_grove 0:9dd7c6129683 88 else if (strncmp(msg, "state=", strlen("state=")) == 0){
sam_grove 0:9dd7c6129683 89 // ohh what to do
sam_grove 0:9dd7c6129683 90 if (strncmp(msg+strlen("state="), "start", strlen("start")) == 0){
sam_grove 0:9dd7c6129683 91 printf("stack state = start");
sam_grove 0:9dd7c6129683 92 // signal back
sam_grove 0:9dd7c6129683 93 stack_state = start;
sam_grove 0:9dd7c6129683 94 }
sam_grove 0:9dd7c6129683 95 else if (strncmp(msg+strlen("state="), "stop", strlen("stop")) == 0){
sam_grove 0:9dd7c6129683 96 printf("stack state = stop");
sam_grove 0:9dd7c6129683 97 // signal back
sam_grove 0:9dd7c6129683 98 stack_state = stop;
sam_grove 0:9dd7c6129683 99 }
sam_grove 0:9dd7c6129683 100 else if (strncmp(msg+strlen("state="), "reset", strlen("reset")) == 0){
sam_grove 0:9dd7c6129683 101 printf("stack state = reset");
sam_grove 0:9dd7c6129683 102 // signal back
sam_grove 0:9dd7c6129683 103 stack_state = reset;
sam_grove 0:9dd7c6129683 104 }
sam_grove 0:9dd7c6129683 105 }
sam_grove 0:9dd7c6129683 106 // clear the buffer
sam_grove 0:9dd7c6129683 107 memset(msg, 0, 64);
sam_grove 0:9dd7c6129683 108 w_loc = 0;
sam_grove 0:9dd7c6129683 109 }
sam_grove 0:9dd7c6129683 110 }
sam_grove 0:9dd7c6129683 111 }
sam_grove 0:9dd7c6129683 112
sam_grove 0:9dd7c6129683 113 /*
sam_grove 0:9dd7c6129683 114 WDT_IRQHandler
sam_grove 0:9dd7c6129683 115 TIMER0_IRQHandler
sam_grove 0:9dd7c6129683 116 TIMER1_IRQHandler
sam_grove 0:9dd7c6129683 117 TIMER2_IRQHandler
sam_grove 0:9dd7c6129683 118 TIMER3_IRQHandler
sam_grove 0:9dd7c6129683 119 UART0_IRQHandler
sam_grove 0:9dd7c6129683 120 UART1_IRQHandler
sam_grove 0:9dd7c6129683 121 UART2_IRQHandler
sam_grove 0:9dd7c6129683 122 UART3_IRQHandler
sam_grove 0:9dd7c6129683 123 PWM1_IRQHandler
sam_grove 0:9dd7c6129683 124 I2C0_IRQHandler
sam_grove 0:9dd7c6129683 125 I2C1_IRQHandler
sam_grove 0:9dd7c6129683 126 I2C2_IRQHandler
sam_grove 0:9dd7c6129683 127 SPI_IRQHandler
sam_grove 0:9dd7c6129683 128 SSP0_IRQHandler
sam_grove 0:9dd7c6129683 129 SSP1_IRQHandler
sam_grove 0:9dd7c6129683 130 PLL0_IRQHandler
sam_grove 0:9dd7c6129683 131 RTC_IRQHandler
sam_grove 0:9dd7c6129683 132 EINT0_IRQHandler
sam_grove 0:9dd7c6129683 133 EINT1_IRQHandler
sam_grove 0:9dd7c6129683 134 EINT2_IRQHandler
sam_grove 0:9dd7c6129683 135 EINT3_IRQHandler
sam_grove 0:9dd7c6129683 136 ADC_IRQHandler
sam_grove 0:9dd7c6129683 137 BOD_IRQHandler
sam_grove 0:9dd7c6129683 138 USB_IRQHandler
sam_grove 0:9dd7c6129683 139 CAN_IRQHandler
sam_grove 0:9dd7c6129683 140 DMA_IRQHandler
sam_grove 0:9dd7c6129683 141 I2S_IRQHandler
sam_grove 0:9dd7c6129683 142 ENET_IRQHandler
sam_grove 0:9dd7c6129683 143 RIT_IRQHandler
sam_grove 0:9dd7c6129683 144 MCPWM_IRQHandler
sam_grove 0:9dd7c6129683 145 QEI_IRQHandler
sam_grove 0:9dd7c6129683 146 PLL1_IRQHandler
sam_grove 0:9dd7c6129683 147 USBActivity_IRQHandler
sam_grove 0:9dd7c6129683 148 CANActivity_IRQHandler
sam_grove 0:9dd7c6129683 149 */