Luis Silvio Cordova Rivadeneira
/
Can_open_slavenode
Can_open_slavenode
source/port_helper.cpp@6:bc64031ac849, 2012-09-26 (annotated)
- Committer:
- sam_grove
- Date:
- Wed Sep 26 05:43:05 2012 +0000
- Revision:
- 6:bc64031ac849
- Parent:
- 1:285c99dcbb25
Change a typecast in can_mbed.cpp from unit8_t * to char * to fit the CANMessage constructor
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sam_grove |
0:6219434a0cb5 | 1 | |
sam_grove |
0:6219434a0cb5 | 2 | /* Just for demonstration purposes - consider it a notepad |
sam_grove |
0:6219434a0cb5 | 3 | * |
sam_grove |
0:6219434a0cb5 | 4 | * sgrove |
sam_grove |
0:6219434a0cb5 | 5 | */ |
sam_grove |
0:6219434a0cb5 | 6 | |
sam_grove |
0:6219434a0cb5 | 7 | #include "port_helper.h" |
sam_grove |
0:6219434a0cb5 | 8 | #include "main.h" |
sam_grove |
0:6219434a0cb5 | 9 | |
sam_grove |
0:6219434a0cb5 | 10 | Serial Debug(USBTX, USBRX); |
sam_grove |
0:6219434a0cb5 | 11 | DigitalOut running_status(LED1); |
sam_grove |
0:6219434a0cb5 | 12 | |
sam_grove |
0:6219434a0cb5 | 13 | extern uint8_t nodeID; |
sam_grove |
0:6219434a0cb5 | 14 | extern uint8_t change_node_id; |
sam_grove |
0:6219434a0cb5 | 15 | extern uint8_t digital_input[1]; |
sam_grove |
0:6219434a0cb5 | 16 | |
sam_grove |
0:6219434a0cb5 | 17 | void initHelper() |
sam_grove |
0:6219434a0cb5 | 18 | { |
sam_grove |
1:285c99dcbb25 | 19 | Debug.baud(57600); |
sam_grove |
1:285c99dcbb25 | 20 | printf(" CANopen port of CANfestival slave node (DS-401) \n"); |
sam_grove |
0:6219434a0cb5 | 21 | } |
sam_grove |
0:6219434a0cb5 | 22 | |
sam_grove |
0:6219434a0cb5 | 23 | void serviceHelper() |
sam_grove |
0:6219434a0cb5 | 24 | { |
sam_grove |
1:285c99dcbb25 | 25 | static uint32_t cnt = 0; |
sam_grove |
1:285c99dcbb25 | 26 | // indicate that the stack is running |
sam_grove |
1:285c99dcbb25 | 27 | if (cnt++ > 100){ |
sam_grove |
1:285c99dcbb25 | 28 | cnt = 0; |
sam_grove |
1:285c99dcbb25 | 29 | running_status = !running_status; |
sam_grove |
1:285c99dcbb25 | 30 | } |
sam_grove |
0:6219434a0cb5 | 31 | } |
sam_grove |
0:6219434a0cb5 | 32 | |
sam_grove |
0:6219434a0cb5 | 33 | |
sam_grove |
0:6219434a0cb5 | 34 | void printMsg(Message& msg) |
sam_grove |
0:6219434a0cb5 | 35 | { |
sam_grove |
1:285c99dcbb25 | 36 | CANMessage m(msg.cob_id, (char*)msg.data, msg.len, static_cast<CANType>(msg.rtr), CANStandard); |
sam_grove |
1:285c99dcbb25 | 37 | // call the CANMessage formatted method |
sam_grove |
1:285c99dcbb25 | 38 | printMsg(m); |
sam_grove |
0:6219434a0cb5 | 39 | } |
sam_grove |
0:6219434a0cb5 | 40 | |
sam_grove |
0:6219434a0cb5 | 41 | void printMsg(CANMessage& msg) |
sam_grove |
0:6219434a0cb5 | 42 | { |
sam_grove |
1:285c99dcbb25 | 43 | switch(msg.len){ |
sam_grove |
1:285c99dcbb25 | 44 | case 1: |
sam_grove |
1:285c99dcbb25 | 45 | printf("ID: 0x%04X DLC: %d Data(0): 0x%02X\n", msg.id, msg.len, msg.data[0]); |
sam_grove |
1:285c99dcbb25 | 46 | break; |
sam_grove |
1:285c99dcbb25 | 47 | case 2: |
sam_grove |
1:285c99dcbb25 | 48 | printf("ID: 0x%04X DLC: %d Data(0->1): 0x%02X 0x%02X\n", msg.id, msg.len, msg.data[0], msg.data[1]); |
sam_grove |
1:285c99dcbb25 | 49 | break; |
sam_grove |
1:285c99dcbb25 | 50 | case 3: |
sam_grove |
1:285c99dcbb25 | 51 | printf("ID: 0x%04X DLC: %d Data(0->2): 0x%02X 0x%02X 0x%02X\n", |
sam_grove |
1:285c99dcbb25 | 52 | msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2]); |
sam_grove |
1:285c99dcbb25 | 53 | break; |
sam_grove |
1:285c99dcbb25 | 54 | case 4: |
sam_grove |
1:285c99dcbb25 | 55 | printf("ID: 0x%04X DLC: %d Data(0->3): 0x%02X 0x%02X 0x%02X 0x%02X\n", |
sam_grove |
1:285c99dcbb25 | 56 | msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], msg.data[3]); |
sam_grove |
1:285c99dcbb25 | 57 | break; |
sam_grove |
1:285c99dcbb25 | 58 | case 5: |
sam_grove |
1:285c99dcbb25 | 59 | printf("ID: 0x%04X DLC: %d Data(0->4): 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n", |
sam_grove |
1:285c99dcbb25 | 60 | msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4]); |
sam_grove |
1:285c99dcbb25 | 61 | break; |
sam_grove |
1:285c99dcbb25 | 62 | case 6: |
sam_grove |
1:285c99dcbb25 | 63 | printf("ID: 0x%04X DLC: %d Data(0->5): 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n", |
sam_grove |
1:285c99dcbb25 | 64 | msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4], msg.data[5]); |
sam_grove |
1:285c99dcbb25 | 65 | break; |
sam_grove |
1:285c99dcbb25 | 66 | case 7: |
sam_grove |
1:285c99dcbb25 | 67 | printf("ID: 0x%04X DLC: %d Data(0->6): 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n", |
sam_grove |
1:285c99dcbb25 | 68 | msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4], msg.data[5], msg.data[6]); |
sam_grove |
1:285c99dcbb25 | 69 | break; |
sam_grove |
1:285c99dcbb25 | 70 | case 8: |
sam_grove |
1:285c99dcbb25 | 71 | 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 |
1:285c99dcbb25 | 72 | msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4], msg.data[5], msg.data[6], msg.data[7]); |
sam_grove |
1:285c99dcbb25 | 73 | break; |
sam_grove |
1:285c99dcbb25 | 74 | default: |
sam_grove |
1:285c99dcbb25 | 75 | break; |
sam_grove |
1:285c99dcbb25 | 76 | } |
sam_grove |
0:6219434a0cb5 | 77 | |
sam_grove |
0:6219434a0cb5 | 78 | } |
sam_grove |
0:6219434a0cb5 | 79 | |
sam_grove |
0:6219434a0cb5 | 80 | void serviceCOMCommands() |
sam_grove |
0:6219434a0cb5 | 81 | { |
sam_grove |
1:285c99dcbb25 | 82 | static char msg[64]; |
sam_grove |
1:285c99dcbb25 | 83 | static char w_loc=0; |
sam_grove |
1:285c99dcbb25 | 84 | if (Debug.readable()){ |
sam_grove |
1:285c99dcbb25 | 85 | // store the data |
sam_grove |
1:285c99dcbb25 | 86 | if (w_loc < 64){ |
sam_grove |
1:285c99dcbb25 | 87 | msg[w_loc++] = Debug.getc(); |
sam_grove |
1:285c99dcbb25 | 88 | } |
sam_grove |
1:285c99dcbb25 | 89 | // clear the buffer and try again |
sam_grove |
1:285c99dcbb25 | 90 | else{ |
sam_grove |
1:285c99dcbb25 | 91 | // clear the buffer |
sam_grove |
1:285c99dcbb25 | 92 | memset(msg, 0, 64); |
sam_grove |
1:285c99dcbb25 | 93 | w_loc = 0; |
sam_grove |
1:285c99dcbb25 | 94 | return; |
sam_grove |
1:285c99dcbb25 | 95 | } |
sam_grove |
1:285c99dcbb25 | 96 | // parse the message and act on it |
sam_grove |
1:285c99dcbb25 | 97 | if ((msg[w_loc-1] == '\r') || (msg[w_loc-1] == '\n') ){ |
sam_grove |
1:285c99dcbb25 | 98 | // process the message and look for something familiar |
sam_grove |
1:285c99dcbb25 | 99 | if (strncmp(msg, "help", strlen("help")) == 0){ |
sam_grove |
1:285c99dcbb25 | 100 | // print the help menu |
sam_grove |
1:285c99dcbb25 | 101 | printf("\t HELP OPTIONS (case sesnitive):\n"); |
sam_grove |
1:285c99dcbb25 | 102 | printf("\t help - display the available options\n"); |
sam_grove |
1:285c99dcbb25 | 103 | printf("\t id=xxx - change the node id\n"); |
sam_grove |
1:285c99dcbb25 | 104 | printf("\t about - get info about the node\n"); |
sam_grove |
1:285c99dcbb25 | 105 | printf("\t input=x - a decimal number\n"); |
sam_grove |
1:285c99dcbb25 | 106 | } |
sam_grove |
1:285c99dcbb25 | 107 | else if (strncmp(msg, "id=", strlen("id=")) == 0){ |
sam_grove |
1:285c99dcbb25 | 108 | // change the node ID |
sam_grove |
1:285c99dcbb25 | 109 | int res = atoi(msg+strlen("id=")); |
sam_grove |
1:285c99dcbb25 | 110 | if ( (res > 0) && (res < 128) ){ |
sam_grove |
1:285c99dcbb25 | 111 | nodeID = res; |
sam_grove |
1:285c99dcbb25 | 112 | printf("the new node_id = %d\n", nodeID); |
sam_grove |
1:285c99dcbb25 | 113 | change_node_id = 1; |
sam_grove |
1:285c99dcbb25 | 114 | } |
sam_grove |
1:285c99dcbb25 | 115 | else{ |
sam_grove |
1:285c99dcbb25 | 116 | printf("invalid parameter"); |
sam_grove |
1:285c99dcbb25 | 117 | } |
sam_grove |
1:285c99dcbb25 | 118 | } |
sam_grove |
1:285c99dcbb25 | 119 | else if (strncmp(msg, "about", strlen("about")) == 0){ |
sam_grove |
1:285c99dcbb25 | 120 | // our call tag |
sam_grove |
1:285c99dcbb25 | 121 | printf(" CANopen port of CANfestival slave node (DS-401) \n"); |
sam_grove |
1:285c99dcbb25 | 122 | } |
sam_grove |
1:285c99dcbb25 | 123 | else if (strncmp(msg, "input=", strlen("input=")) == 0){ |
sam_grove |
1:285c99dcbb25 | 124 | // store the input value |
sam_grove |
1:285c99dcbb25 | 125 | digital_input[0] = (uint8_t)atoi(msg+strlen("input=")); |
sam_grove |
1:285c99dcbb25 | 126 | printf("you entered %d", digital_input[0]); |
sam_grove |
1:285c99dcbb25 | 127 | } |
sam_grove |
1:285c99dcbb25 | 128 | // clear the buffer |
sam_grove |
1:285c99dcbb25 | 129 | memset(msg, 0, 64); |
sam_grove |
1:285c99dcbb25 | 130 | w_loc = 0; |
sam_grove |
1:285c99dcbb25 | 131 | } |
sam_grove |
1:285c99dcbb25 | 132 | } |
sam_grove |
0:6219434a0cb5 | 133 | } |
sam_grove |
0:6219434a0cb5 | 134 | |
sam_grove |
0:6219434a0cb5 | 135 | /* |
sam_grove |
0:6219434a0cb5 | 136 | WDT_IRQHandler |
sam_grove |
0:6219434a0cb5 | 137 | TIMER0_IRQHandler |
sam_grove |
0:6219434a0cb5 | 138 | TIMER1_IRQHandler |
sam_grove |
0:6219434a0cb5 | 139 | TIMER2_IRQHandler |
sam_grove |
0:6219434a0cb5 | 140 | TIMER3_IRQHandler |
sam_grove |
0:6219434a0cb5 | 141 | UART0_IRQHandler |
sam_grove |
0:6219434a0cb5 | 142 | UART1_IRQHandler |
sam_grove |
0:6219434a0cb5 | 143 | UART2_IRQHandler |
sam_grove |
0:6219434a0cb5 | 144 | UART3_IRQHandler |
sam_grove |
0:6219434a0cb5 | 145 | PWM1_IRQHandler |
sam_grove |
0:6219434a0cb5 | 146 | I2C0_IRQHandler |
sam_grove |
0:6219434a0cb5 | 147 | I2C1_IRQHandler |
sam_grove |
0:6219434a0cb5 | 148 | I2C2_IRQHandler |
sam_grove |
0:6219434a0cb5 | 149 | SPI_IRQHandler |
sam_grove |
0:6219434a0cb5 | 150 | SSP0_IRQHandler |
sam_grove |
0:6219434a0cb5 | 151 | SSP1_IRQHandler |
sam_grove |
0:6219434a0cb5 | 152 | PLL0_IRQHandler |
sam_grove |
0:6219434a0cb5 | 153 | RTC_IRQHandler |
sam_grove |
0:6219434a0cb5 | 154 | EINT0_IRQHandler |
sam_grove |
0:6219434a0cb5 | 155 | EINT1_IRQHandler |
sam_grove |
0:6219434a0cb5 | 156 | EINT2_IRQHandler |
sam_grove |
0:6219434a0cb5 | 157 | EINT3_IRQHandler |
sam_grove |
0:6219434a0cb5 | 158 | ADC_IRQHandler |
sam_grove |
0:6219434a0cb5 | 159 | BOD_IRQHandler |
sam_grove |
0:6219434a0cb5 | 160 | USB_IRQHandler |
sam_grove |
0:6219434a0cb5 | 161 | CAN_IRQHandler |
sam_grove |
0:6219434a0cb5 | 162 | DMA_IRQHandler |
sam_grove |
0:6219434a0cb5 | 163 | I2S_IRQHandler |
sam_grove |
0:6219434a0cb5 | 164 | ENET_IRQHandler |
sam_grove |
0:6219434a0cb5 | 165 | RIT_IRQHandler |
sam_grove |
0:6219434a0cb5 | 166 | MCPWM_IRQHandler |
sam_grove |
0:6219434a0cb5 | 167 | QEI_IRQHandler |
sam_grove |
0:6219434a0cb5 | 168 | PLL1_IRQHandler |
sam_grove |
0:6219434a0cb5 | 169 | USBActivity_IRQHandler |
sam_grove |
0:6219434a0cb5 | 170 | CANActivity_IRQHandler |
sam_grove |
0:6219434a0cb5 | 171 | */ |