lu yonggang / Mbed OS USB2CAN

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

USB2CAN.cpp@1:4097ba8d8a3c, 2011-05-31 (annotated)

Committer:
Melchiorp
Date:
Tue May 31 12:04:38 2011 +0000
Revision:
1:4097ba8d8a3c
Child:
2:b0d87ab33e13
B

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Melchiorp 1:4097ba8d8a3c 1 // ------------------------------------------------------------------------- //
Melchiorp 1:4097ba8d8a3c 2 // File: USB2CAN.cpp //
Melchiorp 1:4097ba8d8a3c 3 // Contents: Converts a serial string to a canmessage and the other way //
Melchiorp 1:4097ba8d8a3c 4 // around. Accepts both standard and extended format. //
Melchiorp 1:4097ba8d8a3c 5 // Data to be sent as : //
Melchiorp 1:4097ba8d8a3c 6 // !<format>_<type>_<ID>_<length>_<d0>_<d1>_<d2>_<d3>_<d4>_<d5>_<d6>_<d7> //
Melchiorp 1:4097ba8d8a3c 7 // in which "_" are spaces. //
Melchiorp 1:4097ba8d8a3c 8 // Author: Melchior du Pau //
Melchiorp 1:4097ba8d8a3c 9 // Date: 31-05-2011 //
Melchiorp 1:4097ba8d8a3c 10 // ------------------------------------------------------------------------- //
Melchiorp 1:4097ba8d8a3c 11 #include "mbed.h"
Melchiorp 1:4097ba8d8a3c 12 #include "CAN.h"
Melchiorp 1:4097ba8d8a3c 13 #include "stdio.h"
Melchiorp 1:4097ba8d8a3c 14 #include "stdlib.h"
Melchiorp 1:4097ba8d8a3c 15 #include "string.h"
Melchiorp 1:4097ba8d8a3c 16
Melchiorp 1:4097ba8d8a3c 17 Ticker ticker; // Liveled toggle ticker
Melchiorp 1:4097ba8d8a3c 18 Serial pc(USBTX, USBRX); // Serial connection
Melchiorp 1:4097ba8d8a3c 19 DigitalOut write_activity(LED1);// CAN write toggle led
Melchiorp 1:4097ba8d8a3c 20 DigitalOut read_activity(LED2); // CAN read toggle led
Melchiorp 1:4097ba8d8a3c 21 DigitalOut pc_activity(LED3); // USB activity toggle led
Melchiorp 1:4097ba8d8a3c 22 DigitalOut live_led(LED4); // Live toggle led
Melchiorp 1:4097ba8d8a3c 23 CAN can(p30, p29); // RD, TD
Melchiorp 1:4097ba8d8a3c 24
Melchiorp 1:4097ba8d8a3c 25 CANMessage msg; // The canmessage
Melchiorp 1:4097ba8d8a3c 26 int pc_ID; // Standard 11bit ID
Melchiorp 1:4097ba8d8a3c 27 int pc_IDe; // Extended 29bit ID
Melchiorp 1:4097ba8d8a3c 28 char candata[8]; // 8 databytes
Melchiorp 1:4097ba8d8a3c 29 int pc_length; // 1 - 8
Melchiorp 1:4097ba8d8a3c 30 int pc_format; // 0 = standard, 1 = extended
Melchiorp 1:4097ba8d8a3c 31 int pc_type; // 0 = data, 1 = remote
Melchiorp 1:4097ba8d8a3c 32
Melchiorp 1:4097ba8d8a3c 33 char pc_msg[60]; // The string received via USB
Melchiorp 1:4097ba8d8a3c 34 int pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7; //8 data bytes
Melchiorp 1:4097ba8d8a3c 35
Melchiorp 1:4097ba8d8a3c 36
Melchiorp 1:4097ba8d8a3c 37 void setdata(int d0, int d1, int d2, int d3, int d4, int d5, int d6, int d7)
Melchiorp 1:4097ba8d8a3c 38 // converts 8 ints into an array of chars so it can be sent in the CANMessage
Melchiorp 1:4097ba8d8a3c 39 {
Melchiorp 1:4097ba8d8a3c 40 candata[0] = (char) (d0); // LSB
Melchiorp 1:4097ba8d8a3c 41 candata[1] = (char) (d1);
Melchiorp 1:4097ba8d8a3c 42 candata[2] = (char) (d2);
Melchiorp 1:4097ba8d8a3c 43 candata[3] = (char) (d3);
Melchiorp 1:4097ba8d8a3c 44 candata[4] = (char) (d4);
Melchiorp 1:4097ba8d8a3c 45 candata[5] = (char) (d5);
Melchiorp 1:4097ba8d8a3c 46 candata[6] = (char) (d6);
Melchiorp 1:4097ba8d8a3c 47 candata[7] = (char) (d7); // MSB
Melchiorp 1:4097ba8d8a3c 48 }
Melchiorp 1:4097ba8d8a3c 49
Melchiorp 1:4097ba8d8a3c 50 void canread()
Melchiorp 1:4097ba8d8a3c 51 // Reads a CANMessage and prints it's contents via serial
Melchiorp 1:4097ba8d8a3c 52 {
Melchiorp 1:4097ba8d8a3c 53 // Reading the message
Melchiorp 1:4097ba8d8a3c 54 can.read(msg);
Melchiorp 1:4097ba8d8a3c 55
Melchiorp 1:4097ba8d8a3c 56 // Printing what was read
Melchiorp 1:4097ba8d8a3c 57 pc.printf("Read: [ ID: %9x", msg.id);
Melchiorp 1:4097ba8d8a3c 58 pc.printf(" Length: %d", msg.len);
Melchiorp 1:4097ba8d8a3c 59 pc.printf(" Data: %2x", msg.data[0]);
Melchiorp 1:4097ba8d8a3c 60 pc.printf(" %2x", msg.data[1]);
Melchiorp 1:4097ba8d8a3c 61 pc.printf(" %2x", msg.data[2]);
Melchiorp 1:4097ba8d8a3c 62 pc.printf(" %2x", msg.data[3]);
Melchiorp 1:4097ba8d8a3c 63 pc.printf(" %2x", msg.data[4]);
Melchiorp 1:4097ba8d8a3c 64 pc.printf(" %2x", msg.data[5]);
Melchiorp 1:4097ba8d8a3c 65 pc.printf(" %2x", msg.data[6]);
Melchiorp 1:4097ba8d8a3c 66 pc.printf(" %2x", msg.data[7]);
Melchiorp 1:4097ba8d8a3c 67 pc.printf(" Type: %d", msg.type); // 0 = data, 1 = remote
Melchiorp 1:4097ba8d8a3c 68 pc.printf(" Format: %d ]\r\n", msg.format); // 0 = standard, 1 = extended
Melchiorp 1:4097ba8d8a3c 69 read_activity = !read_activity; //Blink!
Melchiorp 1:4097ba8d8a3c 70 }
Melchiorp 1:4097ba8d8a3c 71
Melchiorp 1:4097ba8d8a3c 72 void pc_msg_read()
Melchiorp 1:4097ba8d8a3c 73 // Reads a serial string, converts it to a CANMessage and sends it via CAN
Melchiorp 1:4097ba8d8a3c 74 {
Melchiorp 1:4097ba8d8a3c 75 // Read the string and copy it to the char array pc_msg
Melchiorp 1:4097ba8d8a3c 76 pc.scanf("%[^\x0d]s",pc_msg);
Melchiorp 1:4097ba8d8a3c 77
Melchiorp 1:4097ba8d8a3c 78 // Read pc_msg and extract all data
Melchiorp 1:4097ba8d8a3c 79 sscanf(pc_msg,"%d %d %x %d %x %x %x %x %x %x %x %x", &pc_format, &pc_type, &pc_ID, &pc_length,
Melchiorp 1:4097ba8d8a3c 80 &pcd0, &pcd1, &pcd2, &pcd3, &pcd4, &pcd5, &pcd6, &pcd7);
Melchiorp 1:4097ba8d8a3c 81
Melchiorp 1:4097ba8d8a3c 82 // Printing extracted data, mostly for testing (Echo)
Melchiorp 1:4097ba8d8a3c 83 pc.printf("Entered: [ ID: %9x ",pc_ID);
Melchiorp 1:4097ba8d8a3c 84 pc.printf("length: %d ",pc_length);
Melchiorp 1:4097ba8d8a3c 85 pc.printf("data: %2x %2x %2x %2x %2x %2x %2x %2x ",pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7);
Melchiorp 1:4097ba8d8a3c 86 pc.printf("type: %d ",pc_type);
Melchiorp 1:4097ba8d8a3c 87 pc.printf("format: %d ]\r\n",pc_format);
Melchiorp 1:4097ba8d8a3c 88
Melchiorp 1:4097ba8d8a3c 89 // Setting the data to CANMessage.data format
Melchiorp 1:4097ba8d8a3c 90 setdata(pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7);
Melchiorp 1:4097ba8d8a3c 91
Melchiorp 1:4097ba8d8a3c 92 // Transmitting CANMessage
Melchiorp 1:4097ba8d8a3c 93 if(pc_format == 0)
Melchiorp 1:4097ba8d8a3c 94 { // CANStandard
Melchiorp 1:4097ba8d8a3c 95 if(pc_type==0)
Melchiorp 1:4097ba8d8a3c 96 { // CANData
Melchiorp 1:4097ba8d8a3c 97 if(can.write(CANMessage(pc_ID,candata,(char)pc_length,CANData,CANStandard)))
Melchiorp 1:4097ba8d8a3c 98 {
Melchiorp 1:4097ba8d8a3c 99 pc.printf("MBED: [ Message compiled and sent. ]\r\n");
Melchiorp 1:4097ba8d8a3c 100 write_activity = !write_activity;
Melchiorp 1:4097ba8d8a3c 101 }
Melchiorp 1:4097ba8d8a3c 102 }
Melchiorp 1:4097ba8d8a3c 103 else if(pc_type==1)
Melchiorp 1:4097ba8d8a3c 104 { // CANRemote
Melchiorp 1:4097ba8d8a3c 105 if(can.write(CANMessage(pc_ID,CANStandard))) {
Melchiorp 1:4097ba8d8a3c 106 pc.printf("MBED: [ RTR Message compiled and sent. ]\r\n");
Melchiorp 1:4097ba8d8a3c 107 write_activity = !write_activity;
Melchiorp 1:4097ba8d8a3c 108 }
Melchiorp 1:4097ba8d8a3c 109 }
Melchiorp 1:4097ba8d8a3c 110 }
Melchiorp 1:4097ba8d8a3c 111 else if(pc_format == 1)
Melchiorp 1:4097ba8d8a3c 112 { // CANExtended
Melchiorp 1:4097ba8d8a3c 113 if(pc_type==0)
Melchiorp 1:4097ba8d8a3c 114 { // CANData
Melchiorp 1:4097ba8d8a3c 115 if(can.write(CANMessage(pc_ID,candata,(char)pc_length,CANData,CANExtended)))
Melchiorp 1:4097ba8d8a3c 116 {
Melchiorp 1:4097ba8d8a3c 117 pc.printf("MBED: [ Message compiled and sent. ]\r\n");
Melchiorp 1:4097ba8d8a3c 118 write_activity = !write_activity;
Melchiorp 1:4097ba8d8a3c 119 }
Melchiorp 1:4097ba8d8a3c 120 }
Melchiorp 1:4097ba8d8a3c 121 else if(pc_type==1)
Melchiorp 1:4097ba8d8a3c 122 { // CANRemote
Melchiorp 1:4097ba8d8a3c 123 if(can.write(CANMessage(pc_ID,CANExtended))) {
Melchiorp 1:4097ba8d8a3c 124 pc.printf("MBED: [ RTR Message compiled and sent. ]\r\n");
Melchiorp 1:4097ba8d8a3c 125 write_activity = !write_activity;
Melchiorp 1:4097ba8d8a3c 126 }
Melchiorp 1:4097ba8d8a3c 127 }
Melchiorp 1:4097ba8d8a3c 128 }
Melchiorp 1:4097ba8d8a3c 129 }
Melchiorp 1:4097ba8d8a3c 130
Melchiorp 1:4097ba8d8a3c 131 void initcan()
Melchiorp 1:4097ba8d8a3c 132 // Initializes MBED's CAN port
Melchiorp 1:4097ba8d8a3c 133 {
Melchiorp 1:4097ba8d8a3c 134 can.frequency(1000000); // 1Mbit/s
Melchiorp 1:4097ba8d8a3c 135 can.reset();
Melchiorp 1:4097ba8d8a3c 136 can.attach(&canread); // Run canread on CAN reception interrupt
Melchiorp 1:4097ba8d8a3c 137 }
Melchiorp 1:4097ba8d8a3c 138
Melchiorp 1:4097ba8d8a3c 139 void liveled()
Melchiorp 1:4097ba8d8a3c 140 // Toggles the led
Melchiorp 1:4097ba8d8a3c 141 {
Melchiorp 1:4097ba8d8a3c 142 live_led=!live_led;
Melchiorp 1:4097ba8d8a3c 143 }
Melchiorp 1:4097ba8d8a3c 144
Melchiorp 1:4097ba8d8a3c 145 int main()
Melchiorp 1:4097ba8d8a3c 146 {
Melchiorp 1:4097ba8d8a3c 147 initcan();
Melchiorp 1:4097ba8d8a3c 148 //can.monitor(1); // If you want the node to only monitor the CAN network.
Melchiorp 1:4097ba8d8a3c 149 pc.baud(115200); // PC baudrate
Melchiorp 1:4097ba8d8a3c 150 ticker.attach(&liveled, 1); // Send every 1 sec
Melchiorp 1:4097ba8d8a3c 151
Melchiorp 1:4097ba8d8a3c 152 char test; // Used to check for "!".
Melchiorp 1:4097ba8d8a3c 153 char dump; // Used to dump strings that did not start with "!"
Melchiorp 1:4097ba8d8a3c 154
Melchiorp 1:4097ba8d8a3c 155 pc.printf(" [ Please enter !format_type_ID_length_d0_d1_d2_d3_d4_d5_d6_d7 ('_'=space) ]\r\n");
Melchiorp 1:4097ba8d8a3c 156
Melchiorp 1:4097ba8d8a3c 157 while(1) {
Melchiorp 1:4097ba8d8a3c 158 if (pc.readable()) { // If there's data available from pc
Melchiorp 1:4097ba8d8a3c 159 pc_activity = !pc_activity; // LED
Melchiorp 1:4097ba8d8a3c 160 test = pc.getc(); // Get the first character of the string
Melchiorp 1:4097ba8d8a3c 161 if (test == '!') { // See if it's a "valid" message
Melchiorp 1:4097ba8d8a3c 162 pc_msg_read(); // Valid => read the message and extract the data
Melchiorp 1:4097ba8d8a3c 163 }
Melchiorp 1:4097ba8d8a3c 164 else { // Invalid data or leftover characters
Melchiorp 1:4097ba8d8a3c 165 pc.printf(" [ Dumped: ");
Melchiorp 1:4097ba8d8a3c 166 while(pc.readable()) { // Keep dumping the leftovers
Melchiorp 1:4097ba8d8a3c 167 dump = pc.getc();
Melchiorp 1:4097ba8d8a3c 168 pc.printf("%c",dump);
Melchiorp 1:4097ba8d8a3c 169 }
Melchiorp 1:4097ba8d8a3c 170 pc.printf(" ]\r\n"); // Done dumping buffer
Melchiorp 1:4097ba8d8a3c 171 }
Melchiorp 1:4097ba8d8a3c 172 }
Melchiorp 1:4097ba8d8a3c 173 }
Melchiorp 1:4097ba8d8a3c 174 }