Diff: canutils.cpp

Revision:

5:1775b4b13232

Parent:

4:682d96ff6d79

--- a/canutils.cpp	Wed Sep 11 11:55:51 2013 +0000
+++ b/canutils.cpp	Sat Apr 25 17:07:08 2015 +0000
@@ -26,17 +26,20 @@
 //LPC_CANx->MOD |= (1 << 1);   // Put into listen only mode
 //LPC_CANx->MOD &= ~(1);       // Re-enable CAN controller
 
-void can_disable(uint8_t chan) {
+void can_disable(uint8_t chan)
+{
     // Put a CAN controller into disabled condition
     chan == 1 ? LPC_CAN1->MOD |= 1 : LPC_CAN2->MOD |= 1;
 }
 
-void can_enable(uint8_t chan) {
+void can_enable(uint8_t chan)
+{
     // Put a CAN controller in operating mode
     chan == 1 ? LPC_CAN1->MOD &= ~(1) : LPC_CAN2->MOD &= ~(1);
 }
 
-void can_configure(uint8_t chan, uint32_t baud, bool listen) {
+void can_configure(uint8_t chan, uint32_t baud, bool listen)
+{
 
     LPC_CAN_TypeDef *pCANx = (chan == 1) ? LPC_CAN1 : LPC_CAN2;
 
@@ -92,7 +95,8 @@
 }
 
 
-void can_reset_filters() {
+void can_reset_filters()
+{
     // Initialise the Acceptance Filters
     LPC_CANAF->AFMR = 0x01;                             // Put Acceptance Filter into reset/configuration mode
     for (uint16_t i = 0; i < 512; i++)
@@ -105,7 +109,8 @@
     LPC_CANAF->AFMR = 0x00;                             // Enable Acceptance Filter all messages should be rejected
 }
 
-void can_use_filters(bool active) {
+void can_use_filters(bool active)
+{
     active ? LPC_CANAF->AFMR = 0 : LPC_CANAF->AFMR = 2;
 }
 
@@ -114,7 +119,8 @@
   original http://www.dragonwake.com/download/LPC1768/Example/CAN/CAN.c
   simplified for CAN2 interface and std id (11 bit) only
  *--------------------------------------------*/
-void can_add_filter(uint8_t chan, uint32_t id)  {
+void can_add_filter(uint8_t chan, uint32_t id)
+{
 
     static int CAN_std_cnt = 0;
     uint32_t buf0, buf1;
@@ -197,29 +203,34 @@
 } // CAN2_wrFilter
 
 
-void can_open() {
+void can_open()
+{
     // activate external can transceiver
     can.reset();
     can_rs_pin = 0;
 }
 
-void can_close() {
+void can_close()
+{
     // disable external can transceiver
     can_rs_pin = 1;
     can.reset();
 }
 
-void can_monitor() {
+void can_monitor()
+{
     // Put CAN into silent monitoring mode
     can.monitor(1);
 }
 
-void can_active() {
+void can_active()
+{
     // Take CAN out of silent monitoring mode
     can.monitor(0);
 }
 
-uint8_t can_set_speed(uint32_t speed) {
+uint8_t can_set_speed(uint32_t speed)
+{
     // 600kbit/s first - basically sets up CAN interface, but to wrong speed - not sure what else it does
 //    can.frequency(600000);
     // 615kbit/s direct write of 615 kbit/s speed setting
@@ -235,7 +246,8 @@
 // inputs:    none
 // return:    bool TRUE if there was a message, FALSE if no message.
 //
-extern void show_can_message() {
+extern void show_can_message()
+{
     CANMessage can_MsgRx;
     if (can.read(can_MsgRx)) {
         CANRXLEDON;
@@ -256,7 +268,8 @@
 // inputs:    none
 // return:    bool TRUE if there was a message, FALSE if no message.
 //
-extern void show_T5can_message() {
+extern void show_T5can_message()
+{
     CANMessage can_MsgRx;
     if (can.read(can_MsgRx)) {
         CANRXLEDON;
@@ -282,7 +295,8 @@
 // inputs:    none
 // return:    bool TRUE if there was a message, FALSE if no message.
 //
-extern void show_T7can_message() {
+extern void show_T7can_message()
+{
     CANMessage can_MsgRx;
     if (can.read(can_MsgRx)) {
         CANRXLEDON;
@@ -324,7 +338,8 @@
 // inputs:    none
 // return:    bool TRUE if there was a message, FALSE if no message.
 //
-extern void show_T8can_message() {
+extern void show_T8can_message()
+{
     CANMessage can_MsgRx;
     if (can.read(can_MsgRx)) {
         CANRXLEDON;
@@ -354,7 +369,8 @@
 // inputs:    none
 // return:    bool TRUE if there was a message, FALSE if no message.
 //
-extern void silent_can_message() {
+extern void silent_can_message()
+{
     CANMessage can_MsgRx;
     if (can.read(can_MsgRx)) {
         CANRXLEDON;
@@ -369,9 +385,17 @@
 // return:     TRUE if the CAN message was sent before the 'timeout' expires
 //          FALSE if 'timeout' expires or the message length is wrong
 //
-extern bool can_send_timeout (uint32_t id, char *frame, uint8_t len, uint16_t timeout) {
+extern bool can_send_timeout (uint32_t id, char *frame, uint8_t len, uint16_t timeout)
+{
     CANTimer.reset();
     CANTimer.start();
+#ifdef DEBUG
+    printf("ID:%03x Len:%03x", id, len);
+    for (char i=0; i<len; i++) {
+        printf(" %02x", frame[i]);
+    }
+    printf("\n\r");
+#endif
     while (CANTimer.read_ms() < timeout) {
         if (can.write(CANMessage(id, frame, len))) {
             CANTimer.stop();
@@ -396,24 +420,25 @@
 // return:    TRUE if a qualifying message was received
 //          FALSE if 'timeout' expires or the message length is wrong
 //
-extern bool can_wait_timeout (uint32_t id, char *frame, uint8_t len, uint16_t timeout) {
+extern bool can_wait_timeout (uint32_t id, char *frame, uint8_t len, uint16_t timeout)
+{
     CANMessage CANMsgRx;
     CANTimer.reset();
     CANTimer.start();
     while (CANTimer.read_ms() < timeout) {
         if (can.read(CANMsgRx)) {
-            /*
-                        printf("w%03x8", CANMsgRx.id);
-                        for (char i=0; i<len; i++) {
-                            printf("%02x", CANMsgRx.data[i]);
-                        }
-                        printf("\n\r");
-            //            */
+#ifdef DEBUG
+            printf("ID:%03x Len:%03x", CANMsgRx.id, CANMsgRx.len);
+            for (char i=0; i<len; i++) {
+                printf(" %02x", CANMsgRx.data[i]);
+            }
+            printf("\n\r");
+#endif
             CANRXLEDON;
 //            led2 = 1;
             if (CANMsgRx.id == id || id ==0) {
                 CANTimer.stop();
-//                if (T5MsgRx.len != len)
+//                if (CANMsgRx.len != len)
 //                    return FALSE;
                 for (int i=0; i<len; i++)
                     frame[i] = CANMsgRx.data[i];