Revision 6:41a4ad385daa, committed 2014-12-30

Comitter:

pangsk

Date:

Tue Dec 30 10:10:02 2014 +0000

Parent:

5:46a6a3e36e05

Commit message:

Initial version.

Changed in this revision

diff -r 46a6a3e36e05 -r 41a4ad385daa FATFileSystem.lib
--- a/FATFileSystem.lib	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_unsupported/code/FatFileSystem/#333d6e93e58f

diff -r 46a6a3e36e05 -r 41a4ad385daa GPS.lib
--- a/GPS.lib	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/pangsk/code/GPS/#0f423a982334

diff -r 46a6a3e36e05 -r 41a4ad385daa SDFileSystem.cpp
--- a/SDFileSystem.cpp	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,457 +0,0 @@
-/* mbed SDFileSystem Library, for providing file access to SD cards
- * Copyright (c) 2008-2010, sford
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-/* Introduction
- * ------------
- * SD and MMC cards support a number of interfaces, but common to them all
- * is one based on SPI. This is the one I'm implmenting because it means
- * it is much more portable even though not so performant, and we already 
- * have the mbed SPI Interface!
- *
- * The main reference I'm using is Chapter 7, "SPI Mode" of: 
- *  http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
- *
- * SPI Startup
- * -----------
- * The SD card powers up in SD mode. The SPI interface mode is selected by
- * asserting CS low and sending the reset command (CMD0). The card will 
- * respond with a (R1) response.
- *
- * CMD8 is optionally sent to determine the voltage range supported, and 
- * indirectly determine whether it is a version 1.x SD/non-SD card or 
- * version 2.x. I'll just ignore this for now.
- *
- * ACMD41 is repeatedly issued to initialise the card, until "in idle"
- * (bit 0) of the R1 response goes to '0', indicating it is initialised.
- *
- * You should also indicate whether the host supports High Capicity cards,
- * and check whether the card is high capacity - i'll also ignore this
- *
- * SPI Protocol
- * ------------
- * The SD SPI protocol is based on transactions made up of 8-bit words, with
- * the host starting every bus transaction by asserting the CS signal low. The
- * card always responds to commands, data blocks and errors.
- * 
- * The protocol supports a CRC, but by default it is off (except for the 
- * first reset CMD0, where the CRC can just be pre-calculated, and CMD8)
- * I'll leave the CRC off I think! 
- * 
- * Standard capacity cards have variable data block sizes, whereas High 
- * Capacity cards fix the size of data block to 512 bytes. I'll therefore
- * just always use the Standard Capacity cards with a block size of 512 bytes.
- * This is set with CMD16.
- *
- * You can read and write single blocks (CMD17, CMD25) or multiple blocks 
- * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When
- * the card gets a read command, it responds with a response token, and then 
- * a data token or an error.
- * 
- * SPI Command Format
- * ------------------
- * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC.
- *
- * +---------------+------------+------------+-----------+----------+--------------+
- * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 |
- * +---------------+------------+------------+-----------+----------+--------------+
- *
- * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95)
- *
- * All Application Specific commands shall be preceded with APP_CMD (CMD55).
- *
- * SPI Response Format
- * -------------------
- * The main response format (R1) is a status byte (normally zero). Key flags:
- *  idle - 1 if the card is in an idle state/initialising 
- *  cmd  - 1 if an illegal command code was detected
- *
- *    +-------------------------------------------------+
- * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle |
- *    +-------------------------------------------------+
- *
- * R1b is the same, except it is followed by a busy signal (zeros) until
- * the first non-zero byte when it is ready again.
- *
- * Data Response Token
- * -------------------
- * Every data block written to the card is acknowledged by a byte 
- * response token
- *
- * +----------------------+
- * | xxx | 0 | status | 1 |
- * +----------------------+
- *              010 - OK!
- *              101 - CRC Error
- *              110 - Write Error
- *
- * Single Block Read and Write
- * ---------------------------
- *
- * Block transfers have a byte header, followed by the data, followed
- * by a 16-bit CRC. In our case, the data will always be 512 bytes.
- *  
- * +------+---------+---------+- -  - -+---------+-----------+----------+
- * | 0xFE | data[0] | data[1] |        | data[n] | crc[15:8] | crc[7:0] | 
- * +------+---------+---------+- -  - -+---------+-----------+----------+
- */
- 
-#include "SDFileSystem.h"
-
-#define SD_COMMAND_TIMEOUT 5000
-
-SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) :
-  FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) {
-      _cs = 1; 
-}
-
-#define R1_IDLE_STATE           (1 << 0)
-#define R1_ERASE_RESET          (1 << 1)
-#define R1_ILLEGAL_COMMAND      (1 << 2)
-#define R1_COM_CRC_ERROR        (1 << 3)
-#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
-#define R1_ADDRESS_ERROR        (1 << 5)
-#define R1_PARAMETER_ERROR      (1 << 6)
-
-// Types
-//  - v1.x Standard Capacity
-//  - v2.x Standard Capacity
-//  - v2.x High Capacity
-//  - Not recognised as an SD Card
-
-#define SDCARD_FAIL 0
-#define SDCARD_V1   1
-#define SDCARD_V2   2
-#define SDCARD_V2HC 3
-
-int SDFileSystem::initialise_card() {
-    // Set to 100kHz for initialisation, and clock card with cs = 1
-    _spi.frequency(100000); 
-    _cs = 1;
-    for(int i=0; i<16; i++) {   
-        _spi.write(0xFF);
-    }
-
-    // send CMD0, should return with all zeros except IDLE STATE set (bit 0)
-    if(_cmd(0, 0) != R1_IDLE_STATE) { 
-        fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n");
-        return SDCARD_FAIL;
-    }
-
-    // send CMD8 to determine whther it is ver 2.x
-    int r = _cmd8();
-    if(r == R1_IDLE_STATE) {
-        return initialise_card_v2();
-    } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
-        return initialise_card_v1();
-    } else {
-        fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n");
-        return SDCARD_FAIL;
-    }
-}
-
-int SDFileSystem::initialise_card_v1() {
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        _cmd(55, 0); 
-        if(_cmd(41, 0) == 0) { 
-            return SDCARD_V1;
-        }
-    }
-
-    fprintf(stderr, "Timeout waiting for v1.x card\n");
-    return SDCARD_FAIL;
-}
-
-int SDFileSystem::initialise_card_v2() {
-    
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        _cmd(55, 0); 
-        if(_cmd(41, 0) == 0) { 
-            _cmd58();
-            return SDCARD_V2;
-        }
-    }
-
-    fprintf(stderr, "Timeout waiting for v2.x card\n");
-    return SDCARD_FAIL;
-}
-
-int SDFileSystem::disk_initialize() {
-
-    int i = initialise_card();
-//    printf("init card = %d\n", i);
-//    printf("OK\n");
-
-    _sectors = _sd_sectors();
-
-    // Set block length to 512 (CMD16)
-    if(_cmd(16, 512) != 0) {
-        fprintf(stderr, "Set 512-byte block timed out\n");
-        return 1;
-    }
-        
-    _spi.frequency(1000000); // Set to 1MHz for data transfer
-    return 0;
-}
-
-int SDFileSystem::disk_write(const char *buffer, int block_number) {
-    // set write address for single block (CMD24)
-    if(_cmd(24, block_number * 512) != 0) {
-        return 1;
-    }
-
-    // send the data block
-    _write(buffer, 512);    
-    return 0;    
-}
-
-int SDFileSystem::disk_read(char *buffer, int block_number) {        
-    // set read address for single block (CMD17)
-    if(_cmd(17, block_number * 512) != 0) {
-        return 1;
-    }
-    
-    // receive the data
-    _read(buffer, 512);
-    return 0;
-}
-
-int SDFileSystem::disk_status() { return 0; }
-int SDFileSystem::disk_sync() { return 0; }
-int SDFileSystem::disk_sectors() { return _sectors; }
-
-// PRIVATE FUNCTIONS
-
-int SDFileSystem::_cmd(int cmd, int arg) {
-    _cs = 0; 
-
-    // send a command
-    _spi.write(0x40 | cmd);
-    _spi.write(arg >> 24);
-    _spi.write(arg >> 16);
-    _spi.write(arg >> 8);
-    _spi.write(arg >> 0);
-    _spi.write(0x95);
-
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        int response = _spi.write(0xFF);
-        if(!(response & 0x80)) {
-            _cs = 1;
-            _spi.write(0xFF);
-            return response;
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
-int SDFileSystem::_cmdx(int cmd, int arg) {
-    _cs = 0; 
-
-    // send a command
-    _spi.write(0x40 | cmd);
-    _spi.write(arg >> 24);
-    _spi.write(arg >> 16);
-    _spi.write(arg >> 8);
-    _spi.write(arg >> 0);
-    _spi.write(0x95);
-
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        int response = _spi.write(0xFF);
-        if(!(response & 0x80)) {
-            return response;
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
-
-
-int SDFileSystem::_cmd58() {
-    _cs = 0; 
-    int arg = 0;
-    
-    // send a command
-    _spi.write(0x40 | 58);
-    _spi.write(arg >> 24);
-    _spi.write(arg >> 16);
-    _spi.write(arg >> 8);
-    _spi.write(arg >> 0);
-    _spi.write(0x95);
-
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT; i++) {
-        int response = _spi.write(0xFF);
-        if(!(response & 0x80)) {
-            int ocr = _spi.write(0xFF) << 24;
-            ocr |= _spi.write(0xFF) << 16;
-            ocr |= _spi.write(0xFF) << 8;
-            ocr |= _spi.write(0xFF) << 0;
-//            printf("OCR = 0x%08X\n", ocr);
-            _cs = 1;
-            _spi.write(0xFF);
-            return response;
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
-
-int SDFileSystem::_cmd8() {
-    _cs = 0; 
-    
-    // send a command
-    _spi.write(0x40 | 8); // CMD8
-    _spi.write(0x00);     // reserved
-    _spi.write(0x00);     // reserved
-    _spi.write(0x01);     // 3.3v
-    _spi.write(0xAA);     // check pattern
-    _spi.write(0x87);     // crc
-
-    // wait for the repsonse (response[7] == 0)
-    for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) {
-        char response[5];
-        response[0] = _spi.write(0xFF);
-        if(!(response[0] & 0x80)) {
-                for(int j=1; j<5; j++) {
-                    response[i] = _spi.write(0xFF);
-                }
-                _cs = 1;
-                _spi.write(0xFF);
-                return response[0];
-        }
-    }
-    _cs = 1;
-    _spi.write(0xFF);
-    return -1; // timeout
-}
-
-int SDFileSystem::_read(char *buffer, int length) {
-    _cs = 0;
-
-    // read until start byte (0xFF)
-    while(_spi.write(0xFF) != 0xFE);
-
-    // read data
-    for(int i=0; i<length; i++) {
-        buffer[i] = _spi.write(0xFF);
-    }
-    _spi.write(0xFF); // checksum
-    _spi.write(0xFF);
-
-    _cs = 1;    
-    _spi.write(0xFF);
-    return 0;
-}
-
-int SDFileSystem::_write(const char *buffer, int length) {
-    _cs = 0;
-    
-    // indicate start of block
-    _spi.write(0xFE);
-    
-    // write the data
-    for(int i=0; i<length; i++) {
-        _spi.write(buffer[i]);
-    }
-    
-    // write the checksum
-    _spi.write(0xFF); 
-    _spi.write(0xFF);
-
-    // check the repsonse token
-    if((_spi.write(0xFF) & 0x1F) != 0x05) {
-        _cs = 1;
-        _spi.write(0xFF);        
-        return 1;
-    }
-
-    // wait for write to finish
-    while(_spi.write(0xFF) == 0);
-
-    _cs = 1; 
-    _spi.write(0xFF);
-    return 0;
-}
-
-static int ext_bits(char *data, int msb, int lsb) {
-    int bits = 0;
-    int size = 1 + msb - lsb; 
-    for(int i=0; i<size; i++) {
-        int position = lsb + i;
-        int byte = 15 - (position >> 3);
-        int bit = position & 0x7;
-        int value = (data[byte] >> bit) & 1;
-        bits |= value << i;
-    }
-    return bits;
-}
-
-int SDFileSystem::_sd_sectors() {
-
-    // CMD9, Response R2 (R1 byte + 16-byte block read)
-    if(_cmdx(9, 0) != 0) {
-        fprintf(stderr, "Didn't get a response from the disk\n");
-        return 0;
-    }
-    
-    char csd[16];    
-    if(_read(csd, 16) != 0) {
-        fprintf(stderr, "Couldn't read csd response from disk\n");
-        return 0;
-    }
-
-    // csd_structure : csd[127:126]
-    // c_size        : csd[73:62]
-    // c_size_mult   : csd[49:47]
-    // read_bl_len   : csd[83:80] - the *maximum* read block length
-
-    int csd_structure = ext_bits(csd, 127, 126);
-    int c_size = ext_bits(csd, 73, 62);
-    int c_size_mult = ext_bits(csd, 49, 47);
-    int read_bl_len = ext_bits(csd, 83, 80);
-
-//    printf("CSD_STRUCT = %d\n", csd_structure);
-    
-    if(csd_structure != 0) {
-        fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n");
-        return 0;
-    }
-             
-    // memory capacity = BLOCKNR * BLOCK_LEN
-    // where
-    //  BLOCKNR = (C_SIZE+1) * MULT
-    //  MULT = 2^(C_SIZE_MULT+2) (C_SIZE_MULT < 8)
-    //  BLOCK_LEN = 2^READ_BL_LEN, (READ_BL_LEN < 12)         
-                            
-    int block_len = 1 << read_bl_len;
-    int mult = 1 << (c_size_mult + 2);
-    int blocknr = (c_size + 1) * mult;
-    int capacity = blocknr * block_len;
-        
-    int blocks = capacity / 512;
-        
-    return blocks;
-}

diff -r 46a6a3e36e05 -r 41a4ad385daa SDFileSystem.h
--- a/SDFileSystem.h	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,81 +0,0 @@
-/* mbed SDFileSystem Library, for providing file access to SD cards
- * Copyright (c) 2008-2010, sford
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#ifndef MBED_SDFILESYSTEM_H
-#define MBED_SDFILESYSTEM_H
-
-#include "mbed.h"
-#include "FATFileSystem.h"
-
-/** Access the filesystem on an SD Card using SPI
- *
- * @code
- * #include "mbed.h"
- * #include "SDFileSystem.h"
- *
- * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs
- *  
- * int main() {
- *     FILE *fp = fopen("/sd/myfile.txt", "w");
- *     fprintf(fp, "Hello World!\n");
- *     fclose(fp);
- * }
- */
-class SDFileSystem : public FATFileSystem {
-public:
-
-    /** Create the File System for accessing an SD Card using SPI
-     *
-     * @param mosi SPI mosi pin connected to SD Card
-     * @param miso SPI miso pin conencted to SD Card
-     * @param sclk SPI sclk pin connected to SD Card
-     * @param cs   DigitalOut pin used as SD Card chip select
-     * @param name The name used to access the virtual filesystem
-     */
-    SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
-    virtual int disk_initialize();
-    virtual int disk_write(const char *buffer, int block_number);
-    virtual int disk_read(char *buffer, int block_number);    
-    virtual int disk_status();
-    virtual int disk_sync();
-    virtual int disk_sectors();
-
-protected:
-
-    int _cmd(int cmd, int arg);
-    int _cmdx(int cmd, int arg);
-    int _cmd8();
-    int _cmd58();
-    int initialise_card();
-    int initialise_card_v1();
-    int initialise_card_v2();
-    
-    int _read(char *buffer, int length);
-    int _write(const char *buffer, int length);
-    int _sd_sectors();
-    int _sectors;
-    
-    SPI _spi;
-    DigitalOut _cs;     
-};
-
-#endif

diff -r 46a6a3e36e05 -r 41a4ad385daa ecu_reader.cpp
--- a/ecu_reader.cpp	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,98 +0,0 @@
-#include "mbed.h"
-#include "ecu_reader.h"
-#include "globals.h"
-
-
-// Use a timer to see if things take too long
-Timer CANTimer;  
-namespace mbed { 
-
-
-ecu_reader::ecu_reader(int can_speed)
-{
-    can2.frequency(can_speed);
-}
-
-
-#define TIMEOUT 200
-unsigned char ecu_reader::request(unsigned char pid,  char *buffer)
-{
-    char can_msg[8];
-    float engine_data;
-        
-    led1 = 1;
-  
-    can_msg[0] = 0x02;  
-    can_msg[1] = 0x01;
-    can_msg[2] = pid;  
-    can_msg[3] = 0;
-    can_msg[4] = 0;  
-    can_msg[5] = 0;
-    can_msg[6] = 0;  
-    can_msg[7] = 0;
-
-   if (can2.write(CANMessage(PID_REQUEST, can_msg, 8))) {
-         
-    }
-   
-   led1 = 0;
-   CANTimer.reset();
-   CANTimer.start();
-   
-   while(CANTimer.read_ms() < TIMEOUT) {
-   
-   if (can2.read(can_MsgRx)) {
-               
-        if((can_MsgRx.id == PID_REPLY) && (can_MsgRx.data[2] == pid))
-        { 
-                        switch(can_MsgRx.data[2])
-                        {   /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
-                            case ENGINE_RPM:              //   ((A*256)+B)/4    [RPM]
-                                engine_data =  ((can_MsgRx.data[3]*256) + can_MsgRx.data[4])/4;
-                                sprintf(buffer,"%d rpm ",(int) engine_data);
-                                break;
-                            
-                            case ENGINE_COOLANT_TEMP:     //     A-40              [degree C]
-                                engine_data =  can_MsgRx.data[3] - 40;
-                                sprintf(buffer,"%d degC ",(int) engine_data);
-                            
-                            break;
-                            
-                            case VEHICLE_SPEED:         // A                  [km]
-                                engine_data =  can_MsgRx.data[3];
-                                sprintf(buffer,"%d km ",(int) engine_data);
-                            
-                            break;
-
-                            case MAF_SENSOR:               // ((256*A)+B) / 100  [g/s]
-                                engine_data =  ((can_MsgRx.data[3]*256) + can_MsgRx.data[4])/100;
-                                sprintf(buffer,"%d g/s",(int) engine_data);
-                            
-                            break;
-
-                            case O2_VOLTAGE:            // A * 0.005   (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
-                                engine_data = can_MsgRx.data[3]*0.005;
-                                sprintf(buffer,"%d v ",(int) engine_data);
-     
-                            case THROTTLE:            //
-                                engine_data = (can_MsgRx.data[3]*100)/255;
-                                sprintf(buffer,"%d %% ",(int) engine_data);
-                             
-                            
-                            break;
-                        }
-        
-                return 1;
-        
-         }
-
-   }
-   }
-
-     return 0;
-  
-
-
-
-}
-} // namespace mbed 
\ No newline at end of file

diff -r 46a6a3e36e05 -r 41a4ad385daa ecu_reader.h
--- a/ecu_reader.h	Tue Aug 28 13:16:46 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,43 +0,0 @@
-#ifndef ECU_READER_H
-#define ECU_READER_H
-
-#define CANSPEED_125      125000        // CAN speed at 125 kbps
-#define CANSPEED_250      250000        // CAN speed at 250 kbps
-#define CANSPEED_500      500000        // CAN speed at 500 kbps
-
- /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
-#define ENGINE_COOLANT_TEMP 0x05
-#define ENGINE_RPM          0x0C
-#define VEHICLE_SPEED       0x0D
-#define MAF_SENSOR          0x10
-#define THROTTLE            0x11
-#define O2_VOLTAGE          0x14
-
-#define PID_REQUEST         0x7DF
-#define PID_REPLY           0x7E8
-
-namespace mbed { 
-
-class ecu_reader{
-
-public:
-
-    ecu_reader(int can_speed);
-
-    unsigned char request(unsigned char pid,  char *buffer);
-
-private: 
-
-    int i;
- 
-};
-
-
-
-
-
-    } 
-
-
-
-#endif
\ No newline at end of file

diff -r 46a6a3e36e05 -r 41a4ad385daa ecu_simulator.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ecu_simulator.cpp	Tue Dec 30 10:10:02 2014 +0000
@@ -0,0 +1,155 @@
+#include "mbed.h"
+#include "ecu_simulator.h"
+#include "globals.h"
+
+
+// Use a timer to see if things take too long
+Timer CANTimer;  
+namespace mbed { 
+
+
+ecu_sim::ecu_sim(int can_speed)
+{
+   can2.frequency(can_speed);
+}
+
+void ecu_sim::canspeed(int can_speed)
+{
+    can2.frequency(can_speed);
+}
+
+
+
+#define TIMEOUT 200
+unsigned char ecu_sim::request(void)
+{
+    char can_msg[8];
+   
+
+    
+    
+    if ((can2.read(can_MsgRx)) && (can_MsgRx.id == PID_REQUEST) ){
+        led2 = 1;
+        if(can_MsgRx.data[1] == MODE3) // Request trouble codes
+        {
+             if(ecu.dtc == false){
+                 can_msg[0] = 0x02; 
+                 can_msg[1] = MODE3_RESPONSE;    
+                 can_msg[2] = 0x00;  
+             }else{
+                 can_msg[0] = 0x06; 
+                 can_msg[1] = MODE3_RESPONSE;    
+                 can_msg[2] = 0x02;  
+                 can_msg[3] = 0x01;  
+                 can_msg[4] = 0x00;                
+                 can_msg[5] = 0x02;
+                 can_msg[6] = 0x00;                
+             }
+             can2.write(CANMessage(PID_REPLY, can_msg, 8));
+        }
+
+        if(can_MsgRx.data[1] == MODE4) // Clear trouble codes, clear Check engine light
+        {
+            ecu.dtc = false;  
+            led4 = 0;
+            
+            can_msg[0] = 0x00; 
+            can_msg[1] = MODE4_RESPONSE;   
+            can2.write(CANMessage(PID_REPLY, can_msg, 8)); 
+        }
+        
+        if(can_MsgRx.data[1] == MODE1)
+        {
+            can_msg[1] = MODE1_RESPONSE;
+            switch(can_MsgRx.data[2])
+            {   /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
+                case PID_SUPPORTED:
+                    can_msg[0] = 0x06;  
+                    can_msg[2] = PID_SUPPORTED; 
+                    can_msg[3] = 0xE8;
+                    can_msg[4] = 0x19;
+                    can_msg[5] = 0x30;
+                    can_msg[6] = 0x12;
+                    can_msg[5] = 0x00;
+                    can2.write(CANMessage(PID_REPLY, can_msg, 8));    
+                    
+                    break;
+                
+                case MONITOR_STATUS:
+                    can_msg[0] = 0x05;  
+                    can_msg[2] = MONITOR_STATUS; 
+                    
+                    if(ecu.dtc == true) can_msg[3] = 0x82;
+                        else can_msg[3] = 0x00;
+                    
+                    can_msg[4] = 0x07;
+                    can_msg[5] = 0xFF;
+                    can2.write(CANMessage(PID_REPLY, can_msg, 8));    
+                    break;
+                        
+                case ENGINE_RPM:              //   ((A*256)+B)/4    [RPM]
+                    can_msg[0] = 0x04;  
+                    can_msg[2] = ENGINE_RPM; 
+                    can_msg[3] = (ecu.engine_rpm & 0xff00) >> 8;
+                    can_msg[4] = ecu.engine_rpm & 0x00ff;
+                    can2.write(CANMessage(PID_REPLY, can_msg, 8));              
+                    break;
+                               
+                case ENGINE_COOLANT_TEMP:     //     A-40              [degree C]
+                    can_msg[0] = 0x03;  
+                    can_msg[2] = ENGINE_COOLANT_TEMP; 
+                    can_msg[3] = ecu.coolant_temp;
+                    can2.write(CANMessage(PID_REPLY, can_msg, 8));
+                    break;
+                               
+                case VEHICLE_SPEED:         // A                  [km]
+                    can_msg[0] = 0x03;  
+                    can_msg[2] = VEHICLE_SPEED; 
+                    can_msg[3] = ecu.vehicle_speed;
+                    can2.write(CANMessage(PID_REPLY, can_msg, 8));
+                    break;
+    
+                case MAF_SENSOR:               // ((256*A)+B) / 100  [g/s]
+                    can_msg[0] = 0x04;  
+                    can_msg[2] = MAF_SENSOR; 
+                    can_msg[3] = (ecu.maf_airflow & 0xff00) >> 8;
+                    can_msg[4] =  ecu.maf_airflow & 0x00ff;
+                    can2.write(CANMessage(PID_REPLY, can_msg, 8));                
+                    break;
+    
+                case O2_VOLTAGE:            // A * 0.005   (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
+                    can_msg[0] = 0x04;  
+                    can_msg[2] = O2_VOLTAGE; 
+                    can_msg[3] = ecu.o2_voltage & 0x00ff;
+                    can_msg[4] = (ecu.o2_voltage & 0xff00) >> 8;
+                    can2.write(CANMessage(PID_REPLY, can_msg, 8));                
+                    break;;
+                   
+                case THROTTLE:            //
+                    can_msg[0] = 0x03;  
+                    can_msg[2] = THROTTLE; 
+                    can_msg[3] = ecu.throttle_position;
+                    can2.write(CANMessage(PID_REPLY, can_msg, 8));         
+                    break;
+              }//switch
+        }
+    
+              
+ 
+    pc.printf("\n\r%x %x %x %x %x %x %x %x %x",can_MsgRx.id,can_MsgRx.data[0],
+                                           can_MsgRx.data[1],
+                                           can_MsgRx.data[2],
+                                           can_MsgRx.data[3],
+                                           can_MsgRx.data[4],
+                                           can_MsgRx.data[5],
+                                           can_MsgRx.data[6],
+                                           can_MsgRx.data[7]);
+    led2 = 0;
+   }
+    
+    return 0;
+
+}
+
+   
+} // namespace mbed 
\ No newline at end of file

diff -r 46a6a3e36e05 -r 41a4ad385daa ecu_simulator.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ecu_simulator.h	Tue Dec 30 10:10:02 2014 +0000
@@ -0,0 +1,62 @@
+#ifndef ECU_SIMULATOR_H
+#define ECU_SIMULATOR_H
+
+#define CANSPEED_125      125000        // CAN speed at 125 kbps
+#define CANSPEED_250      250000        // CAN speed at 250 kbps
+#define CANSPEED_500      500000        // CAN speed at 500 kbps
+
+ /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
+#define MODE1               0x01        //Show current data
+#define MODE2               0x02        //Show freeze frame data
+#define MODE3               0x03        //Show stored Diagnostic Trouble Codes
+#define MODE4               0x04        //Clear Diagnostic Trouble Codes and stored values
+
+#define PID_SUPPORTED       0x00
+#define MONITOR_STATUS      0x01
+#define ENGINE_COOLANT_TEMP 0x05
+#define ENGINE_RPM          0x0C
+#define VEHICLE_SPEED       0x0D
+#define MAF_SENSOR          0x10
+#define THROTTLE            0x11
+#define O2_VOLTAGE          0x14
+
+#define MODE1_RESPONSE      0x41
+#define MODE3_RESPONSE      0x43
+#define MODE4_RESPONSE      0x44
+#define PID_REQUEST         0x7DF
+#define PID_REPLY           0x7E8
+
+typedef struct{
+    
+        unsigned char coolant_temp;
+        unsigned int engine_rpm;  
+        unsigned char throttle_position;
+        unsigned char vehicle_speed;
+        unsigned int maf_airflow;
+        unsigned int o2_voltage;
+        unsigned char dtc;
+       
+}ecu_t;
+
+extern ecu_t ecu;
+
+namespace mbed { 
+
+class ecu_sim{
+
+    public:
+
+        ecu_sim(int can_speed);
+        void canspeed(int can_speed);
+        unsigned char request(void);
+    
+    private: 
+
+        int i;
+ 
+    };
+} 
+
+
+
+#endif
\ No newline at end of file

diff -r 46a6a3e36e05 -r 41a4ad385daa globals.cpp
--- a/globals.cpp	Tue Aug 28 13:16:46 2012 +0000
+++ b/globals.cpp	Tue Dec 30 10:10:02 2014 +0000
@@ -9,4 +9,5 @@
 
 // We use can on mbed pins 29(CAN_TXD) and 30(CAN_RXD).
 CAN can2(p30, p29);
-CANMessage can_MsgRx;
\ No newline at end of file
+CANMessage can_MsgRx;
+Serial pc(USBTX, USBRX);
\ No newline at end of file

diff -r 46a6a3e36e05 -r 41a4ad385daa globals.h
--- a/globals.h	Tue Aug 28 13:16:46 2012 +0000
+++ b/globals.h	Tue Dec 30 10:10:02 2014 +0000
@@ -3,13 +3,12 @@
 
 #include "mbed.h"
 
-
 extern DigitalOut led1;
 extern DigitalOut led2;
 extern DigitalOut led3;
 extern DigitalOut led4;
 
-// We use can on mbed pins 29(CAN_TXD) and 30(CAN_RXD).
 extern CAN can2;
 extern CANMessage can_MsgRx;
+extern Serial pc;
 #endif
\ No newline at end of file

diff -r 46a6a3e36e05 -r 41a4ad385daa main.cpp
--- a/main.cpp	Tue Aug 28 13:16:46 2012 +0000
+++ b/main.cpp	Tue Dec 30 10:10:02 2014 +0000
@@ -1,12 +1,8 @@
 /*
 
-mbed Can-Bus demo
-
-This program is to demonstrate the CAN-bus capability of the mbed module.
+mbed Can-Bus ECU simulator
 
-http://www.skpang.co.uk/catalog/product_info.php?products_id=741
-
-v1.0 July 2010
+v1.0 December 2014
 
 ********************************************************************************
 
@@ -16,161 +12,275 @@
 
 ********************************************************************************
 
-
 */
 
 #include "mbed.h"
-#include "ecu_reader.h"
+#include "ecu_simulator.h"
 #include "globals.h"
 #include "TextLCD.h"
-#include "GPS.h"
-#include "SDFileSystem.h"
 
-GPS gps(p28, p27);
 TextLCD lcd(p18, p19, p20, p17, p16, p15, p14); // rs, rw, e, d0, d1, d2, d3
-SDFileSystem sd(p5, p6, p7, p13, "sd");
 
 DigitalIn click(p21);   // Joystick inputs
 DigitalIn right(p22);
 DigitalIn down(p23);
 DigitalIn left(p24);
 DigitalIn up(p25);
-Serial pc(USBTX, USBRX);
 
+ecu_sim sim(CANSPEED_500);     //Create object and set CAN speed
+ecu_t ecu;
+
+void update_menu(void);
+void update_param(unsigned char dir);
 
-ecu_reader obdii(CANSPEED_500);     //Create object and set CAN speed
-void gps_demo(void);
-void sd_demo(void);
+// Menu defines
+#define L0_MAIN_MENU   0
+#define L0_RPM         1
+#define L0_THROTTLE    2
+#define L0_SPEED       3
+#define L0_COOLANT     4
+#define L0_MAF         5
+#define L0_O2          6
+#define L0_DTC         7
 
-int main() {
+#define INC            0
+#define DEC            1
+
+#define CAN250         0
+#define CAN500         1
+unsigned char menu_state;
+unsigned char canspeed;
+
+int main() 
+{
     pc.baud(115200);
-    char buffer[20];
-    
+
     //Enable Pullup 
     click.mode(PullUp);
     right.mode(PullUp);
     down.mode(PullUp);
     left.mode(PullUp);
     up.mode(PullUp);
-    
-    printf("ECU Reader \n"); 
+
+    printf("\n\nECU Simulator v1.0 \n"); 
+      
+    led1 = 1;
+    wait(0.1);
+    led2 = 1;
+    wait(0.1);
+    led3 = 1;
+    wait(0.1);
+    led4 = 1;
+    wait(0.2);
+    led1 = 0; led2 = 0; led3 = 0; led4 = 0;
+       
+    lcd.cls();
     lcd.locate(0,0);                // Set LCD cursor position
-    lcd.printf("CAN-Bus demo");
-    
+    lcd.printf("ECU Simulator v1.0");
     lcd.locate(0,1);
     lcd.printf("www.skpang.co.uk");
-       
-    pc.printf("\n\rCAN-bus demo...");
     
-    wait(3);
+    wait(1);
     lcd.cls();
-    lcd.printf("Use joystick");
-
+    
+    lcd.printf("<- Params ->");
     lcd.locate(0,1);
-    lcd.printf("U-CAN:D-GPS:L-SD");
+    lcd.printf("500kb/s");
     
-    pc.printf("\nU-CAN:D-GPS:L-SD");
+    canspeed = CAN500;
+    menu_state = L0_MAIN_MENU;
+    ecu.dtc = false;
+    
+    wait(0.2);
+    led1 = 1;
+    
+    while(1) {  // Main CAN loop
 
-    while(1)    // Wait until option is selected by the joystick
-    {
-   
-        if(down == 0) gps_demo();
-        if(left == 0) sd_demo();
-               
-        if(up == 0) break;
+        sim.request();
         
-    }
-    lcd.cls();
-
-    while(1) {  // Main CAN loop
-        led2 = 1;
-        wait(0.1);
-        led2 = 0;
-        wait(0.1);
+        if(!down){
+            update_param(DEC);
+        }
+         
+        if(!up){
+            update_param(INC);
+        }
         
-        if(obdii.request(ENGINE_RPM,buffer) == 1)   // Get engine rpm and display on LCD
-        {
-            lcd.locate(0,0);
-            lcd.printf(buffer);
-              pc.printf(buffer);
-        }   
-         
-        if(obdii.request(ENGINE_COOLANT_TEMP,buffer) == 1)
-        {
-            lcd.locate(9,0);
-            lcd.printf(buffer);
+        if(!left){
+           if(menu_state != L0_MAIN_MENU) menu_state--;
+           update_menu(); 
         }
         
-        if(obdii.request(VEHICLE_SPEED,buffer) == 1)
-        {
-            lcd.locate(0,1);
-            lcd.printf(buffer);
+        if(!right){
+           if(menu_state != L0_DTC) menu_state++;
+           update_menu(); 
         }
+
+    }
+}
+void update_param(unsigned char dir)
+{
+    char buffer[20];
+    lcd.locate(0,1);  
+    switch(menu_state)
+    {
+        case L0_MAIN_MENU:
+            if(dir == INC){
+                sim.canspeed(CANSPEED_500); 
+                lcd.printf("500kb/s");
+                canspeed = CAN500;
+            }else {
+                sim.canspeed(CANSPEED_250); 
+                lcd.printf("250kb/s");
+                canspeed = CAN250;
+            }
+                
+            break;
+
+        case L0_RPM:
+            if(dir == INC){
+                ecu.engine_rpm = ecu.engine_rpm +10;
+            } else ecu.engine_rpm = ecu.engine_rpm - 10;
+    
+            sprintf(buffer,"%d RPM   ", (int)((((ecu.engine_rpm & 0xff00) >> 8) * 256) + (ecu.engine_rpm & 0x00ff)) / 4);  
+            lcd.printf(buffer);   
+            break;
+            
+        case L0_THROTTLE:
+            if(dir == INC){
+                ecu.throttle_position++;
+            } else ecu.throttle_position--;
+            
+            sprintf(buffer,"%d %%   ", (int)ecu.throttle_position);  
+            lcd.printf(buffer);   
+            break;
+            
+        case L0_SPEED:
+            if(dir == INC){
+                ecu.vehicle_speed++;
+            } else ecu.vehicle_speed--;
+     
+            sprintf(buffer,"%d km/h  ",(int) ecu.vehicle_speed);  
+            lcd.printf(buffer); 
+            break;
+            
+        case L0_COOLANT:
+            if(dir == INC){
+                ecu.coolant_temp++;
+            } else ecu.coolant_temp--;
      
-        if(obdii.request(THROTTLE,buffer) ==1 )
-        {
-            lcd.locate(9,1);
-            lcd.printf(buffer);          
-        }   
-       
+            sprintf(buffer,"%d C  ",(int) ecu.coolant_temp - 40);  
+            lcd.printf(buffer); 
+            break;             
+            
+        case L0_MAF:
+            if(dir == INC){
+                ecu.maf_airflow = ecu.maf_airflow +10;
+            } else ecu.maf_airflow = ecu.maf_airflow - 10;
+            
+            sprintf(buffer,"%d g/s   ", (int)((((ecu.maf_airflow & 0xff00) >> 8) * 256) + (ecu.maf_airflow & 0x00ff)) / 100); 
+            lcd.printf(buffer);   
+            break;
+            
+        case L0_O2:
+            if(dir == INC){
+                ecu.o2_voltage = ecu.o2_voltage +10;
+            } else ecu.o2_voltage = ecu.o2_voltage - 10;
+            
+            sprintf(buffer,"%d   ", (int)ecu.o2_voltage);  
+            lcd.printf(buffer);   
+            break;
+            
+         case L0_DTC:
+            if(dir == INC){
+                ecu.dtc = true;
+                led4 = 1;
+            } else {
+                ecu.dtc = false;
+                led4 = 0;
+            }
+            
+            sprintf(buffer,"%d   ", (int)ecu.dtc);  
+            lcd.printf(buffer);   
+            break;    
+            
     }
+   
+   wait(0.1);   //Delay for auto repeat
+    
+    
+}
+void update_menu(void)
+{
+    char buffer[20];
+    lcd.cls();
+    lcd.locate(0,0);     
+   
+    switch(menu_state)
+    {
+        case L0_MAIN_MENU:
+            lcd.printf("CAN speed");
+            lcd.locate(0,1);  
+            if(canspeed == CAN500) lcd.printf("500kb/s");
+                else lcd.printf("250kb/s");
+            break;
+            
+        case L0_RPM:
+            lcd.printf("Engine RPM");
+            lcd.locate(0,1);
+            sprintf(buffer,"%d RPM   ", (int) ((((ecu.engine_rpm & 0xff00) >> 8) * 256) + (ecu.engine_rpm & 0x00ff)) / 4);  
+            lcd.printf(buffer);   
+            break;
+            
+        case L0_THROTTLE:
+            lcd.printf("Throttle pos");
+            lcd.locate(0,1);
+            sprintf(buffer,"%d %   ", ecu.throttle_position);  
+            lcd.printf(buffer);   
+            break;
+            
+        case L0_SPEED:
+            lcd.printf("Vehicle speed");
+            lcd.locate(0,1);  
+            sprintf(buffer,"%d kph  ", ecu.vehicle_speed);  
+            lcd.printf(buffer); 
+            break;
+        
+        case L0_COOLANT:
+            lcd.printf("Coolant temp");
+            lcd.locate(0,1);  
+            sprintf(buffer,"%d C  ",(int) ecu.coolant_temp - 40);  
+            lcd.printf(buffer); 
+            break;
+            
+        case L0_MAF:
+            lcd.printf("MAF air flow ");
+            lcd.locate(0,1);
+            sprintf(buffer,"%d g/s   ", ecu.maf_airflow);  
+            lcd.printf(buffer);   
+            break;
+            
+        case L0_O2:
+            lcd.printf("Oxygen sensor v.");
+            lcd.locate(0,1);  
+            sprintf(buffer,"%d   ", ecu.o2_voltage);  
+            lcd.printf(buffer);   
+            break;
+            
+        case L0_DTC:
+            lcd.printf("DTC");
+            lcd.locate(0,1);  
+            sprintf(buffer,"%d   ", ecu.dtc);  
+            lcd.printf(buffer);   
+            break;
+            
+    }
+   
+   while(!left);    //Wait for key to be released
+   while(!right);
+   wait(0.05);
+    
 }
 
-void gps_demo(void)
-{
-    lcd.cls();
-    lcd.printf("GPS demo");
-    lcd.locate(0,1);
-    lcd.printf("Waiting for lock");
- 
-    wait(3);    
-    lcd.cls();
-   
-    while(1)
-    {
-      if(gps.sample()) {
-         lcd.cls();
-        lcd.printf("Long:%f", gps.longitude);
-           lcd.locate(0,1);
-        lcd.printf("Lat:%f", gps.latitude);
-            pc.printf("I'm at %f, %f\n", gps.longitude, gps.latitude);
-        } else {
-            pc.printf("Oh Dear! No lock :(\n");
-            lcd.cls();
-            lcd.printf("Waiting for lock");
-   
-        }
-    }
- 
-}
 
-void sd_demo(void)
-{
-    lcd.cls();
-     printf("\nSD demo");
-    lcd.printf("SD demo");
-    wait(2);      
-    lcd.cls();
-    
-    FILE *fp = fopen("/sd/sdtest2.txt", "w");
-    if(fp == NULL) {
-        lcd.cls();
-        lcd.printf("Could not open file for write\n");
-         pc.printf("\nCould not open file for write");
-    }
-    fprintf(fp, "Hello fun SD Card World! testing 1234");
-    fclose(fp); 
-    lcd.locate(0,1);
-    lcd.printf("Writtern to SD card");
-    pc.printf("\nWrittern to SD card");
-        
-    while(1)
-    {
-        led2 = 1;
-        wait(0.1);
-        led2 = 0;
-        wait(0.1);
-   
-    }
- 
-}
+