Petter Bellander / Mbed 2 deprecated Saab-BT

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Dependencies:   mbed

CDC.cpp@3:b76c74783d0d, 2016-01-05 (annotated)

Committer:
petter
Date:
Tue Jan 05 21:32:11 2016 +0000
Revision:
3:b76c74783d0d
Parent:
2:10c60edc8573
Child:
6:c454f88524d6
Updated response to 6A1h command from IHU.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
petter 0:6cf6e566c0da 1 // I-Bus information from http://pikkupossu.1g.fi/tomi/projects/i-bus/i-bus.html
petter 0:6cf6e566c0da 2 // 290h - Steering wheel and SID buttons | Rx
petter 0:6cf6e566c0da 3 // 328h - SID audio text | Tx
petter 0:6cf6e566c0da 4 // 32Ch - ACC to SID text
petter 0:6cf6e566c0da 5 // 32Fh - TWICE to SID text
petter 0:6cf6e566c0da 6 // 337h - SPA to SID text
petter 0:6cf6e566c0da 7 // 348h - SID audio text control | Tx
petter 0:6cf6e566c0da 8 // 34Ch - ACC to SID text control
petter 0:6cf6e566c0da 9 // 34Fh - TWICE to SID text control
petter 0:6cf6e566c0da 10 // 357h - SPA to SID text control
petter 0:6cf6e566c0da 11 // 368h - SID text priority | Tx
petter 0:6cf6e566c0da 12 // 3C0h - CD Changer control | Rx
petter 0:6cf6e566c0da 13 // 3C8h - CD Changer information | Tx
petter 0:6cf6e566c0da 14 // 430h - SID beep request | Tx
petter 0:6cf6e566c0da 15 // 6A1h - Audio head unit | Rx
petter 0:6cf6e566c0da 16 // 6A2h - CD changer | Tx
petter 0:6cf6e566c0da 17 // 320h - Doors, central locking and seat belts | Rx
petter 0:6cf6e566c0da 18
petter 0:6cf6e566c0da 19 /** Includes **/
petter 0:6cf6e566c0da 20 #include "CDC.h"
petter 0:6cf6e566c0da 21
petter 0:6cf6e566c0da 22 /** Various constants used for identifying the CDC **/
petter 0:6cf6e566c0da 23 #define CDC_APL_ADR 0x11
petter 0:6cf6e566c0da 24 #define CDC_SID_FUNCTION_ID 0x19
petter 0:6cf6e566c0da 25
petter 0:6cf6e566c0da 26 /** TX IDs: **/
petter 0:6cf6e566c0da 27 #define GENERAL_STATUS_CDC 0x3C8
petter 0:6cf6e566c0da 28 #define DISPLAY_RESOURCE_REQ 0x348 // 'Stolen' from the IHU since the CDC doesn't send this message
petter 0:6cf6e566c0da 29 #define WRITE_TEXT_ON_DISPLAY 0x328 // 'Stolen' from the IHU since the CDC doesn't send this message
petter 0:6cf6e566c0da 30 #define NODE_STATUS_TX 0x6A2
petter 0:6cf6e566c0da 31 #define SOUND_REQUEST 0x430
petter 0:6cf6e566c0da 32
petter 0:6cf6e566c0da 33 /** RX IDs: **/
petter 0:6cf6e566c0da 34 #define LOCK_STATUS 0x320
petter 0:6cf6e566c0da 35 #define IHU_BUTTONS 0x3C0
petter 0:6cf6e566c0da 36 #define DISPLAY_RESOURCE_GRANT 0x368
petter 0:6cf6e566c0da 37 #define NODE_STATUS_RX 0x6A1
petter 0:6cf6e566c0da 38 #define STEERING_WHEEL_BUTTONS 0x290
petter 0:6cf6e566c0da 39
petter 0:6cf6e566c0da 40
petter 0:6cf6e566c0da 41 /** Variables: **/
petter 0:6cf6e566c0da 42 bool cdc_active = false; // True while our module, the simulated CDC, is active.
petter 0:6cf6e566c0da 43 bool mute = false;
petter 0:6cf6e566c0da 44 int toggle_shuffle = 1;
petter 3:b76c74783d0d 45 int ninefive_poweron_cmd[4][9] = {
petter 3:b76c74783d0d 46 {0x32,0x00,0x00,0x03,0x01,0x02,0x00,0x00,-1},
petter 3:b76c74783d0d 47 {0x42,0x00,0x00,0x22,0x00,0x00,0x00,0x00,-1},
petter 3:b76c74783d0d 48 {0x52,0x00,0x00,0x22,0x00,0x00,0x00,0x00,-1},
petter 3:b76c74783d0d 49 {0x62,0x00,0x00,0x22,0x00,0x00,0x00,0x00,-1}
petter 3:b76c74783d0d 50 };
petter 3:b76c74783d0d 51 int ninefive_active_cmd[4][9] = {
petter 3:b76c74783d0d 52 {0x32,0x00,0x00,0x16,0x01,0x02,0x00,0x00,-1},
petter 3:b76c74783d0d 53 {0x42,0x00,0x00,0x36,0x00,0x00,0x00,0x00,-1},
petter 3:b76c74783d0d 54 {0x52,0x00,0x00,0x36,0x00,0x00,0x00,0x00,-1},
petter 3:b76c74783d0d 55 {0x62,0x00,0x00,0x36,0x00,0x00,0x00,0x00,-1},
petter 3:b76c74783d0d 56 };
petter 3:b76c74783d0d 57 int ninefive_powerdown_cmd[4][9] = {
petter 3:b76c74783d0d 58 {0x32,0x00,0x00,0x19,0x01,0x00,0x00,0x00,-1},
petter 3:b76c74783d0d 59 {0x42,0x00,0x00,0x38,0x01,0x00,0x00,0x00,-1},
petter 3:b76c74783d0d 60 {0x52,0x00,0x00,0x38,0x01,0x00,0x00,0x00,-1},
petter 3:b76c74783d0d 61 {0x62,0x00,0x00,0x38,0x01,0x00,0x00,0x00,-1}
petter 3:b76c74783d0d 62 };
petter 0:6cf6e566c0da 63 int beep_cmd[] = {0x80,0x04,0x00,0x00,0x00,0x00,0x00,0x00,-1};
petter 0:6cf6e566c0da 64 int cdc_status_cmd[] = {0xE0,0x00,0x01,0x41,0x01,0x00,0x00,0xD0,-1};
petter 0:6cf6e566c0da 65 int display_request_cmd[] = {CDC_APL_ADR,0x02,0x05,CDC_SID_FUNCTION_ID,0x00,0x00,0x00,0x00,-1};
petter 0:6cf6e566c0da 66 //int display_clear_cmd[] = {CDC_APL_ADR,0x02,0xFF,CDC_SID_FUNCTION_ID,0x00,0x00,0x00,0x00,-1};
petter 0:6cf6e566c0da 67
petter 0:6cf6e566c0da 68 /** Com: **/
petter 0:6cf6e566c0da 69 CAN can(p9, p10);
petter 0:6cf6e566c0da 70 CANMessage CAN_TxMsg;
petter 0:6cf6e566c0da 71 CANMessage CAN_RxMsg;
petter 0:6cf6e566c0da 72 CANMessage CAN_DispMsg[3];
petter 0:6cf6e566c0da 73
petter 0:6cf6e566c0da 74 /** I/O: **/
petter 0:6cf6e566c0da 75 DigitalOut led1(LED1, 0);
petter 0:6cf6e566c0da 76 DigitalOut led2(LED2, 0);
petter 0:6cf6e566c0da 77
petter 2:10c60edc8573 78 /** Timers: **/
petter 2:10c60edc8573 79 Timer playback;
petter 2:10c60edc8573 80
petter 0:6cf6e566c0da 81 /******************************************************************************
petter 0:6cf6e566c0da 82 * PUBLIC METHODS
petter 0:6cf6e566c0da 83 ******************************************************************************/
petter 0:6cf6e566c0da 84
petter 0:6cf6e566c0da 85 /** Initializes CDC **/
petter 0:6cf6e566c0da 86 void CDC::init() {
petter 0:6cf6e566c0da 87 can.frequency(47619);
petter 0:6cf6e566c0da 88 printf("CAN Frequency set\r\n");
petter 0:6cf6e566c0da 89 CAN_wrFilter(1, LOCK_STATUS);
petter 0:6cf6e566c0da 90 CAN_wrFilter(1, IHU_BUTTONS);
petter 0:6cf6e566c0da 91 CAN_wrFilter(1, DISPLAY_RESOURCE_GRANT);
petter 0:6cf6e566c0da 92 CAN_wrFilter(1, NODE_STATUS_RX);
petter 0:6cf6e566c0da 93 CAN_wrFilter(1, STEERING_WHEEL_BUTTONS);
petter 0:6cf6e566c0da 94 CAN_wrFilter(1, DISPLAY_RESOURCE_REQ);
petter 0:6cf6e566c0da 95 printf("CAN Filters set\r\n");
petter 0:6cf6e566c0da 96
petter 0:6cf6e566c0da 97 CAN_TxMsg.len = 8;
petter 0:6cf6e566c0da 98 CAN_DispMsg[0].len = 8;
petter 0:6cf6e566c0da 99 CAN_DispMsg[1].len = 8;
petter 0:6cf6e566c0da 100 CAN_DispMsg[2].len = 8;
petter 0:6cf6e566c0da 101 CAN_DispMsg[0].id = WRITE_TEXT_ON_DISPLAY;
petter 0:6cf6e566c0da 102 CAN_DispMsg[1].id = WRITE_TEXT_ON_DISPLAY;
petter 0:6cf6e566c0da 103 CAN_DispMsg[2].id = WRITE_TEXT_ON_DISPLAY;
petter 0:6cf6e566c0da 104 CAN_DispMsg[0].data[0] = 0x42; // order, new
petter 0:6cf6e566c0da 105 CAN_DispMsg[1].data[0] = 0x01; // order
petter 0:6cf6e566c0da 106 CAN_DispMsg[2].data[0] = 0x00; // order
petter 0:6cf6e566c0da 107 CAN_DispMsg[0].data[1] = 0x96; // Address of the SID
petter 0:6cf6e566c0da 108 CAN_DispMsg[1].data[1] = 0x96; // Address of the SID
petter 0:6cf6e566c0da 109 CAN_DispMsg[2].data[1] = 0x96; // Address of the SID
petter 0:6cf6e566c0da 110 CAN_DispMsg[0].data[2] = 0x02; // Writing to row 2
petter 0:6cf6e566c0da 111 CAN_DispMsg[1].data[2] = 0x02; // Writing to row 2
petter 0:6cf6e566c0da 112 CAN_DispMsg[2].data[2] = 0x02; // Writing to row 2
petter 0:6cf6e566c0da 113 display("BT REDO");
petter 0:6cf6e566c0da 114 }
petter 0:6cf6e566c0da 115
petter 0:6cf6e566c0da 116 /** Handles an incoming (RX) frame **/
petter 0:6cf6e566c0da 117 IBUS_COMMAND CDC::get_cmd() {
petter 0:6cf6e566c0da 118 if(can.read(CAN_RxMsg)) {
petter 0:6cf6e566c0da 119 led2 = !led2;
petter 0:6cf6e566c0da 120 CAN_TxMsg.data[0]++;
petter 0:6cf6e566c0da 121 switch (CAN_RxMsg.id) {
petter 0:6cf6e566c0da 122 case LOCK_STATUS:
petter 0:6cf6e566c0da 123 {
petter 0:6cf6e566c0da 124 int locked = (CAN_RxMsg.data[1] >> 7) & 1;
petter 0:6cf6e566c0da 125 if(locked){
petter 0:6cf6e566c0da 126 return IBUS_DOORS_LOCKED;
petter 0:6cf6e566c0da 127 }
petter 0:6cf6e566c0da 128 else{
petter 0:6cf6e566c0da 129 return IBUS_DOORS_UNLOCKED;
petter 0:6cf6e566c0da 130 }
petter 0:6cf6e566c0da 131 }
petter 0:6cf6e566c0da 132 case DISPLAY_RESOURCE_REQ:
petter 0:6cf6e566c0da 133 send_can_frame(DISPLAY_RESOURCE_REQ, display_request_cmd);
petter 2:10c60edc8573 134 update_elapsed_time();
petter 0:6cf6e566c0da 135 send_can_frame(GENERAL_STATUS_CDC, cdc_status_cmd);
petter 0:6cf6e566c0da 136 led1 = !led1;
petter 0:6cf6e566c0da 137 break;
petter 0:6cf6e566c0da 138 case NODE_STATUS_RX:
petter 3:b76c74783d0d 139 switch (CAN_RxMsg.data[3] & 0x0F){
petter 3:b76c74783d0d 140 case (0x3):
petter 3:b76c74783d0d 141 for (int i = 0; i < 4; i++) {
petter 3:b76c74783d0d 142 send_can_frame(NODE_STATUS_TX, ninefive_poweron_cmd[i]);
petter 3:b76c74783d0d 143 }
petter 3:b76c74783d0d 144 break;
petter 3:b76c74783d0d 145 case (0x2):
petter 3:b76c74783d0d 146 for (int i = 0; i < 4; i++) {
petter 3:b76c74783d0d 147 send_can_frame(NODE_STATUS_TX, ninefive_active_cmd[i]);
petter 3:b76c74783d0d 148 }
petter 3:b76c74783d0d 149 break;
petter 3:b76c74783d0d 150 case (0x8):
petter 3:b76c74783d0d 151 for (int i = 0; i < 4; i++) {
petter 3:b76c74783d0d 152 send_can_frame(NODE_STATUS_TX, ninefive_powerdown_cmd[i]);
petter 3:b76c74783d0d 153 }
petter 3:b76c74783d0d 154 break;
petter 3:b76c74783d0d 155 }
petter 0:6cf6e566c0da 156 break;
petter 0:6cf6e566c0da 157 case IHU_BUTTONS:
petter 0:6cf6e566c0da 158 return get_ihu_cmd();
petter 0:6cf6e566c0da 159 case STEERING_WHEEL_BUTTONS:
petter 0:6cf6e566c0da 160 return get_steering_wheel_cmd();
petter 0:6cf6e566c0da 161 case DISPLAY_RESOURCE_GRANT:
petter 0:6cf6e566c0da 162 if ((CAN_RxMsg.data[0] == 0x02) && (CAN_RxMsg.data[1] == CDC_SID_FUNCTION_ID)) {
petter 0:6cf6e566c0da 163 //We have been granted the right to write text to the second row in the SID
petter 0:6cf6e566c0da 164 display_request_cmd[2] = 0x04;
petter 0:6cf6e566c0da 165 display_update();
petter 0:6cf6e566c0da 166 }
petter 0:6cf6e566c0da 167 else if (CAN_RxMsg.data[0] == 0x02) {
petter 0:6cf6e566c0da 168 //Someone else has been granted the second row, we need to back down
petter 0:6cf6e566c0da 169 display_request_cmd[2] = 0x05;
petter 0:6cf6e566c0da 170 }
petter 0:6cf6e566c0da 171 else if (CAN_RxMsg.data[0] == 0x00) {
petter 0:6cf6e566c0da 172 //Someone else has been granted the entire display, we need to back down
petter 0:6cf6e566c0da 173 display_request_cmd[2] = 0x05;
petter 0:6cf6e566c0da 174 }
petter 0:6cf6e566c0da 175 break;
petter 0:6cf6e566c0da 176 }
petter 0:6cf6e566c0da 177 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 178 }
petter 0:6cf6e566c0da 179 return IBUS_NO_MESSAGE;
petter 0:6cf6e566c0da 180 }
petter 0:6cf6e566c0da 181
petter 0:6cf6e566c0da 182 /** Handles the IHU_BUTTONS frame that the IHU sends us when it wants to control some feature of the CDC **/
petter 0:6cf6e566c0da 183 IBUS_COMMAND CDC::get_ihu_cmd() {
petter 0:6cf6e566c0da 184 bool event = (CAN_RxMsg.data[0] == 0x80);
petter 0:6cf6e566c0da 185 if (!event) {
petter 0:6cf6e566c0da 186 //Ignore the message if it wasn't sent on event
petter 0:6cf6e566c0da 187 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 188 }
petter 0:6cf6e566c0da 189 switch (CAN_RxMsg.data[1]) {
petter 0:6cf6e566c0da 190 case 0x24: // CDC = ON (CD/RDM button has been pressed twice)
petter 0:6cf6e566c0da 191 cdc_active = true;
petter 0:6cf6e566c0da 192 return IBUS_CDC_ON;
petter 0:6cf6e566c0da 193 case 0x14: // CDC = OFF (Back to Radio or Tape mode)
petter 0:6cf6e566c0da 194 cdc_active = false;
petter 0:6cf6e566c0da 195 return IBUS_CDC_OFF;
petter 0:6cf6e566c0da 196 }
petter 0:6cf6e566c0da 197 if (cdc_active) {
petter 0:6cf6e566c0da 198 switch (CAN_RxMsg.data[1]) {
petter 0:6cf6e566c0da 199 case 0x35: // Track up
petter 0:6cf6e566c0da 200 return IBUS_SKIP_FW;
petter 0:6cf6e566c0da 201 case 0x36: // Track down
petter 0:6cf6e566c0da 202 return IBUS_SKIP_BW;
petter 0:6cf6e566c0da 203 }
petter 0:6cf6e566c0da 204 }
petter 0:6cf6e566c0da 205 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 206 }
petter 0:6cf6e566c0da 207
petter 0:6cf6e566c0da 208 /** Handles the STEERING_WHEEL_BUTTONS frame * TODO connect the SID button events to actions **/
petter 0:6cf6e566c0da 209 IBUS_COMMAND CDC::get_steering_wheel_cmd() {
petter 0:6cf6e566c0da 210
petter 0:6cf6e566c0da 211 bool event = (CAN_RxMsg.data[0] == 0x80);
petter 0:6cf6e566c0da 212 if (!event) {
petter 0:6cf6e566c0da 213 //Ignore the message if it wasn't sent on event
petter 0:6cf6e566c0da 214 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 215 }
petter 0:6cf6e566c0da 216 if (!cdc_active) {
petter 0:6cf6e566c0da 217 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 218 }
petter 0:6cf6e566c0da 219 switch (CAN_RxMsg.data[4]) {
petter 0:6cf6e566c0da 220 case 0x04: // NXT button on wheel
petter 0:6cf6e566c0da 221 return IBUS_NEXT;
petter 0:6cf6e566c0da 222 case 0x10: // Seek+ button on wheel
petter 0:6cf6e566c0da 223 return IBUS_SKIP_FW;
petter 0:6cf6e566c0da 224 case 0x08: // Seek- button on wheel
petter 0:6cf6e566c0da 225 return IBUS_SKIP_BW;
petter 0:6cf6e566c0da 226 case 0x40: // Vol+ button on wheel
petter 0:6cf6e566c0da 227 return IBUS_VOLUME_UP;
petter 0:6cf6e566c0da 228 case 0x80: // Vol- button on wheel
petter 0:6cf6e566c0da 229 return IBUS_VOLUME_DOWN;
petter 0:6cf6e566c0da 230 }
petter 0:6cf6e566c0da 231 switch (CAN_RxMsg.data[5]) {
petter 0:6cf6e566c0da 232 case 0x40: // SET button on SID
petter 0:6cf6e566c0da 233 return IBUS_SET;
petter 0:6cf6e566c0da 234 case 0x80: // CLEAR button on SID
petter 0:6cf6e566c0da 235 return IBUS_CLEAR;
petter 0:6cf6e566c0da 236 }
petter 0:6cf6e566c0da 237 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 238 }
petter 0:6cf6e566c0da 239
petter 0:6cf6e566c0da 240
petter 0:6cf6e566c0da 241
petter 0:6cf6e566c0da 242 /** Writes the provided text on the SID. NOTE the character set used by the SID is slightly nonstandard. "Normal" characters should work fine. **/
petter 0:6cf6e566c0da 243 void CDC::display(char text[]) {
petter 0:6cf6e566c0da 244 if (!text) {
petter 0:6cf6e566c0da 245 return;
petter 0:6cf6e566c0da 246 }
petter 0:6cf6e566c0da 247
petter 0:6cf6e566c0da 248 //Notify the SID that we want to display a message
petter 0:6cf6e566c0da 249 send_can_frame(DISPLAY_RESOURCE_REQ, display_request_cmd);
petter 0:6cf6e566c0da 250
petter 0:6cf6e566c0da 251 // Copy the provided string and make sure we have a new array of the correct length:
petter 0:6cf6e566c0da 252 char display_text[15];
petter 0:6cf6e566c0da 253 int i, n;
petter 0:6cf6e566c0da 254 n = strlen(text);
petter 0:6cf6e566c0da 255 if(n > 15) {
petter 0:6cf6e566c0da 256 n = 15;
petter 0:6cf6e566c0da 257 }
petter 0:6cf6e566c0da 258 for (i = 0; i < n; i++) {
petter 0:6cf6e566c0da 259 display_text[i] = text[i];
petter 0:6cf6e566c0da 260 }
petter 0:6cf6e566c0da 261 for (i = n + 1; i < 15; i++) {
petter 0:6cf6e566c0da 262 display_text[i] = 0;
petter 0:6cf6e566c0da 263 }
petter 0:6cf6e566c0da 264
petter 0:6cf6e566c0da 265 CAN_DispMsg[0].data[2] = 0x82; // Sent on basetime, writing to row 2, message changed
petter 0:6cf6e566c0da 266 CAN_DispMsg[0].data[3] = display_text[0];
petter 0:6cf6e566c0da 267 CAN_DispMsg[0].data[4] = display_text[1];
petter 0:6cf6e566c0da 268 CAN_DispMsg[0].data[5] = display_text[2];
petter 0:6cf6e566c0da 269 CAN_DispMsg[0].data[6] = display_text[3];
petter 0:6cf6e566c0da 270 CAN_DispMsg[0].data[7] = display_text[4];
petter 0:6cf6e566c0da 271
petter 0:6cf6e566c0da 272 CAN_DispMsg[1].data[3] = display_text[5];
petter 0:6cf6e566c0da 273 CAN_DispMsg[1].data[4] = display_text[6];
petter 0:6cf6e566c0da 274 CAN_DispMsg[1].data[5] = display_text[7];
petter 0:6cf6e566c0da 275 CAN_DispMsg[1].data[6] = display_text[8];
petter 0:6cf6e566c0da 276 CAN_DispMsg[1].data[7] = display_text[9];
petter 0:6cf6e566c0da 277
petter 0:6cf6e566c0da 278 CAN_DispMsg[2].data[3] = display_text[10];
petter 0:6cf6e566c0da 279 CAN_DispMsg[2].data[4] = display_text[11];
petter 0:6cf6e566c0da 280 CAN_DispMsg[2].data[5] = display_text[12];
petter 0:6cf6e566c0da 281 CAN_DispMsg[2].data[6] = display_text[13];
petter 0:6cf6e566c0da 282 CAN_DispMsg[2].data[7] = display_text[14];
petter 0:6cf6e566c0da 283 }
petter 0:6cf6e566c0da 284
petter 0:6cf6e566c0da 285 /** Writes the provided text on the SID. NOTE the character set used by the SID is slightly nonstandard. "Normal" characters should work fine. **/
petter 0:6cf6e566c0da 286 void CDC::display_update() {
petter 0:6cf6e566c0da 287 can.write(CAN_DispMsg[0]);
petter 0:6cf6e566c0da 288 can.write(CAN_DispMsg[1]);
petter 0:6cf6e566c0da 289 can.write(CAN_DispMsg[2]);
petter 0:6cf6e566c0da 290 CAN_DispMsg[0].data[2] = 0x02; // Message not changed next transmission unless display() is called
petter 0:6cf6e566c0da 291 }
petter 0:6cf6e566c0da 292
petter 2:10c60edc8573 293 /** Sets the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 294 void CDC::update_elapsed_time() {
petter 2:10c60edc8573 295 cdc_status_cmd[5] = (char)(((int)playback.read())/60);
petter 2:10c60edc8573 296 cdc_status_cmd[6] = (char)(((int)playback.read())%60);
petter 2:10c60edc8573 297 }
petter 2:10c60edc8573 298
petter 2:10c60edc8573 299 /** Resets the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 300 void CDC::reset_elapsed_time() {
petter 2:10c60edc8573 301 playback.reset();
petter 2:10c60edc8573 302 }
petter 2:10c60edc8573 303
petter 2:10c60edc8573 304 /** Stops the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 305 void CDC::stop_elapsed_time() {
petter 2:10c60edc8573 306 playback.stop();
petter 2:10c60edc8573 307 }
petter 2:10c60edc8573 308
petter 2:10c60edc8573 309 /** Starts the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 310 void CDC::start_elapsed_time() {
petter 2:10c60edc8573 311 playback.start();
petter 0:6cf6e566c0da 312 }
petter 0:6cf6e566c0da 313
petter 0:6cf6e566c0da 314
petter 0:6cf6e566c0da 315 /** Formats and puts a frame on CAN bus **/
petter 0:6cf6e566c0da 316 void CDC::send_can_frame(int message_id, int *msg) {
petter 0:6cf6e566c0da 317 CAN_TxMsg.id = message_id;
petter 0:6cf6e566c0da 318 int i = 0;
petter 0:6cf6e566c0da 319 while (msg[i] != -1) {
petter 0:6cf6e566c0da 320 CAN_TxMsg.data[i] = msg[i];
petter 0:6cf6e566c0da 321 i++;
petter 0:6cf6e566c0da 322 }
petter 0:6cf6e566c0da 323 can.write(CAN_TxMsg);
petter 0:6cf6e566c0da 324 }
petter 0:6cf6e566c0da 325
petter 0:6cf6e566c0da 326 /** DEBUG: Prints the CAN TX frame to serial output **/
petter 0:6cf6e566c0da 327 void CDC::print_can_frame(CANMessage *msg){
petter 0:6cf6e566c0da 328 printf("CAN message %X:", msg->id);
petter 0:6cf6e566c0da 329 for (int i = 0; i < msg->len; i++) {
petter 0:6cf6e566c0da 330 printf(" %X", msg->data[i]);
petter 0:6cf6e566c0da 331 }
petter 0:6cf6e566c0da 332 printf("\r\n");
petter 0:6cf6e566c0da 333 }
petter 0:6cf6e566c0da 334
petter 0:6cf6e566c0da 335 /*----------------------------------------------------------------------------
petter 0:6cf6e566c0da 336 setup acceptance filter. CAN controller (1..2)
petter 0:6cf6e566c0da 337 *----------------------------------------------------------------------------*/
petter 0:6cf6e566c0da 338 void CDC::CAN_wrFilter(uint32_t ctrl, uint32_t id) {
petter 0:6cf6e566c0da 339 static int CAN_std_cnt = 0;
petter 0:6cf6e566c0da 340 static int CAN_ext_cnt = 0;
petter 0:6cf6e566c0da 341 uint32_t buf0, buf1;
petter 0:6cf6e566c0da 342 int cnt1, cnt2, bound1;
petter 0:6cf6e566c0da 343
petter 0:6cf6e566c0da 344 /* Acceptance Filter Memory full */
petter 0:6cf6e566c0da 345 if ((((CAN_std_cnt + 1) >> 1) + CAN_ext_cnt) >= 512)
petter 0:6cf6e566c0da 346 return; /* error: objects full */
petter 0:6cf6e566c0da 347
petter 0:6cf6e566c0da 348 /* Setup Acceptance Filter Configuration
petter 0:6cf6e566c0da 349 Acceptance Filter Mode Register = Off */
petter 0:6cf6e566c0da 350 LPC_CANAF->AFMR = 0x00000001;
petter 0:6cf6e566c0da 351
petter 0:6cf6e566c0da 352 id |= (ctrl-1) << 13; /* Add controller number */
petter 0:6cf6e566c0da 353 id &= 0x0000F7FF; /* Mask out 16-bits of ID */
petter 0:6cf6e566c0da 354
petter 0:6cf6e566c0da 355 /* Move all remaining extended mask entries one place up
petter 0:6cf6e566c0da 356 if new entry will increase standard ID filters list */
petter 0:6cf6e566c0da 357 if ((CAN_std_cnt & 0x0001) == 0 && CAN_ext_cnt != 0) {
petter 0:6cf6e566c0da 358 cnt1 = (CAN_std_cnt >> 1);
petter 0:6cf6e566c0da 359 bound1 = CAN_ext_cnt;
petter 0:6cf6e566c0da 360 buf0 = LPC_CANAF_RAM->mask[cnt1];
petter 0:6cf6e566c0da 361 while (bound1--) {
petter 0:6cf6e566c0da 362 cnt1++;
petter 0:6cf6e566c0da 363 buf1 = LPC_CANAF_RAM->mask[cnt1];
petter 0:6cf6e566c0da 364 LPC_CANAF_RAM->mask[cnt1] = buf0;
petter 0:6cf6e566c0da 365 buf0 = buf1;
petter 0:6cf6e566c0da 366 }
petter 0:6cf6e566c0da 367 }
petter 0:6cf6e566c0da 368
petter 0:6cf6e566c0da 369 if (CAN_std_cnt == 0) { /* For entering first ID */
petter 0:6cf6e566c0da 370 LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
petter 0:6cf6e566c0da 371 } else if (CAN_std_cnt == 1) { /* For entering second ID */
petter 0:6cf6e566c0da 372 if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
petter 0:6cf6e566c0da 373 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
petter 0:6cf6e566c0da 374 else
petter 0:6cf6e566c0da 375 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
petter 0:6cf6e566c0da 376 } else {
petter 0:6cf6e566c0da 377 /* Find where to insert new ID */
petter 0:6cf6e566c0da 378 cnt1 = 0;
petter 0:6cf6e566c0da 379 cnt2 = CAN_std_cnt;
petter 0:6cf6e566c0da 380 bound1 = (CAN_std_cnt - 1) >> 1;
petter 0:6cf6e566c0da 381 while (cnt1 <= bound1) { /* Loop through standard existing IDs */
petter 0:6cf6e566c0da 382 if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id) {
petter 0:6cf6e566c0da 383 cnt2 = cnt1 * 2;
petter 0:6cf6e566c0da 384 break;
petter 0:6cf6e566c0da 385 }
petter 0:6cf6e566c0da 386 if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id) {
petter 0:6cf6e566c0da 387 cnt2 = cnt1 * 2 + 1;
petter 0:6cf6e566c0da 388 break;
petter 0:6cf6e566c0da 389 }
petter 0:6cf6e566c0da 390 cnt1++; /* cnt1 = U32 where to insert new ID */
petter 0:6cf6e566c0da 391 } /* cnt2 = U16 where to insert new ID */
petter 0:6cf6e566c0da 392
petter 0:6cf6e566c0da 393 if (cnt1 > bound1) { /* Adding ID as last entry */
petter 0:6cf6e566c0da 394 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
petter 0:6cf6e566c0da 395 LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
petter 0:6cf6e566c0da 396 else /* Odd number of IDs exists */
petter 0:6cf6e566c0da 397 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
petter 0:6cf6e566c0da 398 } else {
petter 0:6cf6e566c0da 399 buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
petter 0:6cf6e566c0da 400 if ((cnt2 & 0x0001) == 0) /* Insert new mask to even address */
petter 0:6cf6e566c0da 401 buf1 = (id << 16) | (buf0 >> 16);
petter 0:6cf6e566c0da 402 else /* Insert new mask to odd address */
petter 0:6cf6e566c0da 403 buf1 = (buf0 & 0xFFFF0000) | id;
petter 0:6cf6e566c0da 404
petter 0:6cf6e566c0da 405 LPC_CANAF_RAM->mask[cnt1] = buf1; /* Insert mask */
petter 0:6cf6e566c0da 406
petter 0:6cf6e566c0da 407 bound1 = CAN_std_cnt >> 1;
petter 0:6cf6e566c0da 408 /* Move all remaining standard mask entries one place up */
petter 0:6cf6e566c0da 409 while (cnt1 < bound1) {
petter 0:6cf6e566c0da 410 cnt1++;
petter 0:6cf6e566c0da 411 buf1 = LPC_CANAF_RAM->mask[cnt1];
petter 0:6cf6e566c0da 412 LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
petter 0:6cf6e566c0da 413 buf0 = buf1;
petter 0:6cf6e566c0da 414 }
petter 0:6cf6e566c0da 415
petter 0:6cf6e566c0da 416 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
petter 0:6cf6e566c0da 417 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);
petter 0:6cf6e566c0da 418 }
petter 0:6cf6e566c0da 419 }
petter 0:6cf6e566c0da 420 CAN_std_cnt++;
petter 0:6cf6e566c0da 421
petter 0:6cf6e566c0da 422 /* Calculate std ID start address (buf0) and ext ID start address (buf1) */
petter 0:6cf6e566c0da 423 buf0 = ((CAN_std_cnt + 1) >> 1) << 2;
petter 0:6cf6e566c0da 424 buf1 = buf0 + (CAN_ext_cnt << 2);
petter 0:6cf6e566c0da 425
petter 0:6cf6e566c0da 426 /* Setup acceptance filter pointers */
petter 0:6cf6e566c0da 427 LPC_CANAF->SFF_sa = 0;
petter 0:6cf6e566c0da 428 LPC_CANAF->SFF_GRP_sa = buf0;
petter 0:6cf6e566c0da 429 LPC_CANAF->EFF_sa = buf0;
petter 0:6cf6e566c0da 430 LPC_CANAF->EFF_GRP_sa = buf1;
petter 0:6cf6e566c0da 431 LPC_CANAF->ENDofTable = buf1;
petter 0:6cf6e566c0da 432
petter 0:6cf6e566c0da 433 LPC_CANAF->AFMR = 0x00000000; /* Use acceptance filter */
petter 0:6cf6e566c0da 434 }