Sam Grove
/
canopen_masternode
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port_helper.cpp
00001 00002 00003 #include "port_helper.h" 00004 #include "main.h" 00005 00006 Serial Debug(USBTX, USBRX); 00007 DigitalOut running_status(LED1); 00008 00009 extern uint8_t nodeID; 00010 extern uint8_t change_node_id; 00011 extern NMTStateAdjustment stack_state; 00012 00013 void initHelper() 00014 { 00015 Debug.baud(57600); 00016 printf(" CANopen port of CANfestival master node \n"); 00017 } 00018 00019 void serviceHelper() 00020 { 00021 static uint32_t cnt = 0; 00022 // indicate that the stack is running 00023 if (cnt++ > 100){ 00024 cnt = 0; 00025 running_status = !running_status; 00026 } 00027 } 00028 00029 00030 void printMsg(Message& msg) 00031 { 00032 CANMessage m(msg.cob_id, (char*)msg.data, msg.len, static_cast<CANType>(msg.rtr), CANStandard); 00033 // call the CANMessage formatted method 00034 printMsg(m); 00035 } 00036 00037 void printMsg(CANMessage& msg) 00038 { 00039 switch(msg.len){ 00040 case 1: 00041 printf("ID: 0x%04X DLC: %d Data(0): 0x%02X\n", msg.id, msg.len, msg.data[0]); 00042 break; 00043 case 2: 00044 printf("ID: 0x%04X DLC: %d Data(0->1): 0x%02X 0x%02X\n", msg.id, msg.len, msg.data[0], msg.data[1]); 00045 break; 00046 case 3: 00047 printf("ID: 0x%04X DLC: %d Data(0->2): 0x%02X 0x%02X 0x%02X\n", 00048 msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2]); 00049 break; 00050 case 4: 00051 printf("ID: 0x%04X DLC: %d Data(0->3): 0x%02X 0x%02X 0x%02X 0x%02X\n", 00052 msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], msg.data[3]); 00053 break; 00054 case 5: 00055 printf("ID: 0x%04X DLC: %d Data(0->4): 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n", 00056 msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4]); 00057 break; 00058 case 6: 00059 printf("ID: 0x%04X DLC: %d Data(0->5): 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n", 00060 msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], msg.data[3], msg.data[4], msg.data[5]); 00061 break; 00062 case 7: 00063 printf("ID: 0x%04X DLC: %d Data(0->6): 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X 0x%02X\n", 00064 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]); 00065 break; 00066 case 8: 00067 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", 00068 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]); 00069 break; 00070 default: 00071 break; 00072 } 00073 //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", 00074 // msg.id, msg.len, msg.data[0], msg.data[1], msg.data[2], 00075 // msg.data[3], msg.data[4], msg.data[5], msg.data[6],msg.data[7]); 00076 } 00077 00078 void serviceCOMCommands() 00079 { 00080 static char msg[64]; 00081 static char w_loc=0; 00082 if (Debug.readable()){ 00083 // store the data 00084 if (w_loc < 64){ 00085 msg[w_loc++] = Debug.getc(); 00086 } 00087 // clear the buffer and try again 00088 else{ 00089 // clear the buffer 00090 memset(msg, 0, 64); 00091 w_loc = 0; 00092 return; 00093 } 00094 // parse the message and act on it 00095 if ((msg[w_loc-1] == '\r') || (msg[w_loc-1] == '\n') ){ 00096 // format the message 00097 // process the message and look for something familiar 00098 if (strncmp(msg, "help", strlen("help")) == 0){ 00099 // print the help menu 00100 printf("\t HELP OPTIONS (case sesnitive):\n"); 00101 printf("\t help - display the available options\n"); 00102 printf("\t id=xxx - change the node id\n"); 00103 printf("\t about - get info about the node\n"); 00104 printf("\t state=xxxx - start, stop, reset\n"); 00105 } 00106 else if (strncmp(msg, "id=", strlen("id=")) == 0){ 00107 // change the node ID 00108 int res = atoi(msg+strlen("id=")); 00109 if ( (res > 0) && (res < 128) ){ 00110 nodeID = res; 00111 printf("the new node_id = %d\n", nodeID); 00112 change_node_id = 1; 00113 } 00114 else{ 00115 printf("invalid parameter\n"); 00116 } 00117 } 00118 else if (strncmp(msg, "about", strlen("about")) == 0){ 00119 // our call tag 00120 printf(" CANopen port of CANfestival master node \n"); 00121 } 00122 else if (strncmp(msg, "state=", strlen("state=")) == 0){ 00123 // ohh what to do 00124 if (strncmp(msg+strlen("state="), "start", strlen("start")) == 0){ 00125 printf("stack state = start\n"); 00126 // signal back 00127 stack_state = start; 00128 } 00129 else if (strncmp(msg+strlen("state="), "stop", strlen("stop")) == 0){ 00130 printf("stack state = stop\n"); 00131 // signal back 00132 stack_state = stop; 00133 } 00134 else if (strncmp(msg+strlen("state="), "reset", strlen("reset")) == 0){ 00135 printf("stack state = reset\n"); 00136 // signal back 00137 stack_state = reset; 00138 } 00139 } 00140 // clear the buffer 00141 memset(msg, 0, 64); 00142 w_loc = 0; 00143 } 00144 } 00145 } 00146 00147 /* 00148 WDT_IRQHandler 00149 TIMER0_IRQHandler 00150 TIMER1_IRQHandler 00151 TIMER2_IRQHandler 00152 TIMER3_IRQHandler 00153 UART0_IRQHandler 00154 UART1_IRQHandler 00155 UART2_IRQHandler 00156 UART3_IRQHandler 00157 PWM1_IRQHandler 00158 I2C0_IRQHandler 00159 I2C1_IRQHandler 00160 I2C2_IRQHandler 00161 SPI_IRQHandler 00162 SSP0_IRQHandler 00163 SSP1_IRQHandler 00164 PLL0_IRQHandler 00165 RTC_IRQHandler 00166 EINT0_IRQHandler 00167 EINT1_IRQHandler 00168 EINT2_IRQHandler 00169 EINT3_IRQHandler 00170 ADC_IRQHandler 00171 BOD_IRQHandler 00172 USB_IRQHandler 00173 CAN_IRQHandler 00174 DMA_IRQHandler 00175 I2S_IRQHandler 00176 ENET_IRQHandler 00177 RIT_IRQHandler 00178 MCPWM_IRQHandler 00179 QEI_IRQHandler 00180 PLL1_IRQHandler 00181 USBActivity_IRQHandler 00182 CANActivity_IRQHandler 00183 */
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