tomoya takahashi
test
Diff: main.cpp
- Revision:
- 0:9d4b535b9c8e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Aug 23 04:14:06 2019 +0000
@@ -0,0 +1,407 @@
+#include "mbed.h"
+
+//-------------------------------------------------------------------------
+// F-CAN 制御系(エンジンとか)
+#define VSA_091 0x091
+#define STR_156 0x156
+#define EAT_158 0x158
+#define ENG_17C 0x17C
+#define VSA_1A4 0x1A4
+#define METER_1A6 0x1A6
+#define METER_294 0x294
+#define SRS_305 0x305
+#define ENG_320 0x320
+#define ENG_324 0x324
+#define TPMS_333 0x333
+#define ENG_40C 0x40C
+#define ENG_454 0x454
+
+
+// B-CAN ボディ系（ドアとか）
+#define HLSW_ICU 0x0AF87010
+#define ACINFO 0x0EF95251
+#define ACSTATE 0x0EF97B51
+#define MICU_ICU 0x12F81010
+#define DOORSW_ICU 0x12F83010
+#define ASDOORSW_ICU 0x12F84010
+#define AT 0x12F85150
+#define ACHV 0x12F85851
+#define ODO_TRIP 0x12F95F50
+#define TRICOM2 0x12F96150
+#define TRICOM3 0x12F96250
+#define TRICOM4 0x12F96B50
+#define ACHTR 0x12F97051
+
+
+//-------------------------------------------------------------------------
+// Honda Vehicle Data Protocol
+
+#define MSG_MAGIC_H 0x5E
+#define MSG_MAGIC_L 0xC0
+
+#define MSG_TYPE_DEBUG_LOG 0x01
+#define MSG_TYPE_SUBSCRIBE 0x10
+#define MSG_TYPE_REPORT_CAN_DATA 0x11
+#define MSG_TYPE_SEND_CAN_DATA 0x12
+#define MSG_TYPE_ACK_CAN_DATA 0x13
+#define MSG_TYPE_SET_REAR_CAM 0x20
+#define MSG_TYPE_SET_ACTIVE_CAM 0x21
+#define MSG_TYPE_REPORT_KEY_EVENT 0x30
+
+#define MSG_MIN_LEN 4 // minimum bytes of message ( contains header )
+#define MSG_SUBSCRIBE_LEN 4
+
+#define MAX_RX_BYTES 16
+
+char sppRxBuffer[MAX_RX_BYTES];
+char rxCnt;
+
+//-------------------------------------------------------------------------
+
+Ticker debugViewer;
+Ticker btSender;
+Serial bluetooth(p13,p14); // p13: TX, p14: RX (LPC1768)
+
+
+typedef struct CanDataTable {
+ bool isUpdated:1; // turns to 1 if first data in period is received. cleared after sending.
+ bool needToSend:1; // turns to 1 if data is received.
+ bool hasData:1; // turns to 1 if data is received at least once.
+ unsigned long id;
+ unsigned char dlc;
+ unsigned char data[8];
+} CanBuf_t;
+
+#define MAX_DATA_FREQ 10 * 1000 // 10 sec
+#define MAX_CAN_TABLE_NUM 32
+
+
+class SabCan {
+ private:
+ Serial *serial;
+
+ public:
+ CAN *can;
+ char canTableNum;
+ CanBuf_t canTableBuffer[MAX_CAN_TABLE_NUM];
+ unsigned long retrievedCnt;
+ int updatedCnt;
+
+ public:
+ unsigned long canIdToIndex[MAX_CAN_TABLE_NUM];
+
+ public:
+ SabCan( CAN *_can, int baudrate );
+
+ ~SabCan( void ) {}
+
+ void initCanTableBuffer( bool isAllClear );
+ void setFilter( unsigned long id );
+ void debugShow( void );
+ void attach( Callback<void()> func );
+
+ void setSerial( Serial *serial );
+ void writeToSerial( void );
+ bool sendCanData( CanBuf_t *buf );
+
+ private:
+ // void receiveCallback( void );
+};
+
+// SabCan fCan(p30, p29, 500 * 1000);
+CAN _fCan(p30, p29);
+SabCan fCan( &_fCan, 500 * 1000);
+// SabCan bCan(p9, p10, 125 * 1000);
+
+void receiveCallback( SabCan *can );
+void fReceiveCallback( void );
+// void bReceiveCallback( void );
+
+//-------------------------------------------------------------------------
+SabCan::SabCan( CAN *_can, int baudrate )
+{
+ can = _can;
+ can->frequency( baudrate );
+
+ initCanTableBuffer( true );
+
+ retrievedCnt = 0;
+
+}
+
+//-------------------------------------------------------------------------
+void
+SabCan::initCanTableBuffer( bool isAllClear )
+{
+ updatedCnt = 0;
+ for ( int i = 0; i < canTableNum; i++ ) {
+ CanBuf_t *buf = &canTableBuffer[i];
+ buf->id = canIdToIndex[i];
+ if ( isAllClear ) {
+ buf->isUpdated = buf->needToSend = buf->hasData = 0;
+ } else {
+ buf->isUpdated = buf->needToSend = buf->hasData;
+ updatedCnt += (buf->hasData == true) ? 1 : 0;
+ }
+ }
+}
+
+//-------------------------------------------------------------------------
+void
+SabCan::setFilter( unsigned long id )
+{
+ canIdToIndex[canTableNum++] = id;
+ can->filter( id, 0 );
+}
+
+//-------------------------------------------------------------------------
+void
+SabCan::attach( Callback<void()> func )
+{
+ can->attach(func);
+}
+
+//-------------------------------------------------------------------------
+void
+fcanCb( void )
+{
+ receiveCallback( &fCan );
+}
+
+//-------------------------------------------------------------------------
+void
+receiveCallback( SabCan *can )
+{
+ CANMessage msg;
+
+ can->can->read(msg);
+ if ( msg.id == ENG_17C ) {
+ can->retrievedCnt++;
+ }
+
+ for ( int i = 0; i < can->canTableNum; i++ ) {
+ if ( msg.id == can->canIdToIndex[i] ) {
+ CanBuf_t *buf = &can->canTableBuffer[i];
+
+ // copy data
+ for ( int j = 0; j < msg.len; j++ ) {
+ if ( buf->data[j] != msg.data[j] ) {
+ buf->needToSend = true;
+ buf->data[j] = msg.data[j];
+ }
+ }
+ if ( buf->isUpdated || !(buf->needToSend) ) {
+ break;
+ }
+ can->updatedCnt++;
+ buf->isUpdated = true;
+
+ if ( !buf->hasData ) {
+ buf->dlc = msg.len;
+ buf->hasData = true;
+ }
+ break;
+ }
+ }
+}
+
+//-------------------------------------------------------------------------
+void
+SabCan::setSerial( Serial *_serial )
+{
+ serial = _serial;
+}
+
+//-------------------------------------------------------------------------
+bool
+SabCan::sendCanData( CanBuf_t *buf )
+{
+
+ if ( buf->needToSend ) {
+#ifndef DRY_RUN
+ serial->putc( (buf->id >> 24) & 0xFF );
+ serial->putc( (buf->id >> 16) & 0xFF );
+ serial->putc( (buf->id >> 8) & 0xFF );
+ serial->putc( buf->id & 0xFF );
+
+ serial->putc( buf->dlc );
+ for ( int i = 0; i < buf->dlc; i++ ) {
+ serial->putc( buf->data[i] );
+ }
+#endif // DRY_RUN
+
+ buf->needToSend = false;
+ buf->isUpdated = false;
+ return true;
+ } else {
+ return false;
+ }
+}
+
+//-------------------------------------------------------------------------
+void
+SabCan::writeToSerial( void )
+{
+#if 0
+ if ( !serial ) {
+ return;
+ }
+
+ for ( int i = 0; i < canTableNum; i++ ) {
+ CanBuf_t *buf = &canTableBuffer[i];
+
+ if ( buf->needToSend ) {
+ serial->printf( "%X : %d : [", buf->id, buf->dlc );
+ for ( int j = 0; j < buf->dlc; j++ ) {
+ serial->printf( "%02X ", buf->data[j] );
+ }
+ serial->printf( "]\n" );
+ buf->needToSend = false;
+ buf->isUpdated = false;
+ }
+ }
+#endif
+ int sent = 0;
+ unsigned long curTime = 0;
+
+#ifndef DRY_RUN
+ // magic
+ serial->putc( MSG_MAGIC_H );
+ serial->putc( MSG_MAGIC_L );
+
+ // message type
+ serial->putc( MSG_TYPE_REPORT_CAN_DATA );
+
+ // reception time
+ serial->putc( (unsigned char) 0 );
+ serial->putc( (unsigned char) 0 );
+ serial->putc( (unsigned char) 0 );
+ serial->putc( (unsigned char) 0 );
+ serial->putc( (curTime >> 24) & 0xFF );
+ serial->putc( (curTime >> 16) & 0xFF );
+ serial->putc( (curTime >> 8) & 0xFF );
+ serial->putc( curTime & 0xFF );
+
+ // # of frames
+ serial->putc( (unsigned char) 0 );
+ serial->putc( updatedCnt );
+#endif // DRY_RUN
+
+ for ( int i = 0; i < canTableNum; i++ ) {
+ if ( sendCanData( &canTableBuffer[i] ) ) {
+ sent++;
+ }
+ }
+}
+
+//-------------------------------------------------------------------------
+void
+SabCan::debugShow( void )
+{
+ printf( "# of updated : %d\n", updatedCnt );
+ printf( "# of retrieved : %lu\n", retrievedCnt );
+ printf( "# of rd error : %d\n", can->rderror() );
+ retrievedCnt = 0;
+ for ( int i = 0; i < canTableNum; i++ ) {
+ CanBuf_t *buf = &canTableBuffer[i];
+ printf( "%lu : %d : [", buf->id, buf->dlc );
+ for ( int j = 0; j < buf->dlc; j++ ) {
+ printf( "%02X ", buf->data[j] );
+ }
+ printf( "]\n" );
+ }
+}
+
+#if 0
+//-------------------------------------------------------------------------
+void
+btCallback( void )
+{
+ for ( int i = 0; i < fCanTableNum; i++ ) {
+ CanBuf_t *buf = &fCanTableBuffer[i];
+ if ( buf->needToSend ) {
+ bluetooth.printf( "%X : %d : [", buf->id, buf->dlc );
+ for ( int j = 0; j < buf->dlc; j++ ) {
+ bluetooth.printf( "%02X ", buf->data[j] );
+ }
+ bluetooth.printf( "]\n" );
+ buf->needToSend = false;
+ buf->isUpdated = false;
+ }
+ }
+ for ( int i = 0; i < bCanTableNum; i++ ) {
+ CanBuf_t *buf = &bCanTableBuffer[i];
+ if ( buf->needToSend ) {
+ bluetooth.printf( "%X : %d : [", buf->id, buf->dlc );
+ for ( int j = 0; j < buf->dlc; j++ ) {
+ bluetooth.printf( "%02X ", buf->data[j] );
+ }
+ bluetooth.printf( "]\n" );
+ buf->needToSend = false;
+ buf->isUpdated = false;
+ }
+ }
+}
+#endif
+
+//-------------------------------------------------------------------------
+int
+main( void )
+{
+ printf("main()\n");
+ CANMessage msg;
+
+ // bCan.frequency(125 * 1000);
+#if 0
+ LPC_CAN1->MOD |= 1; // Disble CAN controller
+ LPC_CAN1->MOD |= (1 << 1); // Put into listen only mode
+ LPC_CAN1->MOD &= ~(1); // Re-enable CAN controller
+#endif
+
+ // Initialize index table
+ fCan.setFilter( VSA_091 );
+ fCan.setFilter( STR_156 );
+ fCan.setFilter( EAT_158 );
+ fCan.setFilter( ENG_17C );
+ fCan.setFilter( VSA_1A4 );
+ fCan.setFilter( METER_1A6 );
+ fCan.setFilter( METER_294 );
+ fCan.setFilter( SRS_305 );
+ fCan.setFilter( ENG_320 );
+ fCan.setFilter( ENG_324 );
+ fCan.setFilter( TPMS_333 );
+ fCan.setFilter( ENG_40C );
+ fCan.setFilter( ENG_454 );
+
+ fCan.attach( fcanCb );
+ fCan.setSerial( &bluetooth );
+
+#if 0
+ bCanIdToIndex[bCanTableNum++] = HLSW_ICU;
+ bCanIdToIndex[bCanTableNum++] = ACINFO;
+ bCanIdToIndex[bCanTableNum++] = ACSTATE;
+ bCanIdToIndex[bCanTableNum++] = MICU_ICU;
+ bCanIdToIndex[bCanTableNum++] = DOORSW_ICU;
+ bCanIdToIndex[bCanTableNum++] = ASDOORSW_ICU;
+ bCanIdToIndex[bCanTableNum++] = AT;
+ bCanIdToIndex[bCanTableNum++] = ACHTR;
+ bCanIdToIndex[bCanTableNum++] = ODO_TRIP;
+ bCanIdToIndex[bCanTableNum++] = ACHV;
+ bCanIdToIndex[bCanTableNum++] = TRICOM2;
+ bCanIdToIndex[bCanTableNum++] = TRICOM3;
+ bCanIdToIndex[bCanTableNum++] = TRICOM4;
+ bCanIdToIndex[bCanTableNum++] = ACHTR;
+#endif
+
+ // bCan.attach(&bCanCallback);
+
+ while ( 1 ) {
+ static int cnt;
+ fCan.writeToSerial();
+ wait( 0.1 );
+
+ if ( (cnt % 20) == 0 ) {
+ fCan.debugShow();
+ }
+ }
+}