Revision 0:9d4b535b9c8e, committed 2019-08-23

Comitter:

takahashi_tomoya

Date:

Fri Aug 23 04:14:06 2019 +0000

Commit message:

test

Changed in this revision

--- /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();
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Aug 23 04:14:06 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file