Yoshi Mimura / Mbed 2 deprecated CAN_MONITOR

A very simple vehicle (Toyota Prius ZVW30) CAN message monitor program with CAN_id filtering.

Dependencies:   mbed

main.cpp@0:fe1f886dff76, 2012-03-21 (annotated)

Committer:
ym1784
Date:
Wed Mar 21 01:53:16 2012 +0000
Revision:
0:fe1f886dff76

        

        
Who changed what in which revision?

        

            
                
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// CAN_MONITOR with filtering  2012/03/21 ym1784





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#include "mbed.h"





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#include "CAN.h"





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Serial pc(USBTX, USBRX); // tx, rx





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DigitalOut led2(LED2);





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// CAN2 on mbed pins 29(CAN_TXD) and 30(CAN_RXD) using MCP2551.





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CAN can2(p30, p29);





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/*--------------------------------------------





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  setup acceptance filter for CAN controller 2





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  original http://www.dragonwake.com/download/LPC1768/Example/CAN/CAN.c





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  simplified for CAN2 interface and std id (11 bit) only





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 *--------------------------------------------*/





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void CAN2_wrFilter (uint32_t id)  {





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    static int CAN_std_cnt = 0;





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    uint32_t buf0, buf1;





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    int cnt1, cnt2, bound1;





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    /* Acceptance Filter Memory full */





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    if (((CAN_std_cnt + 1) >> 1) >= 512)





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        return;                                       /* error: objects full */





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    /* Setup Acceptance Filter Configuration





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      Acceptance Filter Mode Register = Off  */





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    LPC_CANAF->AFMR = 0x00000001;





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    id |= 1 << 13;                        /* Add controller number(2) */





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    id &= 0x0000F7FF;                            /* Mask out 16-bits of ID */





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    if (CAN_std_cnt == 0)  {                     /* For entering first  ID */





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        LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);





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    }  else if (CAN_std_cnt == 1)  {             /* For entering second ID */





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        if ((LPC_CANAF_RAM->mask[0] >> 16) > id)





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            LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);





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        else





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            LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;





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    }  else  {





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        /* Find where to insert new ID */





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        cnt1 = 0;





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        cnt2 = CAN_std_cnt;





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        bound1 = (CAN_std_cnt - 1) >> 1;





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        while (cnt1 <= bound1)  {                  /* Loop through standard existing IDs */





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            if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id)  {





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                cnt2 = cnt1 * 2;





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                break;





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            }





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            if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id)  {





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                cnt2 = cnt1 * 2 + 1;





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                break;





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            }





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            cnt1++;                                  /* cnt1 = U32 where to insert new ID */





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        }                                          /* cnt2 = U16 where to insert new ID */





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        if (cnt1 > bound1)  {                      /* Adding ID as last entry */





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            if ((CAN_std_cnt & 0x0001) == 0)         /* Even number of IDs exists */





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                LPC_CANAF_RAM->mask[cnt1]  = 0x0000FFFF | (id << 16);





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            else                                     /* Odd  number of IDs exists */





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                LPC_CANAF_RAM->mask[cnt1]  = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;





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        }  else  {





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            buf0 = LPC_CANAF_RAM->mask[cnt1];        /* Remember current entry */





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            if ((cnt2 & 0x0001) == 0)                /* Insert new mask to even address */





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                buf1 = (id << 16) | (buf0 >> 16);





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            else                                     /* Insert new mask to odd  address */





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                buf1 = (buf0 & 0xFFFF0000) | id;





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            LPC_CANAF_RAM->mask[cnt1] = buf1;        /* Insert mask */





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            bound1 = CAN_std_cnt >> 1;





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            /* Move all remaining standard mask entries one place up */





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            while (cnt1 < bound1)  {





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                cnt1++;





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                buf1  = LPC_CANAF_RAM->mask[cnt1];





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                LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);





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                buf0  = buf1;





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            }





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            if ((CAN_std_cnt & 0x0001) == 0)         /* Even number of IDs exists */





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                LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);





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        }





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    }





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    CAN_std_cnt++;





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    /* Calculate std ID start address (buf0) and ext ID start address <- none (buf1) */





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    buf0 = ((CAN_std_cnt + 1) >> 1) << 2;





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    buf1 = buf0;





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    /* Setup acceptance filter pointers */





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    LPC_CANAF->SFF_sa     = 0;





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    LPC_CANAF->SFF_GRP_sa = buf0;





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    LPC_CANAF->EFF_sa     = buf0;





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    LPC_CANAF->EFF_GRP_sa = buf1;





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    LPC_CANAF->ENDofTable = buf1;





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    LPC_CANAF->AFMR = 0x00000000;                  /* Use acceptance filter */





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} // CAN2_wrFilter





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int main() {





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    pc.baud(921600);





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    pc.printf("CAN_MONITOR 921600 bps\r\n");





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    // 500kbit/s





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    can2.frequency(500000);





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    CANMessage can_MsgRx;





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    CAN2_wrFilter(0x0B4);





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    CAN2_wrFilter(0x1C4);





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    CAN2_wrFilter(0x245);





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    CAN2_wrFilter(0x3D3);





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    CAN2_wrFilter(0x498);





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    CAN2_wrFilter(0x4A6);





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    while (1) {





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        // send received messages to the pc via serial line





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        if (can2.read(can_MsgRx)) {





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            pc.printf("t%03X%d", can_MsgRx.id, can_MsgRx.len);





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            for (char i=0; i<can_MsgRx.len; i++) {





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                pc.printf("%02X", can_MsgRx.data[i]);





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            } // for





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            pc.printf("\r\n");





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            // toggle led2





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            led2 = !led2;





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        } // if





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    } // while





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} // main