main.cpp

00001 // CAN_MONITOR with filtering  2012/03/21 ym1784
00002 
00003 #include "mbed.h"
00004 #include "CAN.h"
00005 
00006 Serial pc(USBTX, USBRX); // tx, rx
00007 DigitalOut led2(LED2);
00008 
00009 // CAN2 on mbed pins 29(CAN_TXD) and 30(CAN_RXD) using MCP2551.
00010 CAN can2(p30, p29);
00011 
00012 /*--------------------------------------------
00013   setup acceptance filter for CAN controller 2
00014   original http://www.dragonwake.com/download/LPC1768/Example/CAN/CAN.c
00015   simplified for CAN2 interface and std id (11 bit) only
00016  *--------------------------------------------*/
00017 void CAN2_wrFilter (uint32_t id)  {
00018     static int CAN_std_cnt = 0;
00019     uint32_t buf0, buf1;
00020     int cnt1, cnt2, bound1;
00021 
00022     /* Acceptance Filter Memory full */
00023     if (((CAN_std_cnt + 1) >> 1) >= 512)
00024         return;                                       /* error: objects full */
00025 
00026     /* Setup Acceptance Filter Configuration
00027       Acceptance Filter Mode Register = Off  */
00028     LPC_CANAF->AFMR = 0x00000001;
00029 
00030     id |= 1 << 13;                        /* Add controller number(2) */
00031     id &= 0x0000F7FF;                            /* Mask out 16-bits of ID */
00032 
00033     if (CAN_std_cnt == 0)  {                     /* For entering first  ID */
00034         LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
00035     }  else if (CAN_std_cnt == 1)  {             /* For entering second ID */
00036         if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
00037             LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
00038         else
00039             LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
00040     }  else  {
00041         /* Find where to insert new ID */
00042         cnt1 = 0;
00043         cnt2 = CAN_std_cnt;
00044         bound1 = (CAN_std_cnt - 1) >> 1;
00045         while (cnt1 <= bound1)  {                  /* Loop through standard existing IDs */
00046             if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id)  {
00047                 cnt2 = cnt1 * 2;
00048                 break;
00049             }
00050             if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id)  {
00051                 cnt2 = cnt1 * 2 + 1;
00052                 break;
00053             }
00054             cnt1++;                                  /* cnt1 = U32 where to insert new ID */
00055         }                                          /* cnt2 = U16 where to insert new ID */
00056 
00057         if (cnt1 > bound1)  {                      /* Adding ID as last entry */
00058             if ((CAN_std_cnt & 0x0001) == 0)         /* Even number of IDs exists */
00059                 LPC_CANAF_RAM->mask[cnt1]  = 0x0000FFFF | (id << 16);
00060             else                                     /* Odd  number of IDs exists */
00061                 LPC_CANAF_RAM->mask[cnt1]  = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
00062         }  else  {
00063             buf0 = LPC_CANAF_RAM->mask[cnt1];        /* Remember current entry */
00064             if ((cnt2 & 0x0001) == 0)                /* Insert new mask to even address */
00065                 buf1 = (id << 16) | (buf0 >> 16);
00066             else                                     /* Insert new mask to odd  address */
00067                 buf1 = (buf0 & 0xFFFF0000) | id;
00068 
00069             LPC_CANAF_RAM->mask[cnt1] = buf1;        /* Insert mask */
00070 
00071             bound1 = CAN_std_cnt >> 1;
00072             /* Move all remaining standard mask entries one place up */
00073             while (cnt1 < bound1)  {
00074                 cnt1++;
00075                 buf1  = LPC_CANAF_RAM->mask[cnt1];
00076                 LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
00077                 buf0  = buf1;
00078             }
00079 
00080             if ((CAN_std_cnt & 0x0001) == 0)         /* Even number of IDs exists */
00081                 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);
00082         }
00083     }
00084     CAN_std_cnt++;
00085 
00086     /* Calculate std ID start address (buf0) and ext ID start address <- none (buf1) */
00087     buf0 = ((CAN_std_cnt + 1) >> 1) << 2;
00088     buf1 = buf0;
00089 
00090     /* Setup acceptance filter pointers */
00091     LPC_CANAF->SFF_sa     = 0;
00092     LPC_CANAF->SFF_GRP_sa = buf0;
00093     LPC_CANAF->EFF_sa     = buf0;
00094     LPC_CANAF->EFF_GRP_sa = buf1;
00095     LPC_CANAF->ENDofTable = buf1;
00096 
00097     LPC_CANAF->AFMR = 0x00000000;                  /* Use acceptance filter */
00098 } // CAN2_wrFilter
00099 
00100 int main() {
00101     pc.baud(921600);
00102     pc.printf("CAN_MONITOR 921600 bps\r\n");
00103 
00104     // 500kbit/s
00105     can2.frequency(500000);
00106     CANMessage can_MsgRx;
00107 
00108     CAN2_wrFilter(0x0B4);
00109     CAN2_wrFilter(0x1C4);
00110     CAN2_wrFilter(0x245);
00111     CAN2_wrFilter(0x3D3);
00112     CAN2_wrFilter(0x498);
00113     CAN2_wrFilter(0x4A6);
00114 
00115     while (1) {
00116         // send received messages to the pc via serial line
00117         if (can2.read(can_MsgRx)) {
00118             pc.printf("t%03X%d", can_MsgRx.id, can_MsgRx.len);
00119             for (char i=0; i<can_MsgRx.len; i++) {
00120                 pc.printf("%02X", can_MsgRx.data[i]);
00121             } // for
00122             pc.printf("\r\n");
00123             // toggle led2
00124             led2 = !led2;
00125         } // if
00126     } // while
00127 } // main