Melchior Pau / Mbed 2 deprecated USB2CAN

First version of a mbed USB2CAN adapter Let\'s you send can messages via can. Type as !format_type_ID_length_d0_d1_d2_d3_d4_d5_d6_d7 (! is used to recognize valid messages, anything without a ! in front of it is dumped) All messages transmitted over cCAN are printed to your terminal as well.

Dependencies:   mbed

USB2CAN.cpp@0:495bc2a030c1, 2011-02-24 (annotated)

Committer:
OTBsolar
Date:
Thu Feb 24 16:01:37 2011 +0000
Revision:
0:495bc2a030c1
beta

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OTBsolar 0:495bc2a030c1 1 #include "mbed.h"
OTBsolar 0:495bc2a030c1 2 #include "CAN.h"
OTBsolar 0:495bc2a030c1 3 #include "stdio.h"
OTBsolar 0:495bc2a030c1 4 #include "stdlib.h"
OTBsolar 0:495bc2a030c1 5 #include "string.h"
OTBsolar 0:495bc2a030c1 6
OTBsolar 0:495bc2a030c1 7 Ticker ticker;
OTBsolar 0:495bc2a030c1 8 Serial pc(USBTX, USBRX);
OTBsolar 0:495bc2a030c1 9 DigitalOut write_activity(LED1); //CAN activity
OTBsolar 0:495bc2a030c1 10 DigitalOut read_activity(LED2);
OTBsolar 0:495bc2a030c1 11 DigitalOut pc_activity(LED3); //USB activity
OTBsolar 0:495bc2a030c1 12 CAN can1(p9, p10); // rd, td Transmitter
OTBsolar 0:495bc2a030c1 13 CAN can2(p30, p29); // rd, td Monitor
OTBsolar 0:495bc2a030c1 14
OTBsolar 0:495bc2a030c1 15 int counter = 0;
OTBsolar 0:495bc2a030c1 16 char candata[8];
OTBsolar 0:495bc2a030c1 17 char pc_msg[50];
OTBsolar 0:495bc2a030c1 18 CANType pc_type;
OTBsolar 0:495bc2a030c1 19 CANFormat pc_format;
OTBsolar 0:495bc2a030c1 20 int pc_ID; //standard 11bit ID
OTBsolar 0:495bc2a030c1 21 //int pc_IDe; //extended 29 (not used yet)
OTBsolar 0:495bc2a030c1 22 int pc_length;
OTBsolar 0:495bc2a030c1 23 int pcd0; int pcd1; int pcd2; int pcd3; int pcd4; int pcd5; int pcd6; int pcd7; //8 bytes data
OTBsolar 0:495bc2a030c1 24 CANMessage msg;
OTBsolar 0:495bc2a030c1 25
OTBsolar 0:495bc2a030c1 26 void setdata(int d0, int d1, int d2, int d3, int d4, int d5, int d6, int d7) {
OTBsolar 0:495bc2a030c1 27 candata[0] = (char) (d0); // LSB
OTBsolar 0:495bc2a030c1 28 candata[1] = (char) (d1);
OTBsolar 0:495bc2a030c1 29 candata[2] = (char) (d2);
OTBsolar 0:495bc2a030c1 30 candata[3] = (char) (d3);
OTBsolar 0:495bc2a030c1 31 candata[4] = (char) (d4);
OTBsolar 0:495bc2a030c1 32 candata[5] = (char) (d5);
OTBsolar 0:495bc2a030c1 33 candata[6] = (char) (d6);
OTBsolar 0:495bc2a030c1 34 candata[7] = (char) (d7); // MSB
OTBsolar 0:495bc2a030c1 35 }
OTBsolar 0:495bc2a030c1 36
OTBsolar 0:495bc2a030c1 37 void canread() {
OTBsolar 0:495bc2a030c1 38 //printf("CANmessage: %c\n", msg);
OTBsolar 0:495bc2a030c1 39 pc.printf("Read: [ ID: %d", msg.id);
OTBsolar 0:495bc2a030c1 40 pc.printf(" Length: %d", msg.len);
OTBsolar 0:495bc2a030c1 41 pc.printf(" Data: %x", msg.data[0]);
OTBsolar 0:495bc2a030c1 42 pc.printf(" %x", msg.data[1]);
OTBsolar 0:495bc2a030c1 43 pc.printf(" %x", msg.data[2]);
OTBsolar 0:495bc2a030c1 44 pc.printf(" %x", msg.data[3]);
OTBsolar 0:495bc2a030c1 45 pc.printf(" %x", msg.data[4]);
OTBsolar 0:495bc2a030c1 46 pc.printf(" %x", msg.data[5]);
OTBsolar 0:495bc2a030c1 47 pc.printf(" %x", msg.data[6]);
OTBsolar 0:495bc2a030c1 48 pc.printf(" %x", msg.data[7]);
OTBsolar 0:495bc2a030c1 49 pc.printf(" Type: %d", msg.type);
OTBsolar 0:495bc2a030c1 50 pc.printf(" Format: %d ]\n", msg.format);
OTBsolar 0:495bc2a030c1 51 read_activity = !read_activity; //Blink!
OTBsolar 0:495bc2a030c1 52 can2.reset();
OTBsolar 0:495bc2a030c1 53 }
OTBsolar 0:495bc2a030c1 54
OTBsolar 0:495bc2a030c1 55 void pc_msg_read() {
OTBsolar 0:495bc2a030c1 56 // Data to be sent as !<format>_<type>_<ID>_<length>_<d0>_<d1>_<d2>_<d3>_<d4>_<d5>_<d6>_<d7> ("_" = space)
OTBsolar 0:495bc2a030c1 57
OTBsolar 0:495bc2a030c1 58 // Read the string and copy it to the char array pc_msg
OTBsolar 0:495bc2a030c1 59 pc.scanf("%[^\n]s",pc_msg);
OTBsolar 0:495bc2a030c1 60 pc.printf("Entered:%s",pc_msg);
OTBsolar 0:495bc2a030c1 61
OTBsolar 0:495bc2a030c1 62 // Read pc_msg and extract all data
OTBsolar 0:495bc2a030c1 63 sscanf(pc_msg,"%d %d %d %d %x %x %x %x %x %x %x %x", &pc_format, &pc_type, &pc_ID, &pc_length,
OTBsolar 0:495bc2a030c1 64 &pcd0, &pcd1, &pcd2, &pcd3, &pcd4, &pcd5, &pcd6, &pcd7);
OTBsolar 0:495bc2a030c1 65
OTBsolar 0:495bc2a030c1 66 // Printing extracted data, mostly for testing
OTBsolar 0:495bc2a030c1 67 pc.printf("Sent: [ ID: %d ",pc_ID);
OTBsolar 0:495bc2a030c1 68 pc.printf("length: %d ",pc_length);
OTBsolar 0:495bc2a030c1 69 pc.printf("data: %x %x %x %x %x %x %x %x ",pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7);
OTBsolar 0:495bc2a030c1 70 pc.printf("type: %d ",pc_type);
OTBsolar 0:495bc2a030c1 71 pc.printf("format: %d ]\n",pc_format);
OTBsolar 0:495bc2a030c1 72
OTBsolar 0:495bc2a030c1 73 // Setting the data to CANMessage.data format
OTBsolar 0:495bc2a030c1 74 setdata(pcd0, pcd1, pcd2, pcd3, pcd4, pcd5, pcd6, pcd7);
OTBsolar 0:495bc2a030c1 75
OTBsolar 0:495bc2a030c1 76 // Transmitting CANMessage
OTBsolar 0:495bc2a030c1 77 if(can1.write(CANMessage(pc_ID,candata,(char)pc_length,pc_type,pc_format))) {
OTBsolar 0:495bc2a030c1 78 pc.printf("Message compiled and sent.\n");
OTBsolar 0:495bc2a030c1 79 }
OTBsolar 0:495bc2a030c1 80 pc.printf("Please enter any additional commands in the same manner.\n");
OTBsolar 0:495bc2a030c1 81
OTBsolar 0:495bc2a030c1 82 }
OTBsolar 0:495bc2a030c1 83
OTBsolar 0:495bc2a030c1 84 int main() {
OTBsolar 0:495bc2a030c1 85 //----------------Initialization-----------------------
OTBsolar 0:495bc2a030c1 86 can2.frequency(500000); //500kbit/s
OTBsolar 0:495bc2a030c1 87 can1.frequency(500000);
OTBsolar 0:495bc2a030c1 88 can2.monitor(1); //Works without this, in my case.
OTBsolar 0:495bc2a030c1 89 //ticker.attach(&cansend, 0.5); //Send every 1 seconds.
OTBsolar 0:495bc2a030c1 90 //-----------------------------------------------------
OTBsolar 0:495bc2a030c1 91
OTBsolar 0:495bc2a030c1 92 char test;
OTBsolar 0:495bc2a030c1 93 char dump;
OTBsolar 0:495bc2a030c1 94 pc.printf("Please enter !<format>_<type>_<ID>_<length>_<d0>_<d1>_<d2>_<d3>_<d4>_<d5>_<d6>_<d7> ('_' = space)\n");
OTBsolar 0:495bc2a030c1 95
OTBsolar 0:495bc2a030c1 96 while(1) {
OTBsolar 0:495bc2a030c1 97 if (pc.readable()) { // If there's data available from pc
OTBsolar 0:495bc2a030c1 98 pc_activity = !pc_activity; // LED
OTBsolar 0:495bc2a030c1 99 test = pc.getc();
OTBsolar 0:495bc2a030c1 100 if (test == '!') { // See if it's a valid message
OTBsolar 0:495bc2a030c1 101 pc_msg_read(); // Valid => read the message and extract the data
OTBsolar 0:495bc2a030c1 102 //pc.printf("Left pc_msg_read\n"); // "Left the function" test
OTBsolar 0:495bc2a030c1 103 }
OTBsolar 0:495bc2a030c1 104 else { // Invalid data or leftover characters
OTBsolar 0:495bc2a030c1 105 pc.printf("Dumped: ");
OTBsolar 0:495bc2a030c1 106 while(pc.readable()) { // Keep dumping the leftovers
OTBsolar 0:495bc2a030c1 107 dump = pc.getc();
OTBsolar 0:495bc2a030c1 108 pc.printf("%c",dump);
OTBsolar 0:495bc2a030c1 109 }
OTBsolar 0:495bc2a030c1 110 }
OTBsolar 0:495bc2a030c1 111 //pc.printf("Leaving pc.readable()\n"); // Left the !test
OTBsolar 0:495bc2a030c1 112 }
OTBsolar 0:495bc2a030c1 113 if (can2.read(msg)) {
OTBsolar 0:495bc2a030c1 114 canread(); //Read when interupted.
OTBsolar 0:495bc2a030c1 115 }
OTBsolar 0:495bc2a030c1 116 }
OTBsolar 0:495bc2a030c1 117 }