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Minor rework; Bug fix for transmission of 8 bytes packets

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This commit is contained in:
latonita
2016-04-29 19:23:13 +03:00
parent 1d74aae251
commit 1a8dbdc1d6
4 changed files with 65 additions and 56 deletions
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arduino-canbus-monitor.ino
+12 -5
View File
@@ -16,16 +16,23 @@
#include "can-232.h"
#include "SoftwareSerial.h"
#define DEBUG_MODE
void setup() {
Serial.begin(LW232_DEFAULT_BAUD_RATE); // default COM baud rate is 115200.
Can232::init(CAN_125KBPS); // set default rate you need here and clock frequency of CAN shield. Typically it is 16MHz, but on some MCP2515 + TJA1080 it is 8Mhz
// Rates: CAN_10KBPS, CAN_20KBPS, CAN_50KBPS, CAN_100KBPS, CAN_125KBPS, CAN_250KBPS, CAN_500KBPS, CAN_500KBPS, CAN_1000KBPS, CAN_83K3BPS
// Freq: MCP_16MHz or MCP_8MHz. Default is MCP_16MHz. Please note, not all CAN speeds supported. check big switch in mcp_can.cpp
// Can232::init(CAN_125KBPS, MCP_8MHz); // set default rate you need here and clock frequency of CAN shield. Typically it is 16MHz, but on some MCP2515 + TJA1080 it is 8Mhz
// Can232::init (RATE, CLOCK)
// Rates: CAN_10KBPS, CAN_20KBPS, CAN_50KBPS, CAN_100KBPS, CAN_125KBPS, CAN_250KBPS, CAN_500KBPS, CAN_500KBPS, CAN_1000KBPS, CAN_83K3BPS
// Default is CAN_83K3BPS ;)))))))))
// Clock: MCP_16MHz or MCP_8MHz.
// Default is MCP_16MHz. Please note, not all CAN speeds supported. check big switch in mcp_can.cpp
// defaults can be changed in mcp_can.h
// Can232::init(); // rate and clock = LW232_DEFAULT_CAN_RATE and LW232_DEFAULT_CLOCK_FREQ
// Can232::init(CAN_125KBPS); // rate = 125, clock = LW232_DEFAULT_CLOCK_FREQ
Can232::init(CAN_125KBPS, MCP_16MHz); // set default rate you need here and clock frequency of CAN shield. Typically it is 16MHz, but on some MCP2515 + TJA1050 it is 8Mhz
// optional custom packet filter to reduce number of messages comingh through to canhacker
// Can232::setFilter(myCustomAddressFilter);
}
can-232.cpp
+34 -35
View File
@@ -33,36 +33,29 @@
#define dbgH(x)
#endif
//#define LOGGING_ENABLED
//#ifdef LOGGING_ENABLED
#ifdef LOGGING_ENABLED
// software serial #2: TX = digital pin 8, RX = digital pin 9
// on the Mega, use other pins instead, since 8 and 9 don't work on the Mega
SoftwareSerial debug(DEBUG_RX_PIN, DEBUG_TX_PIN);
//#endif
SoftwareSerial debug(DEBUG_RX_PIN, DEBUG_TX_PIN);
//#define debug Serial
#endif
Can232* Can232::_instance = 0;
Can232* const & Can232::instance() {
Can232* Can232::instance() {
if (_instance == 0)
_instance = new Can232();
return _instance;
}
void Can232::init() {
void Can232::init(INT8U defaultCanSpeed, const INT8U clock) {
dbg_begin(LW232_DEFAULT_BAUD_RATE); // logging through software serial
dbg1("CAN ASCII. Welcome to debug");
instance()->initFunc();
}
void Can232::init(INT8U defaultCanSpeed) {
init();
instance()->lw232CanSpeedSelection = defaultCanSpeed;
}
void Can232::init(INT8U defaultCanSpeed, const INT8U clock) {
init(defaultCanSpeed);
instance()->lw232McpModuleClock = clock;
instance()->initFunc();
}
void Can232::setFilter(INT8U (*userFunc)(INT32U)) {
@@ -79,13 +72,15 @@ void Can232::serialEvent() {
void Can232::initFunc() {
inputString.reserve(200);
// lw232AutoStart = true; //todo: read from eeprom
// lw232AutoPoll = false; //todo: read from eeprom
// lw232AutoStart = true; //todo: read from eeprom
// lw232AutoPoll = false; //todo: read from eeprom
// lw232TimeStamp = //read from eeprom
// lw232Message[0] = 'Z'; lw232Message[1] = '1'; exec();
// if (lw232AutoStart) {
lw232Message[0] = 'O'; exec();
// }
//if (lw232AutoStart) {
inputString = "O\0x0D";
stringComplete = true;
loopFunc();
//}
}
void Can232::setFilterFunc(INT8U (*userFunc)(INT32U)) {
@@ -95,7 +90,7 @@ void Can232::setFilterFunc(INT8U (*userFunc)(INT32U)) {
void Can232::loopFunc() {
if (stringComplete) {
int len = inputString.length();
if (len > 1 && len < 29) {
if (len > 0 && len < 29) {
strcpy((char*)lw232Message, inputString.c_str());
exec();
}
@@ -125,9 +120,8 @@ void Can232::serialEventFunc() {
}
INT8U Can232::exec() {
dbg2("Command received:", inputString);
dbg2("Command received:", inputString);
lw232LastErr = parseAndRunCommand();
switch (lw232LastErr) {
case LW232_OK:
Serial.write(LW232_RET_ASCII_OK);
@@ -151,7 +145,6 @@ INT8U Can232::exec() {
return 0;
}
INT8U Can232::parseAndRunCommand() {
INT8U ret = LW232_OK;
INT8U idx = 0;
@@ -164,7 +157,7 @@ INT8U Can232::parseAndRunCommand() {
// Sn[CR] Setup with standard CAN bit-rates where n is 0-9.
if (lw232CanChannelMode == LW232_STATUS_CAN_CLOSED) {
idx = HexHelper::parseNibbleWithLimit(lw232Message[1], LW232_CAN_BAUD_NUM);
lw232CanSpeedSelection = lw232CanBaudRates[idx];
lw232CanSpeedSelection = lw232CanBaudRates[idx];
}
else {
ret = LW232_ERR;
@@ -176,8 +169,10 @@ INT8U Can232::parseAndRunCommand() {
case LW232_CMD_OPEN:
// O[CR] Open the CAN channel in normal mode (sending & receiving).
if (lw232CanChannelMode == LW232_STATUS_CAN_CLOSED) {
lw232CanChannelMode = LW232_STATUS_CAN_OPEN_NORMAL;
ret = openCanBus();
if (ret == LW232_OK) {
lw232CanChannelMode = LW232_STATUS_CAN_OPEN_NORMAL;
}
}
else {
ret = LW232_ERR;
@@ -186,8 +181,10 @@ INT8U Can232::parseAndRunCommand() {
case LW232_CMD_LISTEN:
// L[CR] Open the CAN channel in listen only mode (receiving).
if (lw232CanChannelMode == LW232_STATUS_CAN_CLOSED) {
lw232CanChannelMode = LW232_STATUS_CAN_OPEN_LISTEN;
ret = openCanBus();
if (ret == LW232_OK) {
lw232CanChannelMode = LW232_STATUS_CAN_OPEN_LISTEN;
}
}
else {
ret = LW232_ERR;
@@ -206,16 +203,16 @@ INT8U Can232::parseAndRunCommand() {
// tiiildd...[CR] Transmit a standard (11bit) CAN frame.
if (lw232CanChannelMode == LW232_STATUS_CAN_OPEN_NORMAL) {
parseCanStdId();
lw232PacketLen = HexHelper::parseNibbleWithLimit(lw232Message[LW232_OFFSET_STD_PKT_LEN], LW232_FRAME_MAX_LENGTH);
lw232PacketLen = HexHelper::parseNibbleWithLimit(lw232Message[LW232_OFFSET_STD_PKT_LEN], LW232_FRAME_MAX_LENGTH + 1);
for (; idx < lw232PacketLen; idx++) {
lw232Buffer[idx] = HexHelper::parseFullByte(lw232Message[LW232_OFFSET_STD_PKT_DATA + idx * 2], lw232Message[LW232_OFFSET_STD_PKT_DATA + idx * 2 + 1]);
}
if (CAN_OK != sendMsgBuf(lw232CanId, 0, 0, lw232PacketLen, lw232Buffer)) {
INT8U mcpErr = sendMsgBuf(lw232CanId, 0, 0, lw232PacketLen, lw232Buffer);
if (mcpErr != CAN_OK) {
ret = LW232_ERR;
}
else if (lw232AutoPoll) {
} else if (lw232AutoPoll) {
ret = LW232_OK_SMALL;
}
}
}
else {
ret = LW232_ERR;
@@ -225,7 +222,7 @@ INT8U Can232::parseAndRunCommand() {
// Tiiiiiiiildd...[CR] Transmit an extended (29bit) CAN frame
if (lw232CanChannelMode == LW232_STATUS_CAN_OPEN_NORMAL) {
parseCanExtId();
lw232PacketLen = HexHelper::parseNibbleWithLimit(lw232Message[LW232_OFFSET_EXT_PKT_LEN], LW232_FRAME_MAX_LENGTH);
lw232PacketLen = HexHelper::parseNibbleWithLimit(lw232Message[LW232_OFFSET_EXT_PKT_LEN], LW232_FRAME_MAX_LENGTH + 1);
for (; idx < lw232PacketLen; idx++) {
lw232Buffer[idx] = HexHelper::parseFullByte(lw232Message[LW232_OFFSET_EXT_PKT_DATA + idx * 2], lw232Message[LW232_OFFSET_EXT_PKT_DATA + idx * 2 + 1]);
}
@@ -233,6 +230,8 @@ INT8U Can232::parseAndRunCommand() {
ret = LW232_ERR;
} else if (lw232AutoPoll) {
ret = LW232_OK_BIG;
} else {
ret = LW232_OK;
}
}
break;
@@ -240,7 +239,7 @@ INT8U Can232::parseAndRunCommand() {
// riiil[CR] Transmit an standard RTR (11bit) CAN frame.
if (lw232CanChannelMode == LW232_STATUS_CAN_OPEN_NORMAL) {
parseCanStdId();
lw232PacketLen = HexHelper::parseNibbleWithLimit(lw232Message[LW232_OFFSET_STD_PKT_LEN], LW232_FRAME_MAX_LENGTH);
lw232PacketLen = HexHelper::parseNibbleWithLimit(lw232Message[LW232_OFFSET_STD_PKT_LEN], LW232_FRAME_MAX_LENGTH + 1);
if (CAN_OK != sendMsgBuf(lw232CanId, 0, 1, lw232PacketLen, lw232Buffer)) {
ret = LW232_ERR;
}
@@ -256,7 +255,7 @@ INT8U Can232::parseAndRunCommand() {
// Riiiiiiiil[CR] Transmit an extended RTR (29bit) CAN frame.
if (lw232CanChannelMode == LW232_STATUS_CAN_OPEN_NORMAL) {
parseCanExtId();
lw232PacketLen = HexHelper::parseNibbleWithLimit(lw232Message[LW232_OFFSET_EXT_PKT_LEN], LW232_FRAME_MAX_LENGTH);
lw232PacketLen = HexHelper::parseNibbleWithLimit(lw232Message[LW232_OFFSET_EXT_PKT_LEN], LW232_FRAME_MAX_LENGTH + 1);
if (CAN_OK != sendMsgBuf(lw232CanId, 1, 1, lw232PacketLen, lw232Buffer)) {
ret = LW232_ERR;
}
can-232.h
+6 -4
View File
@@ -139,9 +139,13 @@
#define LW232_DEFAULT_BAUD_RATE 115200
#define LW232_DEFAULT_CAN_RATE CAN_500KBPS
#define LW232_DEFAULT_CLOCK_FREQ MCP_16MHz
#define LW232_CAN_BAUD_NUM 0x0a
#define LW232_UART_BAUD_NUM 0x07
const INT32U lw232SerialBaudRates[] //PROGMEM
= { 230400, 115200, 57600, 38400, 19200, 9600, 2400 };
@@ -151,16 +155,14 @@ const INT32U lw232CanBaudRates[] //PROGMEM
class Can232
{
public:
static void init();
static void init(INT8U defaultCanSpeed);
static void init(INT8U defaultCanSpeed, const INT8U clock);
static void init(INT8U defaultCanSpeed = LW232_DEFAULT_CAN_RATE, const INT8U clock = LW232_DEFAULT_CLOCK_FREQ);
static void setFilter(INT8U (*userFunc)(INT32U));
static void loop();
static void serialEvent();
private:
static Can232* _instance;
static Can232* const& instance();
static Can232* instance();
void initFunc();
void setFilterFunc(INT8U (*userFunc)(INT32U));
mcp_can.cpp
+13 -12
View File
@@ -22,6 +22,8 @@
*/
#include "mcp_can.h"
//#define DEBUG_MODE
#define spi_readwrite SPI.transfer
#define spi_read() spi_readwrite(0x00)
@@ -138,7 +140,6 @@ INT8U MCP_CAN::mcp2515_readStatus(void)
INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode)
{
INT8U i;
mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
i = mcp2515_readRegister(MCP_CANCTRL);
@@ -384,16 +385,16 @@ void MCP_CAN::mcp2515_initCANBuffers(void)
INT32U ulMask = 0x00, ulFilt = 0x00;
//mcp2515_write_id(MCP_RXM0SIDH, ext, ulMask); /*Set both masks to 0 */
//mcp2515_write_id(MCP_RXM1SIDH, ext, ulMask); /*Mask register ignores ext bit */
/* Set all filters to 0 */
//mcp2515_write_id(MCP_RXF0SIDH, ext, ulFilt); /* RXB0: extended */
//mcp2515_write_id(MCP_RXF1SIDH, std, ulFilt); /* RXB1: standard */
//mcp2515_write_id(MCP_RXF2SIDH, ext, ulFilt); /* RXB2: extended */
//mcp2515_write_id(MCP_RXF3SIDH, std, ulFilt); /* RXB3: standard */
//mcp2515_write_id(MCP_RXF4SIDH, ext, ulFilt);
//mcp2515_write_id(MCP_RXF5SIDH, std, ulFilt);
// mcp2515_write_id(MCP_RXM0SIDH, ext, ulMask); /*Set both masks to 0 */
// mcp2515_write_id(MCP_RXM1SIDH, ext, ulMask); /*Mask register ignores ext bit */
//
// /* Set all filters to 0 */
// mcp2515_write_id(MCP_RXF0SIDH, ext, ulFilt); /* RXB0: extended */
// mcp2515_write_id(MCP_RXF1SIDH, std, ulFilt); /* RXB1: standard */
// mcp2515_write_id(MCP_RXF2SIDH, ext, ulFilt); /* RXB2: extended */
// mcp2515_write_id(MCP_RXF3SIDH, std, ulFilt); /* RXB3: standard */
// mcp2515_write_id(MCP_RXF4SIDH, ext, ulFilt);
// mcp2515_write_id(MCP_RXF5SIDH, std, ulFilt);
/* Clear, deactivate the three */
/* transmit buffers */
@@ -660,7 +661,7 @@ MCP_CAN::MCP_CAN(INT8U _CS)
*********************************************************************************************************/
INT8U MCP_CAN::begin(INT8U speedset, const INT8U clockset)
{
INT8U res;
INT8U res = MCP2515_OK;
SPI.begin();
res = mcp2515_init(speedset, clockset);