Michel2/Seeed_Arduino_CAN
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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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can-232.cpp
+34 -35
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@@ -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;
}