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Seeed_Arduino_CAN/examples/canbus-monitor/can-serial.cpp
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/*****************************************************************************************
* This is implementation of CAN BUS ASCII protocol based on LAWICEL v1.3 serial protocol
* of CAN232/CANUSB device (http://www.can232.com/docs/can232_v3.pdf)
*
* Made for Arduino with Seeduino/ElecFreaks CAN BUS Shield based on MCP2515
*
* Copyright (C) 2015 Anton Viktorov <latonita@yandex.ru>
* https://github.com/latonita/can-ascii
*
* This library is free software. You may use/redistribute it under The MIT License terms.
*
*****************************************************************************************/
#include <SPI.h>
#include "mcp_can.h"
#include "can-serial.h"
#define LOGGING_ENABLED
#ifdef LOGGING_ENABLED
#define dbg_begin(x) debug.begin(x)
#define dbg0(x) debug.print(x)
#define dbg1(x) debug.println(x)
#define dbg2(x,y) debug.print(x); debug.println(y)
#define dbgH(x) debug.print(x,HEX)
#define DEBUG_RX_PIN 8
#define DEBUG_TX_PIN 9
#else
#define dbg_begin(x)
#define dbg0(x)
#define dbg1(x)
#define dbg2(x,y)
#define dbgH(x)
#endif
#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);
//#define debug Serial
#endif
Can232* Can232::_instance = 0;
Can232* Can232::instance() {
if (_instance == 0)
_instance = new Can232();
return _instance;
}
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()->lw232CanSpeedSelection = defaultCanSpeed;
instance()->lw232McpModuleClock = clock;
instance()->initFunc();
}
MCP_CAN* Can232::MCP_OBJECT = NULL;
void Can232::attach(MCP_CAN *CAN) {
MCP_OBJECT = CAN;
#define lw232CAN MCP_OBJECT
}
void Can232::setFilter(INT8U (*userFunc)(INT32U)) {
instance()->setFilterFunc(userFunc);
}
void Can232::loop() {
instance()->loopFunc();
}
void Can232::serialEvent() {
instance()->serialEventFunc();
}
void Can232::initFunc() {
if (!inputString.reserve(LW232_INPUT_STRING_BUFFER_SIZE)) {
dbg0("inputString.reserve failed in initFunc. less optimal String work is expected");
}
// 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) {
inputString = "O\x0D";
stringComplete = true;
loopFunc();
//}
}
void Can232::setFilterFunc(INT8U (*userFunc)(INT32U)) {
instance()->userAddressFilterFunc = userFunc;
}
void Can232::loopFunc() {
if (stringComplete) {
unsigned len = inputString.length();
if (len > 0 && len < LW232_FRAME_MAX_SIZE) {
// maybe not single commands
int cr_pos;
for (; (cr_pos = inputString.indexOf(LW232_CR)) >= 0;) {
strncpy((char*)lw232Message, inputString.c_str(), cr_pos + 1);
lw232Message[cr_pos] = '\0';
exec();
inputString = inputString.substring(cr_pos + 1);
}
}
// clear the string:
stringComplete = false;
}
if (lw232CanChannelMode != LW232_STATUS_CAN_CLOSED) {
int recv = 0;
while (CAN_MSGAVAIL == checkReceive() && recv++<5) {
dbg0('+');
if (CAN_OK == receiveSingleFrame()) {
Serial.write(LW232_CR);
}
}
Serial.flush();
}
}
void Can232::serialEventFunc() {
while (Serial.available()) {
char inChar = (char)Serial.read();
inputString += inChar;
if (inChar == LW232_CR) {
stringComplete = true;
}
}
}
INT8U Can232::exec() {
lw232LastErr = parseAndRunCommand();
switch (lw232LastErr) {
case LW232_OK:
Serial.write(LW232_RET_ASCII_OK);
break;
case LW232_OK_SMALL:
Serial.write(LW232_RET_ASCII_OK_SMALL);
Serial.write(LW232_RET_ASCII_OK);
break;
case LW232_OK_BIG:
Serial.write(LW232_RET_ASCII_OK_BIG);
Serial.write(LW232_RET_ASCII_OK);
break;
case LW232_ERR_NOT_IMPLEMENTED:
// Choose behavior: will it fail or not when not implemented command comes in. Some can monitors might be affected by this selection.
Serial.write(LW232_RET_ASCII_ERROR);
//Serial.write(LW232_RET_ASCII_OK);
break;
default:
Serial.write(LW232_RET_ASCII_ERROR);
}
return 0;
}
INT8U Can232::parseAndRunCommand() {
INT8U ret = LW232_OK;
INT8U idx = 0;
INT8U err = 0;
lw232LastErr = LW232_OK;
// __debug_buf("RX:", (char*)lw232Message, strlen((char*)lw232Message));
switch (lw232Message[0]) {
case LW232_CMD_SETUP:
// 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];
}
else {
ret = LW232_ERR;
}
break;
case LW232_CMD_SETUP_BTR:
// sxxyy[CR] Setup with BTR0/BTR1 CAN bit-rates where xx and yy is a hex value.
ret = LW232_ERR; break;
case LW232_CMD_OPEN:
// O[CR] Open the CAN channel in normal mode (sending & receiving).
if (lw232CanChannelMode == LW232_STATUS_CAN_CLOSED) {
ret = openCanBus();
if (ret == LW232_OK) {
lw232CanChannelMode = LW232_STATUS_CAN_OPEN_NORMAL;
}
}
else {
ret = LW232_ERR;
}
break;
case LW232_CMD_LISTEN:
// L[CR] Open the CAN channel in listen only mode (receiving).
if (lw232CanChannelMode == LW232_STATUS_CAN_CLOSED) {
ret = openCanBus();
if (ret == LW232_OK) {
lw232CanChannelMode = LW232_STATUS_CAN_OPEN_LISTEN;
}
}
else {
ret = LW232_ERR;
}
break;
case LW232_CMD_CLOSE:
// C[CR] Close the CAN channel.
if (lw232CanChannelMode != LW232_STATUS_CAN_CLOSED) {
lw232CanChannelMode = LW232_STATUS_CAN_CLOSED;
}
else {
ret = LW232_ERR;
}
break;
case LW232_CMD_TX11:
// 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 + 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]);
}
INT8U mcpErr = sendMsgBuf(lw232CanId, 0, 0, lw232PacketLen, lw232Buffer);
if (mcpErr != CAN_OK) {
ret = LW232_ERR;
} else if (lw232AutoPoll) {
ret = LW232_OK_SMALL;
}
}
else {
ret = LW232_ERR;
}
break;
case LW232_CMD_TX29:
// 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 + 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]);
}
if (CAN_OK != sendMsgBuf(lw232CanId, 1, 0, lw232PacketLen, lw232Buffer)) {
ret = LW232_ERR;
} else if (lw232AutoPoll) {
ret = LW232_OK_BIG;
} else {
ret = LW232_OK;
}
}
break;
case LW232_CMD_RTR11:
// 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 + 1);
if (CAN_OK != sendMsgBuf(lw232CanId, 0, 1, lw232PacketLen, lw232Buffer)) {
ret = LW232_ERR;
}
else if (lw232AutoPoll) {
ret = LW232_OK_SMALL;
}
}
else {
ret = LW232_ERR;
}
break;
case LW232_CMD_RTR29:
// 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 + 1);
if (CAN_OK != sendMsgBuf(lw232CanId, 1, 1, lw232PacketLen, lw232Buffer)) {
ret = LW232_ERR;
}
else if (lw232AutoPoll) {
ret = LW232_OK_SMALL; // not a typo. strangely can232_v3.pdf tells to return "z[CR]", not "Z[CR]" as in 29bit. todo: check if it is error in pdf???
}
} else {
ret = LW232_ERR;
}
break;
case LW232_CMD_POLL_ONE:
// P[CR] Poll incomming FIFO for CAN frames (single poll)
if (lw232CanChannelMode != LW232_STATUS_CAN_CLOSED && lw232AutoPoll == LW232_AUTOPOLL_OFF) {
if (CAN_MSGAVAIL == checkReceive()) {
ret = receiveSingleFrame();
}
} else {
ret = LW232_ERR;
}
break;
case LW232_CMD_POLL_MANY:
// A[CR] Polls incomming FIFO for CAN frames (all pending frames)
if (lw232CanChannelMode != LW232_STATUS_CAN_CLOSED && lw232AutoPoll == LW232_AUTOPOLL_OFF) {
while (CAN_MSGAVAIL == checkReceive()) {
ret = ret ^ receiveSingleFrame();
if (ret != CAN_OK)
break;
Serial.write(LW232_CR);
}
if (ret == CAN_OK)
Serial.print(LW232_ALL);
} else {
ret = LW232_ERR;
}
break;
case LW232_CMD_FLAGS:
// F[CR] Read Status Flags.
// LAWICEL CAN232 and CANUSB have some specific errors which differ from MCP2515/MCP2551 errors. We just return MCP2515 error.
Serial.print(LW232_FLAG);
if (lw232CAN && lw232CAN->checkError(&err) == CAN_OK)
err = 0;
HexHelper::printFullByte(err /*& MCP_EFLG_ERRORMASK*/);
break;
case LW232_CMD_AUTOPOLL:
// Xn[CR] Sets Auto Poll/Send ON/OFF for received frames.
if (lw232CanChannelMode == LW232_STATUS_CAN_CLOSED) {
lw232AutoPoll = (lw232Message[1] == LW232_ON_ONE) ? LW232_AUTOPOLL_ON : LW232_AUTOPOLL_OFF;
//todo: save to eeprom
} else {
ret = LW232_ERR;
}
break;
case LW232_CMD_FILTER:
// Wn[CR] Filter mode setting. By default CAN232 works in dual filter mode (0) and is backwards compatible with previous CAN232 versions.
ret = LW232_ERR_NOT_IMPLEMENTED; break;
case LW232_CMD_ACC_CODE:
// Mxxxxxxxx[CR] Sets Acceptance Code Register (ACn Register of SJA1000). // we use MCP2515,
ret = LW232_ERR_NOT_IMPLEMENTED; break;
case LW232_CMD_ACC_MASK:
// mxxxxxxxx[CR] Sets Acceptance Mask Register (AMn Register of SJA1000).
ret = LW232_ERR_NOT_IMPLEMENTED; break;
case LW232_CMD_UART:
// Un[CR] Setup UART with a new baud rate where n is 0-6.
idx = HexHelper::parseNibbleWithLimit(lw232Message[1], LW232_UART_BAUD_NUM);
Serial.begin(lw232SerialBaudRates[idx]);
break;
case LW232_CMD_VERSION1:
case LW232_CMD_VERSION2:
// V[CR] Get Version number of both CAN232 hardware and software
Serial.print(LW232_LAWICEL_VERSION_STR);
break;
case LW232_CMD_SERIAL:
// N[CR] Get Serial number of the CAN232.
Serial.print(LW232_LAWICEL_SERIAL_NUM);
break;
case LW232_CMD_TIMESTAMP:
// Zn[CR] Sets Time Stamp ON/OFF for received frames only. Z0 - OFF, Z1 - Lawicel's timestamp 2 bytes, Z2 - arduino timestamp 4 bytes.
if (lw232CanChannelMode == LW232_STATUS_CAN_CLOSED) {
// lw232TimeStamp = (lw232Message[1] == LW232_ON_ONE);
if (lw232Message[1] == LW232_ON_ONE) {
lw232TimeStamp = LW232_TIMESTAMP_ON_NORMAL;
}
else if (lw232Message[1] == LW232_ON_TWO) {
lw232TimeStamp = LW232_TIMESTAMP_ON_EXTENDED;
}
else {
lw232TimeStamp = LW232_TIMESTAMP_OFF;
}
}
else {
ret = LW232_ERR;
}
break;
case LW232_CMD_AUTOSTART:
// Qn[CR] Auto Startup feature (from power on).
if (lw232CanChannelMode != LW232_STATUS_CAN_CLOSED) {
if (lw232Message[1] == LW232_ON_ONE) {
lw232AutoStart = LW232_AUTOSTART_ON_NORMAL;
}
else if (lw232Message[1] == LW232_ON_TWO) {
lw232AutoStart = LW232_AUTOSTART_ON_LISTEN;
}
else {
lw232AutoStart = LW232_AUTOSTART_OFF;
}
//todo: save to eeprom
}
else {
ret = LW232_ERR;
}
break;
default:
ret = LW232_ERR_UNKNOWN_CMD;
}
return ret;
}
INT8U Can232::checkReceive() {
#ifndef _MCP_FAKE_MODE_
return lw232CAN? lw232CAN->checkReceive(): CAN_NOMSG;
#else
return CAN_MSGAVAIL;
#endif
}
INT8U Can232::readMsgBufID(INT32U *ID, INT8U *len, INT8U buf[]) {
#ifndef _MCP_FAKE_MODE_
return lw232CAN? lw232CAN->readMsgBufID(ID, len, buf): CAN_NOMSG;
#else
*ID = random(0x100, 0x110);
*len = 4;
buf[0] = random(0x01, 0x10);
buf[1] = random(0xa1, 0xf0);
buf[2] = 0x00;
buf[3] = 0x00;
return CAN_OK;
#endif
}
INT8U Can232::receiveSingleFrame() {
INT8U ret = LW232_OK;
INT8U idx = 0;
if (CAN_OK == readMsgBufID(&lw232CanId, &lw232PacketLen, lw232Buffer)) {
if (lw232CanId > 0x1FFFFFFF) {
ret = LW232_ERR; // address if totally wrong
}
else if (checkPassFilter(lw232CanId)) {// do we want to skip some addresses?
if (isExtendedFrame()) {
Serial.print(LW232_TR29);
HexHelper::printFullByte(HIGH_BYTE(HIGH_WORD(lw232CanId)));
HexHelper::printFullByte(LOW_BYTE(HIGH_WORD(lw232CanId)));
HexHelper::printFullByte(HIGH_BYTE(LOW_WORD(lw232CanId)));
HexHelper::printFullByte(LOW_BYTE(LOW_WORD(lw232CanId)));
}
else {
Serial.print(LW232_TR11);
HexHelper::printNibble(HIGH_BYTE(LOW_WORD(lw232CanId)));
HexHelper::printFullByte(LOW_BYTE(LOW_WORD(lw232CanId)));
}
//write data len
HexHelper::printNibble(lw232PacketLen);
//write data
for (idx = 0; idx < lw232PacketLen; idx++) {
HexHelper::printFullByte(lw232Buffer[idx]);
}
//write timestamp if needed
if (lw232TimeStamp != LW232_TIMESTAMP_OFF) {
INT32U time = millis();
if (lw232TimeStamp == LW232_TIMESTAMP_ON_NORMAL) {
// standard LAWICEL protocol. two bytes.
time %= 60000;
} else {
// non standard protocol - 4 bytes timestamp
HexHelper::printFullByte(HIGH_BYTE(HIGH_WORD(time)));
HexHelper::printFullByte(LOW_BYTE(HIGH_WORD(time)));
}
HexHelper::printFullByte(HIGH_BYTE(LOW_WORD(time)));
HexHelper::printFullByte(LOW_BYTE(LOW_WORD(time)));
}
}
}
else {
ret = LW232_ERR;
}
return ret;
}
INT8U Can232::isExtendedFrame() {
#ifndef _MCP_FAKE_MODE_
return lw232CAN? lw232CAN->isExtendedFrame(): 0;
#else
return lw232CanId > 0x7FF ? 1 : 0; //simple hack for fake mode
#endif
}
INT8U Can232::checkPassFilter(INT32U addr) {
if (userAddressFilterFunc == 0)
return LW232_FILTER_PROCESS;
return (*userAddressFilterFunc)(addr);
}
INT8U Can232::openCanBus() {
INT8U ret = LW232_OK;
#ifndef _MCP_FAKE_MODE_
if (!lw232CAN) {
return CAN_FAILINIT;
}
if (CAN_OK != lw232CAN->begin(lw232CanSpeedSelection, lw232McpModuleClock))
ret = LW232_ERR;
#endif
return ret;
}
INT8U Can232::sendMsgBuf(INT32U id, INT8U ext, INT8U rtr, INT8U len, INT8U *buf) {
#ifndef _MCP_FAKE_MODE_
if (!lw232CAN) {
return CAN_FAILTX;
}
return lw232CAN->sendMsgBuf(id, ext, rtr, len, buf);
#else
Serial.print("<sending:");
Serial.print(id, HEX);
Serial.print(',');
if (ext) Serial.print('+');
else Serial.print('-');
if (rtr) Serial.print('+');
else Serial.print('-');
Serial.print(',');
Serial.print(len, DEC);
Serial.print(',');
int i;
for (i = 0; i < len; i++) printFullByte(buf[i]);
return CAN_OK;
#endif
}
void Can232::parseCanStdId() {
lw232CanId = (((INT32U)HexHelper::parseNibble(lw232Message[1])) << 8)
+ (((INT32U)HexHelper::parseNibble(lw232Message[2])) << 4)
+ (((INT32U)HexHelper::parseNibble(lw232Message[3])));
lw232CanId &= 0x7FF;
}
void Can232::parseCanExtId() {
lw232CanId = (((INT32U)HexHelper::parseNibble(lw232Message[1])) << 28)
+ (((INT32U)HexHelper::parseNibble(lw232Message[2])) << 24)
+ (((INT32U)HexHelper::parseNibble(lw232Message[3])) << 20)
+ (((INT32U)HexHelper::parseNibble(lw232Message[4])) << 16)
+ (((INT32U)HexHelper::parseNibble(lw232Message[5])) << 12)
+ (((INT32U)HexHelper::parseNibble(lw232Message[6])) << 8)
+ (((INT32U)HexHelper::parseNibble(lw232Message[7])) << 4)
+ (((INT32U)HexHelper::parseNibble(lw232Message[8])));
lw232CanId &= 0x1FFFFFFF;
}
void HexHelper::printFullByte(INT8U b) {
if (b < 0x10) {
Serial.print('0');
// dbg0('0');
}
Serial.print(b, HEX);
//dbgH(b);
}
void HexHelper::printNibble(INT8U b) {
Serial.print(b & 0x0F, HEX);
//dbgH(b & 0x0F);
}
INT8U HexHelper::parseNibble(INT8U hex) {
INT8U ret = 0;
if (hex >= '0' && hex <= '9') {
ret = hex - '0';
} else if (hex >= 'a' && hex <= 'f') {
ret = hex - 'a' + 10;
} else if (hex >= 'A' && hex <= 'F') {
ret = hex - 'A' + 10;
} // else error, return 0
return ret;
}
INT8U HexHelper::parseFullByte(INT8U H, INT8U L) {
return (parseNibble(H) << 4) + parseNibble(L);
}
INT8U HexHelper::parseNibbleWithLimit(INT8U hex, INT8U limit) {
INT8U ret = parseNibble(hex);
if (ret < limit)
return ret;
else
return 0;
}
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