mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-09-14 10:33:49 +00:00
245 lines
9.6 KiB
C++
245 lines
9.6 KiB
C++
/*****************************************************************************************
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* This is implementation of CAN BUS ASCII protocol based on LAWICEL v1.3 serial protocol
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* of CanSerial/CANUSB device (http://www.CanSerial.com/docs/CanSerial_v3.pdf)
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*
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* Made for Arduino with Seeduino/ElecFreaks CAN BUS Shield based on MCP2515
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*
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* Copyright (C) 2015 Anton Viktorov <latonita@yandex.ru>
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* https://github.com/latonita/can-ascii
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*
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* This library is free software. You may use/redistribute it under The MIT License terms.
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*
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*****************************************************************************************/
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#ifndef _CAN_SERIAL_H_
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#define _CAN_SERIAL_H_
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#include "mcp_can.h"
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#define LOGGING_ENABLED
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#ifdef LOGGING_ENABLED
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#include "SoftwareSerial.h"
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#define dbg_begin(x) debug.begin(x)
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#define dbg0(x) debug.print(x)
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#define dbg1(x) debug.println(x)
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#define dbg2(x,y) debug.print(x); debug.println(y)
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#define dbgH(x) debug.print(x,HEX)
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#define DEBUG_RX_PIN 8
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#define DEBUG_TX_PIN 9
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#else
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#define dbg_begin(x)
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#define dbg0(x)
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#define dbg1(x)
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#define dbg2(x,y)
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#define dbgH(x)
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#endif
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#define LWUART_LAWICEL_VERSION_STR "V1013"
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#define LWUART_LAWICEL_SERIAL_NUM "NA123"
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#define LWUART_CAN_BUS_SHIELD_CS_PIN 10
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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//
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// Commands not supported/not implemented:
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// s, W, M, m, U
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//
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// Commands modified:
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// S - supports not declared 83.3 rate straight away (S9)
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// refer to https://github.com/latonita/CAN_BUS_Shield fork with 83.3 support, easy to add.
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// F - returns MCP2515 error flags
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// Z - extra Z2 option enables 4 byte timestamp vs standard 2 byte (60000ms max)
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//
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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//
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// CODE SUPPORTED SYNTAX DESCRIPTION
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//
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#define LWUART_CMD_SETUP 'S' // YES+ Sn[CR] Setup with standard CAN bit-rates where n is 0-8.
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// S0 10Kbit S4 125Kbit S8 1Mbit
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// S1 20Kbit S5 250Kbit S9 83.3Kbit
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// S2 50Kbit S6 500Kbit
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// S3 100Kbit S7 800Kbit
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#define LWUART_CMD_SETUP_BTR 's' // - sxxyy[CR] Setup with BTR0/BTR1 CAN bit-rates where xx and yy is a hex value.
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#define LWUART_CMD_OPEN 'O' // YES O[CR] Open the CAN channel in normal mode (sending & receiving).
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#define LWUART_CMD_LISTEN 'L' // YES L[CR] Open the CAN channel in listen only mode (receiving).
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#define LWUART_CMD_CLOSE 'C' // YES C[CR] Close the CAN channel.
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#define LWUART_CMD_TX11 't' // YES tiiildd...[CR] Transmit a standard (11bit) CAN frame.
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#define LWUART_CMD_TX29 'T' // YES Tiiiiiiiildd...[CR] Transmit an extended (29bit) CAN frame
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#define LWUART_CMD_RTR11 'r' // YES riiil[CR] Transmit an standard RTR (11bit) CAN frame.
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#define LWUART_CMD_RTR29 'R' // YES Riiiiiiiil[CR] Transmit an extended RTR (29bit) CAN frame.
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#define LWUART_CMD_POLL_ONE 'P' // YES P[CR] Poll incomming FIFO for CAN frames (single poll)
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#define LWUART_CMD_POLL_MANY 'A' // YES A[CR] Polls incomming FIFO for CAN frames (all pending frames)
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#define LWUART_CMD_FLAGS 'F' // YES+ F[CR] Read Status Flags.
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#define LWUART_CMD_AUTOPOLL 'X' // YES Xn[CR] Sets Auto Poll/Send ON/OFF for received frames.
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#define LWUART_CMD_FILTER 'W' // - Wn[CR] Filter mode setting. By default CanSerial works in dual filter mode (0) and is backwards compatible with previous CanSerial versions.
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#define LWUART_CMD_ACC_CODE 'M' // - Mxxxxxxxx[CR] Sets Acceptance Code Register (ACn Register of SJA1000). // we use MCP2515, not supported
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#define LWUART_CMD_ACC_MASK 'm' // - mxxxxxxxx[CR] Sets Acceptance Mask Register (AMn Register of SJA1000). // we use MCP2515, not supported
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#define LWUART_CMD_UART 'U' // YES Un[CR] Setup UART with a new baud rate where n is 0-6.
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#define LWUART_CMD_VERSION1 'V' // YES v[CR] Get Version number of both CanSerial hardware and software
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#define LWUART_CMD_VERSION2 'v' // YES V[CR] Get Version number of both CanSerial hardware and software
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#define LWUART_CMD_SERIAL 'N' // YES N[CR] Get Serial number of the CanSerial.
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#define LWUART_CMD_TIMESTAMP 'Z' // YES+ Zn[CR] Sets Time Stamp ON/OFF for received frames only. EXTENSION to LAWICEL: Z2 - millis() timestamp w/o standard 60000ms cycle
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#define LWUART_CMD_AUTOSTART 'Q' // YES todo Qn[CR] Auto Startup feature (from power on).
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#define LOW_BYTE(x) ((unsigned char)((x)&0xFF))
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#define HIGH_BYTE(x) ((unsigned char)(((x)>>8)&0xFF))
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#define LOW_WORD(x) ((unsigned short)((x)&0xFFFF))
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#define HIGH_WORD(x) ((unsigned short)(((x)>>16)&0xFFFF))
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#ifndef INT32U
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#define INT32U unsigned long
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#endif
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#ifndef INT16U
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#define INT16U word
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#endif
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#ifndef INT8U
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#define INT8U byte
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#endif
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#define LWUART_OK 0x00
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#define LWUART_OK_SMALL 0x01
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#define LWUART_OK_BIG 0x02
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#define LWUART_ERR 0x03
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#define LWUART_ERR_NOT_IMPLEMENTED 0x04
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#define LWUART_ERR_UNKNOWN_CMD 0x05
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#define LWUART_FILTER_SKIP 0x00
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#define LWUART_FILTER_PROCESS 0x01
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//#define LWUART_IS_OK(x) ((x)==LWUART_OK ||(x)==LWUART_OK_NEW ? TRUE : FALSE)
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#define LWUART_CR '\r'
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#define LWUART_ALL 'A'
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#define LWUART_FLAG 'F'
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#define LWUART_TR11 't'
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#define LWUART_TR29 'T'
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#define LWUART_RET_ASCII_OK 0x0D
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#define LWUART_RET_ASCII_ERROR 0x07
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#define LWUART_RET_ASCII_OK_SMALL 'z'
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#define LWUART_RET_ASCII_OK_BIG 'Z'
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#define LWUART_STATUS_CAN_CLOSED 0x00
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#define LWUART_STATUS_CAN_OPEN_NORMAL 0x01
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#define LWUART_STATUS_CAN_OPEN_LISTEN 0x01
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#define LWUART_FRAME_MAX_LENGTH 0x08
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#define LWUART_FRAME_MAX_SIZE (sizeof("Tiiiiiiiildddddddddddddddd\r")+1)
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#define LWUART_INPUT_STRING_BUFFER_SIZE 200
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#define LWUART_OFF '0'
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#define LWUART_ON_ONE '1'
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#define LWUART_ON_TWO '2'
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#define LWUART_AUTOPOLL_OFF 0x00
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#define LWUART_AUTOPOLL_ON 0x01
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#define LWUART_AUTOSTART_OFF 0x00
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#define LWUART_AUTOSTART_ON_NORMAL 0x01
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#define LWUART_AUTOSTART_ON_LISTEN 0x02
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#define LWUART_TIMESTAMP_OFF 0x00
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#define LWUART_TIMESTAMP_ON_NORMAL 0x01
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#define LWUART_TIMESTAMP_ON_EXTENDED 0x02
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#define LWUART_OFFSET_STD_PKT_LEN 0x04
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#define LWUART_OFFSET_STD_PKT_DATA 0x05
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#define LWUART_OFFSET_EXT_PKT_LEN 0x09
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#define LWUART_OFFSET_EXT_PKT_DATA 0x0A
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#define LWUART_DEFAULT_BAUD_RATE 115200
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#define LWUART_DEFAULT_CAN_RATE CAN_500KBPS
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#define LWUART_DEFAULT_CLOCK_FREQ MCP_16MHz
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#define LWUART_CAN_BAUD_NUM 0x0a
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#define LWUART_UART_BAUD_NUM 0x07
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const INT32U LWUARTSerialBaudRates[] //PROGMEM
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= { 230400, 115200, 57600, 38400, 19200, 9600, 2400 };
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const INT32U LWUARTCanBaudRates[] //PROGMEM
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= { CAN_10KBPS, CAN_20KBPS, CAN_50KBPS, CAN_100KBPS, CAN_125KBPS, CAN_250KBPS, CAN_500KBPS, CAN_500KBPS /*CAN_800KBPS*/, CAN_1000KBPS, CAN_83K3BPS };
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class CanSerial
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{
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public:
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static void init(INT8U defaultCanSpeed = LWUART_DEFAULT_CAN_RATE, const INT8U clock = LWUART_DEFAULT_CLOCK_FREQ);
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static void setFilter(INT8U (*userFunc)(INT32U));
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static void loop();
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static void serialEvent();
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private:
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static CanSerial* _instance;
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static CanSerial* instance();
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void initFunc();
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void setFilterFunc(INT8U (*userFunc)(INT32U));
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void loopFunc();
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void serialEventFunc();
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INT8U (*userAddressFilterFunc)(INT32U addr) = 0;
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MCP_CAN LWUARTCAN = MCP_CAN(LWUART_CAN_BUS_SHIELD_CS_PIN);
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INT8U LWUARTCanSpeedSelection = CAN_83K3BPS;
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INT8U LWUARTMcpModuleClock = MCP_16MHz;
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INT8U LWUARTCanChannelMode = LWUART_STATUS_CAN_CLOSED;
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INT8U LWUARTLastErr = LWUART_OK;
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INT8U LWUARTAutoStart = LWUART_AUTOSTART_OFF;
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INT8U LWUARTAutoPoll = LWUART_AUTOPOLL_OFF;
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INT8U LWUARTTimeStamp = LWUART_TIMESTAMP_OFF;
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INT32U LWUARTCanId = 0;
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INT8U LWUARTBuffer[8];
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INT8U LWUARTPacketLen = 0;
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INT8U LWUARTMessage[LWUART_FRAME_MAX_SIZE];
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String inputString = ""; // a string to hold incoming data
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boolean stringComplete = false; // whether the string is complete
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INT8U parseAndRunCommand();
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INT8U exec();
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INT8U checkReceive();
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INT8U readMsgBufID(INT32U *ID, INT8U *len, INT8U buf[]);
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INT8U receiveSingleFrame();
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INT8U isExtendedFrame();
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INT8U checkPassFilter(INT32U addr);
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INT8U openCanBus();
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INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U rtr, INT8U len, INT8U *buf);
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void parseCanStdId();
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void parseCanExtId();
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};
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class HexHelper {
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public:
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static void printFullByte(INT8U b);
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static void printNibble(INT8U b);
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static INT8U parseNibble(INT8U hex);
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static INT8U parseFullByte(INT8U H, INT8U L);
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static INT8U parseNibbleWithLimit(INT8U hex, INT8U limit);
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};
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class CanSerialFake : CanSerial {
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};
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#endif
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