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Seeed_Arduino_CAN/can-232.h
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latonita cc165a78d0 Initial throw
2015-04-16 02:19:40 +03:00

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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.
*
*****************************************************************************************/
#ifndef _CAN_232_H_
#define _CAN_232_H_
//#if defined(ARDUINO) && ARDUINO >= 100
// #include "arduino.h"
//#else
// #include "WProgram.h"
//#endif
#include "mcp_can.h"
#include "SoftwareSerial.h"
#define LW232_LAWICEL_VERSION_STR "V1013"
#define LW232_LAWICEL_SERIAL_NUM "NA123"
#define LW232_CAN_BUS_SHIELD_CS_PIN 10
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Commands not supported/not implemented:
// s, W, M, m, U
//
// Commands modified:
// S - supports not declared 83.3 rate straight away (S9)
// refer to https://github.com/latonita/CAN_BUS_Shield fork with 83.3 support, easy to add.
// F - returns MCP2515 error flags
// Z - extra Z2 option enables 4 byte timestamp vs standard 2 byte (60000ms max)
//
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// CODE SUPPORTED SYNTAX DESCRIPTION
//
#define LW232_CMD_SETUP 'S' // YES+ Sn[CR] Setup with standard CAN bit-rates where n is 0-8.
// S0 10Kbit S4 125Kbit S8 1Mbit
// S1 20Kbit S5 250Kbit S9 83.3Kbit
// S2 50Kbit S6 500Kbit
// S3 100Kbit S7 800Kbit
#define LW232_CMD_SETUP_BTR 's' // - sxxyy[CR] Setup with BTR0/BTR1 CAN bit-rates where xx and yy is a hex value.
#define LW232_CMD_OPEN 'O' // YES O[CR] Open the CAN channel in normal mode (sending & receiving).
#define LW232_CMD_LISTEN 'L' // YES L[CR] Open the CAN channel in listen only mode (receiving).
#define LW232_CMD_CLOSE 'C' // YES C[CR] Close the CAN channel.
#define LW232_CMD_TX11 't' // YES tiiildd...[CR] Transmit a standard (11bit) CAN frame.
#define LW232_CMD_TX29 'T' // YES Tiiiiiiiildd...[CR] Transmit an extended (29bit) CAN frame
#define LW232_CMD_RTR11 'r' // YES riiil[CR] Transmit an standard RTR (11bit) CAN frame.
#define LW232_CMD_RTR29 'R' // YES Riiiiiiiil[CR] Transmit an extended RTR (29bit) CAN frame.
#define LW232_CMD_POLL_ONE 'P' // YES P[CR] Poll incomming FIFO for CAN frames (single poll)
#define LW232_CMD_POLL_MANY 'A' // YES A[CR] Polls incomming FIFO for CAN frames (all pending frames)
#define LW232_CMD_FLAGS 'F' // YES+ F[CR] Read Status Flags.
#define LW232_CMD_AUTOPOLL 'X' // YES Xn[CR] Sets Auto Poll/Send ON/OFF for received frames.
#define LW232_CMD_FILTER 'W' // - Wn[CR] Filter mode setting. By default CAN232 works in dual filter mode (0) and is backwards compatible with previous CAN232 versions.
#define LW232_CMD_ACC_CODE 'M' // - Mxxxxxxxx[CR] Sets Acceptance Code Register (ACn Register of SJA1000). // we use MCP2515, not supported
#define LW232_CMD_ACC_MASK 'm' // - mxxxxxxxx[CR] Sets Acceptance Mask Register (AMn Register of SJA1000). // we use MCP2515, not supported
#define LW232_CMD_UART 'U' // YES Un[CR] Setup UART with a new baud rate where n is 0-6.
#define LW232_CMD_VERSION1 'V' // YES v[CR] Get Version number of both CAN232 hardware and software
#define LW232_CMD_VERSION2 'v' // YES V[CR] Get Version number of both CAN232 hardware and software
#define LW232_CMD_SERIAL 'N' // YES N[CR] Get Serial number of the CAN232.
#define LW232_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
#define LW232_CMD_AUTOSTART 'Q' // YES todo Qn[CR] Auto Startup feature (from power on).
#define LOW_BYTE(x) ((unsigned char)((x)&0xFF))
#define HIGH_BYTE(x) ((unsigned char)(((x)>>8)&0xFF))
#define LOW_WORD(x) ((unsigned short)((x)&0xFFFF))
#define HIGH_WORD(x) ((unsigned short)(((x)>>16)&0xFFFF))
#ifndef INT32U
#define INT32U unsigned long
#endif
#ifndef INT16U
#define INT16U word
#endif
#ifndef INT8U
#define INT8U byte
#endif
#define LW232_OK 0x00
#define LW232_OK_SMALL 0x01
#define LW232_OK_BIG 0x02
#define LW232_ERR 0x03
#define LW232_ERR_NOT_IMPLEMENTED 0x04
#define LW232_ERR_UNKNOWN_CMD 0x05
#define LW232_FILTER_SKIP 0x00
#define LW232_FILTER_PROCESS 0x01
//#define LW232_IS_OK(x) ((x)==LW232_OK ||(x)==LW232_OK_NEW ? TRUE : FALSE)
#define LW232_CR '\r'
#define LW232_ALL 'A'
#define LW232_FLAG 'F'
#define LW232_TR11 't'
#define LW232_TR29 'T'
#define LW232_RET_ASCII_OK 0x0D
#define LW232_RET_ASCII_ERROR 0x07
#define LW232_RET_ASCII_OK_SMALL 'z'
#define LW232_RET_ASCII_OK_BIG 'Z'
#define LW232_STATUS_CAN_CLOSED 0x00
#define LW232_STATUS_CAN_OPEN_NORMAL 0x01
#define LW232_STATUS_CAN_OPEN_LISTEN 0x01
#define LW232_FRAME_MAX_LENGTH 0x08
#define LW232_FRAME_MAX_SIZE (sizeof("Tiiiiiiiildddddddddddddddd\r")+1)
#define LW232_OFF '0'
#define LW232_ON_ONE '1'
#define LW232_ON_TWO '2'
#define LW232_AUTOPOLL_OFF 0x00
#define LW232_AUTOPOLL_ON 0x01
#define LW232_AUTOSTART_OFF 0x00
#define LW232_AUTOSTART_ON_NORMAL 0x01
#define LW232_AUTOSTART_ON_LISTEN 0x02
#define LW232_TIMESTAMP_OFF 0x00
#define LW232_TIMESTAMP_ON_NORMAL 0x01
#define LW232_TIMESTAMP_ON_EXTENDED 0x02
#define LW232_OFFSET_STD_PKT_LEN 0x04
#define LW232_OFFSET_STD_PKT_DATA 0x05
#define LW232_OFFSET_EXT_PKT_LEN 0x09
#define LW232_OFFSET_EXT_PKT_DATA 0x0A
#define LW232_DEFAULT_BAUD_RATE 115200
#define LW232_CAN_BAUD_NUM 0x0a
#define LW232_UART_BAUD_NUM 0x07
const INT32U lw232SerialBaudRates[] //PROGMEM
= { 230400, 115200, 57600, 38400, 19200, 9600, 2400 };
const INT32U lw232CanBaudRates[] //PROGMEM
= { CAN_10KBPS, CAN_20KBPS, CAN_50KBPS, CAN_100KBPS, CAN_125KBPS, CAN_250KBPS, CAN_500KBPS, CAN_500KBPS /*CAN_800KBPS*/, CAN_1000KBPS, CAN_83K3BPS };
class Can232
{
public:
static void init();
static void setFilter(INT8U (*userFunc)(INT32U));
static void loop();
static void serialEvent();
private:
static Can232* _instance;
static Can232* const& instance();
void initFunc();
void setFilterFunc(INT8U (*userFunc)(INT32U));
void loopFunc();
void serialEventFunc();
INT8U (*userAddressFilterFunc)(INT32U addr) = 0;
MCP_CAN lw232CAN = MCP_CAN(LW232_CAN_BUS_SHIELD_CS_PIN);
INT8U lw232CanSpeedSelection = CAN_83K3BPS;
INT8U lw232CanChannelMode = LW232_STATUS_CAN_CLOSED;
INT8U lw232LastErr = LW232_OK;
INT8U lw232AutoStart = LW232_AUTOSTART_OFF;
INT8U lw232AutoPoll = LW232_AUTOPOLL_OFF;
INT8U lw232TimeStamp = LW232_TIMESTAMP_OFF;
INT32U lw232CanId = 0;
INT8U lw232Buffer[8];
INT8U lw232PacketLen = 0;
INT8U lw232Message[LW232_FRAME_MAX_SIZE];
String inputString = ""; // a string to hold incoming data
boolean stringComplete = false; // whether the string is complete
INT8U parseAndRunCommand();
INT8U exec();
INT8U checkReceive();
INT8U readMsgBufID(INT32U *ID, INT8U *len, INT8U buf[]);
INT8U receiveSingleFrame();
INT8U isExtendedFrame();
INT8U checkPassFilter(INT32U addr);
INT8U openCanBus();
INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U rtr, INT8U len, INT8U *buf);
void parseCanStdId();
void parseCanExtId();
};
class HexHelper {
public:
static void printFullByte(INT8U b);
static void printNibble(INT8U b);
static INT8U parseNibble(INT8U hex);
static INT8U parseFullByte(INT8U H, INT8U L);
static INT8U parseNibbleWithLimit(INT8U hex, INT8U limit);
};
class Can232Fake : Can232 {
};
#endif
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