/**
* @brief Configura a CAN
*/
void canSetup(void)
{
// Initialize MCP2515
can_init(BITRATE_125_KBPS);
// Load filters and masks
can_static_filter(can_filter);
// Set normal mode
can_set_mode(CAN_MODE);
}
// ----------------------------------------------------------------------------
void usbcan_decode_command(char *str, uint8_t length)
{
uint8_t temp;
if (length == 0)
return;
switch (str[0]) {
case 'S': // set bitrate
// Lawicel has the folowing settings:
// S0 10 kbps
// S1 20 kbps
// S2 50 kbps
// S3 100 kbps
// S4 125 kbps
// S5 250 kbps
// S6 500 kbps
// S7 800 kbps
// S8 1 mbps; is index 7 on USB2CAN
// Note that the USB2CAN adapter does not support 800 kbps.
// With index 7 USB2CAN runs on 1 mbps.
// Report error if the range is wrong, communication channel
// already open, Parameter wrong or the user tries to set
// 800 kbps, which is not supported.
if ( ((temp = str[1] - '0') > 8) || channel_open || length != 2 || temp == 7 ) {
goto error;
} else {
// Take care of different index usage for 1 mbps.
if ( temp == 8 ) {
temp--;
}
// Set new bitrate, remember all MOB are cleared!
can_init(temp);
bitrate_set = true;
}
break;
case 'r': // send frames
case 't':
case 'R':
case 'T':
if ( !channel_open ) {
goto error;
} else {
if ( !usbcan_decode_message(str, length) ) {
goto error;
}
}
break;
case 'M': // Set acceptance code for SJA1000
case 'm': // Set acceptance mask for SJA1000
case 's': // Set BTR0/BTR1 for SJA1000
goto error;
// TODO
break;
case 'O': // Open channel, i.e. connect CAN to output.
if ( channel_open || !bitrate_set ) {
goto error;
} else {
can_set_mode(NORMAL_MODE);
// In case the baudrate changed, re-enable some filters.
can_filter_t filter = {
.mask = 0,
.id = 0,
.flags.extended = 0,
.flags.rtr = 0
};
for (uint8_t i=11; i<15; i++) {
can_set_filter(i, &filter);
}
// Mark the channel as open.
channel_open = true;
}
break;
case 'L': // Open channel, i.e. connect CAN to output in listen only mode.
if ( channel_open || !bitrate_set ) {
goto error;
} else {
can_set_mode(LISTEN_ONLY_MODE);
channel_open = true;
}
break;
case 'C': // Close channel, i.e. disconnect CAN from output.
if ( !channel_open ) {
goto error;
} else {
channel_open = false;
}
break;
case 'F': // read Status Flags
term_put_hex(0);
// TODO
break;
case 'N': // read serial number
term_putc( 'N' );
term_put_hex( 0 );
term_put_hex( 0 );
break;
case 'V': // read hardware and firmeware version
term_putc( 'V' );
term_put_hex( (HARDWARE_VERSION_MAJOR << 4) | HARDWARE_VERSION_MINOR );
term_put_hex( (SOFTWARE_VERSION_MAJOR << 4) | SOFTWARE_VERSION_MINOR );
break;
case 'Z':
// Switch on or off timestamps.
// On Lawicel this value is stored in EEPROM.
if ( channel_open || length != 2) {
goto error;
} else {
use_timestamps = (str[1] - '0' == 0) ? false : true;
CANTIM = 0;
}
break;
}
term_putc('\r'); // command could be executed
return;
error:
term_putc(7); // Error in command
}
// ----------------------------------------------------------------------------
// processes commands in usbcan-protocol mode
void usbcan_handle_protocol(void)
{
static char buffer[40];
static uint8_t pos;
static can_error_register_t last_error = { 0, 0 };
can_error_register_t error;
// check for new messages
if (can_check_message()) {
can_t message;
// Only communicate data if channel is open.
// Due to left -> right evaluation messages are extracted from the
// MOB to avoid overflow, even if no communication is desired.
if ( can_get_message(&message) && channel_open ) {
uint8_t length = message.length;
if (message.flags.rtr)
{
// print identifier
if (message.flags.extended) {
printf_P(PSTR("R%08lx"), message.id);
} else {
uint16_t id = message.id;
printf_P(PSTR("r%03x"), id);
}
term_putc(length + '0');
}
else
{
// print identifier
if (message.flags.extended) {
printf_P(PSTR("T%08lx"), message.id);
} else {
uint16_t id = message.id;
printf_P(PSTR("t%03x"), id);
}
term_putc(length + '0');
// print data
for (uint8_t i = 0; i < length; i++)
term_put_hex(message.data[i]);
}
if (use_timestamps)
printf_P(PSTR("%04x"), message.timestamp);
term_putc('\r');
}
}
// get commands
while (term_data_available())
{
char chr = term_getc();
if (chr != '\r')
{
buffer[pos] = chr;
pos++;
if (pos >= sizeof(buffer)) {
// format-error: command to long!
pos = 0;
}
}
else {
buffer[pos] = '\0';
usbcan_decode_command(buffer, pos);
pos = 0;
}
}
// get error-register
error = can_read_error_register();
if (last_error.tx != error.tx || last_error.rx != error.rx) {
printf_P(PSTR("E%02x%02x\r"), error.rx, error.tx);
last_error = error;
}
}
