void RECEIVE_Tasks(void) {
char letter;
while (1) {
xQueueReceive(rcvData.rcvQueue, &letter, portMAX_DELAY);
checkReceive(letter);
}
}
//==============================================================================
// This function performs background tasks:
// - receives and displays frames in auto
// poll mode
//------------------------------------------------------------------------------
void CAN232_Tasks() {
if (lw232_CanChannelMode != LW232_STATUS_CAN_CLOSED
&& lw232_AutoPoll == LW232_AUTOPOLL_ON)
{
int recv = 0;
while (CAN_MSGAVAIL == checkReceive() && recv++<5) {
//printChar('+');
if (CAN_OK == receiveSingleFrame()) {
printChar(LW232_CR);
}
}
}
}
void Can232::loopFunc() {
if (stringComplete) {
int len = inputString.length();
if (len > 0 && len < 29) {
strcpy((char*)lw232Message, inputString.c_str());
exec();
}
// clear the string:
inputString = "";
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();
}
}
INT8U Can232::parseAndRunCommand() {
INT8U ret = LW232_OK;
INT8U idx = 0;
INT8U err = 0;
lw232LastErr = LW232_OK;
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.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;
}
