void sendMemLoc(uint32_t * ptr) {
printLF();
printser_string("Address [0x");
printser_uint32ToHex((uint32_t) ptr);
printser_string("] = Value 0x");
printser_uint32ToHex(&ptr);
}
void sendCPUInfo() {
printLF();
printser_string("CPU ID: 0x");
printser_uint32ToHex(SCB->CPUID);
}
void odp_canraw_printParam(UBaseType_t msgType, void *data,
printChar_cbf printchar)
{
param_data *args = data;
extern bus_paramPrint actBus_paramPrint;
if (args->args[ARG_CMD] == PARAM_INFO
&& args->args[ARG_VALUE_1] == VALUE_PARAM_INFO_VERSION) {
printser_string("0 - Raw CAN");
printLF();
printEOT();
} else {
createCommandResultMsg(FBID_PROTOCOL_GENERIC,
FBID_PROTOCOL_GENERIC, 0,
ERR_CODE_OS_UNKNOWN_COMMAND_TEXT);
}
}
void print_telegram(UBaseType_t msgType, void *data,
printChar_cbf printchar)
{
static data_packet *dp;
dp = data;
printser_string("# ");
printser_int(dp->timestamp * portTICK_PERIOD_MS, 10);
printser_string(" 0x");
printser_int(dp->recv, 16);
printser_string(" 0x");
printser_int(dp->err, 16);
printser_string(" ");
printser_int(dp->len, 10);
printser_string(" ");
int i;
for (i = 0; i < dp->len; i++) {
printser_uint8ToHex(dp->data[i]);
printser_string(" ");
}
printLF();
}
void obp_canraw(void *pvParameters)
{
//>>>> oobdtemple protocol initmain >>>>
int keeprunning = 1;
data_packet *dp;
data_packet actDataPacket;
UBaseType_t busToUse = *(UBaseType_t *) pvParameters;
/* function pointers to the bus interface */
extern bus_init actBus_init;
extern bus_send actBus_send;
extern bus_flush actBus_flush;
extern bus_param actBus_param;
extern bus_close actBus_close;
extern QueueHandle_t protocolQueue;
extern QueueHandle_t outputQueue;
extern QueueHandle_t inputQueue;
MsgData *msg;
MsgData *ownMsg;
param_data *args;
extern SemaphoreHandle_t protocollBinarySemaphore;
UBaseType_t msgType;
UBaseType_t timeout = 0;
int i;
//catch the "Protocoll is running" Semaphore
xSemaphoreTake(protocollBinarySemaphore, portMAX_DELAY);
/* activate the bus... */
odbarr[busToUse] ();
actBus_init();
ODPBuffer *protocolBuffer;
protocolBuffer = NULL;
// start with the protocol specific initalisation
//<<<< oobdtemple protocol initmain <<<<
extern print_cbf printdata_CAN;
UBaseType_t stateMachine_state = 0;
UBaseType_t actBufferPos = 0;
/* tell the Rx-ISR about the function to use for received data */
busControl(ODB_CMD_RECV, odp_canraw_recvdata);
protocolBuffer = createODPBuffer(CANRAWBUFFERSIZE);
if (protocolBuffer == NULL) {
keeprunning = 0;
} else {
protocolBuffer->len = 0;
}
extern protocolConfigPtr actProtConfigPtr;
struct CanRawConfig *protocolConfig;
protocolConfig = pvPortMalloc(sizeof(struct CanRawConfig));
if (protocolConfig == NULL) {
keeprunning = 0;
} else {
actProtConfigPtr = protocolConfig;
protocolConfig->recvID = 0x7DF;
protocolConfig->separationTime = 0;
protocolConfig->showBusTransfer = 0;
}
//>>>> oobdtemple protocol mainloop_start >>>>
for (; keeprunning;) {
if (MSG_NONE != (msgType = waitMsg(protocolQueue, &msg, portMAX_DELAY))) // portMAX_DELAY
/* handle message */
{
switch (msgType) {
//<<<< oobdtemple protocol mainloop_start <<<<
//>>>> oobdtemple protocol MSG_BUS_RECV >>>>
case MSG_BUS_RECV:
dp = msg->addr;
//<<<< oobdtemple protocol MSG_BUS_RECV <<<<
if (protocolConfig->showBusTransfer > 0) {
odp_canraw_dumpFrame(dp, printdata_CAN);
}
// no more action, Raw CAN does not manage any answers from the bus
//>>>> oobdtemple protocol MSG_SERIAL_DATA >>>>
break;
case MSG_SERIAL_DATA:
//<<<< oobdtemple protocol MSG_SERIAL_DATA <<<<
if (stateMachine_state == SM_CANRAW_STANDBY) { /* only if just nothing to do */
dp = (data_packet *) msg->addr;
// data block received from serial input which need to be handled now
if (((protocolBuffer->len) + dp->len) <=
CANRAWBUFFERSIZE) {
/* copy the data into the uds- buffer */
for (i = 0; i < dp->len; i++) {
protocolBuffer->data[protocolBuffer->len++] =
dp->data[i];
}
} else {
createCommandResultMsg
(FBID_PROTOCOL_GENERIC,
ERR_CODE_CANRAW_DATA_TOO_LONG_ERR,
(protocolBuffer->len) + dp->len,
ERR_CODE_CANRAW_DATA_TOO_LONG_ERR_TEXT);
}
}
//>>>> oobdtemple protocol MSG_SERIAL_PARAM_1 >>>>
break;
case MSG_SERIAL_PARAM:
args = (UBaseType_t *) msg->addr;
/*
* DEBUGPRINT("protocol parameter received %ld %ld %ld\n",
args->args[ARG_RECV], args->args[ARG_CMD],
args->args[ARG_VALUE_1]);
*/
switch (args->args[ARG_RECV]) {
case FBID_PROTOCOL_GENERIC:
/*
* DEBUGPRINT
("generic protocol parameter received %ld %ld\n",
args->args[ARG_CMD], args->args[ARG_VALUE_1]);
*/
switch (args->args[ARG_CMD]) {
case PARAM_INFO:
//<<<< oobdtemple protocol MSG_SERIAL_PARAM_1 <<<<
CreateParamOutputMsg(args, odp_canraw_printParam);
//>>>> oobdtemple protocol MSG_SERIAL_PARAM_2 >>>>
break;
// and here we proceed all command parameters
case PARAM_LISTEN:
xTickCurrent = 0; // set current Timestamp to "0" if Listen mode ist activated
protocolConfig->showBusTransfer =
args->args[ARG_VALUE_1];
createCommandResultMsg(FBID_PROTOCOL_GENERIC,
ERR_CODE_NO_ERR, 0, NULL);
break;
default:
createCommandResultMsg
(FBID_PROTOCOL_GENERIC,
ERR_CODE_OS_UNKNOWN_COMMAND, 0,
ERR_CODE_OS_UNKNOWN_COMMAND_TEXT);
break;
}
break;
//<<<< oobdtemple protocol MSG_SERIAL_PARAM_2 <<<<
case FBID_PROTOCOL_SPEC:
//DEBUGPRINT ("can raw protocol parameter received %ld %ld\n", args->args[ARG_CMD], args->args[ARG_VALUE_1]);
switch (args->args[ARG_CMD]) {
// first we commend out all parameters which are not used to generate the right "unknown parameter" message in the default - area
/*
case PARAM_ECHO:
break;
case PARAM_TIMEOUT_PENDING:
break;
case PARAM_BLOCKSIZE:
break;
*/
case PARAM_CANRAW_FRAME_DELAY:
protocolConfig->separationTime =
args->args[ARG_VALUE_1] + 1;
createCommandResultMsg(FBID_PROTOCOL_SPEC,
ERR_CODE_NO_ERR, 0, NULL);
break;
case PARAM_CANRAW_SENDID:
protocolConfig->recvID = args->args[ARG_VALUE_1];
createCommandResultMsg(FBID_PROTOCOL_SPEC,
ERR_CODE_NO_ERR, 0, NULL);
break;
default:
createCommandResultMsg(FBID_PROTOCOL_SPEC,
ERR_CODE_OS_UNKNOWN_COMMAND,
0,
ERR_CODE_OS_UNKNOWN_COMMAND_TEXT);
break;
}
break;
//>>>> oobdtemple protocol MSG_OTHERS >>>>
case FBID_BUS_GENERIC:
case FBID_BUS_SPEC:
actBus_param(args); /* forward the received params to the underlying bus. */
break;
default:
createCommandResultMsg(FBID_PROTOCOL_SPEC,
ERR_CODE_OS_UNKNOWN_COMMAND,
0,
ERR_CODE_OS_UNKNOWN_COMMAND_TEXT);
break;
}
//<<<< oobdtemple protocol MSG_OTHERS <<<<
//>>>> oobdtemple protocol MSG_INIT >>>>
case MSG_INIT:
if (protocolBuffer != NULL) {
protocolBuffer->len = 0;
}
//<<<< oobdtemple protocol MSG_INIT <<<<
//>>>> oobdtemple protocol MSG_PROTOCOL_STOP >>>>
break;
case MSG_PROTOCOL_STOP:
keeprunning = 0;
break;
//<<<< oobdtemple protocol MSG_PROTOCOL_STOP <<<<
//>>>> oobdtemple protocol MSG_SEND_BUFFER >>>>
case MSG_SEND_BUFFER:
/* let's Dance: Starting the transfer protocol */
//<<<< oobdtemple protocol MSG_SEND_BUFFER <<<<
if (protocolBuffer->len > 0) {
actBufferPos = 0;
for (; sendMoreFrames(protocolBuffer, &actBufferPos, &protocolConfig->showBusTransfer, &stateMachine_state, &timeout, printdata_CAN, actBus_send);); // fire all in one shot.
//>>>> oobdtemple protocol MSG_SEND_BUFFER_2 >>>>
} else { /* no data to send? */
createCommandResultMsg
(FBID_PROTOCOL_GENERIC, ERR_CODE_NO_ERR, 0, NULL);
/* just release the input again */
if (pdPASS !=
sendMsg(MSG_SERIAL_RELEASE, inputQueue, NULL)) {
printser_string("Input queue is full!");
DEBUGPRINT
("FATAL ERROR: input queue is full!\n", 'a');
}
}
break;
//<<<< oobdtemple protocol MSG_SEND_BUFFER_2 <<<<
//>>>> oobdtemple protocol MSG_TICK >>>>
case MSG_TICK:
//<<<< oobdtemple protocol MSG_TICK <<<<
if (timeout > 0) { /* we just waiting for the next frame to send */
if (timeout == 1) { /* time's gone... */
for (; sendMoreFrames(protocolBuffer, &actBufferPos, &protocolConfig->showBusTransfer, &stateMachine_state, &timeout, printdata_CAN, actBus_send);); // fire all in one shot.
if (timeout < 2) { //
protocolBuffer->len = 0;
createCommandResultMsg
(FBID_PROTOCOL_GENERIC,
ERR_CODE_NO_ERR, 0, NULL);
stateMachine_state = SM_CANRAW_STANDBY;
if (pdPASS !=
sendMsg(MSG_SERIAL_RELEASE, inputQueue,
NULL)) {
printser_string("INPQUE_FULL");
DEBUGPRINT
("FATAL ERROR: input queue is full!\n",
'a');
}
}
}
timeout--;
}
//>>>> oobdtemple protocol final >>>>
break;
}
disposeMsg(msg);
}
/* vTaskDelay (5000 / portTICK_PERIOD_MS); */
}
/* Do all cleanup here to finish task */
actBus_close();
vPortFree(protocolConfig);
freeODPBuffer(protocolBuffer);
xSemaphoreGive(protocollBinarySemaphore);
vTaskDelete(NULL);
}
void odp_canraw_recvdata(data_packet * p, UBaseType_t callFromISR)
{
extern print_cbf printdata_CAN;
extern printChar_cbf printChar;
extern protocolConfigPtr actProtConfigPtr;
struct CanRawConfig *protocolConfig;
short ByteCnt;
if (callFromISR)
xTickNew = (uint16_t) xTaskGetTickCountFromISR();
else
xTickNew = (uint16_t) xTaskGetTickCount();
if (xTickNew < xTickOld) // check for xTick overflow
xTickOld = 0;
if (xTickCurrent >= 59999) // limit timestamp to 0-59999 tick (ms)
xTickCurrent = 0;
xTickCurrent = xTickCurrent + (xTickNew - xTickOld);
xTickOld = xTickNew; // set latest value to xTickOld for next duration
p->timestamp = xTickCurrent;
protocolConfig = actProtConfigPtr;
if (protocolConfig != NULL) {
if (protocolConfig->showBusTransfer == 1) { //normal output
MsgData *msg;
extern QueueHandle_t protocolQueue;
if (NULL != (msg = createDataMsg(p))) {
UBaseType_t res = 0;
if (callFromISR) {
res = sendMsgFromISR(MSG_BUS_RECV, protocolQueue, msg);
} else {
res = sendMsg(MSG_BUS_RECV, protocolQueue, msg);
}
if (res != pdPASS) {
disposeMsg(msg);
DEBUGPRINT("FATAL ERROR: protocol queue is full!\n",
'a');
}
} else {
DEBUGPRINT("FATAL ERROR: Out of Heap space!l\n", 'a');
}
}
if (protocolConfig->showBusTransfer == 2) { //normal output, but straight from the ISR
printdata_CAN(MSG_BUS_RECV, p, printChar);
}
if (protocolConfig->showBusTransfer == 3) {
// Lawicel format: Estimated out of http://lxr.free-electrons.com/source/drivers/net/can/slcan.c line 110 cc.
if (p->recv & 0x80000000) { // Bit 32 set, so it's an extended CAN ID
printser_string("T");
printser_uint32ToHex(p->recv & 0x1FFFFFFF);
} else {
printser_string("t");
printser_int((p->recv & 0x700) >> 8, 10);
printser_uint8ToHex(p->recv & 0x00FF);
}
printser_int(p->len, 10);
ByteCnt = 0;
while (ByteCnt != p->len) {
printser_uint8ToHex(p->data[ByteCnt]);
ByteCnt++;
}
if (p->err == 0x01)
printser_string("FFFF"); // if error occurs set timestamp to 0xFFFF
else
printser_uint16ToHex(p->timestamp * portTICK_PERIOD_MS & 0xFFFF); //reduce down to 16 bit = 65536 ms = ~ 1 min
printLF();
}
if (protocolConfig->showBusTransfer == 4) {
printser_uint8ToRaw(255); //startbyte
printser_uint8ToRaw((p->len & 0xF) | // bit 0-3: DLC
((p->err & 3) << 4) | //bit 4-5 : Error flag
(((p->recv & 0x80000000) ? 1 : 0) << 5) //bit 6: Extended CAN ID
); //Status flag
printser_uint16ToRawCoded(p->timestamp * portTICK_PERIOD_MS & 0xFFFF); //reduce down to 16 bit = 65536 ms = ~ 1 min
if ((p->recv & 0x80000000)) { // Bit 32 set, so it's an exended CAN ID
printser_uint32ToRawCoded(p->recv & 0x1FFFFFFF);
} else {
printser_uint16ToRawCoded(p->recv & 0x1FFFFFFF);
}
int i;
for (i = 0; i < p->len; i++) {
printser_uint8ToRawCoded(p->data[i]);
}
}
}
}
/*-----------------------------------------------------------*/
void bus_param_can_generic_Print(UBaseType_t msgType, void *data,
printChar_cbf printchar)
{
param_data *args = data;
uint8_t FiltCntr;
DEBUGPRINT("can Parameter receiced %ld-%ld\n", args->args[ARG_RECV],
args->args[ARG_CMD]);
if (args->args[ARG_CMD] == PARAM_INFO) {
CAN_GetCanConfig(canConfig);
switch (args->args[ARG_VALUE_1]) {
case VALUE_PARAM_INFO_VERSION:
printser_string("CAN Bus");
printLF();
printEOT();
break;
case VALUE_PARAM_INFO_BUS_MODE:
switch (canConfig->mode) {
case VALUE_BUS_MODE_SILENT:
printser_string("0 - CAN Transceiver in 'Silent Mode'");
printLF();
break;
case VALUE_BUS_MODE_LOOP_BACK:
printser_string("1 - CAN Transceiver in 'Loop Back Mode'");
printLF();
break;
case VALUE_BUS_MODE_LOOP_BACK_WITH_SILENT:
printser_string
("2 - CAN Transceiver in 'Loop Back combined with Silent Mode'");
printLF();
break;
case VALUE_BUS_MODE_NORMAL:
printser_string("3 - CAN Transceiver in 'Normal Mode'");
printLF();
break;
}
switch (canConfig->state) {
case STATE_REQUEST_CAN_ERROR_ACTIVE:
printser_string("0 - Bus Active");
printLF();
break;
case STATE_REQUEST_CAN_ERROR_WARNING:
printser_string("1 - Bus Active, a few errors");
printLF();
break;
case STATE_REQUEST_CAN_ERROR_PASSIVE:
printser_string("2 - Bus Passive, many errors");
printLF();
break;
case STATE_REQUEST_CAN_BUS_OFF:
printser_string("3 - Bus Off, too many errors");
printLF();
break;
case STATE_REQUEST_CAN_STOPPED:
printser_string("4 - Bus offline");
printLF();
break;
case STATE_REQUEST_CAN_SLEEPING:
printser_string("5 - Bus sleeping");
printLF();
break;
case STATE_REQUEST_CAN_UNKNOWN:
printser_string("6 - no feedback from device");
printLF();
break;
}
printEOT();
break;
case VALUE_PARAM_INFO_BUS_CONFIG:
switch (canConfig->busConfig) {
case VALUE_BUS_CONFIG_11bit_125kbit:
printser_string("1 = ISO 15765-4, CAN 11bit ID/125kBaud");
printLF();
printEOT();
break;
case VALUE_BUS_CONFIG_11bit_250kbit:
printser_string("2 = ISO 15765-4, CAN 11bit ID/250kBaud");
printLF();
printEOT();
break;
case VALUE_BUS_CONFIG_11bit_500kbit:
printser_string("3 = ISO 15765-4, CAN 11bit ID/500kBaud");
printLF();
printEOT();
break;
case VALUE_BUS_CONFIG_11bit_1000kbit:
printser_string("4 - ISO 15765-4, CAN 11bit ID/1000kBaud");
printLF();
printEOT();
break;
case VALUE_BUS_CONFIG_29bit_125kbit:
printser_string("5 - ISO 15765-4, CAN 29bit ID/125kBaud");
printLF();
printEOT();
break;
case VALUE_BUS_CONFIG_29bit_250kbit:
printser_string("6 - ISO 15765-4, CAN 29bit ID/250kBaud");
printLF();
printEOT();
break;
case VALUE_BUS_CONFIG_29bit_500kbit:
printser_string("7 - ISO 15765-4, CAN 29bit ID/500kBaud");
printLF();
printEOT();
break;
case VALUE_BUS_CONFIG_29bit_1000kbit:
printser_string("8 - ISO 15765-4, CAN 29bit ID/1000kBaud");
printLF();
printEOT();
break;
}
break;
case VALUE_PARAM_INFO_BUS_ERROR:
if (VALUE_PARAM_INFO_BUS_ERROR_READ == args->args[ARG_VALUE_2]) {
printser_int(bus_rx_count_can(), 10);
printser_string(" ");
printser_int(bus_rx_error_can(), 10);
printser_string(" ");
printser_int(bus_rec_can(), 10);
printser_string(" ");
printser_int(bus_tx_count_can(), 10);
printser_string(" ");
printser_int(bus_tx_error_can(), 10);
printser_string(" ");
printser_int(bus_rec_can(), 10);
printser_string(" ");
printser_int(bus_tec_can(), 10);
printser_string(" ");
printser_int(bus_busoff_error_can(), 10);
printser_string(" ");
printser_int(bus_warning_error_can(), 10);
printser_string(" ");
printser_int(bus_passive_error_can(), 10);
} else if (VALUE_PARAM_INFO_BUS_ERROR_DEL ==
args->args[ARG_VALUE_2]) {
/* delete counters if parameter is requested with option "1" */
bus_clear_rx_error_can();
bus_clear_tx_error_can();
bus_clear_rx_count_can();
bus_clear_tx_count_can();
} else
printser_string("Missing parameter!");
printLF();
printEOT();
break;
case VALUE_PARAM_INFO_Can11FilterID:
for (FiltCntr = 0; FiltCntr < MAXCANFILTER; FiltCntr++) {
printser_string("0x");
printser_int(CAN_GetFilterReg16(FiltCntr, 1, 0), 16);
printser_string(" 0x");
printser_int(CAN_GetFilterReg16(FiltCntr, 1, 1), 16);
printser_string(" 0x");
printser_int(CAN_GetFilterReg16(FiltCntr, 2, 0), 16);
printser_string(" 0x");
printser_int(CAN_GetFilterReg16(FiltCntr, 2, 1), 16);
printLF();
}
printLF();
printEOT();
break;
case VALUE_PARAM_INFO_Can29FilterID:
for (FiltCntr = 0; FiltCntr < MAXCANFILTER; FiltCntr++) {
printser_string("0x");
printser_int(CAN_GetFilterReg32(FiltCntr, 1), 16);
printser_string(" 0x");
printser_int(CAN_GetFilterReg32(FiltCntr, 2), 16);
printLF();
}
printLF();
printEOT();
break;
default:
evalResult(FBID_BUS_GENERIC, ERR_CODE_OS_UNKNOWN_COMMAND, 0,
ERR_CODE_OS_UNKNOWN_COMMAND_TEXT);
break;
}
} else {
evalResult(FBID_BUS_GENERIC, ERR_CODE_OS_UNKNOWN_COMMAND, 0,
ERR_CODE_OS_UNKNOWN_COMMAND_TEXT);
}
}
