Revision: 1724
Author: bvwelch
Date: Sat Feb 27 17:19:52 2010
Log: CAN UART bridge adapter library
http://code.google.com/p/jallib/source/detail?r=1724
Added:
/trunk/include/protocol/can_adapter.jal
=======================================
--- /dev/null
+++ /trunk/include/protocol/can_adapter.jal Sat Feb 27 17:19:52 2010
@@ -0,0 +1,275 @@
+-- Title: CAN to UART adapter library
+-- Author: William Welch Copyright (c) 2010, all rights reserved.
+-- Sponsored by: Fiwihex www.fiwihex.com
+-- Compiler: 2.4m
+--
+-- This file is part of jallib (http://jallib.googlecode.com)
+-- Released under the ZLIB license
(http://www.opensource.org/licenses/zlib-license.html)
+--
+-- Description: bridge/gateway between RS232 and CAN bus. Uses ASCII
encapsulation,
+-- compatible with the Socket-CAN SLCAN API, and adapters such as
+-- LAWICEL and VScom USB-CAN.
+--
+-- Sources: Socket-CAN, in particular the SLCAN API.
http://developer.berlios.de/projects/socketcan/
+-- also, the LAWICEL CAN-USB and Easylink adapter manuals.
+--
+-- Compatibility testing has been done using the CANHACKER tool.
+-- See http://www.canhack.de/
+--
+
+var bit can_adapter_is_open = 0
+
+-- these commands are always available
+-- this routine is primarily for internal use.
+function can_modeless_cmd(volatile byte out device, byte in ascii_buf[32])
return bit is
+ var byte cmd
+ cmd = ascii_buf[0]
+
+ -- FIXME version
+ if cmd == "V" then
+ device = "V"
+ device = "0"
+ device = "1"
+ device = "0"
+ device = "1"
+ device = 13
+ return 1
+
+ -- FIXME Serial #
+ elsif cmd == "N" then
+ device = "N"
+ for 8 loop
+ device = "9"
+ end loop
+ device = 13
+ return 1
+
+ -- FIXME 'extra information'. Seems like we can
+ -- return whatever we want here???
+ elsif cmd == "I" then
+ var byte a, b, c, d
+ a = CANSTAT
+ b = COMSTAT
+ c = RXB0CON
+ d = RXB1CON
+ device = "I"
+ print_byte_hex(device, a)
+ device = 32
+ print_byte_hex(device, b)
+ device = 32
+ print_byte_hex(device, c)
+ device = 32
+ print_byte_hex(device, c)
+ device = 13
+ return 1
+
+ -- CLOSE
+ elsif cmd == "C" then
+ can_adapter_is_open = 0
+ device = 13
+ return 1
+
+ end if
+
+ return 0
+end function
+
+-- these commands are only valid while the bridge is 'closed'
+-- this routine is primarily for internal use.
+function can_closed_cmd(volatile byte out device, byte in ascii_buf[32])
return bit is
+ var byte cmd
+ cmd = ascii_buf[0]
+
+ -- FIXME speed
+ if cmd == "S" then
+ device = 13
+ return 1
+
+ -- FIXME advanced speed
+ elsif cmd == "s" then
+ device = 13
+ return 1
+
+ -- filter/acceptance mask
+ -- m12345678
+ elsif cmd == "m" then
+ var byte sidh, sidl, eidh, eidl
+ sidh = _ascii2bin(ascii_buf[1]) << 4
+ sidh = sidh | _ascii2bin(ascii_buf[2])
+ sidl = _ascii2bin(ascii_buf[3]) << 4
+ sidl = sidl | _ascii2bin(ascii_buf[4])
+ eidh = _ascii2bin(ascii_buf[5]) << 4
+ eidh = eidh | _ascii2bin(ascii_buf[6])
+ eidl = _ascii2bin(ascii_buf[7]) << 4
+ eidl = eidl | _ascii2bin(ascii_buf[8])
+ can_set_rxb0_mask(sidh, sidl, eidh, eidl)
+ device = 13
+ return 1
+
+ -- filter/acceptance code/value
+ -- M12345678
+ elsif cmd == "M" then
+ var byte sidh, sidl, eidh, eidl
+ sidh = _ascii2bin(ascii_buf[1]) << 4
+ sidh = sidh | _ascii2bin(ascii_buf[2])
+ sidl = _ascii2bin(ascii_buf[3]) << 4
+ sidl = sidl | _ascii2bin(ascii_buf[4])
+ eidh = _ascii2bin(ascii_buf[5]) << 4
+ eidh = eidh | _ascii2bin(ascii_buf[6])
+ eidl = _ascii2bin(ascii_buf[7]) << 4
+ eidl = eidl | _ascii2bin(ascii_buf[8])
+ can_set_rxb0_filter0(sidh, sidl, eidh, eidl)
+ device = 13
+ return 1
+
+ -- FIXME timestamp
+ elsif cmd == "Z" then
+ device = 13
+ return 1
+
+ -- OPEN
+ elsif cmd == "O" then
+ can_adapter_is_open = 1
+ device = 13
+ return 1
+
+ -- FIXME: need to really support this.
+ -- LISTEN
+ elsif cmd == "L" then
+ can_adapter_is_open = 1
+ device = 13
+ return 1
+
+ -- BOOT (software reset)
+ elsif cmd == "B" then
+ asm reset
+ -- never gets here
+ return 0
+ end if
+
+ return 0
+end function
+
+-- these commands are only valid while the bridge is 'open'
+-- this routine is primarily for internal use.
+function can_open_cmd(volatile byte out device, byte in ascii_buf[32])
return bit is
+ var byte cmd, data_len
+ var byte can_data[8]
+ var dword can_id
+
+ cmd = ascii_buf[0]
+
+ -- STATUS
+ if cmd == "F" then
+ var byte v
+ v = COMSTAT
+ device = "F"
+ print_byte_hex(device, v)
+ device = 13
+ return 1
+
+ -- bridge CAN message
+ elsif ascii_to_can(ascii_buf, can_id, can_data, data_len) then
+ if defined(display_can_msg) == true then
+ display_can_msg(can_id, can_data, data_len)
+ end if
+ for 100 loop
+ if can_send(0, can_id, can_data, data_len) then
+ exit loop
+ end if
+ end loop
+ -- if can_is_ext_id(can_id) then
+ -- device = "Z"
+ -- else
+ -- device = "z"
+ -- end if
+ device = 13
+ return 1
+ end if
+
+ return 0
+end function
+
+var volatile byte can_ascii_rxbuf[32]
+var volatile byte can_ascii_rxcnt = 0
+
+-- this routine is used to process incoming characters from the UART.
+-- the data stream is line-oriented ASCII, with a CR(13) terminator.
+-- sometimes the data is a command, which may need a reply back out
+-- the UART. But most of the time, the data is encapsulated CAN messages
+-- which need to be sent out the CANbus.
+--
+-- device: uart data device, e.g. serial_hw_data
+-- ch: received ASCII char from UART
+procedure can_check_uart_rx(volatile byte out device, byte in ch) is
+ var byte i, data_len
+
+ if can_ascii_rxcnt >= 32 then
+ can_ascii_rxcnt = 0
+ return
+ end if
+
+ can_ascii_rxbuf[can_ascii_rxcnt] = ch
+ can_ascii_rxcnt = can_ascii_rxcnt + 1
+
+ if can_ascii_rxcnt >= 32 then
+ can_ascii_rxcnt = 0
+ return
+ end if
+
+ if ch != 13 then
+ return
+ end if
+
+ -- at this point we have a complete
+ -- ASCII string in the buffer.
+
+ if can_modeless_cmd(device, can_ascii_rxbuf) then
+ can_ascii_rxcnt = 0
+ return
+ end if
+
+ if can_adapter_is_open == 0 then
+ if can_closed_cmd(device, can_ascii_rxbuf) then
+ can_ascii_rxcnt = 0
+ return
+ end if
+ end if
+
+ if can_adapter_is_open then
+ if can_open_cmd(device, can_ascii_rxbuf) then
+ can_ascii_rxcnt = 0
+ return
+ end if
+ end if
+
+ -- discard unknown command
+ can_ascii_rxcnt = 0
+end procedure
+
+-- this routine encapsulates incoming CANbus messages, and sends the
resulting ASCII out to the UART.
+-- a copy of the CANbus message is also returned to the caller.
+--
+-- device: uart device, e.g. serial_hw_data
+function can_check_can_rx(volatile byte out device, dword out can_id, byte
out can_data[8], byte out data_len) return bit is
+ var bit got_msg
+ var byte i, c
+ var byte ascii_txcnt, ascii_txbuf[32]
+
+ -- always read the CAN msg. this will flush old/stale msgs.
+ got_msg = can_receive(1, can_id, can_data, data_len)
+
+ if (got_msg == 0) then
+ return 0
+ end if
+
+ if can_adapter_is_open then
+ ascii_txcnt = can_to_ascii(can_id, can_data, data_len, ascii_txbuf)
+ for ascii_txcnt using i loop
+ device = ascii_txbuf[i]
+ end loop
+ end if
+
+ return 1
+end function
+
--
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