Revision: 1880
Author: bvwelch
Date: Tue Apr 6 08:40:25 2010
Log: refactored to make use of can_adapter library
http://code.google.com/p/jallib/source/detail?r=1880
Modified:
/trunk/sample/18f2585_can_serial_adapter.jal
=======================================
--- /trunk/sample/18f2585_can_serial_adapter.jal Tue Jan 5 12:09:00 2010
+++ /trunk/sample/18f2585_can_serial_adapter.jal Tue Apr 6 08:40:25 2010
@@ -1,21 +1,18 @@
--- Title: CAN to UART adapter example
+-- Title: CAN bus translator from 3 wire CAN bus to RS232
-- Author: William Welch Copyright (c) 2009, all rights reserved.
--- Sponsored by: Fiwihex www.fiwihex.com
+-- adapted by Eur van Andel, [email protected]
-- 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.
+-- Description: -- Implements bridge/gateway between RS232 and CAN bus.
--
--- 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/
---
+const byte version_h = 1
+const byte version_l = 04
+
+const serial_hw_baudrate = 57600
+-- const serial_hw_baudrate = 115200
include 18f2585
pragma target clock 20_000_000
@@ -28,30 +25,47 @@
include format
include print
-const byte banner[] = " USB-CAN Bridge"
+const byte banner[] = "Bus translator"
+const byte baudstr[] = " baud"
enable_digital_io()
-var bit led is pin_A0
-pin_A0_direction = output
-
-const usart_hw_serial = true
-const serial_hw_baudrate = 115200
-
-var bit serial_ctsinv
-var bit serial_overflow_discard = false
-include serial_hw_int_cts
-serial_hw_init()
-
--- The LCD is not required. It is just for development/debugging.
+const down = 0
+const green = 1
+const red = 2
+
+var bit led is pin_b1
+var bit led_dir is pin_b1_direction
+
+led_dir = input
+led = low
+
+procedure leds(byte in x) is
+ if x == down then
+ led_dir = input
+ elsif x == red then
+ led_dir = output
+ led = low
+ elsif x == green then
+ led_dir = output
+ led = high
+ end if
+end procedure
+
+var bit toggle
+
const byte LCD_ROWS = 4
const byte LCD_CHARS = 20
--- var bit lcd_sterm_pin is pin_C0
--- var bit lcd_sterm_pin_dir is pin_C0_direction
-var bit lcd_sterm_pin is pin_A4
-var bit lcd_sterm_pin_dir is pin_A4_direction
+var bit lcd_sterm_pin is pin_C0
+var bit lcd_sterm_pin_dir is pin_C0_direction
include lcd_sterm_master
+const usart_hw_serial = true
+var bit serial_ctsinv
+var bit serial_overflow_discard = false
+include serial_hw_int_cts
+serial_hw_init()
+
-- ECAN controller is built-in to 18F2585
-- but we will operate in 'legacy' mode 0.
pin_B2 = high -- set CANTX high for recessive level
@@ -88,272 +102,79 @@
TXB1CON = 0;
TXB2CON = 0;
--- FIXME: use EEprom instead.
CANCON = 0; -- normal mode
+include can_adapter
+
+-- start of procedure block
--------------------------------------------------
+
+procedure pdec8(volatile byte out device, byte in n) is
+ device = "0" + n / 100
+ n = n % 100
+
+ device = "0" + n / 10
+ n = n % 10
+
+ device = "0" + n
+end procedure
+
+-- end of procedure block
--------------------------------------------------
+
-- wait for STERM Slave to power-up and initialize.
for 10 loop
- led = led ^ 1
- delay_100ms(5)
+ leds(green)
+ delay_100ms(2)
+ leds(red)
+ delay_100ms(2)
end loop
+leds(down)
lcd_home()
lcd_clear_screen()
lcd_home()
print_string(lcd, banner)
+const byte str2[]="Version "
+lcd_cursor_position(2,0)
+print_string(lcd, str2)
+pdec8(lcd,version_h)
+lcd = "."
+pdec8(lcd,version_l)
+lcd_cursor_position(3,0)
+print_word_dec(lcd, serial_hw_baudrate)
+print_string(lcd, baudstr)
-- leave banner up for a while
for 25 loop
- led = led ^ 1
+ leds(green)
+ delay_100ms(2)
+ leds(down)
delay_100ms(2)
end loop
-var bit is_open = 0
-
--- these commands are always available
-function 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
- is_open = 0
- device = 13
- return 1
-
- end if
-
- return 0
-end function
-
--- these commands are only valid while the bridge is 'closed'
-function 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
- is_open = 1
- device = 13
- return 1
-
- -- FIXME: need to really support this.
- -- LISTEN
- elsif cmd == "L" then
- 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'
-function open_cmd(volatile byte out device, byte in ascii_buf[32]) return
bit is
- var byte cmd, data_len
- var byte can_data[8]
+-- monitor loop
+forever loop
+ var bit got_ch, got_msg
+ var byte ch,i,len
+ var byte rxdata[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
- while can_send(0, can_id, can_data, data_len) == 0 loop 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 byte ascii_rxbuf[32]
-var byte ascii_rxcnt = 0
-
-procedure check_uart_rx() is
- var byte i, data_len, ch
-
- if serial_hw_read(ch) == 0 then
- return
- end if
-
- ascii_rxbuf[ascii_rxcnt] = ch
- ascii_rxcnt = ascii_rxcnt + 1
- if ascii_rxcnt >= 32 then
- ascii_rxcnt = 0
- end if
- if ch != 13 then
- return
- end if
-
- -- at this point we have a complete
- -- ASCII string in the buffer.
-
- lcd_cursor_position(2,0)
- for 20 using i loop
- if i < (ascii_rxcnt - 1) then
- lcd = ascii_rxbuf[i]
- else
- lcd = " "
- end if
+ -- check for a msg from PC/UART
+ got_ch = serial_hw_read(ch)
+ while got_ch loop
+ can_check_uart_rx(serial_hw_data, ch)
+ got_ch = serial_hw_read(ch)
end loop
- if modeless_cmd(serial_hw_data, ascii_rxbuf) then
- ascii_rxcnt = 0
- led = led ^ 1
- return
- end if
-
- if (is_open == 0) then
- if (closed_cmd(serial_hw_data, ascii_rxbuf) == 1) then
- ascii_rxcnt = 0
- led = led ^ 1
- return
- end if
+ -- check for CAN message and handle it.
+ got_msg = can_check_can_rx(serial_hw_data, can_id, rxdata, len)
+
+ toggle = ! toggle
+ if toggle then
+ leds(green)
+ else
+ leds(down)
end if
- if (is_open == 1) then
- if (open_cmd(serial_hw_data, ascii_rxbuf) == 1) then
- ascii_rxcnt = 0
- led = led ^ 1
- return
- end if
- end if
-
- -- discard unknown command
- lcd_cursor_position(3,0)
- lcd = "?"
- lcd = ascii_rxbuf[0]
- ascii_rxcnt = 0
-end procedure
-
-procedure check_can_rx() is
- var bit got_msg
- var byte i, data_len, c
- var byte can_data[8]
- var dword can_id
- 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 == 1) & (is_open == 1) ) then
- ascii_txcnt = can_to_ascii(can_id, can_data, data_len, ascii_txbuf)
- for ascii_txcnt using i loop
- serial_hw_data = ascii_txbuf[i]
- end loop
- led = led ^ 1
- end if
-
-end procedure
-
--- main loop
-forever loop
- check_can_rx()
- check_uart_rx()
+ delay_100ms(1) -- slow down blinking leds
end loop
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