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GVRET.ino
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GVRET.ino
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/*
GEV-RET.ino
Created: 7/2/2014 10:10:14 PM
Author: Collin Kidder
Copyright (c) 2014-2015 Collin Kidder, Michael Neuweiler, Charles Galpin
Permission is hereby granted, free of charge, to any person obtaining
a copy of this software and associated documentation files (the
"Software"), to deal in the Software without restriction, including
without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Software, and to
permit persons to whom the Software is furnished to do so, subject to
the following conditions:
The above copyright notice and this permission notice shall be included
in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "GVRET.h"
#include "config.h"
#include <SdFat.h>
#include <due_wire.h>
#include <Wire_EEPROM.h>
#include <can_common.h>
#include <due_can.h>
#include <MCP2515.h>
#include "SerialConsole.h"
/*
Notes on project:
This code should be autonomous after being set up. That is, you should be able to set it up
then disconnect it and move over to a car or other device to monitor, plug it in, and have everything
use the settings you set up without any external input.
*/
byte i = 0;
byte serialBuffer[SER_BUFF_SIZE];
int serialBufferLength = 0; //not creating a ring buffer. The buffer should be large enough to never overflow
uint32_t lastFlushMicros = 0;
EEPROMSettings settings;
SystemSettings SysSettings;
DigitalCANToggleSettings digToggleSettings;
// file system on sdcard
SdFat sd;
//Only used by CANDue V2.2 boards
MCP2515 SWCAN(CANDUE22_SW_CS, CANDUE22_SW_INT);
SerialConsole console;
bool digTogglePinState;
uint8_t digTogglePinCounter;
void SWCAN_Int()
{
SWCAN.intHandler();
}
//initializes all the system EEPROM values. Chances are this should be broken out a bit but
//there is only one checksum check for all of them so it's simple to do it all here.
void loadSettings()
{
EEPROM.read(EEPROM_PAGE, settings);
if (settings.version != EEPROM_VER) { //if settings are not the current version then erase them and set defaults
Logger::console("Resetting to factory defaults");
settings.version = EEPROM_VER;
settings.appendFile = false;
settings.CAN0Speed = 500000;
settings.CAN0_Enabled = true;
settings.CAN1Speed = 500000;
settings.CAN1_Enabled = true;
settings.SWCANSpeed = 33333;
settings.singleWire_Enabled = false;
sprintf((char *)settings.fileNameBase, "CANBUS");
sprintf((char *)settings.fileNameExt, "TXT");
settings.fileNum = 1;
for (int i = 0; i < 3; i++) {
settings.CAN0Filters[i].enabled = true;
settings.CAN0Filters[i].extended = true;
settings.CAN0Filters[i].id = 0;
settings.CAN0Filters[i].mask = 0;
settings.CAN1Filters[i].enabled = true;
settings.CAN1Filters[i].extended = true;
settings.CAN1Filters[i].id = 0;
settings.CAN1Filters[i].mask = 0;
}
for (int j = 3; j < 8; j++) {
settings.CAN0Filters[j].enabled = true;
settings.CAN0Filters[j].extended = false;
settings.CAN0Filters[j].id = 0;
settings.CAN0Filters[j].mask = 0;
settings.CAN1Filters[j].enabled = true;
settings.CAN1Filters[j].extended = false;
settings.CAN1Filters[j].id = 0;
settings.CAN1Filters[j].mask = 0;
}
settings.fileOutputType = CRTD;
settings.useBinarySerialComm = false;
settings.autoStartLogging = false;
settings.logLevel = 1; //info
settings.sysType = 0; //CANDUE as default
settings.valid = 0; //not used right now
settings.CAN0ListenOnly = false;
settings.CAN1ListenOnly = false;
EEPROM.write(EEPROM_PAGE, settings);
} else {
Logger::console("Using stored values from EEPROM");
}
EEPROM.read(EEPROM_PAGE + 1, digToggleSettings);
if (digToggleSettings.mode == 255) {
Logger::console("Resetting digital toggling system to defaults");
digToggleSettings.enabled = false;
digToggleSettings.length = 0;
digToggleSettings.mode = 0;
digToggleSettings.pin = 1;
digToggleSettings.rxTxID = 0x700;
for (int c=0 ; c<8 ; c++) digToggleSettings.payload[c] = 0;
EEPROM.write(EEPROM_PAGE + 1, digToggleSettings);
} else {
Logger::console("Using stored values for digital toggling system");
}
Logger::setLoglevel((Logger::LogLevel)settings.logLevel);
SysSettings.SDCardInserted = false;
switch (settings.sysType) {
case 1: //GEVCU
Logger::console("Running on GEVCU hardware");
SysSettings.eepromWPPin = GEVCU_EEPROM_WP_PIN;
SysSettings.CAN0EnablePin = GEVCU_CAN0_EN_PIN;
SysSettings.CAN1EnablePin = GEVCU_CAN1_EN_PIN;
SysSettings.SWCANMode0Pin = GEVCU_SWCAN_MODE0;
SysSettings.SWCANMode1Pin = GEVCU_SWCAN_MODE1;
SysSettings.useSD = false;
SysSettings.SDCardSelPin = GEVCU_SDCARD_SEL;
SysSettings.LED_CANTX = 13; //We do have an LED at pin 13. Use it for both
SysSettings.LED_CANRX = 13; //RX and TX.
SysSettings.LED_LOGGING = 255; //we just don't have an LED to use for this.
SysSettings.dedicatedSWCAN = false;
SysSettings.numBuses = 2;
pinMode(13, OUTPUT);
digitalWrite(13, LOW);
break;
case 2: //CANDUE13
Logger::console("Running on CANDue v1.3 - v2.1 hardware");
SysSettings.eepromWPPin = CANDUE_EEPROM_WP_PIN;
SysSettings.CAN0EnablePin = CANDUE_CAN0_EN_PIN;
SysSettings.CAN1EnablePin = CANDUE_CAN1_EN_PIN;
SysSettings.SWCANMode0Pin = CANDUE_SWCAN_MODE0;
SysSettings.SWCANMode1Pin = CANDUE_SWCAN_MODE1;
SysSettings.useSD = true;
SysSettings.SDCardSelPin = CANDUE_SDCARD_SEL;
SysSettings.LED_CANTX = 13; //The Arduino Due has three LEDs
SysSettings.LED_CANRX = 13; //so we can use them all
SysSettings.LED_LOGGING = 13; //The above two are active low. This is active high.
SysSettings.logToggle = false;
SysSettings.txToggle = true;
SysSettings.rxToggle = true;
SysSettings.dedicatedSWCAN = false;
SysSettings.numBuses = 2;
pinMode(13, OUTPUT); //just to be sure it's an output
digitalWrite(13, LOW);
break;
case 3: //CANDue 2.2 boards
Logger::console("Running on CANDue v2.2 hardware");
SysSettings.eepromWPPin = CANDUE_EEPROM_WP_PIN;
SysSettings.CAN0EnablePin = CANDUE_CAN0_EN_PIN;
SysSettings.CAN1EnablePin = CANDUE_CAN1_EN_PIN;
SysSettings.SWCANMode0Pin = CANDUE_SWCAN_MODE0;
SysSettings.SWCANMode1Pin = CANDUE_SWCAN_MODE1;
SysSettings.useSD = true;
SysSettings.SDCardSelPin = CANDUE_SDCARD_SEL;
SysSettings.LED_CANTX = 13; //The Arduino Due has three LEDs
SysSettings.LED_CANRX = 13; //so we can use them all
SysSettings.LED_LOGGING = 13; //The above two are active low. This is active high.
SysSettings.logToggle = false;
SysSettings.txToggle = true;
SysSettings.rxToggle = true;
SysSettings.dedicatedSWCAN = true;
SysSettings.numBuses = 3;
pinMode(13, OUTPUT); //just to be sure it's an output
digitalWrite(13, LOW);
break;
default: //CANDUE
Logger::console("Running on CANDue hardware");
SysSettings.eepromWPPin = CANDUE_EEPROM_WP_PIN;
SysSettings.CAN0EnablePin = CANDUE_CAN0_EN_PIN;
SysSettings.CAN1EnablePin = CANDUE_CAN1_EN_PIN;
SysSettings.SWCANMode0Pin = CANDUE_SWCAN_MODE0;
SysSettings.SWCANMode1Pin = CANDUE_SWCAN_MODE1;
SysSettings.useSD = true;
SysSettings.SDCardSelPin = CANDUE_SDCARD_SEL;
SysSettings.LED_CANTX = 14; //The Arduino Due has three LEDs
SysSettings.LED_CANRX = 15; //so we can use them all
SysSettings.LED_LOGGING = 13; //The above two are active low. This is active high.
SysSettings.logToggle = false;
SysSettings.txToggle = true;
SysSettings.rxToggle = true;
SysSettings.dedicatedSWCAN = false;
SysSettings.numBuses = 2;
pinMode(13, OUTPUT); //just to be sure they're outputs
pinMode(14, OUTPUT);
pinMode(15, OUTPUT);
//And set all lights to be off.
digitalWrite(13, LOW);
digitalWrite(14, HIGH);
digitalWrite(15, HIGH);
break;
}
if (SysSettings.SWCANMode0Pin != 255) pinMode(SysSettings.SWCANMode0Pin, OUTPUT);
if (SysSettings.SWCANMode1Pin != 255) pinMode(SysSettings.SWCANMode1Pin, OUTPUT);
if (SysSettings.CAN0EnablePin != 255) pinMode(SysSettings.CAN0EnablePin, OUTPUT);
if (SysSettings.CAN1EnablePin != 255) pinMode(SysSettings.CAN1EnablePin, OUTPUT);
if (!SysSettings.dedicatedSWCAN)
{
if (settings.singleWire_Enabled && settings.CAN1_Enabled) setSWCANEnabled();
else setSWCANSleep(); //start out setting single wire to sleep.
}
else
{
if (settings.singleWire_Enabled) setSWCANEnabled();
else setSWCANSleep();
}
}
void setSWCANSleep()
{
if (SysSettings.SWCANMode0Pin != 255) digitalWrite(SysSettings.SWCANMode0Pin, LOW);
if (SysSettings.SWCANMode1Pin != 255) digitalWrite(SysSettings.SWCANMode1Pin, LOW);
if (SysSettings.dedicatedSWCAN) return;
if (settings.CAN1_Enabled && SysSettings.CAN1EnablePin != 255) digitalWrite(SysSettings.CAN1EnablePin, HIGH);
}
void setSWCANEnabled()
{
if (SysSettings.SWCANMode0Pin != 255) digitalWrite(SysSettings.SWCANMode0Pin, HIGH);
if (SysSettings.SWCANMode1Pin != 255) digitalWrite(SysSettings.SWCANMode1Pin, HIGH);
if (SysSettings.dedicatedSWCAN) return;
if (settings.CAN1_Enabled && SysSettings.CAN1EnablePin != 255) digitalWrite(SysSettings.CAN1EnablePin, LOW);
}
void setSWCANWakeup()
{
if (SysSettings.SWCANMode0Pin != 255) digitalWrite(SysSettings.SWCANMode0Pin, LOW);
if (SysSettings.SWCANMode1Pin != 255) digitalWrite(SysSettings.SWCANMode1Pin, HIGH);
}
void setup()
{
pinMode(CANDUE22_SW_CS, OUTPUT);
pinMode(CANDUE22_SW_INT, INPUT);
digitalWrite(CANDUE22_SW_CS, HIGH);
digitalWrite(CANDUE22_SW_INT, HIGH);
//delay(5000); //just for testing. Don't use in production
SerialUSB.println("Starting up!");
pinMode(BLINK_LED, OUTPUT);
digitalWrite(BLINK_LED, LOW);
pinMode(ENABLE_PASS_0TO1_PIN, INPUT);
pinMode(ENABLE_PASS_1TO0_PIN, INPUT);
digitalWrite(ENABLE_PASS_0TO1_PIN, HIGH); // enable pull-up resistor
digitalWrite(ENABLE_PASS_1TO0_PIN, HIGH); // enable pull-up resistor
Serial.begin(115200);
Wire.begin();
EEPROM.setWPPin(18); // a guess...
loadSettings();
EEPROM.setWPPin(SysSettings.eepromWPPin);
if (SysSettings.useSD) {
if (!sd.begin(SysSettings.SDCardSelPin, SPI_FULL_SPEED)) {
Logger::error("Could not initialize SDCard! No file logging will be possible!");
} else SysSettings.SDCardInserted = true;
if (settings.autoStartLogging) {
SysSettings.logToFile = true;
Logger::info("Automatically logging to file.");
}
}
SerialUSB.print("Build number: ");
SerialUSB.println(CFG_BUILD_NUM);
sys_early_setup();
setup_sys_io();
if (digToggleSettings.enabled) {
if (digToggleSettings.mode & 1) { //input CAN and output pin state mode
pinMode(digToggleSettings.pin, OUTPUT);
if (digToggleSettings.mode & 0x80) {
digitalWrite(digToggleSettings.pin, LOW);
digTogglePinState = false;
} else {
digitalWrite(digToggleSettings.pin, HIGH);
digTogglePinState = true;
}
} else { //read pin and output CAN mode
pinMode(digToggleSettings.pin, INPUT);
digTogglePinCounter = 0;
if (digToggleSettings.mode & 0x80) digTogglePinState = false;
else digTogglePinState = true;
}
}
if (settings.CAN0_Enabled) {
if (settings.CAN0ListenOnly) {
Can0.enable_autobaud_listen_mode();
} else {
Can0.disable_autobaud_listen_mode();
}
Can0.enable();
Can0.begin(settings.CAN0Speed, SysSettings.CAN0EnablePin);
} else Can0.disable();
if (settings.CAN1_Enabled) {
if (settings.CAN1ListenOnly) {
Can1.enable_autobaud_listen_mode();
} else {
Can1.disable_autobaud_listen_mode();
}
Can1.enable();
Can1.begin(settings.CAN1Speed, SysSettings.CAN1EnablePin);
if (!SysSettings.dedicatedSWCAN)
{
if (settings.singleWire_Enabled) {
setSWCANEnabled();
} else {
setSWCANSleep();
}
}
} else Can1.disable();
if (SysSettings.dedicatedSWCAN) setSWCANSleep();
if (settings.singleWire_Enabled && SysSettings.dedicatedSWCAN)
{
SPI.begin();
if(SWCAN.Init(settings.SWCANSpeed,16))
{
SerialUSB.println("MCP2515 Init OK ...");
attachInterrupt(CANDUE22_SW_INT, SWCAN_Int, FALLING);
setSWCANEnabled();
} else {
SerialUSB.println("MCP2515 Init Failed ...");
}
}
for (int i = 0; i < 7; i++) {
if (settings.CAN0Filters[i].enabled) {
Can0.setRXFilter(i, settings.CAN0Filters[i].id,
settings.CAN0Filters[i].mask, settings.CAN0Filters[i].extended);
}
if (settings.CAN1Filters[i].enabled) {
Can1.setRXFilter(i, settings.CAN1Filters[i].id,
settings.CAN1Filters[i].mask, settings.CAN1Filters[i].extended);
}
}
if (settings.singleWire_Enabled && SysSettings.dedicatedSWCAN)
SWCAN.InitFilters(true); //let everything through
SysSettings.lawicelMode = false;
SysSettings.lawicelAutoPoll = false;
SysSettings.lawicelTimestamping = false;
SysSettings.lawicelPollCounter = 0;
SerialUSB.print("Done with init\n");
digitalWrite(BLINK_LED, HIGH);
}
void setPromiscuousMode()
{
//By default there are 7 mailboxes for each device that are RX boxes
//This sets each mailbox to have an open filter that will accept extended
//or standard frames
int filter;
//extended
for (filter = 0; filter < 3; filter++) {
Can0.setRXFilter(filter, 0, 0, true);
Can1.setRXFilter(filter, 0, 0, true);
}
//standard
for (filter = 3; filter < 7; filter++) {
Can0.setRXFilter(filter, 0, 0, false);
Can1.setRXFilter(filter, 0, 0, false);
}
}
//Get the value of XOR'ing all the bytes together. This creates a reasonable checksum that can be used
//to make sure nothing too stupid has happened on the comm.
uint8_t checksumCalc(uint8_t *buffer, int length)
{
uint8_t valu = 0;
for (int c = 0; c < length; c++) {
valu ^= buffer[c];
}
return valu;
}
void toggleRXLED()
{
SysSettings.rxToggle = !SysSettings.rxToggle;
setLED(SysSettings.LED_CANRX, SysSettings.rxToggle);
}
void sendFrameToUSB(CAN_FRAME &frame, int whichBus)
{
uint8_t buff[22];
uint8_t temp;
uint32_t now = micros();
if (SysSettings.lawicelMode) {
if (frame.extended) {
SerialUSB.print("T");
sprintf((char *)buff, "%08x", frame.id);
SerialUSB.print((char *)buff);
} else {
SerialUSB.print("t");
sprintf((char *)buff, "%03x", frame.id);
SerialUSB.print((char *)buff);
}
SerialUSB.print(frame.length);
for (int i = 0; i < frame.length; i++) {
sprintf((char *)buff, "%02x", frame.data.byte[i]);
SerialUSB.print((char *)buff);
}
if (SysSettings.lawicelTimestamping) {
uint16_t timestamp = (uint16_t)millis();
sprintf((char *)buff, "%04x", timestamp);
SerialUSB.print((char *)buff);
}
SerialUSB.write(13);
} else {
if (settings.useBinarySerialComm) {
if (frame.extended) frame.id |= 1 << 31;
serialBuffer[serialBufferLength++] = 0xF1;
serialBuffer[serialBufferLength++] = 0; //0 = canbus frame sending
serialBuffer[serialBufferLength++] = (uint8_t)(now & 0xFF);
serialBuffer[serialBufferLength++] = (uint8_t)(now >> 8);
serialBuffer[serialBufferLength++] = (uint8_t)(now >> 16);
serialBuffer[serialBufferLength++] = (uint8_t)(now >> 24);
serialBuffer[serialBufferLength++] = (uint8_t)(frame.id & 0xFF);
serialBuffer[serialBufferLength++] = (uint8_t)(frame.id >> 8);
serialBuffer[serialBufferLength++] = (uint8_t)(frame.id >> 16);
serialBuffer[serialBufferLength++] = (uint8_t)(frame.id >> 24);
serialBuffer[serialBufferLength++] = frame.length + (uint8_t)(whichBus << 4);
for (int c = 0; c < frame.length; c++) {
serialBuffer[serialBufferLength++] = frame.data.bytes[c];
}
//temp = checksumCalc(buff, 11 + frame.length);
temp = 0;
serialBuffer[serialBufferLength++] = temp;
//SerialUSB.write(buff, 12 + frame.length);
} else {
SerialUSB.print(micros());
SerialUSB.print(" - ");
SerialUSB.print(frame.id, HEX);
if (frame.extended) SerialUSB.print(" X ");
else SerialUSB.print(" S ");
SerialUSB.print(whichBus);
SerialUSB.print(" ");
SerialUSB.print(frame.length);
for (int c = 0; c < frame.length; c++) {
SerialUSB.print(" ");
SerialUSB.print(frame.data.bytes[c], HEX);
}
SerialUSB.println();
}
}
}
void sendFrameToFile(CAN_FRAME &frame, int whichBus)
{
uint8_t buff[40];
uint8_t temp;
uint32_t timestamp;
if (settings.fileOutputType == BINARYFILE) {
if (frame.extended) frame.id |= 1 << 31;
timestamp = micros();
buff[0] = (uint8_t)(timestamp & 0xFF);
buff[1] = (uint8_t)(timestamp >> 8);
buff[2] = (uint8_t)(timestamp >> 16);
buff[3] = (uint8_t)(timestamp >> 24);
buff[4] = (uint8_t)(frame.id & 0xFF);
buff[5] = (uint8_t)(frame.id >> 8);
buff[6] = (uint8_t)(frame.id >> 16);
buff[7] = (uint8_t)(frame.id >> 24);
buff[8] = frame.length + (uint8_t)(whichBus << 4);
for (int c = 0; c < frame.length; c++) {
buff[9 + c] = frame.data.bytes[c];
}
Logger::fileRaw(buff, 9 + frame.length);
} else if (settings.fileOutputType == GVRET) {
sprintf((char *)buff, "%i,%x,%i,%i,%i", millis(), frame.id, frame.extended, whichBus, frame.length);
Logger::fileRaw(buff, strlen((char *)buff));
for (int c = 0; c < frame.length; c++) {
sprintf((char *) buff, ",%x", frame.data.bytes[c]);
Logger::fileRaw(buff, strlen((char *)buff));
}
buff[0] = '\r';
buff[1] = '\n';
Logger::fileRaw(buff, 2);
} else if (settings.fileOutputType == CRTD) {
int idBits = 11;
if (frame.extended) idBits = 29;
sprintf((char *)buff, "%f R%i %x", millis() / 1000.0f, idBits, frame.id);
Logger::fileRaw(buff, strlen((char *)buff));
for (int c = 0; c < frame.length; c++) {
sprintf((char *) buff, " %x", frame.data.bytes[c]);
Logger::fileRaw(buff, strlen((char *)buff));
}
buff[0] = '\r';
buff[1] = '\n';
Logger::fileRaw(buff, 2);
}
}
void processDigToggleFrame(CAN_FRAME &frame)
{
bool gotFrame = false;
if (digToggleSettings.rxTxID == frame.id) {
if (digToggleSettings.length == 0) gotFrame = true;
else {
gotFrame = true;
for (int c = 0; c < digToggleSettings.length; c++) {
if (digToggleSettings.payload[c] != frame.data.byte[c]) {
gotFrame = false;
break;
}
}
}
}
if (gotFrame) { //then toggle output pin
Logger::console("Got special digital toggle frame. Toggling the output!");
digitalWrite(digToggleSettings.pin, digTogglePinState?LOW:HIGH);
digTogglePinState = !digTogglePinState;
}
}
void sendDigToggleMsg()
{
CAN_FRAME frame;
frame.id = digToggleSettings.rxTxID;
if (frame.id > 0x7FF) frame.extended = true;
else frame.extended = false;
frame.length = digToggleSettings.length;
for (int c = 0; c < frame.length; c++) frame.data.byte[c] = digToggleSettings.payload[c];
if (digToggleSettings.mode & 2) Can0.sendFrame(frame);
if (digToggleSettings.mode & 4) Can1.sendFrame(frame);
}
/*
Loop executes as often as possible all the while interrupts fire in the background.
The serial comm protocol is as follows:
All commands start with 0xF1 this helps to synchronize if there were comm issues
Then the next byte specifies which command this is.
Then the command data bytes which are specific to the command
Lastly, there is a checksum byte just to be sure there are no missed or duped bytes
Any bytes between checksum and 0xF1 are thrown away
Yes, this should probably have been done more neatly but this way is likely to be the
fastest and safest with limited function calls
*/
void loop()
{
static int loops = 0;
CAN_FRAME incoming;
static CAN_FRAME build_out_frame;
static int out_bus;
int in_byte;
static byte buff[20];
static int step = 0;
static STATE state = IDLE;
static uint32_t build_int;
uint8_t temp8;
uint16_t temp16;
static bool markToggle = false;
bool isConnected = false;
int serialCnt;
uint32_t now = micros();
/*if (SerialUSB)*/ isConnected = true;
//there is no switch debouncing here at the moment
//if mark triggering causes bounce then debounce this later on.
/*
if (getDigital(0)) {
if (!markToggle) {
markToggle = true;
if (!settings.useBinarySerialComm) SerialUSB.println("MARK TRIGGERED");
else
{ //figure out some sort of binary comm for the mark.
}
}
}
else markToggle = false;
*/
//if (!SysSettings.lawicelMode || SysSettings.lawicelAutoPoll || SysSettings.lawicelPollCounter > 0)
//{
while (Can0.available()) {
Can0.read(incoming);
if (digitalRead(ENABLE_PASS_0TO1_PIN)) Can1.sendFrame(incoming); // if pin is NOT shorted to GND
toggleRXLED();
if (isConnected) sendFrameToUSB(incoming, 0);
if (SysSettings.logToFile) sendFrameToFile(incoming, 0);
if (digToggleSettings.enabled && (digToggleSettings.mode & 1) && (digToggleSettings.mode & 2)) processDigToggleFrame(incoming);
}
while (Can1.available()) {
Can1.read(incoming);
if (digitalRead(ENABLE_PASS_1TO0_PIN)) Can0.sendFrame(incoming); // if pin is NOT shorted to GND
toggleRXLED();
if (isConnected) sendFrameToUSB(incoming, 1);
if (digToggleSettings.enabled && (digToggleSettings.mode & 1) && (digToggleSettings.mode & 4)) processDigToggleFrame(incoming);
if (SysSettings.logToFile) sendFrameToFile(incoming, 1);
}
if (SysSettings.dedicatedSWCAN && settings.singleWire_Enabled && SWCAN.GetRXFrame(incoming))
{
toggleRXLED();
if (isConnected) sendFrameToUSB(incoming, 2);
if (SysSettings.logToFile) sendFrameToFile(incoming, 2);
}
if (SysSettings.lawicelPollCounter > 0) SysSettings.lawicelPollCounter--;
//}
if (digToggleSettings.enabled && !(digToggleSettings.mode & 1)) {
if (digTogglePinState) { //pin currently high. Look for it going low
if (!digitalRead(digToggleSettings.pin)) digTogglePinCounter++; //went low, increment debouncing counter
else digTogglePinCounter = 0; //whoops, it bounced or never transitioned, reset counter to 0
if (digTogglePinCounter > 3) { //transitioned to LOW for 4 checks in a row. We'll believe it then.
digTogglePinState = false;
sendDigToggleMsg();
}
} else { //pin currently low. Look for it going high
if (digitalRead(digToggleSettings.pin)) digTogglePinCounter++; //went high, increment debouncing counter
else digTogglePinCounter = 0; //whoops, it bounced or never transitioned, reset counter to 0
if (digTogglePinCounter > 3) { //transitioned to HIGH for 4 checks in a row. We'll believe it then.
digTogglePinState = true;
sendDigToggleMsg();
}
}
}
if (micros() - lastFlushMicros > SER_BUFF_FLUSH_INTERVAL) {
if (serialBufferLength > 0) {
SerialUSB.write(serialBuffer, serialBufferLength);
serialBufferLength = 0;
lastFlushMicros = micros();
}
}
serialCnt = 0;
while (isConnected && (SerialUSB.available() > 0) && serialCnt < 128) {
serialCnt++;
in_byte = SerialUSB.read();
switch (state) {
case IDLE:
if (in_byte == 0xF1) state = GET_COMMAND;
else if (in_byte == 0xE7) {
settings.useBinarySerialComm = true;
SysSettings.lawicelMode = false;
setPromiscuousMode(); //go into promisc. mode with binary comm
} else {
console.rcvCharacter((uint8_t)in_byte);
}
break;
case GET_COMMAND:
switch (in_byte) {
case PROTO_BUILD_CAN_FRAME:
state = BUILD_CAN_FRAME;
buff[0] = 0xF1;
step = 0;
break;
case PROTO_TIME_SYNC:
state = TIME_SYNC;
step = 0;
buff[0] = 0xF1;
buff[1] = 1; //time sync
buff[2] = (uint8_t)(now & 0xFF);
buff[3] = (uint8_t)(now >> 8);
buff[4] = (uint8_t)(now >> 16);
buff[5] = (uint8_t)(now >> 24);
SerialUSB.write(buff, 6);
break;
case PROTO_DIG_INPUTS:
//immediately return the data for digital inputs
temp8 = getDigital(0) + (getDigital(1) << 1) + (getDigital(2) << 2) + (getDigital(3) << 3);
buff[0] = 0xF1;
buff[1] = 2; //digital inputs
buff[2] = temp8;
temp8 = checksumCalc(buff, 2);
buff[3] = temp8;
SerialUSB.write(buff, 4);
state = IDLE;
break;
case PROTO_ANA_INPUTS:
//immediately return data on analog inputs
temp16 = getAnalog(0);
buff[0] = 0xF1;
buff[1] = 3;
buff[2] = temp16 & 0xFF;
buff[3] = uint8_t(temp16 >> 8);
temp16 = getAnalog(1);
buff[4] = temp16 & 0xFF;
buff[5] = uint8_t(temp16 >> 8);
temp16 = getAnalog(2);
buff[6] = temp16 & 0xFF;
buff[7] = uint8_t(temp16 >> 8);
temp16 = getAnalog(3);
buff[8] = temp16 & 0xFF;
buff[9] = uint8_t(temp16 >> 8);
temp8 = checksumCalc(buff, 9);
buff[10] = temp8;
SerialUSB.write(buff, 11);
state = IDLE;
break;
case PROTO_SET_DIG_OUT:
state = SET_DIG_OUTPUTS;
buff[0] = 0xF1;
break;
case PROTO_SETUP_CANBUS:
state = SETUP_CANBUS;
step = 0;
buff[0] = 0xF1;
break;
case PROTO_GET_CANBUS_PARAMS:
//immediately return data on canbus params
buff[0] = 0xF1;
buff[1] = 6;
buff[2] = settings.CAN0_Enabled + ((unsigned char)settings.CAN0ListenOnly << 4);
buff[3] = settings.CAN0Speed;
buff[4] = settings.CAN0Speed >> 8;
buff[5] = settings.CAN0Speed >> 16;
buff[6] = settings.CAN0Speed >> 24;
buff[7] = settings.CAN1_Enabled + ((unsigned char)settings.CAN1ListenOnly << 4) + (unsigned char)settings.singleWire_Enabled << 6;
buff[8] = settings.CAN1Speed;
buff[9] = settings.CAN1Speed >> 8;
buff[10] = settings.CAN1Speed >> 16;
buff[11] = settings.CAN1Speed >> 24;
SerialUSB.write(buff, 12);
state = IDLE;
break;
case PROTO_GET_DEV_INFO:
//immediately return device information
buff[0] = 0xF1;
buff[1] = 7;
buff[2] = CFG_BUILD_NUM & 0xFF;
buff[3] = (CFG_BUILD_NUM >> 8);
buff[4] = EEPROM_VER;
buff[5] = (unsigned char)settings.fileOutputType;
buff[6] = (unsigned char)settings.autoStartLogging;
buff[7] = settings.singleWire_Enabled;
SerialUSB.write(buff, 8);
state = IDLE;
break;
case PROTO_SET_SW_MODE:
buff[0] = 0xF1;
state = SET_SINGLEWIRE_MODE;
step = 0;
break;
case PROTO_KEEPALIVE:
buff[0] = 0xF1;
buff[1] = 0x09;
buff[2] = 0xDE;
buff[3] = 0xAD;
SerialUSB.write(buff, 4);
state = IDLE;
break;
case PROTO_SET_SYSTYPE:
buff[0] = 0xF1;
state = SET_SYSTYPE;
step = 0;
break;
case PROTO_ECHO_CAN_FRAME:
state = ECHO_CAN_FRAME;
buff[0] = 0xF1;
step = 0;
break;
case PROTO_GET_NUMBUSES:
buff[0] = 0xF1;
buff[1] = 12;
buff[2] = 3; //CAN0, CAN1, SWCAN
SerialUSB.write(buff, 3);
state = IDLE;
break;
case PROTO_GET_EXT_BUSES:
buff[0] = 0xF1;
buff[1] = 13;
buff[2] = settings.singleWire_Enabled + ((unsigned char)settings.SWCANListenOnly << 4);
buff[3] = settings.SWCANSpeed;
buff[4] = settings.SWCANSpeed >> 8;
buff[5] = settings.SWCANSpeed >> 16;
buff[6] = settings.SWCANSpeed >> 24;
buff[7] = 0; //fourth bus enabled
buff[8] = 0; //fourth bus speed (4 bytes)
buff[9] = 0;
buff[10] = 0;
buff[11] = 0;
buff[12] = 0; //fifth bus enabled
buff[13] = 0; //fifth bus speed (4 bytes)
buff[14] = 0;
buff[15] = 0;
buff[16] = 0;
SerialUSB.write(buff, 17);
state = IDLE;
break;
case PROTO_SET_EXT_BUSES:
state = SETUP_EXT_BUSES;
step = 0;
buff[0] = 0xF1;
break;
}
break;
case BUILD_CAN_FRAME:
buff[1 + step] = in_byte;
switch (step) {
case 0:
build_out_frame.id = in_byte;
break;
case 1:
build_out_frame.id |= in_byte << 8;
break;
case 2:
build_out_frame.id |= in_byte << 16;
break;
case 3:
build_out_frame.id |= in_byte << 24;
if (build_out_frame.id & 1 << 31) {
build_out_frame.id &= 0x7FFFFFFF;
build_out_frame.extended = true;
} else build_out_frame.extended = false;
break;
case 4:
out_bus = in_byte & 3;
break;
case 5:
build_out_frame.length = in_byte & 0xF;
if (build_out_frame.length > 8) build_out_frame.length = 8;
break;
default:
if (step < build_out_frame.length + 6) {
build_out_frame.data.bytes[step - 6] = in_byte;
} else {
state = IDLE;
//this would be the checksum byte. Compute and compare.
temp8 = checksumCalc(buff, step);
//if (temp8 == in_byte)
//{
if (settings.singleWire_Enabled == 1) {
if (build_out_frame.id == 0x100) {
if ( ((out_bus == 1) && !SysSettings.dedicatedSWCAN) || (out_bus == 2) ) {
setSWCANWakeup();
delay(1);
}
}
}
build_out_frame.rtr = 0;
if (out_bus == 0) Can0.sendFrame(build_out_frame);
if (out_bus == 1) Can1.sendFrame(build_out_frame);
if (out_bus == 2) SWCAN.sendFrame(build_out_frame);
if (settings.singleWire_Enabled == 1) {
if (build_out_frame.id == 0x100) {
if ( ((out_bus == 1) && !SysSettings.dedicatedSWCAN) || (out_bus == 2) ) {
delay(1);
setSWCANEnabled();
}
}
}
//}
}
break;
}
step++;
break;
case TIME_SYNC:
state = IDLE;
break;
case SET_DIG_OUTPUTS: //todo: validate the XOR byte
buff[1] = in_byte;
//temp8 = checksumCalc(buff, 2);
for (int c = 0; c < 8; c++) {
if (in_byte & (1 << c)) setOutput(c, true);
else setOutput(c, false);
}
state = IDLE;
break;
case SETUP_CANBUS: //todo: validate checksum
switch (step) {
case 0:
build_int = in_byte;
break;
case 1:
build_int |= in_byte << 8;
break;
case 2:
build_int |= in_byte << 16;
break;
case 3:
build_int |= in_byte << 24;
if (build_int > 0) {
if (build_int & 0x80000000) { //signals that enabled and listen only status are also being passed
if (build_int & 0x40000000) {
settings.CAN0_Enabled = true;
Can0.enable();
} else {
settings.CAN0_Enabled = false;
Can0.disable();
}
if (build_int & 0x20000000) {
settings.CAN0ListenOnly = true;
Can0.enable_autobaud_listen_mode();
} else {
settings.CAN0ListenOnly = false;
Can0.disable_autobaud_listen_mode();
}
} else {
Can0.enable(); //if not using extended status mode then just default to enabling - this was old behavior
settings.CAN0_Enabled = true;
}
build_int = build_int & 0xFFFFF;
if (build_int > 1000000) build_int = 1000000;
Can0.begin(build_int, SysSettings.CAN0EnablePin);
//Can0.set_baudrate(build_int);
settings.CAN0Speed = build_int;
} else { //disable first canbus
Can0.disable();
settings.CAN0_Enabled = false;
}
break;
case 4:
build_int = in_byte;
break;
case 5:
build_int |= in_byte << 8;
break;
case 6:
build_int |= in_byte << 16;
break;
case 7:
build_int |= in_byte << 24;
if (build_int > 0) {
if (build_int & 0x80000000) { //signals that enabled and listen only status are also being passed
if (build_int & 0x40000000) {
settings.CAN1_Enabled = true;
Can1.enable();
} else {
settings.CAN1_Enabled = false;
Can1.disable();
}
if (build_int & 0x20000000) {
settings.CAN1ListenOnly = true;
Can1.enable_autobaud_listen_mode();
} else {
settings.CAN1ListenOnly = false;
Can1.disable_autobaud_listen_mode();
}
} else {
Can1.enable(); //if not using extended status mode then just default to enabling - this was old behavior
settings.CAN1_Enabled = true;
}
build_int = build_int & 0xFFFFF;
if (build_int > 1000000) build_int = 1000000;
Can1.begin(build_int, SysSettings.CAN1EnablePin);
if (settings.singleWire_Enabled && !SysSettings.dedicatedSWCAN) setSWCANEnabled();
else setSWCANSleep();
//Can1.set_baudrate(build_int);
settings.CAN1Speed = build_int;
} else { //disable second canbus