Petter Bellander / Mbed 2 deprecated Saab-BT

Simulated the CD changer of a Saab to implement a bluetooth connection to the car stereo. Control of playback device (phone) with steering wheel buttons. Needs a RN52 bluetooth transciever and a CAN transiever. So far only audio playback and control via steering wheel buttons implemented. Hands free calling planned.

Dependencies:   mbed

CDC.cpp@16:7bb8b161e00b, 2016-03-18 (annotated)

Committer:
petter
Date:
Fri Mar 18 20:58:36 2016 +0000
Revision:
16:7bb8b161e00b
Parent:
15:82c3cc87bd02 
Added can.monitor in a trial to get the sleep mode working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
petter 0:6cf6e566c0da 1 // I-Bus information from http://pikkupossu.1g.fi/tomi/projects/i-bus/i-bus.html
petter 0:6cf6e566c0da 2 // 290h - Steering wheel and SID buttons | Rx
petter 0:6cf6e566c0da 3 // 328h - SID audio text | Tx
petter 0:6cf6e566c0da 4 // 32Ch - ACC to SID text
petter 0:6cf6e566c0da 5 // 32Fh - TWICE to SID text
petter 0:6cf6e566c0da 6 // 337h - SPA to SID text
petter 0:6cf6e566c0da 7 // 348h - SID audio text control | Tx
petter 0:6cf6e566c0da 8 // 34Ch - ACC to SID text control
petter 0:6cf6e566c0da 9 // 34Fh - TWICE to SID text control
petter 0:6cf6e566c0da 10 // 357h - SPA to SID text control
petter 0:6cf6e566c0da 11 // 368h - SID text priority | Tx
petter 0:6cf6e566c0da 12 // 3C0h - CD Changer control | Rx
petter 0:6cf6e566c0da 13 // 3C8h - CD Changer information | Tx
petter 0:6cf6e566c0da 14 // 430h - SID beep request | Tx
petter 0:6cf6e566c0da 15 // 6A1h - Audio head unit | Rx
petter 0:6cf6e566c0da 16 // 6A2h - CD changer | Tx
petter 0:6cf6e566c0da 17 // 320h - Doors, central locking and seat belts | Rx
petter 0:6cf6e566c0da 18
petter 0:6cf6e566c0da 19 /** Includes **/
petter 0:6cf6e566c0da 20 #include "CDC.h"
petter 0:6cf6e566c0da 21
petter 0:6cf6e566c0da 22 /** Various constants used for identifying the CDC **/
petter 0:6cf6e566c0da 23 #define CDC_APL_ADR 0x11
petter 0:6cf6e566c0da 24 #define CDC_SID_FUNCTION_ID 0x19
petter 0:6cf6e566c0da 25
petter 0:6cf6e566c0da 26 /** TX IDs: **/
petter 0:6cf6e566c0da 27 #define GENERAL_STATUS_CDC 0x3C8
petter 0:6cf6e566c0da 28 #define DISPLAY_RESOURCE_REQ 0x348 // 'Stolen' from the IHU since the CDC doesn't send this message
petter 0:6cf6e566c0da 29 #define WRITE_TEXT_ON_DISPLAY 0x328 // 'Stolen' from the IHU since the CDC doesn't send this message
petter 0:6cf6e566c0da 30 #define NODE_STATUS_TX 0x6A2
petter 0:6cf6e566c0da 31 #define SOUND_REQUEST 0x430
petter 0:6cf6e566c0da 32
petter 0:6cf6e566c0da 33 /** RX IDs: **/
petter 0:6cf6e566c0da 34 #define LOCK_STATUS 0x320
petter 0:6cf6e566c0da 35 #define IHU_BUTTONS 0x3C0
petter 0:6cf6e566c0da 36 #define DISPLAY_RESOURCE_GRANT 0x368
petter 0:6cf6e566c0da 37 #define NODE_STATUS_RX 0x6A1
petter 0:6cf6e566c0da 38 #define STEERING_WHEEL_BUTTONS 0x290
petter 0:6cf6e566c0da 39
petter 0:6cf6e566c0da 40 /** Variables: **/
petter 0:6cf6e566c0da 41 bool cdc_active = false; // True while our module, the simulated CDC, is active.
petter 0:6cf6e566c0da 42 bool mute = false;
petter 0:6cf6e566c0da 43 int toggle_shuffle = 1;
petter 6:c454f88524d6 44 int ninefive_cmd[] = {0x32,0x00,0x00,0x16,0x01,0x02,0x00,0x00,-1};
petter 0:6cf6e566c0da 45 int beep_cmd[] = {0x80,0x04,0x00,0x00,0x00,0x00,0x00,0x00,-1};
petter 0:6cf6e566c0da 46 int cdc_status_cmd[] = {0xE0,0x00,0x01,0x41,0x01,0x00,0x00,0xD0,-1};
petter 11:74844f6ca8cf 47 int display_request_cmd[] = {CDC_APL_ADR,0x02,0x05,CDC_SID_FUNCTION_ID,0x00,0x00,0x00,0x00,-1};
petter 0:6cf6e566c0da 48
petter 0:6cf6e566c0da 49 /** Com: **/
petter 0:6cf6e566c0da 50 CAN can(p9, p10);
petter 0:6cf6e566c0da 51 CANMessage CAN_TxMsg;
petter 0:6cf6e566c0da 52 CANMessage CAN_RxMsg;
petter 11:74844f6ca8cf 53 CANMessage CAN_DispMsg[3];
petter 0:6cf6e566c0da 54
petter 0:6cf6e566c0da 55 /** I/O: **/
petter 0:6cf6e566c0da 56 DigitalOut led1(LED1, 0);
petter 0:6cf6e566c0da 57 DigitalOut led2(LED2, 0);
petter 13:968af0520530 58 DigitalOut enable_transceiver(p19);
petter 0:6cf6e566c0da 59
petter 2:10c60edc8573 60 /** Timers: **/
petter 2:10c60edc8573 61 Timer playback;
petter 11:74844f6ca8cf 62 Timer sleep_timer;
petter 2:10c60edc8573 63
petter 0:6cf6e566c0da 64 /******************************************************************************
petter 0:6cf6e566c0da 65 * PUBLIC METHODS
petter 0:6cf6e566c0da 66 ******************************************************************************/
petter 0:6cf6e566c0da 67
petter 13:968af0520530 68 /** Enables CAN traciever transmit **/
petter 13:968af0520530 69 void CDC::enable() {
petter 16:7bb8b161e00b 70 //enable_transceiver = 0; //active
petter 16:7bb8b161e00b 71 can.monitor(0);
petter 14:3f4098e94c29 72 sleep_timer.reset();
petter 14:3f4098e94c29 73 sleep_timer.start();
petter 13:968af0520530 74 }
petter 13:968af0520530 75
petter 13:968af0520530 76 /** Disables CAN traciever transmit **/
petter 13:968af0520530 77 void CDC::disable() {
petter 16:7bb8b161e00b 78 //enable_transceiver = 1; //sleep
petter 16:7bb8b161e00b 79 can.monitor(1);
petter 14:3f4098e94c29 80 sleep_timer.stop();
petter 13:968af0520530 81 }
petter 13:968af0520530 82
petter 0:6cf6e566c0da 83 /** Initializes CDC **/
petter 0:6cf6e566c0da 84 void CDC::init() {
petter 13:968af0520530 85 enable();
petter 0:6cf6e566c0da 86 can.frequency(47619);
petter 0:6cf6e566c0da 87 printf("CAN Frequency set\r\n");
petter 0:6cf6e566c0da 88 CAN_wrFilter(1, IHU_BUTTONS);
petter 0:6cf6e566c0da 89 CAN_wrFilter(1, DISPLAY_RESOURCE_GRANT);
petter 0:6cf6e566c0da 90 CAN_wrFilter(1, NODE_STATUS_RX);
petter 0:6cf6e566c0da 91 CAN_wrFilter(1, STEERING_WHEEL_BUTTONS);
petter 0:6cf6e566c0da 92 CAN_wrFilter(1, DISPLAY_RESOURCE_REQ);
petter 0:6cf6e566c0da 93 printf("CAN Filters set\r\n");
petter 0:6cf6e566c0da 94
petter 0:6cf6e566c0da 95 CAN_TxMsg.len = 8;
petter 11:74844f6ca8cf 96 CAN_DispMsg[0].len = 8;
petter 11:74844f6ca8cf 97 CAN_DispMsg[1].len = 8;
petter 11:74844f6ca8cf 98 CAN_DispMsg[2].len = 8;
petter 11:74844f6ca8cf 99 CAN_DispMsg[0].id = WRITE_TEXT_ON_DISPLAY;
petter 11:74844f6ca8cf 100 CAN_DispMsg[1].id = WRITE_TEXT_ON_DISPLAY;
petter 11:74844f6ca8cf 101 CAN_DispMsg[2].id = WRITE_TEXT_ON_DISPLAY;
petter 11:74844f6ca8cf 102 CAN_DispMsg[0].data[0] = 0x42; // order, new
petter 11:74844f6ca8cf 103 CAN_DispMsg[1].data[0] = 0x01; // order
petter 11:74844f6ca8cf 104 CAN_DispMsg[2].data[0] = 0x00; // order
petter 11:74844f6ca8cf 105 CAN_DispMsg[0].data[1] = 0x96; // Address of the SID
petter 11:74844f6ca8cf 106 CAN_DispMsg[1].data[1] = 0x96; // Address of the SID
petter 11:74844f6ca8cf 107 CAN_DispMsg[2].data[1] = 0x96; // Address of the SID
petter 12:4194c47ca60b 108 CAN_DispMsg[0].data[2] = 0x02; // Writing to row 2
petter 12:4194c47ca60b 109 CAN_DispMsg[1].data[2] = 0x02; // Writing to row 2
petter 12:4194c47ca60b 110 CAN_DispMsg[2].data[2] = 0x02; // Writing to row 2
petter 12:4194c47ca60b 111 display("PETTERS BT");
petter 11:74844f6ca8cf 112
petter 11:74844f6ca8cf 113 sleep_timer.start();
petter 0:6cf6e566c0da 114 }
petter 0:6cf6e566c0da 115
petter 0:6cf6e566c0da 116 /** Handles an incoming (RX) frame **/
petter 11:74844f6ca8cf 117 IBUS_COMMAND CDC::get_cmd() {
petter 14:3f4098e94c29 118 if(can.read(CAN_RxMsg)) {
petter 0:6cf6e566c0da 119 led2 = !led2;
petter 0:6cf6e566c0da 120 switch (CAN_RxMsg.id) {
petter 0:6cf6e566c0da 121 case DISPLAY_RESOURCE_REQ:
petter 11:74844f6ca8cf 122 sleep_timer.reset();
petter 11:74844f6ca8cf 123 send_can_frame(DISPLAY_RESOURCE_REQ, display_request_cmd);
petter 2:10c60edc8573 124 update_elapsed_time();
petter 0:6cf6e566c0da 125 send_can_frame(GENERAL_STATUS_CDC, cdc_status_cmd);
petter 12:4194c47ca60b 126 led1 = !led1;
petter 16:7bb8b161e00b 127 printf("cdc_acttive = %i", cdc_active);
petter 11:74844f6ca8cf 128 return IBUS_HEAD_UNIT_ON;
petter 0:6cf6e566c0da 129 case NODE_STATUS_RX:
petter 6:c454f88524d6 130 send_can_frame(NODE_STATUS_TX, ninefive_cmd);
petter 0:6cf6e566c0da 131 break;
petter 0:6cf6e566c0da 132 case IHU_BUTTONS:
petter 0:6cf6e566c0da 133 return get_ihu_cmd();
petter 0:6cf6e566c0da 134 case STEERING_WHEEL_BUTTONS:
petter 0:6cf6e566c0da 135 return get_steering_wheel_cmd();
petter 0:6cf6e566c0da 136 case DISPLAY_RESOURCE_GRANT:
petter 10:8be92db98bf4 137 if (CAN_RxMsg.data[1] == CDC_SID_FUNCTION_ID) {
petter 0:6cf6e566c0da 138 //We have been granted the right to write text to the second row in the SID
petter 11:74844f6ca8cf 139 display_request_cmd[2] = 0x04;
petter 11:74844f6ca8cf 140 display_update();
petter 0:6cf6e566c0da 141 }
petter 10:8be92db98bf4 142 else {
petter 10:8be92db98bf4 143 //Someone else has been granted the display, we need to back down
petter 11:74844f6ca8cf 144 display_request_cmd[2] = 0x05; //message is considered new
petter 0:6cf6e566c0da 145 }
petter 15:82c3cc87bd02 146 break;
petter 0:6cf6e566c0da 147 }
petter 0:6cf6e566c0da 148 return IBUS_OTHER_MESSAGE;
petter 11:74844f6ca8cf 149 }
petter 11:74844f6ca8cf 150 if(sleep_timer.read() > 5) {
petter 11:74844f6ca8cf 151 return IBUS_HEAD_UNIT_OFF;
petter 0:6cf6e566c0da 152 }
petter 0:6cf6e566c0da 153 return IBUS_NO_MESSAGE;
petter 0:6cf6e566c0da 154 }
petter 0:6cf6e566c0da 155
petter 0:6cf6e566c0da 156 /** Handles the IHU_BUTTONS frame that the IHU sends us when it wants to control some feature of the CDC **/
petter 0:6cf6e566c0da 157 IBUS_COMMAND CDC::get_ihu_cmd() {
petter 0:6cf6e566c0da 158 bool event = (CAN_RxMsg.data[0] == 0x80);
petter 0:6cf6e566c0da 159 if (!event) {
petter 0:6cf6e566c0da 160 //Ignore the message if it wasn't sent on event
petter 0:6cf6e566c0da 161 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 162 }
petter 0:6cf6e566c0da 163 switch (CAN_RxMsg.data[1]) {
petter 0:6cf6e566c0da 164 case 0x24: // CDC = ON (CD/RDM button has been pressed twice)
petter 0:6cf6e566c0da 165 cdc_active = true;
petter 0:6cf6e566c0da 166 return IBUS_CDC_ON;
petter 0:6cf6e566c0da 167 case 0x14: // CDC = OFF (Back to Radio or Tape mode)
petter 0:6cf6e566c0da 168 cdc_active = false;
petter 0:6cf6e566c0da 169 return IBUS_CDC_OFF;
petter 0:6cf6e566c0da 170 }
petter 0:6cf6e566c0da 171 if (cdc_active) {
petter 0:6cf6e566c0da 172 switch (CAN_RxMsg.data[1]) {
petter 0:6cf6e566c0da 173 case 0x35: // Track up
petter 0:6cf6e566c0da 174 return IBUS_SKIP_FW;
petter 0:6cf6e566c0da 175 case 0x36: // Track down
petter 0:6cf6e566c0da 176 return IBUS_SKIP_BW;
petter 0:6cf6e566c0da 177 }
petter 0:6cf6e566c0da 178 }
petter 0:6cf6e566c0da 179 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 180 }
petter 0:6cf6e566c0da 181
petter 0:6cf6e566c0da 182 /** Handles the STEERING_WHEEL_BUTTONS frame * TODO connect the SID button events to actions **/
petter 0:6cf6e566c0da 183 IBUS_COMMAND CDC::get_steering_wheel_cmd() {
petter 0:6cf6e566c0da 184
petter 0:6cf6e566c0da 185 bool event = (CAN_RxMsg.data[0] == 0x80);
petter 0:6cf6e566c0da 186 if (!event) {
petter 0:6cf6e566c0da 187 //Ignore the message if it wasn't sent on event
petter 0:6cf6e566c0da 188 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 189 }
petter 0:6cf6e566c0da 190 if (!cdc_active) {
petter 0:6cf6e566c0da 191 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 192 }
petter 0:6cf6e566c0da 193 switch (CAN_RxMsg.data[4]) {
petter 0:6cf6e566c0da 194 case 0x04: // NXT button on wheel
petter 0:6cf6e566c0da 195 return IBUS_NEXT;
petter 0:6cf6e566c0da 196 case 0x10: // Seek+ button on wheel
petter 0:6cf6e566c0da 197 return IBUS_SKIP_FW;
petter 0:6cf6e566c0da 198 case 0x08: // Seek- button on wheel
petter 0:6cf6e566c0da 199 return IBUS_SKIP_BW;
petter 0:6cf6e566c0da 200 case 0x40: // Vol+ button on wheel
petter 0:6cf6e566c0da 201 return IBUS_VOLUME_UP;
petter 0:6cf6e566c0da 202 case 0x80: // Vol- button on wheel
petter 0:6cf6e566c0da 203 return IBUS_VOLUME_DOWN;
petter 0:6cf6e566c0da 204 }
petter 0:6cf6e566c0da 205 switch (CAN_RxMsg.data[5]) {
petter 0:6cf6e566c0da 206 case 0x40: // SET button on SID
petter 0:6cf6e566c0da 207 return IBUS_SET;
petter 0:6cf6e566c0da 208 case 0x80: // CLEAR button on SID
petter 0:6cf6e566c0da 209 return IBUS_CLEAR;
petter 0:6cf6e566c0da 210 }
petter 0:6cf6e566c0da 211 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 212 }
petter 0:6cf6e566c0da 213
petter 0:6cf6e566c0da 214
petter 0:6cf6e566c0da 215
petter 0:6cf6e566c0da 216 /** Writes the provided text on the SID. NOTE the character set used by the SID is slightly nonstandard. "Normal" characters should work fine. **/
petter 11:74844f6ca8cf 217 void CDC::display(char text[]) {
petter 0:6cf6e566c0da 218 if (!text) {
petter 0:6cf6e566c0da 219 return;
petter 0:6cf6e566c0da 220 }
petter 0:6cf6e566c0da 221
petter 0:6cf6e566c0da 222 //Notify the SID that we want to display a message
petter 11:74844f6ca8cf 223 send_can_frame(DISPLAY_RESOURCE_REQ, display_request_cmd);
petter 0:6cf6e566c0da 224
petter 0:6cf6e566c0da 225 // Copy the provided string and make sure we have a new array of the correct length:
petter 0:6cf6e566c0da 226 char display_text[15];
petter 0:6cf6e566c0da 227 int i, n;
petter 0:6cf6e566c0da 228 n = strlen(text);
petter 0:6cf6e566c0da 229 if(n > 15) {
petter 0:6cf6e566c0da 230 n = 15;
petter 0:6cf6e566c0da 231 }
petter 0:6cf6e566c0da 232 for (i = 0; i < n; i++) {
petter 0:6cf6e566c0da 233 display_text[i] = text[i];
petter 0:6cf6e566c0da 234 }
petter 9:9a4c81493a3d 235 for (i = n; i < 15; i++) {
petter 0:6cf6e566c0da 236 display_text[i] = 0;
petter 0:6cf6e566c0da 237 }
petter 0:6cf6e566c0da 238
petter 11:74844f6ca8cf 239 CAN_DispMsg[0].data[2] = 0x82; // Sent on basetime, writing to row 2, message changed
petter 11:74844f6ca8cf 240 CAN_DispMsg[0].data[3] = display_text[0];
petter 11:74844f6ca8cf 241 CAN_DispMsg[0].data[4] = display_text[1];
petter 11:74844f6ca8cf 242 CAN_DispMsg[0].data[5] = display_text[2];
petter 11:74844f6ca8cf 243 CAN_DispMsg[0].data[6] = display_text[3];
petter 11:74844f6ca8cf 244 CAN_DispMsg[0].data[7] = display_text[4];
petter 0:6cf6e566c0da 245
petter 11:74844f6ca8cf 246 CAN_DispMsg[1].data[3] = display_text[5];
petter 11:74844f6ca8cf 247 CAN_DispMsg[1].data[4] = display_text[6];
petter 11:74844f6ca8cf 248 CAN_DispMsg[1].data[5] = display_text[7];
petter 11:74844f6ca8cf 249 CAN_DispMsg[1].data[6] = display_text[8];
petter 11:74844f6ca8cf 250 CAN_DispMsg[1].data[7] = display_text[9];
petter 0:6cf6e566c0da 251
petter 11:74844f6ca8cf 252 CAN_DispMsg[2].data[3] = display_text[10];
petter 11:74844f6ca8cf 253 CAN_DispMsg[2].data[4] = display_text[11];
petter 11:74844f6ca8cf 254 CAN_DispMsg[2].data[5] = display_text[12];
petter 11:74844f6ca8cf 255 CAN_DispMsg[2].data[6] = display_text[13];
petter 11:74844f6ca8cf 256 CAN_DispMsg[2].data[7] = display_text[14];
petter 0:6cf6e566c0da 257 }
petter 0:6cf6e566c0da 258
petter 0:6cf6e566c0da 259 /** Writes the provided text on the SID. NOTE the character set used by the SID is slightly nonstandard. "Normal" characters should work fine. **/
petter 11:74844f6ca8cf 260 void CDC::display_update() {
petter 11:74844f6ca8cf 261 can.write(CAN_DispMsg[0]);
petter 11:74844f6ca8cf 262 can.write(CAN_DispMsg[1]);
petter 11:74844f6ca8cf 263 can.write(CAN_DispMsg[2]);
petter 11:74844f6ca8cf 264 CAN_DispMsg[0].data[2] = 0x02; // Message not changed next transmission unless display() is called
petter 0:6cf6e566c0da 265 }
petter 0:6cf6e566c0da 266
petter 2:10c60edc8573 267 /** Sets the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 268 void CDC::update_elapsed_time() {
petter 2:10c60edc8573 269 cdc_status_cmd[5] = (char)(((int)playback.read())/60);
petter 2:10c60edc8573 270 cdc_status_cmd[6] = (char)(((int)playback.read())%60);
petter 2:10c60edc8573 271 }
petter 2:10c60edc8573 272
petter 2:10c60edc8573 273 /** Resets the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 274 void CDC::reset_elapsed_time() {
petter 2:10c60edc8573 275 playback.reset();
petter 2:10c60edc8573 276 }
petter 2:10c60edc8573 277
petter 2:10c60edc8573 278 /** Stops the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 279 void CDC::stop_elapsed_time() {
petter 2:10c60edc8573 280 playback.stop();
petter 2:10c60edc8573 281 }
petter 2:10c60edc8573 282
petter 2:10c60edc8573 283 /** Starts the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 284 void CDC::start_elapsed_time() {
petter 2:10c60edc8573 285 playback.start();
petter 0:6cf6e566c0da 286 }
petter 0:6cf6e566c0da 287
petter 6:c454f88524d6 288 /** Sets the current track number as playing **/
petter 6:c454f88524d6 289 void CDC::set_track(char track_number) {
petter 6:c454f88524d6 290 cdc_status_cmd[4] = track_number;
petter 6:c454f88524d6 291 }
petter 6:c454f88524d6 292
petter 0:6cf6e566c0da 293
petter 0:6cf6e566c0da 294 /** Formats and puts a frame on CAN bus **/
petter 0:6cf6e566c0da 295 void CDC::send_can_frame(int message_id, int *msg) {
petter 0:6cf6e566c0da 296 CAN_TxMsg.id = message_id;
petter 0:6cf6e566c0da 297 int i = 0;
petter 0:6cf6e566c0da 298 while (msg[i] != -1) {
petter 0:6cf6e566c0da 299 CAN_TxMsg.data[i] = msg[i];
petter 0:6cf6e566c0da 300 i++;
petter 0:6cf6e566c0da 301 }
petter 0:6cf6e566c0da 302 can.write(CAN_TxMsg);
petter 0:6cf6e566c0da 303 }
petter 0:6cf6e566c0da 304
petter 0:6cf6e566c0da 305 /** DEBUG: Prints the CAN TX frame to serial output **/
petter 0:6cf6e566c0da 306 void CDC::print_can_frame(CANMessage *msg){
petter 0:6cf6e566c0da 307 printf("CAN message %X:", msg->id);
petter 0:6cf6e566c0da 308 for (int i = 0; i < msg->len; i++) {
petter 0:6cf6e566c0da 309 printf(" %X", msg->data[i]);
petter 0:6cf6e566c0da 310 }
petter 0:6cf6e566c0da 311 printf("\r\n");
petter 0:6cf6e566c0da 312 }
petter 0:6cf6e566c0da 313
petter 0:6cf6e566c0da 314 /*----------------------------------------------------------------------------
petter 0:6cf6e566c0da 315 setup acceptance filter. CAN controller (1..2)
petter 0:6cf6e566c0da 316 *----------------------------------------------------------------------------*/
petter 0:6cf6e566c0da 317 void CDC::CAN_wrFilter(uint32_t ctrl, uint32_t id) {
petter 0:6cf6e566c0da 318 static int CAN_std_cnt = 0;
petter 0:6cf6e566c0da 319 static int CAN_ext_cnt = 0;
petter 0:6cf6e566c0da 320 uint32_t buf0, buf1;
petter 0:6cf6e566c0da 321 int cnt1, cnt2, bound1;
petter 0:6cf6e566c0da 322
petter 0:6cf6e566c0da 323 /* Acceptance Filter Memory full */
petter 0:6cf6e566c0da 324 if ((((CAN_std_cnt + 1) >> 1) + CAN_ext_cnt) >= 512)
petter 0:6cf6e566c0da 325 return; /* error: objects full */
petter 0:6cf6e566c0da 326
petter 0:6cf6e566c0da 327 /* Setup Acceptance Filter Configuration
petter 0:6cf6e566c0da 328 Acceptance Filter Mode Register = Off */
petter 0:6cf6e566c0da 329 LPC_CANAF->AFMR = 0x00000001;
petter 0:6cf6e566c0da 330
petter 0:6cf6e566c0da 331 id |= (ctrl-1) << 13; /* Add controller number */
petter 0:6cf6e566c0da 332 id &= 0x0000F7FF; /* Mask out 16-bits of ID */
petter 0:6cf6e566c0da 333
petter 0:6cf6e566c0da 334 /* Move all remaining extended mask entries one place up
petter 0:6cf6e566c0da 335 if new entry will increase standard ID filters list */
petter 0:6cf6e566c0da 336 if ((CAN_std_cnt & 0x0001) == 0 && CAN_ext_cnt != 0) {
petter 0:6cf6e566c0da 337 cnt1 = (CAN_std_cnt >> 1);
petter 0:6cf6e566c0da 338 bound1 = CAN_ext_cnt;
petter 0:6cf6e566c0da 339 buf0 = LPC_CANAF_RAM->mask[cnt1];
petter 0:6cf6e566c0da 340 while (bound1--) {
petter 0:6cf6e566c0da 341 cnt1++;
petter 0:6cf6e566c0da 342 buf1 = LPC_CANAF_RAM->mask[cnt1];
petter 0:6cf6e566c0da 343 LPC_CANAF_RAM->mask[cnt1] = buf0;
petter 0:6cf6e566c0da 344 buf0 = buf1;
petter 0:6cf6e566c0da 345 }
petter 0:6cf6e566c0da 346 }
petter 0:6cf6e566c0da 347
petter 0:6cf6e566c0da 348 if (CAN_std_cnt == 0) { /* For entering first ID */
petter 0:6cf6e566c0da 349 LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
petter 0:6cf6e566c0da 350 } else if (CAN_std_cnt == 1) { /* For entering second ID */
petter 0:6cf6e566c0da 351 if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
petter 0:6cf6e566c0da 352 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
petter 0:6cf6e566c0da 353 else
petter 0:6cf6e566c0da 354 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
petter 0:6cf6e566c0da 355 } else {
petter 0:6cf6e566c0da 356 /* Find where to insert new ID */
petter 0:6cf6e566c0da 357 cnt1 = 0;
petter 0:6cf6e566c0da 358 cnt2 = CAN_std_cnt;
petter 0:6cf6e566c0da 359 bound1 = (CAN_std_cnt - 1) >> 1;
petter 0:6cf6e566c0da 360 while (cnt1 <= bound1) { /* Loop through standard existing IDs */
petter 0:6cf6e566c0da 361 if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id) {
petter 0:6cf6e566c0da 362 cnt2 = cnt1 * 2;
petter 0:6cf6e566c0da 363 break;
petter 0:6cf6e566c0da 364 }
petter 0:6cf6e566c0da 365 if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id) {
petter 0:6cf6e566c0da 366 cnt2 = cnt1 * 2 + 1;
petter 0:6cf6e566c0da 367 break;
petter 0:6cf6e566c0da 368 }
petter 0:6cf6e566c0da 369 cnt1++; /* cnt1 = U32 where to insert new ID */
petter 0:6cf6e566c0da 370 } /* cnt2 = U16 where to insert new ID */
petter 0:6cf6e566c0da 371
petter 0:6cf6e566c0da 372 if (cnt1 > bound1) { /* Adding ID as last entry */
petter 0:6cf6e566c0da 373 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
petter 0:6cf6e566c0da 374 LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
petter 0:6cf6e566c0da 375 else /* Odd number of IDs exists */
petter 0:6cf6e566c0da 376 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
petter 0:6cf6e566c0da 377 } else {
petter 0:6cf6e566c0da 378 buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
petter 0:6cf6e566c0da 379 if ((cnt2 & 0x0001) == 0) /* Insert new mask to even address */
petter 0:6cf6e566c0da 380 buf1 = (id << 16) | (buf0 >> 16);
petter 0:6cf6e566c0da 381 else /* Insert new mask to odd address */
petter 0:6cf6e566c0da 382 buf1 = (buf0 & 0xFFFF0000) | id;
petter 0:6cf6e566c0da 383
petter 0:6cf6e566c0da 384 LPC_CANAF_RAM->mask[cnt1] = buf1; /* Insert mask */
petter 0:6cf6e566c0da 385
petter 0:6cf6e566c0da 386 bound1 = CAN_std_cnt >> 1;
petter 0:6cf6e566c0da 387 /* Move all remaining standard mask entries one place up */
petter 0:6cf6e566c0da 388 while (cnt1 < bound1) {
petter 0:6cf6e566c0da 389 cnt1++;
petter 0:6cf6e566c0da 390 buf1 = LPC_CANAF_RAM->mask[cnt1];
petter 0:6cf6e566c0da 391 LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
petter 0:6cf6e566c0da 392 buf0 = buf1;
petter 0:6cf6e566c0da 393 }
petter 0:6cf6e566c0da 394
petter 0:6cf6e566c0da 395 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
petter 0:6cf6e566c0da 396 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);
petter 0:6cf6e566c0da 397 }
petter 0:6cf6e566c0da 398 }
petter 0:6cf6e566c0da 399 CAN_std_cnt++;
petter 0:6cf6e566c0da 400
petter 0:6cf6e566c0da 401 /* Calculate std ID start address (buf0) and ext ID start address (buf1) */
petter 0:6cf6e566c0da 402 buf0 = ((CAN_std_cnt + 1) >> 1) << 2;
petter 0:6cf6e566c0da 403 buf1 = buf0 + (CAN_ext_cnt << 2);
petter 0:6cf6e566c0da 404
petter 0:6cf6e566c0da 405 /* Setup acceptance filter pointers */
petter 0:6cf6e566c0da 406 LPC_CANAF->SFF_sa = 0;
petter 0:6cf6e566c0da 407 LPC_CANAF->SFF_GRP_sa = buf0;
petter 0:6cf6e566c0da 408 LPC_CANAF->EFF_sa = buf0;
petter 0:6cf6e566c0da 409 LPC_CANAF->EFF_GRP_sa = buf1;
petter 0:6cf6e566c0da 410 LPC_CANAF->ENDofTable = buf1;
petter 0:6cf6e566c0da 411
petter 0:6cf6e566c0da 412 LPC_CANAF->AFMR = 0x00000000; /* Use acceptance filter */
petter 0:6cf6e566c0da 413 }