[ElTurco]

Voici le texte de base, je vais travailler avec ce code.

/#define DEBUGMODE

#include <HardwareCAN.h>
/* ASTRA-H sniffer
* Uses STM32duino with Phono patch. Must add 33 and 95 CAN speeds
*/

// Instanciation of CAN interface
HardwareCAN canBus(CAN1_BASE);
CanMsg msg ;
CanMsg *r_msg;
CAN_STATUS Stat ;

void CANSetup(CAN_GPIO_MAP remap, CAN_SPEED speed)
{

// Initialize CAN module
canBus.map(remap); // This setting is already wired in the Olimexino-STM32 board
Stat = canBus.begin(speed, CAN_MODE_NORMAL);

canBus.filter(0, 0, 0);
canBus.set_irq_mode(); // Use irq mode (recommended), so the handling of incoming messages
// will be performed at ease in a task or in the loop. The software fifo is 16 cells long,
// allowing at least 15 ms before processing the fifo is needed at 125 kbps
Stat = canBus.status();
if (Stat != CAN_OK)
{/* Your own error processing here */ ; // Initialization failed
Serial1.print("Initialization failed");
}

}

CAN_TX_MBX CANsend(CanMsg *pmsg) // Should be moved to the library?!
{
CAN_TX_MBX mbx;
do
{
mbx = canBus.send(pmsg) ;
#ifdef USE_MULTITASK
vTaskDelay( 1 ) ; // Infinite loops are not multitasking-friendly
#endif
}
while(mbx == CAN_TX_NO_MBX) ; // Waiting outbound frames will eventually be sent, unless there is a CAN bus failure.
return mbx ;
}

// Send message
// Prepare and send a frame containing some value
void SendCANmessage(long id=0x001, byte dlength=8, byte d0=0x00, byte d1=0x00, byte d2=0x00, byte d3=0x00, byte d4=0x00, byte d5=0x00, byte d6=0x00, byte d7=0x00)
{
// Initialize the message structure
// A CAN structure includes the following fields:
msg.IDE = CAN_ID_STD; // Indicates a standard identifier ; CAN_ID_EXT would mean this frame uses an extended identifier
msg.RTR = CAN_RTR_DATA; // Indicated this is a data frame, as opposed to a remote frame (would then be CAN_RTR_REMOTE)
msg.ID = id ; // Identifier of the frame : 0-2047 (0-0x3ff) for standard idenfiers; 0-0x1fffffff for extended identifiers
msg.DLC = dlength; // Number of data bytes to follow

// Prepare frame : send something
msg.Data[0] = d0 ;
msg.Data[1] = d1 ;
msg.Data[2] = d2 ;
msg.Data[3] = d3 ;
msg.Data[4] = d4 ;
msg.Data[5] = d5 ;
msg.Data[6] = d6 ;
msg.Data[7] = d7 ;
CANsend(&msg) ; // Send this frame
}

#define PC13ON 0
#define PC13OFF 1
#define DELAY 250
/* global variables */


void setup()
{
pinMode(PC13, OUTPUT); // LED
digitalWrite(PC13, PC13ON);

Serial1.begin(115200);
Serial1.println("Hello World!");
Serial1.println("Starting Astra-H sniffer v01 program");

for (bool flag=0;flag==0;)
{
Serial1.print("trying MS CAN...");
CANSetup(CAN_GPIO_PB8_PB9,CAN_SPEED_95);
canBus.free();canBus.free();canBus.free();canBus.f ree();canBus.free();canBus.free();canBus.free(); // make sure receive buffer is empty
delay(200); // wait for receiving something
if ( ( r_msg = canBus.recv() ) != NULL )
{
Serial1.println(" OK!");
flag=1;
}
else
{
Serial1.println(" FAILED!");
delay(500);
Serial1.print("trying LS(SW) CAN...");
CANSetup(CAN_GPIO_PB8_PB9,CAN_SPEED_33);
canBus.free();canBus.free();canBus.free();canBus.f ree();canBus.free();canBus.free();canBus.free(); // make sure receive buffer is empty
delay(200); // wait for receiving something

if ( ( r_msg = canBus.recv() ) != NULL )
{
Serial1.println(" OK!");
flag=1;
}
else
{
Serial1.println(" FAILED!");
delay(500);
}
}
}
Serial1.println("Time (ms) ; ID ; Length ; B0 ; B1 ; B2 ; B3 ; B4 ; B5 ; B6 ; B7 ");
digitalWrite(PC13, PC13OFF);
}

void loop()
{
while ( ( r_msg = canBus.recv() ) != NULL )
{
digitalWrite(PC13, PC13ON); // LED shows that recieved data is being printed out
Serial1.print(millis());
Serial1.print("; ");
Serial1.print(r_msg->ID, HEX);
Serial1.print("; ");
Serial1.print(r_msg->DLC);
Serial1.print("; ");
Serial1.print(r_msg->Data[0], HEX);
Serial1.print("; ");
Serial1.print(r_msg->Data[1], HEX);
Serial1.print("; ");
Serial1.print(r_msg->Data[2], HEX);
Serial1.print("; ");
Serial1.print(r_msg->Data[3], HEX);
Serial1.print("; ");
Serial1.print(r_msg->Data[4], HEX);
Serial1.print("; ");
Serial1.print(r_msg->Data[5], HEX);
Serial1.print("; ");
Serial1.print(r_msg->Data[6], HEX);
Serial1.print("; ");
Serial1.println(r_msg->Data[7], HEX);
digitalWrite(PC13, PC13OFF);
canBus.free();
} // close while
} // close void loop