1 | /*
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2 | mcp_can.cpp
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3 | 2012 Copyright (c) Seeed Technology Inc. All right reserved.
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4 |
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5 | Author:Loovee
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6 | 2014-1-16
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7 |
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8 | Contributor:
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9 |
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10 | Cory J. Fowler
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11 | Latonita
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12 | Woodward1
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13 | Mehtajaghvi
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14 | BykeBlast
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15 | TheRo0T
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16 | Tsipizic
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17 | ralfEdmund
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18 | Nathancheek
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19 | BlueAndi
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20 | Adlerweb
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21 | Btetz
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22 | Hurvajs
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23 | xboxpro1
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24 |
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25 | The MIT License (MIT)
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26 |
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27 | Copyright (c) 2013 Seeed Technology Inc.
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28 |
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29 | Permission is hereby granted, free of charge, to any person obtaining a copy
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30 | of this software and associated documentation files (the "Software"), to deal
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31 | in the Software without restriction, including without limitation the rights
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32 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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33 | copies of the Software, and to permit persons to whom the Software is
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34 | furnished to do so, subject to the following conditions:
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35 |
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36 | The above copyright notice and this permission notice shall be included in
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37 | all copies or substantial portions of the Software.
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38 |
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39 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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40 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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41 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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42 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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43 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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44 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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45 | THE SOFTWARE.
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46 | */
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47 | #include "mcp_can_ext.h"
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48 |
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49 | #define spi_readwrite SPI.transfer
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50 | #define spi_read() spi_readwrite(0x00)
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51 | #define SPI_BEGIN() SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0))
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52 | #define SPI_END() SPI.endTransaction()
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53 |
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54 | /*********************************************************************************************************
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55 | ** Function name: mcp2515_reset
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56 | ** Descriptions: reset the device
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57 | *********************************************************************************************************/
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58 | void MCP_CAN::mcp2515_reset(void)
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59 | {
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60 | #ifdef SPI_HAS_TRANSACTION
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61 | SPI_BEGIN();
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62 | #endif
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63 | MCP2515_SELECT();
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64 | spi_readwrite(MCP_RESET);
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65 | MCP2515_UNSELECT();
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66 | #ifdef SPI_HAS_TRANSACTION
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67 | SPI_END();
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68 | #endif
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69 | delay(10);
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70 | }
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71 |
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72 | /*********************************************************************************************************
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73 | ** Function name: mcp2515_readRegister
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74 | ** Descriptions: read register
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75 | *********************************************************************************************************/
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76 | INT8U MCP_CAN::mcp2515_readRegister(const INT8U address)
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77 | {
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78 | INT8U ret;
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79 |
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80 | #ifdef SPI_HAS_TRANSACTION
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81 | SPI_BEGIN();
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82 | #endif
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83 | MCP2515_SELECT();
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84 | spi_readwrite(MCP_READ);
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85 | spi_readwrite(address);
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86 | ret = spi_read();
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87 | MCP2515_UNSELECT();
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88 | #ifdef SPI_HAS_TRANSACTION
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89 | SPI_END();
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90 | #endif
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91 |
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92 | return ret;
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93 | }
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94 |
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95 | /*********************************************************************************************************
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96 | ** Function name: mcp2515_readRegisterS
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97 | ** Descriptions: read registerS
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98 | *********************************************************************************************************/
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99 | void MCP_CAN::mcp2515_readRegisterS(const INT8U address, INT8U values[], const INT8U n)
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100 | {
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101 | INT8U i;
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102 | #ifdef SPI_HAS_TRANSACTION
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103 | SPI_BEGIN();
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104 | #endif
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105 | MCP2515_SELECT();
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106 | spi_readwrite(MCP_READ);
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107 | spi_readwrite(address);
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108 | // mcp2515 has auto-increment of address-pointer
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109 | for (i=0; i<n && i<CAN_MAX_CHAR_IN_MESSAGE; i++) {
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110 | values[i] = spi_read();
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111 | }
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112 | MCP2515_UNSELECT();
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113 | #ifdef SPI_HAS_TRANSACTION
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114 | SPI_END();
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115 | #endif
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116 | }
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117 |
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118 | /*********************************************************************************************************
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119 | ** Function name: mcp2515_setRegister
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120 | ** Descriptions: set register
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121 | *********************************************************************************************************/
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122 | void MCP_CAN::mcp2515_setRegister(const INT8U address, const INT8U value)
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123 | {
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124 | #ifdef SPI_HAS_TRANSACTION
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125 | SPI_BEGIN();
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126 | #endif
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127 | MCP2515_SELECT();
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128 | spi_readwrite(MCP_WRITE);
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129 | spi_readwrite(address);
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130 | spi_readwrite(value);
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131 | MCP2515_UNSELECT();
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132 | #ifdef SPI_HAS_TRANSACTION
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133 | SPI_END();
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134 | #endif
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135 | }
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136 |
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137 | /*********************************************************************************************************
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138 | ** Function name: mcp2515_setRegisterS
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139 | ** Descriptions: set registerS
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140 | *********************************************************************************************************/
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141 | void MCP_CAN::mcp2515_setRegisterS(const INT8U address, const INT8U values[], const INT8U n)
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142 | {
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143 | INT8U i;
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144 | #ifdef SPI_HAS_TRANSACTION
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145 | SPI_BEGIN();
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146 | #endif
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147 | MCP2515_SELECT();
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148 | spi_readwrite(MCP_WRITE);
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149 | spi_readwrite(address);
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150 |
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151 | for (i=0; i<n; i++)
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152 | {
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153 | spi_readwrite(values[i]);
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154 | }
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155 | MCP2515_UNSELECT();
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156 | #ifdef SPI_HAS_TRANSACTION
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157 | SPI_END();
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158 | #endif
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159 | }
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160 |
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161 | /*********************************************************************************************************
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162 | ** Function name: mcp2515_modifyRegister
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163 | ** Descriptions: set bit of one register
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164 | *********************************************************************************************************/
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165 | void MCP_CAN::mcp2515_modifyRegister(const INT8U address, const INT8U mask, const INT8U data)
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166 | {
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167 | #ifdef SPI_HAS_TRANSACTION
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168 | SPI_BEGIN();
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169 | #endif
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170 | MCP2515_SELECT();
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171 | spi_readwrite(MCP_BITMOD);
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172 | spi_readwrite(address);
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173 | spi_readwrite(mask);
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174 | spi_readwrite(data);
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175 | MCP2515_UNSELECT();
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176 | #ifdef SPI_HAS_TRANSACTION
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177 | SPI_END();
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178 | #endif
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179 | }
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180 |
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181 | /*********************************************************************************************************
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182 | ** Function name: mcp2515_readStatus
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183 | ** Descriptions: read mcp2515's Status
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184 | *********************************************************************************************************/
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185 | INT8U MCP_CAN::mcp2515_readStatus(void)
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186 | {
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187 | INT8U i;
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188 | #ifdef SPI_HAS_TRANSACTION
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189 | SPI_BEGIN();
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190 | #endif
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191 | MCP2515_SELECT();
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192 | spi_readwrite(MCP_READ_STATUS);
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193 | i = spi_read();
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194 | MCP2515_UNSELECT();
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195 | #ifdef SPI_HAS_TRANSACTION
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196 | SPI_END();
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197 | #endif
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198 |
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199 | return i;
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200 | }
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201 |
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202 | /*********************************************************************************************************
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203 | ** Function name: mcp2515_setCANCTRL_Mode
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204 | ** Descriptions: set control mode
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205 | *********************************************************************************************************/
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206 | INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode)
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207 | {
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208 | INT8U i;
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209 |
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210 | mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
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211 |
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212 | i = mcp2515_readRegister(MCP_CANCTRL);
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213 | i &= MODE_MASK;
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214 |
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215 | if ( i == newmode )
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216 | {
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217 | return MCP2515_OK;
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218 | }
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219 |
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220 | return MCP2515_FAIL;
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221 |
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222 | }
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223 |
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224 | /*********************************************************************************************************
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225 | ** Function name: mcp2515_configRate
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226 | ** Descriptions: set boadrate
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227 | *********************************************************************************************************/
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228 | INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed)
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229 | {
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230 | INT8U set, cfg1, cfg2, cfg3;
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231 | set = 1;
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232 | switch (canSpeed)
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233 | {
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234 | case (CAN_5KBPS):
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235 | cfg1 = MCP_16MHz_5kBPS_CFG1;
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236 | cfg2 = MCP_16MHz_5kBPS_CFG2;
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237 | cfg3 = MCP_16MHz_5kBPS_CFG3;
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238 | break;
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239 |
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240 | case (CAN_10KBPS):
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241 | cfg1 = MCP_16MHz_10kBPS_CFG1;
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242 | cfg2 = MCP_16MHz_10kBPS_CFG2;
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243 | cfg3 = MCP_16MHz_10kBPS_CFG3;
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244 | break;
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245 |
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246 | case (CAN_20KBPS):
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247 | cfg1 = MCP_16MHz_20kBPS_CFG1;
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248 | cfg2 = MCP_16MHz_20kBPS_CFG2;
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249 | cfg3 = MCP_16MHz_20kBPS_CFG3;
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250 | break;
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251 |
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252 | case (CAN_25KBPS):
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253 | cfg1 = MCP_16MHz_25kBPS_CFG1;
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254 | cfg2 = MCP_16MHz_25kBPS_CFG2;
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255 | cfg3 = MCP_16MHz_25kBPS_CFG3;
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256 | break;
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257 |
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258 | case (CAN_31K25BPS):
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259 | cfg1 = MCP_16MHz_31k25BPS_CFG1;
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260 | cfg2 = MCP_16MHz_31k25BPS_CFG2;
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261 | cfg3 = MCP_16MHz_31k25BPS_CFG3;
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262 | break;
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263 |
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264 | case (CAN_33KBPS):
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265 | cfg1 = MCP_16MHz_33kBPS_CFG1;
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266 | cfg2 = MCP_16MHz_33kBPS_CFG2;
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267 | cfg3 = MCP_16MHz_33kBPS_CFG3;
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268 | break;
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269 |
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270 | case (CAN_40KBPS):
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271 | cfg1 = MCP_16MHz_40kBPS_CFG1;
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272 | cfg2 = MCP_16MHz_40kBPS_CFG2;
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273 | cfg3 = MCP_16MHz_40kBPS_CFG3;
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274 | break;
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275 |
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276 | case (CAN_50KBPS):
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277 | cfg1 = MCP_16MHz_50kBPS_CFG1;
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278 | cfg2 = MCP_16MHz_50kBPS_CFG2;
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279 | cfg3 = MCP_16MHz_50kBPS_CFG3;
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280 | break;
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281 |
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282 | case (CAN_80KBPS):
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283 | cfg1 = MCP_16MHz_80kBPS_CFG1;
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284 | cfg2 = MCP_16MHz_80kBPS_CFG2;
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285 | cfg3 = MCP_16MHz_80kBPS_CFG3;
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286 | break;
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287 |
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288 | case (CAN_83K3BPS):
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289 | cfg1 = MCP_16MHz_83k3BPS_CFG1;
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290 | cfg2 = MCP_16MHz_83k3BPS_CFG2;
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291 | cfg3 = MCP_16MHz_83k3BPS_CFG3;
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292 | break;
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293 |
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294 | case (CAN_95KBPS):
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295 | cfg1 = MCP_16MHz_95kBPS_CFG1;
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296 | cfg2 = MCP_16MHz_95kBPS_CFG2;
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297 | cfg3 = MCP_16MHz_95kBPS_CFG3;
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298 | break;
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299 |
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300 | case (CAN_100KBPS): /* 100KBPS */
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301 | cfg1 = MCP_16MHz_100kBPS_CFG1;
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302 | cfg2 = MCP_16MHz_100kBPS_CFG2;
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303 | cfg3 = MCP_16MHz_100kBPS_CFG3;
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304 | break;
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305 |
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306 | case (CAN_125KBPS):
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307 | cfg1 = MCP_16MHz_125kBPS_CFG1;
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308 | cfg2 = MCP_16MHz_125kBPS_CFG2;
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309 | cfg3 = MCP_16MHz_125kBPS_CFG3;
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310 | break;
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311 |
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312 | case (CAN_200KBPS):
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313 | cfg1 = MCP_16MHz_200kBPS_CFG1;
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314 | cfg2 = MCP_16MHz_200kBPS_CFG2;
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315 | cfg3 = MCP_16MHz_200kBPS_CFG3;
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316 | break;
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317 |
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318 | case (CAN_250KBPS):
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319 | cfg1 = MCP_16MHz_250kBPS_CFG1;
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320 | cfg2 = MCP_16MHz_250kBPS_CFG2;
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321 | cfg3 = MCP_16MHz_250kBPS_CFG3;
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322 | break;
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323 |
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324 | case (CAN_500KBPS):
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325 | cfg1 = MCP_16MHz_500kBPS_CFG1;
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326 | cfg2 = MCP_16MHz_500kBPS_CFG2;
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327 | cfg3 = MCP_16MHz_500kBPS_CFG3;
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328 | break;
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329 |
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330 | case (CAN_666KBPS):
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331 | cfg1 = MCP_16MHz_666kBPS_CFG1;
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332 | cfg2 = MCP_16MHz_666kBPS_CFG2;
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333 | cfg3 = MCP_16MHz_666kBPS_CFG3;
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334 | break;
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335 |
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336 | case (CAN_1000KBPS):
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337 | cfg1 = MCP_16MHz_1000kBPS_CFG1;
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338 | cfg2 = MCP_16MHz_1000kBPS_CFG2;
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339 | cfg3 = MCP_16MHz_1000kBPS_CFG3;
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340 | break;
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341 |
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342 | default:
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343 | set = 0;
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344 | break;
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345 | }
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346 |
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347 | if (set) {
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348 | mcp2515_setRegister(MCP_CNF1, cfg1);
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349 | mcp2515_setRegister(MCP_CNF2, cfg2);
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350 | mcp2515_setRegister(MCP_CNF3, cfg3);
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351 | return MCP2515_OK;
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352 | }
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353 | else {
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354 | return MCP2515_FAIL;
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355 | }
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356 | }
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357 |
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358 | /*********************************************************************************************************
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359 | ** Function name: mcp2515_initCANBuffers
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360 | ** Descriptions: init canbuffers
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361 | *********************************************************************************************************/
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362 | void MCP_CAN::mcp2515_initCANBuffers(void)
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363 | {
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364 | INT8U i, a1, a2, a3;
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365 |
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366 | a1 = MCP_TXB0CTRL;
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367 | a2 = MCP_TXB1CTRL;
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368 | a3 = MCP_TXB2CTRL;
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369 | for (i = 0; i < 14; i++) { /* in-buffer loop */
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370 | mcp2515_setRegister(a1, 0);
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371 | mcp2515_setRegister(a2, 0);
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372 | mcp2515_setRegister(a3, 0);
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373 | a1++;
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374 | a2++;
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375 | a3++;
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376 | }
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377 | mcp2515_setRegister(MCP_RXB0CTRL, 0);
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378 | mcp2515_setRegister(MCP_RXB1CTRL, 0);
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379 | }
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380 |
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381 | /*********************************************************************************************************
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382 | ** Function name: mcp2515_init
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383 | ** Descriptions: init the device
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384 | *********************************************************************************************************/
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385 | INT8U MCP_CAN::mcp2515_init(const INT8U canSpeed) /* mcp2515init */
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386 | {
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387 |
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388 | INT8U res;
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389 |
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390 | mcp2515_reset();
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391 |
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392 | res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
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393 | if(res > 0)
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394 | {
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395 | #if DEBUG_MODE
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396 | Serial.print("Enter setting mode fall\r\n");
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397 | #else
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398 | delay(10);
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399 | #endif
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400 | return res;
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401 | }
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402 | #if DEBUG_MODE
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403 | Serial.print("Enter setting mode success \r\n");
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404 | #else
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405 | delay(10);
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406 | #endif
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407 |
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408 | /* set boadrate */
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409 | if(mcp2515_configRate(canSpeed))
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410 | {
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411 | #if DEBUG_MODE
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412 | Serial.print("set rate fall!!\r\n");
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413 | #else
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414 | delay(10);
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415 | #endif
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416 | return res;
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417 | }
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418 | #if DEBUG_MODE
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419 | Serial.print("set rate success!!\r\n");
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420 | #else
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421 | delay(10);
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422 | #endif
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423 |
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424 | if ( res == MCP2515_OK ) {
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425 |
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426 | /* init canbuffers */
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427 | mcp2515_initCANBuffers();
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428 |
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429 | /* interrupt mode */
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430 | mcp2515_setRegister(MCP_CANINTE, MCP_RX0IF | MCP_RX1IF);
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431 |
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432 | #if (DEBUG_RXANY==1)
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433 | /* enable both receive-buffers */
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434 | /* to receive any message */
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435 | /* and enable rollover */
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436 | mcp2515_modifyRegister(MCP_RXB0CTRL,
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437 | MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
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438 | MCP_RXB_RX_ANY | MCP_RXB_BUKT_MASK);
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439 | mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
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440 | MCP_RXB_RX_ANY);
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441 | #else
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442 | /* enable both receive-buffers */
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443 | /* to receive messages */
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444 | /* with std. and ext. identifie */
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445 | /* rs */
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446 | /* and enable rollover */
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447 | mcp2515_modifyRegister(MCP_RXB0CTRL,
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448 | MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
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449 | MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
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450 | mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
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451 | MCP_RXB_RX_STDEXT);
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452 | #endif
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453 | /* enter normal mode */
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454 | res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
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455 | if(res)
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456 | {
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457 | #if DEBUG_MODE
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458 | Serial.print("Enter Normal Mode Fall!!\r\n");
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459 | #else
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460 | delay(10);
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461 | #endif
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462 | return res;
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463 | }
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464 |
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465 |
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466 | #if DEBUG_MODE
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467 | Serial.print("Enter Normal Mode Success!!\r\n");
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468 | #else
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469 | delay(10);
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470 | #endif
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471 |
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472 | }
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473 | return res;
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474 |
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475 | }
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476 |
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477 | /*********************************************************************************************************
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478 | ** Function name: mcp2515_write_id
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479 | ** Descriptions: write can id
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480 | *********************************************************************************************************/
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481 | void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr, const INT8U ext, const INT32U id )
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482 | {
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483 | uint16_t canid;
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484 | INT8U tbufdata[4];
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485 |
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486 | canid = (uint16_t)(id & 0x0FFFF);
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487 |
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488 | if ( ext == 1)
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489 | {
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490 | tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
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491 | tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
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492 | canid = (uint16_t)(id >> 16);
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493 | tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
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494 | tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3);
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495 | tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
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496 | tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 );
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497 | }
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498 | else
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499 | {
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500 | tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 );
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501 | tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07 ) << 5);
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502 | tbufdata[MCP_EID0] = 0;
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503 | tbufdata[MCP_EID8] = 0;
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504 | }
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505 | mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
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506 | }
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507 |
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508 | /*********************************************************************************************************
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509 | ** Function name: mcp2515_read_id
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510 | ** Descriptions: read can id
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511 | *********************************************************************************************************/
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512 | void MCP_CAN::mcp2515_read_id( const INT8U mcp_addr, INT8U* ext, INT32U* id )
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513 | {
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514 | INT8U tbufdata[4];
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515 |
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516 | *ext = 0;
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517 | *id = 0;
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518 |
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519 | mcp2515_readRegisterS( mcp_addr, tbufdata, 4 );
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520 |
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521 | *id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
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522 |
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523 | if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M )
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524 | {
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525 | /* extended id */
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526 | *id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03);
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527 | *id = (*id<<8) + tbufdata[MCP_EID8];
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528 | *id = (*id<<8) + tbufdata[MCP_EID0];
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529 | *ext = 1;
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530 | }
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531 | }
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532 |
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533 | /*********************************************************************************************************
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534 | ** Function name: mcp2515_write_canMsg
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535 | ** Descriptions: write msg
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536 | *********************************************************************************************************/
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537 | void MCP_CAN::mcp2515_write_canMsg( const INT8U buffer_sidh_addr)
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538 | {
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539 | INT8U mcp_addr;
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540 | mcp_addr = buffer_sidh_addr;
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541 | mcp2515_setRegisterS(mcp_addr+5, m_nDta, m_nDlc ); /* write data bytes */
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542 | if ( m_nRtr == 1) /* if RTR set bit in byte */
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543 | {
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544 | m_nDlc |= MCP_RTR_MASK;
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545 | }
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546 | mcp2515_setRegister((mcp_addr+4), m_nDlc ); /* write the RTR and DLC */
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547 | mcp2515_write_id(mcp_addr, m_nExtFlg, m_nID ); /* write CAN id */
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548 |
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549 | }
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550 |
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551 | /*********************************************************************************************************
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552 | ** Function name: mcp2515_read_canMsg
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553 | ** Descriptions: read message
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554 | *********************************************************************************************************/
|
555 | void MCP_CAN::mcp2515_read_canMsg( const INT8U buffer_sidh_addr) /* read can msg */
|
556 | {
|
557 | INT8U mcp_addr, ctrl;
|
558 |
|
559 | mcp_addr = buffer_sidh_addr;
|
560 |
|
561 | mcp2515_read_id( mcp_addr, &m_nExtFlg,&m_nID );
|
562 |
|
563 | ctrl = mcp2515_readRegister( mcp_addr-1 );
|
564 | m_nDlc = mcp2515_readRegister( mcp_addr+4 );
|
565 |
|
566 | if ((ctrl & 0x08)) {
|
567 | m_nRtr = 1;
|
568 | }
|
569 | else {
|
570 | m_nRtr = 0;
|
571 | }
|
572 |
|
573 | m_nDlc &= MCP_DLC_MASK;
|
574 | mcp2515_readRegisterS( mcp_addr+5, &(m_nDta[0]), m_nDlc );
|
575 | }
|
576 |
|
577 | /*********************************************************************************************************
|
578 | ** Function name: mcp2515_start_transmit
|
579 | ** Descriptions: start transmit
|
580 | *********************************************************************************************************/
|
581 | void MCP_CAN::mcp2515_start_transmit(const INT8U mcp_addr) /* start transmit */
|
582 | {
|
583 | mcp2515_modifyRegister( mcp_addr-1 , MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
|
584 | }
|
585 |
|
586 | /*********************************************************************************************************
|
587 | ** Function name: mcp2515_getNextFreeTXBuf
|
588 | ** Descriptions: get Next free txbuf
|
589 | *********************************************************************************************************/
|
590 | INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n) /* get Next free txbuf */
|
591 | {
|
592 | INT8U res, i, ctrlval;
|
593 | INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
594 |
|
595 | res = MCP_ALLTXBUSY;
|
596 | *txbuf_n = 0x00;
|
597 |
|
598 | /* check all 3 TX-Buffers */
|
599 | for (i=0; i<MCP_N_TXBUFFERS; i++) {
|
600 | ctrlval = mcp2515_readRegister( ctrlregs[i] );
|
601 | if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
|
602 | *txbuf_n = ctrlregs[i]+1; /* return SIDH-address of Buffe */
|
603 | /* r */
|
604 | res = MCP2515_OK;
|
605 | return res; /* ! function exit */
|
606 | }
|
607 | }
|
608 | return res;
|
609 | }
|
610 |
|
611 | /*********************************************************************************************************
|
612 | ** Function name: set CS
|
613 | ** Descriptions: init CS pin and set UNSELECTED
|
614 | *********************************************************************************************************/
|
615 | MCP_CAN::MCP_CAN(INT8U _CS)
|
616 | {
|
617 | SPICS = _CS;
|
618 | pinMode(SPICS, OUTPUT);
|
619 | MCP2515_UNSELECT();
|
620 | }
|
621 |
|
622 | /*********************************************************************************************************
|
623 | ** Function name: init
|
624 | ** Descriptions: init can and set speed
|
625 | *********************************************************************************************************/
|
626 | INT8U MCP_CAN::begin(INT8U speedset)
|
627 | {
|
628 | INT8U res;
|
629 |
|
630 | SPI.begin();
|
631 | res = mcp2515_init(speedset);
|
632 | if (res == MCP2515_OK) return CAN_OK;
|
633 | else return CAN_FAILINIT;
|
634 | }
|
635 |
|
636 | /*********************************************************************************************************
|
637 | ** Function name: init_Mask
|
638 | ** Descriptions: init canid Masks
|
639 | *********************************************************************************************************/
|
640 | INT8U MCP_CAN::init_Mask(INT8U num, INT8U ext, INT32U ulData)
|
641 | {
|
642 | INT8U res = MCP2515_OK;
|
643 | #if DEBUG_MODE
|
644 | Serial.print("Begin to set Mask!!\r\n");
|
645 | #else
|
646 | delay(10);
|
647 | #endif
|
648 | res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
|
649 | if(res > 0){
|
650 | #if DEBUG_MODE
|
651 | Serial.print("Enter setting mode fall\r\n");
|
652 | #else
|
653 | delay(10);
|
654 | #endif
|
655 | return res;
|
656 | }
|
657 |
|
658 | if (num == 0){
|
659 | mcp2515_write_id(MCP_RXM0SIDH, ext, ulData);
|
660 |
|
661 | }
|
662 | else if(num == 1){
|
663 | mcp2515_write_id(MCP_RXM1SIDH, ext, ulData);
|
664 | }
|
665 | else res = MCP2515_FAIL;
|
666 |
|
667 | res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
|
668 | if(res > 0){
|
669 | #if DEBUG_MODE
|
670 | Serial.print("Enter normal mode fall\r\n");
|
671 | #else
|
672 | delay(10);
|
673 | #endif
|
674 | return res;
|
675 | }
|
676 | #if DEBUG_MODE
|
677 | Serial.print("set Mask success!!\r\n");
|
678 | #else
|
679 | delay(10);
|
680 | #endif
|
681 | return res;
|
682 | }
|
683 |
|
684 | /*********************************************************************************************************
|
685 | ** Function name: init_Filt
|
686 | ** Descriptions: init canid filters
|
687 | *********************************************************************************************************/
|
688 | INT8U MCP_CAN::init_Filt(INT8U num, INT8U ext, INT32U ulData)
|
689 | {
|
690 | INT8U res = MCP2515_OK;
|
691 | #if DEBUG_MODE
|
692 | Serial.print("Begin to set Filter!!\r\n");
|
693 | #else
|
694 | delay(10);
|
695 | #endif
|
696 | res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
|
697 | if(res > 0)
|
698 | {
|
699 | #if DEBUG_MODE
|
700 | Serial.print("Enter setting mode fall\r\n");
|
701 | #else
|
702 | delay(10);
|
703 | #endif
|
704 | return res;
|
705 | }
|
706 |
|
707 | switch( num )
|
708 | {
|
709 | case 0:
|
710 | mcp2515_write_id(MCP_RXF0SIDH, ext, ulData);
|
711 | break;
|
712 |
|
713 | case 1:
|
714 | mcp2515_write_id(MCP_RXF1SIDH, ext, ulData);
|
715 | break;
|
716 |
|
717 | case 2:
|
718 | mcp2515_write_id(MCP_RXF2SIDH, ext, ulData);
|
719 | break;
|
720 |
|
721 | case 3:
|
722 | mcp2515_write_id(MCP_RXF3SIDH, ext, ulData);
|
723 | break;
|
724 |
|
725 | case 4:
|
726 | mcp2515_write_id(MCP_RXF4SIDH, ext, ulData);
|
727 | break;
|
728 |
|
729 | case 5:
|
730 | mcp2515_write_id(MCP_RXF5SIDH, ext, ulData);
|
731 | break;
|
732 |
|
733 | default:
|
734 | res = MCP2515_FAIL;
|
735 | }
|
736 |
|
737 | res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
|
738 | if(res > 0)
|
739 | {
|
740 | #if DEBUG_MODE
|
741 | Serial.print("Enter normal mode fall\r\nSet filter fail!!\r\n");
|
742 | #else
|
743 | delay(10);
|
744 | #endif
|
745 | return res;
|
746 | }
|
747 | #if DEBUG_MODE
|
748 | Serial.print("set Filter success!!\r\n");
|
749 | #else
|
750 | delay(10);
|
751 | #endif
|
752 |
|
753 | return res;
|
754 | }
|
755 |
|
756 | /*********************************************************************************************************
|
757 | ** Function name: setMsg
|
758 | ** Descriptions: set can message, such as dlc, id, dta[] and so on
|
759 | *********************************************************************************************************/
|
760 | INT8U MCP_CAN::setMsg(INT32U id, INT8U ext, INT8U len, INT8U rtr, INT8U *pData)
|
761 | {
|
762 | m_nExtFlg = ext;
|
763 | m_nID = id;
|
764 | m_nDlc = min( len, MAX_CHAR_IN_MESSAGE );
|
765 | m_nRtr = rtr;
|
766 | for(int i = 0; i<m_nDlc; i++)
|
767 | {
|
768 | m_nDta[i] = *(pData+i);
|
769 | }
|
770 | return MCP2515_OK;
|
771 | }
|
772 |
|
773 |
|
774 | /*********************************************************************************************************
|
775 | ** Function name: setMsg
|
776 | ** Descriptions: set can message, such as dlc, id, dta[] and so on
|
777 | *********************************************************************************************************/
|
778 | INT8U MCP_CAN::setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData)
|
779 | {
|
780 | return setMsg( id, ext, len, 0, pData );
|
781 | }
|
782 |
|
783 | /*********************************************************************************************************
|
784 | ** Function name: clearMsg
|
785 | ** Descriptions: set all message to zero
|
786 | *********************************************************************************************************/
|
787 | INT8U MCP_CAN::clearMsg()
|
788 | {
|
789 | m_nID = 0;
|
790 | m_nDlc = 0;
|
791 | m_nExtFlg = 0;
|
792 | m_nRtr = 0;
|
793 | m_nfilhit = 0;
|
794 | for(int i = 0; i<m_nDlc; i++ )
|
795 | m_nDta[i] = 0x00;
|
796 |
|
797 | return MCP2515_OK;
|
798 | }
|
799 |
|
800 | /*********************************************************************************************************
|
801 | ** Function name: sendMsg
|
802 | ** Descriptions: send message
|
803 | *********************************************************************************************************/
|
804 | INT8U MCP_CAN::sendMsg()
|
805 | {
|
806 | INT8U res, res1, txbuf_n;
|
807 | uint16_t uiTimeOut = 0;
|
808 |
|
809 | do {
|
810 | res = mcp2515_getNextFreeTXBuf(&txbuf_n); /* info = addr. */
|
811 | uiTimeOut++;
|
812 | } while (res == MCP_ALLTXBUSY && (uiTimeOut < TIMEOUTVALUE));
|
813 |
|
814 | if(uiTimeOut == TIMEOUTVALUE)
|
815 | {
|
816 | return CAN_GETTXBFTIMEOUT; /* get tx buff time out */
|
817 | }
|
818 | uiTimeOut = 0;
|
819 | mcp2515_write_canMsg( txbuf_n);
|
820 | mcp2515_start_transmit( txbuf_n );
|
821 | do
|
822 | {
|
823 | uiTimeOut++;
|
824 | res1= mcp2515_readRegister(txbuf_n-1 /* the ctrl reg is located at txbuf_n-1 */); /* read send buff ctrl reg */
|
825 | res1 = res1 & 0x08;
|
826 | }while(res1 && (uiTimeOut < TIMEOUTVALUE));
|
827 | if(uiTimeOut == TIMEOUTVALUE) /* send msg timeout */
|
828 | {
|
829 | return CAN_SENDMSGTIMEOUT;
|
830 | }
|
831 | return CAN_OK;
|
832 |
|
833 | }
|
834 |
|
835 | /*********************************************************************************************************
|
836 | ** Function name: sendMsgBuf
|
837 | ** Descriptions: send buf
|
838 | *********************************************************************************************************/
|
839 | INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U ext, INT8U rtr, INT8U len, INT8U *buf)
|
840 | {
|
841 | setMsg(id, ext, len, rtr, buf);
|
842 | return sendMsg();
|
843 | }
|
844 |
|
845 | /*********************************************************************************************************
|
846 | ** Function name: sendMsgBuf
|
847 | ** Descriptions: send buf
|
848 | *********************************************************************************************************/
|
849 | INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf)
|
850 | {
|
851 | setMsg(id, ext, len, buf);
|
852 | return sendMsg();
|
853 | }
|
854 |
|
855 |
|
856 | /*********************************************************************************************************
|
857 | ** Function name: readMsg
|
858 | ** Descriptions: read message
|
859 | *********************************************************************************************************/
|
860 | INT8U MCP_CAN::readMsg()
|
861 | {
|
862 | INT8U stat, res;
|
863 |
|
864 | stat = mcp2515_readStatus();
|
865 |
|
866 | if ( stat & MCP_STAT_RX0IF ) /* Msg in Buffer 0 */
|
867 | {
|
868 | mcp2515_read_canMsg( MCP_RXBUF_0);
|
869 | mcp2515_modifyRegister(MCP_CANINTF, MCP_RX0IF, 0);
|
870 | res = CAN_OK;
|
871 | }
|
872 | else if ( stat & MCP_STAT_RX1IF ) /* Msg in Buffer 1 */
|
873 | {
|
874 | mcp2515_read_canMsg( MCP_RXBUF_1);
|
875 | mcp2515_modifyRegister(MCP_CANINTF, MCP_RX1IF, 0);
|
876 | res = CAN_OK;
|
877 | }
|
878 | else
|
879 | {
|
880 | res = CAN_NOMSG;
|
881 | }
|
882 | return res;
|
883 | }
|
884 |
|
885 | /*********************************************************************************************************
|
886 | ** Function name: readMsgBuf
|
887 | ** Descriptions: read message buf
|
888 | *********************************************************************************************************/
|
889 | INT8U MCP_CAN::readMsgBuf(INT8U *len, INT8U buf[])
|
890 | {
|
891 | INT8U rc;
|
892 |
|
893 | rc = readMsg();
|
894 |
|
895 | if (rc == CAN_OK) {
|
896 | *len = m_nDlc;
|
897 | for(int i = 0; i<m_nDlc; i++) {
|
898 | buf[i] = m_nDta[i];
|
899 | }
|
900 | } else {
|
901 | *len = 0;
|
902 | }
|
903 | return rc;
|
904 | }
|
905 |
|
906 | /*********************************************************************************************************
|
907 | ** Function name: readMsgBufID
|
908 | ** Descriptions: read message buf and can bus source ID
|
909 | *********************************************************************************************************/
|
910 | INT8U MCP_CAN::readMsgBufID(INT32U *ID, INT8U *len, INT8U buf[])
|
911 | {
|
912 | INT8U rc;
|
913 | rc = readMsg();
|
914 |
|
915 | if (rc == CAN_OK) {
|
916 | *len = m_nDlc;
|
917 | *ID = m_nID;
|
918 | for(int i = 0; i<m_nDlc && i < MAX_CHAR_IN_MESSAGE; i++) {
|
919 | buf[i] = m_nDta[i];
|
920 | }
|
921 | } else {
|
922 | *len = 0;
|
923 | }
|
924 | return rc;
|
925 | }
|
926 |
|
927 | /*********************************************************************************************************
|
928 | ** Function name: checkReceive
|
929 | ** Descriptions: check if got something
|
930 | *********************************************************************************************************/
|
931 | INT8U MCP_CAN::checkReceive(void)
|
932 | {
|
933 | INT8U res;
|
934 | res = mcp2515_readStatus(); /* RXnIF in Bit 1 and 0 */
|
935 | if ( res & MCP_STAT_RXIF_MASK )
|
936 | {
|
937 | return CAN_MSGAVAIL;
|
938 | }
|
939 | else
|
940 | {
|
941 | return CAN_NOMSG;
|
942 | }
|
943 | }
|
944 |
|
945 | /*********************************************************************************************************
|
946 | ** Function name: checkError
|
947 | ** Descriptions: if something error
|
948 | *********************************************************************************************************/
|
949 | INT8U MCP_CAN::checkError(void)
|
950 | {
|
951 | INT8U eflg = mcp2515_readRegister(MCP_EFLG);
|
952 |
|
953 | if ( eflg & MCP_EFLG_ERRORMASK )
|
954 | {
|
955 | return CAN_CTRLERROR;
|
956 | }
|
957 | else
|
958 | {
|
959 | return CAN_OK;
|
960 | }
|
961 | }
|
962 |
|
963 | /*********************************************************************************************************
|
964 | ** Function name: getCanId
|
965 | ** Descriptions: when receive something you can get the can id!!
|
966 | *********************************************************************************************************/
|
967 | INT32U MCP_CAN::getCanId(void)
|
968 | {
|
969 | return m_nID;
|
970 | }
|
971 |
|
972 | /*********************************************************************************************************
|
973 | ** Function name: isRemoteRequest
|
974 | ** Descriptions: when receive something you can check if it was a request
|
975 | *********************************************************************************************************/
|
976 | INT8U MCP_CAN::isRemoteRequest(void)
|
977 | {
|
978 | return m_nRtr;
|
979 | }
|
980 |
|
981 | /*********************************************************************************************************
|
982 | ** Function name: isExtendedFrame
|
983 | ** Descriptions: did we just receive standard 11bit frame or extended 29bit? 0 = std, 1 = ext
|
984 | *********************************************************************************************************/
|
985 | INT8U MCP_CAN::isExtendedFrame(void)
|
986 | {
|
987 | return m_nExtFlg;
|
988 | }
|
989 |
|
990 | /*********************************************************************************************************
|
991 | END FILE
|
992 | *********************************************************************************************************/
|