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 | Contributor: Cory J. Fowler
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7 | 2014-1-16
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8 | This library is free software; you can redistribute it and/or
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9 | modify it under the terms of the GNU Lesser General Public
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10 | License as published by the Free Software Foundation; either
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11 | version 2.1 of the License, or (at your option) any later version.
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12 |
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13 | This library is distributed in the hope that it will be useful,
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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16 | Lesser General Public License for more details.
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17 |
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18 | You should have received a copy of the GNU Lesser General Public
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19 | License along with this library; if not, write to the Free Software
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20 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-
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21 | 1301 USA
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22 | */
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23 | #include "mcp_can.h"
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24 |
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25 | #define spi_readwrite SPI.transfer
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26 | #define spi_read() spi_readwrite(0x00)
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27 |
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28 | #define CHECK_RXBID(rxbid) do { \
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29 | if (!((rxbid == 0) || (rxbid == 1))) { \
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30 | return CAN_FAIL; \
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31 | } \
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32 | } while(false)
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33 |
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34 | #define CHECK_LEN(len) do { \
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35 | if (len > 8) { \
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36 | return CAN_FAIL; \
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37 | } \
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38 | } while(false)
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39 |
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40 | #define CHECK_TXBID(txbid) do { \
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41 | if (!((txbid == 0) || (txbid == 1) || (txbid == 2))) { \
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42 | return CAN_FAIL; \
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43 | } \
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44 | } while(false)
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45 |
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46 | /*********************************************************************************************************
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47 | ** Function name: mcp2515_reset
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48 | ** Descriptions: reset the device
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49 | *********************************************************************************************************/
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50 | void MCP_CAN::mcp2515_reset(void)
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51 | {
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52 | MCP2515_SELECT();
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53 | spi_readwrite(MCP_RESET);
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54 | MCP2515_UNSELECT();
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55 | delay(10);
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56 | }
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57 |
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58 | /*********************************************************************************************************
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59 | ** Function name: mcp2515_readRegister
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60 | ** Descriptions: read register
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61 | *********************************************************************************************************/
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62 | INT8U MCP_CAN::mcp2515_readRegister(const INT8U address)
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63 | {
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64 | INT8U ret;
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65 |
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66 | MCP2515_SELECT();
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67 | spi_readwrite(MCP_READ);
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68 | spi_readwrite(address);
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69 | ret = spi_read();
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70 | MCP2515_UNSELECT();
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71 |
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72 | return ret;
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73 | }
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74 |
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75 | /*********************************************************************************************************
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76 | ** Function name: mcp2515_readRegisterS
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77 | ** Descriptions: read registerS
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78 | *********************************************************************************************************/
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79 | void MCP_CAN::mcp2515_readRegisterS(const INT8U address, INT8U values[], const INT8U n)
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80 | {
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81 | INT8U i;
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82 | MCP2515_SELECT();
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83 | spi_readwrite(MCP_READ);
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84 | spi_readwrite(address);
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85 | // mcp2515 has auto-increment of address-pointer
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86 | for (i=0; i<n && i<CAN_MAX_CHAR_IN_MESSAGE; i++) {
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87 | values[i] = spi_read();
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88 | }
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89 | MCP2515_UNSELECT();
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90 | }
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91 |
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92 | /*********************************************************************************************************
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93 | ** Function name: mcp2515_setRegister
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94 | ** Descriptions: set register
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95 | *********************************************************************************************************/
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96 | void MCP_CAN::mcp2515_setRegister(const INT8U address, const INT8U value)
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97 | {
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98 | MCP2515_SELECT();
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99 | spi_readwrite(MCP_WRITE);
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100 | spi_readwrite(address);
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101 | spi_readwrite(value);
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102 | MCP2515_UNSELECT();
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103 | }
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104 |
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105 | /*********************************************************************************************************
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106 | ** Function name: mcp2515_setRegisterS
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107 | ** Descriptions: set registerS
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108 | *********************************************************************************************************/
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109 | void MCP_CAN::mcp2515_setRegisterS(const INT8U address, const INT8U values[], const INT8U n)
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110 | {
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111 | INT8U i;
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112 | MCP2515_SELECT();
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113 | spi_readwrite(MCP_WRITE);
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114 | spi_readwrite(address);
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115 |
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116 | for (i=0; i<n; i++)
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117 | {
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118 | spi_readwrite(values[i]);
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119 | }
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120 | MCP2515_UNSELECT();
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121 | }
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122 |
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123 | /*********************************************************************************************************
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124 | ** Function name: mcp2515_modifyRegister
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125 | ** Descriptions: set bit of one register
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126 | *********************************************************************************************************/
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127 | void MCP_CAN::mcp2515_modifyRegister(const INT8U address, const INT8U mask, const INT8U data)
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128 | {
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129 | MCP2515_SELECT();
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130 | spi_readwrite(MCP_BITMOD);
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131 | spi_readwrite(address);
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132 | spi_readwrite(mask);
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133 | spi_readwrite(data);
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134 | MCP2515_UNSELECT();
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135 | }
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136 |
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137 | /*********************************************************************************************************
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138 | ** Function name: mcp2515_readStatus
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139 | ** Descriptions: read mcp2515's Status
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140 | *********************************************************************************************************/
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141 | INT8U MCP_CAN::mcp2515_readStatus(void)
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142 | {
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143 | INT8U i;
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144 | MCP2515_SELECT();
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145 | spi_readwrite(MCP_READ_STATUS);
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146 | i = spi_read();
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147 | MCP2515_UNSELECT();
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148 |
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149 | return i;
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150 | }
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151 |
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152 | /*********************************************************************************************************
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153 | ** Function name: mcp2515_setCANCTRL_Mode
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154 | ** Descriptions: set control mode
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155 | *********************************************************************************************************/
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156 | INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode)
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157 | {
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158 | INT8U i;
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159 |
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160 | mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
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161 |
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162 | i = mcp2515_readRegister(MCP_CANCTRL);
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163 | i &= MODE_MASK;
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164 |
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165 | if ( i == newmode )
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166 | {
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167 | return MCP2515_OK;
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168 | }
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169 |
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170 | return MCP2515_FAIL;
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171 |
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172 | }
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173 |
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174 | /*********************************************************************************************************
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175 | ** Function name: mcp2515_configRate
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176 | ** Descriptions: set boadrate
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177 | *********************************************************************************************************/
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178 | INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed)
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179 | {
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180 | INT8U set, cfg1, cfg2, cfg3;
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181 | set = 1;
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182 | switch (canSpeed)
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183 | {
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184 | case (CAN_5KBPS):
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185 | cfg1 = MCP_16MHz_5kBPS_CFG1;
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186 | cfg2 = MCP_16MHz_5kBPS_CFG2;
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187 | cfg3 = MCP_16MHz_5kBPS_CFG3;
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188 | break;
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189 |
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190 | case (CAN_10KBPS):
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191 | cfg1 = MCP_16MHz_10kBPS_CFG1;
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192 | cfg2 = MCP_16MHz_10kBPS_CFG2;
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193 | cfg3 = MCP_16MHz_10kBPS_CFG3;
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194 | break;
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195 |
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196 | case (CAN_20KBPS):
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197 | cfg1 = MCP_16MHz_20kBPS_CFG1;
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198 | cfg2 = MCP_16MHz_20kBPS_CFG2;
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199 | cfg3 = MCP_16MHz_20kBPS_CFG3;
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200 | break;
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201 |
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202 | case (CAN_31K25BPS):
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203 | cfg1 = MCP_16MHz_31k25BPS_CFG1;
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204 | cfg2 = MCP_16MHz_31k25BPS_CFG2;
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205 | cfg3 = MCP_16MHz_31k25BPS_CFG3;
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206 | break;
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207 |
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208 | case (CAN_33KBPS):
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209 | cfg1 = MCP_16MHz_33kBPS_CFG1;
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210 | cfg2 = MCP_16MHz_33kBPS_CFG2;
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211 | cfg3 = MCP_16MHz_33kBPS_CFG3;
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212 | break;
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213 |
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214 | case (CAN_40KBPS):
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215 | cfg1 = MCP_16MHz_40kBPS_CFG1;
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216 | cfg2 = MCP_16MHz_40kBPS_CFG2;
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217 | cfg3 = MCP_16MHz_40kBPS_CFG3;
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218 | break;
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219 |
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220 | case (CAN_50KBPS):
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221 | cfg1 = MCP_16MHz_50kBPS_CFG1;
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222 | cfg2 = MCP_16MHz_50kBPS_CFG2;
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223 | cfg3 = MCP_16MHz_50kBPS_CFG3;
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224 | break;
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225 |
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226 | case (CAN_80KBPS):
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227 | cfg1 = MCP_16MHz_80kBPS_CFG1;
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228 | cfg2 = MCP_16MHz_80kBPS_CFG2;
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229 | cfg3 = MCP_16MHz_80kBPS_CFG3;
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230 | break;
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231 |
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232 | case (CAN_83K3BPS):
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233 | cfg1 = MCP_16MHz_83k3BPS_CFG1;
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234 | cfg2 = MCP_16MHz_83k3BPS_CFG2;
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235 | cfg3 = MCP_16MHz_83k3BPS_CFG3;
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236 | break;
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237 |
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238 | case (CAN_95KBPS):
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239 | cfg1 = MCP_16MHz_95kBPS_CFG1;
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240 | cfg2 = MCP_16MHz_95kBPS_CFG2;
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241 | cfg3 = MCP_16MHz_95kBPS_CFG3;
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242 | break;
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243 |
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244 | case (CAN_100KBPS): /* 100KBPS */
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245 | cfg1 = MCP_16MHz_100kBPS_CFG1;
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246 | cfg2 = MCP_16MHz_100kBPS_CFG2;
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247 | cfg3 = MCP_16MHz_100kBPS_CFG3;
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248 | break;
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249 |
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250 | case (CAN_125KBPS):
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251 | cfg1 = MCP_16MHz_125kBPS_CFG1;
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252 | cfg2 = MCP_16MHz_125kBPS_CFG2;
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253 | cfg3 = MCP_16MHz_125kBPS_CFG3;
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254 | break;
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255 |
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256 | case (CAN_200KBPS):
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257 | cfg1 = MCP_16MHz_200kBPS_CFG1;
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258 | cfg2 = MCP_16MHz_200kBPS_CFG2;
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259 | cfg3 = MCP_16MHz_200kBPS_CFG3;
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260 | break;
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261 |
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262 | case (CAN_250KBPS):
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263 | cfg1 = MCP_16MHz_250kBPS_CFG1;
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264 | cfg2 = MCP_16MHz_250kBPS_CFG2;
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265 | cfg3 = MCP_16MHz_250kBPS_CFG3;
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266 | break;
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267 |
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268 | case (CAN_500KBPS):
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269 | cfg1 = MCP_16MHz_500kBPS_CFG1;
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270 | cfg2 = MCP_16MHz_500kBPS_CFG2;
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271 | cfg3 = MCP_16MHz_500kBPS_CFG3;
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272 | break;
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273 |
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274 | case (CAN_1000KBPS):
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275 | cfg1 = MCP_16MHz_1000kBPS_CFG1;
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276 | cfg2 = MCP_16MHz_1000kBPS_CFG2;
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277 | cfg3 = MCP_16MHz_1000kBPS_CFG3;
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278 | break;
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279 |
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280 | default:
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281 | set = 0;
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282 | break;
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283 | }
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284 |
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285 | if (set) {
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286 | mcp2515_setRegister(MCP_CNF1, cfg1);
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287 | mcp2515_setRegister(MCP_CNF2, cfg2);
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288 | mcp2515_setRegister(MCP_CNF3, cfg3);
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289 | return MCP2515_OK;
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290 | }
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291 | else {
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292 | return MCP2515_FAIL;
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293 | }
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294 | }
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295 |
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296 | /*********************************************************************************************************
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297 | ** Function name: mcp2515_initCANBuffers
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298 | ** Descriptions: init canbuffers
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299 | *********************************************************************************************************/
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300 | void MCP_CAN::mcp2515_initCANBuffers(void)
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301 | {
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302 | INT8U i, a1, a2, a3;
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303 |
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304 | INT8U std = 0;
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305 | INT8U ext = 1;
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306 | INT32U ulMask = 0xffffffff, ulFilt = 0x00;
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307 |
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308 |
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309 | mcp2515_write_id(MCP_RXM0SIDH, ext, ulMask); /*Set both masks to 0xff */
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310 | mcp2515_write_id(MCP_RXM1SIDH, ext, ulMask); /*Mask register ignores ext bit */
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311 |
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312 | /* Set all filters to 0 */
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313 | mcp2515_write_id(MCP_RXF0SIDH, std, ulFilt); /* RXB0: standard */
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314 | mcp2515_write_id(MCP_RXF1SIDH, std, ulFilt); /* RXB1: standard */
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315 | mcp2515_write_id(MCP_RXF2SIDH, std, ulFilt); /* RXB2: standard */
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316 | mcp2515_write_id(MCP_RXF3SIDH, std, ulFilt); /* RXB3: standard */
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317 | mcp2515_write_id(MCP_RXF4SIDH, std, ulFilt);
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318 | mcp2515_write_id(MCP_RXF5SIDH, std, ulFilt);
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319 |
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320 | /* Clear, deactivate the three */
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321 | /* transmit buffers */
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322 | /* TXBnCTRL -> TXBnD7 */
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323 | a1 = MCP_TXB0CTRL;
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324 | a2 = MCP_TXB1CTRL;
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325 | a3 = MCP_TXB2CTRL;
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326 | for (i = 0; i < 14; i++) { /* in-buffer loop */
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327 | mcp2515_setRegister(a1, 0);
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328 | mcp2515_setRegister(a2, 0);
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329 | mcp2515_setRegister(a3, 0);
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330 | a1++;
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331 | a2++;
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332 | a3++;
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333 | }
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334 | mcp2515_setRegister(MCP_RXB0CTRL, 0x00);
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335 | mcp2515_setRegister(MCP_RXB1CTRL, 0xff);
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336 | }
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337 |
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338 | /*********************************************************************************************************
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339 | ** Function name: mcp2515_init
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340 | ** Descriptions: init the device
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341 | *********************************************************************************************************/
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342 | INT8U MCP_CAN::mcp2515_init(const INT8U canSpeed) /* mcp2515init */
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343 | {
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344 |
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345 | INT8U res;
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346 |
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347 | mcp2515_reset();
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348 |
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349 | res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
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350 | if(res > 0)
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351 | {
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352 | #if DEBUG_MODE
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353 | Serial.print("Enter setting mode fall\r\n");
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354 | #endif
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355 | return res;
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356 | }
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357 | #if DEBUG_MODE
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358 | Serial.print("Enter setting mode success \r\n");
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359 | #endif
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360 |
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361 | if(mcp2515_configRate(canSpeed))
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362 | {
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363 | #if DEBUG_MODE
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364 | Serial.print("set rate fall!!\r\n");
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365 | #endif
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366 | return res;
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367 | }
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368 | #if DEBUG_MODE
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369 | Serial.print("set rate success!!\r\n");
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370 | #endif
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371 |
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372 | if ( res == MCP2515_OK ) {
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373 |
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374 | /* init canbuffers */
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375 | mcp2515_initCANBuffers();
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376 |
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377 | /* interrupt mode */
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378 | mcp2515_setRegister(MCP_CANINTE, 0x00);
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379 |
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380 | /* enter normal mode */
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381 | res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
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382 | if(res)
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383 | {
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384 | #if DEBUG_MODE
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385 | Serial.print("Enter Normal Mode Fall!!\r\n");
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386 | #endif
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387 | return res;
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388 | }
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389 |
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390 |
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391 | #if DEBUG_MODE
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392 | Serial.print("Enter Normal Mode Success!!\r\n");
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393 | #endif
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394 |
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395 | }
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396 | return res;
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397 |
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398 | }
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399 |
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400 | /*********************************************************************************************************
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401 | ** Function name: mcp2515_write_id
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402 | ** Descriptions: write can id
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403 | *********************************************************************************************************/
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404 | void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr, const INT8U ext, const INT32U id )
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405 | {
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406 | uint16_t canid;
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407 | INT8U tbufdata[4];
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408 |
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409 | canid = (uint16_t)(id & 0x0FFFF);
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410 |
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411 | if ( ext == 1)
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412 | {
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413 | tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
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414 | tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
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415 | canid = (uint16_t)(id >> 16);
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416 | tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
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417 | tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3);
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418 | tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
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419 | tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 );
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420 | }
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421 | else
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422 | {
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423 | tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 );
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424 | tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07 ) << 5);
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425 | tbufdata[MCP_EID0] = 0;
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426 | tbufdata[MCP_EID8] = 0;
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427 | }
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428 | mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
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429 | }
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430 |
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431 | /*********************************************************************************************************
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432 | ** Function name: mcp2515_read_id
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433 | ** Descriptions: read can id
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434 | *********************************************************************************************************/
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435 | void MCP_CAN::mcp2515_read_id( const INT8U mcp_addr, INT8U* ext, INT32U* id )
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436 | {
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437 | INT8U tbufdata[4];
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438 |
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439 | *ext = 0;
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440 | *id = 0;
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441 |
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442 | mcp2515_readRegisterS( mcp_addr, tbufdata, 4 );
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443 |
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444 | *id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
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445 |
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446 | if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M )
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447 | {
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448 | /* extended id */
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449 | *id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03);
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450 | *id = (*id<<8) + tbufdata[MCP_EID8];
|
---|
451 | *id = (*id<<8) + tbufdata[MCP_EID0];
|
---|
452 | *ext = 1;
|
---|
453 | }
|
---|
454 | }
|
---|
455 |
|
---|
456 | /*********************************************************************************************************
|
---|
457 | ** Function name: mcp2515_write_canMsg
|
---|
458 | ** Descriptions: write msg
|
---|
459 | *********************************************************************************************************/
|
---|
460 | void MCP_CAN::mcp2515_write_canMsg( INT8U txbid, INT32U id, INT8U len, INT8U *pData, INT8U ext, INT8U rtr )
|
---|
461 | {
|
---|
462 | INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
---|
463 | INT8U mcp_addr = ctrlregs[txbid] + 1;
|
---|
464 |
|
---|
465 | mcp2515_setRegisterS(mcp_addr+5, pData, len ); /* write data bytes */
|
---|
466 | if ( rtr == 1) /* if RTR set bit in byte */
|
---|
467 | {
|
---|
468 | len |= MCP_RTR_MASK;
|
---|
469 | }
|
---|
470 | mcp2515_setRegister((mcp_addr+4), len ); /* write the RTR and DLC */
|
---|
471 | mcp2515_write_id(mcp_addr, ext, id ); /* write CAN id */
|
---|
472 |
|
---|
473 | }
|
---|
474 |
|
---|
475 | /*********************************************************************************************************
|
---|
476 | ** Function name: mcp2515_read_canMsg
|
---|
477 | ** Descriptions: read message
|
---|
478 | *********************************************************************************************************/
|
---|
479 | void MCP_CAN::mcp2515_read_canMsg( INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext, INT8U *p_rtr) /* read can msg */
|
---|
480 | {
|
---|
481 | INT8U mcp_addr = (rxbid == 0)? MCP_RXBUF_0 : MCP_RXBUF_1;
|
---|
482 | INT8U ctrl;
|
---|
483 |
|
---|
484 | mcp2515_read_id( mcp_addr, p_ext, p_id );
|
---|
485 |
|
---|
486 | ctrl = mcp2515_readRegister( mcp_addr-1 );
|
---|
487 | *p_len = mcp2515_readRegister( mcp_addr+4 );
|
---|
488 |
|
---|
489 | if ((ctrl & 0x08)) {
|
---|
490 | *p_rtr = 1;
|
---|
491 | }
|
---|
492 | else {
|
---|
493 | *p_rtr = 0;
|
---|
494 | }
|
---|
495 |
|
---|
496 | *p_len &= MCP_DLC_MASK;
|
---|
497 | mcp2515_readRegisterS( mcp_addr+5, p_buf, *p_len );
|
---|
498 | }
|
---|
499 |
|
---|
500 | /*********************************************************************************************************
|
---|
501 | ** Function name: sendMsg
|
---|
502 | ** Descriptions: send message
|
---|
503 | *********************************************************************************************************/
|
---|
504 | void MCP_CAN::mcp2515_start_transmit(INT8U txbid) /* start transmit */
|
---|
505 | {
|
---|
506 | INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
---|
507 | INT8U mcp_addr = ctrlregs[txbid];
|
---|
508 |
|
---|
509 | mcp2515_modifyRegister( mcp_addr, MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
|
---|
510 | }
|
---|
511 |
|
---|
512 | /*********************************************************************************************************
|
---|
513 | ** Function name: sendMsg
|
---|
514 | ** Descriptions: send message
|
---|
515 | *********************************************************************************************************/
|
---|
516 | INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n) /* get Next free txbuf */
|
---|
517 | {
|
---|
518 | INT8U res, i, ctrlval;
|
---|
519 | INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
---|
520 |
|
---|
521 | res = MCP_ALLTXBUSY;
|
---|
522 | *txbuf_n = 0x00;
|
---|
523 |
|
---|
524 | /* check all 3 TX-Buffers */
|
---|
525 | for (i=0; i<MCP_N_TXBUFFERS; i++) {
|
---|
526 | ctrlval = mcp2515_readRegister( ctrlregs[i] );
|
---|
527 | if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
|
---|
528 | *txbuf_n = ctrlregs[i]+1; /* return SIDH-address of Buffe */
|
---|
529 | /* r */
|
---|
530 | res = MCP2515_OK;
|
---|
531 | return res; /* ! function exit */
|
---|
532 | }
|
---|
533 | }
|
---|
534 | return res;
|
---|
535 | }
|
---|
536 |
|
---|
537 | /*********************************************************************************************************
|
---|
538 | ** Function name: set CS
|
---|
539 | ** Descriptions: init CS pin and set UNSELECTED
|
---|
540 | *********************************************************************************************************/
|
---|
541 | MCP_CAN::MCP_CAN(INT8U _CS)
|
---|
542 | {
|
---|
543 | SPICS = _CS;
|
---|
544 | pinMode(SPICS, OUTPUT);
|
---|
545 | MCP2515_UNSELECT();
|
---|
546 | }
|
---|
547 |
|
---|
548 | /*********************************************************************************************************
|
---|
549 | ** Function name: init
|
---|
550 | ** Descriptions: init can and set speed
|
---|
551 | *********************************************************************************************************/
|
---|
552 | INT8U MCP_CAN::begin(INT8U speedset)
|
---|
553 | {
|
---|
554 | INT8U res;
|
---|
555 |
|
---|
556 | SPI.begin();
|
---|
557 | res = mcp2515_init(speedset);
|
---|
558 | if (res == MCP2515_OK) return CAN_OK;
|
---|
559 | else return CAN_FAILINIT;
|
---|
560 | }
|
---|
561 |
|
---|
562 | /*********************************************************************************************************
|
---|
563 | ** Function name: enableInterrupt
|
---|
564 | ** Descriptions: Enable Interrupt
|
---|
565 | *********************************************************************************************************/
|
---|
566 | INT8U MCP_CAN::enableInterrupt(INT8U mask)
|
---|
567 | {
|
---|
568 | mcp2515_modifyRegister(MCP_CANINTE, mask, mask);
|
---|
569 | return CAN_OK;
|
---|
570 | }
|
---|
571 |
|
---|
572 | /*********************************************************************************************************
|
---|
573 | ** Function name: disableInterrupt
|
---|
574 | ** Descriptions: Disable Interrupt
|
---|
575 | *********************************************************************************************************/
|
---|
576 | INT8U MCP_CAN::disableInterrupt(INT8U mask)
|
---|
577 | {
|
---|
578 | mcp2515_modifyRegister(MCP_CANINTE, mask, !mask);
|
---|
579 | return CAN_OK;
|
---|
580 | }
|
---|
581 |
|
---|
582 | /*********************************************************************************************************
|
---|
583 | ** Function name: attachInterrupt
|
---|
584 | ** Descriptions: Attach Interrupt
|
---|
585 | *********************************************************************************************************/
|
---|
586 | INT8U MCP_CAN::attachInterrupt(uint32_t ulPin, voidFuncPtr callback)
|
---|
587 | {
|
---|
588 | ::attachInterrupt( ulPin, callback, FALLING ) ;
|
---|
589 | return CAN_OK;
|
---|
590 | }
|
---|
591 |
|
---|
592 | /*********************************************************************************************************
|
---|
593 | ** Function name: init_Mask
|
---|
594 | ** Descriptions: init canid Masks
|
---|
595 | *********************************************************************************************************/
|
---|
596 | INT8U MCP_CAN::init_Mask(INT8U num, INT32U ulData, INT8U ext)
|
---|
597 | {
|
---|
598 | INT8U res = MCP2515_OK;
|
---|
599 | #if DEBUG_MODE
|
---|
600 | Serial.print("Begin to set Mask!!\r\n");
|
---|
601 | #endif
|
---|
602 | res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
|
---|
603 | if(res > 0){
|
---|
604 | #if DEBUG_MODE
|
---|
605 | Serial.print("Enter setting mode fall\r\n");
|
---|
606 | #endif
|
---|
607 | return res;
|
---|
608 | }
|
---|
609 |
|
---|
610 | if (num == 0){
|
---|
611 | mcp2515_write_id(MCP_RXM0SIDH, ext, ulData);
|
---|
612 | }
|
---|
613 | else if(num == 1){
|
---|
614 | mcp2515_write_id(MCP_RXM1SIDH, ext, ulData);
|
---|
615 | }
|
---|
616 | else res = MCP2515_FAIL;
|
---|
617 |
|
---|
618 | res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
|
---|
619 | if(res > 0){
|
---|
620 | #if DEBUG_MODE
|
---|
621 | Serial.print("Enter normal mode fall\r\n");
|
---|
622 | #endif
|
---|
623 | return res;
|
---|
624 | }
|
---|
625 | #if DEBUG_MODE
|
---|
626 | Serial.print("set Mask success!!\r\n");
|
---|
627 | #endif
|
---|
628 | return res;
|
---|
629 | }
|
---|
630 |
|
---|
631 | /*********************************************************************************************************
|
---|
632 | ** Function name: init_Filter
|
---|
633 | ** Descriptions: init canid filters
|
---|
634 | *********************************************************************************************************/
|
---|
635 | INT8U MCP_CAN::init_Filter(INT8U num, INT32U ulData, INT8U ext)
|
---|
636 | {
|
---|
637 | INT8U res = MCP2515_OK;
|
---|
638 | #if DEBUG_MODE
|
---|
639 | Serial.print("Begin to set Filter!!\r\n");
|
---|
640 | #endif
|
---|
641 | res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
|
---|
642 | if(res > 0)
|
---|
643 | {
|
---|
644 | #if DEBUG_MODE
|
---|
645 | Serial.print("Enter setting mode fall\r\n");
|
---|
646 | #endif
|
---|
647 | return res;
|
---|
648 | }
|
---|
649 |
|
---|
650 | switch( num )
|
---|
651 | {
|
---|
652 | case 0:
|
---|
653 | mcp2515_write_id(MCP_RXF0SIDH, ext, ulData);
|
---|
654 | break;
|
---|
655 |
|
---|
656 | case 1:
|
---|
657 | mcp2515_write_id(MCP_RXF1SIDH, ext, ulData);
|
---|
658 | break;
|
---|
659 |
|
---|
660 | case 2:
|
---|
661 | mcp2515_write_id(MCP_RXF2SIDH, ext, ulData);
|
---|
662 | break;
|
---|
663 |
|
---|
664 | case 3:
|
---|
665 | mcp2515_write_id(MCP_RXF3SIDH, ext, ulData);
|
---|
666 | break;
|
---|
667 |
|
---|
668 | case 4:
|
---|
669 | mcp2515_write_id(MCP_RXF4SIDH, ext, ulData);
|
---|
670 | break;
|
---|
671 |
|
---|
672 | case 5:
|
---|
673 | mcp2515_write_id(MCP_RXF5SIDH, ext, ulData);
|
---|
674 | break;
|
---|
675 |
|
---|
676 | default:
|
---|
677 | res = MCP2515_FAIL;
|
---|
678 | }
|
---|
679 |
|
---|
680 | res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
|
---|
681 | if(res > 0)
|
---|
682 | {
|
---|
683 | #if DEBUG_MODE
|
---|
684 | Serial.print("Enter normal mode fall\r\nSet filter fail!!\r\n");
|
---|
685 | #else
|
---|
686 | delay(10);
|
---|
687 | #endif
|
---|
688 | return res;
|
---|
689 | }
|
---|
690 | #if DEBUG_MODE
|
---|
691 | Serial.print("set Filter success!!\r\n");
|
---|
692 | #else
|
---|
693 | delay(10);
|
---|
694 | #endif
|
---|
695 |
|
---|
696 | return res;
|
---|
697 | }
|
---|
698 |
|
---|
699 | /*********************************************************************************************************
|
---|
700 | ** Function name: startReceive
|
---|
701 | ** Descriptions: start Receive
|
---|
702 | *********************************************************************************************************/
|
---|
703 | INT8U MCP_CAN::startReceive(INT8U rxbid)
|
---|
704 | {
|
---|
705 | CHECK_RXBID(rxbid);
|
---|
706 |
|
---|
707 | #if (DEBUG_RXANY==1)
|
---|
708 | /* enable both receive-buffers */
|
---|
709 | /* to receive any message */
|
---|
710 | /* and enable rollover */
|
---|
711 | if (rxbid == 0) {
|
---|
712 | mcp2515_modifyRegister(MCP_RXB0CTRL,
|
---|
713 | MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
|
---|
714 | MCP_RXB_RX_ANY);
|
---|
715 | }else{
|
---|
716 | mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
|
---|
717 | MCP_RXB_RX_ANY);
|
---|
718 | }
|
---|
719 | #else
|
---|
720 | /* enable both receive-buffers */
|
---|
721 | /* to receive messages */
|
---|
722 | /* with std. and ext. identifie */
|
---|
723 | /* rs */
|
---|
724 | /* and enable rollover */
|
---|
725 | if (rxbid == 0) {
|
---|
726 | mcp2515_modifyRegister(MCP_RXB0CTRL,
|
---|
727 | MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
|
---|
728 | MCP_RXB_RX_STDEXT);
|
---|
729 | }else{
|
---|
730 | mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
|
---|
731 | MCP_RXB_RX_STDEXT);
|
---|
732 | }
|
---|
733 | #endif
|
---|
734 |
|
---|
735 | return CAN_OK;
|
---|
736 | }
|
---|
737 |
|
---|
738 | /*********************************************************************************************************
|
---|
739 | ** Function name: sendMsg
|
---|
740 | ** Descriptions: send message
|
---|
741 | *********************************************************************************************************/
|
---|
742 | INT8U MCP_CAN::sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf, INT8U ext, INT8U rtr)
|
---|
743 | {
|
---|
744 | INT8U intf_tbl[MCP_N_TXBUFFERS] = { MCP_TX0IF, MCP_TX1IF, MCP_TX2IF };
|
---|
745 | INT8U intf_bit = intf_tbl[txbid];
|
---|
746 |
|
---|
747 | CHECK_LEN(len);
|
---|
748 | CHECK_TXBID(txbid);
|
---|
749 |
|
---|
750 | mcp2515_write_canMsg(txbid, id, len, p_buf, ext, rtr);
|
---|
751 | mcp2515_modifyRegister(MCP_CANINTF, intf_bit, 0);
|
---|
752 | mcp2515_start_transmit( txbid );
|
---|
753 |
|
---|
754 | return CAN_OK;
|
---|
755 | }
|
---|
756 |
|
---|
757 | /*********************************************************************************************************
|
---|
758 | ** Function name: sendMsg
|
---|
759 | ** Descriptions: send buf
|
---|
760 | *********************************************************************************************************/
|
---|
761 | INT8U MCP_CAN::sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf, INT8U ext)
|
---|
762 | {
|
---|
763 | return sendMsg(txbid, id, len, p_buf, ext, 0);
|
---|
764 | }
|
---|
765 |
|
---|
766 | /*********************************************************************************************************
|
---|
767 | ** Function name: sendMsg
|
---|
768 | ** Descriptions: send buf
|
---|
769 | *********************************************************************************************************/
|
---|
770 | INT8U MCP_CAN::sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf)
|
---|
771 | {
|
---|
772 | return sendMsg(txbid, id, len, p_buf, 0, 0);
|
---|
773 | }
|
---|
774 |
|
---|
775 |
|
---|
776 | /*********************************************************************************************************
|
---|
777 | ** Function name: readMsg
|
---|
778 | ** Descriptions: read message
|
---|
779 | *********************************************************************************************************/
|
---|
780 | INT8U MCP_CAN::readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext, INT8U *p_rtr)
|
---|
781 | {
|
---|
782 | INT8U stat, res;
|
---|
783 | CHECK_RXBID(rxbid);
|
---|
784 | INT8U stat_bit = (rxbid == 0)? MCP_STAT_RX0IF : MCP_STAT_RX1IF;
|
---|
785 | INT8U intf_bit = (rxbid == 0)? MCP_RX0IF : MCP_RX1IF;
|
---|
786 |
|
---|
787 | stat = mcp2515_readStatus();
|
---|
788 |
|
---|
789 | if ( stat & stat_bit )
|
---|
790 | {
|
---|
791 | mcp2515_read_canMsg(rxbid, p_id, p_len, p_buf, p_ext, p_rtr);
|
---|
792 | mcp2515_modifyRegister(MCP_CANINTF, intf_bit, 0);
|
---|
793 | res = CAN_OK;
|
---|
794 | }
|
---|
795 | else {
|
---|
796 | res = CAN_NOMSG;
|
---|
797 | }
|
---|
798 | return res;
|
---|
799 | }
|
---|
800 |
|
---|
801 | /*********************************************************************************************************
|
---|
802 | ** Function name: readMsgBuf
|
---|
803 | ** Descriptions: read message
|
---|
804 | *********************************************************************************************************/
|
---|
805 | INT8U MCP_CAN::readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext)
|
---|
806 | {
|
---|
807 | INT8U rtr;
|
---|
808 |
|
---|
809 | return readMsg(rxbid, p_id, p_len, p_buf, p_ext, &rtr);
|
---|
810 | }
|
---|
811 |
|
---|
812 | /*********************************************************************************************************
|
---|
813 | ** Function name: readMsgBuf
|
---|
814 | ** Descriptions: read message
|
---|
815 | *********************************************************************************************************/
|
---|
816 | INT8U MCP_CAN::readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf)
|
---|
817 | {
|
---|
818 | INT8U ext;
|
---|
819 | INT8U rtr;
|
---|
820 |
|
---|
821 | return readMsg(rxbid, p_id, p_len, p_buf, &ext, &rtr);
|
---|
822 | }
|
---|
823 |
|
---|
824 | /*********************************************************************************************************
|
---|
825 | ** Function name: readMsgBuf
|
---|
826 | ** Descriptions: read message
|
---|
827 | *********************************************************************************************************/
|
---|
828 | INT8U MCP_CAN::readMsg(INT8U rxbid, INT8U *p_len, INT8U *p_buf)
|
---|
829 | {
|
---|
830 | INT32U id;
|
---|
831 | INT8U ext;
|
---|
832 | INT8U rtr;
|
---|
833 |
|
---|
834 | return readMsg(rxbid, &id, p_len, p_buf, &ext, &rtr);
|
---|
835 | }
|
---|
836 |
|
---|
837 | /*********************************************************************************************************
|
---|
838 | ** Function name: checkReceive
|
---|
839 | ** Descriptions: check if got something
|
---|
840 | *********************************************************************************************************/
|
---|
841 | INT8U MCP_CAN::checkReceive(INT8U rxbid)
|
---|
842 | {
|
---|
843 | INT8U res;
|
---|
844 | CHECK_RXBID(rxbid);
|
---|
845 | res = mcp2515_readStatus(); /* RXnIF in Bit 1 and 0 */
|
---|
846 | if (rxbid == 0) {
|
---|
847 | if ( (res & MCP_STAT_RX0IF) == MCP_STAT_RX0IF) {
|
---|
848 | return CAN_MSGAVAIL;
|
---|
849 | }
|
---|
850 | }
|
---|
851 | else if (rxbid == 1) {
|
---|
852 | if ( (res & MCP_STAT_RX1IF) == MCP_STAT_RX1IF ) {
|
---|
853 | return CAN_MSGAVAIL;
|
---|
854 | }
|
---|
855 | }
|
---|
856 | return CAN_NOMSG;
|
---|
857 | }
|
---|
858 |
|
---|
859 | /*********************************************************************************************************
|
---|
860 | ** Function name: checkSend
|
---|
861 | ** Descriptions: check if snt msg
|
---|
862 | *********************************************************************************************************/
|
---|
863 | INT8U MCP_CAN::checkSend(INT8U txbid)
|
---|
864 | {
|
---|
865 | INT8U res;
|
---|
866 | INT8U txbx_ctrl[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
---|
867 |
|
---|
868 | CHECK_TXBID(txbid);
|
---|
869 |
|
---|
870 | res = mcp2515_readRegister(txbx_ctrl[txbid]);
|
---|
871 |
|
---|
872 | if ( (res & MCP_TXB_TXREQ_M) == MCP_TXB_TXREQ_M) {
|
---|
873 | return CAN_SENDWAIT;
|
---|
874 | }
|
---|
875 |
|
---|
876 | return CAN_NOSENDWAIT;
|
---|
877 | }
|
---|
878 |
|
---|
879 | /*********************************************************************************************************
|
---|
880 | ** Function name: checkError
|
---|
881 | ** Descriptions: if something error
|
---|
882 | *********************************************************************************************************/
|
---|
883 | INT8U MCP_CAN::checkError(void)
|
---|
884 | {
|
---|
885 | INT8U eflg = mcp2515_readRegister(MCP_EFLG);
|
---|
886 |
|
---|
887 | if ( eflg & MCP_EFLG_ERRORMASK )
|
---|
888 | {
|
---|
889 | return CAN_CTRLERROR;
|
---|
890 | }
|
---|
891 | else
|
---|
892 | {
|
---|
893 | return CAN_OK;
|
---|
894 | }
|
---|
895 | }
|
---|
896 |
|
---|
897 | /*********************************************************************************************************
|
---|
898 | END FILE
|
---|
899 | *********************************************************************************************************/
|
---|