1 | /*
|
---|
2 | mcp_can.cpp
|
---|
3 | 2012 Copyright (c) Seeed Technology Inc. All right reserved.
|
---|
4 |
|
---|
5 | Author:Loovee
|
---|
6 | Contributor: Cory J. Fowler
|
---|
7 | 2014-1-16
|
---|
8 | This library is free software; you can redistribute it and/or
|
---|
9 | modify it under the terms of the GNU Lesser General Public
|
---|
10 | License as published by the Free Software Foundation; either
|
---|
11 | version 2.1 of the License, or (at your option) any later version.
|
---|
12 |
|
---|
13 | This library is distributed in the hope that it will be useful,
|
---|
14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
---|
16 | Lesser General Public License for more details.
|
---|
17 |
|
---|
18 | You should have received a copy of the GNU Lesser General Public
|
---|
19 | License along with this library; if not, write to the Free Software
|
---|
20 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-
|
---|
21 | 1301 USA
|
---|
22 | */
|
---|
23 | #include "mcp_can.h"
|
---|
24 |
|
---|
25 | #ifdef TOPPERS_WITH_ARDUINO
|
---|
26 | #include "r2ca.h"
|
---|
27 | #define ENTER_CRITICAL wai_sem(SPI_SEM);
|
---|
28 | #define LEAVE_CRITICAL sig_sem(SPI_SEM);
|
---|
29 | #else /* !TOPPERS_WITH_ARDUINO */
|
---|
30 | #define WAIT_TIMEOUT
|
---|
31 | #define ENTER_CRITICAL
|
---|
32 | #define LEAVE_CRITICAL
|
---|
33 | #endif /* TOPPERS_WITH_ARDUINO */
|
---|
34 |
|
---|
35 | #define spi_readwrite SPI.transfer
|
---|
36 | #define spi_read() spi_readwrite(0x00)
|
---|
37 |
|
---|
38 | #define CHECK_RXBID(rxbid) do { \
|
---|
39 | if (!((rxbid == 0) || (rxbid == 1))) { \
|
---|
40 | return CAN_FAIL; \
|
---|
41 | } \
|
---|
42 | } while(false)
|
---|
43 |
|
---|
44 | #define CHECK_LEN(len) do { \
|
---|
45 | if (len > 8) { \
|
---|
46 | return CAN_FAIL; \
|
---|
47 | } \
|
---|
48 | } while(false)
|
---|
49 |
|
---|
50 | #define CHECK_TXBID(txbid) do { \
|
---|
51 | if (!((txbid == 0) || (txbid == 1) || (txbid == 2))) { \
|
---|
52 | return CAN_FAIL; \
|
---|
53 | } \
|
---|
54 | } while(false)
|
---|
55 |
|
---|
56 | /*********************************************************************************************************
|
---|
57 | ** Function name: mcp2515_reset
|
---|
58 | ** Descriptions: reset the device
|
---|
59 | *********************************************************************************************************/
|
---|
60 | void MCP_CAN::mcp2515_reset(void)
|
---|
61 | {
|
---|
62 | MCP2515_SELECT();
|
---|
63 | spi_readwrite(MCP_RESET);
|
---|
64 | MCP2515_UNSELECT();
|
---|
65 | delay(10);
|
---|
66 | }
|
---|
67 |
|
---|
68 | /*********************************************************************************************************
|
---|
69 | ** Function name: mcp2515_readRegister
|
---|
70 | ** Descriptions: read register
|
---|
71 | *********************************************************************************************************/
|
---|
72 | INT8U MCP_CAN::mcp2515_readRegister(const INT8U address)
|
---|
73 | {
|
---|
74 | INT8U ret;
|
---|
75 |
|
---|
76 | MCP2515_SELECT();
|
---|
77 | spi_readwrite(MCP_READ);
|
---|
78 | spi_readwrite(address);
|
---|
79 | ret = spi_read();
|
---|
80 | MCP2515_UNSELECT();
|
---|
81 |
|
---|
82 | return ret;
|
---|
83 | }
|
---|
84 |
|
---|
85 | /*********************************************************************************************************
|
---|
86 | ** Function name: mcp2515_readRegisterS
|
---|
87 | ** Descriptions: read registerS
|
---|
88 | *********************************************************************************************************/
|
---|
89 | void MCP_CAN::mcp2515_readRegisterS(const INT8U address, INT8U values[], const INT8U n)
|
---|
90 | {
|
---|
91 | INT8U i;
|
---|
92 | MCP2515_SELECT();
|
---|
93 | spi_readwrite(MCP_READ);
|
---|
94 | spi_readwrite(address);
|
---|
95 | // mcp2515 has auto-increment of address-pointer
|
---|
96 | for (i=0; i<n && i<CAN_MAX_CHAR_IN_MESSAGE; i++) {
|
---|
97 | values[i] = spi_read();
|
---|
98 | }
|
---|
99 | MCP2515_UNSELECT();
|
---|
100 | }
|
---|
101 |
|
---|
102 | /*********************************************************************************************************
|
---|
103 | ** Function name: mcp2515_setRegister
|
---|
104 | ** Descriptions: set register
|
---|
105 | *********************************************************************************************************/
|
---|
106 | void MCP_CAN::mcp2515_setRegister(const INT8U address, const INT8U value)
|
---|
107 | {
|
---|
108 | MCP2515_SELECT();
|
---|
109 | spi_readwrite(MCP_WRITE);
|
---|
110 | spi_readwrite(address);
|
---|
111 | spi_readwrite(value);
|
---|
112 | MCP2515_UNSELECT();
|
---|
113 | }
|
---|
114 |
|
---|
115 | /*********************************************************************************************************
|
---|
116 | ** Function name: mcp2515_setRegisterS
|
---|
117 | ** Descriptions: set registerS
|
---|
118 | *********************************************************************************************************/
|
---|
119 | void MCP_CAN::mcp2515_setRegisterS(const INT8U address, const INT8U values[], const INT8U n)
|
---|
120 | {
|
---|
121 | INT8U i;
|
---|
122 | MCP2515_SELECT();
|
---|
123 | spi_readwrite(MCP_WRITE);
|
---|
124 | spi_readwrite(address);
|
---|
125 |
|
---|
126 | for (i=0; i<n; i++)
|
---|
127 | {
|
---|
128 | spi_readwrite(values[i]);
|
---|
129 | }
|
---|
130 | MCP2515_UNSELECT();
|
---|
131 | }
|
---|
132 |
|
---|
133 | /*********************************************************************************************************
|
---|
134 | ** Function name: mcp2515_modifyRegister
|
---|
135 | ** Descriptions: set bit of one register
|
---|
136 | *********************************************************************************************************/
|
---|
137 | void MCP_CAN::mcp2515_modifyRegister(const INT8U address, const INT8U mask, const INT8U data)
|
---|
138 | {
|
---|
139 | MCP2515_SELECT();
|
---|
140 | spi_readwrite(MCP_BITMOD);
|
---|
141 | spi_readwrite(address);
|
---|
142 | spi_readwrite(mask);
|
---|
143 | spi_readwrite(data);
|
---|
144 | MCP2515_UNSELECT();
|
---|
145 | }
|
---|
146 |
|
---|
147 | /*********************************************************************************************************
|
---|
148 | ** Function name: mcp2515_readStatus
|
---|
149 | ** Descriptions: read mcp2515's Status
|
---|
150 | *********************************************************************************************************/
|
---|
151 | INT8U MCP_CAN::mcp2515_readStatus(void)
|
---|
152 | {
|
---|
153 | INT8U i;
|
---|
154 | MCP2515_SELECT();
|
---|
155 | spi_readwrite(MCP_READ_STATUS);
|
---|
156 | i = spi_read();
|
---|
157 | MCP2515_UNSELECT();
|
---|
158 |
|
---|
159 | return i;
|
---|
160 | }
|
---|
161 |
|
---|
162 | /*********************************************************************************************************
|
---|
163 | ** Function name: mcp2515_setCANCTRL_Mode
|
---|
164 | ** Descriptions: set control mode
|
---|
165 | *********************************************************************************************************/
|
---|
166 | INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode)
|
---|
167 | {
|
---|
168 | INT8U i;
|
---|
169 |
|
---|
170 | mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
|
---|
171 |
|
---|
172 | i = mcp2515_readRegister(MCP_CANCTRL);
|
---|
173 | i &= MODE_MASK;
|
---|
174 |
|
---|
175 | if ( i == newmode )
|
---|
176 | {
|
---|
177 | return MCP2515_OK;
|
---|
178 | }
|
---|
179 |
|
---|
180 | return MCP2515_FAIL;
|
---|
181 |
|
---|
182 | }
|
---|
183 |
|
---|
184 | /*********************************************************************************************************
|
---|
185 | ** Function name: mcp2515_configRate
|
---|
186 | ** Descriptions: set boadrate
|
---|
187 | *********************************************************************************************************/
|
---|
188 | INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed)
|
---|
189 | {
|
---|
190 | INT8U set, cfg1, cfg2, cfg3;
|
---|
191 | set = 1;
|
---|
192 | switch (canSpeed)
|
---|
193 | {
|
---|
194 | case (CAN_5KBPS):
|
---|
195 | cfg1 = MCP_16MHz_5kBPS_CFG1;
|
---|
196 | cfg2 = MCP_16MHz_5kBPS_CFG2;
|
---|
197 | cfg3 = MCP_16MHz_5kBPS_CFG3;
|
---|
198 | break;
|
---|
199 |
|
---|
200 | case (CAN_10KBPS):
|
---|
201 | cfg1 = MCP_16MHz_10kBPS_CFG1;
|
---|
202 | cfg2 = MCP_16MHz_10kBPS_CFG2;
|
---|
203 | cfg3 = MCP_16MHz_10kBPS_CFG3;
|
---|
204 | break;
|
---|
205 |
|
---|
206 | case (CAN_20KBPS):
|
---|
207 | cfg1 = MCP_16MHz_20kBPS_CFG1;
|
---|
208 | cfg2 = MCP_16MHz_20kBPS_CFG2;
|
---|
209 | cfg3 = MCP_16MHz_20kBPS_CFG3;
|
---|
210 | break;
|
---|
211 |
|
---|
212 | case (CAN_31K25BPS):
|
---|
213 | cfg1 = MCP_16MHz_31k25BPS_CFG1;
|
---|
214 | cfg2 = MCP_16MHz_31k25BPS_CFG2;
|
---|
215 | cfg3 = MCP_16MHz_31k25BPS_CFG3;
|
---|
216 | break;
|
---|
217 |
|
---|
218 | case (CAN_33KBPS):
|
---|
219 | cfg1 = MCP_16MHz_33kBPS_CFG1;
|
---|
220 | cfg2 = MCP_16MHz_33kBPS_CFG2;
|
---|
221 | cfg3 = MCP_16MHz_33kBPS_CFG3;
|
---|
222 | break;
|
---|
223 |
|
---|
224 | case (CAN_40KBPS):
|
---|
225 | cfg1 = MCP_16MHz_40kBPS_CFG1;
|
---|
226 | cfg2 = MCP_16MHz_40kBPS_CFG2;
|
---|
227 | cfg3 = MCP_16MHz_40kBPS_CFG3;
|
---|
228 | break;
|
---|
229 |
|
---|
230 | case (CAN_50KBPS):
|
---|
231 | cfg1 = MCP_16MHz_50kBPS_CFG1;
|
---|
232 | cfg2 = MCP_16MHz_50kBPS_CFG2;
|
---|
233 | cfg3 = MCP_16MHz_50kBPS_CFG3;
|
---|
234 | break;
|
---|
235 |
|
---|
236 | case (CAN_80KBPS):
|
---|
237 | cfg1 = MCP_16MHz_80kBPS_CFG1;
|
---|
238 | cfg2 = MCP_16MHz_80kBPS_CFG2;
|
---|
239 | cfg3 = MCP_16MHz_80kBPS_CFG3;
|
---|
240 | break;
|
---|
241 |
|
---|
242 | case (CAN_83K3BPS):
|
---|
243 | cfg1 = MCP_16MHz_83k3BPS_CFG1;
|
---|
244 | cfg2 = MCP_16MHz_83k3BPS_CFG2;
|
---|
245 | cfg3 = MCP_16MHz_83k3BPS_CFG3;
|
---|
246 | break;
|
---|
247 |
|
---|
248 | case (CAN_95KBPS):
|
---|
249 | cfg1 = MCP_16MHz_95kBPS_CFG1;
|
---|
250 | cfg2 = MCP_16MHz_95kBPS_CFG2;
|
---|
251 | cfg3 = MCP_16MHz_95kBPS_CFG3;
|
---|
252 | break;
|
---|
253 |
|
---|
254 | case (CAN_100KBPS): /* 100KBPS */
|
---|
255 | cfg1 = MCP_16MHz_100kBPS_CFG1;
|
---|
256 | cfg2 = MCP_16MHz_100kBPS_CFG2;
|
---|
257 | cfg3 = MCP_16MHz_100kBPS_CFG3;
|
---|
258 | break;
|
---|
259 |
|
---|
260 | case (CAN_125KBPS):
|
---|
261 | cfg1 = MCP_16MHz_125kBPS_CFG1;
|
---|
262 | cfg2 = MCP_16MHz_125kBPS_CFG2;
|
---|
263 | cfg3 = MCP_16MHz_125kBPS_CFG3;
|
---|
264 | break;
|
---|
265 |
|
---|
266 | case (CAN_200KBPS):
|
---|
267 | cfg1 = MCP_16MHz_200kBPS_CFG1;
|
---|
268 | cfg2 = MCP_16MHz_200kBPS_CFG2;
|
---|
269 | cfg3 = MCP_16MHz_200kBPS_CFG3;
|
---|
270 | break;
|
---|
271 |
|
---|
272 | case (CAN_250KBPS):
|
---|
273 | cfg1 = MCP_16MHz_250kBPS_CFG1;
|
---|
274 | cfg2 = MCP_16MHz_250kBPS_CFG2;
|
---|
275 | cfg3 = MCP_16MHz_250kBPS_CFG3;
|
---|
276 | break;
|
---|
277 |
|
---|
278 | case (CAN_500KBPS):
|
---|
279 | cfg1 = MCP_16MHz_500kBPS_CFG1;
|
---|
280 | cfg2 = MCP_16MHz_500kBPS_CFG2;
|
---|
281 | cfg3 = MCP_16MHz_500kBPS_CFG3;
|
---|
282 | break;
|
---|
283 |
|
---|
284 | case (CAN_1000KBPS):
|
---|
285 | cfg1 = MCP_16MHz_1000kBPS_CFG1;
|
---|
286 | cfg2 = MCP_16MHz_1000kBPS_CFG2;
|
---|
287 | cfg3 = MCP_16MHz_1000kBPS_CFG3;
|
---|
288 | break;
|
---|
289 |
|
---|
290 | default:
|
---|
291 | set = 0;
|
---|
292 | break;
|
---|
293 | }
|
---|
294 |
|
---|
295 | if (set) {
|
---|
296 | mcp2515_setRegister(MCP_CNF1, cfg1);
|
---|
297 | mcp2515_setRegister(MCP_CNF2, cfg2);
|
---|
298 | mcp2515_setRegister(MCP_CNF3, cfg3);
|
---|
299 | return MCP2515_OK;
|
---|
300 | }
|
---|
301 | else {
|
---|
302 | return MCP2515_FAIL;
|
---|
303 | }
|
---|
304 | }
|
---|
305 |
|
---|
306 | /*********************************************************************************************************
|
---|
307 | ** Function name: mcp2515_initCANBuffers
|
---|
308 | ** Descriptions: init canbuffers
|
---|
309 | *********************************************************************************************************/
|
---|
310 | void MCP_CAN::mcp2515_initCANBuffers(void)
|
---|
311 | {
|
---|
312 | INT8U i, a1, a2, a3;
|
---|
313 |
|
---|
314 | INT8U std = 0;
|
---|
315 | INT8U ext = 1;
|
---|
316 | INT32U ulMask = 0xffffffff, ulFilt = 0x00;
|
---|
317 |
|
---|
318 |
|
---|
319 | mcp2515_write_id(MCP_RXM0SIDH, ext, ulMask); /*Set both masks to 0xff */
|
---|
320 | mcp2515_write_id(MCP_RXM1SIDH, ext, ulMask); /*Mask register ignores ext bit */
|
---|
321 |
|
---|
322 | /* Set all filters to 0 */
|
---|
323 | mcp2515_write_id(MCP_RXF0SIDH, std, ulFilt); /* RXB0: standard */
|
---|
324 | mcp2515_write_id(MCP_RXF1SIDH, std, ulFilt); /* RXB1: standard */
|
---|
325 | mcp2515_write_id(MCP_RXF2SIDH, std, ulFilt); /* RXB2: standard */
|
---|
326 | mcp2515_write_id(MCP_RXF3SIDH, std, ulFilt); /* RXB3: standard */
|
---|
327 | mcp2515_write_id(MCP_RXF4SIDH, std, ulFilt);
|
---|
328 | mcp2515_write_id(MCP_RXF5SIDH, std, ulFilt);
|
---|
329 |
|
---|
330 | /* Clear, deactivate the three */
|
---|
331 | /* transmit buffers */
|
---|
332 | /* TXBnCTRL -> TXBnD7 */
|
---|
333 | a1 = MCP_TXB0CTRL;
|
---|
334 | a2 = MCP_TXB1CTRL;
|
---|
335 | a3 = MCP_TXB2CTRL;
|
---|
336 | for (i = 0; i < 14; i++) { /* in-buffer loop */
|
---|
337 | mcp2515_setRegister(a1, 0);
|
---|
338 | mcp2515_setRegister(a2, 0);
|
---|
339 | mcp2515_setRegister(a3, 0);
|
---|
340 | a1++;
|
---|
341 | a2++;
|
---|
342 | a3++;
|
---|
343 | }
|
---|
344 | mcp2515_setRegister(MCP_RXB0CTRL, 0x00);
|
---|
345 | mcp2515_setRegister(MCP_RXB1CTRL, 0xff);
|
---|
346 | }
|
---|
347 |
|
---|
348 | /*********************************************************************************************************
|
---|
349 | ** Function name: mcp2515_init
|
---|
350 | ** Descriptions: init the device
|
---|
351 | *********************************************************************************************************/
|
---|
352 | INT8U MCP_CAN::mcp2515_init(const INT8U canSpeed) /* mcp2515init */
|
---|
353 | {
|
---|
354 |
|
---|
355 | INT8U res;
|
---|
356 |
|
---|
357 | mcp2515_reset();
|
---|
358 |
|
---|
359 | res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
|
---|
360 | if(res > 0)
|
---|
361 | {
|
---|
362 | #if DEBUG_MODE
|
---|
363 | Serial.print("Enter setting mode fall\r\n");
|
---|
364 | #endif
|
---|
365 | return res;
|
---|
366 | }
|
---|
367 | #if DEBUG_MODE
|
---|
368 | Serial.print("Enter setting mode success \r\n");
|
---|
369 | #endif
|
---|
370 |
|
---|
371 | if(mcp2515_configRate(canSpeed))
|
---|
372 | {
|
---|
373 | #if DEBUG_MODE
|
---|
374 | Serial.print("set rate fall!!\r\n");
|
---|
375 | #endif
|
---|
376 | return res;
|
---|
377 | }
|
---|
378 | #if DEBUG_MODE
|
---|
379 | Serial.print("set rate success!!\r\n");
|
---|
380 | #endif
|
---|
381 |
|
---|
382 | if ( res == MCP2515_OK ) {
|
---|
383 |
|
---|
384 | /* init canbuffers */
|
---|
385 | mcp2515_initCANBuffers();
|
---|
386 |
|
---|
387 | /* interrupt mode */
|
---|
388 | mcp2515_setRegister(MCP_CANINTE, 0x00);
|
---|
389 |
|
---|
390 | /* enter normal mode */
|
---|
391 | res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
|
---|
392 | if(res)
|
---|
393 | {
|
---|
394 | #if DEBUG_MODE
|
---|
395 | Serial.print("Enter Normal Mode Fall!!\r\n");
|
---|
396 | #endif
|
---|
397 | return res;
|
---|
398 | }
|
---|
399 |
|
---|
400 |
|
---|
401 | #if DEBUG_MODE
|
---|
402 | Serial.print("Enter Normal Mode Success!!\r\n");
|
---|
403 | #endif
|
---|
404 |
|
---|
405 | }
|
---|
406 | return res;
|
---|
407 |
|
---|
408 | }
|
---|
409 |
|
---|
410 | /*********************************************************************************************************
|
---|
411 | ** Function name: mcp2515_write_id
|
---|
412 | ** Descriptions: write can id
|
---|
413 | *********************************************************************************************************/
|
---|
414 | void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr, const INT8U ext, const INT32U id )
|
---|
415 | {
|
---|
416 | uint16_t canid;
|
---|
417 | INT8U tbufdata[4];
|
---|
418 |
|
---|
419 | canid = (uint16_t)(id & 0x0FFFF);
|
---|
420 |
|
---|
421 | if ( ext == 1)
|
---|
422 | {
|
---|
423 | tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
|
---|
424 | tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
|
---|
425 | canid = (uint16_t)(id >> 16);
|
---|
426 | tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
|
---|
427 | tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3);
|
---|
428 | tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
|
---|
429 | tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 );
|
---|
430 | }
|
---|
431 | else
|
---|
432 | {
|
---|
433 | tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 );
|
---|
434 | tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07 ) << 5);
|
---|
435 | tbufdata[MCP_EID0] = 0;
|
---|
436 | tbufdata[MCP_EID8] = 0;
|
---|
437 | }
|
---|
438 | mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
|
---|
439 | }
|
---|
440 |
|
---|
441 | /*********************************************************************************************************
|
---|
442 | ** Function name: mcp2515_read_id
|
---|
443 | ** Descriptions: read can id
|
---|
444 | *********************************************************************************************************/
|
---|
445 | void MCP_CAN::mcp2515_read_id( const INT8U mcp_addr, INT8U* ext, INT32U* id )
|
---|
446 | {
|
---|
447 | INT8U tbufdata[4];
|
---|
448 |
|
---|
449 | *ext = 0;
|
---|
450 | *id = 0;
|
---|
451 |
|
---|
452 | mcp2515_readRegisterS( mcp_addr, tbufdata, 4 );
|
---|
453 |
|
---|
454 | *id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
|
---|
455 |
|
---|
456 | if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M )
|
---|
457 | {
|
---|
458 | /* extended id */
|
---|
459 | *id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03);
|
---|
460 | *id = (*id<<8) + tbufdata[MCP_EID8];
|
---|
461 | *id = (*id<<8) + tbufdata[MCP_EID0];
|
---|
462 | *ext = 1;
|
---|
463 | }
|
---|
464 | }
|
---|
465 |
|
---|
466 | /*********************************************************************************************************
|
---|
467 | ** Function name: mcp2515_write_canMsg
|
---|
468 | ** Descriptions: write msg
|
---|
469 | *********************************************************************************************************/
|
---|
470 | void MCP_CAN::mcp2515_write_canMsg( INT8U txbid, INT32U id, INT8U len, INT8U *pData, INT8U ext, INT8U rtr )
|
---|
471 | {
|
---|
472 | INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
---|
473 | INT8U mcp_addr = ctrlregs[txbid] + 1;
|
---|
474 |
|
---|
475 | mcp2515_setRegisterS(mcp_addr+5, pData, len ); /* write data bytes */
|
---|
476 | if ( rtr == 1) /* if RTR set bit in byte */
|
---|
477 | {
|
---|
478 | len |= MCP_RTR_MASK;
|
---|
479 | }
|
---|
480 | mcp2515_setRegister((mcp_addr+4), len ); /* write the RTR and DLC */
|
---|
481 | mcp2515_write_id(mcp_addr, ext, id ); /* write CAN id */
|
---|
482 |
|
---|
483 | }
|
---|
484 |
|
---|
485 | /*********************************************************************************************************
|
---|
486 | ** Function name: mcp2515_read_canMsg
|
---|
487 | ** Descriptions: read message
|
---|
488 | *********************************************************************************************************/
|
---|
489 | 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 */
|
---|
490 | {
|
---|
491 | INT8U mcp_addr = (rxbid == 0)? MCP_RXBUF_0 : MCP_RXBUF_1;
|
---|
492 | INT8U ctrl;
|
---|
493 |
|
---|
494 | mcp2515_read_id( mcp_addr, p_ext, p_id );
|
---|
495 |
|
---|
496 | ctrl = mcp2515_readRegister( mcp_addr-1 );
|
---|
497 | *p_len = mcp2515_readRegister( mcp_addr+4 );
|
---|
498 |
|
---|
499 | if ((ctrl & 0x08)) {
|
---|
500 | *p_rtr = 1;
|
---|
501 | }
|
---|
502 | else {
|
---|
503 | *p_rtr = 0;
|
---|
504 | }
|
---|
505 |
|
---|
506 | *p_len &= MCP_DLC_MASK;
|
---|
507 | mcp2515_readRegisterS( mcp_addr+5, p_buf, *p_len );
|
---|
508 | }
|
---|
509 |
|
---|
510 | /*********************************************************************************************************
|
---|
511 | ** Function name: sendMsg
|
---|
512 | ** Descriptions: send message
|
---|
513 | *********************************************************************************************************/
|
---|
514 | void MCP_CAN::mcp2515_start_transmit(INT8U txbid) /* start transmit */
|
---|
515 | {
|
---|
516 | INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
---|
517 | INT8U mcp_addr = ctrlregs[txbid];
|
---|
518 |
|
---|
519 | mcp2515_modifyRegister( mcp_addr, MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
|
---|
520 | }
|
---|
521 |
|
---|
522 | /*********************************************************************************************************
|
---|
523 | ** Function name: sendMsg
|
---|
524 | ** Descriptions: send message
|
---|
525 | *********************************************************************************************************/
|
---|
526 | INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n) /* get Next free txbuf */
|
---|
527 | {
|
---|
528 | INT8U res, i, ctrlval;
|
---|
529 | INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
---|
530 |
|
---|
531 | res = MCP_ALLTXBUSY;
|
---|
532 | *txbuf_n = 0x00;
|
---|
533 |
|
---|
534 | /* check all 3 TX-Buffers */
|
---|
535 | for (i=0; i<MCP_N_TXBUFFERS; i++) {
|
---|
536 | ctrlval = mcp2515_readRegister( ctrlregs[i] );
|
---|
537 | if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
|
---|
538 | *txbuf_n = ctrlregs[i]+1; /* return SIDH-address of Buffe */
|
---|
539 | /* r */
|
---|
540 | res = MCP2515_OK;
|
---|
541 | return res; /* ! function exit */
|
---|
542 | }
|
---|
543 | }
|
---|
544 | return res;
|
---|
545 | }
|
---|
546 |
|
---|
547 | /*********************************************************************************************************
|
---|
548 | ** Function name: set CS
|
---|
549 | ** Descriptions: init CS pin and set UNSELECTED
|
---|
550 | *********************************************************************************************************/
|
---|
551 | MCP_CAN::MCP_CAN(INT8U _CS)
|
---|
552 | {
|
---|
553 | SPICS = _CS;
|
---|
554 | pinMode(SPICS, OUTPUT);
|
---|
555 | MCP2515_UNSELECT();
|
---|
556 | }
|
---|
557 |
|
---|
558 | /*********************************************************************************************************
|
---|
559 | ** Function name: init
|
---|
560 | ** Descriptions: init can and set speed
|
---|
561 | *********************************************************************************************************/
|
---|
562 | INT8U MCP_CAN::begin(INT8U speedset)
|
---|
563 | {
|
---|
564 | INT8U res;
|
---|
565 |
|
---|
566 | ENTER_CRITICAL
|
---|
567 | SPI.begin();
|
---|
568 | res = mcp2515_init(speedset);
|
---|
569 | LEAVE_CRITICAL
|
---|
570 |
|
---|
571 | if (res == MCP2515_OK) return CAN_OK;
|
---|
572 | else return CAN_FAILINIT;
|
---|
573 | }
|
---|
574 |
|
---|
575 | /*********************************************************************************************************
|
---|
576 | ** Function name: enableInterrupt
|
---|
577 | ** Descriptions: Enable Interrupt
|
---|
578 | *********************************************************************************************************/
|
---|
579 | INT8U MCP_CAN::enableInterrupt(INT8U mask)
|
---|
580 | {
|
---|
581 | ENTER_CRITICAL
|
---|
582 | mcp2515_modifyRegister(MCP_CANINTE, mask, mask);
|
---|
583 | LEAVE_CRITICAL
|
---|
584 |
|
---|
585 | return CAN_OK;
|
---|
586 | }
|
---|
587 |
|
---|
588 | /*********************************************************************************************************
|
---|
589 | ** Function name: disableInterrupt
|
---|
590 | ** Descriptions: Disable Interrupt
|
---|
591 | *********************************************************************************************************/
|
---|
592 | INT8U MCP_CAN::disableInterrupt(INT8U mask)
|
---|
593 | {
|
---|
594 | ENTER_CRITICAL
|
---|
595 | mcp2515_modifyRegister(MCP_CANINTE, mask, !mask);
|
---|
596 | LEAVE_CRITICAL
|
---|
597 |
|
---|
598 | return CAN_OK;
|
---|
599 | }
|
---|
600 |
|
---|
601 | /*********************************************************************************************************
|
---|
602 | ** Function name: attachInterrupt
|
---|
603 | ** Descriptions: Attach Interrupt
|
---|
604 | *********************************************************************************************************/
|
---|
605 | INT8U MCP_CAN::attachInterrupt(uint32_t ulPin, voidFuncPtr callback)
|
---|
606 | {
|
---|
607 | ::attachInterrupt( ulPin, callback, FALLING ) ;
|
---|
608 | return CAN_OK;
|
---|
609 | }
|
---|
610 |
|
---|
611 | /*********************************************************************************************************
|
---|
612 | ** Function name: init_Mask
|
---|
613 | ** Descriptions: init canid Masks
|
---|
614 | *********************************************************************************************************/
|
---|
615 | INT8U MCP_CAN::init_Mask(INT8U num, INT32U ulData, INT8U ext)
|
---|
616 | {
|
---|
617 | INT8U res = MCP2515_OK;
|
---|
618 |
|
---|
619 | ENTER_CRITICAL;
|
---|
620 | #if DEBUG_MODE
|
---|
621 | Serial.print("Begin to set Mask!!\r\n");
|
---|
622 | #endif
|
---|
623 | res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
|
---|
624 | if(res > 0){
|
---|
625 | #if DEBUG_MODE
|
---|
626 | Serial.print("Enter setting mode fall\r\n");
|
---|
627 | #endif
|
---|
628 | LEAVE_CRITICAL;
|
---|
629 | return res;
|
---|
630 | }
|
---|
631 |
|
---|
632 | if (num == 0){
|
---|
633 | mcp2515_write_id(MCP_RXM0SIDH, ext, ulData);
|
---|
634 | }
|
---|
635 | else if(num == 1){
|
---|
636 | mcp2515_write_id(MCP_RXM1SIDH, ext, ulData);
|
---|
637 | }
|
---|
638 | else res = MCP2515_FAIL;
|
---|
639 |
|
---|
640 | res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
|
---|
641 | if(res > 0){
|
---|
642 | #if DEBUG_MODE
|
---|
643 | Serial.print("Enter normal mode fall\r\n");
|
---|
644 | #endif
|
---|
645 | LEAVE_CRITICAL;
|
---|
646 | return res;
|
---|
647 | }
|
---|
648 | #if DEBUG_MODE
|
---|
649 | Serial.print("set Mask success!!\r\n");
|
---|
650 | #endif
|
---|
651 | LEAVE_CRITICAL;
|
---|
652 | return res;
|
---|
653 | }
|
---|
654 |
|
---|
655 | /*********************************************************************************************************
|
---|
656 | ** Function name: init_Filter
|
---|
657 | ** Descriptions: init canid filters
|
---|
658 | *********************************************************************************************************/
|
---|
659 | INT8U MCP_CAN::init_Filter(INT8U num, INT32U ulData, INT8U ext)
|
---|
660 | {
|
---|
661 | INT8U res = MCP2515_OK;
|
---|
662 |
|
---|
663 | ENTER_CRITICAL;
|
---|
664 | #if DEBUG_MODE
|
---|
665 | Serial.print("Begin to set Filter!!\r\n");
|
---|
666 | #endif
|
---|
667 | res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
|
---|
668 | if(res > 0)
|
---|
669 | {
|
---|
670 | #if DEBUG_MODE
|
---|
671 | Serial.print("Enter setting mode fall\r\n");
|
---|
672 | #endif
|
---|
673 | LEAVE_CRITICAL;
|
---|
674 | return res;
|
---|
675 | }
|
---|
676 |
|
---|
677 | switch( num )
|
---|
678 | {
|
---|
679 | case 0:
|
---|
680 | mcp2515_write_id(MCP_RXF0SIDH, ext, ulData);
|
---|
681 | break;
|
---|
682 |
|
---|
683 | case 1:
|
---|
684 | mcp2515_write_id(MCP_RXF1SIDH, ext, ulData);
|
---|
685 | break;
|
---|
686 |
|
---|
687 | case 2:
|
---|
688 | mcp2515_write_id(MCP_RXF2SIDH, ext, ulData);
|
---|
689 | break;
|
---|
690 |
|
---|
691 | case 3:
|
---|
692 | mcp2515_write_id(MCP_RXF3SIDH, ext, ulData);
|
---|
693 | break;
|
---|
694 |
|
---|
695 | case 4:
|
---|
696 | mcp2515_write_id(MCP_RXF4SIDH, ext, ulData);
|
---|
697 | break;
|
---|
698 |
|
---|
699 | case 5:
|
---|
700 | mcp2515_write_id(MCP_RXF5SIDH, ext, ulData);
|
---|
701 | break;
|
---|
702 |
|
---|
703 | default:
|
---|
704 | res = MCP2515_FAIL;
|
---|
705 | }
|
---|
706 |
|
---|
707 | res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
|
---|
708 | if(res > 0)
|
---|
709 | {
|
---|
710 | #if DEBUG_MODE
|
---|
711 | Serial.print("Enter normal mode fall\r\nSet filter fail!!\r\n");
|
---|
712 | #else
|
---|
713 | delay(10);
|
---|
714 | #endif
|
---|
715 | LEAVE_CRITICAL;
|
---|
716 | return res;
|
---|
717 | }
|
---|
718 | #if DEBUG_MODE
|
---|
719 | Serial.print("set Filter success!!\r\n");
|
---|
720 | #else
|
---|
721 | delay(10);
|
---|
722 | #endif
|
---|
723 | LEAVE_CRITICAL;
|
---|
724 | return res;
|
---|
725 | }
|
---|
726 |
|
---|
727 | /*********************************************************************************************************
|
---|
728 | ** Function name: startReceive
|
---|
729 | ** Descriptions: start Receive
|
---|
730 | *********************************************************************************************************/
|
---|
731 | INT8U MCP_CAN::startReceive(INT8U rxbid)
|
---|
732 | {
|
---|
733 | CHECK_RXBID(rxbid);
|
---|
734 |
|
---|
735 | ENTER_CRITICAL;
|
---|
736 | #if (DEBUG_RXANY==1)
|
---|
737 | /* enable both receive-buffers */
|
---|
738 | /* to receive any message */
|
---|
739 | /* and enable rollover */
|
---|
740 | if (rxbid == 0) {
|
---|
741 | mcp2515_modifyRegister(MCP_RXB0CTRL,
|
---|
742 | MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
|
---|
743 | MCP_RXB_RX_ANY);
|
---|
744 | }else{
|
---|
745 | mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
|
---|
746 | MCP_RXB_RX_ANY);
|
---|
747 | }
|
---|
748 | #else
|
---|
749 | /* enable both receive-buffers */
|
---|
750 | /* to receive messages */
|
---|
751 | /* with std. and ext. identifie */
|
---|
752 | /* rs */
|
---|
753 | /* and enable rollover */
|
---|
754 | if (rxbid == 0) {
|
---|
755 | mcp2515_modifyRegister(MCP_RXB0CTRL,
|
---|
756 | MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
|
---|
757 | MCP_RXB_RX_STDEXT);
|
---|
758 | }else{
|
---|
759 | mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
|
---|
760 | MCP_RXB_RX_STDEXT);
|
---|
761 | }
|
---|
762 | #endif
|
---|
763 | LEAVE_CRITICAL;
|
---|
764 |
|
---|
765 | return CAN_OK;
|
---|
766 | }
|
---|
767 |
|
---|
768 | /*********************************************************************************************************
|
---|
769 | ** Function name: sendMsg
|
---|
770 | ** Descriptions: send message
|
---|
771 | *********************************************************************************************************/
|
---|
772 | INT8U MCP_CAN::sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf, INT8U ext, INT8U rtr)
|
---|
773 | {
|
---|
774 | INT8U intf_tbl[MCP_N_TXBUFFERS] = { MCP_TX0IF, MCP_TX1IF, MCP_TX2IF };
|
---|
775 | INT8U intf_bit = intf_tbl[txbid];
|
---|
776 |
|
---|
777 | CHECK_LEN(len);
|
---|
778 | CHECK_TXBID(txbid);
|
---|
779 |
|
---|
780 | ENTER_CRITICAL;
|
---|
781 | mcp2515_write_canMsg(txbid, id, len, p_buf, ext, rtr);
|
---|
782 | mcp2515_modifyRegister(MCP_CANINTF, intf_bit, 0);
|
---|
783 | mcp2515_start_transmit( txbid );
|
---|
784 | LEAVE_CRITICAL;
|
---|
785 | return CAN_OK;
|
---|
786 | }
|
---|
787 |
|
---|
788 | /*********************************************************************************************************
|
---|
789 | ** Function name: sendMsg
|
---|
790 | ** Descriptions: send buf
|
---|
791 | *********************************************************************************************************/
|
---|
792 | INT8U MCP_CAN::sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf, INT8U ext)
|
---|
793 | {
|
---|
794 | return sendMsg(txbid, id, len, p_buf, ext, 0);
|
---|
795 | }
|
---|
796 |
|
---|
797 | /*********************************************************************************************************
|
---|
798 | ** Function name: sendMsg
|
---|
799 | ** Descriptions: send buf
|
---|
800 | *********************************************************************************************************/
|
---|
801 | INT8U MCP_CAN::sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf)
|
---|
802 | {
|
---|
803 | return sendMsg(txbid, id, len, p_buf, 0, 0);
|
---|
804 | }
|
---|
805 |
|
---|
806 |
|
---|
807 | /*********************************************************************************************************
|
---|
808 | ** Function name: readMsg
|
---|
809 | ** Descriptions: read message
|
---|
810 | *********************************************************************************************************/
|
---|
811 | INT8U MCP_CAN::readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext, INT8U *p_rtr)
|
---|
812 | {
|
---|
813 | INT8U stat, res;
|
---|
814 | CHECK_RXBID(rxbid);
|
---|
815 | INT8U stat_bit = (rxbid == 0)? MCP_STAT_RX0IF : MCP_STAT_RX1IF;
|
---|
816 | INT8U intf_bit = (rxbid == 0)? MCP_RX0IF : MCP_RX1IF;
|
---|
817 |
|
---|
818 | ENTER_CRITICAL;
|
---|
819 | stat = mcp2515_readStatus();
|
---|
820 |
|
---|
821 | if ( stat & stat_bit )
|
---|
822 | {
|
---|
823 | mcp2515_read_canMsg(rxbid, p_id, p_len, p_buf, p_ext, p_rtr);
|
---|
824 | mcp2515_modifyRegister(MCP_CANINTF, intf_bit, 0);
|
---|
825 | res = CAN_OK;
|
---|
826 | }
|
---|
827 | else {
|
---|
828 | res = CAN_NOMSG;
|
---|
829 | }
|
---|
830 | LEAVE_CRITICAL;
|
---|
831 | return res;
|
---|
832 | }
|
---|
833 |
|
---|
834 | /*********************************************************************************************************
|
---|
835 | ** Function name: readMsgBuf
|
---|
836 | ** Descriptions: read message
|
---|
837 | *********************************************************************************************************/
|
---|
838 | INT8U MCP_CAN::readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext)
|
---|
839 | {
|
---|
840 | INT8U rtr;
|
---|
841 |
|
---|
842 | return readMsg(rxbid, p_id, p_len, p_buf, p_ext, &rtr);
|
---|
843 | }
|
---|
844 |
|
---|
845 | /*********************************************************************************************************
|
---|
846 | ** Function name: readMsgBuf
|
---|
847 | ** Descriptions: read message
|
---|
848 | *********************************************************************************************************/
|
---|
849 | INT8U MCP_CAN::readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf)
|
---|
850 | {
|
---|
851 | INT8U ext;
|
---|
852 | INT8U rtr;
|
---|
853 |
|
---|
854 | return readMsg(rxbid, p_id, p_len, p_buf, &ext, &rtr);
|
---|
855 | }
|
---|
856 |
|
---|
857 | /*********************************************************************************************************
|
---|
858 | ** Function name: readMsgBuf
|
---|
859 | ** Descriptions: read message
|
---|
860 | *********************************************************************************************************/
|
---|
861 | INT8U MCP_CAN::readMsg(INT8U rxbid, INT8U *p_len, INT8U *p_buf)
|
---|
862 | {
|
---|
863 | INT32U id;
|
---|
864 | INT8U ext;
|
---|
865 | INT8U rtr;
|
---|
866 |
|
---|
867 | return readMsg(rxbid, &id, p_len, p_buf, &ext, &rtr);
|
---|
868 | }
|
---|
869 |
|
---|
870 | /*********************************************************************************************************
|
---|
871 | ** Function name: checkReceive
|
---|
872 | ** Descriptions: check if got something
|
---|
873 | *********************************************************************************************************/
|
---|
874 | INT8U MCP_CAN::checkReceive(INT8U rxbid)
|
---|
875 | {
|
---|
876 | INT8U stat, res = CAN_NOMSG;
|
---|
877 | CHECK_RXBID(rxbid);
|
---|
878 |
|
---|
879 | ENTER_CRITICAL;
|
---|
880 | stat = mcp2515_readStatus(); /* RXnIF in Bit 1 and 0 */
|
---|
881 | if (rxbid == 0) {
|
---|
882 | if ( (stat & MCP_STAT_RX0IF) == MCP_STAT_RX0IF) {
|
---|
883 | res = CAN_MSGAVAIL;
|
---|
884 | }
|
---|
885 | }
|
---|
886 | else if (rxbid == 1) {
|
---|
887 | if ( (stat & MCP_STAT_RX1IF) == MCP_STAT_RX1IF ) {
|
---|
888 | res = CAN_MSGAVAIL;
|
---|
889 | }
|
---|
890 | }
|
---|
891 | LEAVE_CRITICAL;
|
---|
892 |
|
---|
893 | return res;
|
---|
894 | }
|
---|
895 |
|
---|
896 | /*********************************************************************************************************
|
---|
897 | ** Function name: checkSend
|
---|
898 | ** Descriptions: check if snt msg
|
---|
899 | *********************************************************************************************************/
|
---|
900 | INT8U MCP_CAN::checkSend(INT8U txbid)
|
---|
901 | {
|
---|
902 | INT8U stat, res = CAN_NOSENDWAIT;
|
---|
903 | INT8U txbx_ctrl[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
---|
904 |
|
---|
905 | CHECK_TXBID(txbid);
|
---|
906 |
|
---|
907 | ENTER_CRITICAL;
|
---|
908 | stat = mcp2515_readRegister(txbx_ctrl[txbid]);
|
---|
909 |
|
---|
910 | if ( (stat & MCP_TXB_TXREQ_M) == MCP_TXB_TXREQ_M) {
|
---|
911 | res = CAN_SENDWAIT;
|
---|
912 | }
|
---|
913 | LEAVE_CRITICAL;
|
---|
914 |
|
---|
915 | return res;
|
---|
916 | }
|
---|
917 |
|
---|
918 | /*********************************************************************************************************
|
---|
919 | ** Function name: checkError
|
---|
920 | ** Descriptions: if something error
|
---|
921 | *********************************************************************************************************/
|
---|
922 | INT8U MCP_CAN::checkError(void)
|
---|
923 | {
|
---|
924 | INT8U res = CAN_OK;
|
---|
925 |
|
---|
926 | ENTER_CRITICAL;
|
---|
927 | INT8U eflg = mcp2515_readRegister(MCP_EFLG);
|
---|
928 |
|
---|
929 | if ( eflg & MCP_EFLG_ERRORMASK )
|
---|
930 | {
|
---|
931 | res = CAN_CTRLERROR;
|
---|
932 | }
|
---|
933 | LEAVE_CRITICAL;
|
---|
934 |
|
---|
935 | return res;
|
---|
936 | }
|
---|
937 |
|
---|
938 | /*********************************************************************************************************
|
---|
939 | END FILE
|
---|
940 | *********************************************************************************************************/
|
---|