1 | /*
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2 | mcp_can.h
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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 | #ifndef _MCP2515_H_
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24 | #define _MCP2515_H_
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25 |
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26 | #include "mcp_can_dfs.h"
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27 |
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28 | #define MAX_CHAR_IN_MESSAGE 8
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29 |
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30 | class MCP_CAN
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31 | {
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32 | private:
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33 |
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34 | INT8U SPICS;
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35 |
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36 | /*
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37 | * mcp2515 driver function
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38 | */
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39 | // private:
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40 | private:
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41 |
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42 | void mcp2515_reset(void); /* reset mcp2515 */
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43 |
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44 | INT8U mcp2515_readRegister(const INT8U address); /* read mcp2515's register */
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45 |
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46 | void mcp2515_readRegisterS(const INT8U address,
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47 | INT8U values[],
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48 | const INT8U n);
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49 | void mcp2515_setRegister(const INT8U address, /* set mcp2515's register */
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50 | const INT8U value);
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51 |
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52 | void mcp2515_setRegisterS(const INT8U address, /* set mcp2515's registers */
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53 | const INT8U values[],
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54 | const INT8U n);
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55 |
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56 | void mcp2515_initCANBuffers(void);
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57 |
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58 | void mcp2515_modifyRegister(const INT8U address, /* set bit of one register */
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59 | const INT8U mask,
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60 | const INT8U data);
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61 |
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62 | INT8U mcp2515_readStatus(void); /* read mcp2515's Status */
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63 | INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); /* set mode */
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64 | INT8U mcp2515_configRate(const INT8U canSpeed); /* set boadrate */
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65 | INT8U mcp2515_init(const INT8U canSpeed); /* mcp2515init */
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66 |
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67 | void mcp2515_write_id( const INT8U mcp_addr, /* write can id */
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68 | const INT8U ext,
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69 | const INT32U id );
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70 |
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71 | void mcp2515_read_id( const INT8U mcp_addr, /* read can id */
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72 | INT8U* ext,
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73 | INT32U* id );
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74 |
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75 | void mcp2515_write_canMsg( INT8U txbid, INT32U id, INT8U len, INT8U *pData, INT8U ext, INT8U rtr); /* write can msg */
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76 | void mcp2515_read_canMsg( INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext, INT8U *p_rtr); /* read can msg */
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77 | void mcp2515_start_transmit(INT8U txbid); /* start transmit */
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78 | INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); /* get Next free txbuf */
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79 |
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80 | public:
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81 | MCP_CAN(INT8U _CS);
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82 | INT8U begin(INT8U speedset); /* init can */
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83 | INT8U enableInterrupt(INT8U mask);
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84 | INT8U disableInterrupt(INT8U mask);
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85 | INT8U attachInterrupt(uint32_t ulPin, voidFuncPtr callback);
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86 | INT8U init_Mask(INT8U num, INT32U ulData, INT8U ext = 0); /* init Masks */
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87 | INT8U init_Filter(INT8U num, INT32U ulData, INT8U ext = 0); /* init filters */
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88 | INT8U startReceive(INT8U rxbid); /* Start Receive */
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89 | INT8U sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf, INT8U ext, INT8U rtr); /* send msg */
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90 | INT8U sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf, INT8U ext); /* send msg */
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91 | INT8U sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf); /* send msg */
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92 | INT8U readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext, INT8U *p_rtr); /* read msg */
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93 | INT8U readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext); /* read msg */
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94 | INT8U readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf); /* read msg */
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95 | INT8U readMsg(INT8U rxbid, INT8U *p_len, INT8U *p_buf); /* read buf with object ID */
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96 | INT8U checkReceive(INT8U rxbid); /* if something received */
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97 | INT8U checkSend(INT8U txbid); /* if something sent */
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98 | INT8U checkError(void); /* if something error */
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99 | };
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100 |
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101 | #endif
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102 | /*********************************************************************************************************
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103 | END FILE
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104 | *********************************************************************************************************/
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