source: rtos_arduino/trunk/arduino_lib/libraries/NcesCan/mcp_can.h@ 136

Last change on this file since 136 was 136, checked in by ertl-honda, 8 years ago

ライブラリとOS及びベーシックなサンプルの追加．
File size: 5.2 KB
Line 
1/*
2 mcp_can.h
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#ifndef _MCP2515_H_
24#define _MCP2515_H_
25
26#include "mcp_can_dfs.h"
27
28#define MAX_CHAR_IN_MESSAGE 8
29
30class MCP_CAN
31{
32 private:
33
34 INT8U SPICS;
35
36/*
37* mcp2515 driver function
38*/
39 // private:
40private:
41
42 void mcp2515_reset(void); /* reset mcp2515 */
43
44 INT8U mcp2515_readRegister(const INT8U address); /* read mcp2515's register */
45
46 void mcp2515_readRegisterS(const INT8U address,
47 INT8U values[],
48 const INT8U n);
49 void mcp2515_setRegister(const INT8U address, /* set mcp2515's register */
50 const INT8U value);
51
52 void mcp2515_setRegisterS(const INT8U address, /* set mcp2515's registers */
53 const INT8U values[],
54 const INT8U n);
55
56 void mcp2515_initCANBuffers(void);
57
58 void mcp2515_modifyRegister(const INT8U address, /* set bit of one register */
59 const INT8U mask,
60 const INT8U data);
61
62 INT8U mcp2515_readStatus(void); /* read mcp2515's Status */
63 INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); /* set mode */
64 INT8U mcp2515_configRate(const INT8U canSpeed); /* set boadrate */
65 INT8U mcp2515_init(const INT8U canSpeed); /* mcp2515init */
66
67 void mcp2515_write_id( const INT8U mcp_addr, /* write can id */
68 const INT8U ext,
69 const INT32U id );
70
71 void mcp2515_read_id( const INT8U mcp_addr, /* read can id */
72 INT8U* ext,
73 INT32U* id );
74
75 void mcp2515_write_canMsg( INT8U txbid, INT32U id, INT8U len, INT8U *pData, INT8U ext, INT8U rtr); /* write can msg */
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 */
77 void mcp2515_start_transmit(INT8U txbid); /* start transmit */
78 INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); /* get Next free txbuf */
79
80public:
81 MCP_CAN(INT8U _CS);
82 INT8U begin(INT8U speedset); /* init can */
83 INT8U enableInterrupt(INT8U mask);
84 INT8U disableInterrupt(INT8U mask);
85 INT8U attachInterrupt(uint32_t ulPin, voidFuncPtr callback);
86 INT8U init_Mask(INT8U num, INT32U ulData, INT8U ext = 0); /* init Masks */
87 INT8U init_Filter(INT8U num, INT32U ulData, INT8U ext = 0); /* init filters */
88 INT8U startReceive(INT8U rxbid); /* Start Receive */
89 INT8U sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf, INT8U ext, INT8U rtr); /* send msg */
90 INT8U sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf, INT8U ext); /* send msg */
91 INT8U sendMsg(INT8U txbid, INT32U id, INT8U len, INT8U *p_buf); /* send msg */
92 INT8U readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext, INT8U *p_rtr); /* read msg */
93 INT8U readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf, INT8U *p_ext); /* read msg */
94 INT8U readMsg(INT8U rxbid, INT32U *p_id, INT8U *p_len, INT8U *p_buf); /* read msg */
95 INT8U readMsg(INT8U rxbid, INT8U *p_len, INT8U *p_buf); /* read buf with object ID */
96 INT8U checkReceive(INT8U rxbid); /* if something received */
97 INT8U checkSend(INT8U txbid); /* if something sent */
98 INT8U checkError(void); /* if something error */
99};
100
101#endif
102/*********************************************************************************************************
103 END FILE
104*********************************************************************************************************/
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