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Merge pull request #46 from Gageco/master

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fixed rtr bit issue
This commit is contained in:
Lowaichung
2017-06-27 17:19:26 +08:00
committed by GitHub
parent 8ff75c35ea 916bfb49bf
commit 1624f47990
2 changed files with 71 additions and 67 deletions
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mcp_can.cpp
+22 -18
View File
@@ -106,7 +106,7 @@ void MCP_CAN::mcp2515_readRegisterS(const byte address, byte values[], const byt
spi_readwrite(MCP_READ);
spi_readwrite(address);
// mcp2515 has auto-increment of address-pointer
for(i=0; i<n && i<CAN_MAX_CHAR_IN_MESSAGE; i++)
for(i=0; i<n && i<CAN_MAX_CHAR_IN_MESSAGE; i++)
{
values[i] = spi_read();
}
@@ -367,7 +367,7 @@ void MCP_CAN::mcp2515_initCANBuffers(void)
a2 = MCP_TXB1CTRL;
a3 = MCP_TXB2CTRL;
for(i = 0; i < 14; i++) // in-buffer loop
{
{
mcp2515_setRegister(a1, 0);
mcp2515_setRegister(a2, 0);
mcp2515_setRegister(a3, 0);
@@ -529,12 +529,14 @@ void MCP_CAN::mcp2515_read_id(const byte mcp_addr, byte* ext, unsigned long* id)
** Function name: mcp2515_write_canMsg
** Descriptions: write msg
*********************************************************************************************************/
void MCP_CAN::mcp2515_write_canMsg(const byte buffer_sidh_addr)
void MCP_CAN::mcp2515_write_canMsg(const byte buffer_sidh_addr, int rtrBit)
{
byte mcp_addr;
mcp_addr = buffer_sidh_addr;
mcp2515_setRegisterS(mcp_addr+5, dta, dta_len); // write data bytes
if(rtr == 1) // if RTR set bit in byte
// Serial.print("RTR: ");
// Serial.println(rtrBit);
if(rtrBit == 1) // if RTR set bit in byte
{
dta_len |= MCP_RTR_MASK;
}
@@ -584,7 +586,7 @@ byte MCP_CAN::mcp2515_getNextFreeTXBuf(byte *txbuf_n) // get Nex
*txbuf_n = 0x00;
// check all 3 TX-Buffers
for(i=0; i<MCP_N_TXBUFFERS; i++)
for(i=0; i<MCP_N_TXBUFFERS; i++)
{
ctrlval = mcp2515_readRegister(ctrlregs[i]);
if((ctrlval & MCP_TXB_TXREQ_M) == 0) {
@@ -776,7 +778,7 @@ byte MCP_CAN::clearMsg()
ext_flg = 0;
rtr = 0;
filhit = 0;
for(int i = 0; i<dta_len; i++)
{
dta[i] = 0x00;
@@ -789,7 +791,7 @@ byte MCP_CAN::clearMsg()
** Function name: sendMsg
** Descriptions: send message
*********************************************************************************************************/
byte MCP_CAN::sendMsg()
byte MCP_CAN::sendMsg(int rtrBit)
{
byte res, res1, txbuf_n;
uint16_t uiTimeOut = 0;
@@ -803,23 +805,23 @@ byte MCP_CAN::sendMsg()
{
return CAN_GETTXBFTIMEOUT; // get tx buff time out
}
uiTimeOut = 0;
mcp2515_write_canMsg(txbuf_n);
mcp2515_write_canMsg(txbuf_n, rtrBit);
mcp2515_start_transmit(txbuf_n);
do {
uiTimeOut++;
res1= mcp2515_readRegister(txbuf_n-1 /* the ctrl reg is located at txbuf_n-1 */); // read send buff ctrl reg
res1 = res1 & 0x08;
}while(res1 && (uiTimeOut < TIMEOUTVALUE));
if(uiTimeOut == TIMEOUTVALUE) // send msg timeout
{
return CAN_SENDMSGTIMEOUT;
}
return CAN_OK;
}
/*********************************************************************************************************
@@ -829,7 +831,9 @@ byte MCP_CAN::sendMsg()
byte MCP_CAN::sendMsgBuf(unsigned long id, byte ext, byte rtr, byte len, byte *buf)
{
setMsg(id, ext, len, rtr, buf);
return sendMsg();
// Serial.print("RTR00: ");
// Serial.println(rtr, HEX);
return sendMsg(rtr);
}
/*********************************************************************************************************
@@ -839,7 +843,7 @@ byte MCP_CAN::sendMsgBuf(unsigned long id, byte ext, byte rtr, byte len, byte *b
byte MCP_CAN::sendMsgBuf(unsigned long id, byte ext, byte len, byte *buf)
{
setMsg(id, ext, len, buf);
return sendMsg();
return sendMsg(0);
}
@@ -884,7 +888,7 @@ byte MCP_CAN::readMsgBuf(byte *len, byte buf[])
if(rc == CAN_OK) {
*len = dta_len;
for(int i = 0; i<dta_len; i++)
for(int i = 0; i<dta_len; i++)
{
buf[i] = dta[i];
}
@@ -898,7 +902,7 @@ byte MCP_CAN::readMsgBuf(byte *len, byte buf[])
** Function name: readMsgBufID
** Descriptions: read message buf and can bus source ID
*********************************************************************************************************/
byte MCP_CAN::readMsgBufID(unsigned long *ID, byte *len, byte buf[])
byte MCP_CAN::readMsgBufID(byte *ID, byte *len, byte buf[])
{
byte rc;
rc = readMsg();
@@ -906,7 +910,7 @@ byte MCP_CAN::readMsgBufID(unsigned long *ID, byte *len, byte buf[])
if(rc == CAN_OK) {
*len = dta_len;
*ID = can_id;
for(int i = 0; i<dta_len && i < MAX_CHAR_IN_MESSAGE; i++)
for(int i = 0; i<dta_len && i < MAX_CHAR_IN_MESSAGE; i++)
{
buf[i] = dta[i];
}
@@ -966,4 +970,4 @@ byte MCP_CAN::isExtendedFrame(void)
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
*********************************************************************************************************/
mcp_can.h
+49 -49
View File
@@ -4,9 +4,9 @@
Author:Loovee (loovee@seeed.cc)
2014-1-16
Contributor:
Contributor:
Cory J. Fowler
Latonita
Woodward1
@@ -20,7 +20,7 @@
Adlerweb
Btetz
Hurvajs
The MIT License (MIT)
Copyright (c) 2013 Seeed Technology Inc.
@@ -53,8 +53,8 @@
class MCP_CAN
{
private:
byte ext_flg; // identifier xxxID
byte ext_flg; // identifier xxxID
// either extended (the 29 LSB) or standard (the 11 LSB)
unsigned long can_id; // can id
byte dta_len; // data length
@@ -64,73 +64,73 @@ class MCP_CAN
byte SPICS;
/*
* mcp2515 driver function
* mcp2515 driver function
*/
private:
void mcp2515_reset(void); // reset mcp2515
void mcp2515_reset(void); // reset mcp2515
byte mcp2515_readRegister(const byte address); // read mcp2515's register
void mcp2515_readRegisterS(const byte address,
byte values[],
byte mcp2515_readRegister(const byte address); // read mcp2515's register
void mcp2515_readRegisterS(const byte address,
byte values[],
const byte n);
void mcp2515_setRegister(const byte address, // set mcp2515's register
void mcp2515_setRegister(const byte address, // set mcp2515's register
const byte value);
void mcp2515_setRegisterS(const byte address, // set mcp2515's registers
void mcp2515_setRegisterS(const byte address, // set mcp2515's registers
const byte values[],
const byte n);
void mcp2515_initCANBuffers(void);
void mcp2515_modifyRegister(const byte address, // set bit of one register
void mcp2515_modifyRegister(const byte address, // set bit of one register
const byte mask,
const byte data);
byte mcp2515_readStatus(void); // read mcp2515's Status
byte mcp2515_setCANCTRL_Mode(const byte newmode); // set mode
byte mcp2515_configRate(const byte canSpeed); // set boadrate
byte mcp2515_init(const byte canSpeed); // mcp2515init
byte mcp2515_readStatus(void); // read mcp2515's Status
byte mcp2515_setCANCTRL_Mode(const byte newmode); // set mode
byte mcp2515_configRate(const byte canSpeed); // set boadrate
byte mcp2515_init(const byte canSpeed); // mcp2515init
void mcp2515_write_id(const byte mcp_addr, // write can id
const byte ext,
const unsigned long id);
void mcp2515_write_id( const byte mcp_addr, // write can id
const byte ext,
const unsigned long id );
void mcp2515_read_id(const byte mcp_addr, // read can id
byte* ext,
unsigned long* id);
void mcp2515_read_id( const byte mcp_addr, // read can id
byte* ext,
unsigned long* id );
void mcp2515_write_canMsg(const byte buffer_sidh_addr); // write can msg
void mcp2515_read_canMsg(const byte buffer_sidh_addr); // read can msg
void mcp2515_start_transmit(const byte mcp_addr); // start transmit
byte mcp2515_getNextFreeTXBuf(byte *txbuf_n); // get Next free txbuf
void mcp2515_write_canMsg( const byte buffer_sidh_addr, int rtrBit ); // write can msg
void mcp2515_read_canMsg( const byte buffer_sidh_addr); // read can msg
void mcp2515_start_transmit(const byte mcp_addr); // start transmit
byte mcp2515_getNextFreeTXBuf(byte *txbuf_n); // get Next free txbuf
/*
* can operator function
*/
*/
byte setMsg(unsigned long id, byte ext, byte len, byte rtr, byte *pData); // set message
byte setMsg(unsigned long id, byte ext, byte len, byte *pData); // set message
byte clearMsg(); // clear all message to zero
byte readMsg(); // read message
byte sendMsg(); // send message
byte setMsg(unsigned long id, byte ext, byte len, byte rtr, byte *pData); // set message
byte setMsg(unsigned long id, byte ext, byte len, byte *pData); // set message
byte clearMsg(); // clear all message to zero
byte readMsg(); // read message
byte sendMsg(int rtrBit); // send message
public:
MCP_CAN(byte _CS);
byte begin(byte speedset); // init can
byte init_Mask(byte num, byte ext, unsigned long ulData); // init Masks
byte init_Filt(byte num, byte ext, unsigned long ulData); // init filters
byte sendMsgBuf(unsigned long id, byte ext, byte rtr, byte len, byte *buf); // send buf
byte sendMsgBuf(unsigned long id, byte ext, byte len, byte *buf); // send buf
byte readMsgBuf(byte *len, byte *buf); // read buf
byte readMsgBufID(unsigned long *ID, byte *len, byte *buf); // read buf with object ID
byte checkReceive(void); // if something received
byte checkError(void); // if something error
unsigned long getCanId(void); // get can id when receive
byte isRemoteRequest(void); // get RR flag when receive
byte isExtendedFrame(void); // did we recieve 29bit frame?
byte begin(byte speedset); // init can
byte init_Mask(byte num, byte ext, unsigned long ulData); // init Masks
byte init_Filt(byte num, byte ext, unsigned long ulData); // init filters
byte sendMsgBuf(unsigned long id, byte ext, byte rtr, byte len, byte *buf); // send buf
byte sendMsgBuf(unsigned long id, byte ext, byte len, byte *buf); // send buf
byte readMsgBuf(byte *len, byte *buf); // read buf
byte readMsgBufID(byte *ID, byte *len, byte *buf); // read buf with object ID
byte checkReceive(void); // if something received
byte checkError(void); // if something error
unsigned long getCanId(void); // get can id when receive
byte isRemoteRequest(void); // get RR flag when receive
byte isExtendedFrame(void); // did we recieve 29bit frame?
};
#endif