Michel2/Seeed_Arduino_CAN
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Update mcp_can.cpp

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- Added: buffer limit in mcp2515_readRegisterS
- Added: return code check in readMsgBuf
- Added: function readMsgBufID to read message and object id in a single phase
This commit is contained in:
BykeBlast
2014-09-01 13:36:01 +02:00
parent 64ca6c9c32
commit 5c1392db30
1 changed files with 35 additions and 8 deletions
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mcp_can.cpp
+35 -8
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@@ -65,8 +65,7 @@ void MCP_CAN::mcp2515_readRegisterS(const INT8U address, INT8U values[], const I
spi_readwrite(MCP_READ);
spi_readwrite(address);
// mcp2515 has auto-increment of address-pointer
for (i=0; i<n; i++)
{
for (i=0; i<n && i<CAN_MAX_CHAR_IN_MESSAGE; i++) {
values[i] = spi_read();
}
MCP2515_UNSELECT();
@@ -761,12 +760,40 @@ INT8U MCP_CAN::readMsg()
*********************************************************************************************************/
INT8U MCP_CAN::readMsgBuf(INT8U *len, INT8U buf[])
{
readMsg();
*len = m_nDlc;
for(int i = 0; i<m_nDlc; i++)
{
buf[i] = m_nDta[i];
INT8U rc;
rc = readMsg();
if (rc == CAN_OK) {
*len = m_nDlc;
for(int i = 0; i<m_nDlc; i++) {
buf[i] = m_nDta[i];
}
} else {
*len = 0;
}
return rc;
}
/*********************************************************************************************************
** Function name: readMsgBufID
** Descriptions: read message buf and can bus source ID
*********************************************************************************************************/
INT8U MCP_CAN::readMsgBufID(INT32U *ID, INT8U *len, INT8U buf[])
{
INT8U rc;
rc = readMsg();
if (rc == CAN_OK) {
*len = m_nDlc;
*ID = m_nID;
for(int i = 0; i<m_nDlc && i < MAX_CHAR_IN_MESSAGE; i++) {
buf[i] = m_nDta[i];
}
} else {
*len = 0;
}
return rc;
}
/*********************************************************************************************************
@@ -815,4 +842,4 @@ INT32U MCP_CAN::getCanId(void)
}
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
*********************************************************************************************************/