Michel2/Seeed_Arduino_CAN
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This commit is contained in:
loovee
2017-06-09 11:19:29 +08:00
parent 1a6be4c121
commit 84329c2601
5 changed files with 171 additions and 101 deletions
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mcp_can.cpp
+75 -89
View File
@@ -1,4 +1,4 @@
/*
/*
mcp_can.cpp
2012 Copyright (c) Seeed Technology Inc. All right reserved.
@@ -46,10 +46,10 @@
*/
#include "mcp_can.h"
#define spi_readwrite SPI.transfer
#define spi_read() spi_readwrite(0x00)
#define SPI_BEGIN() SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0))
#define SPI_END() SPI.endTransaction()
#define spi_readwrite SPI.transfer
#define spi_read() spi_readwrite(0x00)
#define SPI_BEGIN() SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0))
#define SPI_END() SPI.endTransaction()
/*********************************************************************************************************
** Function name: mcp2515_reset
@@ -106,7 +106,8 @@ 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();
}
MCP2515_UNSELECT();
@@ -212,7 +213,7 @@ byte MCP_CAN::mcp2515_setCANCTRL_Mode(const byte newmode)
i = mcp2515_readRegister(MCP_CANCTRL);
i &= MODE_MASK;
if(i == newmode )
if(i == newmode)
{
return MCP2515_OK;
}
@@ -365,7 +366,8 @@ void MCP_CAN::mcp2515_initCANBuffers(void)
a1 = MCP_TXB0CTRL;
a2 = MCP_TXB1CTRL;
a3 = MCP_TXB2CTRL;
for(i = 0; i < 14; i++) { // in-buffer loop
for(i = 0; i < 14; i++) // in-buffer loop
{
mcp2515_setRegister(a1, 0);
mcp2515_setRegister(a2, 0);
mcp2515_setRegister(a3, 0);
@@ -420,7 +422,7 @@ byte MCP_CAN::mcp2515_init(const byte canSpeed)
delay(10);
#endif
if(res == MCP2515_OK ) {
if(res == MCP2515_OK) {
// init canbuffers
mcp2515_initCANBuffers();
@@ -439,7 +441,7 @@ byte MCP_CAN::mcp2515_init(const byte canSpeed)
// enable both receive-buffers to receive messages with std. and ext. identifiers and enable rollover
mcp2515_modifyRegister(MCP_RXB0CTRL,
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK);
mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
MCP_RXB_RX_STDEXT);
#endif
@@ -471,7 +473,7 @@ byte MCP_CAN::mcp2515_init(const byte canSpeed)
** Function name: mcp2515_write_id
** Descriptions: write can id
*********************************************************************************************************/
void MCP_CAN::mcp2515_write_id( const byte mcp_addr, const byte ext, const unsigned long id )
void MCP_CAN::mcp2515_write_id(const byte mcp_addr, const byte ext, const unsigned long id)
{
uint16_t canid;
byte tbufdata[4];
@@ -486,34 +488,34 @@ void MCP_CAN::mcp2515_write_id( const byte mcp_addr, const byte ext, const unsig
tbufdata[MCP_SIDL] = (byte) (canid & 0x03);
tbufdata[MCP_SIDL] += (byte) ((canid & 0x1C) << 3);
tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
tbufdata[MCP_SIDH] = (byte) (canid >> 5 );
tbufdata[MCP_SIDH] = (byte) (canid >> 5);
}
else
{
tbufdata[MCP_SIDH] = (byte) (canid >> 3 );
tbufdata[MCP_SIDL] = (byte) ((canid & 0x07 ) << 5);
tbufdata[MCP_SIDH] = (byte) (canid >> 3);
tbufdata[MCP_SIDL] = (byte) ((canid & 0x07) << 5);
tbufdata[MCP_EID0] = 0;
tbufdata[MCP_EID8] = 0;
}
mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
mcp2515_setRegisterS(mcp_addr, tbufdata, 4);
}
/*********************************************************************************************************
** Function name: mcp2515_read_id
** Descriptions: read can id
*********************************************************************************************************/
void MCP_CAN::mcp2515_read_id( const byte mcp_addr, byte* ext, unsigned long* id )
void MCP_CAN::mcp2515_read_id(const byte mcp_addr, byte* ext, unsigned long* id)
{
byte tbufdata[4];
*ext = 0;
*id = 0;
*ext = 0;
*id = 0;
mcp2515_readRegisterS( mcp_addr, tbufdata, 4 );
mcp2515_readRegisterS(mcp_addr, tbufdata, 4);
*id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
if((tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M )
if((tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M)
{
// extended id
*id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03);
@@ -527,17 +529,17 @@ 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)
{
byte mcp_addr;
mcp_addr = buffer_sidh_addr;
mcp2515_setRegisterS(mcp_addr+5, dta, dta_len ); // write data bytes
mcp2515_setRegisterS(mcp_addr+5, dta, dta_len); // write data bytes
if(rtr == 1) // if RTR set bit in byte
{
dta_len |= MCP_RTR_MASK;
}
mcp2515_setRegister((mcp_addr+4), dta_len ); // write the RTR and DLC
mcp2515_write_id(mcp_addr, ext_flg, can_id ); // write CAN id
mcp2515_setRegister((mcp_addr+4), dta_len); // write the RTR and DLC
mcp2515_write_id(mcp_addr, ext_flg, can_id); // write CAN id
}
@@ -545,24 +547,19 @@ void MCP_CAN::mcp2515_write_canMsg( const byte buffer_sidh_addr)
** Function name: mcp2515_read_canMsg
** Descriptions: read message
*********************************************************************************************************/
void MCP_CAN::mcp2515_read_canMsg( const byte buffer_sidh_addr) // read can msg
void MCP_CAN::mcp2515_read_canMsg(const byte buffer_sidh_addr) // read can msg
{
byte mcp_addr, ctrl;
mcp_addr = buffer_sidh_addr;
mcp2515_read_id( mcp_addr, &ext_flg,&can_id );
ctrl = mcp2515_readRegister( mcp_addr-1 );
dta_len = mcp2515_readRegister( mcp_addr+4 );
mcp2515_read_id(mcp_addr, &ext_flg,&can_id);
ctrl = mcp2515_readRegister(mcp_addr-1);
dta_len = mcp2515_readRegister(mcp_addr+4);
if((ctrl & 0x08)) {
rtr = 1;
}
else {
rtr = 0;
}
rtr = (ctrl & 0x08) ? 1 : 0;
dta_len &= MCP_DLC_MASK;
mcp2515_readRegisterS( mcp_addr+5, &(dta[0]), dta_len );
mcp2515_readRegisterS(mcp_addr+5, &(dta[0]), dta_len);
}
/*********************************************************************************************************
@@ -571,7 +568,7 @@ void MCP_CAN::mcp2515_read_canMsg( const byte buffer_sidh_addr) // read c
*********************************************************************************************************/
void MCP_CAN::mcp2515_start_transmit(const byte mcp_addr) // start transmit
{
mcp2515_modifyRegister( mcp_addr-1 , MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
mcp2515_modifyRegister(mcp_addr-1 , MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M);
}
/*********************************************************************************************************
@@ -587,11 +584,11 @@ 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++) {
ctrlval = mcp2515_readRegister( ctrlregs[i] );
if((ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
*txbuf_n = ctrlregs[i]+1; // return SIDH-address of Buffe
// r
for(i=0; i<MCP_N_TXBUFFERS; i++)
{
ctrlval = mcp2515_readRegister(ctrlregs[i]);
if((ctrlval & MCP_TXB_TXREQ_M) == 0) {
*txbuf_n = ctrlregs[i]+1; // return SIDH-address of Buffer
res = MCP2515_OK;
return res; // ! function exit
}
@@ -606,8 +603,6 @@ byte MCP_CAN::mcp2515_getNextFreeTXBuf(byte *txbuf_n) // get Nex
MCP_CAN::MCP_CAN(byte _CS)
{
SPICS = _CS;
pinMode(SPICS, OUTPUT);
MCP2515_UNSELECT();
}
/*********************************************************************************************************
@@ -616,12 +611,11 @@ MCP_CAN::MCP_CAN(byte _CS)
*********************************************************************************************************/
byte MCP_CAN::begin(byte speedset)
{
byte res;
pinMode(SPICS, OUTPUT);
MCP2515_UNSELECT();
SPI.begin();
res = mcp2515_init(speedset);
if(res == MCP2515_OK) return CAN_OK;
else return CAN_FAILINIT;
byte res = mcp2515_init(speedset);
return ((res == MCP2515_OK) ? CAN_OK : CAN_FAILINIT);
}
/*********************************************************************************************************
@@ -695,7 +689,7 @@ byte MCP_CAN::init_Filt(byte num, byte ext, unsigned long ulData)
return res;
}
switch( num )
switch(num)
{
case 0:
mcp2515_write_id(MCP_RXF0SIDH, ext, ulData);
@@ -750,10 +744,10 @@ byte MCP_CAN::init_Filt(byte num, byte ext, unsigned long ulData)
*********************************************************************************************************/
byte MCP_CAN::setMsg(unsigned long id, byte ext, byte len, byte rtr, byte *pData)
{
ext_flg = ext;
can_id = id;
dta_len = min( len, MAX_CHAR_IN_MESSAGE );
rtr = rtr;
ext_flg = ext;
can_id = id;
dta_len = min(len, MAX_CHAR_IN_MESSAGE);
rtr = rtr;
for(int i = 0; i<dta_len; i++)
{
dta[i] = *(pData+i);
@@ -768,7 +762,7 @@ byte MCP_CAN::setMsg(unsigned long id, byte ext, byte len, byte rtr, byte *pData
*********************************************************************************************************/
byte MCP_CAN::setMsg(unsigned long id, byte ext, byte len, byte *pData)
{
return setMsg( id, ext, len, 0, pData );
return setMsg(id, ext, len, 0, pData);
}
/*********************************************************************************************************
@@ -777,13 +771,16 @@ byte MCP_CAN::setMsg(unsigned long id, byte ext, byte len, byte *pData)
*********************************************************************************************************/
byte MCP_CAN::clearMsg()
{
can_id = 0;
dta_len = 0;
ext_flg = 0;
rtr = 0;
filhit = 0;
for(int i = 0; i<dta_len; i++ )
dta[i] = 0x00;
can_id = 0;
dta_len = 0;
ext_flg = 0;
rtr = 0;
filhit = 0;
for(int i = 0; i<dta_len; i++)
{
dta[i] = 0x00;
}
return MCP2515_OK;
}
@@ -806,21 +803,23 @@ byte MCP_CAN::sendMsg()
{
return CAN_GETTXBFTIMEOUT; // get tx buff time out
}
uiTimeOut = 0;
mcp2515_write_canMsg( txbuf_n);
mcp2515_start_transmit( txbuf_n );
do
{
mcp2515_write_canMsg(txbuf_n);
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;
}
/*********************************************************************************************************
@@ -854,15 +853,15 @@ byte MCP_CAN::readMsg()
stat = mcp2515_readStatus();
if(stat & MCP_STAT_RX0IF ) // Msg in Buffer 0
if(stat & MCP_STAT_RX0IF) // Msg in Buffer 0
{
mcp2515_read_canMsg( MCP_RXBUF_0);
mcp2515_read_canMsg(MCP_RXBUF_0);
mcp2515_modifyRegister(MCP_CANINTF, MCP_RX0IF, 0);
res = CAN_OK;
}
else if(stat & MCP_STAT_RX1IF ) // Msg in Buffer 1
else if(stat & MCP_STAT_RX1IF) // Msg in Buffer 1
{
mcp2515_read_canMsg( MCP_RXBUF_1);
mcp2515_read_canMsg(MCP_RXBUF_1);
mcp2515_modifyRegister(MCP_CANINTF, MCP_RX1IF, 0);
res = CAN_OK;
}
@@ -885,7 +884,8 @@ 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];
}
} else {
@@ -906,7 +906,8 @@ 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];
}
} else {
@@ -923,14 +924,7 @@ byte MCP_CAN::checkReceive(void)
{
byte res;
res = mcp2515_readStatus(); // RXnIF in Bit 1 and 0
if(res & MCP_STAT_RXIF_MASK )
{
return CAN_MSGAVAIL;
}
else
{
return CAN_NOMSG;
}
return ((res & MCP_STAT_RXIF_MASK)?CAN_MSGAVAIL:CAN_NOMSG);
}
/*********************************************************************************************************
@@ -940,15 +934,7 @@ byte MCP_CAN::checkReceive(void)
byte MCP_CAN::checkError(void)
{
byte eflg = mcp2515_readRegister(MCP_EFLG);
if(eflg & MCP_EFLG_ERRORMASK )
{
return CAN_CTRLERROR;
}
else
{
return CAN_OK;
}
return ((eflg & MCP_EFLG_ERRORMASK) ? CAN_CTRLERROR : CAN_OK);
}
/*********************************************************************************************************