Modified mcp2518 can function

2026-09-15 02:52:53 +00:00 · 2020-11-06 18:40:38 +08:00
parent 6fae224704
commit 91236f0258
2 changed files with 465 additions and 733 deletions
@@ -1,70 +1,110 @@
 #include "mcp_can.h"
-#include "mcp2518fd_canfdspi_api.h"
 #include "mcp2518fd_can_dfs.h"
 #include "mcp2518fd_can_def.h"
+#include "mcp2518fd_canfdspi_api.h"


-typedef struct _CAN_CONFIG {
-    uint32_t DNetFilterCount : 5;
-    uint32_t IsoCrcEnable : 1;
-    uint32_t ProtocolExpectionEventDisable : 1;
-    uint32_t WakeUpFilterEnable : 1;
-    uint32_t WakeUpFilterTime : 2;
-    uint32_t BitRateSwitchDisable : 1;
-    uint32_t RestrictReTxAttempts : 1;
-    uint32_t EsiInGatewayMode : 1;
-    uint32_t SystemErrorToListenOnly : 1;
-    uint32_t StoreInTEF : 1;
-    uint32_t TXQEnable : 1;
-    uint32_t TxBandWidthSharing : 4;
-} CAN_CONFIG;

-typedef uint8_t CANFDSPI_MODULE_ID;
+
+#define MAX_TXQUEUE_ATTEMPTS 50
+
+// Code anchor for break points
+#define Nop() asm("nop")
+
+extern void _exit(int status)
+{
+	asm("BKPT #0");
+	for (;;);
+}
+
+// Transmit Channels
+#define APP_TX_FIFO CAN_FIFO_CH2
+
+
+// Transmit objects
+CAN_TX_FIFO_CONFIG txConfig;
+CAN_TX_FIFO_EVENT txFlags;
+CAN_TX_MSGOBJ txObj;
+uint8_t txd[MAX_DATA_BYTES];
+
+
+// Receive objects
+CAN_RX_FIFO_CONFIG rxConfig;
+REG_CiFLTOBJ fObj;
+REG_CiMASK mObj;
+CAN_RX_FIFO_EVENT rxFlags;
+CAN_RX_MSGOBJ rxObj;
+uint8_t rxd[MAX_DATA_BYTES];
+
+REG_t reg;
+
+uint8_t ledCount = 0, ledState = 0;
+
+uint8_t i;
+
+CAN_BUS_DIAGNOSTIC busDiagnostics;
+uint8_t tec;
+uint8_t rec;
+CAN_ERROR_STATE errorFlags;
+
+
+// Message IDs
+#define TX_REQUEST_ID       0x300
+#define TX_RESPONSE_ID      0x301
+#define BUTTON_STATUS_ID    0x201
+#define LED_STATUS_ID       0x200
+#define PAYLOAD_ID          0x101
+
+// Payload
+
+typedef struct {
+	bool On;
+	uint8_t Dlc;
+	bool Mode;
+	uint8_t Counter;
+	uint8_t Delay;
+	bool BRS;
+} APP_Payload;
+


 class mcp2518fd : public MCP_CAN {
 public:
    
    void init_CS(byte _CS);
-    void enableTxInterrupt(bool enable = true);  // enable transmit interrupt
    byte begin(byte speedset, const byte clockset = MCP_16MHz);     // init can
-    byte init_Mask(byte num, byte ext, unsigned long ulData);
-    byte init_Filt(byte num, byte ext, unsigned long ulData);       // init filters
-    void setSleepWakeup(const byte enable);
-    byte sleep();
-    byte wake();
-    byte setMode(byte opMode);
-    byte getMode();
-    byte checkReceive(void);
-    byte checkError(void);
-    byte readMsgBufID(byte status, volatile unsigned long* id, volatile byte* ext, volatile byte* rtr, volatile byte* len,
-                      volatile byte* buf);
-    byte trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf, byte iTxBuf);
-    byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte* buf);
-    byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf, bool wait_sent = true); // send buf
-    byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte* buf, bool wait_sent = true);             // send buf
-    void clearBufferTransmitIfFlags(byte flags);
-    byte readRxTxStatus(void);
-    byte checkClearRxStatus(byte* status);
-    byte checkClearTxStatus(byte* status, byte iTxBuf);
-    bool mcpPinMode(const byte pin, const byte mode);
-    bool mcpDigitalWrite(const byte pin, const byte mode);
-    byte mcpDigitalRead(const byte pin);


+    // byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte* buf);
+    // byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf, bool wait_sent = true); // send buf
+
+    void mcp2518fd_sendMsgBuf(const byte* buf);             // send buf
+    void mcp2518fd_sendMsg(const byte* buf);
+
    void mcp2518fd_reset(void);                                   // reset mcp2515
    byte mcp2518fd_init(const byte canSpeed, const byte clock);   // mcp2515init
-  
-    byte mcp2518fd_readRegister(const byte address);
-    void mcp2518fd_readRegisterS(const byte address,
-                               byte values[],
-                               const byte n);
-    void mcp2518fd_setRegister(const byte address,                // set mcp2515's register
-                             const byte value);
-            
-    void mcp2518fd_setRegisterS(const byte address,               // set mcp2515's registers
-                              const byte values[],
-                              const byte n);

-                            
+    void mcp2518fd_init_txobj();
+  
+    int8_t mcp2518fd_readRegister(const byte address,uint8_t *rxd);
+    int8_t mcp2518fd_writeRegister(const byte address,uint8_t txd);
+
+    int8_t mcp2518fd_readRegisterWord(const byte address,uint8_t *rxd);
+    int8_t mcp2518fd_writeRegisterWord(const byte address,uint8_t txd);
+
+    int8_t mcp2518fd_ReadRegisterHalfWord(uint16_t address, uint16_t *rxd);
+    int8_t mcp2518fd_WriteRegisterHalfWord(uint16_t address,uint16_t txd);
+
+    int8_t mcp2518fd_WriteByteSafe(uint16_t address,uint8_t txd);
+    int8_t mcp2518fd_WriteWordSafe(uint16_t address,uint32_t txd);
+
+    int8_t mcp2518fd_ReadByteArray(uint16_t address,uint8_t *rxd, uint16_t nBytes);
+    int8_t mcp2518fd_WriteByteArray(uint16_t address,uint8_t *txd, uint16_t nBytes);
+
+    int8_t mcp2518fd_ReadByteArrayWithCRC(uint16_t address,uint8_t *rxd, uint16_t nBytes, bool fromRam, bool* crcIsCorrect);
+    int8_t mcp2518fd_WriteByteArrayWithCRC(uint16_t address,uint8_t *txd, uint16_t nBytes, bool fromRam);
+
+    int8_t mcp2518fd_ReadWordArray(uint16_t address,uint32_t *rxd, uint16_t nWords);
+    int8_t mcp2518fd_WriteWordArray(uint16_t address,uint32_t *txd, uint16_t nWords);
+
 };