Michel2/Seeed_Arduino_CAN
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fixed rtr bit issue

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should be good to go
This commit is contained in:
Gage Coprivnicar
2017-06-22 13:25:01 -06:00
parent 84329c2601
commit 95e3d85046
1 changed files with 17 additions and 17 deletions
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mcp_can.cpp
+17 -17
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@@ -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 +529,12 @@ 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
if(rtrBit == 1) // if RTR set bit in byte
{
dta_len |= MCP_RTR_MASK;
}
@@ -584,7 +584,7 @@ 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 +776,7 @@ byte MCP_CAN::clearMsg()
ext_flg = 0;
rtr = 0;
filhit = 0;
for(int i = 0; i<dta_len; i++)
{
dta[i] = 0x00;
@@ -789,7 +789,7 @@ 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 +803,23 @@ 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 +829,7 @@ 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();
return sendMsg(1);
}
/*********************************************************************************************************
@@ -839,7 +839,7 @@ 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 +884,7 @@ 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];
}
@@ -906,7 +906,7 @@ 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 +966,4 @@ byte MCP_CAN::isExtendedFrame(void)
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
*********************************************************************************************************/