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Merge pull request #65 from ntb001/master

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Allow for extended CAN IDs in the example programs
This commit is contained in:
Jack Shao
2018-06-19 17:32:47 +08:00
committed by GitHub
parent 6f25bcddb9 3594a57299
commit 962660f3e8
11 changed files with 188 additions and 58 deletions
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.gitignore
+131
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@@ -0,0 +1,131 @@
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License.txt
+1 -1
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@@ -18,4 +18,4 @@ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
THE SOFTWARE.
README.md
+4 -5
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@@ -31,7 +31,7 @@ or download the zip.
Simply copy the CAN_BUS_Shield folder to your Arduino library collection. For example,
arduino-1.6.12/libraries. Next time you run the Arduino IDE, you'll have a new option
in Sketch -> Include Library -> CAN_BUS_Shield. Review the included examples in
in Sketch -> Include Library -> CAN_BUS_Shield. Review the included examples in
CAN_BUS_Shield/examples.
@@ -45,7 +45,7 @@ The available baudrates are listed as follows:
#define CAN_5KBPS 1
#define CAN_10KBPS 2
#define CAN_20KBPS 3
#define CAN_25KBPS 4
#define CAN_25KBPS 4
#define CAN_31K25BPS 5
#define CAN_33KBPS 6
#define CAN_40KBPS 7
@@ -145,9 +145,9 @@ When frame is received you may check whether it was remote request and whether i
<br>
For more information, please refer to [wiki page](http://www.seeedstudio.com/wiki/CAN-BUS_Shield).
For more information, please refer to [wiki page](http://wiki.seeedstudio.com/CAN-BUS_Shield_V2.0/).
----
This software is written by loovee ([luweicong@seeed.cc](luweicong@seeed.cc "luweicong@seeed.cc")) for seeed studio<br>
@@ -165,4 +165,3 @@ global distributors and partners to push open hardware movement.<br>
[![Analytics](https://ga-beacon.appspot.com/UA-46589105-3/CAN_BUS_Shield)](https://github.com/igrigorik/ga-beacon)
examples/OBDII_PIDs/OBDII_PIDs.ino
+1 -1
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@@ -97,7 +97,7 @@ void taskCanRecv()
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
Serial.println("\r\n------------------------------------------------------------------");
Serial.print("Get Data From id: ");
Serial.print("Get Data From id: 0x");
Serial.println(CAN.getCanId(), HEX);
for(int i = 0; i<len; i++) // print the data
{
examples/receive_Blink/receive_Blink.ino
+3 -3
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@@ -37,11 +37,11 @@ void loop()
{
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
unsigned char canId = CAN.getCanId();
unsigned long canId = CAN.getCanId();
Serial.println("-----------------------------");
Serial.println("get data from ID: ");
Serial.println(canId);
Serial.println("get data from ID: 0x");
Serial.println(canId, HEX);
for(int i = 0; i<len; i++) // print the data
{
examples/receive_check/receive_check.ino
+2 -2
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@@ -36,10 +36,10 @@ void loop()
{
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
unsigned int canId = CAN.getCanId();
unsigned long canId = CAN.getCanId();
Serial.println("-----------------------------");
Serial.print("Get data from ID: ");
Serial.print("Get data from ID: 0x");
Serial.println(canId, HEX);
for(int i = 0; i<len; i++) // print the data
examples/send_Blink/send_Blink.ino
+2 -2
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@@ -27,8 +27,8 @@ unsigned char stmp[8] = {ledHIGH, 1, 2, 3, ledLOW, 5, 6, 7};
void loop()
{ Serial.println("In loop");
// send data: id = 0x00, standard frame, data len = 8, stmp: data buf
CAN.sendMsgBuf(0x70,0, 8, stmp);
// send data: id = 0x70, standard frame, data len = 8, stmp: data buf
CAN.sendMsgBuf(0x70, 0, 8, stmp);
delay(1000); // send data once per second
}
keywords.txt
+1 -1
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@@ -52,4 +52,4 @@ CAN_CTRLERROR LITERAL1
CAN_GETTXBFTIMEOUT LITERAL1
CAN_SENDMSGTIMEOUT LITERAL1
CAN_FAIL LITERAL1
SPI_CS_PIN LITERAL1
SPI_CS_PIN LITERAL1
library.properties
+1 -1
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@@ -6,4 +6,4 @@ sentence=Arduino library to control CAN-BUS Shield.
paragraph=Arduino library to control CAN-BUS Shield.
category=Device Control
url=https://github.com/Seeed-Studio/CAN_BUS_Shield
architectures=*
architectures=*
mcp_can.cpp
+41 -41
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@@ -78,7 +78,7 @@ byte statusToTxBuffer(byte status)
case MCP_TX1IF : return 1;
case MCP_TX2IF : return 2;
}
return 0xff;
}
@@ -93,7 +93,7 @@ byte statusToTxSidh(byte status)
case MCP_TX1IF : return MCP_TXB1SIDH;
case MCP_TX2IF : return MCP_TXB2SIDH;
}
return 0;
}
@@ -737,7 +737,7 @@ void MCP_CAN::mcp2515_read_id(const byte mcp_addr, byte* ext, unsigned long* id)
void MCP_CAN::mcp2515_write_canMsg(const byte buffer_sidh_addr, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte *buf)
{
byte load_addr=txSidhToTxLoad(buffer_sidh_addr);
byte tbufdata[4];
byte dlc = len | ( rtrBit ? MCP_RTR_MASK : 0 ) ;
byte i;
@@ -752,14 +752,14 @@ void MCP_CAN::mcp2515_write_canMsg(const byte buffer_sidh_addr, unsigned long id
for (i = 0; i < 4; i++) spi_write(tbufdata[i]);
spi_write(dlc);
for (i = 0; i < len && i<CAN_MAX_CHAR_IN_MESSAGE; i++) spi_write(buf[i]);
MCP2515_UNSELECT();
#ifdef SPI_HAS_TRANSACTION
SPI_END();
#endif
mcp2515_start_transmit( buffer_sidh_addr );
}
/*********************************************************************************************************
@@ -770,16 +770,14 @@ void MCP_CAN::mcp2515_read_canMsg( const byte buffer_load_addr, volatile unsigne
{
byte tbufdata[4];
byte i;
MCP2515_SELECT();
spi_readwrite(buffer_load_addr);
// mcp2515 has auto-increment of address-pointer
for (i = 0; i < 4; i++) tbufdata[i] = spi_read();
*rtrBit=(tbufdata[3]&0x08 ? 1 : 0 );
*id = (tbufdata[MCP_SIDH] << 3) + (tbufdata[MCP_SIDL] >> 5);
*id = (tbufdata[MCP_SIDH] << 3) + (tbufdata[MCP_SIDL] >> 5);
*ext = 0;
if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M )
{
/* extended id */
@@ -788,12 +786,14 @@ void MCP_CAN::mcp2515_read_canMsg( const byte buffer_load_addr, volatile unsigne
*id = (*id << 8) + tbufdata[MCP_EID0];
*ext = 1;
}
*len=spi_read() & MCP_DLC_MASK;
byte pMsgSize = spi_read();
*len = pMsgSize & MCP_DLC_MASK;
*rtrBit = (pMsgSize & MCP_RTR_MASK) ? 1 : 0;
for (i = 0; i < *len && i<CAN_MAX_CHAR_IN_MESSAGE; i++) {
buf[i] = spi_read();
}
MCP2515_UNSELECT();
}
@@ -822,9 +822,9 @@ byte MCP_CAN::mcp2515_isTXBufFree(byte *txbuf_n, byte iBuf) /* get Nex
{
*txbuf_n = 0x00;
if ( iBuf>=MCP_N_TXBUFFERS ||
if ( iBuf>=MCP_N_TXBUFFERS ||
(mcp2515_readStatus() & txStatusPendingFlag(iBuf))!=0 ) return MCP_ALLTXBUSY;
*txbuf_n = txCtrlReg(iBuf) + 1; /* return SIDH-address of Buffer */
mcp2515_modifyRegister(MCP_CANINTF, txIfFlag(iBuf), 0);
@@ -841,7 +841,7 @@ byte MCP_CAN::mcp2515_getNextFreeTXBuf(byte *txbuf_n) // get Nex
byte i;
*txbuf_n = 0x00;
if ( status==MCP_STAT_TX_PENDING_MASK ) return MCP_ALLTXBUSY; // All buffers are pending
// check all 3 TX-Buffers except reserved
@@ -853,7 +853,7 @@ byte MCP_CAN::mcp2515_getNextFreeTXBuf(byte *txbuf_n) // get Nex
return MCP2515_OK; // ! function exit
}
}
return MCP_ALLTXBUSY;
}
@@ -902,7 +902,7 @@ void MCP_CAN::enableTxInterrupt(bool enable)
} else {
interruptStatus &= ~MCP_TX_INT;
}
mcp2515_setRegister(MCP_CANINTE, interruptStatus);
}
@@ -1034,9 +1034,9 @@ byte MCP_CAN::init_Filt(byte num, byte ext, unsigned long ulData)
byte MCP_CAN::sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte *buf)
{
byte txbuf_n=statusToTxSidh(status);
if ( txbuf_n==0 ) return CAN_FAILTX; // Invalid status
mcp2515_modifyRegister(MCP_CANINTF, status, 0); // Clear interrupt flag
mcp2515_write_canMsg(txbuf_n, id, ext, rtrBit, len, buf);
@@ -1058,7 +1058,7 @@ byte MCP_CAN::trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, c
}
mcp2515_write_canMsg(txbuf_n, id, ext, rtrBit, len, buf);
return CAN_OK;
}
@@ -1074,7 +1074,7 @@ byte MCP_CAN::sendMsg(unsigned long id, byte ext, byte rtrBit, byte len, const b
can_id=id;
ext_flg=ext;
rtr=rtrBit;
do {
if (uiTimeOut > 0) delayMicroseconds(10);
res = mcp2515_getNextFreeTXBuf(&txbuf_n); // info = addr.
@@ -1149,10 +1149,10 @@ byte MCP_CAN::readMsgBufID(unsigned long *ID, byte *len, byte buf[])
** Descriptions: Read message buf and can bus source ID according to status.
** Status has to be read with readRxTxStatus.
*********************************************************************************************************/
byte MCP_CAN::readMsgBufID(byte status, volatile unsigned long *id, volatile byte *ext, volatile byte *rtrBit, volatile byte *len, volatile byte *buf)
byte MCP_CAN::readMsgBufID(byte status, volatile unsigned long *id, volatile byte *ext, volatile byte *rtrBit, volatile byte *len, volatile byte *buf)
{
byte rc=CAN_NOMSG;
if ( status & MCP_RX0IF ) // Msg in Buffer 0
{
mcp2515_read_canMsg( MCP_READ_RX0, id, ext, rtrBit, len, buf);
@@ -1172,7 +1172,7 @@ byte MCP_CAN::readMsgBufID(byte status, volatile unsigned long *id, volatile byt
} else {
*len=0;
}
return rc;
}
@@ -1181,51 +1181,51 @@ byte MCP_CAN::readMsgBufID(byte status, volatile unsigned long *id, volatile byt
** Descriptions: Read RX and TX interrupt bits. Function uses status reading, but translates.
** result to MCP_CANINTF. With this you can check status e.g. on interrupt sr
** with one single call to save SPI calls. Then use checkClearRxStatus and
** checkClearTxStatus for testing.
** checkClearTxStatus for testing.
*********************************************************************************************************/
byte MCP_CAN::readRxTxStatus(void)
{
byte ret=( mcp2515_readStatus() & ( MCP_STAT_TXIF_MASK | MCP_STAT_RXIF_MASK ) );
ret=(ret & MCP_STAT_TX0IF ? MCP_TX0IF : 0) |
(ret & MCP_STAT_TX1IF ? MCP_TX1IF : 0) |
(ret & MCP_STAT_TX2IF ? MCP_TX2IF : 0) |
ret=(ret & MCP_STAT_TX0IF ? MCP_TX0IF : 0) |
(ret & MCP_STAT_TX1IF ? MCP_TX1IF : 0) |
(ret & MCP_STAT_TX2IF ? MCP_TX2IF : 0) |
(ret & MCP_STAT_RXIF_MASK); // Rx bits happend to be same on status and MCP_CANINTF
return ret;
return ret;
}
/*********************************************************************************************************
** Function name: checkClearRxStatus
** Descriptions: Return first found rx CANINTF status and clears it from parameter.
** Note that this does not affect to chip CANINTF at all. You can use this
** Note that this does not affect to chip CANINTF at all. You can use this
** with one single readRxTxStatus call.
*********************************************************************************************************/
byte MCP_CAN::checkClearRxStatus(byte *status)
{
byte ret;
ret = *status & MCP_RX0IF; *status &= ~MCP_RX0IF;
if ( ret==0 ) { ret = *status & MCP_RX1IF; *status &= ~MCP_RX1IF; }
return ret;
return ret;
}
/*********************************************************************************************************
** Function name: checkClearTxStatus
** Descriptions: Return specified buffer of first found tx CANINTF status and clears it from parameter.
** Note that this does not affect to chip CANINTF at all. You can use this
** Note that this does not affect to chip CANINTF at all. You can use this
** with one single readRxTxStatus call.
*********************************************************************************************************/
byte MCP_CAN::checkClearTxStatus(byte *status, byte iTxBuf)
{
byte ret;
if ( iTxBuf<MCP_N_TXBUFFERS ) { // Clear specific buffer flag
ret = *status & txIfFlag(iTxBuf); *status &= ~txIfFlag(iTxBuf);
} else {
ret=0;
for (byte i = 0; i < MCP_N_TXBUFFERS-nReservedTx; i++) {
ret = *status & txIfFlag(i);
ret = *status & txIfFlag(i);
if ( ret!=0 ) {
*status &= ~txIfFlag(i);
return ret;
@@ -1233,7 +1233,7 @@ byte MCP_CAN::checkClearTxStatus(byte *status, byte iTxBuf)
};
}
return ret;
return ret;
}
/*********************************************************************************************************
@@ -1243,7 +1243,7 @@ byte MCP_CAN::checkClearTxStatus(byte *status, byte iTxBuf)
** more data to be sent. Otherwise IRQ will newer change state.
*********************************************************************************************************/
void MCP_CAN::clearBufferTransmitIfFlags(byte flags)
{
{
flags &= MCP_TX_INT;
if ( flags==0 ) return;
mcp2515_modifyRegister(MCP_CANINTF, flags, 0);
@@ -1299,4 +1299,4 @@ byte MCP_CAN::isExtendedFrame(void)
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
*********************************************************************************************************/
mcp_can_dfs.h
+1 -1
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@@ -448,4 +448,4 @@
#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
*********************************************************************************************************/