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updata mcp2518fd code

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wangcoolc
2020-12-03 15:05:34 +08:00
parent 37b406062a
commit 96b521a2c8
6 changed files with 151 additions and 5307 deletions
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examples/send/send.ino
+1 -1
View File
@@ -11,7 +11,7 @@
// the cs pin of the version after v1.1 is default to D9
// v0.9b and v1.0 is default D10
const int SPI_CS_PIN = BCM8;
const int SPI_CS_PIN = CANBUS_PIN_SS;
mcp2518fd* controller;
void setup() {
mcp2518fd_can.cpp
+61 -23
View File
@@ -5,7 +5,6 @@ SPIClass* pSPI;
CAN_CONFIG config;
APP_Payload payload;
// Receive objects
CAN_RX_FIFO_CONFIG rxConfig;
REG_CiFLTOBJ fObj;
@@ -41,19 +40,35 @@ CAN_TX_QUEUE_CONFIG txqueConfig;
// Maximum number of data bytes in message
#define MAX_DATA_BYTES 64
// //! SPI Transmit buffer
// uint8_t spiTransmitBuffer[96];
// //! SPI Receive buffer
// uint8_t spiReceiveBuffer[96];
CAN_BUS_DIAGNOSTIC busDiagnostics;
uint8_t tec;
uint8_t rec;
CAN_ERROR_STATE errorFlags;
#define DRV_CANFDSPI_INDEX_0 0
// *****************************************************************************
// *****************************************************************************
// Section: Variables
//! SPI Transmit buffer
uint8_t spiTransmitBuffer[SPI_DEFAULT_BUFFER_LENGTH+2];
//! SPI Receive buffer
uint8_t spiReceiveBuffer[SPI_DEFAULT_BUFFER_LENGTH];
uint16_t DRV_CANFDSPI_CalculateCRC16(uint8_t* data, uint16_t size)
{
uint16_t init = CRCBASE;
uint8_t index;
while (size-- != 0) {
index = ((uint8_t*) & init)[CRCUPPER] ^ *data++;
init = (init << 8) ^ crc16_table[index];
}
return init;
}
@@ -87,7 +102,7 @@ void mcp2518fd::init_CS(byte _CS) {
** Function name: mcp2518fd_reset
** Descriptions: reset the device
*********************************************************************************************************/
void mcp2518fd::mcp2518fd_reset(void) {
int8_t mcp2518fd::mcp2518fd_reset(void) {
uint16_t spiTransferSize = 2;
int8_t spiTransferError = 0;
@@ -898,7 +913,7 @@ int8_t mcp2518fd::mcp2518fd_FilterToFifoLink(
}
int8_t DRV_CANFDSPI_BitTimeConfigureNominal40MHz(CAN_BITTIME_SETUP bitTime)
int8_t mcp2518fd::mcp2518fd_BitTimeConfigureNominal40MHz(CAN_BITTIME_SETUP bitTime)
{
int8_t spiTransferError = 0;
REG_CiNBTCFG ciNbtcfg;
@@ -963,7 +978,7 @@ int8_t DRV_CANFDSPI_BitTimeConfigureNominal40MHz(CAN_BITTIME_SETUP bitTime)
}
int8_t DRV_CANFDSPI_BitTimeConfigureData40MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode)
int8_t mcp2518fd::mcp2518fd_BitTimeConfigureData40MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode)
{
int8_t spiTransferError = 0;
REG_CiDBTCFG ciDbtcfg;
@@ -1155,7 +1170,7 @@ int8_t DRV_CANFDSPI_BitTimeConfigureData40MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP
}
int8_t DRV_CANFDSPI_BitTimeConfigureNominal20MHz(CAN_BITTIME_SETUP bitTime)
int8_t mcp2518fd::mcp2518fd_BitTimeConfigureNominal20MHz(CAN_BITTIME_SETUP bitTime)
{
int8_t spiTransferError = 0;
REG_CiNBTCFG ciNbtcfg;
@@ -1222,7 +1237,7 @@ int8_t DRV_CANFDSPI_BitTimeConfigureNominal20MHz(CAN_BITTIME_SETUP bitTime)
}
int8_t DRV_CANFDSPI_BitTimeConfigureData20MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode)
int8_t mcp2518fd::mcp2518fd_BitTimeConfigureData20MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode)
{
int8_t spiTransferError = 0;
REG_CiDBTCFG ciDbtcfg;
@@ -1375,7 +1390,7 @@ int8_t DRV_CANFDSPI_BitTimeConfigureData20MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP
}
int8_t DRV_CANFDSPI_BitTimeConfigureNominal10MHz(CAN_BITTIME_SETUP bitTime)
int8_t mcp2518fd::mcp2518fd_BitTimeConfigureNominal10MHz(CAN_BITTIME_SETUP bitTime)
{
int8_t spiTransferError = 0;
REG_CiNBTCFG ciNbtcfg;
@@ -1442,7 +1457,7 @@ int8_t DRV_CANFDSPI_BitTimeConfigureNominal10MHz(CAN_BITTIME_SETUP bitTime)
}
int8_t DRV_CANFDSPI_BitTimeConfigureData10MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode)
int8_t mcp2518fd::mcp2518fd_BitTimeConfigureData10MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode)
{
int8_t spiTransferError = 0;
REG_CiDBTCFG ciDbtcfg;
@@ -1564,7 +1579,6 @@ int8_t DRV_CANFDSPI_BitTimeConfigureData10MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP
int8_t mcp2518fd::mcp2518fd_BitTimeConfigure(
CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode,
CAN_SYSCLK_SPEED clk)
@@ -1574,22 +1588,22 @@ int8_t mcp2518fd::mcp2518fd_BitTimeConfigure(
// Decode clk
switch (clk) {
case CAN_SYSCLK_40M:
spiTransferError = DRV_CANFDSPI_BitTimeConfigureNominal40MHz(bitTime);
spiTransferError = mcp2518fd_BitTimeConfigureNominal40MHz(bitTime);
if (spiTransferError) return spiTransferError;
spiTransferError = DRV_CANFDSPI_BitTimeConfigureData40MHz(bitTime, sspMode);
spiTransferError = mcp2518fd_BitTimeConfigureData40MHz(bitTime, sspMode);
break;
case CAN_SYSCLK_20M:
spiTransferError = DRV_CANFDSPI_BitTimeConfigureNominal20MHz(bitTime);
spiTransferError = mcp2518fd_BitTimeConfigureNominal20MHz(bitTime);
if (spiTransferError) return spiTransferError;
spiTransferError = DRV_CANFDSPI_BitTimeConfigureData20MHz(bitTime, sspMode);
spiTransferError = mcp2518fd_BitTimeConfigureData20MHz(bitTime, sspMode);
break;
case CAN_SYSCLK_10M:
spiTransferError = DRV_CANFDSPI_BitTimeConfigureNominal10MHz(bitTime);
spiTransferError = mcp2518fd_BitTimeConfigureNominal10MHz(bitTime);
if (spiTransferError) return spiTransferError;
spiTransferError = DRV_CANFDSPI_BitTimeConfigureData10MHz(bitTime, sspMode);
spiTransferError = mcp2518fd_BitTimeConfigureData10MHz(bitTime, sspMode);
break;
default:
spiTransferError = -1;
@@ -1919,13 +1933,13 @@ int8_t mcp2518fd::mcp2518fd_TransmitChannelLoad(
Serial.printf("txBuffer[15] = %d\n\r",txBuffer[15]);
spiTransferError = mcp2518fd_WriteByteArray(index, a, txBuffer, txdNumBytes + 8 + n);
spiTransferError = mcp2518fd_WriteByteArray(a, txBuffer, txdNumBytes + 8 + n);
if (spiTransferError) {
return -4;
}
// Set UINC and TXREQ
spiTransferError = mcp2518fd_TransmitChannelUpdate(index, channel, flush);
spiTransferError = mcp2518fd_TransmitChannelUpdate(channel, flush);
if (spiTransferError) {
return -5;
}
@@ -2092,6 +2106,30 @@ int8_t mcp2518fd::mcp2518fd_ReceiveChannelUpdate(CAN_FIFO_CHANNEL channel)
return spiTransferError;
}
int8_t mcp2518fd::mcp2518fd_TransmitChannelUpdate(CAN_FIFO_CHANNEL channel, bool flush)
{
uint16_t a;
REG_CiFIFOCON ciFifoCon;
int8_t spiTransferError = 0;
// Set UINC
a = cREGADDR_CiFIFOCON + (channel * CiFIFO_OFFSET) + 1; // Byte that contains FRESET
ciFifoCon.word = 0;
ciFifoCon.txBF.UINC = 1;
// Set TXREQ
if (flush) {
ciFifoCon.txBF.TxRequest = 1;
}
spiTransferError = mcp2518fd_WriteByte(a, ciFifoCon.byte[1]);
if (spiTransferError) {
return -1;
}
return spiTransferError;
}
mcp2518fd_can.h
+89 -12
View File
@@ -3,8 +3,6 @@
#ifndef _MCP2518FD_H_
#define _MCP2518FD_H_
#include "mcp2518fd_canfdspi_api.h"
#include "mcp2518fd_can_def.h"
#include "mcp2518fd_can_dfs.h"
#include <Arduino.h>
@@ -16,16 +14,88 @@
#define CAN_FAILINIT (1)
#define CAN_FAILTX (2)
// Payload
// *****************************************************************************
// *****************************************************************************
//! Reset DUT
typedef struct {
bool On;
uint8_t Dlc;
bool Mode;
uint8_t Counter;
uint8_t Delay;
bool BRS;
} APP_Payload;
// Code anchor for break points
#define Nop() asm("nop")
// Index to SPI channel
// Used when multiple MCP25xxFD are connected to the same SPI interface, but with different CS
#define SPI_DEFAULT_BUFFER_LENGTH 96
//extern SPIClass* pSPI;
#define spi_readwrite pSPI->transfer
#define spi_read() spi_readwrite(0x00)
#define spi_write(spi_val) spi_readwrite(spi_val)
#define SPI_BEGIN() pSPI->beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE0))
#define SPI_END() pSPI->endTransaction();
// *****************************************************************************
// *****************************************************************************
// Section: Defines
#define CRCBASE 0xFFFF
#define CRCUPPER 1
//! Reverse order of bits in byte
const uint8_t BitReverseTable256[256] = {
0x00, 0x80, 0x40, 0xC0, 0x20, 0xA0, 0x60, 0xE0, 0x10, 0x90, 0x50, 0xD0, 0x30, 0xB0, 0x70, 0xF0,
0x08, 0x88, 0x48, 0xC8, 0x28, 0xA8, 0x68, 0xE8, 0x18, 0x98, 0x58, 0xD8, 0x38, 0xB8, 0x78, 0xF8,
0x04, 0x84, 0x44, 0xC4, 0x24, 0xA4, 0x64, 0xE4, 0x14, 0x94, 0x54, 0xD4, 0x34, 0xB4, 0x74, 0xF4,
0x0C, 0x8C, 0x4C, 0xCC, 0x2C, 0xAC, 0x6C, 0xEC, 0x1C, 0x9C, 0x5C, 0xDC, 0x3C, 0xBC, 0x7C, 0xFC,
0x02, 0x82, 0x42, 0xC2, 0x22, 0xA2, 0x62, 0xE2, 0x12, 0x92, 0x52, 0xD2, 0x32, 0xB2, 0x72, 0xF2,
0x0A, 0x8A, 0x4A, 0xCA, 0x2A, 0xAA, 0x6A, 0xEA, 0x1A, 0x9A, 0x5A, 0xDA, 0x3A, 0xBA, 0x7A, 0xFA,
0x06, 0x86, 0x46, 0xC6, 0x26, 0xA6, 0x66, 0xE6, 0x16, 0x96, 0x56, 0xD6, 0x36, 0xB6, 0x76, 0xF6,
0x0E, 0x8E, 0x4E, 0xCE, 0x2E, 0xAE, 0x6E, 0xEE, 0x1E, 0x9E, 0x5E, 0xDE, 0x3E, 0xBE, 0x7E, 0xFE,
0x01, 0x81, 0x41, 0xC1, 0x21, 0xA1, 0x61, 0xE1, 0x11, 0x91, 0x51, 0xD1, 0x31, 0xB1, 0x71, 0xF1,
0x09, 0x89, 0x49, 0xC9, 0x29, 0xA9, 0x69, 0xE9, 0x19, 0x99, 0x59, 0xD9, 0x39, 0xB9, 0x79, 0xF9,
0x05, 0x85, 0x45, 0xC5, 0x25, 0xA5, 0x65, 0xE5, 0x15, 0x95, 0x55, 0xD5, 0x35, 0xB5, 0x75, 0xF5,
0x0D, 0x8D, 0x4D, 0xCD, 0x2D, 0xAD, 0x6D, 0xED, 0x1D, 0x9D, 0x5D, 0xDD, 0x3D, 0xBD, 0x7D, 0xFD,
0x03, 0x83, 0x43, 0xC3, 0x23, 0xA3, 0x63, 0xE3, 0x13, 0x93, 0x53, 0xD3, 0x33, 0xB3, 0x73, 0xF3,
0x0B, 0x8B, 0x4B, 0xCB, 0x2B, 0xAB, 0x6B, 0xEB, 0x1B, 0x9B, 0x5B, 0xDB, 0x3B, 0xBB, 0x7B, 0xFB,
0x07, 0x87, 0x47, 0xC7, 0x27, 0xA7, 0x67, 0xE7, 0x17, 0x97, 0x57, 0xD7, 0x37, 0xB7, 0x77, 0xF7,
0x0F, 0x8F, 0x4F, 0xCF, 0x2F, 0xAF, 0x6F, 0xEF, 0x1F, 0x9F, 0x5F, 0xDF, 0x3F, 0xBF, 0x7F, 0xFF
};
//! Look-up table for CRC calculation
const uint16_t crc16_table[256] = {
0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
};
class SPIClass;
@@ -46,7 +116,7 @@ public:
int8_t mcp2518fd_receiveMsg();
uint8_t mcp2518fd_init(); // mcp2518fdinit
void mcp2518fd_reset(void); //reset mcp2518fd
int8_t mcp2518fd_reset(void); //reset mcp2518fd
int8_t mcp2518fd_EccEnable(void); //Section: ECC
int8_t mcp2518fd_RamInit(uint8_t d);
int8_t mcp2518fd_ConfigureObjectReset(CAN_CONFIG* config);
@@ -72,6 +142,7 @@ public:
int8_t mcp2518fd_ReceiveChannelEventGet(CAN_FIFO_CHANNEL channel, CAN_RX_FIFO_EVENT* flags);
int8_t mcp2518fd_ReceiveMessageGet(CAN_FIFO_CHANNEL channel, CAN_RX_MSGOBJ* rxObj,uint8_t *rxd, uint8_t nBytes);
int8_t mcp2518fd_ReceiveChannelUpdate(CAN_FIFO_CHANNEL channel);
int8_t mcp2518fd_TransmitChannelUpdate(CAN_FIFO_CHANNEL channel, bool flush);
@@ -95,6 +166,12 @@ public:
private:
int8_t mcp2518fd_BitTimeConfigureNominal40MHz(CAN_BITTIME_SETUP bitTime);
int8_t mcp2518fd_BitTimeConfigureData40MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode);
int8_t mcp2518fd_BitTimeConfigureNominal20MHz(CAN_BITTIME_SETUP bitTime);
int8_t mcp2518fd_BitTimeConfigureData20MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode);
int8_t mcp2518fd_BitTimeConfigureNominal10MHz(CAN_BITTIME_SETUP bitTime);
int8_t mcp2518fd_BitTimeConfigureData10MHz(CAN_BITTIME_SETUP bitTime, CAN_SSP_MODE sspMode);
byte ext_flg; // identifier xxxID
// either extended (the 29 LSB) or standard (the 11 LSB)
mcp2518fd_can_dfs.h
-1
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@@ -47,7 +47,6 @@ DIRECTLY TO MICROCHIP FOR THIS SOFTWARE.
#include "mcp2518fd_can_def.h"
#include <Arduino.h>
//#include <SPI.h>
#include <inttypes.h>
// DOM-IGNORE-BEGIN
mcp2518fd_canfdspi_api.cpp
-4136
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mcp2518fd_canfdspi_api.h
-1134
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File diff suppressed because it is too large Load Diff