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Move: all wrapper functions into header file

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This commit is contained in:
turmary
2021-01-29 23:32:51 +08:00
parent e1047f27e3
commit 9826a04cae
6 changed files with 72 additions and 155 deletions
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src/mcp2515_can.cpp
-49
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@@ -1162,31 +1162,6 @@ byte mcp2515_can::sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len,
return sendMsg(id, ext, rtrBit, len, buf, wait_sent);
}
/*********************************************************************************************************
** Function name: sendMsgBuf
** Descriptions: send buf
*********************************************************************************************************/
byte mcp2515_can::sendMsgBuf(unsigned long id, byte ext, byte len, const byte* buf, bool wait_sent) {
return sendMsg(id, ext, 0, len, buf, wait_sent);
}
/*********************************************************************************************************
** Function name: readMsgBuf
** Descriptions: read message buf
*********************************************************************************************************/
byte mcp2515_can::readMsgBuf(byte* len, byte buf[]) {
return readMsgBufID(readRxTxStatus(), &can_id, &ext_flg, &rtr, len, buf);
}
/*********************************************************************************************************
** Function name: readMsgBufID
** Descriptions: read message buf and can bus source ID
*********************************************************************************************************/
byte mcp2515_can::readMsgBufID(unsigned long* ID, byte* len, byte buf[]) {
return readMsgBufID(readRxTxStatus(), ID, &ext_flg, &rtr, len, buf);
}
/*********************************************************************************************************
** Function name: readMsgBufID
** Descriptions: Read message buf and can bus source ID according to status.
@@ -1312,30 +1287,6 @@ byte mcp2515_can::checkError(uint8_t* err_ptr) {
return ((eflg & MCP_EFLG_ERRORMASK) ? CAN_CTRLERROR : CAN_OK);
}
/*********************************************************************************************************
** Function name: getCanId
** Descriptions: when receive something, you can get the can id!!
*********************************************************************************************************/
unsigned long mcp2515_can::getCanId(void) {
return can_id;
}
/*********************************************************************************************************
** Function name: isRemoteRequest
** Descriptions: when receive something, you can check if it was a request
*********************************************************************************************************/
byte mcp2515_can::isRemoteRequest(void) {
return rtr;
}
/*********************************************************************************************************
** Function name: isExtendedFrame
** Descriptions: did we just receive standard 11bit frame or extended 29bit? 0 = std, 1 = ext
*********************************************************************************************************/
byte mcp2515_can::isExtendedFrame(void) {
return ext_flg;
}
/*********************************************************************************************************
** Function name: mcpPinMode
** Descriptions: switch supported pins between HiZ, interrupt, output or input
src/mcp2515_can.h
+16 -9
View File
@@ -77,18 +77,26 @@ public:
virtual byte wake(); // Wake MCP2515 manually from sleep
virtual byte setMode(byte opMode); // Set operational mode
virtual byte getMode(); // Get operational mode
virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, bool wait_sent = true); // send buf
virtual byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf, bool wait_sent = true); // send buf
virtual byte readMsgBuf(byte *len, byte *buf); // read buf
virtual byte readMsgBufID(unsigned long *ID, byte *len, byte *buf); // read buf with object ID
virtual byte checkReceive(void); // if something received
virtual byte checkError(uint8_t* err_ptr = NULL); // if something error
virtual unsigned long getCanId(void); // get can id when receive
virtual byte isRemoteRequest(void); // get RR flag when receive
virtual byte isExtendedFrame(void); // did we recieve 29bit frame?
virtual byte checkReceive(void); // if something received
virtual byte readMsgBufID(byte status, volatile unsigned long *id, volatile byte *ext, volatile byte *rtr, volatile byte *len, volatile byte *buf); // read buf with object ID
/* wrapper */
byte readMsgBufID(unsigned long *ID, byte *len, byte *buf) {
return readMsgBufID(readRxTxStatus(), ID, &ext_flg, &rtr, len, buf);
}
byte readMsgBuf(byte *len, byte *buf) {
return readMsgBufID(readRxTxStatus(), &can_id, &ext_flg, &rtr, len, buf);
}
virtual byte trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, byte iTxBuf = 0xff); // as sendMsgBuf, but does not have any wait for free buffer
virtual byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte *buf); // send message buf by using parsed buffer status
virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, bool wait_sent = true); // send buf
/* wrapper */
inline byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf) {
return sendMsgBuf(id, ext, 0, len, buf, true);
}
virtual void clearBufferTransmitIfFlags(byte flags = 0); // Clear transmit flags according to status
virtual byte readRxTxStatus(void); // read has something send or received
virtual byte checkClearRxStatus(byte *status); // read and clear and return first found rx status bit
@@ -146,7 +154,6 @@ private:
byte sendMsg(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, bool wait_sent = true); // send message
private:
byte rtr; // rtr
byte nReservedTx; // Count of tx buffers for reserved send
};
src/mcp2518fd_can.cpp
-45
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@@ -2452,26 +2452,6 @@ byte mcp2518fd::setMode(const byte opMode) {
return mcp2518fd_OperationModeSelect(mcpMode);
}
/*********************************************************************************************************
** Function name: getCanId
** Descriptions: when receive something, you can get the can id!!
*********************************************************************************************************/
unsigned long mcp2518fd::getCanId(void) { return can_id; }
/*********************************************************************************************************
** Function name: isRemoteRequest
** Descriptions: when receive something, you can check if it was a
*request
*********************************************************************************************************/
byte mcp2518fd::isRemoteRequest(void) { return rtr; }
/*********************************************************************************************************
** Function name: isExtendedFrame
** Descriptions: did we just receive standard 11bit frame or extended
*29bit? 0 = std, 1 = ext
*********************************************************************************************************/
byte mcp2518fd::isExtendedFrame(void) { return ext_flg; }
/*********************************************************************************************************
** Function name: readMsgBufID
** Descriptions: Read message buf and can bus source ID according to
@@ -2492,22 +2472,6 @@ byte mcp2518fd::readMsgBufID(byte status, volatile unsigned long *id,
return r;
}
/*********************************************************************************************************
** Function name: readMsgBuf
** Descriptions: read message buf
*********************************************************************************************************/
byte mcp2518fd::readMsgBuf(byte *len, byte buf[]) {
return readMsgBufID(readRxTxStatus(), NULL, &ext_flg, &rtr, len, buf);
}
/*********************************************************************************************************
** Function name: readMsgBufID
** Descriptions: read message buf and can bus source ID
*********************************************************************************************************/
byte mcp2518fd::readMsgBufID(unsigned long *ID, byte *len, byte buf[]) {
return readMsgBufID(readRxTxStatus(), ID, &ext_flg, &rtr, len, buf);
}
/*********************************************************************************************************
** Function name: checkReceive
** Descriptions: check if got something
@@ -2603,15 +2567,6 @@ byte mcp2518fd::sendMsgBuf(unsigned long id, byte ext, byte rtr, byte len,
return mcp2518fd_sendMsg(buf, len, id, ext, rtr, wait_sent);
}
/*********************************************************************************************************
** Function name: sendMsgBuf
** Descriptions: send buf
*********************************************************************************************************/
byte mcp2518fd::sendMsgBuf(unsigned long id, byte ext, byte len,
const byte *buf, bool wait_sent) {
return mcp2518fd_sendMsg(buf, len, id, ext, 0, wait_sent);
}
/*********************************************************************************************************
** Function name: readRxTxStatus
** Descriptions: Read RX and TX interrupt bits. Function uses status
src/mcp2518fd_can.h
+12 -9
View File
@@ -108,7 +108,7 @@ public:
return 3 - 1; // read index of last tx buffer
}
virtual byte begin(byte speedset,
const byte clockset = CAN_SYSCLK_40M); // init can
const byte clockset = MCP2518FD_40MHz); // init can
virtual byte init_Mask(byte num, byte ext, unsigned long ulData);
virtual byte init_Filt(byte num, byte ext,
unsigned long ulData); // init filters
@@ -121,15 +121,17 @@ public:
/* ---- receiving ---- */
virtual byte checkReceive(void);
virtual unsigned long getCanId(void);
virtual byte isRemoteRequest(void);
virtual byte isExtendedFrame(void);
virtual byte readMsgBufID(byte status, volatile unsigned long *id,
volatile byte *ext, volatile byte *rtr,
volatile byte *len,
volatile byte *buf); // read buf with object ID
virtual byte readMsgBufID(unsigned long *ID, byte *len, byte *buf);
virtual byte readMsgBuf(byte *len, byte *buf);
/* wrapper */
byte readMsgBufID(unsigned long *ID, byte *len, byte *buf) {
return readMsgBufID(readRxTxStatus(), ID, &ext_flg, &rtr, len, buf);
}
byte readMsgBuf(byte *len, byte *buf) {
return readMsgBufID(readRxTxStatus(), &can_id, &ext_flg, &rtr, len, buf);
}
/* ---- sending ---- */
/* dlc = CAN_DLC_0..CAN_DLC_64(0..15)
@@ -148,8 +150,10 @@ public:
byte dlc, volatile const byte *buf);
virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtr, byte dlc,
const byte *buf, bool wait_sent = true);
virtual byte sendMsgBuf(unsigned long id, byte ext, byte dlc, const byte *buf,
bool wait_sent = true);
/* wrapper */
inline byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf) {
return sendMsgBuf(id, ext, 0, len, buf, true);
}
virtual void clearBufferTransmitIfFlags(byte flags = 0);
virtual byte readRxTxStatus(void);
@@ -256,7 +260,6 @@ private:
int8_t mcp2518fd_BitTimeConfigureData10MHz(MCP2518FD_BITTIME_SETUP bitTime,
CAN_SSP_MODE sspMode);
byte rtr; // rtr
byte nReservedTx; // Count of tx buffers for reserved send
CAN_OPERATION_MODE mcpMode = CAN_CLASSIC_MODE; // Current controller mode
};
src/mcp_can.cpp
-8
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@@ -29,11 +29,3 @@ void MCP_CAN::setSPI(SPIClass *_pSPI)
{
pSPI = _pSPI; // define SPI port to use before begin()
}
inline byte MCP_CAN::trySendExtMsgBuf(unsigned long id, byte len, const byte *buf, byte iTxBuf)
{ // as trySendMsgBuf, but set ext=1 and rtr=0
return trySendMsgBuf(id, 1, 0, len, buf, iTxBuf);
}
inline byte MCP_CAN::sendExtMsgBuf(byte status, unsigned long id, byte len, volatile const byte *buf)
{ // as sendMsgBuf, but set ext=1 and rtr=0
return sendMsgBuf(status, id, 1, 0, len, buf);
}
src/mcp_can.h
+44 -35
View File
@@ -5,14 +5,10 @@
#include <SPI.h>
#include <inttypes.h>
#define CAN_OK (0)
#define CAN_FAILINIT (1)
#define CAN_FAILTX (2)
#define CAN_MSGAVAIL (3)
#define CAN_NOMSG (4)
#define CAN_CTRLERROR (5)
#define CAN_GETTXBFTIMEOUT (6)
@@ -57,54 +53,67 @@ typedef enum {
class MCP_CAN
{
public:
virtual void enableTxInterrupt(bool enable = true) = 0; // enable transmit interrupt
virtual void enableTxInterrupt(bool enable = true) = 0; // enable transmit interrupt
virtual void reserveTxBuffers(byte nTxBuf = 0) = 0;
virtual byte getLastTxBuffer() = 0;
/*
* speedset be in MCP_BITTIME_SETUP
* clockset be in MCP_CLOCK_T
*/
virtual byte begin(byte speedset, const byte clockset) = 0; // init can
virtual byte init_Mask(byte num, byte ext, unsigned long ulData) = 0; // init Masks
virtual byte init_Filt(byte num, byte ext, unsigned long ulData) = 0; // init filters
virtual void setSleepWakeup(byte enable) = 0; // Enable or disable the wake up interrupt (If disabled the MCP2515 will not be woken up by CAN bus activity, making it send only)
virtual byte sleep() = 0; // Put the MCP2515 in sleep mode
virtual byte wake() = 0; // Wake MCP2515 manually from sleep
virtual byte setMode(byte opMode) = 0; // Set operational mode
virtual byte getMode() = 0; // Get operational mode
virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, bool wait_sent = true) = 0; // send buf
virtual byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf, bool wait_sent = true) = 0; // send buf
virtual byte readMsgBuf(byte *len, byte *buf) = 0; // read buf
virtual byte readMsgBufID(unsigned long *ID, byte *len, byte *buf) = 0; // read buf with object ID
virtual byte checkReceive(void) = 0; // if something received
virtual byte checkError(uint8_t* err_ptr = NULL) = 0; // if something error
virtual unsigned long getCanId(void) = 0; // get can id when receive
virtual byte isRemoteRequest(void) = 0; // get RR flag when receive
virtual byte isExtendedFrame(void) = 0; // did we recieve 29bit frame?
virtual byte readMsgBufID(byte status, volatile unsigned long *id, volatile byte *ext, volatile byte *rtr, volatile byte *len, volatile byte *buf) = 0; // read buf with object ID
virtual byte trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, byte iTxBuf = 0xff) = 0; // as sendMsgBuf, but does not have any wait for free buffer
virtual byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte *buf) = 0; // send message buf by using parsed buffer status
virtual void clearBufferTransmitIfFlags(byte flags = 0) = 0; // Clear transmit flags according to status
virtual byte readRxTxStatus(void) = 0; // read has something send or received
virtual byte checkClearRxStatus(byte *status) = 0; // read and clear and return first found rx status bit
virtual byte checkClearTxStatus(byte *status, byte iTxBuf = 0xff) = 0; // read and clear and return first found or buffer specified tx status bit
virtual bool mcpPinMode(const byte pin, const byte mode) = 0; // switch supported pins between HiZ, interrupt, output or input
virtual bool mcpDigitalWrite(const byte pin, const byte mode) = 0; // write HIGH or LOW to RX0BF/RX1BF
virtual byte mcpDigitalRead(const byte pin) = 0; // read HIGH or LOW from supported pins
virtual byte begin(byte speedset, const byte clockset) = 0; // init can
virtual byte init_Mask(byte num, byte ext, unsigned long ulData) = 0; // init Masks
virtual byte init_Filt(byte num, byte ext, unsigned long ulData) = 0; // init filters
virtual void setSleepWakeup(byte enable) = 0; // Enable or disable the wake up interrupt
// (If disabled the MCP2515 will not be woken up by CAN bus activity, making it send only)
virtual byte sleep() = 0; // Put the MCP2515 in sleep mode
virtual byte wake() = 0; // Wake MCP2515 manually from sleep
virtual byte setMode(byte opMode) = 0; // Set operational mode
virtual byte getMode() = 0; // Get operational mode
virtual byte checkError(uint8_t* err_ptr = NULL) = 0; // if something error
/* ---- receiving ---- */
virtual byte checkReceive(void) = 0; // if something received
virtual byte readMsgBufID(byte status,
volatile unsigned long *id, volatile byte *ext, volatile byte *rtr,
volatile byte *len, volatile byte *buf) = 0; // read buf with object ID
/* wrapper */
virtual byte readMsgBufID(unsigned long *ID, byte *len, byte *buf) = 0;
virtual byte readMsgBuf(byte *len, byte *buf) = 0;
/* could be called after a successful readMsgBufID() */
unsigned long getCanId(void) { return can_id; }
byte isRemoteRequest(void) { return rtr; }
byte isExtendedFrame(void) { return ext_flg;}
/* ---- sending ---- */
virtual byte trySendMsgBuf(unsigned long id, byte ext, byte rtr,
byte len, const byte *buf, byte iTxBuf = 0xff) = 0; // as sendMsgBuf, but does not have any wait for free buffer
virtual byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtr,
byte len, volatile const byte *buf) = 0; // send message buf by using parsed buffer status
virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit,
byte len, const byte *buf, bool wait_sent = true) = 0; // send message with wait
virtual void clearBufferTransmitIfFlags(byte flags = 0) = 0; // Clear transmit flags according to status
virtual byte readRxTxStatus(void) = 0; // read has something send or received
virtual byte checkClearRxStatus(byte *status) = 0; // read and clear and return first found rx status bit
virtual byte checkClearTxStatus(byte *status, byte iTxBuf = 0xff) = 0; // read and clear and return first found or buffer specified tx status bit
virtual bool mcpPinMode(const byte pin, const byte mode) = 0; // switch supported pins between HiZ, interrupt, output or input
virtual bool mcpDigitalWrite(const byte pin, const byte mode) = 0; // write HIGH or LOW to RX0BF/RX1BF
virtual byte mcpDigitalRead(const byte pin) = 0; // read HIGH or LOW from supported pins
public:
MCP_CAN(byte _CS);
void init_CS(byte _CS); // define CS after construction before begin()
void setSPI(SPIClass *_pSPI);
inline byte trySendExtMsgBuf(unsigned long id, byte len, const byte *buf, byte iTxBuf = 0xff);
inline byte sendExtMsgBuf(byte status, unsigned long id, byte len, volatile const byte *buf);
protected:
byte ext_flg; // identifier xxxID
// either extended (the 29 LSB) or standard (the 11 LSB)
unsigned long can_id; // can id
byte rtr; // is remote frame
byte SPICS;
SPIClass *pSPI;
byte mcpMode; // Current controller mode
};
#endif
#endif