mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-09-14 10:33:49 +00:00
drop mcp_can_dfs.h
This commit is contained in:
Dmitry
+39
-40
@@ -21,10 +21,10 @@ void MCP_CAN::endSPI() {
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SPI.endTransaction();
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: reset
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** Descriptions: reset the device
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*********************************************************************************************************/
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******************************************************************************/
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void MCP_CAN::reset(void)
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{
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startSPI();
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@@ -33,10 +33,10 @@ void MCP_CAN::reset(void)
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delay(10);
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: readRegister
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** Descriptions: read register
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*********************************************************************************************************/
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******************************************************************************/
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uint8_t MCP_CAN::readRegister(const REGISTER reg)
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{
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startSPI();
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@@ -48,10 +48,10 @@ uint8_t MCP_CAN::readRegister(const REGISTER reg)
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return ret;
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: readRegisterS
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** Descriptions: read registerS
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*********************************************************************************************************/
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******************************************************************************/
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void MCP_CAN::readRegisterS(const REGISTER address, uint8_t values[], const uint8_t n)
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{
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startSPI();
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@@ -64,10 +64,10 @@ void MCP_CAN::readRegisterS(const REGISTER address, uint8_t values[], const uint
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endSPI();
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: setRegister
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** Descriptions: set register
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*********************************************************************************************************/
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******************************************************************************/
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void MCP_CAN::setRegister(const REGISTER reg, const uint8_t value)
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{
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startSPI();
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@@ -77,10 +77,10 @@ void MCP_CAN::setRegister(const REGISTER reg, const uint8_t value)
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endSPI();
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: setRegisterS
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** Descriptions: set registerS
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*********************************************************************************************************/
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******************************************************************************/
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void MCP_CAN::setRegisterS(const REGISTER reg, const uint8_t values[], const uint8_t n)
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{
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startSPI();
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@@ -92,24 +92,24 @@ void MCP_CAN::setRegisterS(const REGISTER reg, const uint8_t values[], const uin
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endSPI();
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: modifyRegister
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** Descriptions: set bit of one register
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*********************************************************************************************************/
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void MCP_CAN::modifyRegister(const REGISTER address, const uint8_t mask, const uint8_t data)
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******************************************************************************/
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void MCP_CAN::modifyRegister(const REGISTER reg, const uint8_t mask, const uint8_t data)
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{
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startSPI();
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SPI.transfer(INSTRUCTION_BITMOD);
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SPI.transfer(address);
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SPI.transfer(reg);
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SPI.transfer(mask);
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SPI.transfer(data);
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endSPI();
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: getStatus
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** Descriptions: read mcp2515's Status
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*********************************************************************************************************/
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******************************************************************************/
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uint8_t MCP_CAN::getStatus(void)
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{
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startSPI();
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@@ -120,10 +120,10 @@ uint8_t MCP_CAN::getStatus(void)
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return i;
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: setCANCTRL_Mode
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** Descriptions: set control mode
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*********************************************************************************************************/
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******************************************************************************/
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MCP_CAN::ERROR MCP_CAN::setCANCTRL_Mode(const MODE newmode)
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{
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modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
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@@ -133,10 +133,10 @@ MCP_CAN::ERROR MCP_CAN::setCANCTRL_Mode(const MODE newmode)
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: configRate
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** Descriptions: set boadrate
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*********************************************************************************************************/
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******************************************************************************/
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MCP_CAN::ERROR MCP_CAN::configRate(const CAN_SPEED canSpeed)
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{
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uint8_t set, cfg1, cfg2, cfg3;
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@@ -255,10 +255,10 @@ MCP_CAN::ERROR MCP_CAN::configRate(const CAN_SPEED canSpeed)
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}
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: init
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** Descriptions: init the device
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*********************************************************************************************************/
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******************************************************************************/
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MCP_CAN::ERROR MCP_CAN::init(const CAN_SPEED canSpeed)
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{
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reset();
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@@ -287,10 +287,9 @@ MCP_CAN::ERROR MCP_CAN::init(const CAN_SPEED canSpeed)
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setRegister(MCP_CANINTE, CANINTF_RX0IF | CANINTF_RX1IF);
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modifyRegister(MCP_RXB0CTRL,
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MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
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MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
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modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
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MCP_RXB_RX_STDEXT);
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RXBnCTRL_RXM_MASK | RXB0CTRL_BUKT,
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RXBnCTRL_RXM_STDEXT | RXB0CTRL_BUKT);
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modifyRegister(MCP_RXB1CTRL, RXBnCTRL_RXM_MASK, RXBnCTRL_RXM_STDEXT);
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res = setCANCTRL_Mode(m_mode);
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delay(10);
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@@ -299,10 +298,10 @@ MCP_CAN::ERROR MCP_CAN::init(const CAN_SPEED canSpeed)
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: write_id
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** Descriptions: write can id
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*********************************************************************************************************/
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******************************************************************************/
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void MCP_CAN::write_id(const REGISTER reg, const bool ext, const uint32_t id)
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{
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uint8_t tbufdata[4];
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@@ -332,10 +331,10 @@ void MCP_CAN::prepareId(uint8_t *buffer, const bool ext, const uint32_t id)
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}
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: set CS
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** Descriptions: init CS pin and set UNSELECTED
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*********************************************************************************************************/
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******************************************************************************/
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MCP_CAN::MCP_CAN(const uint8_t _CS, const MODE mode)
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{
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m_mode = mode;
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@@ -344,20 +343,20 @@ MCP_CAN::MCP_CAN(const uint8_t _CS, const MODE mode)
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endSPI();
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: init
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** Descriptions: init can and set speed
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*********************************************************************************************************/
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******************************************************************************/
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MCP_CAN::ERROR MCP_CAN::begin(const CAN_SPEED speedset)
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{
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SPI.begin();
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return init(speedset);
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: initMask
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** Descriptions: init canid Masks
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*********************************************************************************************************/
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******************************************************************************/
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MCP_CAN::ERROR MCP_CAN::initMask(const uint8_t num, const bool ext, const uint32_t ulData)
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{
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delay(10);
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@@ -381,10 +380,10 @@ MCP_CAN::ERROR MCP_CAN::initMask(const uint8_t num, const bool ext, const uint32
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return res;
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}
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/*********************************************************************************************************
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/******************************************************************************
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** Function name: initFilt
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** Descriptions: init canid filters
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*********************************************************************************************************/
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******************************************************************************/
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MCP_CAN::ERROR MCP_CAN::initFilt(const RXF num, const bool ext, const uint32_t ulData)
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{
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delay(10);
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@@ -524,10 +523,10 @@ MCP_CAN::ERROR MCP_CAN::readMessage(uint32_t *id, uint8_t *dlc, uint8_t buf[], b
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return rc;
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: checkReceive
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** Descriptions: check if got something
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*********************************************************************************************************/
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******************************************************************************/
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bool MCP_CAN::checkReceive(void)
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{
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uint8_t res = getStatus();
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@@ -538,10 +537,10 @@ bool MCP_CAN::checkReceive(void)
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}
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}
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/*********************************************************************************************************
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/*****************************************************************************
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** Function name: checkError
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** Descriptions: if something error
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*********************************************************************************************************/
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******************************************************************************/
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bool MCP_CAN::checkError(void)
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{
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uint8_t eflg = readRegister(MCP_EFLG);
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@@ -3,7 +3,78 @@
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#include <SPI.h>
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#include "mcp_can_dfs.h"
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/*
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* speed 16M
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*/
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#define MCP_16MHz_1000kBPS_CFG1 (0x00)
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#define MCP_16MHz_1000kBPS_CFG2 (0xD0)
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#define MCP_16MHz_1000kBPS_CFG3 (0x82)
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#define MCP_16MHz_500kBPS_CFG1 (0x00)
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#define MCP_16MHz_500kBPS_CFG2 (0xF0)
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#define MCP_16MHz_500kBPS_CFG3 (0x86)
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#define MCP_16MHz_250kBPS_CFG1 (0x41)
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#define MCP_16MHz_250kBPS_CFG2 (0xF1)
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#define MCP_16MHz_250kBPS_CFG3 (0x85)
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#define MCP_16MHz_200kBPS_CFG1 (0x01)
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#define MCP_16MHz_200kBPS_CFG2 (0xFA)
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#define MCP_16MHz_200kBPS_CFG3 (0x87)
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#define MCP_16MHz_125kBPS_CFG1 (0x03)
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#define MCP_16MHz_125kBPS_CFG2 (0xF0)
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#define MCP_16MHz_125kBPS_CFG3 (0x86)
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#define MCP_16MHz_100kBPS_CFG1 (0x03)
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#define MCP_16MHz_100kBPS_CFG2 (0xFA)
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#define MCP_16MHz_100kBPS_CFG3 (0x87)
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/*
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#define MCP_16MHz_100kBPS_CFG1 (0x03)
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#define MCP_16MHz_100kBPS_CFG2 (0xBA)
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#define MCP_16MHz_100kBPS_CFG3 (0x07)
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*/
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#define MCP_16MHz_95kBPS_CFG1 (0x03)
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#define MCP_16MHz_95kBPS_CFG2 (0xAD)
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#define MCP_16MHz_95kBPS_CFG3 (0x07)
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#define MCP_16MHz_83k3BPS_CFG1 (0x03)
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#define MCP_16MHz_83k3BPS_CFG2 (0xBE)
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#define MCP_16MHz_83k3BPS_CFG3 (0x07)
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#define MCP_16MHz_80kBPS_CFG1 (0x03)
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#define MCP_16MHz_80kBPS_CFG2 (0xFF)
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#define MCP_16MHz_80kBPS_CFG3 (0x87)
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#define MCP_16MHz_50kBPS_CFG1 (0x07)
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#define MCP_16MHz_50kBPS_CFG2 (0xFA)
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#define MCP_16MHz_50kBPS_CFG3 (0x87)
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#define MCP_16MHz_40kBPS_CFG1 (0x07)
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#define MCP_16MHz_40kBPS_CFG2 (0xFF)
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#define MCP_16MHz_40kBPS_CFG3 (0x87)
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#define MCP_16MHz_33kBPS_CFG1 (0x09)
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#define MCP_16MHz_33kBPS_CFG2 (0xBE)
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#define MCP_16MHz_33kBPS_CFG3 (0x07)
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#define MCP_16MHz_31k25BPS_CFG1 (0x0F)
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#define MCP_16MHz_31k25BPS_CFG2 (0xF1)
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#define MCP_16MHz_31k25BPS_CFG3 (0x85)
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#define MCP_16MHz_20kBPS_CFG1 (0x0F)
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#define MCP_16MHz_20kBPS_CFG2 (0xFF)
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#define MCP_16MHz_20kBPS_CFG3 (0x87)
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#define MCP_16MHz_10kBPS_CFG1 (0x1F)
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#define MCP_16MHz_10kBPS_CFG2 (0xFF)
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#define MCP_16MHz_10kBPS_CFG3 (0x87)
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#define MCP_16MHz_5kBPS_CFG1 (0x3F)
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#define MCP_16MHz_5kBPS_CFG2 (0xFF)
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#define MCP_16MHz_5kBPS_CFG3 (0x87)
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enum CAN_SPEED {
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CAN_5KBPS,
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@@ -68,6 +139,19 @@ class MCP_CAN
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static const uint8_t DLC_MASK = 0x0F;
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static const uint8_t RTR_MASK = 0x40;
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static const uint8_t RXBnCTRL_RXM_STD = 0x20;
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static const uint8_t RXBnCTRL_RXM_EXT = 0x40;
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static const uint8_t RXBnCTRL_RXM_STDEXT = 0x00;
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static const uint8_t RXBnCTRL_RXM_MASK = 0x60;
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static const uint8_t RXB0CTRL_BUKT = 0x40;
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static const uint8_t MCP_SIDH = 0;
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static const uint8_t MCP_SIDL = 1;
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static const uint8_t MCP_EID8 = 2;
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static const uint8_t MCP_EID0 = 3;
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static const uint8_t MCP_DLC = 4;
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static const uint8_t MCP_DATA = 5;
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enum RXF {
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RXF0 = 0,
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RXF1 = 1,
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@@ -232,27 +316,23 @@ class MCP_CAN
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private:
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void reset(void);
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uint8_t readRegister(const REGISTER reg);
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void readRegisterS(const REGISTER reg, uint8_t values[], const uint8_t n);
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void setRegister(const REGISTER reg, const uint8_t value);
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void setRegisterS(const REGISTER reg, const uint8_t values[], const uint8_t n);
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void modifyRegister(const REGISTER reg, const uint8_t mask, const uint8_t data);
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|
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ERROR setCANCTRL_Mode(const MODE newmode);
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ERROR configRate(const CAN_SPEED canSpeed);
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ERROR init(const CAN_SPEED canSpeed);
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void startSPI();
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void endSPI();
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uint8_t readRegister(const REGISTER reg);
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void readRegisterS(const REGISTER reg, uint8_t values[], const uint8_t n);
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void setRegister(const REGISTER reg, const uint8_t value);
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void setRegisterS(const REGISTER reg, const uint8_t values[], const uint8_t n);
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void modifyRegister(const REGISTER reg, const uint8_t mask, const uint8_t data);
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|
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void write_id(const REGISTER reg, const bool ext, const uint32_t id);
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|
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void prepareId(uint8_t *buffer, const bool ext, const uint32_t id);
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|
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void startSPI();
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void endSPI();
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|
||||
public:
|
||||
MCP_CAN(const uint8_t _CS, const MODE mode);
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ERROR begin(const CAN_SPEED speedset);
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||||
@@ -4,91 +4,6 @@
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||||
/*
|
||||
* Begin mt
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||||
*/
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#define MCP_SIDH 0
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||||
#define MCP_SIDL 1
|
||||
#define MCP_EID8 2
|
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#define MCP_EID0 3
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#define MCP_DLC 4
|
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#define MCP_DATA 5
|
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|
||||
#define MCP_RXB_RX_EXT 0x40
|
||||
#define MCP_RXB_RX_STD 0x20
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||||
#define MCP_RXB_RX_STDEXT 0x00
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#define MCP_RXB_RX_MASK 0x60
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#define MCP_RXB_BUKT_MASK (1<<2)
|
||||
|
||||
/*
|
||||
* speed 16M
|
||||
*/
|
||||
#define MCP_16MHz_1000kBPS_CFG1 (0x00)
|
||||
#define MCP_16MHz_1000kBPS_CFG2 (0xD0)
|
||||
#define MCP_16MHz_1000kBPS_CFG3 (0x82)
|
||||
|
||||
#define MCP_16MHz_500kBPS_CFG1 (0x00)
|
||||
#define MCP_16MHz_500kBPS_CFG2 (0xF0)
|
||||
#define MCP_16MHz_500kBPS_CFG3 (0x86)
|
||||
|
||||
#define MCP_16MHz_250kBPS_CFG1 (0x41)
|
||||
#define MCP_16MHz_250kBPS_CFG2 (0xF1)
|
||||
#define MCP_16MHz_250kBPS_CFG3 (0x85)
|
||||
|
||||
#define MCP_16MHz_200kBPS_CFG1 (0x01)
|
||||
#define MCP_16MHz_200kBPS_CFG2 (0xFA)
|
||||
#define MCP_16MHz_200kBPS_CFG3 (0x87)
|
||||
|
||||
#define MCP_16MHz_125kBPS_CFG1 (0x03)
|
||||
#define MCP_16MHz_125kBPS_CFG2 (0xF0)
|
||||
#define MCP_16MHz_125kBPS_CFG3 (0x86)
|
||||
|
||||
#define MCP_16MHz_100kBPS_CFG1 (0x03)
|
||||
#define MCP_16MHz_100kBPS_CFG2 (0xFA)
|
||||
#define MCP_16MHz_100kBPS_CFG3 (0x87)
|
||||
|
||||
/*
|
||||
#define MCP_16MHz_100kBPS_CFG1 (0x03)
|
||||
#define MCP_16MHz_100kBPS_CFG2 (0xBA)
|
||||
#define MCP_16MHz_100kBPS_CFG3 (0x07)
|
||||
*/
|
||||
|
||||
#define MCP_16MHz_95kBPS_CFG1 (0x03)
|
||||
#define MCP_16MHz_95kBPS_CFG2 (0xAD)
|
||||
#define MCP_16MHz_95kBPS_CFG3 (0x07)
|
||||
|
||||
#define MCP_16MHz_83k3BPS_CFG1 (0x03)
|
||||
#define MCP_16MHz_83k3BPS_CFG2 (0xBE)
|
||||
#define MCP_16MHz_83k3BPS_CFG3 (0x07)
|
||||
|
||||
#define MCP_16MHz_80kBPS_CFG1 (0x03)
|
||||
#define MCP_16MHz_80kBPS_CFG2 (0xFF)
|
||||
#define MCP_16MHz_80kBPS_CFG3 (0x87)
|
||||
|
||||
#define MCP_16MHz_50kBPS_CFG1 (0x07)
|
||||
#define MCP_16MHz_50kBPS_CFG2 (0xFA)
|
||||
#define MCP_16MHz_50kBPS_CFG3 (0x87)
|
||||
|
||||
#define MCP_16MHz_40kBPS_CFG1 (0x07)
|
||||
#define MCP_16MHz_40kBPS_CFG2 (0xFF)
|
||||
#define MCP_16MHz_40kBPS_CFG3 (0x87)
|
||||
|
||||
#define MCP_16MHz_33kBPS_CFG1 (0x09)
|
||||
#define MCP_16MHz_33kBPS_CFG2 (0xBE)
|
||||
#define MCP_16MHz_33kBPS_CFG3 (0x07)
|
||||
|
||||
#define MCP_16MHz_31k25BPS_CFG1 (0x0F)
|
||||
#define MCP_16MHz_31k25BPS_CFG2 (0xF1)
|
||||
#define MCP_16MHz_31k25BPS_CFG3 (0x85)
|
||||
|
||||
#define MCP_16MHz_20kBPS_CFG1 (0x0F)
|
||||
#define MCP_16MHz_20kBPS_CFG2 (0xFF)
|
||||
#define MCP_16MHz_20kBPS_CFG3 (0x87)
|
||||
|
||||
#define MCP_16MHz_10kBPS_CFG1 (0x1F)
|
||||
#define MCP_16MHz_10kBPS_CFG2 (0xFF)
|
||||
#define MCP_16MHz_10kBPS_CFG3 (0x87)
|
||||
|
||||
#define MCP_16MHz_5kBPS_CFG1 (0x3F)
|
||||
#define MCP_16MHz_5kBPS_CFG2 (0xFF)
|
||||
#define MCP_16MHz_5kBPS_CFG3 (0x87)
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user