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Add: API CANFD::len2dlc()

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turmary
2021-01-18 17:30:00 +08:00
parent 92597cb97d
commit cfd840cd23
2 changed files with 74 additions and 30 deletions
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src/mcp2518fd_can.cpp
+41 -20
View File
@@ -83,7 +83,6 @@ byte mcp2518fd::begin(byte speedset, const byte clockset) {
** Descriptions: reset the device
*********************************************************************************************************/
int8_t mcp2518fd::mcp2518fd_reset(void) {
uint16_t spiTransferSize = 2;
int8_t spiTransferError = 0;
// Compose command
@@ -106,7 +105,6 @@ int8_t mcp2518fd::mcp2518fd_reset(void) {
}
int8_t mcp2518fd::mcp2518fd_ReadByte(uint16_t address, uint8_t *rxd) {
uint16_t spiTransferSize = 3;
int8_t spiTransferError = 0;
// Compose command
@@ -133,7 +131,6 @@ int8_t mcp2518fd::mcp2518fd_ReadByte(uint16_t address, uint8_t *rxd) {
}
int8_t mcp2518fd::mcp2518fd_WriteByte(uint16_t address, uint8_t txd) {
uint16_t spiTransferSize = 3;
int8_t spiTransferError = 0;
// Compose command
@@ -160,7 +157,6 @@ int8_t mcp2518fd::mcp2518fd_WriteByte(uint16_t address, uint8_t txd) {
int8_t mcp2518fd::mcp2518fd_ReadWord(uint16_t address, uint32_t *rxd) {
uint8_t i;
uint32_t x;
uint16_t spiTransferSize = 6;
int8_t spiTransferError = 0;
// Compose command
@@ -194,7 +190,6 @@ int8_t mcp2518fd::mcp2518fd_ReadWord(uint16_t address, uint32_t *rxd) {
int8_t mcp2518fd::mcp2518fd_WriteWord(uint16_t address, uint32_t txd) {
uint8_t i;
uint16_t spiTransferSize = 6;
int8_t spiTransferError = 0;
// Compose command
@@ -228,7 +223,6 @@ int8_t mcp2518fd::mcp2518fd_WriteWord(uint16_t address, uint32_t txd) {
int8_t mcp2518fd::mcp2518fd_ReadHalfWord(uint16_t address, uint16_t *rxd) {
uint8_t i;
uint32_t x;
uint16_t spiTransferSize = 4;
int8_t spiTransferError = 0;
// Compose command
@@ -262,7 +256,6 @@ int8_t mcp2518fd::mcp2518fd_ReadHalfWord(uint16_t address, uint16_t *rxd) {
int8_t mcp2518fd::mcp2518fd_WriteHalfWord(uint16_t address, uint16_t txd) {
uint8_t i;
uint16_t spiTransferSize = 4;
int8_t spiTransferError = 0;
// Compose command
@@ -363,7 +356,6 @@ int8_t mcp2518fd::mcp2518fd_WriteByteArray(uint16_t address, uint8_t *txd,
int8_t mcp2518fd::mcp2518fd_WriteByteSafe(uint16_t address, uint8_t txd) {
uint16_t crcResult = 0;
uint16_t spiTransferSize = 5;
int8_t spiTransferError = 0;
// Compose command
@@ -397,7 +389,6 @@ int8_t mcp2518fd::mcp2518fd_WriteByteSafe(uint16_t address, uint8_t txd) {
int8_t mcp2518fd::mcp2518fd_WriteWordSafe(uint16_t address, uint32_t txd) {
uint8_t i;
uint16_t crcResult = 0;
uint16_t spiTransferSize = 8;
int8_t spiTransferError = 0;
// Compose command
@@ -2538,14 +2529,16 @@ byte mcp2518fd::isExtendedFrame(void) { return ext_flg; }
** Status has to be read with readRxTxStatus.
*********************************************************************************************************/
byte mcp2518fd::readMsgBufID(byte status, volatile unsigned long *id,
volatile byte *ext, volatile byte *rtrBit,
volatile byte *ext, volatile byte *rtr,
volatile byte *len, volatile byte *buf) {
byte r = mcp2518fd_readMsgBufID(len, buf);
if (id)
*id = can_id;
if (ext)
*ext = ext_flg;
if (rtrBit)
*rtrBit = rtr;
if (rtr)
*rtr = this->rtr;
return r;
}
@@ -2554,7 +2547,7 @@ byte mcp2518fd::readMsgBufID(byte status, volatile unsigned long *id,
** Descriptions: read message buf
*********************************************************************************************************/
byte mcp2518fd::readMsgBuf(byte *len, byte buf[]) {
return mcp2518fd_readMsgBufID(len, buf);
return readMsgBufID(readRxTxStatus(), NULL, &ext_flg, &rtr, len, buf);
}
/*********************************************************************************************************
@@ -2618,10 +2611,9 @@ byte mcp2518fd::mcp2518fd_readMsgBufID(volatile byte *len, volatile byte *buf) {
** Descriptions: Try to send message. There is no delays for waiting
*free buffer.
*********************************************************************************************************/
byte mcp2518fd::trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len,
byte mcp2518fd::trySendMsgBuf(unsigned long id, byte ext, byte rtr, byte len,
const byte *buf, byte iTxBuf) {
return CAN_OK;
return mcp2518fd_sendMsg(buf, len, id, ext, rtr, false);
}
/*********************************************************************************************************
@@ -2645,18 +2637,18 @@ void mcp2518fd::clearBufferTransmitIfFlags(byte flags) {
** Status has to be read with readRxTxStatus and
*filtered with checkClearTxStatus
*********************************************************************************************************/
byte mcp2518fd::sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit,
byte mcp2518fd::sendMsgBuf(byte status, unsigned long id, byte ext, byte rtr,
byte len, volatile const byte *buf) {
return CAN_OK;
return mcp2518fd_sendMsg((const byte *)buf, len, id, ext, rtr, true);
}
/*********************************************************************************************************
** Function name: sendMsgBuf
** Descriptions: send buf
*********************************************************************************************************/
byte mcp2518fd::sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len,
byte mcp2518fd::sendMsgBuf(unsigned long id, byte ext, byte rtr, byte len,
const byte *buf, bool wait_sent) {
return mcp2518fd_sendMsg(buf, len, id, ext, rtrBit, wait_sent);
return mcp2518fd_sendMsg(buf, len, id, ext, rtr, wait_sent);
}
/*********************************************************************************************************
@@ -2812,3 +2804,32 @@ byte mcp2518fd::mcpDigitalRead(const byte pin) {
return ret;
}
/* CANFD Auxiliary helper */
byte CANFD::dlc2len(byte dlc) {
if (dlc <= CAN_DLC_8)
return dlc;
switch (dlc) {
case CAN_DLC_12: return 12;
case CAN_DLC_16: return 16;
case CAN_DLC_20: return 20;
case CAN_DLC_24: return 24;
case CAN_DLC_32: return 32;
case CAN_DLC_48: return 48;
default:
case CAN_DLC_64: return 64;
}
}
byte CANFD::len2dlc(byte len) {
if (len <= CAN_DLC_8)
return len;
else if (len <= 12) return CAN_DLC_12;
else if (len <= 16) return CAN_DLC_16;
else if (len <= 20) return CAN_DLC_20;
else if (len <= 24) return CAN_DLC_24;
else if (len <= 32) return CAN_DLC_32;
else if (len <= 48) return CAN_DLC_48;
return CAN_DLC_64;
}
src/mcp2518fd_can.h
+33 -10
View File
@@ -117,14 +117,10 @@ public:
virtual byte wake();
virtual byte setMode(const byte opMode);
virtual byte getMode();
virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len,
const byte *buf, bool wait_sent = true);
virtual byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf,
bool wait_sent = true);
virtual byte readMsgBuf(byte *len, byte *buf);
virtual byte readMsgBufID(unsigned long *ID, byte *len, byte *buf);
virtual byte checkReceive(void);
virtual byte checkError(void);
/* ---- receiving ---- */
virtual byte checkReceive(void);
virtual unsigned long getCanId(void);
virtual byte isRemoteRequest(void);
virtual byte isExtendedFrame(void);
@@ -132,10 +128,29 @@ public:
volatile byte *ext, volatile byte *rtr,
volatile byte *len,
volatile byte *buf); // read buf with object ID
virtual byte trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len,
virtual byte readMsgBufID(unsigned long *ID, byte *len, byte *buf);
virtual byte readMsgBuf(byte *len, byte *buf);
/* ---- sending ---- */
/* dlc = CAN_DLC_0..CAN_DLC_64(0..15)
* CAN_DLC_0..CAN_DLC_8(0..8) = data bytes count, compatible to MCP2515 APIs
* CAN_DLC_12(9) = 12 bytes
* CAN_DLC_16(10) = 16 bytes
* CAN_DLC_20(11) = 20 bytes
* CAN_DLC_24(12) = 24 bytes
* CAN_DLC_32(13) = 32 bytes
* CAN_DLC_48(14) = 48 bytes
* CAN_DLC_64(15) = 64 bytes
*/
virtual byte trySendMsgBuf(unsigned long id, byte ext, byte rtr, byte dlc,
const byte *buf, byte iTxBuf = 0xff);
virtual byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit,
byte len, volatile const byte *buf);
virtual byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtr,
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);
virtual void clearBufferTransmitIfFlags(byte flags = 0);
virtual byte readRxTxStatus(void);
virtual byte checkClearRxStatus(byte *status);
@@ -248,4 +263,12 @@ private:
byte nReservedTx; // Count of tx buffers for reserved send
CAN_OPERATION_MODE mcpMode = CAN_CLASSIC_MODE; // Current controller mode
};
/* CANFD Auxiliary helper */
class CANFD {
public:
static byte dlc2len(byte dlc);
static byte len2dlc(byte len);
};
#endif