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Modified separate 2515 code, provide public interface

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wangcoolc
2020-12-10 17:10:14 +08:00
committed by Baozhu Zuo
parent 4a9eb41389
commit ed18dd50ad
3 changed files with 69 additions and 2241 deletions
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mcp_can.cpp
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mcp_can.h
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/*
mcp_can.h
2012 Copyright (c) Seeed Technology Inc. All right reserved.
#ifndef _MCP_CAN_H_
#define _MCP_CAN_H_
Author:Loovee (loovee@seeed.cc)
2014-1-16
#include <Arduino.h>
#include <SPI.h>
#include <inttypes.h>
Contributor:
class MCP_CAN
{
public:
virtual void enableTxInterrupt(bool enable = true) = 0; // enable transmit interrupt
virtual void reserveTxBuffers(byte nTxBuf = 0) = 0;
virtual byte getLastTxBuffer() = 0;
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(void) = 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
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);
Cory J. Fowler
Latonita
Woodward1
Mehtajaghvi
BykeBlast
TheRo0T
Tsipizic
ralfEdmund
Nathancheek
BlueAndi
Adlerweb
Btetz
Hurvajs
ttlappalainen
The MIT License (MIT)
Copyright (c) 2013 Seeed Technology Inc.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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.
*/
#ifndef _MCP2515_H_
#define _MCP2515_H_
#include "mcp_can_dfs.h"
#define MAX_CHAR_IN_MESSAGE 8
class MCP_CAN {
private:
byte ext_flg; // identifier xxxID
protected:
byte ext_flg; // identifier xxxID
// either extended (the 29 LSB) or standard (the 11 LSB)
unsigned long can_id; // can id
byte rtr; // rtr
byte SPICS;
SPIClass* pSPI;
byte nReservedTx; // Count of tx buffers for reserved send
byte mcpMode; // Current controller mode
/*
mcp2515 driver function
*/
private:
void mcp2515_reset(void); // reset mcp2515
byte mcp2515_readRegister(const byte address); // read mcp2515's register
void mcp2515_readRegisterS(const byte address,
byte values[],
const byte n);
void mcp2515_setRegister(const byte address, // set mcp2515's register
const byte value);
void mcp2515_setRegisterS(const byte address, // set mcp2515's registers
const byte values[],
const byte n);
void mcp2515_initCANBuffers(void);
void mcp2515_modifyRegister(const byte address, // set bit of one register
const byte mask,
const byte data);
byte mcp2515_readStatus(void); // read mcp2515's Status
byte mcp2515_setCANCTRL_Mode(const byte newmode); // set mode
byte mcp2515_requestNewMode(const byte newmode); // Set mode
byte mcp2515_configRate(const byte canSpeed, const byte clock); // set baudrate
byte mcp2515_init(const byte canSpeed, const byte clock); // mcp2515init
void mcp2515_write_id(const byte mcp_addr, // write can id
const byte ext,
const unsigned long id);
void mcp2515_read_id(const byte mcp_addr, // read can id
byte* ext,
unsigned long* id);
void mcp2515_write_canMsg(const byte buffer_sidh_addr, unsigned long id, byte ext, byte rtr, byte len,
volatile const byte* buf); // read can msg
void mcp2515_read_canMsg(const byte buffer_load_addr, volatile unsigned long* id, volatile byte* ext,
volatile byte* rtr, volatile byte* len, volatile byte* buf); // write can msg
void mcp2515_start_transmit(const byte mcp_addr); // start transmit
byte mcp2515_getNextFreeTXBuf(byte* txbuf_n); // get Next free txbuf
byte mcp2515_isTXBufFree(byte* txbuf_n, byte iBuf); // is buffer by index free
/*
can operator function
*/
byte sendMsg(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf, bool wait_sent = true); // send message
public:
MCP_CAN(byte _CS = 0);
void init_CS(byte _CS); // define CS after construction before begin()
void setSPI(SPIClass* _pSPI) {
pSPI = _pSPI; // define SPI port to use before begin()
}
void enableTxInterrupt(bool enable = true); // enable transmit interrupt
void reserveTxBuffers(byte nTxBuf = 0) {
nReservedTx = (nTxBuf < MCP_N_TXBUFFERS ? nTxBuf : MCP_N_TXBUFFERS - 1);
}
byte getLastTxBuffer() {
return MCP_N_TXBUFFERS - 1; // read index of last tx buffer
}
byte begin(byte speedset, const byte clockset = MCP_16MHz); // init can
byte init_Mask(byte num, byte ext, unsigned long ulData); // init Masks
byte init_Filt(byte num, byte ext, unsigned long ulData); // init filters
void setSleepWakeup(byte
enable); // Enable or disable the wake up interrupt (If disabled the MCP2515 will not be woken up by CAN bus activity, making it send only)
byte sleep(); // Put the MCP2515 in sleep mode
byte wake(); // Wake MCP2515 manually from sleep
byte setMode(byte opMode); // Set operational mode
byte getMode(); // Get operational mode
byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf, bool wait_sent = true); // send buf
byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte* buf, bool wait_sent = true); // send buf
byte readMsgBuf(byte* len, byte* buf); // read buf
byte readMsgBufID(unsigned long* ID, byte* len, byte* buf); // read buf with object ID
byte checkReceive(void); // if something received
byte checkError(void); // if something error
unsigned long getCanId(void); // get can id when receive
byte isRemoteRequest(void); // get RR flag when receive
byte isExtendedFrame(void); // did we recieve 29bit frame?
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
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
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
inline byte trySendExtMsgBuf(unsigned long id, byte len, const byte* buf,
byte iTxBuf = 0xff) { // as trySendMsgBuf, but set ext=1 and rtr=0
return trySendMsgBuf(id, 1, 0, len, buf, iTxBuf);
}
inline byte 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);
}
void clearBufferTransmitIfFlags(byte flags = 0); // Clear transmit flags according to status
byte readRxTxStatus(void); // read has something send or received
byte checkClearRxStatus(byte* status); // read and clear and return first found rx status bit
byte checkClearTxStatus(byte* status,
byte iTxBuf = 0xff); // read and clear and return first found or buffer specified tx status bit
bool mcpPinMode(const byte pin, const byte
mode); // switch supported pins between HiZ, interrupt, output or input
bool mcpDigitalWrite(const byte pin, const byte mode); // write HIGH or LOW to RX0BF/RX1BF
byte mcpDigitalRead(const byte pin); // read HIGH or LOW from supported pins
unsigned long can_id; // can id
byte SPICS;
SPIClass *pSPI;
byte mcpMode; // Current controller mode
};
#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
#endif
mcp_can_dfs.h
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/*
mcp_can_dfs.h
2012 Copyright (c) Seeed Technology Inc. All right reserved.
Author:Loovee (loovee@seeed.cc)
2014-1-16
Contributor:
Cory J. Fowler
Latonita
Woodward1
Mehtajaghvi
BykeBlast
TheRo0T
Tsipizic
ralfEdmund
Nathancheek
BlueAndi
Adlerweb
Btetz
Hurvajs
xboxpro1
ttlappalainen
The MIT License (MIT)
Copyright (c) 2013 Seeed Technology Inc.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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.
*/
#ifndef _MCP2515DFS_H_
#define _MCP2515DFS_H_
#include <Arduino.h>
#include <SPI.h>
#include <inttypes.h>
// if print debug information
#ifndef DEBUG_EN
#define DEBUG_EN 1
#endif
// Begin mt
#define TIMEOUTVALUE 50
#define MCP_SIDH 0
#define MCP_SIDL 1
#define MCP_EID8 2
#define MCP_EID0 3
#define MCP_TXB_EXIDE_M 0x08 // In TXBnSIDL
#define MCP_DLC_MASK 0x0F // 4 LSBits
#define MCP_RTR_MASK 0x40 // (1<<6) Bit 6
#define MCP_RXB_RX_ANY 0x60
#define MCP_RXB_RX_EXT 0x40
#define MCP_RXB_RX_STD 0x20
#define MCP_RXB_RX_STDEXT 0x00
#define MCP_RXB_RX_MASK 0x60
#define MCP_RXB_BUKT_MASK (1<<2)
// Bits in the TXBnCTRL registers.
#define MCP_TXB_TXBUFE_M 0x80
#define MCP_TXB_ABTF_M 0x40
#define MCP_TXB_MLOA_M 0x20
#define MCP_TXB_TXERR_M 0x10
#define MCP_TXB_TXREQ_M 0x08
#define MCP_TXB_TXIE_M 0x04
#define MCP_TXB_TXP10_M 0x03
#define MCP_TXB_RTR_M 0x40 // In TXBnDLC
#define MCP_RXB_IDE_M 0x08 // In RXBnSIDL
#define MCP_RXB_RTR_M 0x40 // In RXBnDLC
#define MCP_STAT_TX_PENDING_MASK (0x54)
#define MCP_STAT_TX0_PENDING (0x04)
#define MCP_STAT_TX1_PENDING (0x10)
#define MCP_STAT_TX2_PENDING (0x40)
#define MCP_STAT_TXIF_MASK (0xA8)
#define MCP_STAT_TX0IF (0x08)
#define MCP_STAT_TX1IF (0x20)
#define MCP_STAT_TX2IF (0x80)
#define MCP_STAT_RXIF_MASK (0x03)
#define MCP_STAT_RX0IF (1<<0)
#define MCP_STAT_RX1IF (1<<1)
#define MCP_EFLG_RX1OVR (1<<7)
#define MCP_EFLG_RX0OVR (1<<6)
#define MCP_EFLG_TXBO (1<<5)
#define MCP_EFLG_TXEP (1<<4)
#define MCP_EFLG_RXEP (1<<3)
#define MCP_EFLG_TXWAR (1<<2)
#define MCP_EFLG_RXWAR (1<<1)
#define MCP_EFLG_EWARN (1<<0)
#define MCP_EFLG_ERRORMASK (0xF8) // 5 MS-Bits
// Define MCP2515 register addresses
#define MCP_RXF0SIDH 0x00
#define MCP_RXF0SIDL 0x01
#define MCP_RXF0EID8 0x02
#define MCP_RXF0EID0 0x03
#define MCP_RXF1SIDH 0x04
#define MCP_RXF1SIDL 0x05
#define MCP_RXF1EID8 0x06
#define MCP_RXF1EID0 0x07
#define MCP_RXF2SIDH 0x08
#define MCP_RXF2SIDL 0x09
#define MCP_RXF2EID8 0x0A
#define MCP_RXF2EID0 0x0B
#define MCP_BFPCTRL 0x0C
#define MCP_TXRTSCTRL 0x0D
#define MCP_CANSTAT 0x0E
#define MCP_CANCTRL 0x0F
#define MCP_RXF3SIDH 0x10
#define MCP_RXF3SIDL 0x11
#define MCP_RXF3EID8 0x12
#define MCP_RXF3EID0 0x13
#define MCP_RXF4SIDH 0x14
#define MCP_RXF4SIDL 0x15
#define MCP_RXF4EID8 0x16
#define MCP_RXF4EID0 0x17
#define MCP_RXF5SIDH 0x18
#define MCP_RXF5SIDL 0x19
#define MCP_RXF5EID8 0x1A
#define MCP_RXF5EID0 0x1B
#define MCP_TEC 0x1C
#define MCP_REC 0x1D
#define MCP_RXM0SIDH 0x20
#define MCP_RXM0SIDL 0x21
#define MCP_RXM0EID8 0x22
#define MCP_RXM0EID0 0x23
#define MCP_RXM1SIDH 0x24
#define MCP_RXM1SIDL 0x25
#define MCP_RXM1EID8 0x26
#define MCP_RXM1EID0 0x27
#define MCP_CNF3 0x28
#define MCP_CNF2 0x29
#define MCP_CNF1 0x2A
#define MCP_CANINTE 0x2B
#define MCP_CANINTF 0x2C
#define MCP_EFLG 0x2D
#define MCP_TXB0CTRL 0x30
#define MCP_TXB0SIDH 0x31
#define MCP_TXB1CTRL 0x40
#define MCP_TXB1SIDH 0x41
#define MCP_TXB2CTRL 0x50
#define MCP_TXB2SIDH 0x51
#define MCP_RXB0CTRL 0x60
#define MCP_RXB0SIDH 0x61
#define MCP_RXB1CTRL 0x70
#define MCP_RXB1SIDH 0x71
#define MCP_TX_INT 0x1C // Enable all transmit interrup ts
#define MCP_TX01_INT 0x0C // Enable TXB0 and TXB1 interru pts
#define MCP_RX_INT 0x03 // Enable receive interrupts
#define MCP_NO_INT 0x00 // Disable all interrupts
#define MCP_TX01_MASK 0x14
#define MCP_TX_MASK 0x54
// Define SPI Instruction Set
#define MCP_WRITE 0x02
#define MCP_READ 0x03
#define MCP_BITMOD 0x05
#define MCP_LOAD_TX0 0x40
#define MCP_LOAD_TX1 0x42
#define MCP_LOAD_TX2 0x44
#define MCP_RTS_TX0 0x81
#define MCP_RTS_TX1 0x82
#define MCP_RTS_TX2 0x84
#define MCP_RTS_ALL 0x87
#define MCP_READ_RX0 0x90
#define MCP_READ_RX1 0x94
#define MCP_READ_STATUS 0xA0
#define MCP_RX_STATUS 0xB0
#define MCP_RESET 0xC0
// CANCTRL Register Values
#define MODE_NORMAL 0x00
#define MODE_SLEEP 0x20
#define MODE_LOOPBACK 0x40
#define MODE_LISTENONLY 0x60
#define MODE_CONFIG 0x80
#define MODE_POWERUP 0xE0
#define MODE_MASK 0xE0
#define ABORT_TX 0x10
#define MODE_ONESHOT 0x08
#define CLKOUT_ENABLE 0x04
#define CLKOUT_DISABLE 0x00
#define CLKOUT_PS1 0x00
#define CLKOUT_PS2 0x01
#define CLKOUT_PS4 0x02
#define CLKOUT_PS8 0x03
// CNF1 Register Values
#define SJW1 0x00
#define SJW2 0x40
#define SJW3 0x80
#define SJW4 0xC0
// CNF2 Register Values
#define BTLMODE 0x80
#define SAMPLE_1X 0x00
#define SAMPLE_3X 0x40
// CNF3 Register Values
#define SOF_ENABLE 0x80
#define SOF_DISABLE 0x00
#define WAKFIL_ENABLE 0x40
#define WAKFIL_DISABLE 0x00
// CANINTF Register Bits
#define MCP_RX0IF 0x01
#define MCP_RX1IF 0x02
#define MCP_TX0IF 0x04
#define MCP_TX1IF 0x08
#define MCP_TX2IF 0x10
#define MCP_ERRIF 0x20
#define MCP_WAKIF 0x40
#define MCP_MERRF 0x80
// BFPCTRL Register Bits
#define B1BFS 0x20
#define B0BFS 0x10
#define B1BFE 0x08
#define B0BFE 0x04
#define B1BFM 0x02
#define B0BFM 0x01
// TXRTCTRL Register Bits
#define B2RTS 0x20
#define B1RTS 0x10
#define B0RTS 0x08
#define B2RTSM 0x04
#define B1RTSM 0x02
#define B0RTSM 0x01
// clock
#define MCP_16MHz 1
#define MCP_8MHz 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_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_25kBPS_CFG1 (0X0F)
#define MCP_16MHz_25kBPS_CFG2 (0XBA)
#define MCP_16MHz_25kBPS_CFG3 (0X07)
#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)
#define MCP_16MHz_666kBPS_CFG1 (0x00)
#define MCP_16MHz_666kBPS_CFG2 (0xA0)
#define MCP_16MHz_666kBPS_CFG3 (0x04)
// speed 8M
#define MCP_8MHz_1000kBPS_CFG1 (0x00)
#define MCP_8MHz_1000kBPS_CFG2 (0x80)
#define MCP_8MHz_1000kBPS_CFG3 (0x00)
#define MCP_8MHz_500kBPS_CFG1 (0x00)
#define MCP_8MHz_500kBPS_CFG2 (0x90)
#define MCP_8MHz_500kBPS_CFG3 (0x02)
#define MCP_8MHz_250kBPS_CFG1 (0x00)
#define MCP_8MHz_250kBPS_CFG2 (0xb1)
#define MCP_8MHz_250kBPS_CFG3 (0x05)
#define MCP_8MHz_200kBPS_CFG1 (0x00)
#define MCP_8MHz_200kBPS_CFG2 (0xb4)
#define MCP_8MHz_200kBPS_CFG3 (0x06)
#define MCP_8MHz_125kBPS_CFG1 (0x01)
#define MCP_8MHz_125kBPS_CFG2 (0xb1)
#define MCP_8MHz_125kBPS_CFG3 (0x05)
#define MCP_8MHz_100kBPS_CFG1 (0x01)
#define MCP_8MHz_100kBPS_CFG2 (0xb4)
#define MCP_8MHz_100kBPS_CFG3 (0x06)
#define MCP_8MHz_80kBPS_CFG1 (0x01)
#define MCP_8MHz_80kBPS_CFG2 (0xbf)
#define MCP_8MHz_80kBPS_CFG3 (0x07)
#define MCP_8MHz_50kBPS_CFG1 (0x03)
#define MCP_8MHz_50kBPS_CFG2 (0xb4)
#define MCP_8MHz_50kBPS_CFG3 (0x06)
#define MCP_8MHz_40kBPS_CFG1 (0x03)
#define MCP_8MHz_40kBPS_CFG2 (0xbf)
#define MCP_8MHz_40kBPS_CFG3 (0x07)
#define MCP_8MHz_31k25BPS_CFG1 (0x07)
#define MCP_8MHz_31k25BPS_CFG2 (0xa4)
#define MCP_8MHz_31k25BPS_CFG3 (0x04)
#define MCP_8MHz_20kBPS_CFG1 (0x07)
#define MCP_8MHz_20kBPS_CFG2 (0xbf)
#define MCP_8MHz_20kBPS_CFG3 (0x07)
#define MCP_8MHz_10kBPS_CFG1 (0x0f)
#define MCP_8MHz_10kBPS_CFG2 (0xbf)
#define MCP_8MHz_10kBPS_CFG3 (0x07)
#define MCP_8MHz_5kBPS_CFG1 (0x1f)
#define MCP_8MHz_5kBPS_CFG2 (0xbf)
#define MCP_8MHz_5kBPS_CFG3 (0x07)
#define MCPDEBUG (0)
#define MCPDEBUG_TXBUF (0)
#define MCP_N_TXBUFFERS (3)
#define MCP_RXBUF_0 (MCP_RXB0SIDH)
#define MCP_RXBUF_1 (MCP_RXB1SIDH)
#define MCP2515_SELECT() digitalWrite(SPICS, LOW)
#define MCP2515_UNSELECT() digitalWrite(SPICS, HIGH)
#define MCP2515_OK (0)
#define MCP2515_FAIL (1)
#define MCP_ALLTXBUSY (2)
#define CANDEBUG 1
#define CANUSELOOP 0
#define CANSENDTIMEOUT (200) // milliseconds
#define MCP_PIN_HIZ (0)
#define MCP_PIN_INT (1)
#define MCP_PIN_OUT (2)
#define MCP_PIN_IN (3)
#define MCP_RX0BF (0)
#define MCP_RX1BF (1)
#define MCP_TX0RTS (2)
#define MCP_TX1RTS (3)
#define MCP_TX2RTS (4)
// initial value of gCANAutoProcess
#define CANAUTOPROCESS (1)
#define CANAUTOON (1)
#define CANAUTOOFF (0)
#define CAN_STDID (0)
#define CAN_EXTID (1)
#define CANDEFAULTIDENT (0x55CC)
#define CANDEFAULTIDENTEXT (CAN_EXTID)
#define CAN_5KBPS 1
#define CAN_10KBPS 2
#define CAN_20KBPS 3
#define CAN_25KBPS 4
#define CAN_31K25BPS 5
#define CAN_33KBPS 6
#define CAN_40KBPS 7
#define CAN_50KBPS 8
#define CAN_80KBPS 9
#define CAN_83K3BPS 10
#define CAN_95KBPS 11
#define CAN_100KBPS 12
#define CAN_125KBPS 13
#define CAN_200KBPS 14
#define CAN_250KBPS 15
#define CAN_500KBPS 16
#define CAN_666KBPS 17
#define CAN_1000KBPS 18
#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)
#define CAN_SENDMSGTIMEOUT (7)
#define CAN_FAIL (0xff)
#define CAN_MAX_CHAR_IN_MESSAGE (8)
#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/