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https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
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Modefied remove mcp2515 into mcp2515_can
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wangcoolc
+7
-1550
File diff suppressed because it is too large
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@@ -1,129 +1,24 @@
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/*
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mcp_can.h
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2012 Copyright (c) Seeed Technology Inc. All right reserved.
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Author:Loovee (loovee@seeed.cc)
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2014-1-16
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Contributor:
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Cory J. Fowler
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Latonita
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Woodward1
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Mehtajaghvi
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BykeBlast
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TheRo0T
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Tsipizic
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ralfEdmund
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Nathancheek
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BlueAndi
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Adlerweb
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Btetz
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Hurvajs
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ttlappalainen
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The MIT License (MIT)
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Copyright (c) 2013 Seeed Technology Inc.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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*/
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#ifndef _MCP2515_H_
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#define _MCP2515_H_
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#include "mcp_can_dfs.h"
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#ifndef _MCP_CAN_H_
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#define _MCP_CAN_H_
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#include "mcp2515_can_dfs.h"
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#define MAX_CHAR_IN_MESSAGE 8
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#define spi_readwrite pSPI->transfer
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#define spi_read() spi_readwrite(0x00)
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#define spi_write(spi_val) spi_readwrite(spi_val)
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#define SPI_BEGIN() pSPI->beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0))
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#define SPI_END() pSPI->endTransaction()
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class MCP_CAN {
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private:
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byte ext_flg; // identifier xxxID
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// either extended (the 29 LSB) or standard (the 11 LSB)
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unsigned long can_id; // can id
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byte rtr; // rtr
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byte SPICS;
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SPIClass* pSPI;
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byte nReservedTx; // Count of tx buffers for reserved send
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byte mcpMode; // Current controller mode
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/*
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mcp2515 driver function
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*/
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private:
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void mcp2515_reset(void); // reset mcp2515
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byte mcp2515_readRegister(const byte address); // read mcp2515's register
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void mcp2515_readRegisterS(const byte address,
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byte values[],
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const byte n);
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void mcp2515_setRegister(const byte address, // set mcp2515's register
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const byte value);
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void mcp2515_setRegisterS(const byte address, // set mcp2515's registers
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const byte values[],
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const byte n);
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void mcp2515_initCANBuffers(void);
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void mcp2515_modifyRegister(const byte address, // set bit of one register
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const byte mask,
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const byte data);
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byte mcp2515_readStatus(void); // read mcp2515's Status
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byte mcp2515_setCANCTRL_Mode(const byte newmode); // set mode
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byte mcp2515_requestNewMode(const byte newmode); // Set mode
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byte mcp2515_configRate(const byte canSpeed, const byte clock); // set baudrate
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byte mcp2515_init(const byte canSpeed, const byte clock); // mcp2515init
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void mcp2515_write_id(const byte mcp_addr, // write can id
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const byte ext,
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const unsigned long id);
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void mcp2515_read_id(const byte mcp_addr, // read can id
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byte* ext,
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unsigned long* id);
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void mcp2515_write_canMsg(const byte buffer_sidh_addr, unsigned long id, byte ext, byte rtr, byte len,
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volatile const byte* buf); // read can msg
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void mcp2515_read_canMsg(const byte buffer_load_addr, volatile unsigned long* id, volatile byte* ext,
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volatile byte* rtr, volatile byte* len, volatile byte* buf); // write can msg
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void mcp2515_start_transmit(const byte mcp_addr); // start transmit
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byte mcp2515_getNextFreeTXBuf(byte* txbuf_n); // get Next free txbuf
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byte mcp2515_isTXBufFree(byte* txbuf_n, byte iBuf); // is buffer by index free
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/*
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can operator function
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*/
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byte sendMsg(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf, bool wait_sent = true); // send message
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public:
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MCP_CAN(byte _CS = 0);
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void init_CS(byte _CS); // define CS after construction before begin()
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public:
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void mcp_canbus(byte _CS = 0);
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virtual void init_CS(byte _CS) = 0; // define CS after construction before begin()
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void setSPI(SPIClass* _pSPI) {
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pSPI = _pSPI; // define SPI port to use before begin()
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}
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void enableTxInterrupt(bool enable = true); // enable transmit interrupt
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virtual void enableTxInterrupt(bool enable = true) = 0; // enable transmit interrupt
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void reserveTxBuffers(byte nTxBuf = 0) {
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nReservedTx = (nTxBuf < MCP_N_TXBUFFERS ? nTxBuf : MCP_N_TXBUFFERS - 1);
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}
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@@ -131,31 +26,30 @@ class MCP_CAN {
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return MCP_N_TXBUFFERS - 1; // read index of last tx buffer
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}
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byte begin(byte speedset, const byte clockset = MCP_16MHz); // init can
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byte init_Mask(byte num, byte ext, unsigned long ulData); // init Masks
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byte init_Filt(byte num, byte ext, unsigned long ulData); // init filters
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void setSleepWakeup(byte
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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)
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byte sleep(); // Put the MCP2515 in sleep mode
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byte wake(); // Wake MCP2515 manually from sleep
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byte setMode(byte opMode); // Set operational mode
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byte getMode(); // Get operational mode
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byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf, bool wait_sent = true); // send buf
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byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte* buf, bool wait_sent = true); // send buf
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virtual byte begin(byte speedset, const byte clockset = MCP_16MHz) = 0; // init can
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virtual byte init_Mask(byte num, byte ext, unsigned long ulData) = 0; // init Masks
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virtual byte init_Filt(byte num, byte ext, unsigned long ulData); // init filters
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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)
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virtual byte sleep() = 0; // Put the MCP2515 in sleep mode
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virtual byte wake() = 0; // Wake MCP2515 manually from sleep
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virtual byte setMode(byte opMode) = 0; // Set operational mode
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virtual byte getMode() = 0; // Get operational mode
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virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf, bool wait_sent = true) = 0; // send buf
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virtual byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte* buf, bool wait_sent = true) = 0; // send buf
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byte readMsgBuf(byte* len, byte* buf); // read buf
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byte readMsgBufID(unsigned long* ID, byte* len, byte* buf); // read buf with object ID
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byte checkReceive(void); // if something received
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byte checkError(void); // if something error
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virtual byte checkReceive(void) = 0; // if something received
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virtual byte checkError(void) = 0; // if something error
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unsigned long getCanId(void); // get can id when receive
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byte isRemoteRequest(void); // get RR flag when receive
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byte isExtendedFrame(void); // did we recieve 29bit frame?
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byte readMsgBufID(byte status, volatile unsigned long* id, volatile byte* ext, volatile byte* rtr, volatile byte* len,
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volatile byte* buf); // read buf with object ID
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byte trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf,
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byte iTxBuf = 0xff); // as sendMsgBuf, but does not have any wait for free buffer
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byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len,
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volatile const byte* buf); // send message buf by using parsed buffer status
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virtual byte readMsgBufID(byte status, volatile unsigned long* id, volatile byte* ext, volatile byte* rtr, volatile byte* len,
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volatile byte* buf) = 0; // read buf with object ID
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virtual byte trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte* buf,
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byte iTxBuf = 0xff) = 0; // as sendMsgBuf, but does not have any wait for free buffer
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virtual byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len,
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volatile const byte* buf) = 0; // send message buf by using parsed buffer status
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inline byte trySendExtMsgBuf(unsigned long id, byte len, const byte* buf,
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byte iTxBuf = 0xff) { // as trySendMsgBuf, but set ext=1 and rtr=0
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return trySendMsgBuf(id, 1, 0, len, buf, iTxBuf);
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@@ -164,20 +58,49 @@ class MCP_CAN {
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volatile const byte* buf) { // as sendMsgBuf, but set ext=1 and rtr=0
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return sendMsgBuf(status, id, 1, 0, len, buf);
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}
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void clearBufferTransmitIfFlags(byte flags = 0); // Clear transmit flags according to status
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byte readRxTxStatus(void); // read has something send or received
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byte checkClearRxStatus(byte* status); // read and clear and return first found rx status bit
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byte checkClearTxStatus(byte* status,
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byte iTxBuf = 0xff); // read and clear and return first found or buffer specified tx status bit
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virtual void clearBufferTransmitIfFlags(byte flags = 0) = 0; // Clear transmit flags according to status
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virtual byte readRxTxStatus(void) = 0; // read has something send or received
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virtual byte checkClearRxStatus(byte* status) = 0; // read and clear and return first found rx status bit
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virtual byte checkClearTxStatus(byte* status,
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byte iTxBuf = 0xff) = 0; // read and clear and return first found or buffer specified tx status bit
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bool mcpPinMode(const byte pin, const byte
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mode); // switch supported pins between HiZ, interrupt, output or input
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bool mcpDigitalWrite(const byte pin, const byte mode); // write HIGH or LOW to RX0BF/RX1BF
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byte mcpDigitalRead(const byte pin); // read HIGH or LOW from supported pins
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virtual bool mcpPinMode(const byte pin, const byte
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mode) = 0; // switch supported pins between HiZ, interrupt, output or input
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virtual bool mcpDigitalWrite(const byte pin, const byte mode) = 0; // write HIGH or LOW to RX0BF/RX1BF
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virtual byte mcpDigitalRead(const byte pin) = 0; // read HIGH or LOW from supported pins
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private:
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byte ext_flg; // identifier xxxID
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// either extended (the 29 LSB) or standard (the 11 LSB)
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unsigned long can_id; // can id
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byte rtr; // rtr
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byte SPICS;
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SPIClass* pSPI;
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byte nReservedTx = 0; // Count of tx buffers for reserved send
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byte mcpMode;
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};
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#endif
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/*********************************************************************************************************
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END FILE
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*********************************************************************************************************/
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template <class T>
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class Mcp_Factory {
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public:
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// MCP_CAN* getmcpcan(std:string device) {
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// if(device == nullptr)
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// {
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// return nullptr;
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// }
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// if(device == "mcp2515") {
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// return new mcp2515();
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// }
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// // if(device == "mcp2518") {
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// // return new mcp2518fd();
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// // }
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// }
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Mcp_Factory() {
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controller = new T();
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}
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T* controller;
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};
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#endif
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