mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-09-15 02:52:53 +00:00
Modified data send and recieve function
This commit is contained in:
wangcoolc
+41
-87
@@ -21,6 +21,8 @@ CAN_TX_FIFO_EVENT txFlags;
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CAN_TX_MSGOBJ txObj;
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uint8_t txd[MAX_DATA_BYTES];
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CAN_TX_QUEUE_CONFIG txqueConfig;
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// Message IDs
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#define TX_REQUEST_ID 0x300
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#define TX_RESPONSE_ID 0x301
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@@ -89,35 +91,18 @@ void mcp2518fd::init_CS(byte _CS) {
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byte mcp2518fd::begin() {
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Serial.println("into mcp25184fd begin\n\r");
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SPI.begin();
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Serial.println("into spi begin\n\r");
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byte res = mcp2518fd_init();
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return ((res == MCP2518fd_OK) ? CAN_OK : CAN_FAILINIT);
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}
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void mcp2518fd::mcp2518fd_init_txobj() {
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// Configure transmit message
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txObj.word[0] = 0;
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txObj.word[1] = 0;
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txObj.bF.id.SID = TX_RESPONSE_ID;
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txObj.bF.id.EID = 0;
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txObj.bF.ctrl.BRS = 1;
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txObj.bF.ctrl.DLC = CAN_DLC_64;
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txObj.bF.ctrl.FDF = 1;
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txObj.bF.ctrl.IDE = 0;
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// Configure message data
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int i;
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for (i = 0; i < MAX_DATA_BYTES; i++) txd[i] = txObj.bF.id.SID + i;
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}
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void mcp2518fd::mcp2518fd_TransmitMessageQueue(void)
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{
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uint8_t attempts = MAX_TXQUEUE_ATTEMPTS;
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Serial.printf("into mcp2518fd_TransmitMessageQueue\n\r");
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// Check if FIFO is not full
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do {
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DRV_CANFDSPI_TransmitChannelEventGet(DRV_CANFDSPI_INDEX_0, APP_TX_FIFO, &txFlags);
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@@ -132,8 +117,8 @@ void mcp2518fd::mcp2518fd_TransmitMessageQueue(void)
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while (!(txFlags & CAN_TX_FIFO_NOT_FULL_EVENT));
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// Load message and transmit
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uint8_t n = DRV_CANFDSPI_DlcToDataBytes((CAN_DLC)(txObj.bF.ctrl.DLC));
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uint8_t n = DRV_CANFDSPI_DlcToDataBytes((CAN_DLC)txObj.bF.ctrl.DLC);
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DRV_CANFDSPI_TransmitChannelLoad(DRV_CANFDSPI_INDEX_0, APP_TX_FIFO, &txObj, txd, n, true);
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}
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@@ -152,72 +137,39 @@ void mcp2518fd::mcp2518fd_sendMsgBuf(const byte* buf,byte len) {
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*********************************************************************************************************/
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void mcp2518fd::mcp2518fd_sendMsg(const byte* buf, byte len) {
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Serial.printf("into mcp2518fdsendMsg\n\r");
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int a;
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mcp2518fd_init_txobj();
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// a = DRV_CANFDSPI_ReceiveMessageGet(DRV_CANFDSPI_INDEX_0, APP_RX_FIFO, &rxObj, rxd, MAX_DATA_BYTES);
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Serial.printf("rxObj.bF.id.SID11111 = %d\n",a);
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uint8_t n;
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int i;
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switch (rxObj.bF.id.SID) {
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case TX_REQUEST_ID:
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// Check for TX request command
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Nop();
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Nop();
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txObj.bF.id.SID = TX_RESPONSE_ID;
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// Configure message data
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txObj.word[0] = 0;
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txObj.word[1] = 0;
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txObj.bF.id.SID = TX_REQUEST_ID;
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txObj.bF.ctrl.DLC = CAN_DLC_64;
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txObj.bF.ctrl.IDE = 0;
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txObj.bF.ctrl.BRS = true;
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txObj.bF.ctrl.FDF = 0;
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txObj.bF.ctrl.DLC = rxObj.bF.ctrl.DLC;
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txObj.bF.ctrl.IDE = rxObj.bF.ctrl.IDE;
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txObj.bF.ctrl.BRS = rxObj.bF.ctrl.BRS;
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txObj.bF.ctrl.FDF = rxObj.bF.ctrl.FDF;
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//Prepare data
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for(i = 0; i< len; i++)
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{
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txd[i] = buf[i];
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}
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for (i = 0; i < MAX_DATA_BYTES; i++) txd[i] = rxd[i];
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Serial.printf("into mcp2518fdsendMsg1111111111111111111111\n\r");
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mcp2518fd_TransmitMessageQueue();
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break;
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case PAYLOAD_ID:
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// Check for Payload command
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Nop();
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Nop();
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payload.On = rxd[0];
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payload.Dlc = rxd[1];
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if (rxd[2] == 0) payload.Mode = true;
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else payload.Mode = false;
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payload.Counter = 0;
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payload.Delay = rxd[3];
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payload.BRS = rxd[4];
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Serial.printf("into mcp2518fdsendMsg2222222222222222222222\n\r");
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break;
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}
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// //Prepare data
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// for(i = 0; i< len; i++)
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// {
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// txd[i] = buf[i];
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// }
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mcp2518fd_TransmitMessageQueue();
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}
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int8_t mcp2518fd::mcp2518fd_receiveMsg() {
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mcp2518fd_init_txobj();
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DRV_CANFDSPI_ReceiveMessageGet(DRV_CANFDSPI_INDEX_0, APP_RX_FIFO, &rxObj, rxd, MAX_DATA_BYTES);
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DRV_CANFDSPI_ReceiveChannelEventGet(DRV_CANFDSPI_INDEX_0, APP_RX_FIFO, &rxFlags);
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if (rxFlags & CAN_RX_FIFO_NOT_EMPTY_EVENT) {
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DRV_CANFDSPI_ReceiveMessageGet(DRV_CANFDSPI_INDEX_0, APP_RX_FIFO, &rxObj, rxd, 8);
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for (int i = 0; i < 8; i++) {
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Serial.println(rxd[i]); Serial.println("\t");
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}
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Serial.println();
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Nop();
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Nop();
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payload.On = rxd[0];
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payload.Dlc = rxd[1];
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if (rxd[2] == 0) payload.Mode = true;
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else payload.Mode = false;
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payload.Counter = 0;
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payload.Delay = rxd[3];
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payload.BRS = rxd[4];
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int a;
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for (a = 0; a < 64; a++)
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{
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Serial.printf("mcp2518fd_receiveMsg = %d\n\r",rxd[a]);
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}
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return 0;
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@@ -228,16 +180,17 @@ int8_t mcp2518fd::mcp2518fd_receiveMsg() {
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** Function name: mcp2515_init
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** Descriptions: init the device
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*********************************************************************************************************/
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byte mcp2518fd::mcp2518fd_init() {
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Serial.println("into mcp2518fd init\n\r");
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uint8_t mcp2518fd::mcp2518fd_init() {
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// Reset device
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DRV_CANFDSPI_Reset(DRV_CANFDSPI_INDEX_0);
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Serial.println("DRV_CANFDSPI_Reset-------end\n\r");
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// Enable ECC and initialize RAM
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DRV_CANFDSPI_EccEnable(DRV_CANFDSPI_INDEX_0);
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Serial.println("DRV_CANFDSPI_EccEnable-------end\n\r");
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DRV_CANFDSPI_RamInit(DRV_CANFDSPI_INDEX_0, 0xff);
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Serial.println("DRV_CANFDSPI_RamInit-------end\n\r");
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// Configure device
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DRV_CANFDSPI_ConfigureObjectReset(&config);
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config.IsoCrcEnable = 1;
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@@ -252,17 +205,18 @@ byte mcp2518fd::mcp2518fd_init() {
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txConfig.FifoSize = 7;
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txConfig.PayLoadSize = CAN_PLSIZE_64;
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txConfig.TxPriority = 1;
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DRV_CANFDSPI_TransmitChannelConfigure(DRV_CANFDSPI_INDEX_0, APP_TX_FIFO, &txConfig);
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Serial.println("DRV_CANFDSPI_TransmitChannelConfigure-------end\n\r");
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// Setup RX FIFO
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DRV_CANFDSPI_ReceiveChannelConfigureObjectReset(&rxConfig);
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Serial.println("DRV_CANFDSPI_ReceiveChannelConfigureObjectReset-------end\n\r");
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rxConfig.FifoSize = 15;
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rxConfig.PayLoadSize = CAN_PLSIZE_64;
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DRV_CANFDSPI_ReceiveChannelConfigure(DRV_CANFDSPI_INDEX_0, APP_RX_FIFO, &rxConfig);
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Serial.println("DRV_CANFDSPI_ReceiveChannelConfigure-------end\n\r");
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// Setup RX Filter
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fObj.word = 0;
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fObj.bF.SID = 0xda;
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@@ -282,7 +236,7 @@ byte mcp2518fd::mcp2518fd_init() {
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DRV_CANFDSPI_FilterToFifoLink(DRV_CANFDSPI_INDEX_0, CAN_FILTER0, APP_RX_FIFO, true);
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// Setup Bit Time
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DRV_CANFDSPI_BitTimeConfigure(DRV_CANFDSPI_INDEX_0, CAN_500K_2M, CAN_SSP_MODE_AUTO, CAN_SYSCLK_40M);
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DRV_CANFDSPI_BitTimeConfigure(DRV_CANFDSPI_INDEX_0, CAN_500K_1M, CAN_SSP_MODE_AUTO, CAN_SYSCLK_40M);
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// Setup Transmit and Receive Interrupts
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DRV_CANFDSPI_GpioModeConfigure(DRV_CANFDSPI_INDEX_0, GPIO_MODE_INT, GPIO_MODE_INT);
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@@ -293,7 +247,7 @@ byte mcp2518fd::mcp2518fd_init() {
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DRV_CANFDSPI_ModuleEventEnable(DRV_CANFDSPI_INDEX_0,(CAN_MODULE_EVENT)(CAN_TX_EVENT | CAN_RX_EVENT));
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// Select Normal Mode
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DRV_CANFDSPI_OperationModeSelect(DRV_CANFDSPI_INDEX_0, CAN_NORMAL_MODE);
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DRV_CANFDSPI_OperationModeSelect(DRV_CANFDSPI_INDEX_0, CAN_CLASSIC_MODE);
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CAN_OPERATION_MODE abc;
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abc = DRV_CANFDSPI_OperationModeGet(0);
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+1
-1
@@ -45,7 +45,7 @@ public:
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int8_t mcp2518fd_receiveMsg();
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byte mcp2518fd_init(); // mcp2518fdinit
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uint8_t mcp2518fd_init(); // mcp2518fdinit
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void mcp2518fd_init_txobj();
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