mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-07-28 04:06:45 +00:00
110 lines
5.6 KiB
C++
110 lines
5.6 KiB
C++
/*
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* mcp_can.h
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* Library for SeeedStudio CANBUS SHIELD
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*
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* Copyright (c) Seeedstudio
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* Spread by SeeedStudio
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* Author : Loovee
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* Create Time: 2012-4-24
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* Change Log :
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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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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#define MAX_CHAR_IN_MESSAGE 8
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class MCP_CAN
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{
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private:
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INT8U m_nExtFlg; /* identifier xxxID */
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/* either extended (the 29 LSB) */
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/* or standard (the 11 LSB) */
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INT32U m_nID; /* can id */
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INT8U m_nDlc; /* data length: */
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INT8U m_nDta[MAX_CHAR_IN_MESSAGE]; /* data */
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INT8U m_nRtr; /* rtr */
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INT8U m_nfilhit;
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/*
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* mcp2515 driver function
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*/
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// private:
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private:
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void mcp2515_reset(void); /* reset mcp2515 */
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INT8U mcp2515_readRegister(const INT8U address); /* read mcp2515's register */
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void mcp2515_readRegisterS(const INT8U address,
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INT8U values[],
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const INT8U n);
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void mcp2515_setRegister(const INT8U address, /* set mcp2515's register */
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const INT8U value);
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void mcp2515_setRegisterS(const INT8U address, /* set mcp2515's registers */
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const INT8U values[],
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const INT8U n);
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void mcp2515_initCANBuffers(void);
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void mcp2515_modifyRegister(const INT8U address, /* set bit of one register */
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const INT8U mask,
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const INT8U data);
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INT8U mcp2515_readStatus(void); /* read mcp2515's Status */
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INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); /* set mode */
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INT8U mcp2515_configRate(const INT8U canSpeed); /* set boadrate */
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INT8U mcp2515_init(const INT8U canSpeed); /* mcp2515init */
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void mcp2515_write_id( const INT8U mcp_addr, /* write can id */
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const INT8U ext,
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const INT32U id );
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void mcp2515_read_id( const INT8U mcp_addr, /* read can id */
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INT8U* ext,
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INT32U* id );
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void mcp2515_write_canMsg( const INT8U buffer_sidh_addr ); /* write can msg */
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void mcp2515_read_canMsg( const INT8U buffer_sidh_addr); /* read can msg */
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void mcp2515_start_transmit(const INT8U mcp_addr); /* start transmit */
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INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); /* get Next free txbuf */
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/*
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* can operator function
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*/
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INT8U setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData); /* set message */
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INT8U clearMsg(); /* clear all message to zero */
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INT8U readMsg(); /* read message */
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INT8U sendMsg(); /* send message */
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public:
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INT8U begin(INT8U speedset); /* init can */
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INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData); /* init Masks */
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INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData); /* init filters */
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INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf); /* send buf */
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INT8U readMsgBuf(INT8U *len, INT8U *buf); /* read buf */
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INT8U checkReceive(void); /* if something received */
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INT8U checkError(void); /* if something error */
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INT32U getCanId(void); /* get can id when receive */
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};
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extern MCP_CAN CAN;
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#endif
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/*********************************************************************************************************
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END FILE
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*********************************************************************************************************/
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