mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-09-15 11:03:48 +00:00
258 lines
7.8 KiB
C++
258 lines
7.8 KiB
C++
#include "mcp2518fd_can.h"
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uint8_t SPICS = 0;
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SPIClass* pSPI;
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CAN_CONFIG config;
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APP_Payload payload;
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// Receive objects
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CAN_RX_FIFO_CONFIG rxConfig;
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REG_CiFLTOBJ fObj;
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REG_CiMASK mObj;
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CAN_RX_FIFO_EVENT rxFlags;
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CAN_RX_MSGOBJ rxObj;
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uint8_t rxd[MAX_DATA_BYTES];
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// Transmit objects
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CAN_TX_FIFO_CONFIG txConfig;
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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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#define BUTTON_STATUS_ID 0x201
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#define LED_STATUS_ID 0x200
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#define PAYLOAD_ID 0x101
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#define MAX_TXQUEUE_ATTEMPTS 50
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// Transmit Channels
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#define APP_TX_FIFO CAN_FIFO_CH2
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// Receive Channels
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#define APP_RX_FIFO CAN_FIFO_CH1
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// Maximum number of data bytes in message
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#define MAX_DATA_BYTES 64
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// //! SPI Transmit buffer
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// uint8_t spiTransmitBuffer[96];
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// //! SPI Receive buffer
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// uint8_t spiReceiveBuffer[96];
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CAN_BUS_DIAGNOSTIC busDiagnostics;
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uint8_t tec;
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uint8_t rec;
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CAN_ERROR_STATE errorFlags;
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#define DRV_CANFDSPI_INDEX_0 0
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/*********************************************************************************************************
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** Function name: MCP_CAN
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** Descriptions: Constructor
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*********************************************************************************************************/
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void mcp2518fd::mcp_canbus(uint8_t _CS) {
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nReservedTx = 0;
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pSPI = &SPI;
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init_CS(_CS);
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}
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/*********************************************************************************************************
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** Function name: init_CS
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** Descriptions: init CS pin and set UNSELECTED
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*********************************************************************************************************/
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void mcp2518fd::init_CS(byte _CS) {
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if (_CS == 0) {
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return;
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}
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SPICS = _CS;
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pinMode(SPICS, OUTPUT);
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MCP2518fd_UNSELECT();
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}
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/*********************************************************************************************************
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** Function name: begin
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** Descriptions: init can and set speed
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*********************************************************************************************************/
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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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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_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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if (attempts == 0) {
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Nop();
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Nop();
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DRV_CANFDSPI_ErrorCountStateGet(DRV_CANFDSPI_INDEX_0, &tec, &rec, &errorFlags);
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return;
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}
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attempts--;
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}
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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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DRV_CANFDSPI_TransmitChannelLoad(DRV_CANFDSPI_INDEX_0, APP_TX_FIFO, &txObj, txd, n, true);
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}
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/*********************************************************************************************************
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** Function name: sendMsgBuf
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** Descriptions: send buf
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*********************************************************************************************************/
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void mcp2518fd::mcp2518fd_sendMsgBuf(const byte* buf,byte len) {
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return mcp2518fd_sendMsg(buf,len);
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}
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/*********************************************************************************************************
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** Function name: sendMsg
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** Descriptions: send message
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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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uint8_t n;
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int i;
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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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//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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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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}
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return 0;
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}
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/*********************************************************************************************************
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** Function name: mcp2515_init
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** Descriptions: init the device
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*********************************************************************************************************/
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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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// Enable ECC and initialize RAM
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DRV_CANFDSPI_EccEnable(DRV_CANFDSPI_INDEX_0);
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DRV_CANFDSPI_RamInit(DRV_CANFDSPI_INDEX_0, 0xff);
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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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config.StoreInTEF = 0;
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Serial.println("DRV_CANFDSPI_ConfigureObjectReset-------end\n\r");
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DRV_CANFDSPI_Configure(DRV_CANFDSPI_INDEX_0, &config);
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Serial.println("DRV_CANFDSPI_Configure-------end\n\r");
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// Setup TX FIFO
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DRV_CANFDSPI_TransmitChannelConfigureObjectReset(&txConfig);
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Serial.println("DRV_CANFDSPI_TransmitChannelConfigureObjectReset-------end\n\r");
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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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// Setup RX Filter
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fObj.word = 0;
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fObj.bF.SID = 0xda;
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fObj.bF.EXIDE = 0;
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fObj.bF.EID = 0x00;
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DRV_CANFDSPI_FilterObjectConfigure(DRV_CANFDSPI_INDEX_0, CAN_FILTER0, &fObj.bF);
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Serial.println("DRV_CANFDSPI_FilterObjectConfigure-------end\n\r");
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// Setup RX Mask
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mObj.word = 0;
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mObj.bF.MSID = 0x0;
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mObj.bF.MIDE = 1; // Only allow standard IDs
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mObj.bF.MEID = 0x0;
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DRV_CANFDSPI_FilterMaskConfigure(DRV_CANFDSPI_INDEX_0, CAN_FILTER0, &mObj.bF);
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// Link FIFO and Filter
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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_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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#ifdef APP_USE_TX_INT
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DRV_CANFDSPI_TransmitChannelEventEnable(DRV_CANFDSPI_INDEX_0, APP_TX_FIFO, CAN_TX_FIFO_NOT_FULL_EVENT);
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#endif
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DRV_CANFDSPI_ReceiveChannelEventEnable(DRV_CANFDSPI_INDEX_0, APP_RX_FIFO, CAN_RX_FIFO_NOT_EMPTY_EVENT);
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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_CLASSIC_MODE);
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CAN_OPERATION_MODE abc;
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abc = DRV_CANFDSPI_OperationModeGet(0);
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Serial.printf("DRV_CANFDSPI_OperationModeGet = %d\n\r",abc);
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return 0;
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} |