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mcp_can.cpp
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mcp_can.cpp
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/*
mcp_can.cpp
2012 Copyright (c) Seeed Technology Inc. All right reserved.
Author:Loovee
2014-1-16
Contributor:
Cory J. Fowler
Latonita
Woodward1
Mehtajaghvi
BykeBlast
TheRo0T
Tsipizic
ralfEdmund
Nathancheek
BlueAndi
Adlerweb
Btetz
Hurvajs
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.
*/
#include "mcp_can.h"
#define spi_readwrite SPI.transfer
#define spi_read() spi_readwrite(0x00)
/*********************************************************************************************************
** Function name: getCanHeader
** Descriptions: copy the can header to parameter buf
*********************************************************************************************************/
void MCP_CAN::getCanHeader(INT8U buf[]){
INT8U i;
for (i=0;i<HEADER_SIZE;i++){buf[i]=canHeader[i];}
}
/*********************************************************************************************************
** Function name: setPriority
** Descriptions: set priority on the can header
*********************************************************************************************************/
void MCP_CAN::setPriority(INT8U prio,INT8U minprio){
if (prio==PRIO_HIGH||prio==PRIO_LOW || prio==PRIO_NEXT){
_prio=prio;
}
else {
_prio=PRIO_LOW;
}
if (minprio==PRIO_MIN_HIGH||minprio==PRIO_MIN_LOW || minprio==PRIO_MIN_NORMAL || minprio==PRIO_MIN_LOWEST){
_minprio=minprio;
}
else {
_minprio=PRIO_MIN_LOW;
}
}
/*********************************************************************************************************
** Function name: isRTMMessage
** Descriptions: return 1 if is a RTM else return 0
*********************************************************************************************************/
INT8U MCP_CAN::isRTMMessage()
{
return m_nRtr;
}
/*********************************************************************************************************
** Function name: setRTMBit
** Descriptions: set to 1 the Request Transfer Message Bit for RTM messages
*********************************************************************************************************/
void MCP_CAN::setRTMBit()
{
m_nRtr=0x01;
}
/*********************************************************************************************************
** Function name: unsetRTMBit
** Descriptions: set to 0 the Request Transfer Message Bit for RTM messages
*********************************************************************************************************/
void MCP_CAN::unsetRTMBit()
{
m_nRtr=0x00;
}
/*********************************************************************************************************
** Function name: sendRTMMessage
** Descriptions: send a control message Request Transfer Message
*********************************************************************************************************/
INT8U MCP_CAN::sendRTMMessage(INT32U id)
{
INT8U buffer[MAX_CHAR_IN_MESSAGE];
for(INT8U i = 0; i<MAX_CHAR_IN_MESSAGE; i++ ){
buffer[i] = 0;
}
setRTMBit();
INT8U r=sendMsgBuf(id, 0, 0, buffer);
unsetRTMBit();
return r;
}
/*********************************************************************************************************
** Function name: mcp2515_reset
** Descriptions: reset the device
*********************************************************************************************************/
void MCP_CAN::mcp2515_reset(void)
{
MCP2515_SELECT();
spi_readwrite(MCP_RESET);
MCP2515_UNSELECT();
delay(10);
}
/*********************************************************************************************************
** Function name: mcp2515_readRegister
** Descriptions: read register
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_readRegister(const INT8U address)
{
INT8U ret;
MCP2515_SELECT();
spi_readwrite(MCP_READ);
spi_readwrite(address);
ret = spi_read();
MCP2515_UNSELECT();
return ret;
}
/*********************************************************************************************************
** Function name: mcp2515_readRegisterS
** Descriptions: read registerS
*********************************************************************************************************/
void MCP_CAN::mcp2515_readRegisterS(const INT8U address, INT8U values[], const INT8U n)
{
INT8U i;
MCP2515_SELECT();
spi_readwrite(MCP_READ);
spi_readwrite(address);
// mcp2515 has auto-increment of address-pointer
for (i=0; i<n && i<CAN_MAX_CHAR_IN_MESSAGE; i++) {
values[i] = spi_read();
}
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: mcp2515_setRegister
** Descriptions: set register
*********************************************************************************************************/
void MCP_CAN::mcp2515_setRegister(const INT8U address, const INT8U value)
{
MCP2515_SELECT();
spi_readwrite(MCP_WRITE);
spi_readwrite(address);
spi_readwrite(value);
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: mcp2515_setRegisterS
** Descriptions: set registerS
*********************************************************************************************************/
void MCP_CAN::mcp2515_setRegisterS(const INT8U address, const INT8U values[], const INT8U n)
{
INT8U i;
MCP2515_SELECT();
spi_readwrite(MCP_WRITE);
spi_readwrite(address);
for (i=0; i<n; i++)
{
spi_readwrite(values[i]);
}
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: mcp2515_modifyRegister
** Descriptions: set bit of one register
*********************************************************************************************************/
void MCP_CAN::mcp2515_modifyRegister(const INT8U address, const INT8U mask, const INT8U data)
{
MCP2515_SELECT();
spi_readwrite(MCP_BITMOD);
spi_readwrite(address);
spi_readwrite(mask);
spi_readwrite(data);
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: mcp2515_readStatus
** Descriptions: read mcp2515's Status
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_readStatus(void)
{
INT8U i;
MCP2515_SELECT();
spi_readwrite(MCP_READ_STATUS);
i = spi_read();
MCP2515_UNSELECT();
return i;
}
/*********************************************************************************************************
** Function name: mcp2515_setCANCTRL_Mode
** Descriptions: set control mode
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode)
{
INT8U i;
mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
i = mcp2515_readRegister(MCP_CANCTRL);
i &= MODE_MASK;
if ( i == newmode )
{
return MCP2515_OK;
}
return MCP2515_FAIL;
}
/*********************************************************************************************************
** Function name: mcp2515_configRate
** Descriptions: set boadrate
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed){
return mcp2515_configRate(canSpeed,MCP_16MHz);
}
INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed, const INT8U clock)
{
INT8U set, cfg1, cfg2, cfg3;
set = 1;
switch (clock)
{
case (MCP_16MHz) :
switch (canSpeed)
{
case (CAN_5KBPS) :
cfg1 = MCP_16MHz_5kBPS_CFG1;
cfg2 = MCP_16MHz_5kBPS_CFG2;
cfg3 = MCP_16MHz_5kBPS_CFG3;
break;
case (CAN_10KBPS) :
cfg1 = MCP_16MHz_10kBPS_CFG1;
cfg2 = MCP_16MHz_10kBPS_CFG2;
cfg3 = MCP_16MHz_10kBPS_CFG3;
break;
case (CAN_20KBPS) :
cfg1 = MCP_16MHz_20kBPS_CFG1;
cfg2 = MCP_16MHz_20kBPS_CFG2;
cfg3 = MCP_16MHz_20kBPS_CFG3;
break;
case (CAN_31K25BPS) :
cfg1 = MCP_16MHz_31k25BPS_CFG1;
cfg2 = MCP_16MHz_31k25BPS_CFG2;
cfg3 = MCP_16MHz_31k25BPS_CFG3;
break;
case (CAN_40KBPS) :
cfg1 = MCP_16MHz_40kBPS_CFG1;
cfg2 = MCP_16MHz_40kBPS_CFG2;
cfg3 = MCP_16MHz_40kBPS_CFG3;
break;
case (CAN_50KBPS) :
cfg1 = MCP_16MHz_50kBPS_CFG1;
cfg2 = MCP_16MHz_50kBPS_CFG2;
cfg3 = MCP_16MHz_50kBPS_CFG3;
break;
case (CAN_80KBPS) :
cfg1 = MCP_16MHz_80kBPS_CFG1;
cfg2 = MCP_16MHz_80kBPS_CFG2;
cfg3 = MCP_16MHz_80kBPS_CFG3;
break;
case (CAN_100KBPS) : /* 100KBPS */
cfg1 = MCP_16MHz_100kBPS_CFG1;
cfg2 = MCP_16MHz_100kBPS_CFG2;
cfg3 = MCP_16MHz_100kBPS_CFG3;
break;
case (CAN_125KBPS) :
cfg1 = MCP_16MHz_125kBPS_CFG1;
cfg2 = MCP_16MHz_125kBPS_CFG2;
cfg3 = MCP_16MHz_125kBPS_CFG3;
break;
case (CAN_200KBPS) :
cfg1 = MCP_16MHz_200kBPS_CFG1;
cfg2 = MCP_16MHz_200kBPS_CFG2;
cfg3 = MCP_16MHz_200kBPS_CFG3;
break;
case (CAN_250KBPS) :
cfg1 = MCP_16MHz_250kBPS_CFG1;
cfg2 = MCP_16MHz_250kBPS_CFG2;
cfg3 = MCP_16MHz_250kBPS_CFG3;
break;
case (CAN_500KBPS) :
cfg1 = MCP_16MHz_500kBPS_CFG1;
cfg2 = MCP_16MHz_500kBPS_CFG2;
cfg3 = MCP_16MHz_500kBPS_CFG3;
break;
case (CAN_1000KBPS) :
cfg1 = MCP_16MHz_1000kBPS_CFG1;
cfg2 = MCP_16MHz_1000kBPS_CFG2;
cfg3 = MCP_16MHz_1000kBPS_CFG3;
break;
default:
set = 0;
break;
}
break;
case (MCP_8MHz) :
switch (canSpeed)
{
case (CAN_5KBPS) :
cfg1 = MCP_8MHz_5kBPS_CFG1;
cfg2 = MCP_8MHz_5kBPS_CFG2;
cfg3 = MCP_8MHz_5kBPS_CFG3;
break;
case (CAN_10KBPS) :
cfg1 = MCP_8MHz_10kBPS_CFG1;
cfg2 = MCP_8MHz_10kBPS_CFG2;
cfg3 = MCP_8MHz_10kBPS_CFG3;
break;
case (CAN_20KBPS) :
cfg1 = MCP_8MHz_20kBPS_CFG1;
cfg2 = MCP_8MHz_20kBPS_CFG2;
cfg3 = MCP_8MHz_20kBPS_CFG3;
break;
case (CAN_31K25BPS) :
cfg1 = MCP_8MHz_31k25BPS_CFG1;
cfg2 = MCP_8MHz_31k25BPS_CFG2;
cfg3 = MCP_8MHz_31k25BPS_CFG3;
break;
case (CAN_40KBPS) :
cfg1 = MCP_8MHz_40kBPS_CFG1;
cfg2 = MCP_8MHz_40kBPS_CFG2;
cfg3 = MCP_8MHz_40kBPS_CFG3;
break;
case (CAN_50KBPS) :
cfg1 = MCP_8MHz_50kBPS_CFG1;
cfg2 = MCP_8MHz_50kBPS_CFG2;
cfg3 = MCP_8MHz_50kBPS_CFG3;
break;
case (CAN_80KBPS) :
cfg1 = MCP_8MHz_80kBPS_CFG1;
cfg2 = MCP_8MHz_80kBPS_CFG2;
cfg3 = MCP_8MHz_80kBPS_CFG3;
break;
case (CAN_100KBPS) : /* 100KBPS */
cfg1 = MCP_8MHz_100kBPS_CFG1;
cfg2 = MCP_8MHz_100kBPS_CFG2;
cfg3 = MCP_8MHz_100kBPS_CFG3;
break;
case (CAN_125KBPS) :
cfg1 = MCP_8MHz_125kBPS_CFG1;
cfg2 = MCP_8MHz_125kBPS_CFG2;
cfg3 = MCP_8MHz_125kBPS_CFG3;
break;
case (CAN_200KBPS) :
cfg1 = MCP_8MHz_200kBPS_CFG1;
cfg2 = MCP_8MHz_200kBPS_CFG2;
cfg3 = MCP_8MHz_200kBPS_CFG3;
break;
case (CAN_250KBPS) :
cfg1 = MCP_8MHz_250kBPS_CFG1;
cfg2 = MCP_8MHz_250kBPS_CFG2;
cfg3 = MCP_8MHz_250kBPS_CFG3;
break;
case (CAN_500KBPS) :
cfg1 = MCP_8MHz_500kBPS_CFG1;
cfg2 = MCP_8MHz_500kBPS_CFG2;
cfg3 = MCP_8MHz_500kBPS_CFG3;
break;
case (CAN_1000KBPS) :
cfg1 = MCP_8MHz_1000kBPS_CFG1;
cfg2 = MCP_8MHz_1000kBPS_CFG2;
cfg3 = MCP_8MHz_1000kBPS_CFG3;
break;
default:
set = 0;
break;
}
break;
default:
set = 0;
break;
}
if (set) {
mcp2515_setRegister(MCP_CNF1, cfg1);
mcp2515_setRegister(MCP_CNF2, cfg2);
mcp2515_setRegister(MCP_CNF3, cfg3);
return MCP2515_OK;
}
else {
return MCP2515_FAIL;
}
}
/*********************************************************************************************************
** Function name: mcp2515_initCANBuffers
** Descriptions: init canbuffers
*********************************************************************************************************/
void MCP_CAN::mcp2515_initCANBuffers(void)
{
INT8U i, a1, a2, a3;
a1 = MCP_TXB0CTRL;
a2 = MCP_TXB1CTRL;
a3 = MCP_TXB2CTRL;
for (i = 0; i < 14; i++) { /* in-buffer loop */
mcp2515_setRegister(a1, 0);
mcp2515_setRegister(a2, 0);
mcp2515_setRegister(a3, 0);
a1++;
a2++;
a3++;
}
mcp2515_setRegister(MCP_RXB0CTRL, 0);
mcp2515_setRegister(MCP_RXB1CTRL, 0);
}
/*********************************************************************************************************
** Function name: mcp2515_init
** Descriptions: init the device
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_init(const INT8U canSpeed) /* mcp2515init */
{
return mcp2515_init(canSpeed,MCP_16MHz);
}
INT8U MCP_CAN::mcp2515_init(const INT8U canSpeed, const INT8U clock)
{
INT8U res;
mcp2515_reset();
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0)
{
#if DEBUG_MODE
Serial.print(F("Enter setting mode fall\r\n"));
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print(F("Enter setting mode success \r\n"));
#else
delay(10);
#endif
/* set boadrate */
if(mcp2515_configRate(canSpeed,clock))
{
#if DEBUG_MODE
Serial.print(F("set rate fall!!\r\n"));
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print(F("set rate success!!\r\n"));
#else
delay(10);
#endif
if ( res == MCP2515_OK ) {
/* init canbuffers */
mcp2515_initCANBuffers();
/* interrupt mode */
mcp2515_setRegister(MCP_CANINTE, MCP_RX0IF | MCP_RX1IF);
#if (DEBUG_RXANY==1)
/* enable both receive-buffers */
/* to receive any message */
/* and enable rollover */
mcp2515_modifyRegister(MCP_RXB0CTRL,
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
MCP_RXB_RX_ANY | MCP_RXB_BUKT_MASK);
mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
MCP_RXB_RX_ANY);
#else
/* enable both receive-buffers */
/* to receive messages */
/* with std. and ext. identifie */
/* rs */
/* and enable rollover */
mcp2515_modifyRegister(MCP_RXB0CTRL,
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
MCP_RXB_RX_STDEXT);
#endif
/* enter normal mode */
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if(res)
{
#if DEBUG_MODE
Serial.print(F("Enter Normal Mode Fall!!\r\n"));
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print(F("Enter Normal Mode Success!!\r\n"));
#else
delay(10);
#endif
}
return res;
}
/*********************************************************************************************************
** Function name: mcp2515_write_id
** Descriptions: write can id
*********************************************************************************************************/
void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr, const INT8U ext, const INT32U id )
{
uint16_t canid;
INT8U tbufdata[4];
canid = (uint16_t)(id & 0x0FFFF);
if ( ext == 1)
{
tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
canid = (uint16_t)(id >> 16);
tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3);
tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 );
}
else
{
tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 );
tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07 ) << 5);
tbufdata[MCP_EID0] = 0;
tbufdata[MCP_EID8] = 0;
}
mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
}
/*********************************************************************************************************
** Function name: mcp2515_read_id
** Descriptions: read can id
*********************************************************************************************************/
void MCP_CAN::mcp2515_read_id( const INT8U mcp_addr, INT8U* ext, INT32U* id )
{
INT8U tbufdata[4];
*ext = 0;
*id = 0;
mcp2515_readRegisterS( mcp_addr, tbufdata, 4 );
*id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M )
{
/* extended id */
*id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03);
*id = (*id<<8) + tbufdata[MCP_EID8];
*id = (*id<<8) + tbufdata[MCP_EID0];
*ext = 1;
}
}
/*********************************************************************************************************
** Function name: mcp2515_write_canMsg
** Descriptions: write msg
*********************************************************************************************************/
void MCP_CAN::mcp2515_write_canMsg( const INT8U buffer_sidh_addr)
{
INT8U mcp_addr;
mcp_addr = buffer_sidh_addr;
mcp2515_setRegisterS(mcp_addr+5, m_nDta, m_nDlc ); /* write data bytes */
if ( m_nRtr == 1) /* if RTR set bit in byte */
{
m_nDlc |= MCP_RTR_MASK;
}
mcp2515_setRegister((mcp_addr+4), m_nDlc ); /* write the RTR and DLC */
mcp2515_write_id(mcp_addr, m_nExtFlg, m_nID ); /* write CAN id */
}
/*********************************************************************************************************
** Function name: mcp2515_read_canMsg
** Descriptions: read message
*********************************************************************************************************/
void MCP_CAN::mcp2515_read_canMsg( const INT8U buffer_sidh_addr) /* read can msg */
{
INT8U mcp_addr, ctrl;
mcp_addr = buffer_sidh_addr;
mcp2515_read_id( mcp_addr, &m_nExtFlg,&m_nID );
ctrl = mcp2515_readRegister( mcp_addr-1 );
m_nDlc = mcp2515_readRegister( mcp_addr+4 );
if ((ctrl & 0x08)) {
m_nRtr = 1;
}
else {
m_nRtr = 0;
}
m_nDlc &= MCP_DLC_MASK;
mcp2515_readRegisterS( mcp_addr+5, &(m_nDta[0]), m_nDlc );
}
/*********************************************************************************************************
** Function name: mcp2515_start_transmit
** Descriptions: start transmit
*********************************************************************************************************/
void MCP_CAN::mcp2515_start_transmit(const INT8U mcp_addr) /* start transmit */
{
mcp2515_modifyRegister( mcp_addr-1 , MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
}
/*********************************************************************************************************
** Function name: mcp2515_getNextFreeTXBuf
** Descriptions: get Next free txbuf
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n) /* get Next free txbuf */
{
INT8U res, i, ctrlval;
INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
res = MCP_ALLTXBUSY;
*txbuf_n = 0x00;
/* check all 3 TX-Buffers */
for (i=0; i<MCP_N_TXBUFFERS; i++) {
ctrlval = mcp2515_readRegister( ctrlregs[i] );
if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
*txbuf_n = ctrlregs[i]+1; /* return SIDH-address of Buffe */
/* r */
res = MCP2515_OK;
return res; /* ! function exit */
}
}
return res;
}
/*********************************************************************************************************
** Function name: set CS
** Descriptions: init CS pin and set UNSELECTED
*********************************************************************************************************/
MCP_CAN::MCP_CAN(INT8U _CS)
{
SPICS = _CS;
pinMode(SPICS, OUTPUT);
MCP2515_UNSELECT();
}
MCP_CAN::MCP_CAN(){}
void MCP_CAN::set_cs(INT8U _CS){
SPICS = _CS;
pinMode(SPICS, OUTPUT);
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: init
** Descriptions: init can and set speed
*********************************************************************************************************/
INT8U MCP_CAN::begin(INT8U speedset, const INT8U clock)
{
INT8U res;
SPI.begin();
res = mcp2515_init(speedset, clock);
if (res == MCP2515_OK) return CAN_OK;
else return CAN_FAILINIT;
}
/*********************************************************************************************************
** Function name: init_Mask
** Descriptions: init canid Masks
*********************************************************************************************************/
INT8U MCP_CAN::init_Mask(INT8U num, INT8U ext, INT32U ulData)
{
INT8U res = MCP2515_OK;
#if DEBUG_MODE
Serial.print(F("Begin to set Mask!!\r\n"));
#else
delay(10);
#endif
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0){
#if DEBUG_MODE
Serial.print(F("Enter setting mode fall\r\n"));
#else
delay(10);
#endif
return res;
}
if (num == 0){
mcp2515_write_id(MCP_RXM0SIDH, ext, ulData);
}
else if(num == 1){
mcp2515_write_id(MCP_RXM1SIDH, ext, ulData);
}
else res = MCP2515_FAIL;
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if(res > 0){
#if DEBUG_MODE
Serial.print(F("Enter normal mode fall\r\n"));
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print(F("set Mask success!!\r\n"));
#else
delay(10);
#endif
return res;
}
/*********************************************************************************************************
** Function name: init_Filt
** Descriptions: init canid filters
*********************************************************************************************************/
INT8U MCP_CAN::init_Filt(INT8U num, INT8U ext, INT32U ulData)
{
INT8U res = MCP2515_OK;
#if DEBUG_MODE
Serial.print(F("Begin to set Filter!!\r\n"));
#else
delay(10);
#endif
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0)
{
#if DEBUG_MODE
Serial.print(F("Enter setting mode fall\r\n"));
#else
delay(10);
#endif
return res;
}
switch( num )
{
case 0:
mcp2515_write_id(MCP_RXF0SIDH, ext, ulData);
break;
case 1:
mcp2515_write_id(MCP_RXF1SIDH, ext, ulData);
break;
case 2:
mcp2515_write_id(MCP_RXF2SIDH, ext, ulData);
break;
case 3:
mcp2515_write_id(MCP_RXF3SIDH, ext, ulData);
break;
case 4:
mcp2515_write_id(MCP_RXF4SIDH, ext, ulData);
break;
case 5:
mcp2515_write_id(MCP_RXF5SIDH, ext, ulData);
break;
default:
res = MCP2515_FAIL;
}
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if(res > 0)
{
#if DEBUG_MODE
Serial.print(F("Enter normal mode fall\r\nSet filter fail!!\r\n"));
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print(F("set Filter success!!\r\n"));
#else
delay(10);
#endif
return res;
}
/*********************************************************************************************************
** Function name: setMsg
** Descriptions: set can message, such as dlc, id, dta[] and so on
*********************************************************************************************************/
INT8U MCP_CAN::setMsg(INT32U id, INT8U ext, INT8U len, INT8U rtr, INT8U *pData)
{
m_nExtFlg = ext;
m_nID = id;
m_nDlc = min( len, MAX_CHAR_IN_MESSAGE );
m_nRtr = rtr;
for(int i = 0; i<m_nDlc; i++)
{
m_nDta[i] = *(pData+i);
}
return MCP2515_OK;
}
/*********************************************************************************************************
** Function name: setMsg
** Descriptions: set can message, such as dlc, id, dta[] and so on
*********************************************************************************************************/
INT8U MCP_CAN::setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData)
{
return setMsg( id, ext, len, 0, pData );
}
/*********************************************************************************************************
** Function name: clearMsg
** Descriptions: set all message to zero
*********************************************************************************************************/
INT8U MCP_CAN::clearMsg()
{
m_nID = 0;
m_nDlc = 0;
m_nExtFlg = 0;
m_nRtr = 0;
m_nfilhit = 0;
for(int i = 0; i<m_nDlc; i++ )
m_nDta[i] = 0x00;
return MCP2515_OK;
}
/*********************************************************************************************************
** Function name: sendMsg
** Descriptions: send message
*********************************************************************************************************/
INT8U MCP_CAN::sendMsg()
{
INT8U res, res1, txbuf_n;
uint16_t uiTimeOut = 0;
do {
res = mcp2515_getNextFreeTXBuf(&txbuf_n); /* info = addr. */
uiTimeOut++;
} while (res == MCP_ALLTXBUSY && (uiTimeOut < TIMEOUTVALUE));
if(uiTimeOut == TIMEOUTVALUE)
{
return CAN_GETTXBFTIMEOUT; /* get tx buff time out */
}
uiTimeOut = 0;
mcp2515_write_canMsg( txbuf_n);
mcp2515_start_transmit( txbuf_n );
do
{
uiTimeOut++;
res1= mcp2515_readRegister(txbuf_n-1 /* the ctrl reg is located at txbuf_n-1 */); /* read send buff ctrl reg */
res1 = res1 & 0x08;
}while(res1 && (uiTimeOut < TIMEOUTVALUE));
if(uiTimeOut == TIMEOUTVALUE) /* send msg timeout */
{
return CAN_SENDMSGTIMEOUT;
}
clearMsg();
return CAN_OK;
}
/*********************************************************************************************************
** Function name: sendMsgBuf
** Descriptions: send buf
*********************************************************************************************************/
INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U ext, INT8U rtr, INT8U len, INT8U *buf)
{
setMsg(id, ext, len, rtr, buf);
return sendMsg();
}
/*********************************************************************************************************
** Function name: sendMsgBuf
** Descriptions: send buf
*********************************************************************************************************/
INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf)
{
setMsg(id, ext, len, buf);
return sendMsg();
}
/*********************************************************************************************************
** Function name: readMsg
** Descriptions: read message
*********************************************************************************************************/
INT8U MCP_CAN::readMsg(INT8U buf_num)
{
INT8U stat, res;
res=CAN_OK;
bool msgfound=false;
stat = mcp2515_readStatus();
if (buf_num==0){
if ( stat & MCP_STAT_RX0IF ) /* Msg in Buffer 0 */
{
mcp2515_read_canMsg( MCP_RXBUF_0);
mcp2515_modifyRegister(MCP_CANINTF, MCP_RX0IF, 0);
//res = CAN_OK;
msgfound=true;
//Serial.println(F("buffer 0"));
}
}
else{
if ( stat & MCP_STAT_RX1IF ) /* Msg in Buffer 1 */
{
mcp2515_read_canMsg( MCP_RXBUF_1);
mcp2515_modifyRegister(MCP_CANINTF, MCP_RX1IF, 0);
res = CAN_OK;
msgfound=true;
//Serial.println(F("buffer 1"));
}
}
if (!msgfound)
{