Diff: CAN3.cpp

Revision:

1:dbc44582f2f8

Child:

7:2abb9b7eec25

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN3.cpp	Sun Jun 13 09:52:03 2010 +0000
@@ -0,0 +1,95 @@
+#include "CAN3.h"
+
+#include "mbed.h"
+#include "mcp2515.h"
+#include "mcp2515_can.h"
+#include "mcp2515_defs.h"
+
+
+CAN3::CAN3(SPI& _spi, PinName ncs, PinName itr)
+        : spi(_spi), _mcp(spi, ncs), _itr(itr) {
+    printf("\n\rcan = %d",this);
+
+}
+
+uint8_t CAN3::read(CANMessage *msg) {
+    uint8_t stat, res;
+
+    stat = _mcp.readStatus();
+
+    if ( stat & MCP_STAT_RX0IF ) {
+        // Msg in Buffer 0
+        _mcp.read_canMsg( MCP_RXBUF_0, msg);
+        _mcp.modifyRegister(MCP_CANINTF, MCP_RX0IF, 0);
+        res = CAN_OK;
+    } else if ( stat & MCP_STAT_RX1IF ) {
+        // Msg in Buffer 1
+        _mcp.read_canMsg( MCP_RXBUF_1, msg);
+        _mcp.modifyRegister(MCP_CANINTF, MCP_RX1IF, 0);
+        res = CAN_OK;
+    } else {
+        res = CAN_NOMSG;
+    }
+
+    return res;
+}
+
+uint8_t CAN3::checkReceive(void) {
+    uint8_t res;
+
+    res = _mcp.readStatus(); // RXnIF in Bit 1 and 0
+    if ( res & MCP_STAT_RXIF_MASK ) {
+        return CAN_MSGAVAIL;
+    } else {
+        return CAN_NOMSG;
+    }
+}
+
+void CAN3::write(CANMessage* test) {
+    uint8_t  txbuf_n;
+    _mcp.getNextFreeTXBuf(&txbuf_n);
+    _mcp.write_canMsg(txbuf_n,test);
+    _mcp.start_transmit( txbuf_n );
+}
+
+void CAN3::rise(void (*fptr)(void)) {
+    _itr.rise(fptr);
+}
+
+void CAN3::fall(void (*fptr2)(void)) {
+    _itr.fall(fptr2);
+}
+
+void CAN3::frequency(int canSpeed) {
+
+    uint8_t res;
+
+    res = _mcp.init(canSpeed); //CAN_500KBPS_8MHZ
+    wait(.001);
+    if (res == MCP2515_OK) {
+        printf("CAN Init OK\n\r");
+
+    } else {
+        printf("CAN Init FAIL\n\r");
+    }
+
+    _mcp.setRegister(MCP_CANINTE, 0x3);//0x3); //MCP_RX_INT);
+    _mcp.setRegister(MCP_CANINTF, 0x3);// 0xff);
+
+
+//RX0,1 as rx0,1 digital interrupt outputs
+//_mcp.setRegister(BFPCTRL, 0xf);
+
+//[Set TX0,1,2 as digital inputs
+//_mcp.setRegister(TXRTSCTRL, 0x0);
+
+    printf("Setting Normal-Mode - \n\r ");
+    if ( _mcp.setCANCTRL_Mode(MODE_NORMAL) == MCP2515_OK) { //MODE_NORMAL MODE_LOOPBACK
+        printf("OK\n\r");
+    } else {
+        printf("failed\n\r");
+    }
+
+    _mcp.dumpExtendedStatus();
+    wait(.001);
+}
\ No newline at end of file