Bobcat Racing
Sample code for Arduino CAN
Dependencies: mbed
Diff: arduinoCAN.cpp
- Revision:
- 0:6ed8574c6258
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/arduinoCAN.cpp Mon Feb 29 19:33:12 2016 +0000
@@ -0,0 +1,897 @@
+/*
+ * Copyright (C) 2009 Libelium Comunicaciones Distribuidas S.L.
+ * http://www.libelium.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 2.1 of the License, or
+ * (at your option) any later version.
+
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Version: 0.3
+ * Design: David Gascon
+ * Implementation: Luis Antonio Martin & Ahmad Saad
+ */
+
+#include "Arduino.h"
+#include "arduinoCAN.h"
+#include "../SPI/SPI.h"
+#include "../arduino-api/arduinoMultiprotocol.h"
+#include "../arduino-api/arduinoUtils.h"
+
+
+
+#define DEBUGMODE 0
+/***********************************************************************
+ * Constructors
+ ***********************************************************************/
+
+CAN::CAN(void){}
+
+
+/***********************************************************************
+ * PUBLIC METHODS
+ ***********************************************************************/
+
+//!*************************************************************
+//! Name: ON()
+//! Description: Initialization MCP2515
+//! Param : void
+//! Returns: "1" if no error, "0" if error
+//!*************************************************************
+bool CAN::begin(uint16_t speed)
+{
+
+ #if (DEBUGMODE ==1 )
+ Serial.println("-- Constructor Can(uint16_t speed) --");
+ #endif
+
+ // Initialize in Socket1
+ Utils.setONSocket0();
+ Utils.setMUXSocket0();
+ Utils.unsetCSSocket0();
+
+ //Initialization SPI
+ SPI.begin();
+ SPI.detachInterrupt();
+ SPI.setBitOrder(MSBFIRST);
+ // both mode 0 & 3 should work
+ SPI.setDataMode(SPI_MODE0);
+
+ //Set the SPI frequency
+ SPI.setClockDivider(SPI_CLOCK_DIV128);
+
+ #if (DEBUGMODE==1)
+ Serial.println("SPI configured");
+ #endif
+
+
+ //Software resets MCP2515
+ reset();
+ delay(10);
+
+ //After the reset enters configuration mode
+
+ //Choose the rate of CAN-bus
+ switch(speed){
+
+ case 1000:
+ #if (DEBUGMODE==1)
+ Serial.println("Speed=1Mbps");
+ #endif
+ Utils.setCSSocket0();
+ SPI.transfer(SPI_WRITE);
+ SPI.transfer(CNF3);
+ SPI.transfer((1<<PHSEG21));
+ SPI.transfer((1<<BTLMODE)|(1<<PHSEG11));
+ Utils.unsetCSSocket0();
+ break;
+
+ case 500:
+ #if (DEBUGMODE==1)
+ Serial.println("Speed=500kps");
+ #endif
+ Utils.setCSSocket0();
+ SPI.transfer(SPI_WRITE);
+ SPI.transfer(CNF3);
+ SPI.transfer((1<<PHSEG21));
+ SPI.transfer((1<<BTLMODE)|(1<<PHSEG11));
+ SPI.transfer((1<<BRP0));
+ Utils.unsetCSSocket0();
+ break;
+
+ case 250:
+ #if (DEBUGMODE==1)
+ Serial.println("Speed=250kps");
+ #endif
+ Utils.setCSSocket0();
+ SPI.transfer(SPI_WRITE);
+ SPI.transfer(CNF3);
+ SPI.transfer((1<<PHSEG20)|(1<<PHSEG22));
+ SPI.transfer((1<<BTLMODE)|(1<<PHSEG12)|(1<<PHSEG11)|(1<<PHSEG10));
+ SPI.transfer((1<<BRP0));
+ Utils.unsetCSSocket0();
+ break;
+
+ default:
+ #if (DEBUGMODE==1)
+ Serial.println("The rate requested is unavailable, is set to 125 Kbit/s by default");
+ #endif
+ Utils.setCSSocket0();
+ SPI.transfer(SPI_WRITE);
+ SPI.transfer(CNF3);
+ SPI.transfer((1<<PHSEG21));
+ SPI.transfer((1<<BTLMODE)|(1<<PHSEG11));
+ SPI.transfer((1<<BRP2)|(1<<BRP1)|(1<<BRP0));
+ Utils.unsetCSSocket0();
+ break;
+
+ }
+
+ //Enable interrupts the Rx Buffer
+ writeRegister(CANINTE,(1<<RX1IE)|(1<<RX0IE));
+
+ //Filters and masks
+ //Bufer 0: All the messages and Rollover
+ writeRegister(RXB0CTRL,(1<<RXM1)|(1<<RXM0)|(1<<BUKT));
+
+ //Bufer 1: All the messages
+ writeRegister(RXB1CTRL,(1<<RXM1)|(1<<RXM0));
+
+ //All bits of the mask reception delete
+ writeRegister( RXM0SIDH, 0 );
+ writeRegister( RXM0SIDL, 0 );
+ writeRegister( RXM0EID8, 0 );
+ writeRegister( RXM0EID0, 0 );
+ writeRegister( RXM1SIDH, 0 );
+ writeRegister( RXM1SIDL, 0 );
+ writeRegister( RXM1EID8, 0 );
+ writeRegister( RXM1EID0, 0 );
+
+ //Disable pins RXnBF pins (high impedance state)
+ writeRegister( BFPCTRL, 0 );
+
+ //Set normal mode
+ setMode(NORMAL_MODE);
+
+ //Test its correct mode
+ /*
+ if (read_register(CANSTAT) != 0) {
+ Serial.println("Failed to initialize the MCP2515, normal mode not activated");
+ return false;
+ }*/
+
+ #if (DEBUGMODE==1)
+ Serial.println("-- End Constructor Can(uint16_t speed) --");
+ Serial.println("");
+ #endif
+
+ return 1;
+}
+
+//!*************************************************************
+//! Name: getMessage()
+//! Description: Take the CAN message
+//! Param : messageCAN *rec_msje: pointer to reception buffer
+//! Returns: "1" if no error, "0" if error
+//!*************************************************************
+char CAN::getMessage(messageCAN *rec_msje)
+{
+ //Bought that buffer is the message
+ char status = readStatus(SPI_RX_STATUS);
+ char addr;
+ static uint8_t previoSerialuffer;
+
+ /*
+ if (bit_is_set(status,6)) {
+ //If the message is in the Buffer 1
+ addr = SPI_READ_RX;
+ }
+ else if (bit_is_set(status,7))
+ {
+ //If the message is in the Buffer 2
+ addr = SPI_READ_RX | 0x04;
+ }
+ else {
+ // Error, the message is not available
+ return 0;
+ }*/
+
+ if ( (((status & 0b11000000)>>6)&0b00000011) >2 )
+ {
+ addr=SPI_READ_RX | (previoSerialuffer++ & 0x01)<<2;
+ #if (DEBUGMODE==1)
+ Serial.println("Data in buffer available");
+ #endif
+ }
+ else if (bit_is_set(status,6))
+ {
+ addr = SPI_READ_RX;
+ #if (DEBUGMODE==1)
+ Serial.println("Data in buffer 0");
+ #endif
+ }
+ else if (bit_is_set(status,7))
+ {
+ addr = SPI_READ_RX | 0x04;
+ #if (DEBUGMODE==1)
+ Serial.println("Data in buffer 1");
+ #endif
+ }
+ else {
+ // Error: no message available
+ #if (DEBUGMODE==1)
+ Serial.println("No messages");
+ #endif
+
+ return 0;
+ }
+
+ Utils.setCSSocket0();
+ SPI.transfer(addr);
+
+ //Read id
+ rec_msje->id = (unsigned int) SPI.transfer(0xff) << 3; //Read the top
+ rec_msje->id |= SPI.transfer(0xff) >> 5; //Read the lower
+
+ //Return the Extended ID
+ SPI.transfer(0xff);
+ SPI.transfer(0xff);
+
+ //Read DLC
+ char length = SPI.transfer(0xff) & 0x0f;
+
+ rec_msje->header.length = length;
+ rec_msje->header.rtr = (bit_is_set(status, 3)) ? 1 : 0;
+
+ //Read data
+ for (char i=0;i<length;i++) {
+ rec_msje->data[i] = SPI.transfer(0xFF);
+ }
+
+ Utils.unsetCSSocket0();
+
+ //Delete the interruptions flags
+ if (bit_is_set(status, 6)) {
+ bitModify(CANINTF, (1<<RX0IF), 0);
+ }
+ else {
+ bitModify(CANINTF, (1<<RX1IF), 0);
+ }
+
+ return status;
+}
+
+
+
+//!*************************************************************
+//! Name: sendMessage()
+//! Description: Send the CAN message
+//! Param: messageCAN *send_msje: pointer to transmission buffer
+//! Returns: "1" if no error, "0" if error
+//!*************************************************************
+char CAN::sendMessage(messageCAN *send_msje)
+{
+ char status = readStatus(SPI_READ_STATUS);
+
+ /* Status char:
+ *
+ * Bit Funcion
+ * 2 TXB0CNTRL.TXREQ
+ * 4 TXB1CNTRL.TXREQ
+ * 6 TXB2CNTRL.TXREQ
+ */
+
+ char address;
+
+ if (bit_is_clear(status, 2)) {
+ address = 0x00;
+ } else if (bit_is_clear(status, 4)) {
+ address = 0x02;
+ } else if (bit_is_clear(status, 6)) {
+ address = 0x04;
+ } else {
+ //All buffers are used can not send messages (returns 0)
+ return 0;
+ }
+
+ Utils.setCSSocket0();
+ SPI.transfer(SPI_WRITE_TX | address);
+ //First, send the top ID10....ID3
+ SPI.transfer(send_msje->id >> 3);
+ //After sending the lower ID2....ID0
+ SPI.transfer(send_msje->id << 5);
+
+ //As we will not use the Extended ID you set it to 0
+ SPI.transfer(0);
+ SPI.transfer(0);
+
+ char length = send_msje->header.length & 0x0F;
+
+ if (send_msje->header.rtr) {
+ SPI.transfer((1<<RTR) | length);
+ } else {
+ //Send the message length
+ SPI.transfer(length);
+ //Send data
+ for (char i=0;i<length;i++) {
+ SPI.transfer(send_msje->data[i]);
+ }
+ }
+
+ Utils.unsetCSSocket0();
+
+ //Send message
+ Utils.setCSSocket0();
+ address = (address == 0) ? 1 : address;
+ SPI.transfer(SPI_RTS | address);
+ Utils.unsetCSSocket0();
+
+ return address;
+}
+
+
+//!*************************************************************
+//! Name: printMessage()
+//! Description: CAN message print out the serial port
+//! Param : messageCAN *msje: pointer to the message
+//! Returns: "1" if no error, "0" if error
+//!*************************************************************
+void CAN::printMessage(messageCAN *msje)
+{
+ Serial.print(" id: ");
+ Serial.print(messageRx.id,HEX);
+ Serial.print(" rtr: ");
+ Serial.print(messageRx.header.rtr,HEX);
+ Serial.print(" => ");
+
+ if (!msje->header.rtr) {
+ //Data
+ Serial.print(" data: ");
+ Serial.print(messageRx.data[0],HEX); Serial.print(",");
+ Serial.print(messageRx.data[1],HEX); Serial.print(",");
+ Serial.print(messageRx.data[2],HEX); Serial.print(",");
+ Serial.print(messageRx.data[3],HEX); Serial.print(",");
+ Serial.print(messageRx.data[4],HEX); Serial.print(",");
+ Serial.print(messageRx.data[5],HEX); Serial.print(",");
+ Serial.print(messageRx.data[6],HEX); Serial.print(",");
+ Serial.println(messageRx.data[7],HEX);
+ }
+}
+
+
+//!*************************************************************
+//! Name: setMode()
+//! Description: Configure the MCP2515
+//! Param : uint8_t mode: The work mode
+//! Returns: void
+//!*************************************************************
+void CAN::setMode(uint8_t mode)
+{
+ uint8_t mode_register = 0;
+
+ if (mode == LISTEN_ONLY_MODE) {
+ mode_register = (0<<REQOP2)|(1<<REQOP1)|(1<<REQOP0);
+ }
+ else if (mode == LOOPBACK_MODE) {
+ mode_register = (0<<REQOP2)|(1<<REQOP1)|(0<<REQOP0);
+ }
+ else if (mode == SLEEP_MODE) {
+ mode_register = (0<<REQOP2)|(0<<REQOP1)|(1<<REQOP0);
+ }
+ else if (mode == NORMAL_MODE) {
+ mode_register = (0<<REQOP2)|(0<<REQOP1)|(0<<REQOP0);
+ }
+
+ //Set the new mode
+ bitModify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), mode_register);
+
+ //Wait until the mode has been changed
+ while ((readRegister(CANSTAT) & 0xe0) != mode_register) { }
+}
+
+
+//!*************************************************************
+//! Name: messageAvailable()
+//! Description: Check if there is any message
+//! Param : void
+//! Returns: 1 if available, 0 if not.
+//!*************************************************************
+uint8_t CAN::messageAvailable(void)
+{
+ char status = readStatus(SPI_RX_STATUS);
+
+ if ( (((status & 0b11000000)>>6)&0b00000011) >2 )
+ {
+ return 1;
+ } else if (bit_is_set(status,6)) {
+ return 1;
+ } else if (bit_is_set(status,7)) {
+ return 1;
+ } else {
+ return 0;
+
+ #if (DEBUGMODE==1)
+ Serial.println("No data available");
+ #endif
+ }
+}
+
+//**********************************************************************
+// Standars PIDs
+//**********************************************************************
+
+
+//!*************************************************************
+//! Name: getEngineLoad()
+//! Description: Calculated engine load value
+//! Param : void
+//! Returns: unsigned int: engine load value (0-100)
+//!*************************************************************
+unsigned int CAN::getEngineLoad()
+{
+ unsigned int data;
+
+ CiARequest(CALC_ENGINE_LOAD);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t(messageRx.data[3] * 100) / 255;
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+}
+
+
+//!*************************************************************
+//! Name: getEngineCoolantTemp()
+//! Description: Engine coolant temperature
+//! Param : void
+//! Returns: Engine coolant temperature(-40 - 215)
+//!*************************************************************
+unsigned int CAN::getEngineCoolantTemp()
+{
+ unsigned int data;
+
+ CiARequest(ENGINE_COOLANT_TEMP);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t(messageRx.data[3] - 40);
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+}
+
+
+//!*************************************************************
+//! Name: getFuelPressure()
+//! Description: Fuel pressure
+//! Param : void
+//! Returns: unsigned int: Fuel pressure (0 - 765 Kpa)
+//!*************************************************************
+unsigned int CAN::getFuelPressure()
+{
+ unsigned int data;
+
+ CiARequest(FUEL_PRESSURE);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t(messageRx.data[3] * 3) ;
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+}
+
+
+//!*************************************************************
+//! Name: getIntakeMAPressure()
+//! Description: Intake manifold absolute pressure
+//! Param : void
+//! Returns: unsigned int: absolute pressure (0 - 255 Kpa)
+//!*************************************************************
+unsigned int CAN::getIntakeMAPressure()
+{
+ unsigned int data;
+
+ CiARequest(INTAKE_M_A_PRESSURE);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = messageRx.data[3];
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+
+
+}
+
+
+//!*************************************************************
+//! Name: getEngineRPM()
+//! Description: Engine RPM
+//! Param : void
+//! Returns: unsigned int: Engine RPM (0 - 16,383 RPM)
+//!*************************************************************
+unsigned int CAN::getEngineRPM()
+{
+
+ unsigned int data;
+
+ CiARequest(ENGINE_RPM);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = (uint16_t(messageRx.data[3]*256) + messageRx.data[4])/4;
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+}
+
+
+//!*************************************************************
+//! Name: getVehicleSpeed()
+//! Description: Vehicle speed
+//! Param : void
+//! Returns: unsigned int: Vehicle speed (0 - 255)
+//!*************************************************************
+unsigned int CAN::getVehicleSpeed()
+{
+ unsigned int data;
+
+ CiARequest(VEHICLE_SPEED);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t(messageRx.data[3]);
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+
+}
+
+
+//!*************************************************************
+//! Name: getTimingAdvance()
+//! Description: Timing advance
+//! Param : void
+//! Returns: unsigned int: Time (-64 - 63.5)
+//!*************************************************************
+unsigned int CAN::getTimingAdvance()
+{
+ unsigned int data;
+
+ CiARequest(TIMING_ADVANCE);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t(messageRx.data[3] / 2- 64);
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+}
+
+//!*************************************************************
+//! Name: getIntankeAirTemp()
+//! Description: Intake air temperature
+//! Param : void
+//! Returns: unsigned int: Intake air temperature(-40 - 215)
+//!*************************************************************
+unsigned int CAN::getIntankeAirTemp()
+{
+ unsigned int data;
+
+ CiARequest(INTAKE_AIR_TEMP);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t(messageRx.data[3] - 40);
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+}
+
+
+//!*************************************************************
+//! Name: getMAFairFlowRate()
+//! Description: MAF air flow rate
+//! Param : void
+//! Returns: unsigned int: air flow rate (0 - 655.35 g/s)
+//!*************************************************************
+unsigned int CAN::getMAFairFlowRate()
+{
+ unsigned int data;
+
+ CiARequest(MAF_AIR_FLOW_RATE);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = ( uint16_t(messageRx.data[3] * 256) + messageRx.data[4]) / 100;
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+
+}
+
+
+//!*************************************************************
+//! Name: getThrottlePosition()
+//! Description: Throttle position
+//! Param : void
+//! Returns: unsigned int: Throttle position (0 - 100%)
+//!*************************************************************
+unsigned int CAN::getThrottlePosition()
+{
+ unsigned int data;
+
+ CiARequest(THROTTLE_POSITION);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t(messageRx.data[3] * 100) / 255;
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+
+
+}
+
+
+//!*************************************************************
+//! Name: getFuelLevel()
+//! Description: Fuel Level Input
+//! Param : void
+//! Returns: unsigned int: Fuel Level Input (0 - 100%)
+//!*************************************************************
+unsigned int CAN::getFuelLevel()
+{
+ unsigned int data;
+
+ CiARequest(FUEL_LEVEL);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t(messageRx.data[3] * 100) / 255;
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+
+}
+
+
+//!*************************************************************
+//! Name: getBarometricPressure()
+//! Description: Barometric pressure
+//! Param : void
+//! Returns: unsigned int: Barometric pressure (0 - 255 Kpa)
+//!*************************************************************
+unsigned int CAN::getBarometricPressure()
+{
+ unsigned int data;
+
+ CiARequest(BAROMETRIC_PRESSURE);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t(messageRx.data[3]);
+
+ #if (DEBUGMODE == 1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+}
+
+
+//!*************************************************************
+//! Name: getEngineFuelRate()
+//! Description: Engine fuel rate
+//! Param : void
+//! Returns: unsigned int: Engine fuel rate (0 - 3212 L/h)
+//!*************************************************************
+unsigned int CAN::getEngineFuelRate()
+{
+ unsigned int data;
+
+ CiARequest(ENGINE_FUEL_RATE);
+
+ if (messageRx.id==ID_RESPONSE) {
+ data = uint16_t((messageRx.data[3] * 256) + messageRx.data[4]) * 0.05;
+
+ #if (DEBUGMODE==1)
+ printMessage(&messageRx);
+ #endif
+ }
+
+ return data;
+
+}
+
+
+/***********************************************************************
+ CAN in Automation (CiA)
+ ***********************************************************************/
+
+//Request information through OBD
+void CAN::CiARequest(uint8_t PID)
+{
+ messageTx.id = ID_QUERY;
+ messageTx.header.rtr = 0;
+ messageTx.header.length = 8;
+ messageTx.data[0]= 0x02;
+ messageTx.data[1]= 0x01;
+ messageTx.data[2]= PID;
+
+
+ sendMessage(&messageTx);
+ delay(5);
+
+ if (messageAvailable()) {
+ //Read the message buffers
+ getMessage(&messageRx);
+ }
+
+}
+
+
+/***********************************************************************
+ * PRIVATE METHODS
+ ***********************************************************************/
+
+//Write a MCP2515 register
+void CAN::writeRegister( char direction, char data )
+{
+ //CS low to select the MCP2515
+ Utils.setCSSocket0();
+
+ SPI.transfer(SPI_WRITE);
+ SPI.transfer(direction);
+ SPI.transfer(data);
+
+ //CS line again to release
+ Utils.unsetCSSocket0();
+}
+
+
+//**********************************************************************
+
+//Read a MCP2515 register
+char CAN::readRegister(char direction)
+{
+ char data;
+
+ //CS low to select the MCP2515
+ Utils.setCSSocket0();
+
+ SPI.transfer(SPI_READ);
+ SPI.transfer(direction);
+ //Read data SPI
+ data = SPI.transfer(0xff);
+
+ //CS line again to release
+ Utils.unsetCSSocket0();
+
+ return data;
+}
+
+
+//***********************************************************************
+
+//Modify a bit of the MCP2515 registers
+void CAN::bitModify(char direction, char mask, char data)
+{
+ //CS low to select the MCP2515
+ Utils.setCSSocket0();
+
+ SPI.transfer(SPI_BIT_MODIFY);
+ SPI.transfer(direction);
+ SPI.transfer(mask);
+ SPI.transfer(data);
+
+ //CS line again to release
+ Utils.unsetCSSocket0();
+}
+
+
+//***********************************************************************
+
+//Check the status of the MCP2515 registers (SPI_RX_STATUS / SPI_READ_STATUS)
+char CAN::readStatus(char type)
+{
+ char data;
+
+ //CS low to select the MCP2515
+ Utils.setCSSocket0();
+
+ SPI.transfer(type);
+ //Read data SPI
+ data = SPI.transfer(0xFF);
+
+ //CS line again to release
+ Utils.unsetCSSocket0();
+
+ return data;
+}
+
+
+//***********************************************************************
+
+//Check if the buffers are empty
+bool CAN::checkFreeBuffer(void)
+{
+ char status = readStatus(SPI_READ_STATUS);
+
+
+ if ((status & 0x54) == 0x54)
+ {
+ //All buffers used
+ return false;
+ }
+
+ return true;
+}
+
+
+//***********************************************************************
+
+//Reset MCP2515
+void CAN::reset(void)
+{
+ //CS low to select the MCP2515
+ Utils.setCSSocket0();
+
+ SPI.transfer(SPI_RESET);
+ //CS line again to release
+ Utils.unsetCSSocket0();
+
+
+ //Wait a bit to be stabilized after the reset MCP2515
+ delay(10);
+
+ #if (DEBUGMODE==1)
+ Serial.println("The MCP2515 has been successfully reset, configuration mode activated");
+ #endif
+}
+
+