Revision 0:b65cb1bbf0ce, committed 2013-01-18

Comitter:

FalconOnishi

Date:

Fri Jan 18 17:00:28 2013 +0000

Commit message:

Add some utility methods

Changed in this revision

diff -r 000000000000 -r b65cb1bbf0ce MCP2515.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MCP2515.cpp	Fri Jan 18 17:00:28 2013 +0000
@@ -0,0 +1,474 @@
+
+#include "MCP2515.h"
+
+MCP2515::MCP2515(SPI& spi, PinName cs) : spi(spi), cs(cs)
+{
+    /*
+    reset = 0; // RESET MCP2515 CONTROLLER
+    wait_ms(10);
+    reset = 1;
+    wait_ms(100);
+    */
+}
+
+void MCP2515::baudConfig(int bitRate)//sets bitrate for MCP2515 node
+{
+    byte config0 = 0x00;
+    byte config1 = 0x00;
+    byte config2 = 0x00;
+
+    switch (bitRate)
+    {
+case 10:
+        config0 = 0x31;
+        config1 = 0xB8;
+        config2 = 0x05;
+        break;
+
+case 20:
+        config0 = 0x18;
+        config1 = 0xB8;
+        config2 = 0x05;
+        break;
+
+case 50:
+        config0 = 0x09;
+        config1 = 0xB8;
+        config2 = 0x05;
+        break;
+
+case 100:
+        config0 = 0x04;
+        config1 = 0xB8;
+        config2 = 0x05;
+        break;
+
+case 125:
+        config0 = 0x03;
+        config1 = 0xB8;
+        config2 = 0x05;
+        break;
+
+case 250:
+        config0 = 0x01;
+        config1 = 0xB8;
+        config2 = 0x05;
+        break;
+
+case 500:
+        config0 = 0x00;
+        config1 = 0xB8;
+        config2 = 0x05;
+        break;
+case 1000:
+    //1 megabit mode added by Patrick Cruce(pcruce_at_igpp.ucla.edu)
+    //Faster communications enabled by shortening bit timing phases(3 Tq. PS1 & 3 Tq. PS2) Note that this may exacerbate errors due to synchronization or arbitration.
+    config0 = 0x80;
+    config1 = 0x90;
+    config2 = 0x02;
+    }
+    cs = 0;
+    wait_ms(10);
+    spi.write(WRITE);
+    spi.write(CNF0);
+    spi.write(config0);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+
+    cs = 0;
+    wait_ms(10);
+    spi.write(WRITE);
+    spi.write(CNF1);
+    spi.write(config1);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+
+    cs = 0;
+    wait_ms(10);
+    spi.write(WRITE);
+    spi.write(CNF2);
+    spi.write(config2);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+}
+
+//Method added to enable testing in loopback mode.(pcruce_at_igpp.ucla.edu)
+void MCP2515::setMode(MCP2515Mode mode) { //put MCP2515 controller in one of five modes
+
+    //byte writeVal,mask,readVal;
+    byte writeVal = 0x00;
+    byte mask = 0x00;
+
+    switch(mode) {
+      case CONFIGURATION:
+            writeVal = 0x80;
+            break;
+      case NORMAL:
+          writeVal = 0x00;
+            break;
+      case SLEEP:
+            writeVal = 0x20;
+          break;
+    case LISTEN:
+            writeVal = 0x60;
+          break;
+      case LOOPBACK:
+            writeVal = 0x40;
+          break;
+   }
+
+    mask = 0xE0;
+
+    cs = 0;
+    spi.write(BIT_MODIFY);
+    spi.write(MCP2515CTRL);
+    spi.write(mask);
+    spi.write(writeVal);
+    cs = 1;
+
+}
+
+
+void MCP2515::send_0()//transmits buffer 0
+{
+
+    //wait_mss removed from SEND command(pcruce_at_igpp.ucla.edu)
+    //In testing we found that any lost data was from PC<->Serial wait_mss,
+    //Not MCP2515 Controller/AVR wait_mss.  Thus removing the wait_mss at this level
+    //allows maximum flexibility and performance.
+    cs = 0;
+    spi.write(SEND_TX_BUF_0);
+    cs = 1;
+}
+
+void MCP2515::send_1()//transmits buffer 1
+{
+    cs = 0;
+    spi.write(SEND_TX_BUF_1);
+    cs = 1;
+}
+
+void MCP2515::send_2()//transmits buffer 2
+{
+    cs = 0;
+    spi.write(SEND_TX_BUF_2);
+    cs = 1;
+}
+
+char MCP2515::readID_0()//reads ID in recieve buffer 0
+{
+    char retVal;
+    cs = 0;
+    wait_ms(10);
+    spi.write(READ_RX_BUF_0_ID);
+    retVal = spi.write(0xFF);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+    return retVal;
+}
+
+char MCP2515::readID_1()//reads ID in reciever buffer 1
+{
+    char retVal;
+    cs = 0;
+    wait_ms(10);
+    spi.write(READ_RX_BUF_1_ID);
+    retVal = spi.write(0xFF);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+    return retVal;
+}
+
+char MCP2515::readDATA_0()//reads DATA in recieve buffer 0
+{
+    char retVal;
+    cs = 0;
+    wait_ms(10);
+    spi.write( READ_RX_BUF_0_DATA);
+    retVal = spi.write(0xFF);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+    return retVal;
+}
+
+char MCP2515::readDATA_1()//reads data in recieve buffer 1
+{
+    char retVal;
+    cs = 0;
+    wait_ms(10);
+    spi.write( READ_RX_BUF_1_DATA);
+    retVal = spi.write(0xFF);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+    return retVal;
+}
+
+    //extending MCP2515 data read to full frames(pcruce_at_igpp.ucla.edu)
+    //It is the responsibility of the user to allocate memory for output.
+    //If you don't know what length the bus frames will be, data_out should be 8-bytes
+void MCP2515::readDATA_ff_0(byte* length_out,byte *data_out,unsigned short *id_out){
+
+    byte len,i;
+    unsigned short id_h,id_l;
+
+    cs = 0;
+    spi.write(READ_RX_BUF_0_ID);
+    id_h = (unsigned short) spi.write(0xFF); //id high
+    id_l = (unsigned short) spi.write(0xFF); //id low
+    spi.write(0xFF); //extended id high(unused)
+    spi.write(0xFF); //extended id low(unused)
+    len = (spi.write(0xFF) & 0x0F); //data length code
+    for (i = 0;i<len;i++) {
+        data_out[i] = spi.write(0xFF);
+    }
+    cs = 1;
+    (*length_out) = len;
+    (*id_out) = ((id_h << 3) + ((id_l & 0xE0) >> 5)); //repack identifier
+    
+}
+
+void MCP2515::readDATA_ff_1(byte* length_out,byte *data_out,unsigned short *id_out){
+
+    byte id_h,id_l,len,i;
+
+    cs = 0;
+    spi.write(READ_RX_BUF_1_ID);
+    id_h = spi.write(0xFF); //id high
+    id_l = spi.write(0xFF); //id low
+    spi.write(0xFF); //extended id high(unused)
+    spi.write(0xFF); //extended id low(unused)
+    len = (spi.write(0xFF) & 0x0F); //data length code
+    for (i = 0;i<len;i++) {
+        data_out[i] = spi.write(0xFF);
+    }
+    cs = 1;
+
+    (*length_out) = len;
+    (*id_out) = ((((unsigned short) id_h) << 3) + ((id_l & 0xE0) >> 5)); //repack identifier
+}
+
+    //Adding method to read status register
+    //MCP2515 be used to determine whether a frame was received.
+    //(readStatus() & 0x80) == 0x80 means frame in buffer 0
+    //(readStatus() & 0x40) == 0x40 means frame in buffer 1
+byte MCP2515::readStatus() 
+{
+    byte retVal;
+    cs = 0;
+    spi.write(READ_STATUS);
+    retVal = spi.write(0xFF);
+    cs = 1;
+    return retVal;
+
+}
+
+void MCP2515::load_0(byte identifier, byte data)//loads ID and DATA into transmit buffer 0
+{
+    cs = 0;
+    wait_ms(10);
+    spi.write(LOAD_TX_BUF_0_ID);
+    spi.write(identifier);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+
+    cs = 0;
+    wait_ms(10);
+    spi.write(LOAD_TX_BUF_0_DATA);
+    spi.write(data);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+}
+
+void MCP2515::load_1(byte identifier, byte data)//loads ID and DATA into transmit buffer 1
+{
+    cs = 0;
+    wait_ms(10);
+    spi.write(LOAD_TX_BUF_1_ID);
+    spi.write(identifier);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+
+    cs = 0;
+    wait_ms(10);
+    spi.write(LOAD_TX_BUF_1_DATA);
+    spi.write(data);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+}
+
+void MCP2515::load_2(byte identifier, byte data)//loads ID and DATA into transmit buffer 2
+{
+    cs = 0;
+    wait_ms(10);
+    spi.write(LOAD_TX_BUF_2_ID);
+    spi.write(identifier);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+
+    cs = 0;
+    wait_ms(10);
+    spi.write(LOAD_TX_BUF_2_DATA);
+    spi.write(data);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+}
+
+void MCP2515::load_ff_0(byte length,unsigned short identifier,byte *data)
+{
+    
+    byte i,id_high,id_low;
+
+    //generate id bytes before spi write
+    id_high = (byte) (identifier >> 3);
+    id_low = (byte) ((identifier << 5) & 0x00E0);
+
+    cs = 0;
+    spi.write(LOAD_TX_BUF_0_ID);
+    spi.write(id_high); //identifier high bits
+    spi.write(id_low); //identifier low bits
+    spi.write(0x00); //extended identifier registers(unused)
+    spi.write(0x00);
+    spi.write(length);
+    for (i=0;i<length;i++) { //load data buffer
+        spi.write(data[i]);
+    }
+
+    cs = 1;
+
+}
+
+void MCP2515::load_ff_1(byte length,unsigned short identifier,byte *data)
+{
+    
+    byte i,id_high,id_low;
+
+    //generate id bytes before spi write
+    id_high = (byte) (identifier >> 3);
+    id_low = (byte) ((identifier << 5) & 0x00E0);
+
+    cs = 0;
+    spi.write(LOAD_TX_BUF_1_ID);
+    spi.write(id_high); //identifier high bits
+    spi.write(id_low); //identifier low bits
+    spi.write(0x00); //extended identifier registers(unused)
+    spi.write(0x00);
+    spi.write(length);
+    for (i=0;i<length;i++) { //load data buffer
+        spi.write(data[i]);
+    }
+
+    cs = 1;
+
+
+}
+
+void MCP2515::load_ff_2(byte length,unsigned short identifier,byte *data)
+{
+    
+    byte i,id_high,id_low;
+
+    //generate id bytes before spi write
+    id_high = (byte) (identifier >> 3);
+    id_low = (byte) ((identifier << 5) & 0x00E0);
+
+    cs = 0;
+
+    spi.write(LOAD_TX_BUF_2_ID);
+    spi.write(id_high); //identifier high bits
+    spi.write(id_low); //identifier low bits
+    spi.write(0x00); //extended identifier registers(unused)
+    spi.write(0x00);
+    spi.write(length); //data length code
+    for (i=0;i<length;i++) { //load data buffer
+        spi.write(data[i]);
+    }
+
+    cs = 1;
+
+}
+
+//------------------------------------------------------------------------------
+//Added for ram
+void MCP2515::writeRegister(byte address, byte data)
+{
+    cs = 0;
+    wait_ms(10);
+    spi.write(WRITE);
+    spi.write(address);
+    spi.write(data);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+}
+void MCP2515::readRegister(byte address, byte *data_out)
+{
+    cs = 0;
+    wait_ms(10);
+    spi.write(READ);
+    spi.write(address);
+    *data_out = spi.write(0xFF);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+}
+
+void MCP2515::reset()
+{
+    cs = 0;
+    wait_ms(10);
+    spi.write(RESET_REG);
+    wait_ms(10);
+    cs = 1;
+    wait_ms(10);
+}
+
+byte MCP2515::readRXStatus()
+{
+    byte retVal;
+    cs = 0;
+    spi.write(RX_STATUS);
+    retVal = spi.write(0xFF);
+    cs = 1;
+    return retVal;
+}
+
+void MCP2515::bitModify(byte address, byte mask, byte data)
+{
+    cs = 0;
+    spi.write(BIT_MODIFY);
+    spi.write(address);
+    spi.write(mask);
+    spi.write(data);
+    cs = 1;
+}
+
+void MCP2515::setMask(unsigned short identifier)
+{
+    setMask_0(identifier);
+    setMask_1(identifier);
+}
+
+void MCP2515::setMask_0(unsigned short identifier)
+{
+    writeRegister(RXM0SIDH, (byte)(identifier>>3));
+    writeRegister(RXM0SIDL, (byte)(identifier<<5));
+}
+
+void MCP2515::setMask_1(unsigned short identifier)
+{
+    writeRegister(RXM1SIDH, (byte)(identifier>>3));
+    writeRegister(RXM1SIDL, (byte)(identifier<<5));
+}

diff -r 000000000000 -r b65cb1bbf0ce MCP2515.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MCP2515.h	Fri Jan 18 17:00:28 2013 +0000
@@ -0,0 +1,268 @@
+#include "mbed.h"
+
+/*
+Created by: Kyle Crockett
+For MCP2515duino with 16MHz oscillator.
+CNFx register values.
+use preprocessor command "_XXkbps" 
+"XX" is the baud rate.
+
+10 kbps
+CNF1/BRGCON1    b'00110001'     0x31
+CNF2/BRGCON2    b'10111000'     0xB8
+CNF3/BRGCON3    b'00000101'     0x05
+
+20 kbps
+CNF1/BRGCON1    b'00011000'     0x18
+CNF2/BRGCON2    b'10111000'     0xB8
+CNF3/BRGCON3    b'00000101'     0x05
+
+50 kbps
+CNF1/BRGCON1    b'00001001'     0x09
+CNF2/BRGCON2    b'10111000'     0xB8
+CNF3/BRGCON3    b'00000101'     0x05
+
+100 kbps
+CNF1/BRGCON1    b'00000100'     0x04
+CNF2/BRGCON2    b'10111000'     0xB8
+CNF3/BRGCON3    b'00000101'     0x05
+
+125 kbps
+CNF1/BRGCON1    b'00000011'     0x03
+CNF2/BRGCON2    b'10111000'     0xB8
+CNF3/BRGCON3    b'00000101'     0x05
+
+250 kbps
+CNF1/BRGCON1    b'00000001'     0x01
+CNF2/BRGCON2    b'10111000'     0xB8
+CNF3/BRGCON3    b'00000101'     0x05
+
+500 kbps
+CNF1/BRGCON1    b'00000000'     0x00
+CNF2/BRGCON2    b'10111000'     0xB8
+CNF3/BRGCON3    b'00000101'     0x05
+
+800 kbps
+Not yet supported
+
+1000 kbps
+Settings added by Patrick Cruce(pcruce_at_igpp.ucla.edu)
+CNF1=b'10000000'=0x80 = SJW = 3 Tq. & BRP = 0
+CNF2=b'10010000'=0x90 = BLTMode = 1 & SAM = 0 & PS1 = 3 & PR = 1
+CNF3=b'00000010'=0x02 = SOF = 0  & WAKFIL = 0 & PS2 = 3
+
+*/
+#ifndef MCP2515_h
+#define MCP2515_h
+
+#define SCK 13 //spi
+#define MISO 12
+#define MOSI 11
+#define SS 10
+#define RESET 2//reset pin
+
+#define RESET_REG 0xc0  
+#define READ 0x03 
+#define WRITE 0x02 //read and write comands for SPI
+
+#define READ_RX_BUF_0_ID 0x90
+#define READ_RX_BUF_0_DATA 0x92
+#define READ_RX_BUF_1_ID 0x94
+#define READ_RX_BUF_1_DATA 0x96 //SPI commands for reading MCP2515 RX buffers
+
+#define LOAD_TX_BUF_0_ID 0x40
+#define LOAD_TX_BUF_0_DATA 0x41
+#define LOAD_TX_BUF_1_ID 0x42
+#define LOAD_TX_BUF_1_DATA 0x43
+#define LOAD_TX_BUF_2_ID 0x44
+#define LOAD_TX_BUF_2_DATA 0x45 //SPI commands for loading MCP2515 TX buffers
+
+#define SEND_TX_BUF_0 0x81
+#define SEND_TX_BUF_1 0x82
+#define SEND_TX_BUF_2 0x83 //SPI commands for transmitting MCP2515 TX buffers
+
+#define READ_STATUS 0xA0
+#define RX_STATUS 0xB0
+#define BIT_MODIFY 0x05 //Other commands
+
+
+//Registers
+#define CNF0 0x2A
+#define CNF1 0x29
+#define CNF2 0x28
+#define TXB0CTRL 0x30 
+#define TXB1CTRL 0x40
+#define TXB2CTRL 0x50 //TRANSMIT BUFFER CONTROL REGISTER
+#define TXB0DLC 0x35 //Data length code registers
+#define TXB1DLC 0x45
+#define TXB2DLC 0x55
+#define MCP2515CTRL 0x0F //Mode control register
+#define MCP2515STAT 0x0E //Mode status register
+
+//------------------------------------------------------------------------------
+//Added for ram
+// Register Bit Masks
+// MCP2515STAT
+#define MODE_CONFIG     0x80
+#define MODE_LISTEN     0x60
+#define MODE_LOOPBACK   0x40
+#define MODE_SLEEP      0x20
+#define MODE_NORMAL     0x00
+
+//MCP2515 bus error counter
+#define TEC            0x1C
+#define REC            0x1D
+
+//Mask 0
+#define RXM0SIDH    0x20 //Mask0 normal ID high
+#define RXM0SIDL    0x21 //Mask0 normal ID low
+#define RXM0EID8    0x22 //Mask0 extended ID high
+#define RXM0EID0    0x23 //Mask0 extended ID low
+
+//Mask 1
+#define RXM1SIDH    0x24 //Mask1 normal ID high
+#define RXM1SIDL    0x25 //Mask1 normal ID low
+#define RXM1EID8    0x26 //Mask1 extended ID high
+#define RXM1EID0    0x27 //Mask1 extended ID low
+
+#define MCP2515INTE        0x2B //Interept permission
+#define MCP2515INTF        0x2C //Interept flag
+#define EFLG        0x2D //Error flag
+
+#define MASK_SID_ALL_HIT   0x0000 //Mask all
+#define MASK_SID_CPL_MATCH 0x07FF //Disable mask
+
+
+#define MCP2515_RTS         0x80
+#define MCP2515_READ_BUFFER 0x90
+#define MCP2515_LOAD_BUFFER 0X40
+
+//..............................................................................
+//test
+// MCP2515INTF
+#define RX0IF           0x01
+#define RX1IF           0x02
+#define TX0IF           0x04
+#define TX1IF           0x08
+#define TX2IF           0x10
+#define ERRIF           0x20
+#define WAKIF           0x40
+#define MERRF           0x80
+
+// Configuration Registers
+#define BFPCTRL         0x0C
+#define TXRTSCTRL       0x0D
+
+// TX Buffer 0
+#define TXB0CTRL        0x30
+#define TXB0SIDH        0x31
+#define TXB0SIDL        0x32
+#define TXB0EID8        0x33
+#define TXB0EID0        0x34
+#define TXB0DLC         0x35
+
+// TX Buffer 1
+#define TXB1CTRL        0x40
+#define TXB1SIDH        0x41
+#define TXB1SIDL        0x42
+#define TXB1EID8        0x43
+#define TXB1EID0        0x44
+#define TXB1DLC         0x45
+
+// TX Buffer 2
+#define TXB2CTRL        0x50
+#define TXB2SIDH        0x51
+#define TXB2SIDL        0x52
+#define TXB2EID8        0x53
+#define TXB2EID0        0x54
+#define TXB2DLC         0x55
+
+// RX Buffer 0
+#define RXB0CTRL        0x60
+#define RXB0SIDH        0x61
+#define RXB0SIDL        0x62
+#define RXB0EID8        0x63
+#define RXB0EID0        0x64
+#define RXB0DLC         0x65
+
+// RX Buffer 1
+#define RXB1CTRL        0x70
+#define RXB1SIDH        0x71
+#define RXB1SIDL        0x72
+#define RXB1EID8        0x73
+#define RXB1EID0        0x74
+#define RXB1DLC         0x75
+
+// Buffer Bit Masks
+#define RXB0            0x00
+#define RXB1            0x02
+#define TXB0            0x01
+#define TXB1            0x02
+#define TXB2            0x04
+#define TXB_ALL                  TXB0 | TXB1 | TXB2
+
+#define RXB_RX_STDEXT   0x00
+#define RXB_RX_MASK     0x60
+#define RXB_BUKT_MASK   (1<<2)
+
+typedef unsigned char byte;
+
+enum MCP2515Mode {CONFIGURATION,NORMAL,SLEEP,LISTEN,LOOPBACK};
+
+class MCP2515
+{
+public:
+    MCP2515(SPI& spi, PinName cs);
+    //void begin();//sets up MCP2515
+    void baudConfig(int bitRate);//sets up baud
+
+    //Method added to enable testing in loopback mode.(pcruce_at_igpp.ucla.edu)
+    void setMode(MCP2515Mode mode) ;//put MCP2515 controller in one of five modes
+
+    void send_0();//request to transmit buffer X
+    void send_1();
+    void send_2();
+
+    char readID_0();//read ID/DATA of recieve buffer X
+    char readID_1();
+
+    char readDATA_0();
+    char readDATA_1();
+
+    //extending MCP2515 data read to full frames(pcruce_at_igpp.ucla.edu)
+    //data_out should be array of 8-bytes or frame length.
+    void readDATA_ff_0(byte* length_out,byte *data_out,unsigned short *id_out);
+    void readDATA_ff_1(byte* length_out,byte *data_out,unsigned short *id_out);
+
+    //Adding MCP2515 to read status register(pcruce_at_igpp.ucla.edu)
+    //MCP2515 be used to determine whether a frame was received.
+    //(readStatus() & 0x80) == 0x80 means frame in buffer 0
+    //(readStatus() & 0x40) == 0x40 means frame in buffer 1
+    byte readStatus();
+
+    void load_0(byte identifier, byte data);//load transmit buffer X
+    void load_1(byte identifier, byte data);
+    void load_2(byte identifier, byte data);
+
+    //extending MCP2515 write to full frame(pcruce_at_igpp.ucla.edu)
+    //Identifier should be a value between 0 and 2^11-1, longer identifiers will be truncated(ie does not support extended frames)
+    void load_ff_0(byte length,unsigned short identifier,byte *data);
+    void load_ff_1(byte length,unsigned short identifier,byte *data);
+    void load_ff_2(byte length,unsigned short identifier,byte *data);
+    
+    //--------------------------------------------------------------------------
+    //Added for ram
+    void writeRegister(byte address, byte data);
+    void readRegister(byte address, byte *data_out);
+    void reset();
+    byte readRXStatus();
+    void bitModify(byte address, byte mask, byte data);
+    void setMask(unsigned short identifier);
+    void setMask_0(unsigned short identifier);
+    void setMask_1(unsigned short identifier);
+private:
+    DigitalOut cs;
+    SPI &spi;  
+};
+
+#endif