This library for Seeed Studio's CAN-BUS Shield has a similar API to mbed's LPC1768 CAN library making it easy to add CAN functionality to mbed systems that support Arduino type 'Shields. This Beta release of my CAN-BUS Library is largely working but lacks interrupt 'attach' functions.
Dependents: Seeed_CAN_Hello_World ws-canrecv-1 CAN_SPI_modulo
Fork of SEEED_CAN by
seeed_can.cpp@1:ad71faa09868, 2013-11-06 (annotated)
- Committer:
- Just4pLeisure
- Date:
- Wed Nov 06 20:16:11 2013 +0000
- Revision:
- 1:ad71faa09868
- Parent:
- 0:f5d099885d3d
- Child:
- 2:fd026fcfde94
Beta release of a CAN-BUS library for Seeed Studios' CAN BUS Shield
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Just4pLeisure | 0:f5d099885d3d | 1 | /* mbed FRDM-KL25Z Library for Seeed Studios CAN-BUS Shield |
Just4pLeisure | 0:f5d099885d3d | 2 | * Copyright (c) 2013 Sophie Dexter |
Just4pLeisure | 0:f5d099885d3d | 3 | * |
Just4pLeisure | 0:f5d099885d3d | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
Just4pLeisure | 0:f5d099885d3d | 5 | * you may not use this file except in compliance with the License. |
Just4pLeisure | 0:f5d099885d3d | 6 | * You may obtain a copy of the License at |
Just4pLeisure | 0:f5d099885d3d | 7 | * |
Just4pLeisure | 0:f5d099885d3d | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
Just4pLeisure | 0:f5d099885d3d | 9 | * |
Just4pLeisure | 0:f5d099885d3d | 10 | * Unless required by applicable law or agreed to in writing, software |
Just4pLeisure | 0:f5d099885d3d | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
Just4pLeisure | 0:f5d099885d3d | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
Just4pLeisure | 0:f5d099885d3d | 13 | * See the License for the specific language governing permissions and |
Just4pLeisure | 0:f5d099885d3d | 14 | * limitations under the License. |
Just4pLeisure | 0:f5d099885d3d | 15 | */ |
Just4pLeisure | 0:f5d099885d3d | 16 | |
Just4pLeisure | 0:f5d099885d3d | 17 | #include "seeed_can.h" |
Just4pLeisure | 0:f5d099885d3d | 18 | |
Just4pLeisure | 1:ad71faa09868 | 19 | /** Seeed Studios CAN-BUS Shield Constructor - Create a SEEED_CAN interface connected to the specified pins. |
Just4pLeisure | 0:f5d099885d3d | 20 | */ |
Just4pLeisure | 1:ad71faa09868 | 21 | SEEED_CAN::SEEED_CAN(PinName ncs, PinName irq, PinName mosi, PinName miso, PinName clk, int spiBitrate) : |
Just4pLeisure | 0:f5d099885d3d | 22 | _spi(mosi, miso, clk), |
Just4pLeisure | 0:f5d099885d3d | 23 | _can(_spi, ncs, irq) |
Just4pLeisure | 0:f5d099885d3d | 24 | { |
Just4pLeisure | 0:f5d099885d3d | 25 | // Make sure CS is high |
Just4pLeisure | 0:f5d099885d3d | 26 | _can.ncs = 1; |
Just4pLeisure | 0:f5d099885d3d | 27 | // Set up the spi interface |
Just4pLeisure | 0:f5d099885d3d | 28 | _can.spi.format(8, 3); |
Just4pLeisure | 0:f5d099885d3d | 29 | _can.spi.frequency(spiBitrate); |
Just4pLeisure | 1:ad71faa09868 | 30 | _can.irq.fall(this, &SEEED_CAN::call_irq); |
Just4pLeisure | 1:ad71faa09868 | 31 | } |
Just4pLeisure | 1:ad71faa09868 | 32 | |
Just4pLeisure | 1:ad71faa09868 | 33 | /** Open initialises the Seeed Studios CAN-BUS Shield. |
Just4pLeisure | 1:ad71faa09868 | 34 | */ |
Just4pLeisure | 1:ad71faa09868 | 35 | int SEEED_CAN::open(int canBitrate) |
Just4pLeisure | 1:ad71faa09868 | 36 | { |
Just4pLeisure | 1:ad71faa09868 | 37 | return mcpInit(&_can, (uint32_t) canBitrate); |
Just4pLeisure | 0:f5d099885d3d | 38 | } |
Just4pLeisure | 0:f5d099885d3d | 39 | |
Just4pLeisure | 1:ad71faa09868 | 40 | /** Set the CAN bus frequency (Bit Rate) |
Just4pLeisure | 0:f5d099885d3d | 41 | */ |
Just4pLeisure | 1:ad71faa09868 | 42 | int SEEED_CAN::frequency(int canBitRate) |
Just4pLeisure | 0:f5d099885d3d | 43 | { |
Just4pLeisure | 1:ad71faa09868 | 44 | // return mcpSetBitRate(&_can, (uint32_t) canBitRate); |
Just4pLeisure | 1:ad71faa09868 | 45 | return mcpInit(&_can, (uint32_t) canBitRate); |
Just4pLeisure | 0:f5d099885d3d | 46 | } |
Just4pLeisure | 0:f5d099885d3d | 47 | |
Just4pLeisure | 1:ad71faa09868 | 48 | /** Read a CAN bus message from the MCP2515 (if one has been received) |
Just4pLeisure | 0:f5d099885d3d | 49 | */ |
Just4pLeisure | 0:f5d099885d3d | 50 | int SEEED_CAN::read(SEEED_CANMessage &msg) |
Just4pLeisure | 0:f5d099885d3d | 51 | { |
Just4pLeisure | 0:f5d099885d3d | 52 | return mcpCanRead(&_can, &msg); |
Just4pLeisure | 0:f5d099885d3d | 53 | } |
Just4pLeisure | 0:f5d099885d3d | 54 | |
Just4pLeisure | 0:f5d099885d3d | 55 | /** Write a CAN bus message to the MCP2515 (if there is a free message buffer) |
Just4pLeisure | 0:f5d099885d3d | 56 | */ |
Just4pLeisure | 0:f5d099885d3d | 57 | int SEEED_CAN::write(SEEED_CANMessage msg) |
Just4pLeisure | 0:f5d099885d3d | 58 | { |
Just4pLeisure | 0:f5d099885d3d | 59 | return mcpCanWrite(&_can, msg); |
Just4pLeisure | 0:f5d099885d3d | 60 | } |
Just4pLeisure | 0:f5d099885d3d | 61 | |
Just4pLeisure | 1:ad71faa09868 | 62 | /** Configure one of the Accpetance Masks (0 or 1) |
Just4pLeisure | 1:ad71faa09868 | 63 | */ |
Just4pLeisure | 1:ad71faa09868 | 64 | int SEEED_CAN::mask(int maskNum, int canId, CANFormat format) |
Just4pLeisure | 1:ad71faa09868 | 65 | { |
Just4pLeisure | 1:ad71faa09868 | 66 | return mcpInitMask(&_can, maskNum, canId, format); |
Just4pLeisure | 1:ad71faa09868 | 67 | } |
Just4pLeisure | 1:ad71faa09868 | 68 | |
Just4pLeisure | 1:ad71faa09868 | 69 | /** Configure one of the Acceptance Filters (0 through 5) |
Just4pLeisure | 1:ad71faa09868 | 70 | */ |
Just4pLeisure | 1:ad71faa09868 | 71 | int SEEED_CAN::filter(int filterNum, int canId, CANFormat format) |
Just4pLeisure | 1:ad71faa09868 | 72 | { |
Just4pLeisure | 1:ad71faa09868 | 73 | return mcpInitFilter(&_can, filterNum, canId, format); |
Just4pLeisure | 1:ad71faa09868 | 74 | } |
Just4pLeisure | 1:ad71faa09868 | 75 | |
Just4pLeisure | 0:f5d099885d3d | 76 | /** Returns number of message reception (read) errors to detect read overflow errors. |
Just4pLeisure | 0:f5d099885d3d | 77 | */ |
Just4pLeisure | 0:f5d099885d3d | 78 | unsigned char SEEED_CAN::rderror(void) |
Just4pLeisure | 0:f5d099885d3d | 79 | { |
Just4pLeisure | 0:f5d099885d3d | 80 | return mcpReceptionErrorCount(&_can); |
Just4pLeisure | 0:f5d099885d3d | 81 | } |
Just4pLeisure | 0:f5d099885d3d | 82 | |
Just4pLeisure | 0:f5d099885d3d | 83 | /** Returns number of message transmission (write) errors to detect write overflow errors. |
Just4pLeisure | 0:f5d099885d3d | 84 | */ |
Just4pLeisure | 0:f5d099885d3d | 85 | unsigned char SEEED_CAN::tderror(void) |
Just4pLeisure | 0:f5d099885d3d | 86 | { |
Just4pLeisure | 0:f5d099885d3d | 87 | return mcpTransmissionErrorCount(&_can); |
Just4pLeisure | 0:f5d099885d3d | 88 | } |
Just4pLeisure | 0:f5d099885d3d | 89 | |
Just4pLeisure | 1:ad71faa09868 | 90 | /** Check if any type of error has been detected on the CAN bus |
Just4pLeisure | 0:f5d099885d3d | 91 | */ |
Just4pLeisure | 0:f5d099885d3d | 92 | int SEEED_CAN::errors(void) |
Just4pLeisure | 0:f5d099885d3d | 93 | { |
Just4pLeisure | 0:f5d099885d3d | 94 | return (mcpRead(&_can, MCP_EFLG) & MCP_EFLG_ERRORMASK) ? 1 : 0; |
Just4pLeisure | 0:f5d099885d3d | 95 | } |
Just4pLeisure | 0:f5d099885d3d | 96 | |
Just4pLeisure | 0:f5d099885d3d | 97 | /** Puts or removes the Seeed Studios CAN-BUS shield into or from silent monitoring mode |
Just4pLeisure | 0:f5d099885d3d | 98 | */ |
Just4pLeisure | 0:f5d099885d3d | 99 | void SEEED_CAN::monitor(bool silent) |
Just4pLeisure | 0:f5d099885d3d | 100 | { |
Just4pLeisure | 0:f5d099885d3d | 101 | mcpMonitor(&_can, silent); |
Just4pLeisure | 0:f5d099885d3d | 102 | } |
Just4pLeisure | 0:f5d099885d3d | 103 | |
Just4pLeisure | 1:ad71faa09868 | 104 | /** Change the Seeed Studios CAN-BUS shield CAN operation mode |
Just4pLeisure | 0:f5d099885d3d | 105 | */ |
Just4pLeisure | 0:f5d099885d3d | 106 | int SEEED_CAN::mode(Mode mode) |
Just4pLeisure | 0:f5d099885d3d | 107 | { |
Just4pLeisure | 0:f5d099885d3d | 108 | return mcpMode(&_can, (CANMode)mode); |
Just4pLeisure | 0:f5d099885d3d | 109 | } |
Just4pLeisure | 0:f5d099885d3d | 110 | |
Just4pLeisure | 0:f5d099885d3d | 111 | /** Attach a function to call whenever a CAN frame received interrupt is generated. |
Just4pLeisure | 0:f5d099885d3d | 112 | */ |
Just4pLeisure | 0:f5d099885d3d | 113 | void SEEED_CAN::attach(void (*fptr)(void), IrqType type) |
Just4pLeisure | 0:f5d099885d3d | 114 | { |
Just4pLeisure | 1:ad71faa09868 | 115 | _callback_irq.attach(fptr); |
Just4pLeisure | 1:ad71faa09868 | 116 | mcpWrite(&_can, MCP_CANINTE, MCP_RX0IF | MCP_RX1IF); // RX buffers can generate a interrupt |
Just4pLeisure | 1:ad71faa09868 | 117 | // _can.irq.fall(fptr); |
Just4pLeisure | 1:ad71faa09868 | 118 | /* if (fptr) { |
Just4pLeisure | 1:ad71faa09868 | 119 | _irq[(CanIrqType)type].attach(fptr); |
Just4pLeisure | 1:ad71faa09868 | 120 | can_irq_set(&_can, (CanIrqType)type, 1); |
Just4pLeisure | 1:ad71faa09868 | 121 | } else { |
Just4pLeisure | 1:ad71faa09868 | 122 | can_irq_set(&_can, (CanIrqType)type, 0); |
Just4pLeisure | 1:ad71faa09868 | 123 | }*/ |
Just4pLeisure | 0:f5d099885d3d | 124 | } |