Sungjin Park
c
Diff: mcp2515.cpp
- Revision:
- 1:dbc44582f2f8
- Parent:
- 0:d8f50b1e384f
- Child:
- 6:36e854e627f6
--- a/mcp2515.cpp Sat Jan 30 08:46:04 2010 +0000
+++ b/mcp2515.cpp Sun Jun 13 09:52:03 2010 +0000
@@ -1,8 +1,8 @@
/******************************************************************************
- *
+ *
* Controller Area Network (CAN) Demo-Application
- * Atmel AVR with Microchip MCP2515
- *
+ * Atmel AVR with Microchip MCP2515
+ *
* Copyright (C) 2005 Martin THOMAS, Kaiserslautern, Germany
* <eversmith@heizung-thomas.de>
* http://www.siwawi.arubi.uni-kl.de/avr_projects
@@ -11,10 +11,10 @@
*
* File : mcp2515.c
* Version : 0.9
- *
+ *
* Summary : MCP2515 "low-level" driver
*
- * Parts of this code are adapted from a MCP2510 sample-application
+ * Parts of this code are adapted from a MCP2510 sample-application
* by KVASER AB, http://www.kvaser.com (KVASER-code is marked as free)
*
* This code-module is free to use but you have to keep the copyright
@@ -26,7 +26,7 @@
* File : mcp2515.cpp (mbed LPC1768 version)
* Version : 0.1
*
- * All credits to the nerds above, this source has been adapted for the
+ * All credits to the nerds above, this source has been adapted for the
* LPC1768 platform by J.Engelman. And does'nt require and of the copyrighted
* SPI or AVR controller code that Martin or co have excluded copyright.
* This module remains free.
@@ -36,25 +36,36 @@
#include "mcp2515.h"
-#include <mbed.h>
+#include "mbed.h"
#include "mcp2515_can.h"
#include "mcp2515_defs.h"
#include "mcp2515_bittime.h"
#define SPI_NULL (0x00)
-
+#define PHSEG11 4
+#define PHSEG21 1
+#define BTLMODE2 7
+//BTLMODE 0x80 (128)
+#define BRP2 2
+#define BRP1 1
+#define BRP0 0
-mcp2515::mcp2515(PinName mosi, PinName miso, PinName clk, PinName ncs)
- : _spi(mosi, miso, clk), _ncs(ncs) {
+#define CNF2_BTLMODE 0x80
+#define CNF3 0x28
+#define CNF3_SOF 0x08
+#define CNF3_WAKFIL 0x04
+#define CNF3_PHSEG2_MASK 0x07
- // _spi.format(8,0);
- // _spi.frequency(10000000);
- //_spi.frequency(5000000);
+mcp2515::mcp2515(SPI& _spi, PinName ncs)
+ : spi(_spi), _ncs(ncs) {
+ printf("\n\rmcp2515 = %d",this);
+ printf("\n\rpin = %d",ncs);
}
+
void mcp2515::_reset() {
_select();
@@ -63,8 +74,7 @@
wait(0.001);
}
-void mcp2515::setRegister(const uint8_t address, const uint8_t value)
-{
+void mcp2515::setRegister( uint8_t address, uint8_t value) {
_select();
_spi_readwrite(MCP_WRITE);
_spi_readwrite(address);
@@ -72,21 +82,28 @@
_deselect();
}
-uint8_t mcp2515::configRate(const uint8_t canSpeed)
-{
+uint8_t mcp2515::configRate( uint8_t canSpeed) {
uint8_t set, cfg1, cfg2, cfg3;
-
+
set = 0;
-
+
switch (canSpeed) {
+ case (CAN_500KBPS_8MHZ) :
+ cfg1 = 0x04;
+ cfg2 = 0xA0;
+ cfg3 = 0x02;
+ case (CAN_50KBPS_8MHZ) :
+ cfg1 = 0x04; //0x09;
+ cfg2 = 0xB8; //0x90;
+ cfg3 = 0x05; //0x02;
case (CAN_125KBPS) :
- cfg1 = MCP_4MHz_125kBPS_CFG1 ;
+ cfg1 = MCP_4MHz_125kBPS_CFG1 ;
cfg2 = MCP_4MHz_125kBPS_CFG2 ;
cfg3 = MCP_4MHz_125kBPS_CFG3 ;
set = 1;
break;
case (CAN_20KBPS) :
- cfg1 = MCP_4MHz_20kBPS_CFG1 ;
+ cfg1 = MCP_4MHz_20kBPS_CFG1 ;
cfg2 = MCP_4MHz_20kBPS_CFG2 ;
cfg3 = MCP_4MHz_20kBPS_CFG3 ;
set = 1;
@@ -95,36 +112,98 @@
set = 0;
break;
}
-
+
if (set) {
setRegister(MCP_CNF1, cfg1);
setRegister(MCP_CNF2, cfg2);
setRegister(MCP_CNF3, cfg3);
return MCP2515_OK;
- }
- else {
+ } else {
return MCP2515_FAIL;
}
-}
+}
+
+int mcp2515::configRate2(int bit_rate)
+{
+ //struct spi_device *spi = to_spi_device(can->cdev.dev);
+ //struct mcp251x *chip = dev_get_drvdata(&spi->dev);
+ //struct mcp251x_platform_data *pdata = spi->dev.platform_data;
+
+ printf("\n\rcanspeed=%d",bit_rate);
+ int f_osc = 8000000; //4000000; //4Mhz
+ int tqs; /* tbit/TQ */
+ int brp;
+ int ps1, ps2, propseg, sjw;
+
+ /* Determine the BRP value that gives the requested bit rate. */
+ for(brp = 0; brp < 8; brp++) {
+ tqs = f_osc / (2 * (brp + 1)) / bit_rate;
+ if (tqs >= 5 && tqs <= 25
+ && (f_osc / (2 * (brp + 1)) / tqs) == bit_rate)
+ break;
+ }
+ if (brp >= 8) printf("Spaztic BRP");
+ // return -1;
-uint8_t mcp2515::readRegister(const uint8_t address)
-{
+ /* The CAN bus bit time (tbit) is determined by:
+ * tbit = (SyncSeg + PropSeg + PS1 + PS2) * TQ
+ * with:
+ * SyncSeg = 1
+ * sample point (between PS1 and PS2) must be at 60%-70% of the bit time
+ * PropSeg + PS1 >= PS2
+ * PropSeg + PS1 >= Tdelay
+ * PS2 > SJW
+ * 1 <= PropSeg <= 8, 1 <= PS1 <=8, 2 <= PS2 <= 8
+ * SJW = 1 is sufficient in most cases.
+ * Tdelay is usually 1 or 2 TQ.
+ */
+
+ propseg = ps1 = ps2 = (tqs - 1) / 3;
+ if (tqs - (1 + propseg + ps1 + ps2) == 2)
+ ps1++;
+ if (tqs - (1 + propseg + ps1 + ps2) == 1)
+ ps2++;
+ sjw = 1;
+
+ printf("\n\rbit rate: BRP = %d, Tbit = %d TQ, PropSeg = %d, PS1 = %d, PS2 = %d, SJW = %d\n",
+ brp, tqs, propseg, ps1, ps2, sjw);
+
+ /* Since we can only change the bit rate when the network device is
+ * down the chip must be in sleep mode. Wake it up and put it into
+ * config mode. */
+ //mcp251x_hw_wakeup(spi);
+ //mcp251x_write_bits(spi, CANCTRL, CANCTRL_REQOP_MASK, CANCTRL_REQOP_CONF);
+
+ //mcp251x_write_reg(spi, CNF1, ((sjw-1) << 6) | brp);
+ //mcp251x_write_reg(spi, CNF2, CNF2_BTLMODE | ((ps1-1) << 3) | (propseg-1));
+ //mcp251x_write_bits(spi, CNF3, CNF3_PHSEG2_MASK, (ps2-1));
+ setRegister(MCP_CNF1, ((sjw-1) << 6) | brp );
+ setRegister(MCP_CNF2, CNF2_BTLMODE | ((ps1-1) << 3) | (propseg-1) );
+ modifyRegister(MCP_CNF3, CNF3_PHSEG2_MASK, (ps2-1) );
+ //mcp251x_hw_sleep(spi);
+
+ /* Calculate actual bit rate. */
+ //chip->bit_rate = pdata->f_osc / (2 * (brp + 1)) / tqs;
+
+ return 0;
+}
+
+uint8_t mcp2515::readRegister( uint8_t address) {
uint8_t ret;
-
+
_select();
_spi_readwrite(MCP_READ);
_spi_readwrite(address);
ret = _spi_read();
_deselect();
-
+
return ret;
}
-void mcp2515::readRegisterS(const uint8_t address,
- uint8_t values[], const uint8_t n)
-{
+void mcp2515::readRegisterS( uint8_t address,
+ uint8_t values[], uint8_t n) {
uint8_t i;
-
+
_select();
_spi_readwrite(MCP_READ);
_spi_readwrite(address);
@@ -135,9 +214,8 @@
_deselect();
}
-void mcp2515::modifyRegister(const uint8_t address,
- const uint8_t mask, const uint8_t data)
-{
+void mcp2515::modifyRegister( uint8_t address,
+ uint8_t mask, uint8_t data) {
_select();
_spi_readwrite(MCP_BITMOD);
_spi_readwrite(address);
@@ -147,55 +225,51 @@
}
-uint8_t mcp2515::readXXStatus_helper(const uint8_t cmd)
-{
+uint8_t mcp2515::readXXStatus_helper( uint8_t cmd) {
uint8_t i;
-
+
_select();
_spi_readwrite(cmd);
i = _spi_read();
_deselect();
-
+
return i;
}
-
-uint8_t mcp2515::readStatus(void)
-{
+
+uint8_t mcp2515::readStatus(void) {
return readXXStatus_helper(MCP_READ_STATUS);
}
-uint8_t mcp2515::RXStatus(void)
-{
+uint8_t mcp2515::RXStatus(void) {
return readXXStatus_helper(MCP_RX_STATUS);
}
// read-modify-write - better: Bit Modify Instruction
-uint8_t mcp2515::setCANCTRL_Mode(uint8_t newmode)
-{
+uint8_t mcp2515::setCANCTRL_Mode(uint8_t newmode) {
+
uint8_t i;
-
+
i = readRegister(MCP_CANCTRL);
i &= ~(MODE_MASK);
i |= newmode;
setRegister(MCP_CANCTRL, i);
-
+
// verify as advised in datasheet
i = readRegister(MCP_CANCTRL);
i &= MODE_MASK;
if ( i == newmode ) {
- return MCP2515_OK;
- }
- else {
+ return MCP2515_OK;
+ } else {
return MCP2515_FAIL;
}
+
}
-void mcp2515::setRegisterS(const uint8_t address,
- const uint8_t values[], const uint8_t n)
-{
+void mcp2515::setRegisterS( uint8_t address,
+ uint8_t values[], uint8_t n) {
uint8_t i;
-
+
_select();
_spi_readwrite(MCP_WRITE);
_spi_readwrite(address);
@@ -206,18 +280,17 @@
_deselect();
}
-void mcp2515::read_can_id( const uint8_t mcp_addr,
- uint8_t* ext, uint32_t* can_id )
-{
+void mcp2515::read_can_id( uint8_t mcp_addr,
+ uint8_t* ext, uint32_t* can_id ) {
uint8_t tbufdata[4];
-
+
*ext = 0;
*can_id = 0;
-
+
readRegisterS( mcp_addr, tbufdata, 4 );
-
+
*can_id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
-
+
if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M ) {
// extended id
*can_id = (*can_id<<2) + (tbufdata[MCP_SIDL] & 0x03);
@@ -228,42 +301,66 @@
}
+void mcp2515::read_can_idN( uint8_t mcp_addr,
+ CANFormat* ext, unsigned int* can_id ) {
+ uint8_t tbufdata[4];
+
+ *ext = CANStandard;
+ *can_id = 0;
+
+ readRegisterS( mcp_addr, tbufdata, 4 );
+
+ *can_id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
+
+ if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M ) {
+ // extended id
+ *can_id = (*can_id<<2) + (tbufdata[MCP_SIDL] & 0x03);
+ *can_id <<= 16;
+ *can_id = *can_id +(tbufdata[MCP_EID8]<<8) + tbufdata[MCP_EID0];
+ *ext = CANExtended;//1;
+ }
+}
+
// Buffer can be MCP_RXBUF_0 or MCP_RXBUF_1
-void mcp2515::read_canMsg( const uint8_t buffer_sidh_addr,
- CANMessage* msg)
+void mcp2515::read_canMsg( uint8_t buffer_sidh_addr, CANMessage* msg)
+//CANMessage mcp2515::read_canMsg( uint8_t buffer_sidh_addr)
{
-/*
- uint8_t mcp_addr, ctrl;
+ uint8_t mcp_addr, ctrl,dlc;
+
+
mcp_addr = buffer_sidh_addr;
-
- read_can_id( mcp_addr, &(msg->extended_identifier),
- &(msg->identifier) );
-
+
+ read_can_idN( mcp_addr, &msg->format, &msg->id );
+
ctrl = readRegister( mcp_addr-1 );
- msg->dlc = readRegister( mcp_addr+4 );
-
+ dlc = readRegister( mcp_addr+4 );
+
//if ((*dlc & RTR_MASK) || (ctrl & 0x08)) {
if ((ctrl & 0x08)) {
- msg->rtr = 1;
+ msg->type = CANRemote; //1 CANRemote
} else {
- msg->rtr = 0;
+ msg->type = CANData; //0 CANData
}
-
- msg->dlc &= MCP_DLC_MASK;
- readRegisterS( mcp_addr+5, &(msg->dta[0]), msg->dlc );
- */
+
+ dlc &= MCP_DLC_MASK;
+ readRegisterS( mcp_addr+5, &(msg->data[0]), dlc );
+ msg->len =dlc;
+
}
+void mcp2515::setDebugConsole(Serial c){
+ //console=c;
+ debug=true;
+}
-void mcp2515::write_can_id( const uint8_t mcp_addr,
- const uint8_t ext, const uint32_t can_id )
-{
+void mcp2515::write_can_id( uint8_t mcp_addr,
+ uint8_t ext, uint32_t can_id ) {
uint16_t canid;
uint8_t tbufdata[4];
-
+
canid = (uint16_t)(can_id & 0x0FFFF);
-
+
if ( ext == 1) {
tbufdata[MCP_EID0] = (uint8_t) (canid & 0xFF);
tbufdata[MCP_EID8] = (uint8_t) (canid / 256);
@@ -272,8 +369,7 @@
tbufdata[MCP_SIDL] += (uint8_t) ((canid & 0x1C )*8);
tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
tbufdata[MCP_SIDH] = (uint8_t) (canid / 32 );
- }
- else {
+ } else {
tbufdata[MCP_SIDH] = (uint8_t) (canid / 8 );
tbufdata[MCP_SIDL] = (uint8_t) ((canid & 0x07 )*32);
tbufdata[MCP_EID0] = 0;
@@ -283,67 +379,63 @@
}
// Buffer can be MCP_TXBUF_0 MCP_TXBUF_1 or MCP_TXBUF_2
-void mcp2515::write_canMsg( const uint8_t buffer_sidh_addr,
- CANMessage* msg)
-{
+void mcp2515::write_canMsg( uint8_t buffer_sidh_addr,
+ CANMessage* msg) {
uint8_t mcp_addr, dlc;
mcp_addr = buffer_sidh_addr;
dlc = msg->len;
-
+
setRegisterS(mcp_addr+5, &(msg->data[0]), dlc ); // write data bytes
write_can_id( mcp_addr, msg->format,
- msg->id ); // write CAN id
+ msg->id ); // write CAN id
if ( msg->type == 1) dlc |= MCP_RTR_MASK; // if RTR set bit in byte
setRegister( (mcp_addr+4), dlc ); // write the RTR and DLC
}
-void mcp2515::start_transmit(const uint8_t buffer_sidh_addr)
-{
- // TXBnCTRL_addr = TXBnSIDH_addr - 1
- modifyRegister( buffer_sidh_addr-1 , MCP_TXB_TXREQ_M,
- MCP_TXB_TXREQ_M );
+void mcp2515::start_transmit( uint8_t buffer_sidh_addr) {
+ // TXBnCTRL_addr = TXBnSIDH_addr - 1
+ modifyRegister( buffer_sidh_addr-1 , MCP_TXB_TXREQ_M,
+ MCP_TXB_TXREQ_M );
}
-uint8_t mcp2515::getNextFreeTXBuf(uint8_t *txbuf_n)
-{
- uint8_t res, i, ctrlval;
- uint8_t 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 = readRegister( ctrlregs[i] );
- if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
+uint8_t mcp2515::getNextFreeTXBuf(uint8_t *txbuf_n) {
+ uint8_t res, i, ctrlval;
+ uint8_t ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
+
+ res = MCP_ALLTXBUSY;
+ *txbuf_n = 0x00;
- *txbuf_n = ctrlregs[i]+1; // return SIDH-address of Buffer
- res = MCP2515_OK;
- return res; /* ! function exit */
- }
- }
-
- return res;
+ // check all 3 TX-Buffers
+ for (i=0; i<MCP_N_TXBUFFERS; i++) {
+ ctrlval = readRegister( ctrlregs[i] );
+ if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
+
+ *txbuf_n = ctrlregs[i]+1; // return SIDH-address of Buffer
+ res = MCP2515_OK;
+ return res; /* ! function exit */
+ }
+ }
+
+ return res;
}
-void mcp2515::initCANBuffers(void)
-{
- uint8_t i, a1, a2, a3;
-
- // TODO: check why this is needed to receive extended
+void mcp2515::initCANBuffers(void) {
+// uint8_t i, a1, a2, a3;
+
+ // TODO: check why this is needed to receive extended
// and standard frames
// Mark all filter bits as don't care:
write_can_id(MCP_RXM0SIDH, 0, 0);
write_can_id(MCP_RXM1SIDH, 0, 0);
// Anyway, set all filters to 0:
- write_can_id(MCP_RXF0SIDH, 1, 0); // RXB0: extended
+ write_can_id(MCP_RXF0SIDH, 1, 0); // RXB0: extended
write_can_id(MCP_RXF1SIDH, 0, 0); // AND standard
- write_can_id(MCP_RXF2SIDH, 1, 0); // RXB1: extended
+ write_can_id(MCP_RXF2SIDH, 1, 0); // RXB1: extended
write_can_id(MCP_RXF3SIDH, 0, 0); // AND standard
write_can_id(MCP_RXF4SIDH, 0, 0);
write_can_id(MCP_RXF5SIDH, 0, 0);
-
+ /*
// Clear, deactivate the three transmit buffers
// TXBnCTRL -> TXBnD7
a1 = MCP_TXB0CTRL;
@@ -357,51 +449,54 @@
a2++;
a3++;
}
-
+ */
// and clear, deactivate the two receive buffers.
- setRegister(MCP_RXB0CTRL, 0);
- setRegister(MCP_RXB1CTRL, 0);
+ // setRegister(MCP_RXB0CTRL, 0);
+ //setRegister(MCP_RXB1CTRL, 0);
}
-uint8_t mcp2515::init(const uint8_t canSpeed)
-{
+uint8_t mcp2515::init( int canSpeed) {
uint8_t res;
-
+
_deselect();
//MCP_CS_DDR |= ( 1 << MCP_CS_BIT );
-
+
_reset();
+
res = setCANCTRL_Mode(MODE_CONFIG);
-
- if ( res == MCP2515_FAIL ){
- printf("FAIL here");
- return res; /* function exit on error */
+
+ if ( res == MCP2515_FAIL ) {
+ printf("\r\nCAN init failed %d\n\r",&_ncs);
+ return res; /* function exit on error */
}
- res = configRate(canSpeed);
-
+ res = configRate2(canSpeed);
+
if ( res == MCP2515_OK ) {
initCANBuffers();
-
+
// enable both receive-buffers to receive messages
// with std. and ext. identifiers
// and enable rollover
- modifyRegister(MCP_RXB0CTRL,
- MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
- MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
- modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
- MCP_RXB_RX_STDEXT);
+ modifyRegister(MCP_RXB0CTRL,
+ MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
+ MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
+ modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
+ MCP_RXB_RX_STDEXT);
+ // Prescaler setting of the CLKOUT pin to zero
+ // => Spending clock frequency of the CLKOUT pin MCP2515
+ modifyRegister (MCP_CANCTRL, 0x07, CLKOUT_ENABLE);
}
-
+
return res;
}
/*
* Select function
*/
-
+
void mcp2515::_select() {
//printf("{");
_ncs = 0;
@@ -420,9 +515,9 @@
int mcp2515::status() {
int status = 0;
_select();
- _spi.write(0xd7);
- status = (_spi.write(0x00) << 8 );
- status |= _spi.write(0x00);
+ spi.write(0xd7);
+ status = (spi.write(0x00) << 8 );
+ status |= spi.write(0x00);
_deselect();
return status;
}
@@ -438,15 +533,45 @@
}
-uint8_t mcp2515::_spi_readwrite(uint8_t data)
-{
- //printf("W0x%x ", data);
- uint8_t ret = _spi.write(data);
- // printf("R0x%x,", ret);
+uint8_t mcp2515::_spi_readwrite(uint8_t data) {
+ //printf("W0x%x ", data);
+ uint8_t ret = spi.write(data);
+ // printf("R0x%x,", ret);
return ret;
}
-uint8_t mcp2515::_spi_read(void)
-{
+uint8_t mcp2515::_spi_read(void) {
return _spi_readwrite(SPI_NULL);
}
+
+void mcp2515::dumpExtendedStatus(void) {
+ uint8_t tec, rec, eflg;
+
+ tec = readRegister(MCP_TEC);
+ rec = readRegister(MCP_REC);
+ eflg = readRegister(MCP_EFLG);
+
+ printf("MCP2515 Extended Status:\n\r");
+ printf("MCP Transmit Error Count %d \r\n", tec);
+ printf("MCP Receiver Error Count %d \n\r", rec);
+ printf("MCP Error Flag %d\n\r", eflg);
+
+ if ( (rec>127) || (tec>127) ) {
+ printf("Error-Passive or Bus-Off\n\r");
+ }
+
+ if (eflg & MCP_EFLG_RX1OVR)
+ printf("Receive Buffer 1 Overflow\r\n");
+ if (eflg & MCP_EFLG_RX0OVR)
+ printf("Receive Buffer 0 Overflow\n\r");
+ if (eflg & MCP_EFLG_TXBO)
+ printf("Bus-Off\n\r");
+ if (eflg & MCP_EFLG_TXEP)
+ printf("Receive Error Passive\n\r");
+ if (eflg & MCP_EFLG_TXWAR)
+ printf("Transmit Error Warning\n\r");
+ if (eflg & MCP_EFLG_RXWAR)
+ printf("Receive Error Warning\r\n");
+ if (eflg & MCP_EFLG_EWARN )
+ printf("Receive Error Warning\n\r");
+}