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/******************************************************************************
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*
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* Controller Area Network (CAN) Demo-Application
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* Atmel AVR with Microchip MCP2515
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*
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* Copyright (C) 2005 Martin THOMAS, Kaiserslautern, Germany
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* <eversmith@heizung-thomas.de>
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* http://www.siwawi.arubi.uni-kl.de/avr_projects
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*
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*****************************************************************************
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*
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* File : mcp2515.c
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* Version : 0.9
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*
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* Summary : MCP2515 "low-level" driver
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*
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* Parts of this code are adapted from a MCP2510 sample-application
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* by KVASER AB, http://www.kvaser.com (KVASER-code is marked as free)
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*
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* This code-module is free to use but you have to keep the copyright
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* notice.
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*
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*
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*****************************************************************************
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*
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* File : mcp2515.cpp (mbed LPC1768 version)
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* Version : 0.1
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*
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* All credits to the nerds above, this source has been adapted for the
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* LPC1768 platform by J.Engelman. And does'nt require and of the copyrighted
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* SPI or AVR controller code that Martin or co have excluded copyright.
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* This module remains free.
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*
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*
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*****************************************************************************/
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#include "mcp2515.h"
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#include <mbed.h>
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#include "mcp2515_can.h"
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#include "mcp2515_defs.h"
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#include "mcp2515_bittime.h"
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#define SPI_NULL (0x00)
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mcp2515::mcp2515(PinName mosi, PinName miso, PinName clk, PinName ncs)
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: _spi(mosi, miso, clk), _ncs(ncs) {
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// _spi.format(8,0);
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// _spi.frequency(10000000);
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//_spi.frequency(5000000);
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}
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57
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void mcp2515::_reset() {
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59
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_select();
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_spi_readwrite(MCP_RESET);
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62
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_deselect();
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wait(0.001);
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64
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}
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|
65
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void mcp2515::setRegister(const uint8_t address, const uint8_t value)
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{
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_select();
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_spi_readwrite(MCP_WRITE);
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_spi_readwrite(address);
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_spi_readwrite(value);
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_deselect();
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}
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|
74
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75
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uint8_t mcp2515::configRate(const uint8_t canSpeed)
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{
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uint8_t set, cfg1, cfg2, cfg3;
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78
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79
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set = 0;
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80
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switch (canSpeed) {
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82
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case (CAN_125KBPS) :
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83
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cfg1 = MCP_4MHz_125kBPS_CFG1 ;
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84
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cfg2 = MCP_4MHz_125kBPS_CFG2 ;
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85
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cfg3 = MCP_4MHz_125kBPS_CFG3 ;
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set = 1;
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break;
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88
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case (CAN_20KBPS) :
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cfg1 = MCP_4MHz_20kBPS_CFG1 ;
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cfg2 = MCP_4MHz_20kBPS_CFG2 ;
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cfg3 = MCP_4MHz_20kBPS_CFG3 ;
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92
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set = 1;
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93
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break;
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94
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default:
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95
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set = 0;
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break;
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97
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}
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if (set) {
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setRegister(MCP_CNF1, cfg1);
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setRegister(MCP_CNF2, cfg2);
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102
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setRegister(MCP_CNF3, cfg3);
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103
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return MCP2515_OK;
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104
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}
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105
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else {
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106
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return MCP2515_FAIL;
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107
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}
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108
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}
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109
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110
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uint8_t mcp2515::readRegister(const uint8_t address)
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111
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{
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112
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uint8_t ret;
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113
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114
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_select();
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115
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_spi_readwrite(MCP_READ);
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116
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_spi_readwrite(address);
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117
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ret = _spi_read();
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118
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_deselect();
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119
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120
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return ret;
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121
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}
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|
122
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123
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void mcp2515::readRegisterS(const uint8_t address,
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124
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uint8_t values[], const uint8_t n)
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125
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{
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126
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uint8_t i;
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|
127
|
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128
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_select();
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129
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_spi_readwrite(MCP_READ);
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130
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_spi_readwrite(address);
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131
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// mcp2515 has auto-increment of address-pointer
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132
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for (i=0; i<n; i++) {
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133
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values[i] = _spi_read();
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134
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}
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|
135
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_deselect();
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|
136
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}
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|
137
|
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| tecnosys |
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|
138
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void mcp2515::modifyRegister(const uint8_t address,
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139
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const uint8_t mask, const uint8_t data)
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140
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{
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| tecnosys |
0:d8f50b1e384f
|
141
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_select();
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| tecnosys |
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|
142
|
_spi_readwrite(MCP_BITMOD);
|
| tecnosys |
0:d8f50b1e384f
|
143
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_spi_readwrite(address);
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| tecnosys |
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|
144
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_spi_readwrite(mask);
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| tecnosys |
0:d8f50b1e384f
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145
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_spi_readwrite(data);
|
| tecnosys |
0:d8f50b1e384f
|
146
|
_deselect();
|
| tecnosys |
0:d8f50b1e384f
|
147
|
}
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| tecnosys |
0:d8f50b1e384f
|
148
|
|
| tecnosys |
0:d8f50b1e384f
|
149
|
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| tecnosys |
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|
150
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uint8_t mcp2515::readXXStatus_helper(const uint8_t cmd)
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|
151
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{
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| tecnosys |
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|
152
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uint8_t i;
|
| tecnosys |
0:d8f50b1e384f
|
153
|
|
| tecnosys |
0:d8f50b1e384f
|
154
|
_select();
|
| tecnosys |
0:d8f50b1e384f
|
155
|
_spi_readwrite(cmd);
|
| tecnosys |
0:d8f50b1e384f
|
156
|
i = _spi_read();
|
| tecnosys |
0:d8f50b1e384f
|
157
|
_deselect();
|
| tecnosys |
0:d8f50b1e384f
|
158
|
|
| tecnosys |
0:d8f50b1e384f
|
159
|
return i;
|
| tecnosys |
0:d8f50b1e384f
|
160
|
}
|
| tecnosys |
0:d8f50b1e384f
|
161
|
|
| tecnosys |
0:d8f50b1e384f
|
162
|
uint8_t mcp2515::readStatus(void)
|
| tecnosys |
0:d8f50b1e384f
|
163
|
{
|
| tecnosys |
0:d8f50b1e384f
|
164
|
return readXXStatus_helper(MCP_READ_STATUS);
|
| tecnosys |
0:d8f50b1e384f
|
165
|
}
|
| tecnosys |
0:d8f50b1e384f
|
166
|
|
| tecnosys |
0:d8f50b1e384f
|
167
|
uint8_t mcp2515::RXStatus(void)
|
| tecnosys |
0:d8f50b1e384f
|
168
|
{
|
| tecnosys |
0:d8f50b1e384f
|
169
|
return readXXStatus_helper(MCP_RX_STATUS);
|
| tecnosys |
0:d8f50b1e384f
|
170
|
}
|
| tecnosys |
0:d8f50b1e384f
|
171
|
|
| tecnosys |
0:d8f50b1e384f
|
172
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// read-modify-write - better: Bit Modify Instruction
|
| tecnosys |
0:d8f50b1e384f
|
173
|
uint8_t mcp2515::setCANCTRL_Mode(uint8_t newmode)
|
| tecnosys |
0:d8f50b1e384f
|
174
|
{
|
| tecnosys |
0:d8f50b1e384f
|
175
|
uint8_t i;
|
| tecnosys |
0:d8f50b1e384f
|
176
|
|
| tecnosys |
0:d8f50b1e384f
|
177
|
i = readRegister(MCP_CANCTRL);
|
| tecnosys |
0:d8f50b1e384f
|
178
|
i &= ~(MODE_MASK);
|
| tecnosys |
0:d8f50b1e384f
|
179
|
i |= newmode;
|
| tecnosys |
0:d8f50b1e384f
|
180
|
setRegister(MCP_CANCTRL, i);
|
| tecnosys |
0:d8f50b1e384f
|
181
|
|
| tecnosys |
0:d8f50b1e384f
|
182
|
// verify as advised in datasheet
|
| tecnosys |
0:d8f50b1e384f
|
183
|
i = readRegister(MCP_CANCTRL);
|
| tecnosys |
0:d8f50b1e384f
|
184
|
i &= MODE_MASK;
|
| tecnosys |
0:d8f50b1e384f
|
185
|
if ( i == newmode ) {
|
| tecnosys |
0:d8f50b1e384f
|
186
|
return MCP2515_OK;
|
| tecnosys |
0:d8f50b1e384f
|
187
|
}
|
| tecnosys |
0:d8f50b1e384f
|
188
|
else {
|
| tecnosys |
0:d8f50b1e384f
|
189
|
return MCP2515_FAIL;
|
| tecnosys |
0:d8f50b1e384f
|
190
|
}
|
| tecnosys |
0:d8f50b1e384f
|
191
|
}
|
| tecnosys |
0:d8f50b1e384f
|
192
|
|
| tecnosys |
0:d8f50b1e384f
|
193
|
|
| tecnosys |
0:d8f50b1e384f
|
194
|
void mcp2515::setRegisterS(const uint8_t address,
|
| tecnosys |
0:d8f50b1e384f
|
195
|
const uint8_t values[], const uint8_t n)
|
| tecnosys |
0:d8f50b1e384f
|
196
|
{
|
| tecnosys |
0:d8f50b1e384f
|
197
|
uint8_t i;
|
| tecnosys |
0:d8f50b1e384f
|
198
|
|
| tecnosys |
0:d8f50b1e384f
|
199
|
_select();
|
| tecnosys |
0:d8f50b1e384f
|
200
|
_spi_readwrite(MCP_WRITE);
|
| tecnosys |
0:d8f50b1e384f
|
201
|
_spi_readwrite(address);
|
| tecnosys |
0:d8f50b1e384f
|
202
|
// mcp2515 has auto-increment of address-pointer
|
| tecnosys |
0:d8f50b1e384f
|
203
|
for (i=0; i<n; i++) {
|
| tecnosys |
0:d8f50b1e384f
|
204
|
_spi_readwrite(values[i]);
|
| tecnosys |
0:d8f50b1e384f
|
205
|
}
|
| tecnosys |
0:d8f50b1e384f
|
206
|
_deselect();
|
| tecnosys |
0:d8f50b1e384f
|
207
|
}
|
| tecnosys |
0:d8f50b1e384f
|
208
|
|
| tecnosys |
0:d8f50b1e384f
|
209
|
void mcp2515::read_can_id( const uint8_t mcp_addr,
|
| tecnosys |
0:d8f50b1e384f
|
210
|
uint8_t* ext, uint32_t* can_id )
|
| tecnosys |
0:d8f50b1e384f
|
211
|
{
|
| tecnosys |
0:d8f50b1e384f
|
212
|
uint8_t tbufdata[4];
|
| tecnosys |
0:d8f50b1e384f
|
213
|
|
| tecnosys |
0:d8f50b1e384f
|
214
|
*ext = 0;
|
| tecnosys |
0:d8f50b1e384f
|
215
|
*can_id = 0;
|
| tecnosys |
0:d8f50b1e384f
|
216
|
|
| tecnosys |
0:d8f50b1e384f
|
217
|
readRegisterS( mcp_addr, tbufdata, 4 );
|
| tecnosys |
0:d8f50b1e384f
|
218
|
|
| tecnosys |
0:d8f50b1e384f
|
219
|
*can_id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
|
| tecnosys |
0:d8f50b1e384f
|
220
|
|
| tecnosys |
0:d8f50b1e384f
|
221
|
if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M ) {
|
| tecnosys |
0:d8f50b1e384f
|
222
|
// extended id
|
| tecnosys |
0:d8f50b1e384f
|
223
|
*can_id = (*can_id<<2) + (tbufdata[MCP_SIDL] & 0x03);
|
| tecnosys |
0:d8f50b1e384f
|
224
|
*can_id <<= 16;
|
| tecnosys |
0:d8f50b1e384f
|
225
|
*can_id = *can_id +(tbufdata[MCP_EID8]<<8) + tbufdata[MCP_EID0];
|
| tecnosys |
0:d8f50b1e384f
|
226
|
*ext = 1;
|
| tecnosys |
0:d8f50b1e384f
|
227
|
}
|
| tecnosys |
0:d8f50b1e384f
|
228
|
}
|
| tecnosys |
0:d8f50b1e384f
|
229
|
|
| tecnosys |
0:d8f50b1e384f
|
230
|
|
| tecnosys |
0:d8f50b1e384f
|
231
|
// Buffer can be MCP_RXBUF_0 or MCP_RXBUF_1
|
| tecnosys |
0:d8f50b1e384f
|
232
|
void mcp2515::read_canMsg( const uint8_t buffer_sidh_addr,
|
| tecnosys |
0:d8f50b1e384f
|
233
|
CANMessage* msg)
|
| tecnosys |
0:d8f50b1e384f
|
234
|
{
|
| tecnosys |
0:d8f50b1e384f
|
235
|
/*
|
| tecnosys |
0:d8f50b1e384f
|
236
|
uint8_t mcp_addr, ctrl;
|
| tecnosys |
0:d8f50b1e384f
|
237
|
|
| tecnosys |
0:d8f50b1e384f
|
238
|
mcp_addr = buffer_sidh_addr;
|
| tecnosys |
0:d8f50b1e384f
|
239
|
|
| tecnosys |
0:d8f50b1e384f
|
240
|
read_can_id( mcp_addr, &(msg->extended_identifier),
|
| tecnosys |
0:d8f50b1e384f
|
241
|
&(msg->identifier) );
|
| tecnosys |
0:d8f50b1e384f
|
242
|
|
| tecnosys |
0:d8f50b1e384f
|
243
|
ctrl = readRegister( mcp_addr-1 );
|
| tecnosys |
0:d8f50b1e384f
|
244
|
msg->dlc = readRegister( mcp_addr+4 );
|
| tecnosys |
0:d8f50b1e384f
|
245
|
|
| tecnosys |
0:d8f50b1e384f
|
246
|
//if ((*dlc & RTR_MASK) || (ctrl & 0x08)) {
|
| tecnosys |
0:d8f50b1e384f
|
247
|
if ((ctrl & 0x08)) {
|
| tecnosys |
0:d8f50b1e384f
|
248
|
msg->rtr = 1;
|
| tecnosys |
0:d8f50b1e384f
|
249
|
} else {
|
| tecnosys |
0:d8f50b1e384f
|
250
|
msg->rtr = 0;
|
| tecnosys |
0:d8f50b1e384f
|
251
|
}
|
| tecnosys |
0:d8f50b1e384f
|
252
|
|
| tecnosys |
0:d8f50b1e384f
|
253
|
msg->dlc &= MCP_DLC_MASK;
|
| tecnosys |
0:d8f50b1e384f
|
254
|
readRegisterS( mcp_addr+5, &(msg->dta[0]), msg->dlc );
|
| tecnosys |
0:d8f50b1e384f
|
255
|
*/
|
| tecnosys |
0:d8f50b1e384f
|
256
|
}
|
| tecnosys |
0:d8f50b1e384f
|
257
|
|
| tecnosys |
0:d8f50b1e384f
|
258
|
|
| tecnosys |
0:d8f50b1e384f
|
259
|
void mcp2515::write_can_id( const uint8_t mcp_addr,
|
| tecnosys |
0:d8f50b1e384f
|
260
|
const uint8_t ext, const uint32_t can_id )
|
| tecnosys |
0:d8f50b1e384f
|
261
|
{
|
| tecnosys |
0:d8f50b1e384f
|
262
|
uint16_t canid;
|
| tecnosys |
0:d8f50b1e384f
|
263
|
uint8_t tbufdata[4];
|
| tecnosys |
0:d8f50b1e384f
|
264
|
|
| tecnosys |
0:d8f50b1e384f
|
265
|
canid = (uint16_t)(can_id & 0x0FFFF);
|
| tecnosys |
0:d8f50b1e384f
|
266
|
|
| tecnosys |
0:d8f50b1e384f
|
267
|
if ( ext == 1) {
|
| tecnosys |
0:d8f50b1e384f
|
268
|
tbufdata[MCP_EID0] = (uint8_t) (canid & 0xFF);
|
| tecnosys |
0:d8f50b1e384f
|
269
|
tbufdata[MCP_EID8] = (uint8_t) (canid / 256);
|
| tecnosys |
0:d8f50b1e384f
|
270
|
canid = (uint16_t)( can_id / 0x10000L );
|
| tecnosys |
0:d8f50b1e384f
|
271
|
tbufdata[MCP_SIDL] = (uint8_t) (canid & 0x03);
|
| tecnosys |
0:d8f50b1e384f
|
272
|
tbufdata[MCP_SIDL] += (uint8_t) ((canid & 0x1C )*8);
|
| tecnosys |
0:d8f50b1e384f
|
273
|
tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
|
| tecnosys |
0:d8f50b1e384f
|
274
|
tbufdata[MCP_SIDH] = (uint8_t) (canid / 32 );
|
| tecnosys |
0:d8f50b1e384f
|
275
|
}
|
| tecnosys |
0:d8f50b1e384f
|
276
|
else {
|
| tecnosys |
0:d8f50b1e384f
|
277
|
tbufdata[MCP_SIDH] = (uint8_t) (canid / 8 );
|
| tecnosys |
0:d8f50b1e384f
|
278
|
tbufdata[MCP_SIDL] = (uint8_t) ((canid & 0x07 )*32);
|
| tecnosys |
0:d8f50b1e384f
|
279
|
tbufdata[MCP_EID0] = 0;
|
| tecnosys |
0:d8f50b1e384f
|
280
|
tbufdata[MCP_EID8] = 0;
|
| tecnosys |
0:d8f50b1e384f
|
281
|
}
|
| tecnosys |
0:d8f50b1e384f
|
282
|
setRegisterS( mcp_addr, tbufdata, 4 );
|
| tecnosys |
0:d8f50b1e384f
|
283
|
}
|
| tecnosys |
0:d8f50b1e384f
|
284
|
|
| tecnosys |
0:d8f50b1e384f
|
285
|
// Buffer can be MCP_TXBUF_0 MCP_TXBUF_1 or MCP_TXBUF_2
|
| tecnosys |
0:d8f50b1e384f
|
286
|
void mcp2515::write_canMsg( const uint8_t buffer_sidh_addr,
|
| tecnosys |
0:d8f50b1e384f
|
287
|
CANMessage* msg)
|
| tecnosys |
0:d8f50b1e384f
|
288
|
{
|
| tecnosys |
0:d8f50b1e384f
|
289
|
uint8_t mcp_addr, dlc;
|
| tecnosys |
0:d8f50b1e384f
|
290
|
|
| tecnosys |
0:d8f50b1e384f
|
291
|
mcp_addr = buffer_sidh_addr;
|
| tecnosys |
0:d8f50b1e384f
|
292
|
dlc = msg->len;
|
| tecnosys |
0:d8f50b1e384f
|
293
|
|
| tecnosys |
0:d8f50b1e384f
|
294
|
setRegisterS(mcp_addr+5, &(msg->data[0]), dlc ); // write data bytes
|
| tecnosys |
0:d8f50b1e384f
|
295
|
write_can_id( mcp_addr, msg->format,
|
| tecnosys |
0:d8f50b1e384f
|
296
|
msg->id ); // write CAN id
|
| tecnosys |
0:d8f50b1e384f
|
297
|
if ( msg->type == 1) dlc |= MCP_RTR_MASK; // if RTR set bit in byte
|
| tecnosys |
0:d8f50b1e384f
|
298
|
setRegister( (mcp_addr+4), dlc ); // write the RTR and DLC
|
| tecnosys |
0:d8f50b1e384f
|
299
|
}
|
| tecnosys |
0:d8f50b1e384f
|
300
|
|
| tecnosys |
0:d8f50b1e384f
|
301
|
void mcp2515::start_transmit(const uint8_t buffer_sidh_addr)
|
| tecnosys |
0:d8f50b1e384f
|
302
|
{
|
| tecnosys |
0:d8f50b1e384f
|
303
|
// TXBnCTRL_addr = TXBnSIDH_addr - 1
|
| tecnosys |
0:d8f50b1e384f
|
304
|
modifyRegister( buffer_sidh_addr-1 , MCP_TXB_TXREQ_M,
|
| tecnosys |
0:d8f50b1e384f
|
305
|
MCP_TXB_TXREQ_M );
|
| tecnosys |
0:d8f50b1e384f
|
306
|
}
|
| tecnosys |
0:d8f50b1e384f
|
307
|
|
| tecnosys |
0:d8f50b1e384f
|
308
|
uint8_t mcp2515::getNextFreeTXBuf(uint8_t *txbuf_n)
|
| tecnosys |
0:d8f50b1e384f
|
309
|
{
|
| tecnosys |
0:d8f50b1e384f
|
310
|
uint8_t res, i, ctrlval;
|
| tecnosys |
0:d8f50b1e384f
|
311
|
uint8_t ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
|
| tecnosys |
0:d8f50b1e384f
|
312
|
|
| tecnosys |
0:d8f50b1e384f
|
313
|
res = MCP_ALLTXBUSY;
|
| tecnosys |
0:d8f50b1e384f
|
314
|
*txbuf_n = 0x00;
|
| tecnosys |
0:d8f50b1e384f
|
315
|
|
| tecnosys |
0:d8f50b1e384f
|
316
|
// check all 3 TX-Buffers
|
| tecnosys |
0:d8f50b1e384f
|
317
|
for (i=0; i<MCP_N_TXBUFFERS; i++) {
|
| tecnosys |
0:d8f50b1e384f
|
318
|
ctrlval = readRegister( ctrlregs[i] );
|
| tecnosys |
0:d8f50b1e384f
|
319
|
if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
|
| tecnosys |
0:d8f50b1e384f
|
320
|
|
| tecnosys |
0:d8f50b1e384f
|
321
|
*txbuf_n = ctrlregs[i]+1; // return SIDH-address of Buffer
|
| tecnosys |
0:d8f50b1e384f
|
322
|
res = MCP2515_OK;
|
| tecnosys |
0:d8f50b1e384f
|
323
|
return res; /* ! function exit */
|
| tecnosys |
0:d8f50b1e384f
|
324
|
}
|
| tecnosys |
0:d8f50b1e384f
|
325
|
}
|
| tecnosys |
0:d8f50b1e384f
|
326
|
|
| tecnosys |
0:d8f50b1e384f
|
327
|
return res;
|
| tecnosys |
0:d8f50b1e384f
|
328
|
}
|
| tecnosys |
0:d8f50b1e384f
|
329
|
|
| tecnosys |
0:d8f50b1e384f
|
330
|
void mcp2515::initCANBuffers(void)
|
| tecnosys |
0:d8f50b1e384f
|
331
|
{
|
| tecnosys |
0:d8f50b1e384f
|
332
|
uint8_t i, a1, a2, a3;
|
| tecnosys |
0:d8f50b1e384f
|
333
|
|
| tecnosys |
0:d8f50b1e384f
|
334
|
// TODO: check why this is needed to receive extended
|
| tecnosys |
0:d8f50b1e384f
|
335
|
// and standard frames
|
| tecnosys |
0:d8f50b1e384f
|
336
|
// Mark all filter bits as don't care:
|
| tecnosys |
0:d8f50b1e384f
|
337
|
write_can_id(MCP_RXM0SIDH, 0, 0);
|
| tecnosys |
0:d8f50b1e384f
|
338
|
write_can_id(MCP_RXM1SIDH, 0, 0);
|
| tecnosys |
0:d8f50b1e384f
|
339
|
// Anyway, set all filters to 0:
|
| tecnosys |
0:d8f50b1e384f
|
340
|
write_can_id(MCP_RXF0SIDH, 1, 0); // RXB0: extended
|
| tecnosys |
0:d8f50b1e384f
|
341
|
write_can_id(MCP_RXF1SIDH, 0, 0); // AND standard
|
| tecnosys |
0:d8f50b1e384f
|
342
|
write_can_id(MCP_RXF2SIDH, 1, 0); // RXB1: extended
|
| tecnosys |
0:d8f50b1e384f
|
343
|
write_can_id(MCP_RXF3SIDH, 0, 0); // AND standard
|
| tecnosys |
0:d8f50b1e384f
|
344
|
write_can_id(MCP_RXF4SIDH, 0, 0);
|
| tecnosys |
0:d8f50b1e384f
|
345
|
write_can_id(MCP_RXF5SIDH, 0, 0);
|
| tecnosys |
0:d8f50b1e384f
|
346
|
|
| tecnosys |
0:d8f50b1e384f
|
347
|
// Clear, deactivate the three transmit buffers
|
| tecnosys |
0:d8f50b1e384f
|
348
|
// TXBnCTRL -> TXBnD7
|
| tecnosys |
0:d8f50b1e384f
|
349
|
a1 = MCP_TXB0CTRL;
|
| tecnosys |
0:d8f50b1e384f
|
350
|
a2 = MCP_TXB1CTRL;
|
| tecnosys |
0:d8f50b1e384f
|
351
|
a3 = MCP_TXB2CTRL;
|
| tecnosys |
0:d8f50b1e384f
|
352
|
for (i = 0; i < 14; i++) { // in-buffer loop
|
| tecnosys |
0:d8f50b1e384f
|
353
|
setRegister(a1, 0);
|
| tecnosys |
0:d8f50b1e384f
|
354
|
setRegister(a2, 0);
|
| tecnosys |
0:d8f50b1e384f
|
355
|
setRegister(a3, 0);
|
| tecnosys |
0:d8f50b1e384f
|
356
|
a1++;
|
| tecnosys |
0:d8f50b1e384f
|
357
|
a2++;
|
| tecnosys |
0:d8f50b1e384f
|
358
|
a3++;
|
| tecnosys |
0:d8f50b1e384f
|
359
|
}
|
| tecnosys |
0:d8f50b1e384f
|
360
|
|
| tecnosys |
0:d8f50b1e384f
|
361
|
// and clear, deactivate the two receive buffers.
|
| tecnosys |
0:d8f50b1e384f
|
362
|
setRegister(MCP_RXB0CTRL, 0);
|
| tecnosys |
0:d8f50b1e384f
|
363
|
setRegister(MCP_RXB1CTRL, 0);
|
| tecnosys |
0:d8f50b1e384f
|
364
|
}
|
| tecnosys |
0:d8f50b1e384f
|
365
|
|
| tecnosys |
0:d8f50b1e384f
|
366
|
uint8_t mcp2515::init(const uint8_t canSpeed)
|
| tecnosys |
0:d8f50b1e384f
|
367
|
{
|
| tecnosys |
0:d8f50b1e384f
|
368
|
uint8_t res;
|
| tecnosys |
0:d8f50b1e384f
|
369
|
|
| tecnosys |
0:d8f50b1e384f
|
370
|
_deselect();
|
| tecnosys |
0:d8f50b1e384f
|
371
|
//MCP_CS_DDR |= ( 1 << MCP_CS_BIT );
|
| tecnosys |
0:d8f50b1e384f
|
372
|
|
| tecnosys |
0:d8f50b1e384f
|
373
|
_reset();
|
| tecnosys |
0:d8f50b1e384f
|
374
|
|
| tecnosys |
0:d8f50b1e384f
|
375
|
res = setCANCTRL_Mode(MODE_CONFIG);
|
| tecnosys |
0:d8f50b1e384f
|
376
|
|
| tecnosys |
0:d8f50b1e384f
|
377
|
if ( res == MCP2515_FAIL ){
|
| tecnosys |
0:d8f50b1e384f
|
378
|
printf("FAIL here");
|
| tecnosys |
0:d8f50b1e384f
|
379
|
return res; /* function exit on error */
|
| tecnosys |
0:d8f50b1e384f
|
380
|
}
|
| tecnosys |
0:d8f50b1e384f
|
381
|
res = configRate(canSpeed);
|
| tecnosys |
0:d8f50b1e384f
|
382
|
|
| tecnosys |
0:d8f50b1e384f
|
383
|
if ( res == MCP2515_OK ) {
|
| tecnosys |
0:d8f50b1e384f
|
384
|
initCANBuffers();
|
| tecnosys |
0:d8f50b1e384f
|
385
|
|
| tecnosys |
0:d8f50b1e384f
|
386
|
|
| tecnosys |
0:d8f50b1e384f
|
387
|
// enable both receive-buffers to receive messages
|
| tecnosys |
0:d8f50b1e384f
|
388
|
// with std. and ext. identifiers
|
| tecnosys |
0:d8f50b1e384f
|
389
|
// and enable rollover
|
| tecnosys |
0:d8f50b1e384f
|
390
|
modifyRegister(MCP_RXB0CTRL,
|
| tecnosys |
0:d8f50b1e384f
|
391
|
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
|
| tecnosys |
0:d8f50b1e384f
|
392
|
MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
|
| tecnosys |
0:d8f50b1e384f
|
393
|
modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
|
| tecnosys |
0:d8f50b1e384f
|
394
|
MCP_RXB_RX_STDEXT);
|
| tecnosys |
0:d8f50b1e384f
|
395
|
|
| tecnosys |
0:d8f50b1e384f
|
396
|
}
|
| tecnosys |
0:d8f50b1e384f
|
397
|
|
| tecnosys |
0:d8f50b1e384f
|
398
|
return res;
|
| tecnosys |
0:d8f50b1e384f
|
399
|
}
|
| tecnosys |
0:d8f50b1e384f
|
400
|
|
| tecnosys |
0:d8f50b1e384f
|
401
|
/*
|
| tecnosys |
0:d8f50b1e384f
|
402
|
* Select function
|
| tecnosys |
0:d8f50b1e384f
|
403
|
*/
|
| tecnosys |
0:d8f50b1e384f
|
404
|
|
| tecnosys |
0:d8f50b1e384f
|
405
|
void mcp2515::_select() {
|
| tecnosys |
0:d8f50b1e384f
|
406
|
//printf("{");
|
| tecnosys |
0:d8f50b1e384f
|
407
|
_ncs = 0;
|
| tecnosys |
0:d8f50b1e384f
|
408
|
}
|
| tecnosys |
0:d8f50b1e384f
|
409
|
|
| tecnosys |
0:d8f50b1e384f
|
410
|
|
| tecnosys |
0:d8f50b1e384f
|
411
|
/*
|
| tecnosys |
0:d8f50b1e384f
|
412
|
* Deselect function
|
| tecnosys |
0:d8f50b1e384f
|
413
|
*/
|
| tecnosys |
0:d8f50b1e384f
|
414
|
|
| tecnosys |
0:d8f50b1e384f
|
415
|
void mcp2515::_deselect() {
|
| tecnosys |
0:d8f50b1e384f
|
416
|
_ncs = 1;
|
| tecnosys |
0:d8f50b1e384f
|
417
|
//printf("}");
|
| tecnosys |
0:d8f50b1e384f
|
418
|
}
|
| tecnosys |
0:d8f50b1e384f
|
419
|
|
| tecnosys |
0:d8f50b1e384f
|
420
|
int mcp2515::status() {
|
| tecnosys |
0:d8f50b1e384f
|
421
|
int status = 0;
|
| tecnosys |
0:d8f50b1e384f
|
422
|
_select();
|
| tecnosys |
0:d8f50b1e384f
|
423
|
_spi.write(0xd7);
|
| tecnosys |
0:d8f50b1e384f
|
424
|
status = (_spi.write(0x00) << 8 );
|
| tecnosys |
0:d8f50b1e384f
|
425
|
status |= _spi.write(0x00);
|
| tecnosys |
0:d8f50b1e384f
|
426
|
_deselect();
|
| tecnosys |
0:d8f50b1e384f
|
427
|
return status;
|
| tecnosys |
0:d8f50b1e384f
|
428
|
}
|
| tecnosys |
0:d8f50b1e384f
|
429
|
|
| tecnosys |
0:d8f50b1e384f
|
430
|
void mcp2515::_pollbusy() {
|
| tecnosys |
0:d8f50b1e384f
|
431
|
volatile int busy = 1;
|
| tecnosys |
0:d8f50b1e384f
|
432
|
while (busy) {
|
| tecnosys |
0:d8f50b1e384f
|
433
|
// if bit 7 is set, we can proceed
|
| tecnosys |
0:d8f50b1e384f
|
434
|
if ( status() & 0x80 ) {
|
| tecnosys |
0:d8f50b1e384f
|
435
|
busy = 0;
|
| tecnosys |
0:d8f50b1e384f
|
436
|
}
|
| tecnosys |
0:d8f50b1e384f
|
437
|
}
|
| tecnosys |
0:d8f50b1e384f
|
438
|
}
|
| tecnosys |
0:d8f50b1e384f
|
439
|
|
| tecnosys |
0:d8f50b1e384f
|
440
|
|
| tecnosys |
0:d8f50b1e384f
|
441
|
uint8_t mcp2515::_spi_readwrite(uint8_t data)
|
| tecnosys |
0:d8f50b1e384f
|
442
|
{
|
| tecnosys |
0:d8f50b1e384f
|
443
|
//printf("W0x%x ", data);
|
| tecnosys |
0:d8f50b1e384f
|
444
|
uint8_t ret = _spi.write(data);
|
| tecnosys |
0:d8f50b1e384f
|
445
|
// printf("R0x%x,", ret);
|
| tecnosys |
0:d8f50b1e384f
|
446
|
return ret;
|
| tecnosys |
0:d8f50b1e384f
|
447
|
}
|
| tecnosys |
0:d8f50b1e384f
|
448
|
|
| tecnosys |
0:d8f50b1e384f
|
449
|
uint8_t mcp2515::_spi_read(void)
|
| tecnosys |
0:d8f50b1e384f
|
450
|
{
|
| tecnosys |
0:d8f50b1e384f
|
451
|
return _spi_readwrite(SPI_NULL);
|
| tecnosys |
0:d8f50b1e384f
|
452
|
}
|