mirror of
https://github.com/peterantypas/maiana.git
synced 2025-05-15 23:10:11 -07:00
163 lines
7.2 KiB
C++
163 lines
7.2 KiB
C++
/*
|
|
mcp_can.h
|
|
2012 Copyright (c) Seeed Technology Inc. All right reserved.
|
|
|
|
Author:Loovee (loovee@seeed.cc)
|
|
2014-1-16
|
|
|
|
Contributor:
|
|
|
|
Cory J. Fowler
|
|
Latonita
|
|
Woodward1
|
|
Mehtajaghvi
|
|
BykeBlast
|
|
TheRo0T
|
|
Tsipizic
|
|
ralfEdmund
|
|
Nathancheek
|
|
BlueAndi
|
|
Adlerweb
|
|
Btetz
|
|
Hurvajs
|
|
ttlappalainen
|
|
peterantypas
|
|
|
|
|
|
The MIT License (MIT)
|
|
|
|
Copyright (c) 2013 Seeed Technology Inc.
|
|
|
|
Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
of this software and associated documentation files (the "Software"), to deal
|
|
in the Software without restriction, including without limitation the rights
|
|
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
copies of the Software, and to permit persons to whom the Software is
|
|
furnished to do so, subject to the following conditions:
|
|
|
|
The above copyright notice and this permission notice shall be included in
|
|
all copies or substantial portions of the Software.
|
|
|
|
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
THE SOFTWARE.
|
|
*/
|
|
#ifndef _MCP2515_H_
|
|
#define _MCP2515_H_
|
|
|
|
#include "mcp_can_dfs.h"
|
|
|
|
|
|
/**
|
|
* A generic driver should have no knowledge of I/O pins or SPI bus implementation.
|
|
* These belong to the BSP layer.
|
|
*/
|
|
|
|
#define MAX_CHAR_IN_MESSAGE 8
|
|
|
|
class MCP_CAN
|
|
{
|
|
private:
|
|
|
|
byte ext_flg = 0; // identifier xxxID
|
|
// either extended (the 29 LSB) or standard (the 11 LSB)
|
|
unsigned long can_id = 0; // can id
|
|
byte rtr = 0; // rtr
|
|
byte nReservedTx = 0; // Count of tx buffers for reserved send
|
|
|
|
/*
|
|
* mcp2515 driver function
|
|
*/
|
|
|
|
private:
|
|
|
|
void mcp2515_reset(void); // reset mcp2515
|
|
|
|
byte mcp2515_readRegister(const byte address); // read mcp2515's register
|
|
|
|
void mcp2515_readRegisterS(const byte address,
|
|
byte values[],
|
|
const byte n);
|
|
void mcp2515_setRegister(const byte address, // set mcp2515's register
|
|
const byte value);
|
|
|
|
void mcp2515_setRegisterS(const byte address, // set mcp2515's registers
|
|
const byte values[],
|
|
const byte n);
|
|
|
|
void mcp2515_initCANBuffers(void);
|
|
|
|
void mcp2515_modifyRegister(const byte address, // set bit of one register
|
|
const byte mask,
|
|
const byte data);
|
|
|
|
byte mcp2515_readStatus(void); // read mcp2515's Status
|
|
byte mcp2515_setCANCTRL_Mode(const byte newmode); // set mode
|
|
byte mcp2515_configRate(const byte canSpeed, const byte clock); // set baudrate
|
|
byte mcp2515_init(const byte canSpeed, const byte clock); // mcp2515init
|
|
|
|
void mcp2515_write_id( const byte mcp_addr, // write can id
|
|
const byte ext,
|
|
const unsigned long id );
|
|
|
|
void mcp2515_read_id( const byte mcp_addr, // read can id
|
|
byte* ext,
|
|
unsigned long* id );
|
|
|
|
void mcp2515_write_canMsg( const byte buffer_sidh_addr, unsigned long id, byte ext, byte rtr, byte len, volatile const byte *buf); // read can msg
|
|
void mcp2515_read_canMsg( const byte buffer_load_addr, volatile unsigned long *id, volatile byte *ext, volatile byte *rtr, volatile byte *len, volatile byte *buf); // write can msg
|
|
void mcp2515_start_transmit(const byte mcp_addr); // start transmit
|
|
byte mcp2515_getNextFreeTXBuf(byte *txbuf_n); // get Next free txbuf
|
|
byte mcp2515_isTXBufFree(byte *txbuf_n, byte iBuf); // is buffer by index free
|
|
|
|
/*
|
|
* can operator function
|
|
*/
|
|
|
|
byte sendMsg(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, bool wait_sent=true); // send message
|
|
|
|
public:
|
|
MCP_CAN();
|
|
|
|
void enableTxInterrupt(bool enable=true); // enable transmit interrupt
|
|
void reserveTxBuffers(byte nTxBuf=0) { nReservedTx=(nTxBuf<MCP_N_TXBUFFERS?nTxBuf:MCP_N_TXBUFFERS-1); }
|
|
byte getLastTxBuffer() { return MCP_N_TXBUFFERS-1; } // read index of last tx buffer
|
|
|
|
byte begin(byte speedset, const byte clockset = MCP_16MHz); // init can
|
|
byte init_Mask(byte num, byte ext, unsigned long ulData); // init Masks
|
|
byte init_Filt(byte num, byte ext, unsigned long ulData); // init filters
|
|
byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, bool wait_sent=true); // send buf
|
|
byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf, bool wait_sent=true); // send buf
|
|
byte readMsgBuf(byte *len, byte *buf); // read buf
|
|
byte readMsgBufID(unsigned long *ID, byte *len, byte *buf); // read buf with object ID
|
|
byte checkReceive(void); // if something received
|
|
byte checkError(void); // if something error
|
|
unsigned long getCanId(void); // get can id when receive
|
|
byte isRemoteRequest(void); // get RR flag when receive
|
|
byte isExtendedFrame(void); // did we recieve 29bit frame?
|
|
|
|
byte readMsgBufID(byte status, volatile unsigned long *id, volatile byte *ext, volatile byte *rtr, volatile byte *len, volatile byte *buf); // read buf with object ID
|
|
byte trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, byte iTxBuf=0xff); // as sendMsgBuf, but does not have any wait for free buffer
|
|
byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte *buf); // send message buf by using parsed buffer status
|
|
inline byte trySendExtMsgBuf(unsigned long id, byte len, const byte *buf, byte iTxBuf=0xff) { // as trySendMsgBuf, but set ext=1 and rtr=0
|
|
return trySendMsgBuf(id,1,0,len,buf,iTxBuf);
|
|
}
|
|
inline byte sendExtMsgBuf(byte status, unsigned long id, byte len, volatile const byte *buf) { // as sendMsgBuf, but set ext=1 and rtr=0
|
|
return sendMsgBuf(status,id,1,0,len,buf);
|
|
}
|
|
void clearBufferTransmitIfFlags(byte flags=0); // Clear transmit flags according to status
|
|
byte readRxTxStatus(void); // read has something send or received
|
|
byte checkClearRxStatus(byte *status); // read and clear and return first found rx status bit
|
|
byte checkClearTxStatus(byte *status, byte iTxBuf=0xff); // read and clear and return first found or buffer specified tx status bit
|
|
|
|
};
|
|
|
|
#endif
|
|
/*********************************************************************************************************
|
|
END FILE
|
|
*********************************************************************************************************/
|