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mcp_can.cpp
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mcp_can.cpp
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/*
* mcp_can.cpp
* Library for SeeedStudio CANBUS SHIELD
*
* Copyright (c) Seeedstudio
* Spread by SeeedStudio
* Author : Loovee
* Create Time: 2012-4-24
* Change Log :
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "mcp_can.h"
#define spi_readwrite SPI.transfer
#define spi_read() spi_readwrite(0x00)
MCP_CAN CAN;
/*********************************************************************************************************
** Function name: mcp2515_reset
** Descriptions: reset the device
** input parameters: NONE
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
void MCP_CAN::mcp2515_reset(void)
{
MCP2515_SELECT();
spi_readwrite(MCP_RESET);
MCP2515_UNSELECT();
delay(10);
}
/*********************************************************************************************************
** Function name: mcp2515_readRegister
** Descriptions: read register
** input parameters: address : register address
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_readRegister(const INT8U address)
{
INT8U ret;
MCP2515_SELECT();
spi_readwrite(MCP_READ);
spi_readwrite(address);
ret = spi_read();
MCP2515_UNSELECT();
return ret;
}
/*********************************************************************************************************
** Function name: mcp2515_readRegisterS
** Descriptions: read registerS
** input parameters: address : register address
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
void MCP_CAN::mcp2515_readRegisterS(const INT8U address,
INT8U values[],
const INT8U n)
{
INT8U i;
MCP2515_SELECT();
spi_readwrite(MCP_READ);
spi_readwrite(address);
// mcp2515 has auto-increment of address-pointer
for (i=0; i<n; i++) {
values[i] = spi_read();
}
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: mcp2515_setRegister
** Descriptions: set register
** input parameters: address : register address
value : register value
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
void MCP_CAN::mcp2515_setRegister(const INT8U address,
const INT8U value)
{
MCP2515_SELECT();
spi_readwrite(MCP_WRITE);
spi_readwrite(address);
spi_readwrite(value);
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: mcp2515_setRegisterS
** Descriptions: set registerS
** input parameters: address : first register 's address
values[]: value
n : data length
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
void MCP_CAN::mcp2515_setRegisterS(const INT8U address,
const INT8U values[],
const INT8U n)
{
INT8U i;
MCP2515_SELECT();
spi_readwrite(MCP_WRITE);
spi_readwrite(address);
for (i=0; i<n; i++) {
spi_readwrite(values[i]);
}
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: mcp2515_modifyRegister
** Descriptions: set bit of one register
** input parameters: address : register address
mask : bit address
data : data
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
void MCP_CAN::mcp2515_modifyRegister(const INT8U address, /* set bit of one register */
const INT8U mask,
const INT8U data)
{
MCP2515_SELECT();
spi_readwrite(MCP_BITMOD);
spi_readwrite(address);
spi_readwrite(mask);
spi_readwrite(data);
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: mcp2515_readStatus
** Descriptions: read mcp2515's Status
** input parameters: NONE
** Output parameters: NONE
** Returned value: the device's status
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_readStatus(void)
{
INT8U i;
MCP2515_SELECT();
spi_readwrite(MCP_READ_STATUS);
i = spi_read();
MCP2515_UNSELECT();
return i;
}
/*********************************************************************************************************
** Function name: mcp2515_setCANCTRL_Mode
** Descriptions: set control mode
** input parameters: newmode : mode
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode)
{
INT8U i;
mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
i = mcp2515_readRegister(MCP_CANCTRL);
i &= MODE_MASK;
if ( i == newmode ) {
return MCP2515_OK;
}
else {
return MCP2515_FAIL;
}
}
/*********************************************************************************************************
** Function name: mcp2515_configRate
** Descriptions: set boadrate
** input parameters: canSpeed : boadrate
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed)
{
INT8U set, cfg1, cfg2, cfg3;
set = 1;
switch (canSpeed) {
case (CAN_5KBPS):
cfg1 = MCP_16MHz_5kBPS_CFG1;
cfg2 = MCP_16MHz_5kBPS_CFG2;
cfg3 = MCP_16MHz_5kBPS_CFG3;
break;
case (CAN_10KBPS):
cfg1 = MCP_16MHz_10kBPS_CFG1;
cfg2 = MCP_16MHz_10kBPS_CFG2;
cfg3 = MCP_16MHz_10kBPS_CFG3;
break;
case (CAN_20KBPS):
cfg1 = MCP_16MHz_20kBPS_CFG1;
cfg2 = MCP_16MHz_20kBPS_CFG2;
cfg3 = MCP_16MHz_20kBPS_CFG3;
break;
case (CAN_40KBPS):
cfg1 = MCP_16MHz_40kBPS_CFG1;
cfg2 = MCP_16MHz_40kBPS_CFG2;
cfg3 = MCP_16MHz_40kBPS_CFG3;
break;
case (CAN_50KBPS):
cfg1 = MCP_16MHz_50kBPS_CFG1;
cfg2 = MCP_16MHz_50kBPS_CFG2;
cfg3 = MCP_16MHz_50kBPS_CFG3;
break;
case (CAN_80KBPS):
cfg1 = MCP_16MHz_80kBPS_CFG1;
cfg2 = MCP_16MHz_80kBPS_CFG2;
cfg3 = MCP_16MHz_80kBPS_CFG3;
break;
case (CAN_100KBPS): /* 100KBPS */
cfg1 = MCP_16MHz_100kBPS_CFG1;
cfg2 = MCP_16MHz_100kBPS_CFG2;
cfg3 = MCP_16MHz_100kBPS_CFG3;
break;
case (CAN_125KBPS):
cfg1 = MCP_16MHz_125kBPS_CFG1;
cfg2 = MCP_16MHz_125kBPS_CFG2;
cfg3 = MCP_16MHz_125kBPS_CFG3;
break;
case (CAN_200KBPS):
cfg1 = MCP_16MHz_200kBPS_CFG1;
cfg2 = MCP_16MHz_200kBPS_CFG2;
cfg3 = MCP_16MHz_200kBPS_CFG3;
break;
case (CAN_250KBPS):
cfg1 = MCP_16MHz_250kBPS_CFG1;
cfg2 = MCP_16MHz_250kBPS_CFG2;
cfg3 = MCP_16MHz_250kBPS_CFG3;
break;
case (CAN_500KBPS):
cfg1 = MCP_16MHz_500kBPS_CFG1;
cfg2 = MCP_16MHz_500kBPS_CFG2;
cfg3 = MCP_16MHz_500kBPS_CFG3;
break;
default:
set = 0;
break;
}
if (set) {
mcp2515_setRegister(MCP_CNF1, cfg1);
mcp2515_setRegister(MCP_CNF2, cfg2);
mcp2515_setRegister(MCP_CNF3, cfg3);
return MCP2515_OK;
}
else {
return MCP2515_FAIL;
}
}
/*********************************************************************************************************
** Function name: mcp2515_initCANBuffers
** Descriptions: init canbuffers
** input parameters: NONE
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
void MCP_CAN::mcp2515_initCANBuffers(void)
{
INT8U i, a1, a2, a3;
INT8U ext = 0;
INT32U ulMask = 0x00, ulFilt = 0x00;
mcp2515_write_id(MCP_RXM0SIDH, ext, ulMask);
mcp2515_write_id(MCP_RXM1SIDH, ext, ulMask);
/* Anyway, set all filters to 0 */
/* : */
mcp2515_write_id(MCP_RXF0SIDH, ext, ulFilt); /* RXB0: extended */
mcp2515_write_id(MCP_RXF1SIDH, ext, ulFilt); /* AND standard */
mcp2515_write_id(MCP_RXF2SIDH, ext, ulFilt); /* RXB1: extended */
mcp2515_write_id(MCP_RXF3SIDH, ext, ulFilt); /* AND standard */
mcp2515_write_id(MCP_RXF4SIDH, ext, ulFilt);
mcp2515_write_id(MCP_RXF5SIDH, ext, ulFilt);
/* Clear, deactivate the three */
/* transmit buffers */
/* TXBnCTRL -> TXBnD7 */
a1 = MCP_TXB0CTRL;
a2 = MCP_TXB1CTRL;
a3 = MCP_TXB2CTRL;
for (i = 0; i < 14; i++) { /* in-buffer loop */
mcp2515_setRegister(a1, 0);
mcp2515_setRegister(a2, 0);
mcp2515_setRegister(a3, 0);
a1++;
a2++;
a3++;
}
mcp2515_setRegister(MCP_RXB0CTRL, 0);
mcp2515_setRegister(MCP_RXB1CTRL, 0);
}
/*********************************************************************************************************
** Function name: mcp2515_init
** Descriptions: init the device
** input parameters: canSpeed : boadrate
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_init(const INT8U canSpeed) /* mcp2515init */
{
INT8U res;
mcp2515_reset();
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0)
{
#if DEBUG_MODE
Serial.print("Enter setting mode fall\r\n");
#endif
return res;
}
#if DEBUG_MODE
Serial.print("Enter setting mode success \r\n");
#endif
/* set boadrate */
if(mcp2515_configRate(canSpeed))
{
#if DEBUG_MODE
Serial.print("set rate fall!!\r\n");
#endif
return res;
}
#if DEBUG_MODE
Serial.print("set rate success!!\r\n");
#endif
if ( res == MCP2515_OK ) {
/* init canbuffers */
mcp2515_initCANBuffers();
/* interrupt mode */
mcp2515_setRegister(MCP_CANINTE, MCP_RX0IF | MCP_RX1IF);
#if (DEBUG_RXANY==1)
/* enable both receive-buffers */
/* to receive any message */
/* and enable rollover */
mcp2515_modifyRegister(MCP_RXB0CTRL,
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
MCP_RXB_RX_ANY | MCP_RXB_BUKT_MASK);
mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
MCP_RXB_RX_ANY);
#else
/* enable both receive-buffers */
/* to receive messages */
/* with std. and ext. identifie */
/* rs */
/* and enable rollover */
mcp2515_modifyRegister(MCP_RXB0CTRL,
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
MCP_RXB_RX_STDEXT);
#endif
/* enter normal mode */
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if(res)
{
#if DEBUG_MODE
Serial.print("Enter Normal Mode Fall!!\r\n");
#endif
return res;
}
#if DEBUG_MODE
Serial.print("Enter Normal Mode Success!!\r\n");
#endif
}
return res;
}
/*********************************************************************************************************
** Function name: mcp2515_write_id
** Descriptions: write can id
** input parameters: NONE
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr,
const INT8U ext,
const INT32U id )
{
uint16_t canid;
INT8U tbufdata[4];
canid = (uint16_t)(id & 0x0FFFF);
if ( ext == 1) {
tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
tbufdata[MCP_EID8] = (INT8U) (canid / 256);
canid = (uint16_t)( id / 0x10000L );
tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C )*8);
tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
tbufdata[MCP_SIDH] = (INT8U) (canid / 32 );
}
else {
tbufdata[MCP_SIDH] = (INT8U) (canid / 8 );
tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07 )<<5);
tbufdata[MCP_EID0] = 0;
tbufdata[MCP_EID8] = 0;
}
mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
}
/*********************************************************************************************************
** Function name: mcp2515_read_id
** Descriptions: read can id
** input parameters: NONE
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
void MCP_CAN::mcp2515_read_id( const INT8U mcp_addr,
INT8U* ext,
INT32U* id )
{
INT8U tbufdata[4];
*ext = 0;
*id = 0;
mcp2515_readRegisterS( mcp_addr, tbufdata, 4 );
*id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M ) {
/* extended id */
*id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03);
*id <<= 16;
*id = *id + (unsigned)(tbufdata[MCP_EID8]<<8) + tbufdata[MCP_EID0];
*ext = 1;
}
}
/*********************************************************************************************************
** Function name: mcp2515_write_canMsg
** Descriptions: write msg
** input parameters: NONE
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
void MCP_CAN::mcp2515_write_canMsg( const INT8U buffer_sidh_addr)
{
INT8U mcp_addr;
mcp_addr = buffer_sidh_addr;
mcp2515_setRegisterS(mcp_addr+5, m_nDta, m_nDlc ); /* write data bytes */
if ( m_nRtr == 1) m_nDlc |= MCP_RTR_MASK; /* if RTR set bit in byte */
mcp2515_setRegister( (mcp_addr+4), m_nDlc ); /* write the RTR and DLC */
mcp2515_write_id( mcp_addr, m_nExtFlg, m_nID ); /* write CAN id */
}
/*********************************************************************************************************
** Function name: mcp2515_read_canMsg
** Descriptions: read message
** input parameters: NONE
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
void MCP_CAN::mcp2515_read_canMsg( const INT8U buffer_sidh_addr) /* read can msg */
{
INT8U mcp_addr, ctrl;
mcp_addr = buffer_sidh_addr;
mcp2515_read_id( mcp_addr, &m_nExtFlg,&m_nID );
ctrl = mcp2515_readRegister( mcp_addr-1 );
m_nDlc = mcp2515_readRegister( mcp_addr+4 );
if ((ctrl & 0x08)) {
m_nRtr = 1;
}
else {
m_nRtr = 0;
}
m_nDlc &= MCP_DLC_MASK;
mcp2515_readRegisterS( mcp_addr+5, &(m_nDta[0]), m_nDlc );
}
/*********************************************************************************************************
** Function name: sendMsg
** Descriptions: send message
** input parameters: NONE
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
void MCP_CAN::mcp2515_start_transmit(const INT8U mcp_addr) /* start transmit */
{
mcp2515_modifyRegister( mcp_addr-1 , MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
}
/*********************************************************************************************************
** Function name: sendMsg
** Descriptions: send message
** input parameters: NONE
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n) /* get Next free txbuf */
{
INT8U res, i, ctrlval;
INT8U 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 = mcp2515_readRegister( ctrlregs[i] );
if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
*txbuf_n = ctrlregs[i]+1; /* return SIDH-address of Buffe */
/* r */
res = MCP2515_OK;
return res; /* ! function exit */
}
}
return res;
}
/*********************************************************************************************************
** Function name: init
** Descriptions: init can and set speed
** input parameters: speedset : can boadrate
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::begin(INT8U speedset)
{
INT8U res;
MCP2515_UNSELECT(); /* disable chip select to begin with */
pinMode(SPICS, OUTPUT); /* make chip select pin an output */
SPI.begin();
res = mcp2515_init(speedset);
if (res == MCP2515_OK) return CAN_OK;
else return CAN_FAILINIT;
}
/*********************************************************************************************************
** Function name: init_Mask
** Descriptions: init canid Masks
** input parameters: num : Mask number
ext : if ext id
ulData: data
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::init_Mask(INT8U num, INT8U ext, INT32U ulData)
{
INT8U res = MCP2515_OK;
#if DEBUG_MODE
Serial.print("Begin to set Mask!!\r\n");
#endif
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0){
#if DEBUG_MODE
Serial.print("Enter setting mode fall\r\n");
#endif
return res;
}
if (num == 0){
mcp2515_write_id(MCP_RXM0SIDH, ext, ulData);
}
else if(num == 1){
mcp2515_write_id(MCP_RXM1SIDH, ext, ulData);
}
else res = MCP2515_FAIL;
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if(res > 0){
#if DEBUG_MODE
Serial.print("Enter normal mode fall\r\n");
#endif
return res;
}
#if DEBUG_MODE
Serial.print("set Mask success!!\r\n");
#endif
return res;
}
/*********************************************************************************************************
** Function name: init_Filt
** Descriptions: init canid filters
** input parameters: num : Filters number
ext : if ext id
ulData: data
** Output parameters: NONE
** Returned value: ifsuccess
*********************************************************************************************************/
INT8U MCP_CAN::init_Filt(INT8U num, INT8U ext, INT32U ulData)
{
INT8U res = MCP2515_OK;
#if DEBUG_MODE
Serial.print("Begin to set Filter!!\r\n");
#endif
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0)
{
#if DEBUG_MODE
Serial.print("Enter setting mode fall\r\n");
#endif
return res;
}
switch( num )
{
case 0:
mcp2515_write_id(MCP_RXF0SIDH, ext, ulData);
break;
case 1:
mcp2515_write_id(MCP_RXF1SIDH, ext, ulData);
break;
case 2:
mcp2515_write_id(MCP_RXF2SIDH, ext, ulData);
break;
case 3:
mcp2515_write_id(MCP_RXF3SIDH, ext, ulData);
break;
case 4:
mcp2515_write_id(MCP_RXF4SIDH, ext, ulData);
break;
case 5:
mcp2515_write_id(MCP_RXF5SIDH, ext, ulData);
break;
default:
res = MCP2515_FAIL;
}
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if(res > 0)
{
#if DEBUG_MODE
Serial.print("Enter normal mode fall\r\nSet filter fail!!\r\n");
#endif
return res;
}
#if DEBUG_MODE
Serial.print("set Filter success!!\r\n");
#endif
return res;
}
/*********************************************************************************************************
** Function name: setMsg
** Descriptions: set can message, such as dlc, id, dta[] and so on
** input parameters: NONE
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData)
{
int i = 0;
m_nExtFlg = ext;
m_nID = id;
m_nDlc = len;
for(i = 0; i<MAX_CHAR_IN_MESSAGE; i++)
m_nDta[i] = *(pData+i);
return MCP2515_OK;
}
/*********************************************************************************************************
** Function name: clearMsg
** Descriptions: set all message to zero
** input parameters: NONE
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::clearMsg()
{
m_nID = 0;
m_nDlc = 0;
m_nExtFlg = 0;
m_nRtr = 0;
m_nfilhit = 0;
for(int i = 0; i<m_nDlc; i++ )
m_nDta[i] = 0x00;
return MCP2515_OK;
}
/*********************************************************************************************************
** Function name: sendMsg
** Descriptions: send message
** input parameters: NONE
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::sendMsg()
{
INT8U res, res1, txbuf_n;
uint16_t uiTimeOut = 0;
do {
res = mcp2515_getNextFreeTXBuf(&txbuf_n); /* info = addr. */
uiTimeOut++;
} while (res == MCP_ALLTXBUSY && (uiTimeOut < TIMEOUTVALUE));
if(uiTimeOut == TIMEOUTVALUE) return CAN_GETTXBFTIMEOUT; /* get tx buff time out */
uiTimeOut = 0;
mcp2515_write_canMsg( txbuf_n);
mcp2515_start_transmit( txbuf_n );
do
{
uiTimeOut++;
res1= CAN.mcp2515_readRegister(txbuf_n); /* read send buff ctrl reg */
res1 = res1 & 0x08;
}while(res1 && (uiTimeOut < TIMEOUTVALUE));
if(uiTimeOut == TIMEOUTVALUE) return CAN_SENDMSGTIMEOUT; /* send msg timeout */
return CAN_OK;
}
/*********************************************************************************************************
** Function name: sendMsgBuf
** Descriptions: send buf
** input parameters: id : can id
ext : if ext
len : buf length
*buf: data buf
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf)
{
setMsg(id, ext, len, buf);
sendMsg();
}
/*********************************************************************************************************
** Function name: readMsg
** Descriptions: read message
** input parameters: NONE
** Output parameters: NONE
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::readMsg()
{
INT8U stat, res;
stat = mcp2515_readStatus();
if ( stat & MCP_STAT_RX0IF ) { /* Msg in Buffer 0 */
mcp2515_read_canMsg( MCP_RXBUF_0);
mcp2515_modifyRegister(MCP_CANINTF, MCP_RX0IF, 0);
res = CAN_OK;
}
else if ( stat & MCP_STAT_RX1IF ) { /* Msg in Buffer 1 */
mcp2515_read_canMsg( MCP_RXBUF_1);
mcp2515_modifyRegister(MCP_CANINTF, MCP_RX1IF, 0);
res = CAN_OK;
}
else {
res = CAN_NOMSG;
}
return res;
}
/*********************************************************************************************************
** Function name: readMsgBuf
** Descriptions: read message buf
** input parameters: len: data length
** Output parameters: buf: data buf
** Returned value: if success
*********************************************************************************************************/
INT8U MCP_CAN::readMsgBuf(INT8U *len, INT8U buf[])
{
readMsg();
*len = m_nDlc;
for(int i = 0; i<m_nDlc; i++)
{
buf[i] = m_nDta[i];
}
}
/*********************************************************************************************************
** Function name: checkReceive
** Descriptions: check if got something
** input parameters: NONE
** Output parameters: NONE
** Returned value: if something
*********************************************************************************************************/
INT8U MCP_CAN::checkReceive(void)
{
INT8U res;
res = mcp2515_readStatus(); /* RXnIF in Bit 1 and 0 */
if ( res & MCP_STAT_RXIF_MASK ) {
return CAN_MSGAVAIL;
}
else {
return CAN_NOMSG;
}
}
/*********************************************************************************************************
** Function name: checkError
** Descriptions: if something error
** input parameters: NONE
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
INT8U MCP_CAN::checkError(void)
{
INT8U eflg = mcp2515_readRegister(MCP_EFLG);
if ( eflg & MCP_EFLG_ERRORMASK ) {
return CAN_CTRLERROR;
}
else {
return CAN_OK;
}
}
/*********************************************************************************************************
** Function name: getCanId
** Descriptions: when receive something ,u can get the can id!!
** input parameters: NONE
** Output parameters: NONE
** Returned value: NONE
*********************************************************************************************************/
INT32U MCP_CAN::getCanId(void)
{
return m_nID;
}
/*********************************************************************************************************
END FILE
*********************************************************************************************************/