158 lines
9.7 KiB
C++
158 lines
9.7 KiB
C++
/*
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mcp_can.h
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2012 Copyright (c) Seeed Technology Inc. All right reserved.
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Author:Loovee (loovee@seeed.cc)
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2014-1-16
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Contributor:
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Cory J. Fowler
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Latonita
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Woodward1
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Mehtajaghvi
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BykeBlast
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TheRo0T
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Tsipizic
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ralfEdmund
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Nathancheek
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BlueAndi
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Adlerweb
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Btetz
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Hurvajs
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ttlappalainen
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The MIT License (MIT)
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Copyright (c) 2013 Seeed Technology Inc.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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*/
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#ifndef _MCP2515_H_
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#define _MCP2515_H_
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#include "mcp_can.h"
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#include "mcp2515_can_dfs.h"
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#include "wiring_private.h" // pinPeripheral() function
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#define MAX_CHAR_IN_MESSAGE 8
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class mcp2515_can : public MCP_CAN
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{
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public:
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mcp2515_can(byte _CS) : MCP_CAN(_CS), nReservedTx(0){};
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/*
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mcp2515 driver function
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*/
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public:
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virtual void enableTxInterrupt(bool enable = true); // enable transmit interrupt
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virtual void reserveTxBuffers(byte nTxBuf = 0)
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{
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nReservedTx = (nTxBuf < MCP_N_TXBUFFERS ? nTxBuf : MCP_N_TXBUFFERS - 1);
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}
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virtual byte getLastTxBuffer()
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{
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return MCP_N_TXBUFFERS - 1; // read index of last tx buffer
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}
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virtual byte begin(byte speedset, const byte clockset = MCP_16MHz); // init can
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virtual byte init_Mask(byte num, byte ext, unsigned long ulData); // init Masks
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virtual byte init_Filt(byte num, byte ext, unsigned long ulData); // init filters
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virtual void setSleepWakeup(byte enable); // Enable or disable the wake up interrupt (If disabled the MCP2515 will not be woken up by CAN bus activity, making it send only)
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virtual byte sleep(); // Put the MCP2515 in sleep mode
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virtual byte wake(); // Wake MCP2515 manually from sleep
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virtual byte setMode(byte opMode); // Set operational mode
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virtual byte getMode(); // Get operational mode
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virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, bool wait_sent = true); // send buf
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virtual byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf, bool wait_sent = true); // send buf
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virtual byte readMsgBuf(byte *len, byte *buf); // read buf
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virtual byte readMsgBufID(unsigned long *ID, byte *len, byte *buf); // read buf with object ID
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virtual byte checkReceive(void); // if something received
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virtual byte checkError(void); // if something error
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virtual unsigned long getCanId(void); // get can id when receive
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virtual byte isRemoteRequest(void); // get RR flag when receive
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virtual byte isExtendedFrame(void); // did we recieve 29bit frame?
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virtual 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
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virtual 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
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virtual 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
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virtual void clearBufferTransmitIfFlags(byte flags = 0); // Clear transmit flags according to status
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virtual byte readRxTxStatus(void); // read has something send or received
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virtual byte checkClearRxStatus(byte *status); // read and clear and return first found rx status bit
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virtual byte checkClearTxStatus(byte *status, byte iTxBuf = 0xff); // read and clear and return first found or buffer specified tx status bit
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virtual bool mcpPinMode(const byte pin, const byte mode); // switch supported pins between HiZ, interrupt, output or input
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virtual bool mcpDigitalWrite(const byte pin, const byte mode); // write HIGH or LOW to RX0BF/RX1BF
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virtual byte mcpDigitalRead(const byte pin);
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private:
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void mcp2515_reset(void); // reset mcp2515
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byte mcp2515_readRegister(const byte address); // read mcp2515's register
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void mcp2515_readRegisterS(const byte address,
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byte values[],
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const byte n);
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void mcp2515_setRegister(const byte address, // set mcp2515's register
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const byte value);
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void mcp2515_setRegisterS(const byte address, // set mcp2515's registers
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const byte values[],
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const byte n);
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void mcp2515_initCANBuffers(void);
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void mcp2515_modifyRegister(const byte address, // set bit of one register
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const byte mask,
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const byte data);
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byte mcp2515_readStatus(void); // read mcp2515's Status
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byte mcp2515_setCANCTRL_Mode(const byte newmode); // set mode
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byte mcp2515_requestNewMode(const byte newmode); // Set mode
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byte mcp2515_configRate(const byte canSpeed, const byte clock); // set baudrate
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byte mcp2515_init(const byte canSpeed, const byte clock); // mcp2515init
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void mcp2515_write_id(const byte mcp_addr, // write can id
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const byte ext,
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const unsigned long id);
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void mcp2515_read_id(const byte mcp_addr, // read can id
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byte *ext,
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unsigned long *id);
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void mcp2515_write_canMsg(const byte buffer_sidh_addr, unsigned long id, byte ext, byte rtr, byte len,
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volatile const byte *buf); // read can msg
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void mcp2515_read_canMsg(const byte buffer_load_addr, volatile unsigned long *id, volatile byte *ext,
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volatile byte *rtr, volatile byte *len, volatile byte *buf); // write can msg
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void mcp2515_start_transmit(const byte mcp_addr); // start transmit
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byte mcp2515_getNextFreeTXBuf(byte *txbuf_n); // get Next free txbuf
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byte mcp2515_isTXBufFree(byte *txbuf_n, byte iBuf); // is buffer by index free
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/*
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can operator function
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*/
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byte sendMsg(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, bool wait_sent = true); // send message
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private:
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byte rtr; // rtr
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byte nReservedTx; // Count of tx buffers for reserved send
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};
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#endif
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/*********************************************************************************************************
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END FILE
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*********************************************************************************************************/
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