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mcp_can.h
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/*
mcp_can.h
2012 Copyright (c) Seeed Technology Inc. All right reserved.
2016 Copyright (c) Cory J. Fowler All Rights Reserved.
Author:Loovee
Contributor: Cory J. Fowler
2016-07-01
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-
1301 USA
*/
#ifndef _MCP2515_H_
#define _MCP2515_H_
#include "mcp_can_dfs.h"
#define MAX_CHAR_IN_MESSAGE 8
class MCP_CAN
{
private:
INT8U m_nExtFlg; // Identifier Type
// Extended (29 bit) or Standard (11 bit)
INT32U m_nID; // CAN ID
INT8U m_nDlc; // Data Length Code
INT8U m_nDta[MAX_CHAR_IN_MESSAGE]; // Data array
INT8U m_nRtr; // Remote request flag
INT8U m_nfilhit; // The number of the filter that matched the message
INT8U MCPCS; // Chip Select pin number
INT8U mcpMode; // Mode to return to after configurations are performed.
/*********************************************************************************************************
* mcp2515 driver function
*********************************************************************************************************/
// private:
private:
void mcp2515_reset(void); // Soft Reset MCP2515
INT8U mcp2515_readRegister(const INT8U address); // Read MCP2515 register
void mcp2515_readRegisterS(const INT8U address, // Read MCP2515 successive registers
INT8U values[],
const INT8U n);
void mcp2515_setRegister(const INT8U address, // Set MCP2515 register
const INT8U value);
void mcp2515_setRegisterS(const INT8U address, // Set MCP2515 successive registers
const INT8U values[],
const INT8U n);
void mcp2515_initCANBuffers(void);
void mcp2515_modifyRegister(const INT8U address, // Set specific bit(s) of a register
const INT8U mask,
const INT8U data);
INT8U mcp2515_readStatus(void); // Read MCP2515 Status
INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); // Set mode
INT8U mcp2515_requestNewMode(const INT8U newmode); // Set mode
INT8U mcp2515_configRate(const INT8U canSpeed, // Set baudrate
const INT8U canClock);
INT8U mcp2515_init(const INT8U canIDMode, // Initialize Controller
const INT8U canSpeed,
const INT8U canClock);
void mcp2515_write_mf( const INT8U mcp_addr, // Write CAN Mask or Filter
const INT8U ext,
const INT32U id );
void mcp2515_write_id( const INT8U mcp_addr, // Write CAN ID
const INT8U ext,
const INT32U id );
void mcp2515_read_id( const INT8U mcp_addr, // Read CAN ID
INT8U* ext,
INT32U* id );
void mcp2515_write_canMsg( const INT8U buffer_sidh_addr ); // Write CAN message
void mcp2515_read_canMsg( const INT8U buffer_sidh_addr); // Read CAN message
INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); // Find empty transmit buffer
/*********************************************************************************************************
* CAN operator function
*********************************************************************************************************/
INT8U setMsg(INT32U id, INT8U rtr, INT8U ext, INT8U len, INT8U *pData); // Set message
INT8U clearMsg(); // Clear all message to zero
INT8U readMsg(); // Read message
INT8U sendMsg(); // Send message
public:
MCP_CAN(INT8U _CS);
INT8U begin(INT8U idmodeset, INT8U speedset, INT8U clockset); // Initilize controller prameters
INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData); // Initilize Mask(s)
INT8U init_Mask(INT8U num, INT32U ulData); // Initilize Mask(s)
INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData); // Initilize Filter(s)
INT8U init_Filt(INT8U num, INT32U ulData); // Initilize Filter(s)
void setSleepWakeup(INT8U enable); // Enable or disable the wake up interrupt (If disabled the MCP2515 will not be woken up by CAN bus activity)
INT8U setMode(INT8U opMode); // Set operational mode
INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf); // Send message to transmit buffer
INT8U sendMsgBuf(INT32U id, INT8U len, INT8U *buf); // Send message to transmit buffer
INT8U readMsgBuf(INT32U *id, INT8U *ext, INT8U *len, INT8U *buf); // Read message from receive buffer
INT8U readMsgBuf(INT32U *id, INT8U *len, INT8U *buf); // Read message from receive buffer
INT8U checkReceive(void); // Check for received data
INT8U checkError(void); // Check for errors
INT8U getError(void); // Check for errors
INT8U errorCountRX(void); // Get error count
INT8U errorCountTX(void); // Get error count
INT8U enOneShotTX(void); // Enable one-shot transmission
INT8U disOneShotTX(void); // Disable one-shot transmission
bool isRequestMessage();
};
#endif
/*********************************************************************************************************
* END FILE
*********************************************************************************************************/