added mISOCRCEnabled

pierremolinaro · Nov 1, 2018 · a0e6859 · a0e6859
1 parent a655435
commit a0e6859
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Showing 5 changed files with 16 additions and 2 deletions.
diff --git a/extras b/extras
diff --git a/extras/acan2517FD.pdf b/extras/acan2517FD.pdf
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=ACAN2517FD
-version=1.0.1
+version=1.0.2
 author=Pierre Molinaro
 maintainer=Pierre Molinaro <[email protected]>
 sentence=Driver for MCP2517FD CAN Controller (CAN FD mode)

diff --git a/src/ACAN2517FD.cpp b/src/ACAN2517FD.cpp
@@ -288,7 +288,13 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
     if (inSettings.mTXCANIsOpenDrain) {
       d |= 1 << 4 ; // TXCANOD
     }
-    writeByteRegister (IOCON_REGISTER + 3, d); // DS20005688B, page 18
+    writeByteRegister (IOCON_REGISTER + 3, d); // DS20005688B, page 24
+  //----------------------------------- Configure ISO CRC Enable bit
+    d = 1 << 6 ; // PXEDIS <-- 1
+    if (inSettings.mISOCRCEnabled) {
+      d |= 1 << 5 ; //  Enable ISO CRC in CAN FD Frames bit
+    }
+    writeByteRegister (IOCON_REGISTER, d); // DS20005688B, page 24
   //----------------------------------- Configure C1DTC (DS20005688B, page 29)
 //     data = 1 << 25 ; // Enable Edge Filtering during Bus Integration state bit
 //     data |= 1 << 17 ; // Auto TDC

diff --git a/src/ACAN2517FDSettings.h b/src/ACAN2517FDSettings.h
@@ -106,6 +106,14 @@ class ACAN2517FDSettings {
 
   public: bool mTXCANIsOpenDrain = false ; // false --> Push/Pull Output, true --> Open Drain Output
 
+//······················································································································
+//    ISO CRC Enable
+//······················································································································
+
+// false --> Do NOT include Stuff Bit Count in CRC Field and use CRC Initialization Vector with all zeros
+// true --> Include Stuff Bit Count in CRC Field and use Non-Zero CRC Initialization Vector according to ISO 11898-1:2015
+  public: bool mISOCRCEnabled = true ;
+
 //······················································································································
 //    CLKO pin function (default value is MCP2517FD power on setting)
 //······················································································································