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@ntb001
ntb001 committed May 28, 2018
1 parent 7368740 commit 7b7c780
Showing 1 changed file with 37 additions and 37 deletions.
74 changes: 37 additions & 37 deletions mcp_can.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ byte statusToTxBuffer(byte status)
case MCP_TX1IF : return 1;
case MCP_TX2IF : return 2;
}

return 0xff;
}

Expand All @@ -93,7 +93,7 @@ byte statusToTxSidh(byte status)
case MCP_TX1IF : return MCP_TXB1SIDH;
case MCP_TX2IF : return MCP_TXB2SIDH;
}

return 0;
}

Expand Down Expand Up @@ -737,7 +737,7 @@ void MCP_CAN::mcp2515_read_id(const byte mcp_addr, byte* ext, unsigned long* id)
void MCP_CAN::mcp2515_write_canMsg(const byte buffer_sidh_addr, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte *buf)
{
byte load_addr=txSidhToTxLoad(buffer_sidh_addr);

byte tbufdata[4];
byte dlc = len | ( rtrBit ? MCP_RTR_MASK : 0 ) ;
byte i;
Expand All @@ -752,14 +752,14 @@ void MCP_CAN::mcp2515_write_canMsg(const byte buffer_sidh_addr, unsigned long id
for (i = 0; i < 4; i++) spi_write(tbufdata[i]);
spi_write(dlc);
for (i = 0; i < len && i<CAN_MAX_CHAR_IN_MESSAGE; i++) spi_write(buf[i]);

MCP2515_UNSELECT();
#ifdef SPI_HAS_TRANSACTION
SPI_END();
#endif

mcp2515_start_transmit( buffer_sidh_addr );

}

/*********************************************************************************************************
Expand All @@ -770,12 +770,12 @@ void MCP_CAN::mcp2515_read_canMsg( const byte buffer_load_addr, volatile unsigne
{
byte tbufdata[4];
byte i;

MCP2515_SELECT();
spi_readwrite(buffer_load_addr);
// mcp2515 has auto-increment of address-pointer
for (i = 0; i < 4; i++) tbufdata[i] = spi_read();

*id = (tbufdata[MCP_SIDH] << 3) + (tbufdata[MCP_SIDL] >> 5);
*ext = 0;
if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M )
Expand All @@ -786,14 +786,14 @@ void MCP_CAN::mcp2515_read_canMsg( const byte buffer_load_addr, volatile unsigne
*id = (*id << 8) + tbufdata[MCP_EID0];
*ext = 1;
}

byte pMsgSize = spi_read();
*len = pMsgSize & MCP_DLC_MASK;
*rtrBit = (pMsgSize & MCP_RTR_MASK) ? 1 : 0;
for (i = 0; i < *len && i<CAN_MAX_CHAR_IN_MESSAGE; i++) {
buf[i] = spi_read();
}

MCP2515_UNSELECT();
}

Expand Down Expand Up @@ -822,9 +822,9 @@ byte MCP_CAN::mcp2515_isTXBufFree(byte *txbuf_n, byte iBuf) /* get Nex
{
*txbuf_n = 0x00;

if ( iBuf>=MCP_N_TXBUFFERS ||
if ( iBuf>=MCP_N_TXBUFFERS ||
(mcp2515_readStatus() & txStatusPendingFlag(iBuf))!=0 ) return MCP_ALLTXBUSY;

*txbuf_n = txCtrlReg(iBuf) + 1; /* return SIDH-address of Buffer */
mcp2515_modifyRegister(MCP_CANINTF, txIfFlag(iBuf), 0);

Expand All @@ -841,7 +841,7 @@ byte MCP_CAN::mcp2515_getNextFreeTXBuf(byte *txbuf_n) // get Nex
byte i;

*txbuf_n = 0x00;

if ( status==MCP_STAT_TX_PENDING_MASK ) return MCP_ALLTXBUSY; // All buffers are pending

// check all 3 TX-Buffers except reserved
Expand All @@ -853,7 +853,7 @@ byte MCP_CAN::mcp2515_getNextFreeTXBuf(byte *txbuf_n) // get Nex
return MCP2515_OK; // ! function exit
}
}

return MCP_ALLTXBUSY;
}

Expand Down Expand Up @@ -902,7 +902,7 @@ void MCP_CAN::enableTxInterrupt(bool enable)
} else {
interruptStatus &= ~MCP_TX_INT;
}

mcp2515_setRegister(MCP_CANINTE, interruptStatus);
}

Expand Down Expand Up @@ -1034,9 +1034,9 @@ byte MCP_CAN::init_Filt(byte num, byte ext, unsigned long ulData)
byte MCP_CAN::sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte *buf)
{
byte txbuf_n=statusToTxSidh(status);

if ( txbuf_n==0 ) return CAN_FAILTX; // Invalid status

mcp2515_modifyRegister(MCP_CANINTF, status, 0); // Clear interrupt flag
mcp2515_write_canMsg(txbuf_n, id, ext, rtrBit, len, buf);

Expand All @@ -1058,7 +1058,7 @@ byte MCP_CAN::trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, c
}

mcp2515_write_canMsg(txbuf_n, id, ext, rtrBit, len, buf);

return CAN_OK;
}

Expand All @@ -1074,7 +1074,7 @@ byte MCP_CAN::sendMsg(unsigned long id, byte ext, byte rtrBit, byte len, const b
can_id=id;
ext_flg=ext;
rtr=rtrBit;

do {
if (uiTimeOut > 0) delayMicroseconds(10);
res = mcp2515_getNextFreeTXBuf(&txbuf_n); // info = addr.
Expand Down Expand Up @@ -1149,10 +1149,10 @@ byte MCP_CAN::readMsgBufID(unsigned long *ID, byte *len, byte buf[])
** Descriptions: Read message buf and can bus source ID according to status.
** Status has to be read with readRxTxStatus.
*********************************************************************************************************/
byte MCP_CAN::readMsgBufID(byte status, volatile unsigned long *id, volatile byte *ext, volatile byte *rtrBit, volatile byte *len, volatile byte *buf)
byte MCP_CAN::readMsgBufID(byte status, volatile unsigned long *id, volatile byte *ext, volatile byte *rtrBit, volatile byte *len, volatile byte *buf)
{
byte rc=CAN_NOMSG;

if ( status & MCP_RX0IF ) // Msg in Buffer 0
{
mcp2515_read_canMsg( MCP_READ_RX0, id, ext, rtrBit, len, buf);
Expand All @@ -1172,7 +1172,7 @@ byte MCP_CAN::readMsgBufID(byte status, volatile unsigned long *id, volatile byt
} else {
*len=0;
}

return rc;
}

Expand All @@ -1181,59 +1181,59 @@ byte MCP_CAN::readMsgBufID(byte status, volatile unsigned long *id, volatile byt
** Descriptions: Read RX and TX interrupt bits. Function uses status reading, but translates.
** result to MCP_CANINTF. With this you can check status e.g. on interrupt sr
** with one single call to save SPI calls. Then use checkClearRxStatus and
** checkClearTxStatus for testing.
** checkClearTxStatus for testing.
*********************************************************************************************************/
byte MCP_CAN::readRxTxStatus(void)
{
byte ret=( mcp2515_readStatus() & ( MCP_STAT_TXIF_MASK | MCP_STAT_RXIF_MASK ) );
ret=(ret & MCP_STAT_TX0IF ? MCP_TX0IF : 0) |
(ret & MCP_STAT_TX1IF ? MCP_TX1IF : 0) |
(ret & MCP_STAT_TX2IF ? MCP_TX2IF : 0) |
ret=(ret & MCP_STAT_TX0IF ? MCP_TX0IF : 0) |
(ret & MCP_STAT_TX1IF ? MCP_TX1IF : 0) |
(ret & MCP_STAT_TX2IF ? MCP_TX2IF : 0) |
(ret & MCP_STAT_RXIF_MASK); // Rx bits happend to be same on status and MCP_CANINTF
return ret;
return ret;
}

/*********************************************************************************************************
** Function name: checkClearRxStatus
** Descriptions: Return first found rx CANINTF status and clears it from parameter.
** Note that this does not affect to chip CANINTF at all. You can use this
** Note that this does not affect to chip CANINTF at all. You can use this
** with one single readRxTxStatus call.
*********************************************************************************************************/
byte MCP_CAN::checkClearRxStatus(byte *status)
{
byte ret;

ret = *status & MCP_RX0IF; *status &= ~MCP_RX0IF;

if ( ret==0 ) { ret = *status & MCP_RX1IF; *status &= ~MCP_RX1IF; }

return ret;
return ret;
}

/*********************************************************************************************************
** Function name: checkClearTxStatus
** Descriptions: Return specified buffer of first found tx CANINTF status and clears it from parameter.
** Note that this does not affect to chip CANINTF at all. You can use this
** Note that this does not affect to chip CANINTF at all. You can use this
** with one single readRxTxStatus call.
*********************************************************************************************************/
byte MCP_CAN::checkClearTxStatus(byte *status, byte iTxBuf)
{
byte ret;

if ( iTxBuf<MCP_N_TXBUFFERS ) { // Clear specific buffer flag
ret = *status & txIfFlag(iTxBuf); *status &= ~txIfFlag(iTxBuf);
} else {
ret=0;
for (byte i = 0; i < MCP_N_TXBUFFERS-nReservedTx; i++) {
ret = *status & txIfFlag(i);
ret = *status & txIfFlag(i);
if ( ret!=0 ) {
*status &= ~txIfFlag(i);
return ret;
}
};
}

return ret;
return ret;
}

/*********************************************************************************************************
Expand All @@ -1243,7 +1243,7 @@ byte MCP_CAN::checkClearTxStatus(byte *status, byte iTxBuf)
** more data to be sent. Otherwise IRQ will newer change state.
*********************************************************************************************************/
void MCP_CAN::clearBufferTransmitIfFlags(byte flags)
{
{
flags &= MCP_TX_INT;
if ( flags==0 ) return;
mcp2515_modifyRegister(MCP_CANINTF, flags, 0);
Expand Down Expand Up @@ -1299,4 +1299,4 @@ byte MCP_CAN::isExtendedFrame(void)

/*********************************************************************************************************
END FILE
*********************************************************************************************************/
*********************************************************************************************************/

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