111 lines
4.9 KiB
C++
111 lines
4.9 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
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Contributor: Cory J. Fowler
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2014-1-16
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-
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1301 USA
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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_dfs.h"
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#define MAX_CHAR_IN_MESSAGE 8
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class MCP_CAN
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{
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private:
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INT8U m_nExtFlg; /* identifier xxxID */
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/* either extended (the 29 LSB) */
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/* or standard (the 11 LSB) */
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INT32U m_nID; /* can id */
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INT8U m_nDlc; /* data length: */
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INT8U m_nDta[MAX_CHAR_IN_MESSAGE]; /* data */
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INT8U m_nRtr; /* rtr */
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INT8U m_nfilhit;
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INT8U SPICS;
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/*
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* mcp2515 driver function
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*/
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// private:
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private:
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void mcp2515_reset(void); /* reset mcp2515 */
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INT8U mcp2515_readRegister(const INT8U address); /* read mcp2515's register */
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void mcp2515_readRegisterS(const INT8U address,
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INT8U values[],
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const INT8U n);
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void mcp2515_setRegister(const INT8U address, /* set mcp2515's register */
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const INT8U value);
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void mcp2515_setRegisterS(const INT8U address, /* set mcp2515's registers */
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const INT8U values[],
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const INT8U n);
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void mcp2515_initCANBuffers(void);
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void mcp2515_modifyRegister(const INT8U address, /* set bit of one register */
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const INT8U mask,
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const INT8U data);
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INT8U mcp2515_readStatus(void); /* read mcp2515's Status */
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INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); /* set mode */
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INT8U mcp2515_configRate(const INT8U canSpeed); /* set boadrate */
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INT8U mcp2515_init(const INT8U canSpeed); /* mcp2515init */
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void mcp2515_write_id(const INT8U mcp_addr, /* write can id */
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const INT8U ext,
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const INT32U id);
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void mcp2515_read_id(const INT8U mcp_addr, /* read can id */
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INT8U *ext,
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INT32U *id);
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void mcp2515_write_canMsg(const INT8U buffer_sidh_addr); /* write can msg */
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void mcp2515_read_canMsg(const INT8U buffer_sidh_addr); /* read can msg */
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void mcp2515_start_transmit(const INT8U mcp_addr); /* start transmit */
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INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); /* get Next free txbuf */
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/*
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* can operator function
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*/
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INT8U setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData); /* set message */
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INT8U clearMsg(); /* clear all message to zero */
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INT8U readMsg(); /* read message */
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INT8U sendMsg(); /* send message */
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public:
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MCP_CAN(INT8U _CS);
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INT8U begin(INT8U speedset); /* init can */
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INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData); /* init Masks */
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INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData); /* init filters */
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INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf); /* send buf */
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INT8U readMsgBuf(INT8U *len, INT8U *buf); /* read buf */
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INT8U checkReceive(void); /* if something received */
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INT8U checkError(void); /* if something error */
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INT32U getCanId(void); /* get can id when receive */
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};
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extern MCP_CAN CAN;
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#endif
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/*********************************************************************************************************
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END FILE
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*********************************************************************************************************/
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