// -----------------------------------------------------------------------------
void mcp2515_regdump(void)
{
uint8_t mode = mcp2515_read_register( CANSTAT );
// change to configuration mode
mcp2515_change_operation_mode( (1<<REQOP2) );
printf_P("MCP2515 Regdump:\n");
uint8_t i;
for (i=0; i < 16; i++) {
printf_P("%3i: %02x ", i, mcp2515_read_register(i));
printf_P("%3i: %02x ", i+16*1, mcp2515_read_register(i+16*1));
printf_P("%3i: %02x ", i+16*2, mcp2515_read_register(i+16*2));
printf_P("%3i: %02x ", i+16*3, mcp2515_read_register(i+16*3));
printf_P("%3i: %02x ", i+16*4, mcp2515_read_register(i+16*4));
printf_P("%3i: %02x ", i+16*5, mcp2515_read_register(i+16*5));
printf_P("%3i: %02x ", i+16*6, mcp2515_read_register(i+16*6));
printf_P("%3i: %02x\n", i+16*7, mcp2515_read_register(i+16*7));
}
mcp2515_change_operation_mode( mode );
}
uint8_t mcp2515_get_filter(uint8_t number, can_filter_t *filter)
{
uint8_t mask_address;
uint8_t filter_address;
uint8_t temp;
uint8_t mode = mcp2515_read_register(CANSTAT);
if (number > 5)
return 0;
// change to configuration mode
mcp2515_change_operation_mode( (1<<REQOP2) );
if (number <= 1)
{
mask_address = RXM0SIDH;
temp = mcp2515_read_register(RXB0CTRL);
}
else
{
mask_address = RXM1SIDH;
temp = mcp2515_read_register(RXB1CTRL);
}
temp &= (1<<RXM1)|(1<<RXM0);
if (temp == 0) {
// filter and masks are disabled
#if SUPPORT_EXTENDED_CANID
filter->flags.extended = 0;
#endif
filter->flags.rtr = 0;
filter->mask = 0;
filter->id = 0;
return 1;
}
#if SUPPORT_EXTENDED_CANID
// transform bits so that they match the format from can.h
temp >>= 5;
temp = ~temp;
if (temp & 1) temp = 0x3;
filter->flags.extended = temp;
#endif
// read mask
RESET(MCP2515_CS);
spi_putc(SPI_READ);
spi_putc(mask_address);
mcp2515_read_id(&filter->mask);
SET(MCP2515_CS);
if (number <= 2)
{
filter_address = RXF0SIDH + number * 4;
}
else
{
filter_address = RXF3SIDH + (number - 3) * 4;
}
// read filter
RESET(MCP2515_CS);
spi_putc(SPI_READ);
spi_putc(filter_address);
mcp2515_read_id(&filter->id);
SET(MCP2515_CS);
// restore previous mode
mcp2515_change_operation_mode( mode );
return 1;
}
bool mcp2515_set_filter(uint8_t number, const can_filter_t *filter)
{
uint8_t mask_address = 0;
uint8_t mode = mcp2515_read_register(CANSTAT);
if (number > 5)
return false;
// change to configuration mode
mcp2515_change_operation_mode( (1<<REQOP2) );
// set filter mask
if (number == 0)
{
mask_address = RXM0SIDH;
#if SUPPORT_EXTENDED_CANID
if (filter->flags.extended == 0x3) {
// only extended identifier
mcp2515_write_register(RXB0CTRL, (1<<RXM1));
}
else if (filter->flags.extended == 0x2) {
// only standard identifier
mcp2515_write_register(RXB0CTRL, (1<<RXM0));
}
else {
// receive all messages
mcp2515_write_register(RXB0CTRL, 0);
}
#else
// Buffer 0: Empfangen aller Nachrichten mit Standard Identifier
// die den Filter Kriterien gengen
mcp2515_write_register(RXB0CTRL, (1<<RXM0));
#endif
}
else if (number == 2)
{
mask_address = RXM1SIDH;
#if SUPPORT_EXTENDED_CANID
if (filter->flags.extended == 0x3) {
// only extended identifier
mcp2515_write_register(RXB1CTRL, (1<<RXM1));
}
else if (filter->flags.extended == 0x2) {
// only standard identifier
mcp2515_write_register(RXB1CTRL, (1<<RXM0));
}
else {
mcp2515_write_register(RXB1CTRL, 0);
}
#else
// Buffer 1: Empfangen aller Nachrichten mit Standard Identifier
// die den Filter Kriterien gengen
mcp2515_write_register(RXB1CTRL, (1<<RXM0));
#endif
}
if (mask_address)
{
RESET(MCP2515_CS);
spi_putc(SPI_WRITE);
spi_putc(mask_address);
#if SUPPORT_EXTENDED_CANID
mcp2515_write_id(&filter->mask, (filter->flags.extended == 0x2) ? 0 : 1);
#else
mcp2515_write_id(&filter->mask);
#endif
SET(MCP2515_CS);
_delay_us(1);
}
// write filter
uint8_t filter_address;
if (number >= 3) {
number -= 3;
filter_address = RXF3SIDH;
}
else {
filter_address = RXF0SIDH;
}
RESET(MCP2515_CS);
spi_putc(SPI_WRITE);
spi_putc(filter_address | (number * 4));
#if SUPPORT_EXTENDED_CANID
mcp2515_write_id(&filter->id, (filter->flags.extended == 0x2) ? 0 : 1);
#else
mcp2515_write_id(&filter->id);
#endif
SET(MCP2515_CS);
_delay_us(1);
// restore previous mode
mcp2515_change_operation_mode( mode );
return true;
}
uint8_t mcp2515_set_filter(uint8_t number, const can_filter_t *filter)
{
uint8_t mask_address = 0;
if (number > 5)
return false;
// Konfiguration einschalten
mcp2515_change_operation_mode( (1<<REQOP2) );
// Filtermaske setzen
if (number == 0)
{
mask_address = RXM0SIDH;
}
else if (number == 2)
{
mask_address = RXM1SIDH;
}
if (mask_address)
{
RESET(MCP2515_CS);
spi_putc(SPI_WRITE);
spi_putc(mask_address);
mcp2515_write_id(&filter->mask);
asm volatile ("nop");
asm volatile ("nop");
SET(MCP2515_CS);
asm volatile ("nop");
asm volatile ("nop");
}
// Filter setzen
uint8_t filter_address;
if (number >= 3) {
number -= 3;
filter_address = RXF3SIDH;
}
else {
filter_address = RXF0SIDH;
}
RESET(MCP2515_CS);
spi_putc(SPI_WRITE);
spi_putc(filter_address | (number * 4));
mcp2515_write_id(&filter->id);
asm volatile ("nop");
asm volatile ("nop");
SET(MCP2515_CS);
asm volatile ("nop");
asm volatile ("nop");
if (number == 0)
{
mcp2515_write_register(RXB0CTRL, (1<<RXM1));
}
else if (number==2)
{
mcp2515_write_register(RXB1CTRL, (1<<RXM1));
} ;
// zurueck zum normalen modus
mcp2515_write_register(CANCTRL, 0);
return true;
}
