void mcp2515_static_filter(const prog_uint8_t *filter)
{
// change to configuration mode
mcp2515_bit_modify(CANCTRL, 0xe0, (1<<REQOP2));
while ((mcp2515_read_register(CANSTAT) & 0xe0) != (1<<REQOP2))
;
mcp2515_write_register(RXB0CTRL, (1<<BUKT));
mcp2515_write_register(RXB1CTRL, 0);
uint8_t i, j;
for (i = 0; i < 0x30; i += 0x10)
{
RESET(MCP2515_CS);
spi_putc(SPI_WRITE);
spi_putc(i);
for (j = 0; j < 12; j++)
{
if (i == 0x20 && j >= 0x08)
break;
spi_putc(pgm_read_byte(filter++));
}
SET(MCP2515_CS);
}
mcp2515_bit_modify(CANCTRL, 0xe0, 0);
}
// ----------------------------------------------------------------------------
uint8_t mcp2515_get_message(tCAN *message)
{
// read status
uint8_t status = mcp2515_read_status(SPI_RX_STATUS);
uint8_t addr;
uint8_t t;
if (bit_is_set(status,6)) {
// message in buffer 0
addr = SPI_READ_RX;
}
else if (bit_is_set(status,7)) {
// message in buffer 1
addr = SPI_READ_RX | 0x04;
}
else {
// Error: no message available
return 0;
}
RESET(MCP2515_CS);
spi_putc(addr);
// read id
message->raw_data[0] = spi_putc(0xff);
message->raw_data[1] = spi_putc(0xff);
message->raw_data[2] = spi_putc(0xff);
message->raw_data[3] = spi_putc(0xff);
message->raw_data[4] = spi_putc(0xff);
message->id = (uint16_t)message->raw_data[0] << 3;
message->id |= message->raw_data[1] >> 5;
// read DLC
uint8_t length = message->raw_data[4] & 0x0f;
message->header.length = length;
message->header.rtr = (bit_is_set(status, 3)) ? 1 : 0;
// read data
for (t=0;t<length;t++) {
message->data[t] = spi_putc(0xff);
message->raw_data[t + 5] = message->data[t];
}
SET(MCP2515_CS);
// clear interrupt flag
if (bit_is_set(status, 6)) {
mcp2515_bit_modify(CANINTF, (1<<RX0IF), 0);
}
else {
mcp2515_bit_modify(CANINTF, (1<<RX1IF), 0);
}
return (status & 0x07) + 1;
}
// ----------------------------------------------------------------------------
void
mcp2515_wakeup(void)
{
// reset int enable and cancel the interrupt flag
mcp2515_bit_modify(CANINTE, (1<<WAKIE), 0);
mcp2515_bit_modify(CANINTF, (1<<WAKIF), 0);
// re-enable the 2551
mcp2515_bit_modify(BFPCTRL, (1<<B1BFS), 0);
// when we get up of sleep, we are in listen mode, return into normal mode
mcp2515_set_mode(NORMAL_MODE);
}
// ----------------------------------------------------------------------------
void
mcp2515_sleep(void)
{
// put also the 2551 in standby mode
// for this, connect RX1BF to the RS pin of the 2551
mcp2515_bit_modify(BFPCTRL, (1<<B1BFS), (1<<B1BFS));
// put the 2515 in sleep more
mcp2515_set_mode(SLEEP_MODE);
// enable generating an interrupt for wakeup when activity on bus
mcp2515_bit_modify(CANINTE, (1<<WAKIE), (1<<WAKIE));
}
/**
* Initialize the can controller
*/
void can_init(void) {
mcp2515_init();
mcp2515_static_filter(can_filter);
mcp2515_bit_modify(CANCTRL, (1<<REQOP2) | (1<<REQOP1) | (1<<REQOP0), 0);
}
char CanbusClass::message_tx(void) {
tCAN message;
// some test values(???) [einige Testwerte ]
message.id = 0x7DF;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = 0x05;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
// mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), (1<<REQOP1));
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
if (mcp2515_send_message(&message)) {
// SET(LED2_HIGH);
return 1;
}
else {
// PRINT("Error: Could not retrieve message\n\n");
return 0;
}
return 1;
}
void can_test_loopback(void){
mcp2515_bit_modify(MCP_CANCTRL__SET_MODE_LOOPBACK);
printf("MCP_CANCTRL: 0x%02x (should be 0x47)\n", mcp2515_read(MCP_CANCTRL));
printf("MCP_CANSTAT: 0x%02x (should be 0x40)\n", mcp2515_read(MCP_CANSTAT));
can_msg_t msg1;
can_msg_t msg2;
msg1.id = 9;
msg1.length = 5;
for(int i = 0; i < 8; i++){
msg1.data.bytes[i] = i*i;
}
while(1){
can_sendmsg(msg1);
can_printmsg(msg1);
msg2 = can_recvmsg();
can_printmsg(msg2);
msg1.data.bytes[0]++;
_delay_ms(1000);
}
}
char CanbusClass::message_tx(void) {
tCAN message;
// einige Testwerte
message.id = 0x7DF;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = 0x05;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
// mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), (1<<REQOP1));
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
if (mcp2515_send_message(&message)) {
// SET(LED2_HIGH);
return 1;
}
else {
// PRINT("Fehler: konnte die Nachricht nicht auslesen\n\n");
return 0;
}
return 1;
}
/**
* Report errors
*
* MCP2515 does automatic error recovery when the it enters bus-off mode.
* There is nothing we can do other than report to the user.
*/
static void report_error(void)
{
uint8_t flags;
/* Read the error flag */
flags = mcp2515_read_reg(EFLG);
if (flags & (EFLG_RX0OVR | EFLG_RX1OVR)) {
#if DEBUG > 1
printf("CAN: Receive buffer overflow!\n");
#endif
/* Overflow flags need to be cleared manually. */
mcp2515_bit_modify(EFLG, flags & (EFLG_RX0OVR | EFLG_RX1OVR), 0);
}
#if DEBUG > 0
if (flags & EFLG_TXBO) {
printf("CAN: Enter Bus-off mode, too many errors.\n");
}
if (flags & EFLG_RXEP) {
printf("CAN: Enter receive error-passive mode.\n");
}
if (flags & EFLG_TXEP) {
printf("CAN: Enter transmit error-passive mode.\n");
}
#endif
#if DEBUG > 1
if (flags & EFLG_TXWAR) {
printf("CAN: Transmit error warning.\n");
}
if (flags & EFLG_RXWAR) {
printf("CAN: Receive error warning.\n");
}
#endif
/* Clear interrupt flags */
mcp2515_bit_modify(CANINTF, CANINTF_ERRIF, 0);
}
char CanbusClass::message_tx(tCAN *msg) {
tCAN message;
message = *msg;
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
if (mcp2515_send_message(&message)) {
return 1;
} else {
return 0;
}
}
/**
* Message error
*
* This error is intended to be used for detecting baud rate in Listen-only
* mode.
*/
static void report_message_error(void)
{
#if DEBUG > 0
printf("%s\n", __func__);
#endif
enum op_mode mode;
mode = get_mode();
if (mode == REQOP_LISTEN) {
set_mode(REQOP_CONFIG);
/* Auto baud rate detection. */
set_mode(REQOP_LISTEN);
}
/* Clear interrupt flags */
mcp2515_bit_modify(CANINTF, CANINTE_MERRE, 0);
}
// ----------------------------------------------------------------------------
void mcp2515_set_mode(uint8_t IF, can_mode_t mode)
{
uint8_t reg = 0;
if (mode == LISTEN_ONLY_MODE) {
reg = (1<<REQOP1)|(1<<REQOP0);
}
else if (mode == LOOPBACK_MODE) {
reg = (1<<REQOP1);
}
// set the new mode
mcp2515_bit_modify(IF, CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), reg);
while ((mcp2515_read_register(IF, CANSTAT) & 0xe0) != reg) {
// wait for the new mode to become active
}
}
/**
* Put message queue into TXB.
*
* @tx: TXB bits(Bit 0 -- TXB0, Bit 1 -- TXB1, Bit 2 -- TXB2)
*/
static void transmit_message(uint8_t tx)
{
struct can_frame frame;
uint8_t rts = 0;
/* Clear interrupt flags */
mcp2515_bit_modify(CANINTF, tx << TXIF_SHF, 0);
/* Load messages into empty TX buffers. */
for (int i = TXB_NUM - 1; i >= 0; i--) {
if (tx & BIT(i)) {
canid_clear_cache(i);
switch (i) {
case 0:
txb0_ack_emit();
break;
case 1:
txb1_ack_emit();
break;
case 2:
txb2_ack_emit();
break;
default:
break;
}
if (tx_queue_pop(&frame)) {
/* Make sure the previous message is sent. */
while (mcp2515_read_reg(TXBCTRL(i) & TXBCTRL_TXREQ));
load_txb(i, &frame);
rts |= BIT(i);
} else {
/* The TX queue is empty, stop transmission. */
sync_spinlock_lock(&txb_lock);
xmit_stopped = 1;
sync_spinlock_unlock(&txb_lock);
}
}
}
/* Initiating transmission */
mcp2515_rts(rts);
}
void CAN_init(){
clear_bit(INTERRUPT_DDR, INTERRUPT_BIT); //Input on the interrupt pin
uint8_t value;
SPI_init(); // Initialize SPI
mcp2515_reset(); // Send reset-command
_delay_us(20);
// Self-test
value = mcp2515_read(MCP_CANSTAT);
if ((value & MODE_MASK) != MODE_CONFIG) {
puts("MCP2515 is NOT in configuration mode after reset!\n");
}
//Sets up RXBOCTRL
//RXM = 01, activate filter, only short ID
mcp2515_bit_modify(MCP_RXB0CTRL, MCP_RXB0RXM_MASK, 1 << 5);
//BUKT: 1 -> transfers to RXB1 when RXB0 is full
mcp2515_bit_modify(MCP_RXB0CTRL, MCP_RXB0BUKT_MASK, 1 << 2);
//RXB1CTRL
//RXM = 01, activate filter, only short ID
mcp2515_bit_modify(MCP_RXB1CTRL, MCP_RXB1RXM_MASK, 1 << 5);
//Set interrupt enable
//MERRE = 0 Message error interrupt
//WAKIE = 0 (We dont use sleep)
//ERRIE = 1 Error interrupt
//TX2IE = 0 Transmit 2 empty interrupt
//TX1IE = 0 Transmit 1 empty interrupt
//TX0IE = 0 Transmit 0 empty interrupt
//RX1IE = 1 Interrupt when there is data RX1
//RX0IE = 1 Interrupt when there is data RX2
mcp2515_write(MCP_CANINTE, 0b00000011);
//Filters:
//Mask for RX0
mcp2515_write(MCP_RXM0SIDH, NODE2_CANID_H_MASK >> 3);
mcp2515_bit_modify(MCP_RXM0SIDL, 0b11100000U, NODE2_CANID_H_MASK << 5);
//Mask for RX1
mcp2515_write(MCP_RXM1SIDH, NODE2_CANID_L_MASK >> 3);
mcp2515_bit_modify(MCP_RXM1SIDL, 0b11100000U, NODE2_CANID_L_MASK << 5);
//Filter 0 (RX0, goes to RX1 if RX0 is full)
mcp2515_write(MCP_RXF0SIDH, NODE2_CANID_HIGHPRIO_0 >> 3);
mcp2515_bit_modify(MCP_RXF0SIDL, 0b11100000U, NODE2_CANID_HIGHPRIO_0 << 5);
//Filter 1 (RX0, goes to RX1 if RX0 is full)
mcp2515_write(MCP_RXF1SIDH, NODE2_CANID_HIGHPRIO_1 >> 3);
mcp2515_bit_modify(MCP_RXF1SIDL, 0b11100000U, NODE2_CANID_HIGHPRIO_1 << 5);
//Filter 2 (RX1)
mcp2515_write(MCP_RXF2SIDH, NODE2_CANID_0 >> 3);
mcp2515_bit_modify(MCP_RXF2SIDL, 0b11100000U, NODE2_CANID_0 << 5);
//Filter 3 (RX1)
mcp2515_write(MCP_RXF3SIDH, NODE2_CANID_1 >> 3);
mcp2515_bit_modify(MCP_RXF3SIDL, 0b11100000U, NODE2_CANID_1 << 5);
//Filter 4 (RX1)
mcp2515_write(MCP_RXF4SIDH, NODE2_CANID_2 >> 3);
mcp2515_bit_modify(MCP_RXF4SIDL, 0b11100000U, NODE2_CANID_2 << 5);
//Filter 5 (RX1)
mcp2515_write(MCP_RXF5SIDH, NODE2_CANID_3 >> 3);
mcp2515_bit_modify(MCP_RXF5SIDL, 0b11100000U, NODE2_CANID_3 << 5);
CAN_all_int_clear();
mcp2515_bit_modify(MCP_CANCTRL, MODE_MASK, MODE_NORMAL);
}
char CanbusClass::ecu_req(unsigned char pid, char *buffer)
{
tCAN message;
float engine_data;
int timeout = 0;
char message_ok = 0;
// Prepair message
message.id = PID_REQUEST;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = pid;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
if (mcp2515_send_message(&message)) {
}
if (mcp2515_check_message())
{
if (mcp2515_get_message(&message))
{
switch(message.data[2])
{ /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
case ENGINE_LOAD: // Throttle Position
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
case ENGINE_RPM: // ((A*256)+B)/4 [RPM]
engine_data = ((message.data[3]*256) + message.data[4])/4;
sprintf(buffer,"%d rpm ",(int) engine_data);
break;
case ENGINE_COOLANT_TEMP: // A-40 [degree C]
engine_data = message.data[3] - 40;
sprintf(buffer,"%d degC",(int) engine_data);
break;
case VEHICLE_SPEED: // A [km]
engine_data = message.data[3];
sprintf(buffer,"%d km ",(int) engine_data);
break;
case MAF_SENSOR: // ((256*A)+B) / 100 [g/s]
engine_data = ((message.data[3]*256) + message.data[4])/100;
sprintf(buffer,"%d g/s",(int) engine_data);
break;
case O2_VOLTAGE: // A * 0.005 (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
engine_data = message.data[3]*0.005;
sprintf(buffer,"%d V",(int) engine_data);
break;
case THROTTLE: // Throttle Position
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
case INTAKE_AIR_TEMP: // A-40 [degree C]
engine_data = message.data[3] - 40;
sprintf(buffer,"%d degC",(int) engine_data);
break;
case FUEL_TAKE_LEVEL: // Fuel Tank Level
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
case OBD_STANDARD: // OBD_STD
sprintf(buffer,"%d ",(int) message.data[3]);
break;
}
}
}
}
uint8_t mcp2515_get_message(can_t *msg)
{
uint8_t addr;
#ifdef RXnBF_FUNKTION
if (!IS_SET(MCP2515_RX0BF))
addr = SPI_READ_RX;
else if (!IS_SET(MCP2515_RX1BF))
addr = SPI_READ_RX | 0x04;
else
return 0;
#else
// read status
uint8_t status = mcp2515_read_status(SPI_RX_STATUS);
if (_bit_is_set(status,6)) {
// message in buffer 0
addr = SPI_READ_RX;
}
else if (_bit_is_set(status,7)) {
// message in buffer 1
addr = SPI_READ_RX | 0x04;
}
else {
// Error: no message available
return 0;
}
#endif
RESET(MCP2515_CS);
spi_putc(addr);
// CAN ID auslesen und ueberpruefen
uint8_t tmp = mcp2515_read_id(&msg->id);
#if SUPPORT_EXTENDED_CANID
msg->flags.extended = tmp & 0x01;
#else
if (tmp & 0x01) {
// Nachrichten mit extended ID verwerfen
SET(MCP2515_CS);
#ifdef RXnBF_FUNKTION
if (!IS_SET(MCP2515_RX0BF))
#else
if (_bit_is_set(status, 6))
#endif
mcp2515_bit_modify(CANINTF, (1<<RX0IF), 0);
else
mcp2515_bit_modify(CANINTF, (1<<RX1IF), 0);
return 0;
}
#endif
// read DLC
uint8_t length = spi_putc(0xff);
#ifdef RXnBF_FUNKTION
if (!(tmp & 0x01))
msg->flags.rtr = (tmp & 0x02) ? 1 : 0;
else
msg->flags.rtr = (length & (1<<RTR)) ? 1 : 0;
#else
msg->flags.rtr = (_bit_is_set(status, 3)) ? 1 : 0;
#endif
length &= 0x0f;
msg->length = length;
// read data
for (uint8_t i=0;i<length;i++) {
msg->data[i] = spi_putc(0xff);
}
SET(MCP2515_CS);
// clear interrupt flag
#ifdef RXnBF_FUNKTION
if (!IS_SET(MCP2515_RX0BF))
#else
if (_bit_is_set(status, 6))
#endif
mcp2515_bit_modify(CANINTF, (1<<RX0IF), 0);
else
mcp2515_bit_modify(CANINTF, (1<<RX1IF), 0);
CAN_INDICATE_RX_TRAFFIC_FUNCTION;
#ifdef RXnBF_FUNKTION
return 1;
#else
return (status & 0x07) + 1;
#endif
}
char CanbusClass::ecu_req(unsigned char pid, char *buffer)
{
tCAN message;
float engine_data;
int timeout = 0;
char message_ok = 0;
// Prepair message
message.id = PID_REQUEST;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = pid;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
// SET(LED2_HIGH);
if (mcp2515_send_message(&message)) {
}
while(timeout < 4000)
{
timeout++;
if (mcp2515_check_message())
{
if (mcp2515_get_message(&message))
{
if((message.id == PID_REPLY) && (message.data[2] == pid)) // Check message is the reply and its the right PID
{
switch(message.data[2])
{ /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
case ENGINE_RPM: // ((A*256)+B)/4 [RPM]
engine_data = ((message.data[3]*256) + message.data[4])/4;
sprintf(buffer,"%d rpm ",(int) engine_data);
break;
case ENGINE_COOLANT_TEMP: // A-40 [degree C]
engine_data = message.data[3] - 40;
sprintf(buffer,"%d degC",(int) engine_data);
break;
case VEHICLE_SPEED: // A [km]
engine_data = message.data[3];
sprintf(buffer,"%d km ",(int) engine_data);
break;
case MAF_SENSOR: // ((256*A)+B) / 100 [g/s]
engine_data = ((message.data[3]*256) + message.data[4])/100;
sprintf(buffer,"%d g/s",(int) engine_data);
break;
case O2_VOLTAGE: // A * 0.005 (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
engine_data = message.data[3]*0.005;
sprintf(buffer,"%d v",(int) engine_data);
case THROTTLE: // Throttle Position
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
}
message_ok = 1;
}
}
}
if(message_ok == 1) return 1;
}
return 0;
}
void Speedo_CAN::init(){
// Interrupt for CAN Interface active, auf pk4, pcint20
can_missed_count=0;
// Chipselect as output
if(pConfig->get_hw_version()==7){
// Interrupt as Input with pull up
CAN_DDR_CS_TILL_V7 &= ~(1<<CAN_INTERRUPT_PIN_V7); // input
CAN_PORT_CS_TILL_V7 |= (1<<CAN_INTERRUPT_PIN_V7); // active low => pull up
// CS as output
CAN_DDR_CS_TILL_V7 |= (1<<CAN_PIN_CS_TILL_V7);
PCMSK2|=(1<<PCINT20); // CAN interrupt pin v7
} else if(pConfig->get_hw_version()>7){
// CS Input with pull up
CAN_DDR_CS_FROM_V8 &= ~(1<<CAN_INTERRUPT_PIN_FROM_V8); // input
CAN_PORT_CS_FROM_V8 |= (1<<CAN_INTERRUPT_PIN_FROM_V8); // active low => pull up
// CS as output
CAN_DDR_CS_FROM_V8 |= (1<<CAN_PIN_CS_FROM_V8);
PCMSK0|=(1<<PCINT4); // CAN interrupt pin v(>7)
PCICR |=(1<<PCIE0); //new interrupt just for CAN
};
/********************************************* MCP2515 SETUP ***********************************/
// MCP2515 per Software Reset zuruecksetzten,
// danach ist der MCP2515 im Configuration Mode
set_cs_high(false); //CS low
spi_putc( SPI_CMD_RESET );
_delay_ms(1);
set_cs_high(true); //CS high
// etwas warten bis sich der MCP2515 zurueckgesetzt hat
_delay_ms(10);
/******************** BAUD Rate ************************************************
* Einstellen des Bit Timings
*
* Fosc = 16MHz
* Bus Speed = 500 kHz
*
* Sync Seg = 1TQ
* Prop Seg = (PRSEG + 1) * TQ = 1 TQ
* Phase Seg1 = (PHSEG1 + 1) * TQ = 3 TQ
* Phase Seg2 = (PHSEG2 + 1) * TQ = 3 TQ
*
* Bus speed = 1 / (Total # of TQ) * TQ
* 500kHz= 1 / (8 * TQ)
* TQ = 1/(500kHz*8)
* TQ = 2 * (BRP + 1) / Fosc
* 1/(500kHz*8) = 2 * (BRP + 1) / Fosc
* 1/(500kHz*8) = 2 * (BRP + 1) / 16000kHz
* 16000kHz/(500kHz*8*2) - 1 = BRP
*
* BRP = 1
******************** BAUD Rate ************************************************/
// BRP = 1
mcp2515_write_register( CNF1, (1<<BRP0));
// Prop Seg und Phase Seg1 einstellen
mcp2515_write_register( CNF2, (1<<BTLMODE)|(1<<PHSEG11) );
// Wake-up Filter deaktivieren, Phase Seg2 einstellen
mcp2515_write_register( CNF3, (1<<PHSEG21) );
// Aktivieren der Rx Buffer Interrupts
mcp2515_write_register( CANINTE, (1<<RX1IE)|(1<<RX0IE) );
/******************** FILTER ************************************************
* There are two input buffer: RXB0/1
* RXB0 has two Filters RXF0 / REF1
* RXB1 has four Filters RXF2 / REF3 / REF4 / REF5
*
* BUKT
* Additionally, the RXB0CTRL register can be configured
* such that, if RXB0 contains a valid message and
* another valid message is received, an overflow error
* will not occur and the new message will be moved into
* RXB1, regardless of the acceptance criteria of RXB1.
*
* RXBnCTRL.FILHITm determines if the Filter m is in use for buffer n
*
******************** FILTER ************************************************/
// BUKT: RXB0 message will rollover and be written to RXB1 if RXB0 is full
// RXM0: Only accept messages with standard identifiers that meet filter criteria
mcp2515_write_register( RXB0CTRL, (1<<BUKT)|(1<<RXM0)); // use 11bit with filter + rollover
mcp2515_write_register( RXB1CTRL, (1<<RXM0)); // use 11bit with filter
/************************************************** Filter definition **************************************************
* CAN Filter: We have two Buffers. Each has a Mask RXM0SIDH/RXM0SIDL, RXM1SIDH/RXM1SIDL.
* Buffer0 has two Filters RXF0 and RXF1
* Buffer1 has three addition Filters RXF2,RXF3,RXF4 and RXF5
*
***************************************************** TRIUMPH CAN *****************************************************
* If we are using the Triumph CAN, we have to Catch the IDs: 530,540,568,570 and avoid 518,519,550
* in addition 568 has a very high priority! Thus 568 should be accepted in buffer 0 to be rollover activ to buffer1
*
* 568 = 0b 101 0110 1000
* Mask0 111 1111 1111
* Filter0 101 0110 1000 <- accept only 568
* Filter1 101 0110 1000 <- just a copy
*
* Buffer1 should catch 530,540,570
* 530 = 0b 101 0011 0000
* 570 = 0b 101 0111 0000
* 540 = 0b 101 0100 0000
* Mask 111 1111 1111
* Filter2 101 0011 0000 <- 530 RPM/Speed
* Filter3 101 0111 0000 <- 570 Temp
* Filter4 101 0100 0000 <- 540 Status
* Filter5 101 0100 0000 <- just a copy
*
*
***************************************************** OBD2 *****************************************************
* We have to catch all IDs from 780-7FF, easy very low traffic compared to Triumph
*
* Mask0 111 1000 0000
* Mask1 111 1000 0000
* Filter0 111 1XXX XXXX
* Filter1 111 1XXX XXXX
* Filter2 111 1XXX XXXX
* Filter3 111 1XXX XXXX
* Filter4 111 1XXX XXXX
* Filter5 111 1XXX XXXX
*
************************************************** Filter definition **************************************************/
can_filter_t filter;
if(can_bus_type==CAN_TYPE_TRIUMPH){
// Mask0 111 1111 1111
filter.id=0x568;
filter.mask=0xffff;
mcp2515_set_filter(0,&filter);
mcp2515_set_filter(1,&filter);
//Mask1 111 1000 1111
// Filter2 101 0011 0000 <- 530
// Filter3 101 0111 0000 <- 570
// Filter4 101 0100 0000 <- 540
// Filter5 101 0100 0000 <- just a copy
filter.mask=0xffff;
filter.id=0x530;
mcp2515_set_filter(2,&filter);
filter.id=0x540;
mcp2515_set_filter(3,&filter);
filter.id=0x570;
mcp2515_set_filter(4,&filter);
filter.id=0x570;
mcp2515_set_filter(5,&filter);
high_prio_processing=true;
} else { // assume OBD2 as fallback
// Mask0: 111 1000 0000
// Filter0 111 1000 0000
// Filter1 111 1000 0000
filter.mask=0b11110000000;
filter.id=0b11110000000;
mcp2515_set_filter(0,&filter);
mcp2515_set_filter(1,&filter);
// Mask1: 111 1000 0000
// Filter2 111 1000 0000
// Filter3 111 1000 0000
// Filter4 111 1000 0000
// Filter5 111 1000 0000
filter.mask=0b11110000000;
filter.id=0b11110000000;
mcp2515_set_filter(2,&filter);
mcp2515_set_filter(3,&filter);
mcp2515_set_filter(4,&filter);
mcp2515_set_filter(5,&filter);
high_prio_processing=false;
}
/*
* Einstellen der Pin Funktionen
*/
// Deaktivieren der Pins RXnBF Pins (High Impedance State)
mcp2515_write_register( BFPCTRL, 0 );
// TXnRTS Bits als Inputs schalten
mcp2515_write_register( TXRTSCTRL, 0 );
// Device zurueck in den normalen Modus versetzten
mcp2515_bit_modify( CANCTRL, 0xE0, 0);
/********************************************* MCP2515 SETUP ***********************************/
_delay_ms(1);
// to check if obd2 can is present, triumph talks alone
if(can_bus_type==CAN_TYPE_OBD2){
request(CAN_CURRENT_INFO,CAN_RPM);
};
};
/**
* Parse given command line
*
* @param line Line string to parse
*/
void parseLine(char * line) {
unsigned char result = BELL;
switch (line[0]) {
case 'S': // Setup with standard CAN bitrates
if (state == STATE_CONFIG)
{
switch (line[1]) {
case '0': mcp2515_set_bittiming(MCP2515_TIMINGS_10K); result = CR; break;
case '1': mcp2515_set_bittiming(MCP2515_TIMINGS_20K); result = CR; break;
case '2': mcp2515_set_bittiming(MCP2515_TIMINGS_50K); result = CR; break;
case '3': mcp2515_set_bittiming(MCP2515_TIMINGS_100K); result = CR; break;
case '4': mcp2515_set_bittiming(MCP2515_TIMINGS_125K); result = CR; break;
case '5': mcp2515_set_bittiming(MCP2515_TIMINGS_250K); result = CR; break;
case '6': mcp2515_set_bittiming(MCP2515_TIMINGS_500K); result = CR; break;
case '7': mcp2515_set_bittiming(MCP2515_TIMINGS_800K); result = CR; break;
case '8': mcp2515_set_bittiming(MCP2515_TIMINGS_1M); result = CR; break;
}
}
break;
case 's': // Setup with user defined timing settings for CNF1/CNF2/CNF3
if (state == STATE_CONFIG)
{
unsigned long cnf1, cnf2, cnf3;
if (parseHex(&line[1], 2, &cnf1) && parseHex(&line[3], 2, &cnf2) && parseHex(&line[5], 2, &cnf3)) {
mcp2515_set_bittiming(cnf1, cnf2, cnf3);
result = CR;
}
}
break;
case 'G': // Read given MCP2515 register
{
unsigned long address;
if (parseHex(&line[1], 2, &address)) {
unsigned char value = mcp2515_read_register(address);
sendByteHex(value);
result = CR;
}
}
break;
case 'W': // Write given MCP2515 register
{
unsigned long address, data;
if (parseHex(&line[1], 2, &address) && parseHex(&line[3], 2, &data)) {
mcp2515_write_register(address, data);
result = CR;
}
}
break;
case 'V': // Get versions
{
usb_putch('V');
sendByteHex(VERSION_HARDWARE);
sendByteHex(VERSION_FIRMWARE_MAJOR);
result = CR;
}
break;
case 'v': // Get firmware version
{
usb_putch('v');
sendByteHex(VERSION_FIRMWARE_MAJOR);
sendByteHex(VERSION_FIRMWARE_MINOR);
result = CR;
}
break;
case 'N': // Get serial number
{
usb_putch('N');
sendHex(0xFFFF, 4);
result = CR;
}
break;
case 'O': // Open CAN channel
if (state == STATE_CONFIG)
{
mcp2515_bit_modify(MCP2515_REG_CANCTRL, 0xE0, 0x00); // set normal operating mode
clock_reset();
state = STATE_OPEN;
result = CR;
}
break;
case 'l': // Loop-back mode
if (state == STATE_CONFIG)
{
mcp2515_bit_modify(MCP2515_REG_CANCTRL, 0xE0, 0x40); // set loop-back
state = STATE_OPEN;
result = CR;
}
break;
case 'L': // Open CAN channel in listen-only mode
if (state == STATE_CONFIG)
{
mcp2515_bit_modify(MCP2515_REG_CANCTRL, 0xE0, 0x60); // set listen-only mode
state = STATE_LISTEN;
result = CR;
}
break;
case 'C': // Close CAN channel
if (state != STATE_CONFIG)
{
mcp2515_bit_modify(MCP2515_REG_CANCTRL, 0xE0, 0x80); // set configuration mode
state = STATE_CONFIG;
result = CR;
}
break;
case 'r': // Transmit standard RTR (11 bit) frame
case 'R': // Transmit extended RTR (29 bit) frame
case 't': // Transmit standard (11 bit) frame
case 'T': // Transmit extended (29 bit) frame
if (state == STATE_OPEN)
{
if (transmitStd(line)) {
if (line[0] < 'Z') usb_putch('Z');
else usb_putch('z');
result = CR;
}
}
break;
case 'F': // Read status flags
{
unsigned char flags = mcp2515_read_register(MCP2515_REG_EFLG);
unsigned char status = 0;
if (flags & 0x01) status |= 0x04; // error warning
if (flags & 0xC0) status |= 0x08; // data overrun
if (flags & 0x18) status |= 0x20; // passive error
if (flags & 0x20) status |= 0x80; // bus error
usb_putch('F');
sendByteHex(status);
result = CR;
}
break;
case 'Z': // Set time stamping
{
unsigned long stamping;
if (parseHex(&line[1], 1, &stamping)) {
timestamping = (stamping != 0);
result = CR;
}
}
break;
case 'm': // Set accpetance filter mask
if (state == STATE_CONFIG)
{
unsigned long am0, am1, am2, am3;
if (parseHex(&line[1], 2, &am0) && parseHex(&line[3], 2, &am1) && parseHex(&line[5], 2, &am2) && parseHex(&line[7], 2, &am3)) {
mcp2515_set_SJA1000_filter_mask(am0, am1, am2, am3);
result = CR;
}
}
break;
case 'M': // Set accpetance filter code
if (state == STATE_CONFIG)
{
unsigned long ac0, ac1, ac2, ac3;
if (parseHex(&line[1], 2, &ac0) && parseHex(&line[3], 2, &ac1) && parseHex(&line[5], 2, &ac2) && parseHex(&line[7], 2, &ac3)) {
mcp2515_set_SJA1000_filter_code(ac0, ac1, ac2, ac3);
result = CR;
}
}
break;
}
usb_putch(result);
}
int main(void)
{
// Initialisiere die UART Schnittstelle
uart_init(UART_BAUD_SELECT(9600UL, F_CPU));
// Aktiviere Interrupts
sei();
// Umleiten der Standardausgabe => ab jetzt koennen wir printf() verwenden
stdout = &mystdout;
// Versuche den MCP2515 zu initilaisieren
if (!mcp2515_init()) {
PRINT("Fehler: kann den MCP2515 nicht ansprechen!\n");
for (;;);
}
else {
PRINT("MCP2515 is aktiv\n\n");
}
PRINT("Erzeuge Nachricht\n");
tCAN message;
// einige Testwerte
message.id = 0x123;
message.header.rtr = 0;
message.header.length = 2;
message.data[0] = 0xab;
message.data[1] = 0xcd;
print_can_message(&message);
PRINT("\nwechsle zum Loopback-Modus\n\n");
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), (1<<REQOP1));
// Sende eine Nachricht
if (mcp2515_send_message(&message)) {
PRINT("Nachricht wurde in die Puffer geschrieben\n");
}
else {
PRINT("Fehler: konnte die Nachricht nicht senden\n");
}
// warte ein bisschen
_delay_ms(10);
if (mcp2515_check_message()) {
PRINT("Nachricht empfangen!\n");
// read the message from the buffers
if (mcp2515_get_message(&message)) {
print_can_message(&message);
PRINT("\n");
}
else {
PRINT("Fehler: konnte die Nachricht nicht auslesen\n\n");
}
}
else {
PRINT("Fehler: keine Nachricht empfangen\n\n");
}
PRINT("zurueck zum normalen Modus\n\n");
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
// wir sind ab hier wieder mit dem CAN Bus verbunden
PRINT("Versuche die Nachricht per CAN zu verschicken\n");
// Versuche nochmal die Nachricht zu verschicken, diesmal per CAN
if (mcp2515_send_message(&message)) {
PRINT("Nachricht wurde in die Puffer geschrieben\n\n");
}
else {
PRINT("Fehler: konnte die Nachricht nicht senden\n\n");
}
PRINT("Warte auf den Empfang von Nachrichten\n\n");
while (1) {
// warten bis wir eine Nachricht empfangen
if (mcp2515_check_message()) {
PRINT("Nachricht empfangen!\n");
// Lese die Nachricht aus dem Puffern des MCP2515
if (mcp2515_get_message(&message)) {
print_can_message(&message);
PRINT("\n");
}
else {
PRINT("Kann die Nachricht nicht auslesen\n\n");
}
}
}
return 0;
}