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; }
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 }