int main(void)
{
uart_init ();
stdout = &uart_stdout;
printf ("Initializing...\n");
can_init (0x10);
uint8_t count = 0;
sei();
printf ("Initialized\n");
while(1) {
can_frame_t frame;
frame.identifier = 0x00;
frame.size = count%8;
for(uint8_t i = 0; i < frame.size; i++) {
frame.data[i] = ~(128-i)+count;
}
uint8_t s = can_send_frame(&frame);
printf("Sent data %d %s\r",count, (s?"SUCCESS":"FAIL"));
can_frame_t recieved;
_delay_ms(100);
uint8_t status = mcp2515_read_status();
printf(" Status = 0x%x\r", status);
s = can_recieve_frame(&recieved);
printf(" Receieved data: L1: %d L2: %d %s\r", frame.size, recieved.size, (s?"SUCCESS":"FAIL"));
_delay_ms(100);
if(frame.size == recieved.size) {
printf(" Identical length\r");
uint8_t passed = 1;
for(uint8_t i = 0; i < recieved.size; i++) {
if(frame.data[i] != recieved.data[i]) {
passed = 0;
continue;
}
}
if(passed) {
printf(" AND identical data\r");
}
else {
printf(" FAIL! NOT identical data\r");
}
} else {
printf(" FAIL! NOT identical length\r");
}
status = mcp2515_read_status();
printf(" Status = 0x%x\r", status);
_delay_ms(500);
count++;
}
}
bool mcp2515_check_free_buffer(void)
{
uint8_t status = mcp2515_read_status(SPI_READ_STATUS);
if ((status & 0x54) == 0x54)
return false; // all buffers used
else
return true;
}
// ----------------------------------------------------------------------------
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_init(){
char status;
spi_init();
mcp2515_reset();
status = mcp2515_read_status();
if ((status & MODE_MASK) != MODE_CONFIG)
{
printf("MCP2515 is not in config mode!\n");
}
}
bool mcp2515_check_message(void)
{
#if defined(MCP2515_INT)
return ((!IS_SET(MCP2515_INT)) ? true : false);
#else
#ifdef RXnBF_FUNKTION
if (!IS_SET(MCP2515_RX0BF) || !IS_SET(MCP2515_RX1BF))
return true;
else
return false;
#else
return ((mcp2515_read_status(SPI_RX_STATUS) & 0xC0) ? true : false);
#endif
#endif
}
//Returns 1 if message was sedt, otherwise 0
uint8_t CAN_message_send(CAN_message const * const msg){
//Finds an available register
//reg0, 0x30: status bit nr 2
//reg1, 0x40: status bit nr 4
//reg2, 0x50: status bit nr 6
uint8_t status = mcp2515_read_status();
if(status | (1 << 2)){
CAN_message_send_to_reg(msg, MCP_TXB0CTRL);
}
else if(status | (1<<4)){
CAN_message_send_to_reg(msg, MCP_TXB1CTRL);
}
else if(status | (1<<6)){
CAN_message_send_to_reg(msg, MCP_TXB2CTRL);
}
else{
return 0;
}
return 1;
}
// ----------------------------------------------------------------------------
uint8_t mcp2515_send_message(tCAN *message)
{
uint8_t status = mcp2515_read_status(SPI_READ_STATUS);
/* Statusbyte:
*
* Bit Function
* 2 TXB0CNTRL.TXREQ
* 4 TXB1CNTRL.TXREQ
* 6 TXB2CNTRL.TXREQ
*/
uint8_t address;
uint8_t t;
// SET(LED2_HIGH);
if (bit_is_clear(status, 2)) {
address = 0x00;
}
else if (bit_is_clear(status, 4)) {
address = 0x02;
}
else if (bit_is_clear(status, 6)) {
address = 0x04;
}
else {
// all buffer used => could not send message
return 0;
}
RESET(MCP2515_CS);
spi_putc(SPI_WRITE_TX | address);
spi_putc(message->id >> 3);
spi_putc(message->id << 5);
spi_putc(0);
spi_putc(0);
uint8_t length = message->header.length & 0x0f;
if (message->header.rtr) {
// a rtr-frame has a length, but contains no data
spi_putc((1<<RTR) | length);
}
else {
// set message length
spi_putc(length);
// data
for (t=0;t<length;t++) {
spi_putc(message->data[t]);
}
}
SET(MCP2515_CS);
_delay_us(1);
// send message
RESET(MCP2515_CS);
address = (address == 0) ? 1 : address;
spi_putc(SPI_RTS | address);
SET(MCP2515_CS);
return address;
}
uint8_t mcp2515_buffers_status(void)
{
return mcp2515_read_status(SPI_READ_STATUS);
}
// ----------------------------------------------------------------------------
uint8_t mcp2515_send_message(const can_t *msg)
{
// Status des MCP2515 auslesen
uint8_t status = mcp2515_read_status(SPI_READ_STATUS);
/* Statusbyte:
*
* Bit Funktion
* 2 TXB0CNTRL.TXREQ
* 4 TXB1CNTRL.TXREQ
* 6 TXB2CNTRL.TXREQ
*/
uint8_t address;
if (_bit_is_clear(status, 2)) {
address = 0x00;
}
else {
// Alle Puffer sind belegt,
// Nachricht kann nicht verschickt werden
return 0;
}
RESET(MCP2515_CS);
spi_putc(SPI_WRITE_TX | address);
#if SUPPORT_EXTENDED_CANID
mcp2515_write_id(&msg->id, msg->flags.extended);
#else
mcp2515_write_id(&msg->id);
#endif
uint8_t length = msg->length & 0x0f;
// Ist die Nachricht ein "Remote Transmit Request" ?
if (msg->flags.rtr)
{
// Ein RTR hat zwar eine Laenge,
// enthaelt aber keine Daten
// Nachrichten Laenge + RTR einstellen
spi_putc((1<<RTR) | length);
}
else
{
// Nachrichten Laenge einstellen
spi_putc(length);
// Daten
for (uint8_t i=0;i<length;i++) {
spi_putc(msg->data[i]);
}
}
SET(MCP2515_CS);
_delay_us(1);
// CAN Nachricht verschicken
// die letzten drei Bit im RTS Kommando geben an welcher
// Puffer gesendet werden soll.
RESET(MCP2515_CS);
address = (address == 0) ? 1 : address;
spi_putc(SPI_RTS | address);
SET(MCP2515_CS);
CAN_INDICATE_TX_TRAFFIC_FUNCTION;
return address;
}
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
}