typedef xpcc::SoftwareSpi<Sclk, Mosi, Miso> Spi;
typedef xpcc::Mcp2515<Spi, Cs, Int> CanDevice;
static CanDevice device;
static xpcc::CanConnector< CanDevice > connector(&device);
// create an instance of the generated postman
Postman postman;
xpcc::Dispatcher dispatcher(&connector, &postman);
// Default filters to receive any extended CAN frame
FLASH_STORAGE(uint8_t canFilter[]) =
{
MCP2515_FILTER_EXTENDED(0), // Filter 0
MCP2515_FILTER_EXTENDED(0), // Filter 1
MCP2515_FILTER_EXTENDED(0), // Filter 2
MCP2515_FILTER_EXTENDED(0), // Filter 3
MCP2515_FILTER_EXTENDED(0), // Filter 4
MCP2515_FILTER_EXTENDED(0), // Filter 5
MCP2515_FILTER_EXTENDED(0), // Mask 0
MCP2515_FILTER_EXTENDED(0), // Mask 1
};
namespace component
{
Receiver receiver(robot::component::RECEIVER, &dispatcher);
}
* MCP2515_FILTER_EXTENDED(0), // Mask 0 (for group 0)
* MCP2515_FILTER_EXTENDED(0), // Mask 1 (for group 1)
* };
* \endcode
*
* If you want to receive both 11 and 29 bit identifiers, set your filters
* and masks as follows:
*/
prog_uint8_t can_filter[] =
{
// Group 0
MCP2515_FILTER(0), // Filter 0
MCP2515_FILTER(0), // Filter 1
// Group 1
MCP2515_FILTER_EXTENDED(0), // Filter 2
MCP2515_FILTER_EXTENDED(0), // Filter 3
MCP2515_FILTER_EXTENDED(0), // Filter 4
MCP2515_FILTER_EXTENDED(0), // Filter 5
MCP2515_FILTER(0), // Mask 0 (for group 0)
MCP2515_FILTER_EXTENDED(0), // Mask 1 (for group 1)
};
// You can receive 11 bit identifiers with either group 0 or 1.
// -----------------------------------------------------------------------------
// Main loop for receiving and sending messages.
int main(void)
{
#define R_CNF1 (0)
#else
#error invalid value for MCP2515_BITRATE
#endif
#endif
#define MCP2515_FILTER_EXTENDED(id) \
(uint8_t) ((uint32_t) (id) >> 21), \
(uint8_t)((((uint32_t) (id) >> 13) & 0xe0) | (1<<3) | \
(((uint32_t) (id) >> 16) & 0x3)), \
(uint8_t) ((uint32_t) (id) >> 8), \
(uint8_t) ((uint32_t) (id))
// -------------------------------------------------------------------------
uint8_t mcp2515_register_map[45] = {
MCP2515_FILTER_EXTENDED(0x00001000), // Filter 0
MCP2515_FILTER_EXTENDED(0), // Filter 1
MCP2515_FILTER_EXTENDED(0), // Filter 2
0, // BFPCTRL
0, // TXRTSCTRL
0, // CANSTAT (read-only)
(1<<REQOP2) | CLKOUT_PRESCALER_, // CANCTRL
MCP2515_FILTER_EXTENDED(0), // Filter 3
MCP2515_FILTER_EXTENDED(0), // Filter 4
MCP2515_FILTER_EXTENDED(0), // Filter 5
0, // TEC (read-only)
0, // REC (read-only)
0, // CANSTAT (read-only)
(1<<REQOP2) | CLKOUT_PRESCALER_, // CANCTRL
MCP2515_FILTER_EXTENDED(0x3fff),// Mask 0 (for group 0)
MCP2515_FILTER_EXTENDED(0x1fffffff), // Mask 1 (for group 1)
