int can_setup(int baudrate)
{
spi__init();
mcp2515_reset();
/* Wait until reset finishes. */
int count = 100;
while (1) {
if (get_mode() == REQOP_CONFIG) {
break;
}
else {
udelay(1);
count--;
}
if (count <= 0) {
printf("CAN controller not responding. Check daughter board connection!\n");
return -1;
}
}
set_baudrate(baudrate);
enable_intrrupt();
set_mode(REQOP_NORMAL);
return 0;
}
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");
}
}
int can_tx_setup(int baudrate)
{
mcp2515_reset();
/* Wait until reset finishes. */
while (1) {
if (get_mode() == REQOP_CONFIG) {
break;
}
}
set_baudrate(baudrate);
enable_intrrupt();
enable_rollover();
set_rx_mode(0, RXM_ANY);
set_mode(REQOP_NORMAL);
return 0;
}
/*********************************************************************************************************
** Function name: mcp2515_init
** Descriptions: init the device
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_init(const INT8U canSpeed, const INT8U clock) /* mcp2515init */
{
INT8U res;
mcp2515_reset();
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if (res > 0)
{
#if DEBUG_MODE
Serial.print("Enter setting mode fall\r\n");
#endif
return res;
}
#if DEBUG_MODE
Serial.print("Enter setting mode success \r\n");
#endif
/* set boadrate */
if (mcp2515_configRate(canSpeed, clock))
{
#if DEBUG_MODE
Serial.print("set rate fall!!\r\n");
#endif
return res;
}
#if DEBUG_MODE
Serial.print("set rate success!!\r\n");
#endif
if (res == MCP2515_OK) {
/* init canbuffers */
mcp2515_initCANBuffers();
/* interrupt mode */
mcp2515_setRegister(MCP_CANINTE, MCP_RX0IF | MCP_RX1IF);
#if (DEBUG_RXANY==1)
/* enable both receive-buffers */
/* to receive any message */
/* and enable rollover */
mcp2515_modifyRegister(MCP_RXB0CTRL,
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
MCP_RXB_RX_ANY | MCP_RXB_BUKT_MASK);
mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
MCP_RXB_RX_ANY);
#else
/* enable both receive-buffers */
/* to receive messages */
/* with std. and ext. identifie */
/* rs */
/* and enable rollover */
mcp2515_modifyRegister(MCP_RXB0CTRL,
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK);
mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
MCP_RXB_RX_STDEXT);
#endif
/* enter normal mode */
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if (res)
{
#if DEBUG_MODE
Serial.print("Enter Normal Mode Fall!!\r\n");
#endif
return res;
}
#if DEBUG_MODE
Serial.print("Enter Normal Mode Success!!\r\n");
#endif
}
return res;
}
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);
}
