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/*!
* @file DFRobot_MCP2515.h
* @brief Define infrastructure of DFRobot_MCP2515 class
* @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
* @license The MIT License (MIT)
* @author Arduinolibrary
* @maintainer [qsjhyy](yihuan.huang@dfrobot.com)
* @version V1.0
* @date 2022-05-25
* @url https://github.com/DFRobot/DFRobot_MCP2515
*/
#ifndef _DFROBOT_MCP2515_H_
#define _DFROBOT_MCP2515_H_
#include <Arduino.h>
#include <SPI.h>
#include <inttypes.h>
#define TIMEOUTVALUE 50
#define MCP2515_SIDH 0
#define MCP2515_SIDL 1
#define MCP2515_EID8 2
#define MCP2515_EID0 3
#define MCP2515_TXB_EXIDE_M 0x08
#define MCP2515_DLC_MASK 0x0F
#define MCP2515_RTR_MASK 0x40
#define MCP2515_RXB_RX_ANY 0x60
#define MCP2515_RXB_RX_EXT 0x40
#define MCP2515_RXB_RX_STD 0x20
#define MCP2515_RXB_RX_STDEXT 0x00
#define MCP2515_RXB_RX_MASK 0x60
#define MCP2515_RXB_BUKT_MASK (1<<2)
#define MCP2515_TXB_TXBUFE_M 0x80
#define MCP2515_TXB_ABTF_M 0x40
#define MCP2515_TXB_MLOA_M 0x20
#define MCP2515_TXB_TXERR_M 0x10
#define MCP2515_TXB_TXREQ_M 0x08
#define MCP2515_TXB_TXIE_M 0x04
#define MCP2515_TXB_TXP10_M 0x03
#define MCP2515_TXB_RTR_M 0x40
#define MCP2515_RXB_IDE_M 0x08
#define MCP2515_RXB_RTR_M 0x40
#define MCP2515_STAT_RXIF_MASK (0x03)
#define MCP2515_STAT_RX0IF (1<<0)
#define MCP2515_STAT_RX1IF (1<<1)
#define MCP2515_EFLG_RX1OVR (1<<7)
#define MCP2515_EFLG_RX0OVR (1<<6)
#define MCP2515_EFLG_TXBO (1<<5)
#define MCP2515_EFLG_TXEP (1<<4)
#define MCP2515_EFLG_RXEP (1<<3)
#define MCP2515_EFLG_TXWAR (1<<2)
#define MCP2515_EFLG_RXWAR (1<<1)
#define MCP2515_EFLG_EWARN (1<<0)
#define MCP2515_EFLG_ERRORMASK (0xF8)
#define MCP2515_RXF0SIDH 0x00
#define MCP2515_RXF0SIDL 0x01
#define MCP2515_RXF0EID8 0x02
#define MCP2515_RXF0EID0 0x03
#define MCP2515_RXF1SIDH 0x04
#define MCP2515_RXF1SIDL 0x05
#define MCP2515_RXF1EID8 0x06
#define MCP2515_RXF1EID0 0x07
#define MCP2515_RXF2SIDH 0x08
#define MCP2515_RXF2SIDL 0x09
#define MCP2515_RXF2EID8 0x0A
#define MCP2515_RXF2EID0 0x0B
#define MCP2515_CANSTAT 0x0E
#define MCP2515_CANCTRL 0x0F
#define MCP2515_RXF3SIDH 0x10
#define MCP2515_RXF3SIDL 0x11
#define MCP2515_RXF3EID8 0x12
#define MCP2515_RXF3EID0 0x13
#define MCP2515_RXF4SIDH 0x14
#define MCP2515_RXF4SIDL 0x15
#define MCP2515_RXF4EID8 0x16
#define MCP2515_RXF4EID0 0x17
#define MCP2515_RXF5SIDH 0x18
#define MCP2515_RXF5SIDL 0x19
#define MCP2515_RXF5EID8 0x1A
#define MCP2515_RXF5EID0 0x1B
#define MCP2515_TEC 0x1C
#define MCP2515_REC 0x1D
#define MCP2515_RXM0SIDH 0x20
#define MCP2515_RXM0SIDL 0x21
#define MCP2515_RXM0EID8 0x22
#define MCP2515_RXM0EID0 0x23
#define MCP2515_RXM1SIDH 0x24
#define MCP2515_RXM1SIDL 0x25
#define MCP2515_RXM1EID8 0x26
#define MCP2515_RXM1EID0 0x27
#define MCP2515_CNF3 0x28
#define MCP2515_CNF2 0x29
#define MCP2515_CNF1 0x2A
#define MCP2515_CANINTE 0x2B
#define MCP2515_CANINTF 0x2C
#define MCP2515_EFLG 0x2D
#define MCP2515_TXB0CTRL 0x30
#define MCP2515_TXB1CTRL 0x40
#define MCP2515_TXB2CTRL 0x50
#define MCP2515_RXB0CTRL 0x60
#define MCP2515_RXB0SIDH 0x61
#define MCP2515_RXB1CTRL 0x70
#define MCP2515_RXB1SIDH 0x71
#define MCP2515_TX_INT 0x1C
#define MCP2515_TX01_INT 0x0C
#define MCP2515_RX_INT 0x03
#define MCP2515_NO_INT 0x00
#define MCP2515_TX01_MASK 0x14
#define MCP2515_TX_MASK 0x54
#define MCP2515_WRITE 0x02
#define MCP2515_READ 0x03
#define MCP2515_BITMOD 0x05
#define MCP2515_LOAD_TX0 0x40
#define MCP2515_LOAD_TX1 0x42
#define MCP2515_LOAD_TX2 0x44
#define MCP2515_RTS_TX0 0x81
#define MCP2515_RTS_TX1 0x82
#define MCP2515_RTS_TX2 0x84
#define MCP2515_RTS_ALL 0x87
#define MCP2515_READ_RX0 0x90
#define MCP2515_READ_RX1 0x94
#define MCP2515_READ_STATUS 0xA0
#define MCP2515_RX_STATUS 0xB0
/* Rx STATUS INSTRUCTION */
/* bit 7:6 */
#define MCP2515_MESGE_NO_MSK (3 << 6)
#define MCP2515_MESGE_RXB0_MSK (1 << 6)
#define MCP2515_MESGE_RXB1_MSK (2 << 6)
#define MCP2515_MESGE_RXB01_MSK (3 << 6)
/* bit 4:3 */
#define MCP2515_FRAME_STDDF_MASK (0 << 3)
#define MCP2515_FRAME_REMOTERF_MASK (1 << 3)
#define MCP2515_FRAME_EXTDF_MASK (2 << 3)
#define MCP2515_FRAME_EXTRF_MASK (3 << 3)
/* bit 2:0 */
#define MCP2515_FILMATCH_STD_MSK (0x7FF < 0)
#define MCP2515_FILMATCH_EXT_MSK (0x7FFFF < 0)
#define MCP2515_RESET 0xC0
#define MODE_NORMAL 0x00
#define MODE_SLEEP 0x20
#define MODE_LOOPBACK 0x40
#define MODE_LISTENONLY 0x60
#define MODE_CONFIG 0x80
#define MODE_POWERUP 0xE0
#define MODE_MASK 0xE0
#define ABORT_TX 0x10
#define MODE_ONESHOT 0x08
#define CLKOUT_ENABLE 0x04
#define CLKOUT_DISABLE 0x00
#define CLKOUT_PS1 0x00
#define CLKOUT_PS2 0x01
#define CLKOUT_PS4 0x02
#define CLKOUT_PS8 0x03
#define SJW1 0x00
#define SJW2 0x40
#define SJW3 0x80
#define SJW4 0xC0
#define BTLMODE 0x80
#define SAMPLE_1X 0x00
#define SAMPLE_3X 0x40
#define SOF_ENABLE 0x80
#define SOF_DISABLE 0x00
#define WAKFIL_ENABLE 0x40
#define WAKFIL_DISABLE 0x00
#define MCP2515_RX0IF 0x01
#define MCP2515_RX1IF 0x02
#define MCP2515_TX0IF 0x04
#define MCP2515_TX1IF 0x08
#define MCP2515_TX2IF 0x10
#define MCP2515_ERRIF 0x20
#define MCP2515_WAKIF 0x40
#define MCP2515_MERRF 0x80
#define MCP2515_16MHz_1000kBPS_CFG1 (0x00)
#define MCP2515_16MHz_1000kBPS_CFG2 (0xD0)
#define MCP2515_16MHz_1000kBPS_CFG3 (0x82)
#define MCP2515_16MHz_500kBPS_CFG1 (0x00)
#define MCP2515_16MHz_500kBPS_CFG2 (0xF0)
#define MCP2515_16MHz_500kBPS_CFG3 (0x86)
#define MCP2515_16MHz_250kBPS_CFG1 (0x41)
#define MCP2515_16MHz_250kBPS_CFG2 (0xF1)
#define MCP2515_16MHz_250kBPS_CFG3 (0x85)
#define MCP2515_16MHz_200kBPS_CFG1 (0x01)
#define MCP2515_16MHz_200kBPS_CFG2 (0xFA)
#define MCP2515_16MHz_200kBPS_CFG3 (0x87)
#define MCP2515_16MHz_125kBPS_CFG1 (0x03)
#define MCP2515_16MHz_125kBPS_CFG2 (0xF0)
#define MCP2515_16MHz_125kBPS_CFG3 (0x86)
#define MCP2515_16MHz_100kBPS_CFG1 (0x03)
#define MCP2515_16MHz_100kBPS_CFG2 (0xFA)
#define MCP2515_16MHz_100kBPS_CFG3 (0x87)
#define MCP2515_16MHz_95kBPS_CFG1 (0x03)
#define MCP2515_16MHz_95kBPS_CFG2 (0xAD)
#define MCP2515_16MHz_95kBPS_CFG3 (0x07)
#define MCP2515_16MHz_83k3BPS_CFG1 (0x03)
#define MCP2515_16MHz_83k3BPS_CFG2 (0xBE)
#define MCP2515_16MHz_83k3BPS_CFG3 (0x07)
#define MCP2515_16MHz_80kBPS_CFG1 (0x03)
#define MCP2515_16MHz_80kBPS_CFG2 (0xFF)
#define MCP2515_16MHz_80kBPS_CFG3 (0x87)
#define MCP2515_16MHz_50kBPS_CFG1 (0x07)
#define MCP2515_16MHz_50kBPS_CFG2 (0xFA)
#define MCP2515_16MHz_50kBPS_CFG3 (0x87)
#define MCP2515_16MHz_40kBPS_CFG1 (0x07)
#define MCP2515_16MHz_40kBPS_CFG2 (0xFF)
#define MCP2515_16MHz_40kBPS_CFG3 (0x87)
#define MCP2515_16MHz_33kBPS_CFG1 (0x09)
#define MCP2515_16MHz_33kBPS_CFG2 (0xBE)
#define MCP2515_16MHz_33kBPS_CFG3 (0x07)
#define MCP2515_16MHz_31k25BPS_CFG1 (0x0F)
#define MCP2515_16MHz_31k25BPS_CFG2 (0xF1)
#define MCP2515_16MHz_31k25BPS_CFG3 (0x85)
#define MCP2515_16MHz_20kBPS_CFG1 (0x0F)
#define MCP2515_16MHz_20kBPS_CFG2 (0xFF)
#define MCP2515_16MHz_20kBPS_CFG3 (0x87)
#define MCP2515_16MHz_10kBPS_CFG1 (0x1F)
#define MCP2515_16MHz_10kBPS_CFG2 (0xFF)
#define MCP2515_16MHz_10kBPS_CFG3 (0x87)
#define MCP2515_16MHz_5kBPS_CFG1 (0x3F)
#define MCP2515_16MHz_5kBPS_CFG2 (0xFF)
#define MCP2515_16MHz_5kBPS_CFG3 (0x87)
#define MCP2515DEBUG (0)
#define MCP2515DEBUG_TXBUF (0)
#define MCP2515_N_TXBUFFERS (3)
#define MCP2515_RXBUF_0 (MCP2515_RXB0SIDH)
#define MCP2515_RXBUF_1 (MCP2515_RXB1SIDH)
#define MCP2515_OK (0)
#define MCP2515_FAIL (1)
#define MCP2515_ALLTXBUSY (2)
#define CANDEBUG 1
#define CANUSELOOP 0
#define CANSENDTIMEOUT (200)
#define CANAUTOPROCESS (1)
#define CANAUTOON (1)
#define CANAUTOOFF (0)
#define CAN_STDID (0)
#define CAN_EXTID (1)
#define CANDEFAULTIDENT (0x55CC)
#define CANDEFAULTIDENTEXT (CAN_EXTID)
#define CAN_5KBPS 1
#define CAN_10KBPS 2
#define CAN_20KBPS 3
#define CAN_31K25BPS 4
#define CAN_33KBPS 5
#define CAN_40KBPS 6
#define CAN_50KBPS 7
#define CAN_80KBPS 8
#define CAN_83K3BPS 9
#define CAN_95KBPS 10
#define CAN_100KBPS 11
#define CAN_125KBPS 12
#define CAN_200KBPS 13
#define CAN_250KBPS 14
#define CAN_500KBPS 15
#define CAN_1000KBPS 16
#define CAN_OK (0)
#define CAN_FAILINIT (1)
#define CAN_FAILTX (2)
#define CAN_MSGAVAIL (3)
#define CAN_NOMSG (4)
#define CAN_CTRLERROR (5)
#define CAN_GETTXBFTIMEOUT (6)
#define CAN_SENDMSGTIMEOUT (7)
#define CAN_FAIL (0xff)
#define CAN_MAX_MESSAGE_LENGTH (8)
#define MAX_MESSAGE_LENGTH 8 ///< Maximum information length
/**
* @enum eFilter_t
* @brief Filter parameter
*/
typedef enum {
MCP2515_RXF0 = 0,
MCP2515_RXF1,
MCP2515_RXF2,
MCP2515_RXF3,
MCP2515_RXF4,
MCP2515_RXF5,
}eFilter_t;
/**
* @enum eMasker_t
* @brief Mask register parameter
*/
typedef enum {
MCP2515_RXM0 = 0,
MCP2515_RXM1,
}eMasker_t;
class DFRobot_MCP2515
{
public:
/**
* @fn DFRobot_MCP2515
* @brief the DFRobot_MCP2515 class' constructor.
* @param csPin - indicate the spi select pin when mcu commication with the can controler e.i MCP2515
* @return None
*/
DFRobot_MCP2515(uint8_t csPin);
/**
* @fn begin
* @brief config the the Can baud rate, buffer, and interrupt.
* @param speedset - MCP2515 can config rate
* @return if successful, it return CAN_OK, or CAN_FAILINIT
*/
uint8_t begin(uint8_t speedset);
/**
* @fn initMask
* @brief initialize the mask register.
* @param maskerNum - maybe set MCP2515_RXM0 or MCP2515_RXM1.
* @param ext - extend flag. if ext = 1, indicate the frame is extended frame.
* @param ulData - initialization data
* @return the status. if success, return MCP2515_OK.
*/
uint8_t initMask(eMasker_t maskerNum, uint8_t ext, uint32_t ulData);
/**
* @fn initFilter
* @brief initialize the fileter register.
* @param filterNum - maybe set MCP2515_RXF0、 MCP2515_RXF1、 MCP2515_RXF2、 MCP2515_RXF3、 MCP2515_RXF4、 MCP2515_RXF5.
* @param ext - extend flag. if ext = 1, indicate the frame is extended frame.
* @param Data - fileter data
* @return the status. if success, return MCP2515_OK.
*/
uint8_t initFilter(eFilter_t filterNum, uint8_t ext, uint32_t Data);
/**
* @fn getCanId
* @brief get the id of the data cached in Can controller currently.
* @return return the id number.
*/
uint32_t getCanId(void);
/**
* @fn isRemoteRequest
* @brief tell whether the current data frame buffered in Can controller is remote requestion frame.
* @return return the id number.
*/
uint8_t isRemoteRequest(void);
/**
* @fn isExtendedFrame
* @brief tell whether the current data frame buffered in Can controller is extended frame.
* @return return the id number.
*/
uint8_t isExtendedFrame(void);
/**
* @fn checkReceive
* @brief check whether data is cached by Can controler.
* @return if there are some data received by Can controller. the return value is CAN_MSGAVAIL, or CAN_NOMSG.
*/
uint8_t checkReceive(void);
/**
* @fn checkError
* @brief check whether there is the control error on the Can bus line.
* @return if control error don't occur, return CAN_OK, or return CAN_CTRLERROR.
*/
uint8_t checkError(void);
/**
* @fn sendMsgBuf
* @brief send one data frame.
* @param id - the message id num.
* @param ext - extend flag. if ext = 1, indicate the frame is extended frame.
* @param len - the len of the data to send.
* @param buf - the data to send.
* @return the status. if success, return MCP2515_OK.
*/
uint8_t sendMsgBuf(uint32_t id, uint8_t ext, uint8_t len, uint8_t *buf);
/**
* @fn sendMsgBuf
* @brief send the remote requestion message.
* @param id - the message id num.
* @param ext - extend flag. if ext = 1, indicate the frame is extended frame.
* @param len - the len of the data to send.
* @param rtr - the flag of the remote requestion. if rtr = 1, the frame seem as the remote requestion frame , or the frame is the normal data frame..
* @param buf - the data to send.
* @return the status. if success, return MCP2515_OK.
*/
uint8_t sendMsgBuf(uint32_t id, uint8_t ext, uint8_t rtr, uint8_t len, uint8_t *buf);
/**
* @fn readMsgBuf
* @brief read one data frame from the cache in inner can controler.
* @param len - the len of the data to read.
* @param buf - the data out from the Can controler store into the buf.
* @return the status. if success, return MCP2515_OK.
*/
uint8_t readMsgBuf(uint8_t *len, uint8_t *buf);
/**
* @fn readMsgBufID
* @brief read one data frame from the cache in inner Can controler with the indicated ID,
* @n if Can controler has not cached the ID's Frame the return value is not CAN_OK.
* @param ID - ID number.
* @param len - the len of the data to read.
* @param buf - the data out from the Can controler store into the buf.
* @return the status. if success, return MCP2515_OK. or this read operation is failed.
*/
uint8_t readMsgBufID(uint32_t *ID, uint8_t *len, uint8_t *buf);
private:
void mcpReset(void);
void readReg(const uint8_t RegAddr, uint8_t *buf, uint8_t len);
void writeReg(const uint8_t RegAddr, const uint8_t *buf, const uint8_t len);
void modifyReg(const uint8_t RegAddr, const uint8_t mask, const uint8_t data);
void mcpInitBuffers(void);
uint8_t mcpReadStatus(void);
uint8_t mcpSetMode(const uint8_t newMode);
uint8_t mcpConfigRate(const uint8_t canSpeed);
uint8_t mcpInit(const uint8_t canSpeed);
void mcpWriteid( const uint8_t mcpAddr, const uint8_t ext, const uint32_t id );
void mcpReadid( const uint8_t mcpAddr, uint8_t* ext, uint32_t* id );
void mcpWritecanMsg( const uint8_t sidhAddr );
void mcpReadcanMsg( const uint8_t sidhAddr);
void mcpStarttransmit(const uint8_t mcpAddr);
uint8_t mcpGetNextFreeTXBuf(uint8_t *txbuf_n);
uint8_t setMsg(uint32_t id, uint8_t ext, uint8_t len, uint8_t rtr, uint8_t *pData);
uint8_t setMsg(uint32_t id, uint8_t ext, uint8_t len, uint8_t *pData);
uint8_t clearMsg(void);
uint8_t readMsg(void);
uint8_t sendMsg(void);
private:
uint8_t canExtFlg;
uint32_t canID;
uint8_t canDlc;
uint8_t canData[MAX_MESSAGE_LENGTH];
uint8_t canRtr;
uint8_t canFilhit;
uint8_t _csPin;
};
#endif
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