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mcp_can.h
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/*
mcp_can.h
2012 Copyright (c) Seeed Technology Inc. All right reserved.
Author:Loovee
2012-4-24
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-
1301 USA
*/
#ifndef _MCP2515_H_
#define _MCP2515_H_
#include "mcp_can_dfs.h"
#define MAX_CHAR_IN_MESSAGE 8
class MCP_CAN
{
private:
INT8U m_nExtFlg; /* identifier xxxID */
/* either extended (the 29 LSB) */
/* or standard (the 11 LSB) */
INT32U m_nID; /* can id */
INT8U m_nDlc; /* data length: */
INT8U m_nDta[MAX_CHAR_IN_MESSAGE]; /* data */
INT8U m_nRtr; /* rtr */
INT8U m_nfilhit;
/*
* mcp2515 driver function
*/
// private:
private:
void mcp2515_reset(void); /* reset mcp2515 */
INT8U mcp2515_readRegister(const INT8U address); /* read mcp2515's register */
void mcp2515_readRegisterS(const INT8U address,
INT8U values[],
const INT8U n);
void mcp2515_setRegister(const INT8U address, /* set mcp2515's register */
const INT8U value);
void mcp2515_setRegisterS(const INT8U address, /* set mcp2515's registers */
const INT8U values[],
const INT8U n);
void mcp2515_initCANBuffers(void);
void mcp2515_modifyRegister(const INT8U address, /* set bit of one register */
const INT8U mask,
const INT8U data);
INT8U mcp2515_readStatus(void); /* read mcp2515's Status */
INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); /* set mode */
INT8U mcp2515_configRate(const INT8U canSpeed); /* set boadrate */
INT8U mcp2515_init(const INT8U canSpeed); /* mcp2515init */
void mcp2515_write_id( const INT8U mcp_addr, /* write can id */
const INT8U ext,
const INT32U id );
void mcp2515_read_id( const INT8U mcp_addr, /* read can id */
INT8U* ext,
INT32U* id );
void mcp2515_write_canMsg( const INT8U buffer_sidh_addr ); /* write can msg */
void mcp2515_read_canMsg( const INT8U buffer_sidh_addr); /* read can msg */
void mcp2515_start_transmit(const INT8U mcp_addr); /* start transmit */
INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); /* get Next free txbuf */
/*
* can operator function
*/
INT8U setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData); /* set message */
INT8U clearMsg(); /* clear all message to zero */
INT8U readMsg(); /* read message */
INT8U sendMsg(); /* send message */
public:
INT8U begin(INT8U speedset); /* init can */
INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData); /* init Masks */
INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData); /* init filters */
INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf); /* send buf */
INT8U readMsgBuf(INT8U *len, INT8U *buf); /* read buf */
INT8U checkReceive(void); /* if something received */
INT8U checkError(void); /* if something error */
INT32U getCanId(void); /* get can id when receive */
};
extern MCP_CAN CAN;
#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/