mcp2518fd_can.h

Go to the documentation of this file.

 
 
#ifndef _MCP2518FD_H_
#define _MCP2518FD_H_
 
#include "mcp2518fd_can_dfs.h"
#include "mcp_can_fd.h"
#include <Arduino.h>
#include <SPI.h>
 
// *****************************************************************************
// *****************************************************************************
 
// Code anchor for break points
#define Nop() asm("nop")
 
// Index to SPI channel
// Used when multiple MCP25xxFD are connected to the same SPI interface, but
// with different CS
#define SPI_DEFAULT_BUFFER_LENGTH 96
 
// extern SPIClass* pSPI;
#define spi_readwrite pSPI->transfer
#define spi_read() spi_readwrite(0x00)
#define spi_write(spi_val) spi_readwrite(spi_val)
#define SPI_BEGIN()                                                            \
  pSPI->beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE0))
#define SPI_END() pSPI->endTransaction();
 
// *****************************************************************************
// *****************************************************************************
// Section: Defines
 
#define CRCBASE 0xFFFF
#define CRCUPPER 1

const uint8_t BitReverseTable256[256] = {
    0x00, 0x80, 0x40, 0xC0, 0x20, 0xA0, 0x60, 0xE0, 0x10, 0x90, 0x50, 0xD0,
    0x30, 0xB0, 0x70, 0xF0, 0x08, 0x88, 0x48, 0xC8, 0x28, 0xA8, 0x68, 0xE8,
    0x18, 0x98, 0x58, 0xD8, 0x38, 0xB8, 0x78, 0xF8, 0x04, 0x84, 0x44, 0xC4,
    0x24, 0xA4, 0x64, 0xE4, 0x14, 0x94, 0x54, 0xD4, 0x34, 0xB4, 0x74, 0xF4,
    0x0C, 0x8C, 0x4C, 0xCC, 0x2C, 0xAC, 0x6C, 0xEC, 0x1C, 0x9C, 0x5C, 0xDC,
    0x3C, 0xBC, 0x7C, 0xFC, 0x02, 0x82, 0x42, 0xC2, 0x22, 0xA2, 0x62, 0xE2,
    0x12, 0x92, 0x52, 0xD2, 0x32, 0xB2, 0x72, 0xF2, 0x0A, 0x8A, 0x4A, 0xCA,
    0x2A, 0xAA, 0x6A, 0xEA, 0x1A, 0x9A, 0x5A, 0xDA, 0x3A, 0xBA, 0x7A, 0xFA,
    0x06, 0x86, 0x46, 0xC6, 0x26, 0xA6, 0x66, 0xE6, 0x16, 0x96, 0x56, 0xD6,
    0x36, 0xB6, 0x76, 0xF6, 0x0E, 0x8E, 0x4E, 0xCE, 0x2E, 0xAE, 0x6E, 0xEE,
    0x1E, 0x9E, 0x5E, 0xDE, 0x3E, 0xBE, 0x7E, 0xFE, 0x01, 0x81, 0x41, 0xC1,
    0x21, 0xA1, 0x61, 0xE1, 0x11, 0x91, 0x51, 0xD1, 0x31, 0xB1, 0x71, 0xF1,
    0x09, 0x89, 0x49, 0xC9, 0x29, 0xA9, 0x69, 0xE9, 0x19, 0x99, 0x59, 0xD9,
    0x39, 0xB9, 0x79, 0xF9, 0x05, 0x85, 0x45, 0xC5, 0x25, 0xA5, 0x65, 0xE5,
    0x15, 0x95, 0x55, 0xD5, 0x35, 0xB5, 0x75, 0xF5, 0x0D, 0x8D, 0x4D, 0xCD,
    0x2D, 0xAD, 0x6D, 0xED, 0x1D, 0x9D, 0x5D, 0xDD, 0x3D, 0xBD, 0x7D, 0xFD,
    0x03, 0x83, 0x43, 0xC3, 0x23, 0xA3, 0x63, 0xE3, 0x13, 0x93, 0x53, 0xD3,
    0x33, 0xB3, 0x73, 0xF3, 0x0B, 0x8B, 0x4B, 0xCB, 0x2B, 0xAB, 0x6B, 0xEB,
    0x1B, 0x9B, 0x5B, 0xDB, 0x3B, 0xBB, 0x7B, 0xFB, 0x07, 0x87, 0x47, 0xC7,
    0x27, 0xA7, 0x67, 0xE7, 0x17, 0x97, 0x57, 0xD7, 0x37, 0xB7, 0x77, 0xF7,
    0x0F, 0x8F, 0x4F, 0xCF, 0x2F, 0xAF, 0x6F, 0xEF, 0x1F, 0x9F, 0x5F, 0xDF,
    0x3F, 0xBF, 0x7F, 0xFF};

const uint16_t crc16_table[256] = {
    0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, 0x8033,
    0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022, 0x8063, 0x0066,
    0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072, 0x0050, 0x8055, 0x805F,
    0x005A, 0x804B, 0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9,
    0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB,
    0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE,
    0x00B4, 0x80B1, 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087,
    0x0082, 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
    0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1, 0x01E0,
    0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6,
    0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F,
    0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176, 0x017C, 0x8179,
    0x0168, 0x816D, 0x8167, 0x0162, 0x8123, 0x0126, 0x012C, 0x8129, 0x0138,
    0x813D, 0x8137, 0x0132, 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E,
    0x0104, 0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317,
    0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
    0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, 0x8353,
    0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5,
    0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3, 0x03F6, 0x03FC,
    0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2, 0x83A3, 0x03A6, 0x03AC, 0x83A9,
    0x03B8, 0x83BD, 0x83B7, 0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B,
    0x038E, 0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E,
    0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7,
    0x02A2, 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
    0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243,
    0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252, 0x0270, 0x8275,
    0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261, 0x0220, 0x8225, 0x822F,
    0x022A, 0x823B, 0x023E, 0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219,
    0x0208, 0x820D, 0x8207, 0x0202};
 
class SPIClass;
 
class mcp2518fd : public MCP_CAN {
public:
  mcp2518fd(byte _CS) : MCP_CAN(_CS), nReservedTx(0){};
 
public:
  virtual void
  enableTxInterrupt(bool enable = true); // enable transmit interrupt
  virtual void reserveTxBuffers(byte nTxBuf = 0) {
    nReservedTx = (nTxBuf < 3 ? nTxBuf : 3 - 1);
  }
  virtual byte getLastTxBuffer() {
    return 3 - 1; // read index of last tx buffer
  }
  /*
   * speedset could be in MCP_BITTIME_SETUP,
   *          or fill by CANFD::BITRATE()
   */
  virtual byte begin(uint32_t speedset,
                     const byte clockset = MCP2518FD_20MHz); // init can
  virtual byte init_Mask(byte num, byte ext, unsigned long ulData);
  virtual byte init_Filt(byte num, byte ext,
                         unsigned long ulData); // init filters
                         
  virtual byte CANFDSPI_FilterDisable(CAN_FILTER filter);
                         
  virtual byte init_Filt_Mask(byte num, byte ext, unsigned long f, unsigned long m);
  
  virtual void setSleepWakeup(const byte enable);
  virtual byte sleep();
  virtual byte wake();
  virtual byte __setMode(const byte opMode);
 
  virtual byte setMode(const byte opMode)
    {
    if ((CAN_OPERATION_MODE)opMode !=
    CAN_SLEEP_MODE) { // if going to sleep, the value stored in opMode is not
                        // changed so that we can return to it later
        mcpMode = (CAN_OPERATION_MODE)opMode;
    }
    return 0;
  }
  virtual byte getMode();
  virtual byte checkError(uint8_t* err_ptr = NULL);
 
  /* ---- receiving ---- */
  virtual byte checkReceive(void);
  virtual byte readMsgBufID(byte status, volatile unsigned long *id,
                            volatile byte *ext, volatile byte *rtr,
                            volatile byte *len,
                            volatile byte *buf); // read buf with object ID
    /* wrapper */
    byte readMsgBufID(unsigned long *ID, byte *len, byte *buf) {
        return readMsgBufID(readRxTxStatus(), ID, &ext_flg, &rtr, len, buf);
    }
    byte readMsgBuf(byte *len, byte *buf) {
        return readMsgBufID(readRxTxStatus(), &can_id, &ext_flg, &rtr, len, buf);
    }
 
  /* ---- sending ---- */
  /* dlc = CAN_DLC_0..CAN_DLC_64(0..15)
   *       CAN_DLC_0..CAN_DLC_8(0..8) = data bytes count, compatible to MCP2515 APIs
   *       CAN_DLC_12(9)              = 12 bytes
   *       CAN_DLC_16(10)             = 16 bytes
   *       CAN_DLC_20(11)             = 20 bytes
   *       CAN_DLC_24(12)             = 24 bytes
   *       CAN_DLC_32(13)             = 32 bytes
   *       CAN_DLC_48(14)             = 48 bytes
   *       CAN_DLC_64(15)             = 64 bytes
   */
  virtual byte trySendMsgBuf(unsigned long id, byte ext, byte rtr, byte dlc,
                             const byte *buf, byte iTxBuf = 0xff);
  virtual byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtr,
                          byte dlc, volatile const byte *buf);
  virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtr, byte dlc,
                          const byte *buf, bool wait_sent = true);
  /* wrapper */
  inline byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf) {
    return sendMsgBuf(id, ext, 0, len, buf, true);
  }
 
  virtual void clearBufferTransmitIfFlags(byte flags = 0);
  virtual byte readRxTxStatus(void);
  virtual byte checkClearRxStatus(byte *status);
  virtual byte checkClearTxStatus(byte *status, byte iTxBuf = 0xff);
  virtual bool mcpPinMode(const byte pin, const byte mode);
  virtual bool mcpDigitalWrite(const byte pin, const byte mode);
  virtual byte mcpDigitalRead(const byte pin);
 
private:
  byte mcp2518fd_readMsgBufID(volatile byte *len, volatile byte *buf);
  byte mcp2518fd_sendMsg(const byte *buf, byte len, unsigned long id, byte ext,
                         byte rtr, bool wait_sent);
  int8_t mcp2518fd_receiveMsg();
 
private:
  uint8_t mcp2518fd_init(uint32_t speedset, const byte clock); // mcp2518fdinit
  int8_t mcp2518fd_reset(void);                            // reset mcp2518fd
  int8_t mcp2518fd_EccEnable(void);                        // Section: ECC
  int8_t mcp2518fd_RamInit(uint8_t d);
  int8_t mcp2518fd_ConfigureObjectReset(CAN_CONFIG *config);
  int8_t mcp2518fd_Configure(CAN_CONFIG *config);
  int8_t
  mcp2518fd_TransmitChannelConfigureObjectReset(CAN_TX_FIFO_CONFIG *config);
  int8_t mcp2518fd_TransmitChannelConfigure(CAN_FIFO_CHANNEL channel,
                                            CAN_TX_FIFO_CONFIG *config);
  int8_t
  mcp2518fd_ReceiveChannelConfigureObjectReset(CAN_RX_FIFO_CONFIG *config);
  int8_t mcp2518fd_ReceiveChannelConfigure(CAN_FIFO_CHANNEL channel,
                                           CAN_RX_FIFO_CONFIG *config);
  int8_t mcp2518fd_FilterObjectConfigure(CAN_FILTER filter,
                                         CAN_FILTEROBJ_ID *id);
  int8_t mcp2518fd_FilterMaskConfigure(CAN_FILTER filter, CAN_MASKOBJ_ID *mask);
  int8_t mcp2518fd_FilterToFifoLink(CAN_FILTER filter, CAN_FIFO_CHANNEL channel,
                                    bool enable);
  int8_t mcp2518fd_BitTimeConfigure(uint32_t speedset,
                                    CAN_SSP_MODE sspMode, CAN_SYSCLK_SPEED clk);
  int8_t mcp2518fd_GpioModeConfigure(GPIO_PIN_MODE gpio0, GPIO_PIN_MODE gpio1);
  int8_t mcp2518fd_TransmitChannelEventEnable(CAN_FIFO_CHANNEL channel,
                                              CAN_TX_FIFO_EVENT flags);
  int8_t mcp2518fd_ReceiveChannelEventEnable(CAN_FIFO_CHANNEL channel,
                                             CAN_RX_FIFO_EVENT flags);
  int8_t mcp2518fd_ModuleEventEnable(CAN_MODULE_EVENT flags);
  int8_t mcp2518fd_OperationModeSelect(CAN_OPERATION_MODE opMode);
  CAN_OPERATION_MODE mcp2518fd_OperationModeGet();
  void mcp2518fd_TransmitMessageQueue();
  int8_t mcp2518fd_TransmitChannelEventGet(CAN_FIFO_CHANNEL channel,
                                           CAN_TX_FIFO_EVENT *flags);
  int8_t mcp2518fd_ErrorCountStateGet(uint8_t *tec, uint8_t *rec,
                                      CAN_ERROR_STATE *flags);
  int8_t mcp2518fd_TransmitChannelLoad(CAN_FIFO_CHANNEL channel,
                                       CAN_TX_MSGOBJ *txObj, uint8_t *txd,
                                       uint32_t txdNumBytes, bool flush);
  int8_t mcp2518fd_ReceiveChannelEventGet(CAN_FIFO_CHANNEL channel,
                                          CAN_RX_FIFO_EVENT *flags);
  int8_t mcp2518fd_ReceiveMessageGet(CAN_FIFO_CHANNEL channel,
                                     CAN_RX_MSGOBJ *rxObj, uint8_t *rxd,
                                     uint8_t nBytes);
  int8_t mcp2518fd_ReceiveChannelUpdate(CAN_FIFO_CHANNEL channel);
  int8_t mcp2518fd_TransmitChannelUpdate(CAN_FIFO_CHANNEL channel, bool flush);
  int8_t mcp2518fd_ReceiveChannelStatusGet(CAN_FIFO_CHANNEL channel,
                                           CAN_RX_FIFO_STATUS *status);
  int8_t mcp2518fd_ErrorStateGet(CAN_ERROR_STATE *flags);
  int8_t mcp2518fd_ModuleEventRxCodeGet(CAN_RXCODE *rxCode);
  int8_t mcp2518fd_ModuleEventTxCodeGet(CAN_TXCODE *txCode);
  int8_t mcp2518fd_TransmitChannelEventAttemptClear(CAN_FIFO_CHANNEL channel);
 
  int8_t mcp2518fd_LowPowerModeEnable();
  int8_t mcp2518fd_LowPowerModeDisable();
 
  int8_t mcp2518fd_ReadByte(uint16_t address, uint8_t *rxd);
  int8_t mcp2518fd_WriteByte(uint16_t address, uint8_t txd);
  int8_t mcp2518fd_ReadWord(uint16_t address, uint32_t *rxd);
  int8_t mcp2518fd_WriteWord(uint16_t address, uint32_t txd);
  int8_t mcp2518fd_ReadHalfWord(uint16_t address, uint16_t *rxd);
  int8_t mcp2518fd_WriteHalfWord(uint16_t address, uint16_t txd);
  int8_t mcp2518fd_ReadByteArray(uint16_t address, uint8_t *rxd,
                                 uint16_t nBytes);
  int8_t mcp2518fd_WriteByteArray(uint16_t address, uint8_t *txd,
                                  uint16_t nBytes);
  int8_t mcp2518fd_WriteByteSafe(uint16_t address, uint8_t txd);
  int8_t mcp2518fd_WriteWordSafe(uint16_t address, uint32_t txd);
  int8_t mcp2518fd_ReadByteArrayWithCRC(uint16_t address, uint8_t *rxd,
                                        uint16_t nBytes, bool fromRam,
                                        bool *crcIsCorrect);
  int8_t mcp2518fd_WriteByteArrayWithCRC(uint16_t address, uint8_t *txd,
                                         uint16_t nBytes, bool fromRam);
  int8_t mcp2518fd_ReadWordArray(uint16_t address, uint32_t *rxd,
                                 uint16_t nWords);
  int8_t mcp2518fd_WriteWordArray(uint16_t address, uint32_t *txd,
                                  uint16_t nWords);
 
private:
  int8_t
  mcp2518fd_BitTimeConfigureNominal(void);
  int8_t mcp2518fd_BitTimeConfigureData(CAN_SSP_MODE sspMode);
 
  byte nReservedTx;     // Count of tx buffers for reserved send
  CAN_OPERATION_MODE mcpMode = CAN_CLASSIC_MODE; // Current controller mode
 
 
  uint32_t bittime_compat_to_mcp2518fd(uint32_t speedset);
  int calcBittime(const uint32_t inDesiredArbitrationBitRate,
                  const uint32_t inTolerancePPM = 10000/* 1% */);
 
  uint32_t mSysClock;   // PLL disabled, mSysClock = Oscillator Frequency
  uint32_t mDesiredArbitrationBitRate; // desired ArbitrationBitRate
  uint8_t  mDataBitRateFactor; // multiplier between ArbitrationBitRate and DataBitrate
  //--- Data bit rate; if mDataBitRateFactor==1, theses properties are not used for configuring the MCP2517FD.
  uint8_t mDataPhaseSegment1 = 0 ; // if mDataBitRateFactor > 1: 2...32, else equal to mArbitrationPhaseSegment1
  uint8_t mDataPhaseSegment2 = 0 ; // if mDataBitRateFactor > 1: 1...16, else equal to mArbitrationPhaseSegment2
  uint8_t mDataSJW = 0 ; // if mDataBitRateFactor > 1: 1...16, else equal to mArbitrationSJW
  //--- Bit rate prescaler is common to arbitration and data bit rates
  uint16_t mBitRatePrescaler = 0 ; // 1...256
  //--- Arbitration bit rate
  uint16_t mArbitrationPhaseSegment1 = 0 ; // 2...256
  uint8_t mArbitrationPhaseSegment2 = 0 ; // 1...128
  uint8_t mArbitrationSJW = 0 ; // 1...128
  bool mArbitrationBitRateClosedToDesiredRate = false ; // The above configuration is not correct
  //--- Transmitter Delay Compensation Offset
  int8_t mTDCO = 0 ; // -64 ... +63
};
 
/* CANFD Auxiliary helper */
class CANFD {
public:
  static byte dlc2len(byte dlc);
  static byte len2dlc(byte len);
  static uint32_t BITRATE(uint32_t arbitration, uint8_t factor) {
    return ((uint32_t)factor << 24) | (arbitration & 0xFFFFFUL);
  }
};
 
#endif