mcp_can_fd.h

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#ifndef _MCP_CAN_H_
#define _MCP_CAN_H_
 
#include <Arduino.h>
#include <SPI.h>
#include <inttypes.h>
 
#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)
 
// clock
typedef enum {
    MCP_NO_MHz,
    /* apply to MCP2515 */
    MCP_16MHz,
    MCP_8MHz,
    /* apply to MCP2518FD */
    MCP2518FD_40MHz = MCP_16MHz /* To compatible MCP2515 shield */,
    MCP2518FD_20MHz,
    MCP2518FD_10MHz,
} MCP_CLOCK_T;
 
typedef enum {
    CAN_NOBPS,
    CAN_5KBPS,
    CAN_10KBPS,
    CAN_20KBPS,
    CAN_25KBPS,
    CAN_31K25BPS,
    CAN_33KBPS  ,
    CAN_40KBPS  ,
    CAN_50KBPS  ,
    CAN_80KBPS  ,
    CAN_83K3BPS ,
    CAN_95KBPS  ,
    CAN_100KBPS ,
    CAN_125KBPS ,
    CAN_200KBPS ,
    CAN_250KBPS ,
    CAN_500KBPS ,
    CAN_666KBPS ,
    CAN_800KBPS ,
    CAN_1000KBPS
} MCP_BITTIME_SETUP;
 
 
class MCP_CAN
{
public:
    virtual void enableTxInterrupt(bool enable = true) = 0;                             // enable transmit interrupt
    virtual void reserveTxBuffers(byte nTxBuf = 0) = 0;
    virtual byte getLastTxBuffer() = 0;
    /*
     * speedset be in MCP_BITTIME_SETUP
     * clockset be in MCP_CLOCK_T
     */
    virtual byte begin(uint32_t speedset, const byte clockset) = 0;                     // init can
    virtual byte init_Mask(byte num, byte ext, unsigned long ulData) = 0;               // init Masks
    virtual byte init_Filt(byte num, byte ext, unsigned long ulData) = 0;               // init filters
    virtual void setSleepWakeup(byte enable) = 0;                                       // Enable or disable the wake up interrupt
                                         // (If disabled the MCP2515 will not be woken up by CAN bus activity, making it send only)
    virtual byte sleep() = 0;                                                           // Put the MCP2515 in sleep mode
    virtual byte wake() = 0;                                                            // Wake MCP2515 manually from sleep
    virtual byte __setMode(byte opMode) = 0;                                              // Set operational mode
    virtual byte getMode() = 0;                                                         // Get operational mode
    virtual byte checkError(uint8_t* err_ptr = NULL) = 0;                               // if something error
 
    /* ---- receiving ---- */
    virtual byte checkReceive(void) = 0;                                                // if something received
    virtual byte readMsgBufID(byte status,
                              volatile unsigned long *id, volatile byte *ext, volatile byte *rtr,
                              volatile byte *len, volatile byte *buf) = 0;              // read buf with object ID
    /* wrapper */
    virtual byte readMsgBufID(unsigned long *ID, byte *len, byte *buf) = 0;
    virtual byte readMsgBuf(byte *len, byte *buf) = 0;
    
    /* could be called after a successful readMsgBufID() */
    unsigned long getCanId(void) { return can_id; }
    byte isRemoteRequest(void)   { return rtr;    }
    byte isExtendedFrame(void)   { return ext_flg;}
 
    /* ---- sending ---- */
    virtual byte trySendMsgBuf(unsigned long id, byte ext, byte rtr,
                               byte len, const byte *buf, byte iTxBuf = 0xff) = 0;      // as sendMsgBuf, but does not have any wait for free buffer
    virtual byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtr,
                               byte len, volatile const byte *buf) = 0;                 // send message buf by using parsed buffer status
    virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit,
                               byte len, const byte *buf, bool wait_sent = true) = 0;   // send message with wait
 
    virtual void clearBufferTransmitIfFlags(byte flags = 0) = 0;                        // Clear transmit flags according to status
    virtual byte readRxTxStatus(void) = 0;                                              // read has something send or received
    virtual byte checkClearRxStatus(byte *status) = 0;                                  // read and clear and return first found rx status bit
    virtual byte checkClearTxStatus(byte *status, byte iTxBuf = 0xff) = 0;              // read and clear and return first found or buffer specified tx status bit
    virtual bool mcpPinMode(const byte pin, const byte mode) = 0;                       // switch supported pins between HiZ, interrupt, output or input
    virtual bool mcpDigitalWrite(const byte pin, const byte mode) = 0;                  // write HIGH or LOW to RX0BF/RX1BF
    virtual byte mcpDigitalRead(const byte pin) = 0;                                    // read HIGH or LOW from supported pins
 
public:
    MCP_CAN(byte _CS);
    void init_CS(byte _CS); // define CS after construction before begin()
    void setSPI(SPIClass *_pSPI);
 
protected:
    byte ext_flg; // identifier xxxID
    // either extended (the 29 LSB) or standard (the 11 LSB)
    unsigned long can_id; // can id
    byte rtr;             // is remote frame
    byte SPICS;
    SPIClass *pSPI;
    byte mcpMode;     // Current controller mode
};
 
#endif