315 lines
11 KiB
C
315 lines
11 KiB
C
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/*
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Copyright (c) 2013 Arduino. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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See the GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#ifndef _CAN_LIBRARY_
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#define _CAN_LIBRARY_
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#include <Arduino.h>
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//add some extra stuff that is needed for Arduino 1.5.2
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#ifndef PINS_CAN0
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static const uint8_t CAN1RX = 88;
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static const uint8_t CAN1TX = 89;
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// CAN0
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#define PINS_CAN0 (90u)
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// CAN1
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#define PINS_CAN1 (91u)
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#define ARDUINO152
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#endif
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#define CAN Can0
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#define CAN2 Can1
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#define CAN0_EN 50 //these enable pins match most all recent EVTV boards (EVTVDue, CAN Due 2.0)
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#define CAN1_EN 48 //they're only defaults, you can set whichever pin you need when calling begin()
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/** Define the Mailbox mask for eight mailboxes. */
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#define GLOBAL_MAILBOX_MASK 0x000000ff
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/** Disable all interrupt mask */
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#define CAN_DISABLE_ALL_INTERRUPT_MASK 0xffffffff
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/** Define the typical baudrate for CAN communication. */
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#ifdef CAN_BPS_500K
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#undef CAN_BPS_1000K
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#undef CAN_BPS_800K
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#undef CAN_BPS_500K
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#undef CAN_BPS_250K
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#undef CAN_BPS_125K
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#undef CAN_BPS_50K
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#undef CAN_BPS_33333
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#undef CAN_BPS_25K
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#undef CAN_BPS_10K
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#undef CAN_BPS_5K
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#endif
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#define CAN_BPS_1000K 1000000
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#define CAN_BPS_800K 800000
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#define CAN_BPS_500K 500000
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#define CAN_BPS_250K 250000
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#define CAN_BPS_125K 125000
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#define CAN_BPS_50K 50000
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#define CAN_BPS_33333 33333
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#define CAN_BPS_25K 25000
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#define CAN_BPS_10K 10000
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#define CAN_BPS_5K 5000
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#define CAN_DEFAULT_BAUD CAN_BPS_250K
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/** Define the mailbox mode. */
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#define CAN_MB_DISABLE_MODE 0
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#define CAN_MB_RX_MODE 1
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#define CAN_MB_RX_OVER_WR_MODE 2
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#define CAN_MB_TX_MODE 3
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#define CAN_MB_CONSUMER_MODE 4
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#define CAN_MB_PRODUCER_MODE 5
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/** Define CAN mailbox transfer status code. */
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#define CAN_MAILBOX_TRANSFER_OK 0 //! Read from or write into mailbox successfully.
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#define CAN_MAILBOX_NOT_READY 0x01 //! Receiver is empty or transmitter is busy.
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#define CAN_MAILBOX_RX_OVER 0x02 //! Message overwriting happens or there're messages lost in different receive modes.
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#define CAN_MAILBOX_RX_NEED_RD_AGAIN 0x04 //! Application needs to re-read the data register in Receive with Overwrite mode.
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#define SIZE_RX_BUFFER 32 //RX incoming ring buffer is this big
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#define SIZE_TX_BUFFER 16 //TX ring buffer is this big
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#define SIZE_LISTENERS 4 //number of classes that can register as listeners with this class
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/** Define the timemark mask. */
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#define TIMEMARK_MASK 0x0000ffff
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/* CAN timeout for synchronization. */
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#define CAN_TIMEOUT 100000
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/** The max value for CAN baudrate prescale. */
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#define CAN_BAUDRATE_MAX_DIV 128
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/** Define the scope for TQ. */
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#define CAN_MIN_TQ_NUM 8
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#define CAN_MAX_TQ_NUM 25
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/** Define the fixed bit time value. */
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#define CAN_BIT_SYNC 1
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#define CAN_BIT_IPT 2
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typedef struct {
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uint8_t uc_tq; //! CAN_BIT_SYNC + uc_prog + uc_phase1 + uc_phase2 = uc_tq, 8 <= uc_tq <= 25.
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uint8_t uc_prog; //! Propagation segment, (3-bits + 1), 1~8;
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uint8_t uc_phase1; //! Phase segment 1, (3-bits + 1), 1~8;
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uint8_t uc_phase2; //! Phase segment 2, (3-bits + 1), 1~8, CAN_BIT_IPT <= uc_phase2;
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uint8_t uc_sjw; //! Resynchronization jump width, (2-bits + 1), min(uc_phase1, 4);
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uint8_t uc_sp; //! Sample point value, 0~100 in percent.
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} can_bit_timing_t;
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/** Values of bit time register for different baudrates, Sample point = ((1 + uc_prog + uc_phase1) / uc_tq) * 100%. */
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const can_bit_timing_t can_bit_time[] = {
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{8, (2 + 1), (1 + 1), (1 + 1), (2 + 1), 75},
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{9, (1 + 1), (2 + 1), (2 + 1), (1 + 1), 67},
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{10, (2 + 1), (2 + 1), (2 + 1), (2 + 1), 70},
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{11, (3 + 1), (2 + 1), (2 + 1), (3 + 1), 72},
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{12, (2 + 1), (3 + 1), (3 + 1), (3 + 1), 67},
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{13, (3 + 1), (3 + 1), (3 + 1), (3 + 1), 77},
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{14, (3 + 1), (3 + 1), (4 + 1), (3 + 1), 64},
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{15, (3 + 1), (4 + 1), (4 + 1), (3 + 1), 67},
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{16, (4 + 1), (4 + 1), (4 + 1), (3 + 1), 69},
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{17, (5 + 1), (4 + 1), (4 + 1), (3 + 1), 71},
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{18, (4 + 1), (5 + 1), (5 + 1), (3 + 1), 67},
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{19, (5 + 1), (5 + 1), (5 + 1), (3 + 1), 68},
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{20, (6 + 1), (5 + 1), (5 + 1), (3 + 1), 70},
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{21, (7 + 1), (5 + 1), (5 + 1), (3 + 1), 71},
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{22, (6 + 1), (6 + 1), (6 + 1), (3 + 1), 68},
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{23, (7 + 1), (7 + 1), (6 + 1), (3 + 1), 70},
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{24, (6 + 1), (7 + 1), (7 + 1), (3 + 1), 67},
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{25, (7 + 1), (7 + 1), (7 + 1), (3 + 1), 68}
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};
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//This is architecture specific. DO NOT USE THIS UNION ON ANYTHING OTHER THAN THE CORTEX M3 / Arduino Due
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//UNLESS YOU DOUBLE CHECK THINGS!
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typedef union {
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uint64_t value;
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struct {
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uint32_t low;
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uint32_t high;
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};
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struct {
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uint16_t s0;
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uint16_t s1;
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uint16_t s2;
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uint16_t s3;
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};
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uint8_t bytes[8];
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uint8_t byte[8]; //alternate name so you can omit the s if you feel it makes more sense
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} BytesUnion;
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typedef struct
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{
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uint32_t id; // EID if ide set, SID otherwise
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uint32_t fid; // family ID
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uint8_t rtr; // Remote Transmission Request
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uint8_t priority; // Priority but only important for TX frames and then only for special uses.
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uint8_t extended; // Extended ID flag
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uint8_t length; // Number of data bytes
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BytesUnion data; // 64 bits - lots of ways to access it.
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} CAN_FRAME;
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class CANListener
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{
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public:
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CANListener();
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virtual void gotFrame(CAN_FRAME *frame, int mailbox);
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void attachMBHandler(uint8_t mailBox);
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void detachMBHandler(uint8_t mailBox);
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void attachGeneralHandler();
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void detachGeneralHandler();
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private:
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int callbacksActive; //bitfield letting the code know which callbacks to actually try to use (for object oriented callbacks only)
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friend class CANRaw; //class has to have access to the the guts of this one
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};
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class CANRaw
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{
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protected:
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int numTXBoxes; //There are 8 mailboxes, anything not TX will be set RX
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private:
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/* CAN peripheral, set by constructor */
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Can* m_pCan ;
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volatile CAN_FRAME rx_frame_buff[SIZE_RX_BUFFER];
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volatile CAN_FRAME tx_frame_buff[SIZE_TX_BUFFER];
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volatile uint16_t rx_buffer_head, rx_buffer_tail;
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volatile uint16_t tx_buffer_head, tx_buffer_tail;
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void mailbox_int_handler(uint8_t mb, uint32_t ul_status);
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uint8_t enablePin;
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uint32_t busSpeed; //what speed is the bus currently initialized at? 0 if it is off right now
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uint32_t write_id; //public storage for an id. Will be used by the write function to set which ID to send to.
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bool bigEndian;
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void (*cbCANFrame[9])(CAN_FRAME *); //8 mailboxes plus an optional catch all
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CANListener *listener[SIZE_LISTENERS];
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public:
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// Constructor
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CANRaw( Can* pCan, uint32_t En);
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int setRXFilter(uint32_t id, uint32_t mask, bool extended);
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int setRXFilter(uint8_t mailbox, uint32_t id, uint32_t mask, bool extended);
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int watchFor(); //allow anything through
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int watchFor(uint32_t id); //allow just this ID through (automatic determination of extended status)
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int watchFor(uint32_t id, uint32_t mask); //allow a range of ids through
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int watchForRange(uint32_t id1, uint32_t id2); //try to allow the range from id1 to id2 - automatically determine base ID and mask
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void setNumTXBoxes(int txboxes);
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int findFreeRXMailbox();
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uint8_t mailbox_get_mode(uint8_t uc_index);
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uint32_t mailbox_get_id(uint8_t uc_index);
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uint32_t getMailboxIer(int8_t mailbox);
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uint32_t set_baudrate(uint32_t ul_baudrate);
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uint32_t init(uint32_t ul_baudrate);
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uint32_t begin();
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uint32_t begin(uint32_t baudrate);
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uint32_t begin(uint32_t baudrate, uint8_t enablePin);
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uint32_t getBusSpeed();
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void enable();
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void disable();
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bool sendFrame(CAN_FRAME& txFrame);
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void setWriteID(uint32_t id);
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template <typename t> void write(t inputValue); //write a variable # of bytes out in a frame. Uses id as the ID.
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void setBigEndian(bool);
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void setCallback(int mailbox, void (*cb)(CAN_FRAME *));
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void setGeneralCallback(void (*cb)(CAN_FRAME *));
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//note that these below versions still use mailbox number. There isn't a good way around this.
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void attachCANInterrupt(void (*cb)(CAN_FRAME *)); //alternative callname for setGeneralCallback
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void attachCANInterrupt(uint8_t mailBox, void (*cb)(CAN_FRAME *));
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void detachCANInterrupt(uint8_t mailBox);
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//now, object oriented versions to make OO projects easier
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boolean attachObj(CANListener *listener);
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boolean detachObj(CANListener *listener);
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void reset_all_mailbox();
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void interruptHandler();
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bool rx_avail();
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int available(); //like rx_avail but returns the number of waiting frames
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uint32_t get_rx_buff(CAN_FRAME &);
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uint32_t read(CAN_FRAME &);
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//misc old cruft kept around just in case anyone actually used any of it in older code.
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//some are used within the functions above. Unless you really know of a good reason to use
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//any of these you probably should steer clear of them.
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void disable_low_power_mode();
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void enable_low_power_mode();
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void disable_autobaud_listen_mode();
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void enable_autobaud_listen_mode();
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void disable_overload_frame();
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void enable_overload_frame();
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void set_timestamp_capture_point(uint32_t ul_flag);
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void disable_time_triggered_mode();
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void enable_time_triggered_mode();
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void disable_timer_freeze();
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void enable_timer_freeze();
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void disable_tx_repeat();
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void enable_tx_repeat();
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void set_rx_sync_stage(uint32_t ul_stage);
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void enable_interrupt(uint32_t dw_mask);
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void disable_interrupt(uint32_t dw_mask);
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uint32_t get_interrupt_mask();
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uint32_t get_status();
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uint32_t get_internal_timer_value();
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uint32_t get_timestamp_value();
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uint8_t get_tx_error_cnt();
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uint8_t get_rx_error_cnt();
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void reset_internal_timer();
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void global_send_transfer_cmd(uint8_t uc_mask);
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void global_send_abort_cmd(uint8_t uc_mask);
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void mailbox_set_timemark(uint8_t uc_index, uint16_t us_cnt);
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uint32_t mailbox_get_status(uint8_t uc_index);
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void mailbox_send_transfer_cmd(uint8_t uc_index);
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void mailbox_send_abort_cmd(uint8_t uc_index);
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void mailbox_init(uint8_t uc_index);
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uint32_t mailbox_read(uint8_t uc_index, volatile CAN_FRAME *rxframe);
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uint32_t mailbox_tx_frame(uint8_t uc_index);
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void mailbox_set_id(uint8_t uc_index, uint32_t id, bool extended);
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void mailbox_set_priority(uint8_t uc_index, uint8_t pri);
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void mailbox_set_accept_mask(uint8_t uc_index, uint32_t mask, bool ext);
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void mailbox_set_mode(uint8_t uc_index, uint8_t mode);
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void mailbox_set_databyte(uint8_t uc_index, uint8_t bytepos, uint8_t val);
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void mailbox_set_datalen(uint8_t uc_index, uint8_t dlen);
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void mailbox_set_datal(uint8_t uc_index, uint32_t val);
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void mailbox_set_datah(uint8_t uc_index, uint32_t val);
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};
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extern CANRaw Can0;
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extern CANRaw Can1;
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#endif // _CAN_LIBRARY_
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