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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 29 | jimmy | 1 | /****************************************************************************** |
| 2 | * |
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| 3 | * Controller Area Network (CAN) Demo-Application |
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| 4 | * Atmel AVR with Microchip MCP2515 |
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| 5 | * |
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| 6 | * Copyright (C) 2005 Martin THOMAS, Kaiserslautern, Germany |
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| 7 | * <eversmith@heizung-thomas.de> |
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| 8 | * http://www.siwawi.arubi.uni-kl.de/avr_projects |
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| 9 | * |
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| 10 | ***************************************************************************** |
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| 11 | * |
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| 12 | * File : can.c |
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| 13 | * Version : 0.9 |
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| 14 | * |
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| 15 | * Summary : Interface between application and CAN-Hardware |
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| 16 | * ("middle tier", "abstraction layer") |
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| 17 | * |
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| 18 | *****************************************************************************/ |
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| 19 | |||
| 20 | #include <string.h> |
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| 21 | |||
| 22 | #include "can.h" |
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| 23 | #include "mcp2515.h" |
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| 24 | #include "timebase.h" |
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| 25 | |||
| 26 | #if (CANDEBUG) |
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| 27 | #include "uart.h" |
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| 28 | #include "debughelper.h" |
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| 29 | #include "termio.h" |
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| 30 | #endif |
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| 31 | |||
| 32 | |||
| 33 | /*extern*/ uint8_t gCANAutoProcess = CANAUTOPROCESS; |
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| 34 | |||
| 35 | |||
| 36 | uint8_t can_init(uint8_t speedset) |
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| 37 | { |
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| 38 | uint8_t res; |
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| 39 | |||
| 40 | res = mcp2515_init(speedset); |
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| 41 | |||
| 42 | if (res == MCP2515_OK) return CAN_OK; |
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| 43 | else return CAN_FAILINIT; |
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| 44 | } |
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| 45 | |||
| 46 | void can_initMessageStruct(CanMessage* msg) |
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| 47 | { |
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| 48 | memset(msg,0,sizeof(CanMessage)); |
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| 49 | } |
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| 50 | |||
| 51 | uint8_t can_sendMessage(const CanMessage* msg) |
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| 52 | { |
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| 53 | uint8_t res, txbuf_n; |
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| 54 | uint8_t timeout = 0; |
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| 55 | uint16_t time; |
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| 56 | |||
| 57 | time = timebase_actTime(); |
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| 58 | |||
| 59 | do { |
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| 60 | res = mcp2515_getNextFreeTXBuf(&txbuf_n); // info = addr. |
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| 61 | if (timebase_passedTimeMS(time) > CANSENDTIMEOUT ) timeout = 1; |
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| 62 | } while (res == MCP_ALLTXBUSY && !timeout); |
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| 63 | |||
| 64 | if (!timeout) { |
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| 65 | mcp2515_write_canMsg( txbuf_n, msg); |
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| 66 | mcp2515_start_transmit( txbuf_n ); |
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| 67 | return CAN_OK; |
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| 68 | } |
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| 69 | else { |
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| 70 | #if (CANDEBUG) |
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| 71 | term_puts_P("Transmit timeout\n"); |
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| 72 | #endif |
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| 73 | return CAN_FAILTX; |
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| 74 | } |
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| 75 | } |
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| 76 | |||
| 77 | uint8_t can_readMessage(CanMessage *msg) |
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| 78 | { |
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| 79 | uint8_t stat, res; |
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| 80 | |||
| 81 | stat = mcp2515_readStatus(); |
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| 82 | |||
| 83 | if ( stat & MCP_STAT_RX0IF ) { |
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| 84 | // Msg in Buffer 0 |
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| 85 | mcp2515_read_canMsg( MCP_RXBUF_0, msg); |
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| 86 | mcp2515_modifyRegister(MCP_CANINTF, MCP_RX0IF, 0); |
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| 87 | res = CAN_OK; |
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| 88 | } |
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| 89 | else if ( stat & MCP_STAT_RX1IF ) { |
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| 90 | // Msg in Buffer 1 |
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| 91 | mcp2515_read_canMsg( MCP_RXBUF_1, msg); |
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| 92 | mcp2515_modifyRegister(MCP_CANINTF, MCP_RX1IF, 0); |
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| 93 | res = CAN_OK; |
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| 94 | } |
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| 95 | else { |
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| 96 | res = CAN_NOMSG; |
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| 97 | } |
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| 98 | |||
| 99 | return res; |
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| 100 | } |
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| 101 | |||
| 102 | /* returns either |
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| 103 | #define CAN_MSGAVAIL (3) - a message has been received |
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| 104 | #define CAN_NOMSG (4) - no new message |
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| 105 | */ |
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| 106 | uint8_t can_checkReceive(void) |
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| 107 | { |
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| 108 | uint8_t res; |
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| 109 | |||
| 110 | res = mcp2515_readStatus(); // RXnIF in Bit 1 and 0 |
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| 111 | if ( res & MCP_STAT_RXIF_MASK ) { |
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| 112 | return CAN_MSGAVAIL; |
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| 113 | } |
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| 114 | else { |
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| 115 | return CAN_NOMSG; |
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| 116 | } |
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| 117 | } |
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| 118 | |||
| 119 | /* checks Controller-Error-State, returns CAN_OK or CAN_CTRLERROR |
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| 120 | only errors (and not warnings) lead to "CTRLERROR" */ |
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| 121 | uint8_t can_checkError(void) |
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| 122 | { |
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| 123 | uint8_t eflg = mcp2515_readRegister(MCP_EFLG); |
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| 124 | |||
| 125 | if ( eflg & MCP_EFLG_ERRORMASK ) { |
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| 126 | return CAN_CTRLERROR; |
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| 127 | } |
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| 128 | else { |
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| 129 | return CAN_OK; |
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| 130 | } |
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| 131 | } |
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| 132 | |||
| 133 | #if (CANDEBUG) |
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| 134 | |||
| 135 | uint8_t can_testTransmit(const uint8_t ext, const uint8_t data2) |
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| 136 | { |
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| 137 | CanMessage msg; |
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| 138 | |||
| 139 | can_initMessageStruct(&msg); |
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| 140 | msg.identifier = CANDEFAULTIDENT; |
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| 141 | msg.extended_identifier = ext; |
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| 142 | msg.dlc = 3; |
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| 143 | msg.dta[0] = 'M'; |
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| 144 | msg.dta[1] = 'T'; |
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| 145 | msg.dta[2] = data2; |
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| 146 | |||
| 147 | return can_sendMessage(&msg); |
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| 148 | } |
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| 149 | |||
| 150 | void can_debug1(void) |
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| 151 | { |
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| 152 | uint8_t i; |
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| 153 | // CanMessage msg; |
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| 154 | |||
| 155 | term_puts_P("CAN-DEBUG 1\r"); |
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| 156 | i = mcp2515_readRegister(MCP_CANCTRL); |
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| 157 | Debug_ByteToUart_P("CANCTRL", i); |
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| 158 | i = mcp2515_readRegister(MCP_CANSTAT); |
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| 159 | Debug_ByteToUart_P("CANSTAT", i); |
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| 160 | i = mcp2515_readRegister(MCP_CNF1); |
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| 161 | Debug_ByteToUart_P("CNF1", i); |
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| 162 | i = mcp2515_readRegister(MCP_CNF2); |
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| 163 | Debug_ByteToUart_P("CNF2", i); |
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| 164 | i = mcp2515_readRegister(MCP_CNF3); |
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| 165 | Debug_ByteToUart_P("CNF3", i); |
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| 166 | |||
| 167 | #if CANUSELOOP == 1 |
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| 168 | term_puts_P("Setting Loopback-Mode - "); |
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| 169 | if ( mcp2515_setCANCTRL_Mode(MODE_LOOPBACK) == MCP2515_OK) { |
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| 170 | uart_puts_P("OK\r"); |
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| 171 | } |
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| 172 | else { |
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| 173 | uart_puts_P("failed\r"); |
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| 174 | } |
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| 175 | #else |
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| 176 | term_puts_P("Setting Normal-Mode - "); |
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| 177 | if ( mcp2515_setCANCTRL_Mode(MODE_NORMAL) == MCP2515_OK) { |
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| 178 | uart_puts_P("OK\r"); |
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| 179 | } |
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| 180 | else { |
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| 181 | uart_puts_P("failed\r"); |
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| 182 | } |
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| 183 | #endif |
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| 184 | |||
| 185 | i = mcp2515_readRegister(MCP_CANCTRL); |
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| 186 | Debug_ByteToUart_P("CANCTRL", i); |
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| 187 | i = mcp2515_readRegister(MCP_RXB0CTRL); |
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| 188 | Debug_ByteToUart_P("RXB0CTRL", i); |
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| 189 | i = mcp2515_readRegister(MCP_RXB1CTRL); |
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| 190 | Debug_ByteToUart_P("RXB1CTRL", i); |
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| 191 | |||
| 192 | #if 0 |
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| 193 | can_initMessageStruct(&msg); |
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| 194 | msg.identifier = CANDEFAULTIDENT; |
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| 195 | msg.extended_identifier = CAN_STDID; // CANDEFAULTIDENTEXT; |
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| 196 | msg.dlc = 3; |
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| 197 | msg.dta[0] = 'M'; |
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| 198 | msg.dta[1] = 'T'; |
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| 199 | msg.dta[2] = '1'; |
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| 200 | term_puts_P("Sending a message..."); |
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| 201 | can_sendMessage(&msg); |
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| 202 | |||
| 203 | msg.extended_identifier = CANDEFAULTIDENTEXT; |
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| 204 | msg.dta[2] = '2'; |
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| 205 | term_puts_P("Sending a message..."); |
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| 206 | can_sendMessage(&msg); |
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| 207 | #endif |
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| 208 | } |
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| 209 | |||
| 210 | void can_dumpMessage(CanMessage *msg) |
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| 211 | { |
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| 212 | uint8_t i; |
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| 213 | |||
| 214 | term_puts_P("\nMessage-Dump :\n"); |
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| 215 | // identifier type 0=standard 1=extended: |
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| 216 | if ( (msg->extended_identifier) == CAN_EXTID ) { |
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| 217 | term_puts_P("Extended"); |
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| 218 | } |
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| 219 | else { |
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| 220 | term_puts_P("Standard"); |
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| 221 | } |
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| 222 | term_puts_P("-Identifier :\n"); |
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| 223 | Debug_ByteToUart_P("Byte 0", (uint8_t) ( (msg->identifier) )); |
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| 224 | Debug_ByteToUart_P("Byte 1", (uint8_t) ( (msg->identifier) >> 8 )); |
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| 225 | if ( (msg->extended_identifier) == CAN_EXTID ) { |
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| 226 | Debug_ByteToUart_P("Byte 2", (uint8_t) ( (msg->identifier) >> 16 )); |
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| 227 | Debug_ByteToUart_P("Byte 3", (uint8_t) ( (msg->identifier) >> 24 )); |
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| 228 | } |
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| 229 | |||
| 230 | // data length: |
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| 231 | term_puts_P("Data :\n"); |
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| 232 | Debug_ByteToUart_P( "dlc", msg->dlc ); |
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| 233 | for (i=0;i<msg->dlc;i++) { |
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| 234 | Debug_ByteToUart_P( "dta", msg->dta[i] ); |
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| 235 | } |
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| 236 | |||
| 237 | term_puts_P("Meta:\n"); |
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| 238 | // used for receive only: |
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| 239 | // Received Remote Transfer Bit |
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| 240 | // (0=no... 1=remote transfer request received) |
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| 241 | Debug_ByteToUart_P( "rtr", msg->rtr ); |
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| 242 | // Acceptence Filter that enabled the reception |
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| 243 | Debug_ByteToUart_P( "filhit", msg->filhit ); |
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| 244 | } |
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| 245 | |||
| 246 | void can_dumpStatus(void) |
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| 247 | { |
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| 248 | mcp2515_dumpExtendedStatus(); |
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| 249 | } |
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| 250 | |||
| 251 | #endif /* CANDEBUG */ |