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Merge pull request #1480 from dalathegreat/bugfix/foxess-can-crash

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Restore CAN-FD library to v2.1.4
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Daniel Öster 2025-09-02 18:28:33 +03:00 • committed by GitHub
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Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD.cpp
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@ -1,20 +1,20 @@
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// A CAN driver for MCP2517FD, CANFD mode // A CAN driver for MCP2517FD, CANFD mode
// by Pierre Molinaro // by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD // https://github.com/pierremolinaro/acan2517FD
// //
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#include "ACAN2517FD.h" #include "ACAN2517FD.h"
#include "../../system_settings.h" //Contains task priority //Modded by Battery-Emulator #include "../../system_settings.h" //Contains task priority
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
static const uint8_t TXBWS = 0 ; static const uint8_t TXBWS = 0 ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// Note about ESP32 // Note about ESP32
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// //
// It appears that Arduino ESP32 interrupts are managed in a completely different way from "usual" Arduino: // It appears that Arduino ESP32 interrupts are managed in a completely different way from "usual" Arduino:
// - SPI.usingInterrupt is not implemented; // - SPI.usingInterrupt is not implemented;
@ -43,7 +43,7 @@ static const uint8_t TXBWS = 0 ;
// #endif // #endif
// mSPI.endTransaction () ; // mSPI.endTransaction () ;
// //
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#ifdef ARDUINO_ARCH_ESP32 #ifdef ARDUINO_ARCH_ESP32
static void myESP32Task (void * pData) { static void myESP32Task (void * pData) {
@ -55,9 +55,9 @@ static const uint8_t TXBWS = 0 ;
} }
#endif #endif
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// ACAN2517FD register addresses // ACAN2517FD register addresses
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
static const uint16_t CON_REGISTER = 0x000 ; static const uint16_t CON_REGISTER = 0x000 ;
static const uint16_t NBTCFG_REGISTER = 0x004 ; static const uint16_t NBTCFG_REGISTER = 0x004 ;
@ -68,85 +68,85 @@ static const uint16_t TREC_REGISTER = 0x034 ;
static const uint16_t BDIAG0_REGISTER = 0x038 ; static const uint16_t BDIAG0_REGISTER = 0x038 ;
static const uint16_t BDIAG1_REGISTER = 0x03C ; static const uint16_t BDIAG1_REGISTER = 0x03C ;
//------------------------------------------------------------------------------ //······················································································································
// TXQ REGISTERS // TXQ REGISTERS
//------------------------------------------------------------------------------ //······················································································································
static const uint16_t TXQCON_REGISTER = 0x050 ; static const uint16_t TXQCON_REGISTER = 0x050 ;
static const uint16_t TXQSTA_REGISTER = 0x054 ; static const uint16_t TXQSTA_REGISTER = 0x054 ;
static const uint16_t TXQUA_REGISTER = 0x058 ; static const uint16_t TXQUA_REGISTER = 0x058 ;
//------------------------------------------------------------------------------ //······················································································································
// INTERRUPT REGISTERS // INTERRUPT REGISTERS
//------------------------------------------------------------------------------ //······················································································································
static const uint16_t INT_REGISTER = 0x01C ; static const uint16_t INT_REGISTER = 0x01C ;
//------------------------------------------------------------------------------ //······················································································································
// FIFO REGISTERS // FIFO REGISTERS
//------------------------------------------------------------------------------ //······················································································································
static uint16_t FIFOCON_REGISTER (const uint16_t inFIFOIndex) { // 1 ... 31 static uint16_t FIFOCON_REGISTER (const uint16_t inFIFOIndex) { // 1 ... 31
return 0x05C + 12 * (inFIFOIndex - 1) ; return 0x05C + 12 * (inFIFOIndex - 1) ;
} }
//------------------------------------------------------------------------------ //······················································································································
static uint16_t FIFOSTA_REGISTER (const uint16_t inFIFOIndex) { // 1 ... 31 static uint16_t FIFOSTA_REGISTER (const uint16_t inFIFOIndex) { // 1 ... 31
return 0x060 + 12 * (inFIFOIndex - 1) ; return 0x060 + 12 * (inFIFOIndex - 1) ;
} }
//------------------------------------------------------------------------------ //······················································································································
static uint16_t FIFOUA_REGISTER (const uint16_t inFIFOIndex) { // 1 ... 31 static uint16_t FIFOUA_REGISTER (const uint16_t inFIFOIndex) { // 1 ... 31
return 0x064 + 12 * (inFIFOIndex - 1) ; return 0x064 + 12 * (inFIFOIndex - 1) ;
} }
//------------------------------------------------------------------------------ //······················································································································
// FILTER REGISTERS // FILTER REGISTERS
//------------------------------------------------------------------------------ //······················································································································
static uint16_t FLTCON_REGISTER (const uint16_t inFilterIndex) { // 0 ... 31 (DS20005688B, page 58) static uint16_t FLTCON_REGISTER (const uint16_t inFilterIndex) { // 0 ... 31 (DS20005688B, page 58)
return 0x1D0 + inFilterIndex ; return 0x1D0 + inFilterIndex ;
} }
//------------------------------------------------------------------------------ //······················································································································
static uint16_t FLTOBJ_REGISTER (const uint16_t inFilterIndex) { // 0 ... 31 (DS20005688B, page 60) static uint16_t FLTOBJ_REGISTER (const uint16_t inFilterIndex) { // 0 ... 31 (DS20005688B, page 60)
return 0x1F0 + 8 * inFilterIndex ; return 0x1F0 + 8 * inFilterIndex ;
} }
//------------------------------------------------------------------------------ //······················································································································
static uint16_t MASK_REGISTER (const uint16_t inFilterIndex) { // 0 ... 31 (DS20005688B, page 61) static uint16_t MASK_REGISTER (const uint16_t inFilterIndex) { // 0 ... 31 (DS20005688B, page 61)
return 0x1F4 + 8 * inFilterIndex ; return 0x1F4 + 8 * inFilterIndex ;
} }
//------------------------------------------------------------------------------ //······················································································································
// OSCILLATOR REGISTER // OSCILLATOR REGISTER
//------------------------------------------------------------------------------ //······················································································································
static const uint16_t OSC_REGISTER = 0xE00 ; static const uint16_t OSC_REGISTER = 0xE00 ;
//------------------------------------------------------------------------------ //······················································································································
// INPUT / OUPUT CONTROL REGISTER // INPUT / OUPUT CONTROL REGISTER
//------------------------------------------------------------------------------ //······················································································································
static const uint16_t IOCON_REGISTER_00_07 = 0xE04 ; static const uint16_t IOCON_REGISTER_00_07 = 0xE04 ;
static const uint16_t IOCON_REGISTER_08_15 = 0xE05 ; static const uint16_t IOCON_REGISTER_08_15 = 0xE05 ;
static const uint16_t IOCON_REGISTER_16_23 = 0xE06 ; static const uint16_t IOCON_REGISTER_16_23 = 0xE06 ;
static const uint16_t IOCON_REGISTER_24_31 = 0xE07 ; static const uint16_t IOCON_REGISTER_24_31 = 0xE07 ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// RECEIVE FIFO INDEX // RECEIVE FIFO INDEX
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
static const uint8_t RECEIVE_FIFO_INDEX = 1 ; static const uint8_t RECEIVE_FIFO_INDEX = 1 ;
static const uint8_t TRANSMIT_FIFO_INDEX = 2 ; static const uint8_t TRANSMIT_FIFO_INDEX = 2 ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// BYTE BUFFER UTILITY FUNCTIONS // BYTE BUFFER UTILITY FUNCTIONS
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
static void enterU32InBufferAtIndex (const uint32_t inValue, uint8_t ioBuffer [], const uint8_t inIndex) { static void enterU32InBufferAtIndex (const uint32_t inValue, uint8_t ioBuffer [], const uint8_t inIndex) {
ioBuffer [inIndex + 0] = (uint8_t) inValue ; ioBuffer [inIndex + 0] = (uint8_t) inValue ;
@ -155,7 +155,7 @@ static void enterU32InBufferAtIndex (const uint32_t inValue, uint8_t ioBuffer []
ioBuffer [inIndex + 3] = (uint8_t) (inValue >> 24) ; ioBuffer [inIndex + 3] = (uint8_t) (inValue >> 24) ;
} }
//------------------------------------------------------------------------------ //······················································································································
static uint32_t u32FromBufferAtIndex (uint8_t ioBuffer [], const uint8_t inIndex) { static uint32_t u32FromBufferAtIndex (uint8_t ioBuffer [], const uint8_t inIndex) {
uint32_t result = (uint32_t) ioBuffer [inIndex + 0] ; uint32_t result = (uint32_t) ioBuffer [inIndex + 0] ;
@ -165,7 +165,7 @@ static uint32_t u32FromBufferAtIndex (uint8_t ioBuffer [], const uint8_t inIndex
return result ; return result ;
} }
//------------------------------------------------------------------------------ //······················································································································
static uint16_t u16FromBufferAtIndex (uint8_t ioBuffer [], const uint8_t inIndex) { static uint16_t u16FromBufferAtIndex (uint8_t ioBuffer [], const uint8_t inIndex) {
uint16_t result = (uint16_t) ioBuffer [inIndex + 0] ; uint16_t result = (uint16_t) ioBuffer [inIndex + 0] ;
@ -173,7 +173,8 @@ static uint16_t u16FromBufferAtIndex (uint8_t ioBuffer [], const uint8_t inIndex
return result ; return result ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
static inline void turnOffInterrupts () { static inline void turnOffInterrupts () {
#ifndef DISABLEMCP2517FDCOMPAT #ifndef DISABLEMCP2517FDCOMPAT
#ifdef ARDUINO_ARCH_ESP32 #ifdef ARDUINO_ARCH_ESP32
@ -208,6 +209,7 @@ mINT (inINT),
mUsesTXQ (false), mUsesTXQ (false),
mHardwareTxFIFOFull (false), mHardwareTxFIFOFull (false),
mRxInterruptEnabled (true), mRxInterruptEnabled (true),
mHasDataBitRate (false),
mTransmitFIFOPayload (0), mTransmitFIFOPayload (0),
mTXQBufferPayload (0), mTXQBufferPayload (0),
mReceiveFIFOPayload (0), mReceiveFIFOPayload (0),
@ -221,7 +223,7 @@ mDriverTransmitBuffer ()
{ {
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings, uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
void (* inInterruptServiceRoutine) (void)) { void (* inInterruptServiceRoutine) (void)) {
@ -232,7 +234,7 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
return begin (inSettings, inInterruptServiceRoutine, filters) ; return begin (inSettings, inInterruptServiceRoutine, filters) ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings, uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
void (* inInterruptServiceRoutine) (void), void (* inInterruptServiceRoutine) (void),
@ -501,6 +503,8 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
// bits 11-8: TSEG2 - 1 // bits 11-8: TSEG2 - 1
// bits 7-4: unused // bits 7-4: unused
// bits 3-0: SJW - 1 // bits 3-0: SJW - 1
mHasDataBitRate = inSettings.mDataBitRateFactor != ::DataBitRateFactor::x1 ;
if (mHasDataBitRate) {
data = inSettings.mBitRatePrescaler - 1 ; data = inSettings.mBitRatePrescaler - 1 ;
data <<= 8 ; data <<= 8 ;
data |= inSettings.mDataPhaseSegment1 - 1 ; data |= inSettings.mDataPhaseSegment1 - 1 ;
@ -509,6 +513,7 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
data <<= 8 ; data <<= 8 ;
data |= inSettings.mDataSJW - 1 ; data |= inSettings.mDataSJW - 1 ;
writeRegister32 (DBTCFG_REGISTER, data) ; writeRegister32 (DBTCFG_REGISTER, data) ;
}
//----------------------------------- Request mode (CON_REGISTER + 3, DS20005688B, page 24) //----------------------------------- Request mode (CON_REGISTER + 3, DS20005688B, page 24)
// bits 7-4: Transmit Bandwith Sharing Bits ---> 0 // bits 7-4: Transmit Bandwith Sharing Bits ---> 0
// bit 3: Abort All Pending Transmissions bit --> 0 // bit 3: Abort All Pending Transmissions bit --> 0
@ -526,14 +531,14 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
} }
} }
#ifdef ARDUINO_ARCH_ESP32 #ifdef ARDUINO_ARCH_ESP32
xTaskCreate (myESP32Task, "ACAN2517Handler", 1024, this, TASK_ACAN2517FD_PRIORITY, &mESP32TaskHandle) ; //Modded by Battery-Emulator xTaskCreate (myESP32Task, "ACAN2517Handler", 1024, this, TASK_ACAN2517FD_PRIORITY, &mESP32TaskHandle) ;
#endif #endif
if (mINT != 255) { // 255 means interrupt is not used if (mINT != 255) { // 255 means interrupt is not used
#ifdef ARDUINO_ARCH_ESP32 #ifdef ARDUINO_ARCH_ESP32
attachInterrupt (itPin, inInterruptServiceRoutine, FALLING) ; attachInterrupt (itPin, inInterruptServiceRoutine, FALLING) ;
#else #else
mSPI.usingInterrupt (itPin) ; // usingInterrupt is not implemented in Arduino ESP32
attachInterrupt (itPin, inInterruptServiceRoutine, LOW) ; // Thank to Flole998 attachInterrupt (itPin, inInterruptServiceRoutine, LOW) ; // Thank to Flole998
mSPI.usingInterrupt (itPin) ; // usingInterrupt is not implemented in Arduino ESP32
#endif #endif
} }
// If you begin() multiple times without constructor, // If you begin() multiple times without constructor,
@ -545,9 +550,9 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
return errorCode ; return errorCode ;
} }
//------------------------------------------------------------------------------ //······················································································································
// end method (resets the MCP2517FD, deallocate buffers, and detach interrupt pin) // end method (resets the MCP2517FD, deallocate buffers, and detach interrupt pin)
//------------------------------------------------------------------------------ //······················································································································
bool ACAN2517FD::end (void) { bool ACAN2517FD::end (void) {
mSPI.beginTransaction (mSPISettings) ; mSPI.beginTransaction (mSPISettings) ;
@ -592,19 +597,15 @@ bool ACAN2517FD::end (void) {
return ok ; return ok ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// SEND FRAME // SEND FRAME
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::tryToSend (const CANFDMessage & inMessage) { bool ACAN2517FD::tryToSend (const CANFDMessage & inMessage) {
bool ok = inMessage.isValid () ; bool ok = inMessage.isValid () ;
if (ok) { if (ok) {
mSPI.beginTransaction (mSPISettings) ; mSPI.beginTransaction (mSPISettings) ;
#ifdef ARDUINO_ARCH_ESP32 turnOffInterrupts () ;
taskDISABLE_INTERRUPTS () ;
#else
noInterrupts () ;
#endif
if (inMessage.idx == 0) { if (inMessage.idx == 0) {
ok = inMessage.len <= mTransmitFIFOPayload ; ok = inMessage.len <= mTransmitFIFOPayload ;
if (ok) { if (ok) {
@ -622,7 +623,7 @@ bool ACAN2517FD::tryToSend (const CANFDMessage & inMessage) {
return ok ; return ok ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::enterInTransmitBuffer (const CANFDMessage & inMessage) { bool ACAN2517FD::enterInTransmitBuffer (const CANFDMessage & inMessage) {
bool result ; bool result ;
@ -644,7 +645,7 @@ bool ACAN2517FD::enterInTransmitBuffer (const CANFDMessage & inMessage) {
return result ; return result ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
static uint32_t lengthCodeForLength (const uint8_t inLength) { static uint32_t lengthCodeForLength (const uint8_t inLength) {
uint32_t result = inLength & 0x0F ; uint32_t result = inLength & 0x0F ;
@ -660,7 +661,7 @@ static uint32_t lengthCodeForLength (const uint8_t inLength) {
return result ; return result ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::appendInControllerTxFIFO (const CANFDMessage & inMessage) { void ACAN2517FD::appendInControllerTxFIFO (const CANFDMessage & inMessage) {
const uint16_t ramAddr = uint16_t (0x400 + readRegister32Assume_SPI_transaction (FIFOUA_REGISTER (TRANSMIT_FIFO_INDEX))) ; const uint16_t ramAddr = uint16_t (0x400 + readRegister32Assume_SPI_transaction (FIFOUA_REGISTER (TRANSMIT_FIFO_INDEX))) ;
@ -685,7 +686,9 @@ void ACAN2517FD::appendInControllerTxFIFO (const CANFDMessage & inMessage) {
break ; break ;
case CANFDMessage::CANFD_WITH_BIT_RATE_SWITCH : case CANFDMessage::CANFD_WITH_BIT_RATE_SWITCH :
flags |= 1 << 7 ; // Set FDF bit flags |= 1 << 7 ; // Set FDF bit
if (mHasDataBitRate) {
flags |= 1 << 6 ; // Set BRS bit flags |= 1 << 6 ; // Set BRS bit
}
break ; break ;
} }
//--- Word count //--- Word count
@ -711,7 +714,7 @@ void ACAN2517FD::appendInControllerTxFIFO (const CANFDMessage & inMessage) {
writeRegister8Assume_SPI_transaction (FIFOCON_REGISTER (TRANSMIT_FIFO_INDEX) + 1, data8); writeRegister8Assume_SPI_transaction (FIFOCON_REGISTER (TRANSMIT_FIFO_INDEX) + 1, data8);
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::sendViaTXQ (const CANFDMessage & inMessage) { bool ACAN2517FD::sendViaTXQ (const CANFDMessage & inMessage) {
bool ok = mUsesTXQ ; bool ok = mUsesTXQ ;
@ -748,7 +751,9 @@ bool ACAN2517FD::sendViaTXQ (const CANFDMessage & inMessage) {
break ; break ;
case CANFDMessage::CANFD_WITH_BIT_RATE_SWITCH : case CANFDMessage::CANFD_WITH_BIT_RATE_SWITCH :
flags |= 1 << 7 ; // Set FDF bit flags |= 1 << 7 ; // Set FDF bit
if (mHasDataBitRate) {
flags |= 1 << 6 ; // Set BRS bit flags |= 1 << 6 ; // Set BRS bit
}
break ; break ;
} }
//--- Word count //--- Word count
@ -777,9 +782,9 @@ bool ACAN2517FD::sendViaTXQ (const CANFDMessage & inMessage) {
return ok ; return ok ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// RECEIVE FRAME // RECEIVE FRAME
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::available (void) { bool ACAN2517FD::available (void) {
mSPI.beginTransaction (mSPISettings) ; mSPI.beginTransaction (mSPISettings) ;
@ -790,35 +795,28 @@ bool ACAN2517FD::available (void) {
return hasReceivedMessage ; return hasReceivedMessage ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::receive (CANFDMessage & outMessage) { bool ACAN2517FD::receive (CANFDMessage & outMessage) {
mSPI.beginTransaction (mSPISettings) ;
turnOffInterrupts () ;
const bool hasReceivedMessage = mDriverReceiveBuffer.remove (outMessage) ; const bool hasReceivedMessage = mDriverReceiveBuffer.remove (outMessage) ;
//--- If receive interrupt is disabled, enable it (added in release 2.17) //--- If receive interrupt is disabled, enable it (added in release 2.17)
if (mINT == 255) { // No interrupt pin if (mINT == 255) { // No interrupt pin
mRxInterruptEnabled = true ; mRxInterruptEnabled = true ;
isr_poll_core () ; // Perform polling isr_poll_core () ; // Perform polling
}else if (!mRxInterruptEnabled) { }else if (!mRxInterruptEnabled) {
mSPI.beginTransaction (mSPISettings) ;
#ifdef ARDUINO_ARCH_ESP32
taskDISABLE_INTERRUPTS () ;
#else
noInterrupts () ;
#endif
mRxInterruptEnabled = true ; mRxInterruptEnabled = true ;
uint8_t data8 = readRegister8Assume_SPI_transaction (INT_REGISTER + 2) ; uint8_t data8 = readRegister8Assume_SPI_transaction (INT_REGISTER + 2) ;
data8 |= (1 << 1) ; // Receive FIFO Interrupt Enable data8 |= (1 << 1) ; // Receive FIFO Interrupt Enable
writeRegister8Assume_SPI_transaction (INT_REGISTER + 2, data8) ; writeRegister8Assume_SPI_transaction (INT_REGISTER + 2, data8) ;
}
turnOnInterrupts(); turnOnInterrupts();
mSPI.endTransaction () ; mSPI.endTransaction () ;
}
return hasReceivedMessage ; return hasReceivedMessage ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMatchCallBack) { bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMatchCallBack) {
CANFDMessage receivedMessage ; CANFDMessage receivedMessage ;
@ -836,9 +834,9 @@ bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMat
return hasReceived ; return hasReceived ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// POLLING (ESP32) // POLLING (ESP32)
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#ifdef ARDUINO_ARCH_ESP32 #ifdef ARDUINO_ARCH_ESP32
void ACAN2517FD::poll (void) { void ACAN2517FD::poll (void) {
@ -848,22 +846,22 @@ bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMat
} }
#endif #endif
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// POLLING (other than ESP32) // POLLING (other than ESP32)
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#ifndef ARDUINO_ARCH_ESP32 #ifndef ARDUINO_ARCH_ESP32
void ACAN2517FD::poll (void) { void ACAN2517FD::poll (void) {
noInterrupts () ; turnOffInterrupts () ;
isr_poll_core () ; isr_poll_core () ;
interrupts () ; turnOnInterrupts () ;
} }
#endif #endif
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// INTERRUPT SERVICE ROUTINE (ESP32) // INTERRUPT SERVICE ROUTINE (ESP32)
// https://stackoverflow.com/questions/51750377/how-to-disable-interrupt-watchdog-in-esp32-or-increase-isr-time-limit // https://stackoverflow.com/questions/51750377/how-to-disable-interrupt-watchdog-in-esp32-or-increase-isr-time-limit
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#ifdef ARDUINO_ARCH_ESP32 #ifdef ARDUINO_ARCH_ESP32
void ACAN2517FD::isr (void) { void ACAN2517FD::isr (void) {
@ -873,9 +871,9 @@ bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMat
} }
#endif #endif
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// INTERRUPT SERVICE ROUTINE (other than ESP32) // INTERRUPT SERVICE ROUTINE (other than ESP32)
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#ifndef ARDUINO_ARCH_ESP32 #ifndef ARDUINO_ARCH_ESP32
void ACAN2517FD::isr (void) { void ACAN2517FD::isr (void) {
@ -883,9 +881,9 @@ bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMat
} }
#endif #endif
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// INTERRUPT SERVICE ROUTINES (common) // INTERRUPT SERVICE ROUTINES (common)
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::isr_poll_core (void) { void ACAN2517FD::isr_poll_core (void) {
mSPI.beginTransaction (mSPISettings) ; mSPI.beginTransaction (mSPISettings) ;
@ -935,7 +933,7 @@ void ACAN2517FD::isr_poll_core (void) {
mSPI.endTransaction () ; mSPI.endTransaction () ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::transmitInterrupt (void) { // Generated if hardware transmit FIFO is not full void ACAN2517FD::transmitInterrupt (void) { // Generated if hardware transmit FIFO is not full
CANFDMessage message ; CANFDMessage message ;
@ -950,7 +948,7 @@ void ACAN2517FD::transmitInterrupt (void) { // Generated if hardware transmit FI
} }
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::receiveInterrupt (void) { void ACAN2517FD::receiveInterrupt (void) {
const uint16_t ramAddress = uint16_t (0x400 + readRegister32Assume_SPI_transaction (FIFOUA_REGISTER (RECEIVE_FIFO_INDEX))) ; const uint16_t ramAddress = uint16_t (0x400 + readRegister32Assume_SPI_transaction (FIFOUA_REGISTER (RECEIVE_FIFO_INDEX))) ;
@ -1009,9 +1007,9 @@ void ACAN2517FD::receiveInterrupt (void) {
} }
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// MCP2517FD REGISTER ACCESS, SECOND LEVEL FUNCTIONS (HANDLE CS, ASSUME WITHIN SPI TRANSACTION) // MCP2517FD REGISTER ACCESS, SECOND LEVEL FUNCTIONS (HANDLE CS, ASSUME WITHIN SPI TRANSACTION)
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::writeRegister32Assume_SPI_transaction (const uint16_t inRegisterAddress, void ACAN2517FD::writeRegister32Assume_SPI_transaction (const uint16_t inRegisterAddress,
const uint32_t inValue) { const uint32_t inValue) {
@ -1029,7 +1027,7 @@ void ACAN2517FD::writeRegister32Assume_SPI_transaction (const uint16_t inRegiste
deassertCS () ; deassertCS () ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::writeRegister8Assume_SPI_transaction (const uint16_t inRegisterAddress, void ACAN2517FD::writeRegister8Assume_SPI_transaction (const uint16_t inRegisterAddress,
const uint8_t inValue) { const uint8_t inValue) {
@ -1044,7 +1042,7 @@ void ACAN2517FD::writeRegister8Assume_SPI_transaction (const uint16_t inRegister
deassertCS () ; deassertCS () ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::readRegister32Assume_SPI_transaction (const uint16_t inRegisterAddress) { uint32_t ACAN2517FD::readRegister32Assume_SPI_transaction (const uint16_t inRegisterAddress) {
//--- Read word register via 6-byte buffer (speed enhancement, thanks to thomasfla) //--- Read word register via 6-byte buffer (speed enhancement, thanks to thomasfla)
@ -1063,7 +1061,7 @@ uint32_t ACAN2517FD::readRegister32Assume_SPI_transaction (const uint16_t inRegi
return result ; return result ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint16_t ACAN2517FD::readRegister16Assume_SPI_transaction (const uint16_t inRegisterAddress) { uint16_t ACAN2517FD::readRegister16Assume_SPI_transaction (const uint16_t inRegisterAddress) {
//--- Read half-word register via 4-byte buffer (speed enhancement, thanks to thomasfla) //--- Read half-word register via 4-byte buffer (speed enhancement, thanks to thomasfla)
@ -1082,7 +1080,7 @@ uint16_t ACAN2517FD::readRegister16Assume_SPI_transaction (const uint16_t inRegi
return result ; return result ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint8_t ACAN2517FD::readRegister8Assume_SPI_transaction (const uint16_t inRegisterAddress) { uint8_t ACAN2517FD::readRegister8Assume_SPI_transaction (const uint16_t inRegisterAddress) {
//--- Read byte register via 3-byte buffer (speed enhancement, thanks to thomasfla) //--- Read byte register via 3-byte buffer (speed enhancement, thanks to thomasfla)
@ -1096,9 +1094,9 @@ uint8_t ACAN2517FD::readRegister8Assume_SPI_transaction (const uint16_t inRegist
return buffer [2] ; return buffer [2] ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// MCP2517FD REGISTER ACCESS, THIRD LEVEL FUNCTIONS (HANDLE CS AND SPI TRANSACTION) // MCP2517FD REGISTER ACCESS, THIRD LEVEL FUNCTIONS (HANDLE CS AND SPI TRANSACTION)
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::writeRegister8 (const uint16_t inRegisterAddress, const uint8_t inValue) { void ACAN2517FD::writeRegister8 (const uint16_t inRegisterAddress, const uint8_t inValue) {
mSPI.beginTransaction (mSPISettings) ; mSPI.beginTransaction (mSPISettings) ;
@ -1108,7 +1106,7 @@ void ACAN2517FD::writeRegister8 (const uint16_t inRegisterAddress, const uint8_t
mSPI.endTransaction () ; mSPI.endTransaction () ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint8_t ACAN2517FD::readRegister8 (const uint16_t inRegisterAddress) { uint8_t ACAN2517FD::readRegister8 (const uint16_t inRegisterAddress) {
mSPI.beginTransaction (mSPISettings) ; mSPI.beginTransaction (mSPISettings) ;
@ -1119,7 +1117,7 @@ turnOnInterrupts () ;
return result ; return result ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint16_t ACAN2517FD::readRegister16 (const uint16_t inRegisterAddress) { uint16_t ACAN2517FD::readRegister16 (const uint16_t inRegisterAddress) {
mSPI.beginTransaction (mSPISettings) ; mSPI.beginTransaction (mSPISettings) ;
@ -1130,7 +1128,7 @@ turnOnInterrupts () ;
return result ; return result ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::writeRegister32 (const uint16_t inRegisterAddress, const uint32_t inValue) { void ACAN2517FD::writeRegister32 (const uint16_t inRegisterAddress, const uint32_t inValue) {
mSPI.beginTransaction (mSPISettings) ; mSPI.beginTransaction (mSPISettings) ;
@ -1140,7 +1138,7 @@ turnOnInterrupts () ;
mSPI.endTransaction () ; mSPI.endTransaction () ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::readRegister32 (const uint16_t inRegisterAddress) { uint32_t ACAN2517FD::readRegister32 (const uint16_t inRegisterAddress) {
mSPI.beginTransaction (mSPISettings) ; mSPI.beginTransaction (mSPISettings) ;
@ -1151,16 +1149,16 @@ turnOnInterrupts () ;
return result ; return result ;
} }
//------------------------------------------------------------------------------ //······················································································································
// Current MCP2517FD Operation Mode // Current MCP2517FD Operation Mode
//------------------------------------------------------------------------------ //······················································································································
ACAN2517FDSettings::OperationMode ACAN2517FD::currentOperationMode (void) { ACAN2517FDSettings::OperationMode ACAN2517FD::currentOperationMode (void) {
const uint8_t mode = readRegister8 (CON_REGISTER + 2) >> 5 ; const uint8_t mode = readRegister8 (CON_REGISTER + 2) >> 5 ;
return ACAN2517FDSettings::OperationMode (mode) ; return ACAN2517FDSettings::OperationMode (mode) ;
} }
//------------------------------------------------------------------------------ //······················································································································
bool ACAN2517FD::recoverFromRestrictedOperationMode (void) { bool ACAN2517FD::recoverFromRestrictedOperationMode (void) {
bool recoveryDone = false ; bool recoveryDone = false ;
@ -1184,9 +1182,9 @@ bool ACAN2517FD::recoverFromRestrictedOperationMode (void) {
return recoveryDone ; return recoveryDone ;
} }
//------------------------------------------------------------------------------ //······················································································································
// Set MCP2517FD Operation Mode // Set MCP2517FD Operation Mode
//------------------------------------------------------------------------------ //······················································································································
void ACAN2517FD::setOperationMode (const ACAN2517FDSettings::OperationMode inOperationMode) { void ACAN2517FD::setOperationMode (const ACAN2517FDSettings::OperationMode inOperationMode) {
// bits 7-4: Transmit Bandwith Sharing Bits ---> 0 // bits 7-4: Transmit Bandwith Sharing Bits ---> 0
@ -1194,7 +1192,7 @@ void ACAN2517FD::setOperationMode (const ACAN2517FDSettings::OperationMode inOpe
writeRegister8 (CON_REGISTER + 3, uint8_t (inOperationMode)); writeRegister8 (CON_REGISTER + 3, uint8_t (inOperationMode));
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::reset2517FD (void) { void ACAN2517FD::reset2517FD (void) {
mSPI.beginTransaction (mSPISettings) ; // Check RESET is performed with 800 kHz clock mSPI.beginTransaction (mSPISettings) ; // Check RESET is performed with 800 kHz clock
@ -1206,10 +1204,10 @@ turnOnInterrupts () ;
mSPI.endTransaction () ; mSPI.endTransaction () ;
} }
//------------------------------------------------------------------------------ //······················································································································
// Sleep Mode to Configuration Mode // Sleep Mode to Configuration Mode
// (returns true if MCP2517FD was in sleep mode) // (returns true if MCP2517FD was in sleep mode)
//------------------------------------------------------------------------------ //······················································································································
// The device exits Sleep mode due to a dominant edge on RXCAN or by enabling the oscillator (clearing OSC.OSCDIS). // The device exits Sleep mode due to a dominant edge on RXCAN or by enabling the oscillator (clearing OSC.OSCDIS).
// The module will transition automatically to Configuration mode. // The module will transition automatically to Configuration mode.
@ -1228,21 +1226,21 @@ bool ACAN2517FD::performSleepModeToConfigurationMode (void) {
return inSleepMode ; return inSleepMode ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::errorCounters (void) { uint32_t ACAN2517FD::errorCounters (void) {
return readRegister32 (TREC_REGISTER) ; return readRegister32 (TREC_REGISTER) ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::diagInfos (const int inIndex) { // thanks to Flole998 and turmary uint32_t ACAN2517FD::diagInfos (const int inIndex) { // thanks to Flole998 and turmary
return readRegister32 (inIndex ? BDIAG1_REGISTER: BDIAG0_REGISTER) ; return readRegister32 (inIndex ? BDIAG1_REGISTER: BDIAG0_REGISTER) ;
} }
//------------------------------------------------------------------------------ //······················································································································
// GPIO // GPIO
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::gpioSetMode (const uint8_t inPin, const uint8_t inMode) { void ACAN2517FD::gpioSetMode (const uint8_t inPin, const uint8_t inMode) {
if (inPin <= 1) { if (inPin <= 1) {
@ -1262,7 +1260,7 @@ void ACAN2517FD::gpioSetMode (const uint8_t inPin, const uint8_t inMode) {
} }
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::gpioWrite (const uint8_t inPin, const uint8_t inLevel) { void ACAN2517FD::gpioWrite (const uint8_t inPin, const uint8_t inLevel) {
if (inPin <= 1) { if (inPin <= 1) {
@ -1276,14 +1274,14 @@ void ACAN2517FD::gpioWrite (const uint8_t inPin, const uint8_t inLevel) {
} }
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::gpioRead (const uint8_t inPin) { bool ACAN2517FD::gpioRead (const uint8_t inPin) {
const uint8_t value = readRegister8 (IOCON_REGISTER_16_23) ; const uint8_t value = readRegister8 (IOCON_REGISTER_16_23) ;
return (value >> inPin) & 1 ; return (value >> inPin) & 1 ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::configureGPIO0AsXSTBY (void) { void ACAN2517FD::configureGPIO0AsXSTBY (void) {
uint8_t value = readRegister8 (IOCON_REGISTER_00_07) ; uint8_t value = readRegister8 (IOCON_REGISTER_00_07) ;
@ -1291,4 +1289,4 @@ void ACAN2517FD::configureGPIO0AsXSTBY (void) {
writeRegister8 (IOCON_REGISTER_00_07, value) ; writeRegister8 (IOCON_REGISTER_00_07, value) ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------

122
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD.h
View file

@ -1,16 +1,17 @@
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// A CAN driver for MCP2517FD, CANFD mode // A CAN driver for MCP2517FD, CANFD mode
// by Pierre Molinaro // by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD // https://github.com/pierremolinaro/acan2517FD
//------------------------------------------------------------------------------ //
//----------------------------------------------------------------------------------------------------------------------
#pragma once #pragma once
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#include "ACAN2517FDSettings.h" #include "ACAN2517FDSettings.h"
#include "ACAN2517FD_ACANFDBuffer.h" #include "ACANFDBuffer.h"
#include "ACAN2517FD_CANMessage.h" #include "CANMessage.h"
#include "ACAN2517FDFilters.h" #include "ACAN2517FDFilters.h"
#include <SPI.h> #include <SPI.h>
@ -24,23 +25,23 @@
// //
#define DISABLEMCP2517FDCOMPAT #define DISABLEMCP2517FDCOMPAT
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// ACAN2517FD class // ACAN2517FD class
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
class ACAN2517FD { class ACAN2517FD {
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// CONSTRUCTOR // CONSTRUCTOR
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: ACAN2517FD (const uint8_t inCS, // CS input of MCP2517FD public: ACAN2517FD (const uint8_t inCS, // CS input of MCP2517FD
SPIClass & inSPI, // Hardware SPI object SPIClass & inSPI, // Hardware SPI object
const uint8_t inINT) ; // INT output of MCP2517FD const uint8_t inINT) ; // INT output of MCP2517FD
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// begin method (returns 0 if no error) // begin method (returns 0 if no error)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: uint32_t begin (const ACAN2517FDSettings & inSettings, public: uint32_t begin (const ACAN2517FDSettings & inSettings,
void (* inInterruptServiceRoutine) (void)) ; void (* inInterruptServiceRoutine) (void)) ;
@ -72,22 +73,22 @@ class ACAN2517FD {
public: static const uint32_t kISRNotNullAndNoIntPin = uint32_t (1) << 19 ; public: static const uint32_t kISRNotNullAndNoIntPin = uint32_t (1) << 19 ;
public: static const uint32_t kInvalidTDCO = uint32_t (1) << 20 ; public: static const uint32_t kInvalidTDCO = uint32_t (1) << 20 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// end method (resets the MCP2517FD, deallocate buffers, and detach interrupt pin) // end method (resets the MCP2517FD, deallocate buffers, and detach interrupt pin)
// Return true if end method succeeds, and false otherwise // Return true if end method succeeds, and false otherwise
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: bool end (void) ; public: bool end (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Send a message // Send a message
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: bool tryToSend (const CANFDMessage & inMessage) ; public: bool tryToSend (const CANFDMessage & inMessage) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Receive a message // Receive a message
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: bool receive (CANFDMessage & outMessage) ; public: bool receive (CANFDMessage & outMessage) ;
public: bool available (void) ; public: bool available (void) ;
@ -97,44 +98,44 @@ class ACAN2517FD {
//--- Call back function array //--- Call back function array
private: ACANFDCallBackRoutine * mCallBackFunctionArray = NULL ; private: ACANFDCallBackRoutine * mCallBackFunctionArray = NULL ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Get error counters // Get error counters
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: uint32_t errorCounters (void) ; public: uint32_t errorCounters (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Get diagnostic information (thanks to Flole998 and turmary) // Get diagnostic information (thanks to Flole998 and turmary)
// inIndex == 0 returns BDIAG0_REGISTER // inIndex == 0 returns BDIAG0_REGISTER
// inIndex != 0 returns BDIAG1_REGISTER // inIndex != 0 returns BDIAG1_REGISTER
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: uint32_t diagInfos (const int inIndex = 1) ; public: uint32_t diagInfos (const int inIndex = 1) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Operation Mode // Operation Mode
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: ACAN2517FDSettings::OperationMode currentOperationMode (void) ; public: ACAN2517FDSettings::OperationMode currentOperationMode (void) ;
public: void setOperationMode (const ACAN2517FDSettings::OperationMode inMode) ; public: void setOperationMode (const ACAN2517FDSettings::OperationMode inMode) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Recovery from Restricted Operation Mode // Recovery from Restricted Operation Mode
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: bool recoverFromRestrictedOperationMode (void) ; public: bool recoverFromRestrictedOperationMode (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Sleep Mode to Configuration Mode // Sleep Mode to Configuration Mode
// (returns true if MCP2517FD was in sleep mode) // (returns true if MCP2517FD was in sleep mode)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: bool performSleepModeToConfigurationMode (void) ; public: bool performSleepModeToConfigurationMode (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Private properties // Private properties
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
#ifdef ARDUINO_ARCH_ESP32 #ifdef ARDUINO_ARCH_ESP32
private: TaskHandle_t mESP32TaskHandle = nullptr ; private: TaskHandle_t mESP32TaskHandle = nullptr ;
@ -146,51 +147,40 @@ class ACAN2517FD {
private: bool mUsesTXQ ; private: bool mUsesTXQ ;
private: bool mHardwareTxFIFOFull ; private: bool mHardwareTxFIFOFull ;
private: bool mRxInterruptEnabled ; // Added in 2.1.7 private: bool mRxInterruptEnabled ; // Added in 2.1.7
private: bool mHasDataBitRate ;
private: uint8_t mTransmitFIFOPayload ; // in byte count private: uint8_t mTransmitFIFOPayload ; // in byte count
private: uint8_t mTXQBufferPayload ; // in byte count private: uint8_t mTXQBufferPayload ; // in byte count
private: uint8_t mReceiveFIFOPayload ; // in byte count private: uint8_t mReceiveFIFOPayload ; // in byte count
private: uint8_t mTXBWS_RequestedMode ; private: uint8_t mTXBWS_RequestedMode ;
private: uint8_t mHardwareReceiveBufferOverflowCount ; private: uint8_t mHardwareReceiveBufferOverflowCount ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Receive buffer // Receive buffer
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
private: ACANFDBuffer mDriverReceiveBuffer ; private: ACANFDBuffer mDriverReceiveBuffer ;
public: uint32_t driverReceiveBufferPeakCount (void) const { public: uint32_t driverReceiveBufferPeakCount (void) const { return mDriverReceiveBuffer.peakCount () ; }
return mDriverReceiveBuffer.peakCount () ;
}
public: uint8_t hardwareReceiveBufferOverflowCount (void) const { public: uint8_t hardwareReceiveBufferOverflowCount (void) const { return mHardwareReceiveBufferOverflowCount ; }
return mHardwareReceiveBufferOverflowCount ;
}
public: void resetHardwareReceiveBufferOverflowCount (void) { public: void resetHardwareReceiveBufferOverflowCount (void) { mHardwareReceiveBufferOverflowCount = 0 ; }
mHardwareReceiveBufferOverflowCount = 0 ;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Transmit buffer // Transmit buffer
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
private: ACANFDBuffer mDriverTransmitBuffer ; private: ACANFDBuffer mDriverTransmitBuffer ;
public: uint32_t driverTransmitBufferSize (void) const { public: uint32_t driverTransmitBufferSize (void) const { return mDriverTransmitBuffer.size () ; }
return mDriverTransmitBuffer.size () ;
}
public: uint32_t driverTransmitBufferCount (void) const { public: uint32_t driverTransmitBufferCount (void) const { return mDriverTransmitBuffer.count () ; }
return mDriverTransmitBuffer.count () ;
}
public: uint32_t driverTransmitBufferPeakCount (void) const { public: uint32_t driverTransmitBufferPeakCount (void) const { return mDriverTransmitBuffer.peakCount () ; }
return mDriverTransmitBuffer.peakCount () ;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Private methods // Private methods
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
private: void writeRegister32Assume_SPI_transaction (const uint16_t inRegisterAddress, const uint32_t inValue) ; private: void writeRegister32Assume_SPI_transaction (const uint16_t inRegisterAddress, const uint32_t inValue) ;
private: void writeRegister8Assume_SPI_transaction (const uint16_t inRegisterAddress, const uint8_t inValue) ; private: void writeRegister8Assume_SPI_transaction (const uint16_t inRegisterAddress, const uint8_t inValue) ;
@ -212,15 +202,15 @@ class ACAN2517FD {
private: bool enterInTransmitBuffer (const CANFDMessage & inMessage) ; private: bool enterInTransmitBuffer (const CANFDMessage & inMessage) ;
private: void appendInControllerTxFIFO (const CANFDMessage & inMessage) ; private: void appendInControllerTxFIFO (const CANFDMessage & inMessage) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Polling // Polling
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: void poll (void) ; public: void poll (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Interrupt service routine // Interrupt service routine
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: void isr (void) ; public: void isr (void) ;
public: void isr_poll_core (void) ; public: void isr_poll_core (void) ;
@ -230,9 +220,9 @@ class ACAN2517FD {
public: SemaphoreHandle_t mISRSemaphore ; public: SemaphoreHandle_t mISRSemaphore ;
#endif #endif
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //----------------------------------------------------------------------------------------------------------------------
// Optimized CS handling (thanks to Flole998) // Optimized CS handling (thanks to Flole998)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
#if defined(__AVR__) #if defined(__AVR__)
private: volatile uint8_t *cs_pin_reg; private: volatile uint8_t *cs_pin_reg;
@ -303,8 +293,10 @@ class ACAN2517FD {
*(cs_pin_reg+8+2) = cs_pin_mask; *(cs_pin_reg+8+2) = cs_pin_mask;
} }
#elif defined(ARDUINO_ARCH_ESP8266) #elif defined(ARDUINO_ARCH_ESP8266)
// private: volatile uint32_t *cs_pin_reg;
private: uint32_t cs_pin_mask; private: uint32_t cs_pin_mask;
private: inline void initCS () { private: inline void initCS () {
// cs_pin_reg = (volatile uint32_t*)GPO;
cs_pin_mask = 1 << mCS; cs_pin_mask = 1 << mCS;
pinMode(mCS, OUTPUT); pinMode(mCS, OUTPUT);
} }
@ -341,9 +333,9 @@ class ACAN2517FD {
} }
#endif #endif
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// GPIO // GPIO
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: void gpioSetMode (const uint8_t inPin, const uint8_t inMode) ; public: void gpioSetMode (const uint8_t inPin, const uint8_t inMode) ;
@ -353,16 +345,16 @@ class ACAN2517FD {
public: void configureGPIO0AsXSTBY (void) ; public: void configureGPIO0AsXSTBY (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// No copy // No copy
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
private: ACAN2517FD (const ACAN2517FD &) = delete ; private: ACAN2517FD (const ACAN2517FD &) = delete ;
private: ACAN2517FD & operator = (const ACAN2517FD &) = delete ; private: ACAN2517FD & operator = (const ACAN2517FD &) = delete ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
} ; } ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------

58
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FDFilters.h
View file

@ -1,27 +1,27 @@
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// An utility class for: // An utility class for:
// - ACAN2517FD CAN driver for MCP2517FD (CANFD mode) // - ACAN2517FD CAN driver for MCP2517FD (CANFD mode)
// by Pierre Molinaro // by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD // https://github.com/pierremolinaro/acan2517FD
// //
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#ifndef ACAN2517FD_FILTERS_CLASS_DEFINED #ifndef ACAN2517FD_FILTERS_CLASS_DEFINED
#define ACAN2517FD_FILTERS_CLASS_DEFINED #define ACAN2517FD_FILTERS_CLASS_DEFINED
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#include "ACAN2517FD_CANFDMessage.h" #include "CANFDMessage.h"
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// ACAN2517FDFilters class // ACAN2517FDFilters class
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
class ACAN2517FDFilters { class ACAN2517FDFilters {
//------------------------------------------------------------------------------ //······················································································································
// EMBEDDED CLASS // EMBEDDED CLASS
//------------------------------------------------------------------------------ //······················································································································
private: class Filter { private: class Filter {
public: Filter * mNextFilter ; public: Filter * mNextFilter ;
@ -43,9 +43,9 @@ class ACAN2517FDFilters {
private: Filter & operator = (const Filter &) ; private: Filter & operator = (const Filter &) ;
} ; } ;
//------------------------------------------------------------------------------ //······················································································································
// ENUMERATED TYPE // ENUMERATED TYPE
//------------------------------------------------------------------------------ //······················································································································
public: typedef enum { public: typedef enum {
kFiltersOk, kFiltersOk,
@ -58,15 +58,15 @@ class ACAN2517FDFilters {
kInconsistencyBetweenMaskAndAcceptance kInconsistencyBetweenMaskAndAcceptance
} FilterStatus ; } FilterStatus ;
//------------------------------------------------------------------------------ //······················································································································
// CONSTRUCTOR // CONSTRUCTOR
//------------------------------------------------------------------------------ //······················································································································
public: ACAN2517FDFilters (void) {} public: ACAN2517FDFilters (void) {}
//------------------------------------------------------------------------------ //······················································································································
// DESTRUCTOR // DESTRUCTOR
//------------------------------------------------------------------------------ //······················································································································
public: ~ ACAN2517FDFilters (void) { public: ~ ACAN2517FDFilters (void) {
while (mFirstFilter != NULL) { while (mFirstFilter != NULL) {
@ -76,9 +76,9 @@ class ACAN2517FDFilters {
} }
} }
//------------------------------------------------------------------------------ //······················································································································
// RECEIVE FILTERS // RECEIVE FILTERS
//------------------------------------------------------------------------------ //······················································································································
public: void appendPassAllFilter (const ACANFDCallBackRoutine inCallBackRoutine) { // Accept any frame public: void appendPassAllFilter (const ACANFDCallBackRoutine inCallBackRoutine) { // Accept any frame
Filter * f = new Filter (0, 0, inCallBackRoutine) ; Filter * f = new Filter (0, 0, inCallBackRoutine) ;
@ -91,7 +91,7 @@ class ACAN2517FDFilters {
mFilterCount += 1 ; mFilterCount += 1 ;
} }
//------------------------------------------------------------------------------ //······················································································································
public: void appendFormatFilter (const tFrameFormat inFormat, // Accept any identifier public: void appendFormatFilter (const tFrameFormat inFormat, // Accept any identifier
const ACANFDCallBackRoutine inCallBackRoutine) { const ACANFDCallBackRoutine inCallBackRoutine) {
@ -107,7 +107,7 @@ class ACAN2517FDFilters {
mFilterCount += 1 ; mFilterCount += 1 ;
} }
//------------------------------------------------------------------------------ //······················································································································
public: void appendFrameFilter (const tFrameFormat inFormat, public: void appendFrameFilter (const tFrameFormat inFormat,
const uint32_t inIdentifier, const uint32_t inIdentifier,
@ -141,7 +141,7 @@ class ACAN2517FDFilters {
mFilterCount += 1 ; mFilterCount += 1 ;
} }
//------------------------------------------------------------------------------ //······················································································································
public: void appendFilter (const tFrameFormat inFormat, public: void appendFilter (const tFrameFormat inFormat,
const uint32_t inMask, const uint32_t inMask,
@ -196,9 +196,9 @@ class ACAN2517FDFilters {
mFilterCount += 1 ; mFilterCount += 1 ;
} }
//------------------------------------------------------------------------------ //······················································································································
// ACCESSORS // ACCESSORS
//------------------------------------------------------------------------------ //······················································································································
public: FilterStatus filterStatus (void) const { return mFilterStatus ; } public: FilterStatus filterStatus (void) const { return mFilterStatus ; }
@ -206,9 +206,9 @@ class ACAN2517FDFilters {
public: uint8_t filterCount (void) const { return mFilterCount ; } public: uint8_t filterCount (void) const { return mFilterCount ; }
//------------------------------------------------------------------------------ //······················································································································
// PRIVATE PROPERTIES // PRIVATE PROPERTIES
//------------------------------------------------------------------------------ //······················································································································
private: uint8_t mFilterCount = 0 ; private: uint8_t mFilterCount = 0 ;
private: Filter * mFirstFilter = NULL ; private: Filter * mFirstFilter = NULL ;
@ -216,23 +216,23 @@ class ACAN2517FDFilters {
private: FilterStatus mFilterStatus = kFiltersOk ; private: FilterStatus mFilterStatus = kFiltersOk ;
private: uint8_t mFilterErrorIndex = 0 ; private: uint8_t mFilterErrorIndex = 0 ;
//------------------------------------------------------------------------------ //······················································································································
// NO COPY // NO COPY
//------------------------------------------------------------------------------ //······················································································································
private: ACAN2517FDFilters (const ACAN2517FDFilters &) = delete ; private: ACAN2517FDFilters (const ACAN2517FDFilters &) = delete ;
private: ACAN2517FDFilters & operator = (const ACAN2517FDFilters &) = delete ; private: ACAN2517FDFilters & operator = (const ACAN2517FDFilters &) = delete ;
//------------------------------------------------------------------------------ //······················································································································
// Friend // Friend
//------------------------------------------------------------------------------ //······················································································································
friend class ACAN2517FD ; friend class ACAN2517FD ;
//------------------------------------------------------------------------------ //······················································································································
} ; } ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#endif #endif

101
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FDSettings.cpp
View file

@ -1,19 +1,19 @@
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// A CAN driver for MCP2517FD (CANFD mode) // A CAN driver for MCP2517FD (CANFD mode)
// by Pierre Molinaro // by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD // https://github.com/pierremolinaro/acan2517FD
// //
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#include "ACAN2517FDSettings.h" #include "ACAN2517FDSettings.h"
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#pragma GCC diagnostic error "-Wswitch-enum" #pragma GCC diagnostic error "-Wswitch-enum"
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// sysClock // sysClock
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::sysClock (const Oscillator inOscillator) { uint32_t ACAN2517FDSettings::sysClock (const Oscillator inOscillator) {
uint32_t sysClock = 40UL * 1000 * 1000 ; uint32_t sysClock = 40UL * 1000 * 1000 ;
@ -39,9 +39,9 @@ uint32_t ACAN2517FDSettings::sysClock (const Oscillator inOscillator) {
return sysClock ; return sysClock ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// CONSTRUCTOR // CONSTRUCTOR
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
ACAN2517FDSettings::ACAN2517FDSettings (const Oscillator inOscillator, ACAN2517FDSettings::ACAN2517FDSettings (const Oscillator inOscillator,
const uint32_t inDesiredArbitrationBitRate, const uint32_t inDesiredArbitrationBitRate,
@ -51,7 +51,61 @@ mOscillator (inOscillator),
mSysClock (sysClock (inOscillator)), mSysClock (sysClock (inOscillator)),
mDesiredArbitrationBitRate (inDesiredArbitrationBitRate), mDesiredArbitrationBitRate (inDesiredArbitrationBitRate),
mDataBitRateFactor (inDataBitRateFactor) { mDataBitRateFactor (inDataBitRateFactor) {
// First compute data bit rate if (inDataBitRateFactor == DataBitRateFactor::x1) { // Single bit rate
const uint32_t maxTQCount = MAX_ARBITRATION_PHASE_SEGMENT_1 + MAX_ARBITRATION_PHASE_SEGMENT_2 + 1 ; // Setting for slowest bit rate
uint32_t BRP = MAX_BRP ;
uint32_t smallestError = UINT32_MAX ;
uint32_t bestBRP = 1 ; // Setting for highest bit rate
uint32_t bestTQCount = 4 ; // Setting for highest bit rate
uint32_t TQCount = mSysClock / inDesiredArbitrationBitRate / BRP ;
//--- Loop for finding best BRP and best TQCount
while ((TQCount <= (MAX_ARBITRATION_PHASE_SEGMENT_1 + MAX_ARBITRATION_PHASE_SEGMENT_2 + 1)) && (BRP > 0)) {
//--- Compute error using TQCount
if ((TQCount >= 4) && (TQCount <= maxTQCount)) {
const uint32_t error = mSysClock - inDesiredArbitrationBitRate * TQCount * BRP ; // error is always >= 0
if (error <= smallestError) {
smallestError = error ;
bestBRP = BRP ;
bestTQCount = TQCount ;
}
}
//--- Compute error using TQCount+1
if ((TQCount >= 3) && (TQCount < maxTQCount)) {
const uint32_t error = inDesiredArbitrationBitRate * (TQCount + 1) * BRP - mSysClock ; // error is always >= 0
if (error <= smallestError) {
smallestError = error ;
bestBRP = BRP ;
bestTQCount = TQCount + 1 ;
}
}
//--- Continue with next value of BRP
BRP -- ;
TQCount = (BRP == 0) ? (maxTQCount + 1) : (mSysClock / inDesiredArbitrationBitRate / BRP) ;
}
//--- Compute PS2 (1 <= PS2 <= 128)
uint32_t PS2 = bestTQCount / 5 ; // For sampling point at 80%
if (PS2 == 0) {
PS2 = 1 ;
}else if (PS2 > MAX_ARBITRATION_PHASE_SEGMENT_2) {
PS2 = MAX_ARBITRATION_PHASE_SEGMENT_2 ;
}
//--- Compute PS1 (1 <= PS1 <= 256)
uint32_t PS1 = bestTQCount - PS2 - 1 /* Sync Seg */ ;
if (PS1 > MAX_ARBITRATION_PHASE_SEGMENT_1) {
PS2 += PS1 - MAX_ARBITRATION_PHASE_SEGMENT_1 ;
PS1 = MAX_ARBITRATION_PHASE_SEGMENT_1 ;
}
//---
mBitRatePrescaler = (uint16_t) bestBRP ;
mArbitrationPhaseSegment1 = (uint16_t) PS1 ;
mArbitrationPhaseSegment2 = (uint8_t) PS2 ;
mArbitrationSJW = mArbitrationPhaseSegment2 ; // Always 1 <= SJW <= 128, and SJW <= mArbitrationPhaseSegment2
//--- Final check of the nominal configuration
const uint32_t W = bestTQCount * mDesiredArbitrationBitRate * bestBRP ;
const uint64_t diff = (mSysClock > W) ? (mSysClock - W) : (W - mSysClock) ;
const uint64_t ppm = (uint64_t) (1000UL * 1000UL) ; // UL suffix is required for Arduino Uno
mArbitrationBitRateClosedToDesiredRate = (diff * ppm) <= (((uint64_t) W) * inTolerancePPM) ;
}else{ // Dual bit rate, first compute data bit rate
const uint32_t maxDataTQCount = MAX_DATA_PHASE_SEGMENT_1 + MAX_DATA_PHASE_SEGMENT_2 ; // Setting for slowest bit rate const uint32_t maxDataTQCount = MAX_DATA_PHASE_SEGMENT_1 + MAX_DATA_PHASE_SEGMENT_2 ; // Setting for slowest bit rate
const uint32_t desiredDataBitRate = inDesiredArbitrationBitRate * uint8_t (inDataBitRateFactor) ; const uint32_t desiredDataBitRate = inDesiredArbitrationBitRate * uint8_t (inDataBitRateFactor) ;
uint32_t smallestError = UINT32_MAX ; uint32_t smallestError = UINT32_MAX ;
@ -105,7 +159,7 @@ mDataBitRateFactor (inDataBitRateFactor) {
mDataPhaseSegment2 = (uint8_t) dataPS2 ; mDataPhaseSegment2 = (uint8_t) dataPS2 ;
mDataSJW = mDataPhaseSegment2 ; mDataSJW = mDataPhaseSegment2 ;
const uint32_t arbitrationTQCount = bestDataTQCount * uint8_t (mDataBitRateFactor) ; const uint32_t arbitrationTQCount = bestDataTQCount * uint8_t (mDataBitRateFactor) ;
//--- Compute arbitration PS2 (1 <= PS2 <= 128) //--- Compute arbiration PS2 (1 <= PS2 <= 128)
uint32_t arbitrationPS2 = arbitrationTQCount / 5 ; // For sampling point at 80% uint32_t arbitrationPS2 = arbitrationTQCount / 5 ; // For sampling point at 80%
if (arbitrationPS2 == 0) { if (arbitrationPS2 == 0) {
arbitrationPS2 = 1 ; arbitrationPS2 = 1 ;
@ -126,18 +180,19 @@ mDataBitRateFactor (inDataBitRateFactor) {
const uint64_t diff = (mSysClock > W) ? (mSysClock - W) : (W - mSysClock) ; const uint64_t diff = (mSysClock > W) ? (mSysClock - W) : (W - mSysClock) ;
const uint64_t ppm = (uint64_t) (1000UL * 1000UL) ; // UL suffix is required for Arduino Uno const uint64_t ppm = (uint64_t) (1000UL * 1000UL) ; // UL suffix is required for Arduino Uno
mArbitrationBitRateClosedToDesiredRate = (diff * ppm) <= (((uint64_t) W) * inTolerancePPM) ; mArbitrationBitRateClosedToDesiredRate = (diff * ppm) <= (((uint64_t) W) * inTolerancePPM) ;
}
} ; } ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// ACCESSORS // ACCESSORS
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::actualArbitrationBitRate (void) const { uint32_t ACAN2517FDSettings::actualArbitrationBitRate (void) const {
const uint32_t arbitrationTQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ; const uint32_t arbitrationTQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ;
return mSysClock / mBitRatePrescaler / arbitrationTQCount ; return mSysClock / mBitRatePrescaler / arbitrationTQCount ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::actualDataBitRate (void) const { uint32_t ACAN2517FDSettings::actualDataBitRate (void) const {
if (mDataBitRateFactor == DataBitRateFactor::x1) { if (mDataBitRateFactor == DataBitRateFactor::x1) {
@ -148,14 +203,14 @@ uint32_t ACAN2517FDSettings::actualDataBitRate (void) const {
} }
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FDSettings::exactArbitrationBitRate (void) const { bool ACAN2517FDSettings::exactArbitrationBitRate (void) const {
const uint32_t TQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ; const uint32_t TQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ;
return mSysClock == (mBitRatePrescaler * mDesiredArbitrationBitRate * TQCount) ; return mSysClock == (mBitRatePrescaler * mDesiredArbitrationBitRate * TQCount) ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FDSettings::exactDataBitRate (void) const { bool ACAN2517FDSettings::exactDataBitRate (void) const {
if (mDataBitRateFactor == DataBitRateFactor::x1) { if (mDataBitRateFactor == DataBitRateFactor::x1) {
@ -166,7 +221,7 @@ bool ACAN2517FDSettings::exactDataBitRate (void) const {
} }
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FDSettings::dataBitRateIsAMultipleOfArbitrationBitRate (void) const { bool ACAN2517FDSettings::dataBitRateIsAMultipleOfArbitrationBitRate (void) const {
bool result = mDataBitRateFactor == DataBitRateFactor::x1 ; bool result = mDataBitRateFactor == DataBitRateFactor::x1 ;
@ -178,7 +233,7 @@ bool ACAN2517FDSettings::dataBitRateIsAMultipleOfArbitrationBitRate (void) const
return result ; return result ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::ppmFromDesiredArbitrationBitRate (void) const { uint32_t ACAN2517FDSettings::ppmFromDesiredArbitrationBitRate (void) const {
const uint32_t TQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ; const uint32_t TQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ;
@ -188,7 +243,7 @@ uint32_t ACAN2517FDSettings::ppmFromDesiredArbitrationBitRate (void) const {
return (uint32_t) ((diff * ppm) / W) ; return (uint32_t) ((diff * ppm) / W) ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::arbitrationSamplePointFromBitStart (void) const { uint32_t ACAN2517FDSettings::arbitrationSamplePointFromBitStart (void) const {
const uint32_t nominalTQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ; const uint32_t nominalTQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ;
@ -197,7 +252,7 @@ uint32_t ACAN2517FDSettings::arbitrationSamplePointFromBitStart (void) const {
return (samplePoint * partPerCent) / nominalTQCount ; return (samplePoint * partPerCent) / nominalTQCount ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::dataSamplePointFromBitStart (void) const { uint32_t ACAN2517FDSettings::dataSamplePointFromBitStart (void) const {
const uint32_t nominalTQCount = 1 /* Sync Seg */ + mDataPhaseSegment1 + mDataPhaseSegment2 ; const uint32_t nominalTQCount = 1 /* Sync Seg */ + mDataPhaseSegment1 + mDataPhaseSegment2 ;
@ -206,7 +261,7 @@ uint32_t ACAN2517FDSettings::dataSamplePointFromBitStart (void) const {
return (samplePoint * partPerCent) / nominalTQCount ; return (samplePoint * partPerCent) / nominalTQCount ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::CANBitSettingConsistency (void) const { uint32_t ACAN2517FDSettings::CANBitSettingConsistency (void) const {
uint32_t errorCode = 0 ; // Means no error uint32_t errorCode = 0 ; // Means no error
@ -274,9 +329,9 @@ uint32_t ACAN2517FDSettings::CANBitSettingConsistency (void) const {
return errorCode ; return errorCode ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// RAM USAGE // RAM USAGE
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::ramUsage (void) const { uint32_t ACAN2517FDSettings::ramUsage (void) const {
uint32_t result = 0 ; uint32_t result = 0 ;
@ -290,11 +345,11 @@ uint32_t ACAN2517FDSettings::ramUsage (void) const {
return result ; return result ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::objectSizeForPayload (const PayloadSize inPayload) { uint32_t ACAN2517FDSettings::objectSizeForPayload (const PayloadSize inPayload) {
static const uint8_t kPayload [8] = {16, 20, 24, 28, 32, 40, 56, 72} ; static const uint8_t kPayload [8] = {16, 20, 24, 28, 32, 40, 56, 72} ;
return kPayload [inPayload] ; return kPayload [inPayload] ;
} }
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------

140
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FDSettings.h
View file

@ -1,25 +1,25 @@
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// A CAN driver for MCP2517FD (CANFD mode) // A CAN driver for MCP2517FD (CANFD mode)
// by Pierre Molinaro // by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD // https://github.com/pierremolinaro/acan2517FD
// //
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#pragma once #pragma once
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#include "ACAN2517FD_DataBitRateFactor.h" #include "ACANFD_DataBitRateFactor.h"
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// ACAN2517FDSettings class // ACAN2517FDSettings class
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
class ACAN2517FDSettings { class ACAN2517FDSettings {
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// ENUMERATED TYPES // ENUMERATED TYPES
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: typedef enum : uint8_t { public: typedef enum : uint8_t {
OSC_4MHz, OSC_4MHz,
@ -64,9 +64,9 @@ class ACAN2517FDSettings {
PAYLOAD_64 = 7 PAYLOAD_64 = 7
} PayloadSize ; } PayloadSize ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Deprecated enumeration (now use DataBitRateFactor declared in ACANFD_DataBitRateFactor.h) // Deprecated enumeration (now use DataBitRateFactor declared in ACANFD_DataBitRateFactor.h)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public : typedef enum : uint8_t { public : typedef enum : uint8_t {
DATA_BITRATE_x1 = 1, DATA_BITRATE_x1 = 1,
@ -81,18 +81,18 @@ class ACAN2517FDSettings {
DATA_BITRATE_x10 = 10 DATA_BITRATE_x10 = 10
} DataBitRateFactor_Deprecated ; } DataBitRateFactor_Deprecated ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// CONSTRUCTOR // CONSTRUCTOR
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: ACAN2517FDSettings (const Oscillator inOscillator, public: ACAN2517FDSettings (const Oscillator inOscillator,
const uint32_t inDesiredArbitrationBitRate, const uint32_t inDesiredArbitrationBitRate,
const DataBitRateFactor inDataBitRateFactor, const DataBitRateFactor inDataBitRateFactor,
const uint32_t inTolerancePPM = 1000) ; const uint32_t inTolerancePPM = 1000) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// DEPRECATED CONSTRUCTOR (for compatibility with version < 2.1.0) // DEPRECATED CONSTRUCTOR (for compatibility with version < 2.1.0)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: ACAN2517FDSettings (const Oscillator inOscillator, public: ACAN2517FDSettings (const Oscillator inOscillator,
const uint32_t inDesiredArbitrationBitRate, const uint32_t inDesiredArbitrationBitRate,
@ -101,9 +101,9 @@ class ACAN2517FDSettings {
ACAN2517FDSettings (inOscillator, inDesiredArbitrationBitRate, DataBitRateFactor (inDataBitRateFactor), inTolerancePPM) { ACAN2517FDSettings (inOscillator, inDesiredArbitrationBitRate, DataBitRateFactor (inDataBitRateFactor), inTolerancePPM) {
} }
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// CAN BIT TIMING // CAN BIT TIMING
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
private: Oscillator mOscillator ; private: Oscillator mOscillator ;
private: uint32_t mSysClock ; // In Hz private: uint32_t mSysClock ; // In Hz
@ -123,44 +123,44 @@ class ACAN2517FDSettings {
//--- Transmitter Delay Compensation Offset //--- Transmitter Delay Compensation Offset
public: int8_t mTDCO = 0 ; // -64 ... +63 public: int8_t mTDCO = 0 ; // -64 ... +63
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// MCP2517FD TXCAN pin is Open Drain ? // MCP2517FD TXCAN pin is Open Drain ?
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: bool mTXCANIsOpenDrain = false ; // false --> Push/Pull Output, true --> Open Drain Output public: bool mTXCANIsOpenDrain = false ; // false --> Push/Pull Output, true --> Open Drain Output
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// MCP2517FD INT pin is Open Drain ? // MCP2517FD INT pin is Open Drain ?
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: bool mINTIsOpenDrain = false ; // false --> Push/Pull Output, true --> Open Drain Output public: bool mINTIsOpenDrain = false ; // false --> Push/Pull Output, true --> Open Drain Output
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// ISO CRC Enable // ISO CRC Enable
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// false --> Do NOT include Stuff Bit Count in CRC Field and use CRC Initialization Vector with all zeros // false --> Do NOT include Stuff Bit Count in CRC Field and use CRC Initialization Vector with all zeros
// true --> Include Stuff Bit Count in CRC Field and use Non-Zero CRC Initialization Vector according to ISO 11898-1:2015 // true --> Include Stuff Bit Count in CRC Field and use Non-Zero CRC Initialization Vector according to ISO 11898-1:2015
public: bool mISOCRCEnabled = true ; public: bool mISOCRCEnabled = true ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// CLKO pin function (default value is MCP2517FD power on setting) // CLKO pin function (default value is MCP2517FD power on setting)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: CLKOpin mCLKOPin = CLKO_DIVIDED_BY_10 ; public: CLKOpin mCLKOPin = CLKO_DIVIDED_BY_10 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Requested mode // Requested mode
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: OperationMode mRequestedMode = NormalFD ; public: OperationMode mRequestedMode = NormalFD ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// TRANSMIT FIFO // TRANSMIT FIFO
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
//--- Driver transmit buffer size //--- Driver transmit buffer size
public: uint16_t mDriverTransmitFIFOSize = 16 ; // >= 0 public: uint16_t mDriverTransmitFIFOSize = 22 ; // >= 0
//--- Controller transmit FIFO size //--- Controller transmit FIFO size
public: uint8_t mControllerTransmitFIFOSize = 1 ; // 1 ... 32 public: uint8_t mControllerTransmitFIFOSize = 1 ; // 1 ... 32
@ -174,9 +174,9 @@ class ACAN2517FDSettings {
//--- Controller transmit FIFO retransmission attempts //--- Controller transmit FIFO retransmission attempts
public: RetransmissionAttempts mControllerTransmitFIFORetransmissionAttempts = UnlimitedNumber ; public: RetransmissionAttempts mControllerTransmitFIFORetransmissionAttempts = UnlimitedNumber ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// TXQ BUFFER // TXQ BUFFER
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
//--- TXQ buffer size (0 --> TXQ disabled) //--- TXQ buffer size (0 --> TXQ disabled)
public: uint8_t mControllerTXQSize = 0 ; // 0 ... 32 public: uint8_t mControllerTXQSize = 0 ; // 0 ... 32
@ -191,9 +191,9 @@ class ACAN2517FDSettings {
public: RetransmissionAttempts mControllerTXQBufferRetransmissionAttempts = UnlimitedNumber ; public: RetransmissionAttempts mControllerTXQBufferRetransmissionAttempts = UnlimitedNumber ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// RECEIVE FIFO // RECEIVE FIFO
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
//--- Driver receive buffer size //--- Driver receive buffer size
public: uint16_t mDriverReceiveFIFOSize = 32 ; // > 0 public: uint16_t mDriverReceiveFIFOSize = 32 ; // > 0
@ -204,15 +204,15 @@ class ACAN2517FDSettings {
//--- Controller receive FIFO size //--- Controller receive FIFO size
public: uint8_t mControllerReceiveFIFOSize = 27 ; // 1 ... 32 public: uint8_t mControllerReceiveFIFOSize = 27 ; // 1 ... 32
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// SYSCLOCK frequency computation // SYSCLOCK frequency computation
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: static uint32_t sysClock (const Oscillator inOscillator) ; public: static uint32_t sysClock (const Oscillator inOscillator) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Accessors // Accessors
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: Oscillator oscillator (void) const { return mOscillator ; } public: Oscillator oscillator (void) const { return mOscillator ; }
public: uint32_t sysClock (void) const { return mSysClock ; } public: uint32_t sysClock (void) const { return mSysClock ; }
@ -222,61 +222,61 @@ class ACAN2517FDSettings {
public: bool exactDataBitRate (void) const ; public: bool exactDataBitRate (void) const ;
public: bool dataBitRateIsAMultipleOfArbitrationBitRate (void) const ; public: bool dataBitRateIsAMultipleOfArbitrationBitRate (void) const ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// RAM USAGE // RAM USAGE
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: uint32_t ramUsage (void) const ; public: uint32_t ramUsage (void) const ;
public: static uint32_t objectSizeForPayload (const PayloadSize inPayload) ; public: static uint32_t objectSizeForPayload (const PayloadSize inPayload) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Distance between actual bit rate and requested bit rate (in ppm, part-per-million) // Distance between actual bit rate and requested bit rate (in ppm, part-per-million)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: uint32_t ppmFromDesiredArbitrationBitRate (void) const ; public: uint32_t ppmFromDesiredArbitrationBitRate (void) const ;
public: uint32_t ppmFromDesiredDataBitRate (void) const ; public: uint32_t ppmFromDesiredDataBitRate (void) const ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Distance of sample point from bit start (in ppc, part-per-cent, denoted by %) // Distance of sample point from bit start (in ppc, part-per-cent, denoted by %)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: uint32_t arbitrationSamplePointFromBitStart (void) const ; public: uint32_t arbitrationSamplePointFromBitStart (void) const ;
public: uint32_t dataSamplePointFromBitStart (void) const ; public: uint32_t dataSamplePointFromBitStart (void) const ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Bit settings are consistent ? (returns 0 if ok) // Bit settings are consistent ? (returns 0 if ok)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: uint32_t CANBitSettingConsistency (void) const ; public: uint32_t CANBitSettingConsistency (void) const ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Constants returned by CANBitSettingConsistency // Constants returned by CANBitSettingConsistency
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: static const uint32_t kBitRatePrescalerIsZero = uint32_t (1) << 0 ; public: static const uint32_t kBitRatePrescalerIsZero = ((uint32_t) 1) << 0 ;
public: static const uint32_t kBitRatePrescalerIsGreaterThan256 = uint32_t (1) << 1 ; public: static const uint32_t kBitRatePrescalerIsGreaterThan256 = ((uint32_t) 1) << 1 ;
public: static const uint32_t kArbitrationPhaseSegment1IsLowerThan2 = uint32_t (1) << 2 ; public: static const uint32_t kArbitrationPhaseSegment1IsLowerThan2 = ((uint32_t) 1) << 2 ;
public: static const uint32_t kArbitrationPhaseSegment1IsGreaterThan256 = uint32_t (1) << 3 ; public: static const uint32_t kArbitrationPhaseSegment1IsGreaterThan256 = ((uint32_t) 1) << 3 ;
public: static const uint32_t kArbitrationPhaseSegment2IsZero = uint32_t (1) << 4 ; public: static const uint32_t kArbitrationPhaseSegment2IsZero = ((uint32_t) 1) << 4 ;
public: static const uint32_t kArbitrationPhaseSegment2IsGreaterThan128 = uint32_t (1) << 5 ; public: static const uint32_t kArbitrationPhaseSegment2IsGreaterThan128 = ((uint32_t) 1) << 5 ;
public: static const uint32_t kArbitrationSJWIsZero = uint32_t (1) << 6 ; public: static const uint32_t kArbitrationSJWIsZero = ((uint32_t) 1) << 6 ;
public: static const uint32_t kArbitrationSJWIsGreaterThan128 = uint32_t (1) << 7 ; public: static const uint32_t kArbitrationSJWIsGreaterThan128 = ((uint32_t) 1) << 7 ;
public: static const uint32_t kArbitrationSJWIsGreaterThanPhaseSegment1 = uint32_t (1) << 8 ; public: static const uint32_t kArbitrationSJWIsGreaterThanPhaseSegment1 = ((uint32_t) 1) << 8 ;
public: static const uint32_t kArbitrationSJWIsGreaterThanPhaseSegment2 = uint32_t (1) << 9 ; public: static const uint32_t kArbitrationSJWIsGreaterThanPhaseSegment2 = ((uint32_t) 1) << 9 ;
public: static const uint32_t kArbitrationTQCountNotDivisibleByDataBitRateFactor = uint32_t (1) << 10 ; public: static const uint32_t kArbitrationTQCountNotDivisibleByDataBitRateFactor = ((uint32_t) 1) << 10 ;
public: static const uint32_t kDataPhaseSegment1IsLowerThan2 = uint32_t (1) << 11 ; public: static const uint32_t kDataPhaseSegment1IsLowerThan2 = ((uint32_t) 1) << 11 ;
public: static const uint32_t kDataPhaseSegment1IsGreaterThan32 = uint32_t (1) << 12 ; public: static const uint32_t kDataPhaseSegment1IsGreaterThan32 = ((uint32_t) 1) << 12 ;
public: static const uint32_t kDataPhaseSegment2IsZero = uint32_t (1) << 13 ; public: static const uint32_t kDataPhaseSegment2IsZero = ((uint32_t) 1) << 13 ;
public: static const uint32_t kDataPhaseSegment2IsGreaterThan16 = uint32_t (1) << 14 ; public: static const uint32_t kDataPhaseSegment2IsGreaterThan16 = ((uint32_t) 1) << 14 ;
public: static const uint32_t kDataSJWIsZero = uint32_t (1) << 15 ; public: static const uint32_t kDataSJWIsZero = ((uint32_t) 1) << 15 ;
public: static const uint32_t kDataSJWIsGreaterThan16 = uint32_t (1) << 16 ; public: static const uint32_t kDataSJWIsGreaterThan16 = ((uint32_t) 1) << 16 ;
public: static const uint32_t kDataSJWIsGreaterThanPhaseSegment1 = uint32_t (1) << 17 ; public: static const uint32_t kDataSJWIsGreaterThanPhaseSegment1 = ((uint32_t) 1) << 17 ;
public: static const uint32_t kDataSJWIsGreaterThanPhaseSegment2 = uint32_t (1) << 18 ; public: static const uint32_t kDataSJWIsGreaterThanPhaseSegment2 = ((uint32_t) 1) << 18 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
// Max values // Max values
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
public: static const uint16_t MAX_BRP = 256 ; public: static const uint16_t MAX_BRP = 256 ;
@ -288,9 +288,9 @@ class ACAN2517FDSettings {
public: static const uint8_t MAX_DATA_PHASE_SEGMENT_2 = 16 ; public: static const uint8_t MAX_DATA_PHASE_SEGMENT_2 = 16 ;
public: static const uint8_t MAX_DATA_SJW = 16 ; public: static const uint8_t MAX_DATA_SJW = 16 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //······················································································································
} ; } ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------

122
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD_ACANFDBuffer.h
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@ -1,122 +0,0 @@
//------------------------------------------------------------------------------
// A CAN driver for MCP2517FD CAN Controller in CANFD mode
// by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD
//
//------------------------------------------------------------------------------
#ifndef ACANFD_BUFFER_CLASS_DEFINED
#define ACANFD_BUFFER_CLASS_DEFINED
//------------------------------------------------------------------------------
#include "ACAN2517FD_CANFDMessage.h"
//------------------------------------------------------------------------------
class ACANFDBuffer {
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Default constructor
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
public: ACANFDBuffer (void) :
mBuffer (NULL),
mSize (0),
mReadIndex (0),
mCount (0),
mPeakCount (0) {
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Destructor
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
public: ~ ACANFDBuffer (void) {
delete [] mBuffer ;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Private properties
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
private: CANFDMessage * mBuffer ;
private: uint32_t mSize ;
private: uint32_t mReadIndex ;
private: uint32_t mCount ;
private: uint32_t mPeakCount ; // > mSize if overflow did occur
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Accessors
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
public: inline uint32_t size (void) const { return mSize ; }
public: inline uint32_t count (void) const { return mCount ; }
public: inline bool isFull (void) const { return mCount == mSize ; } // Added in release 2.17 (thanks to Flole998)
public: inline uint32_t peakCount (void) const { return mPeakCount ; }
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// initWithSize
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
public: void initWithSize (const uint32_t inSize) {
delete [] mBuffer ; mBuffer = new CANFDMessage [inSize] ;
mSize = inSize ;
mReadIndex = 0 ;
mCount = 0 ;
mPeakCount = 0 ;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// append
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
public: bool append (const CANFDMessage & inMessage) {
const bool ok = mCount < mSize ;
if (ok) {
uint32_t writeIndex = mReadIndex + mCount ;
if (writeIndex >= mSize) {
writeIndex -= mSize ;
}
mBuffer [writeIndex] = inMessage ;
mCount += 1 ;
if (mPeakCount < mCount) {
mPeakCount = mCount ;
}
}else{
mPeakCount = mSize + 1 ;
}
return ok ;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Remove
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
public: bool remove (CANFDMessage & outMessage) {
const bool ok = mCount > 0 ;
if (ok) {
outMessage = mBuffer [mReadIndex] ;
mCount -= 1 ;
mReadIndex += 1 ;
if (mReadIndex == mSize) {
mReadIndex = 0 ;
}
}
return ok ;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// No copy
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
private: ACANFDBuffer (const ACANFDBuffer &) = delete ;
private: ACANFDBuffer & operator = (const ACANFDBuffer &) = delete ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
} ;
//------------------------------------------------------------------------------
#endif

119
Software/src/lib/pierremolinaro-ACAN2517FD/ACANFDBuffer.h Normal file
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@ -0,0 +1,119 @@
//----------------------------------------------------------------------------------------------------------------------
// A CAN driver for MCP2517FD CAN Controller in CANFD mode
// by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD
//
//----------------------------------------------------------------------------------------------------------------------
#ifndef ACANFD_BUFFER_CLASS_DEFINED
#define ACANFD_BUFFER_CLASS_DEFINED
//----------------------------------------------------------------------------------------------------------------------
#include "CANFDMessage.h"
//----------------------------------------------------------------------------------------------------------------------
class ACANFDBuffer {
//······················································································································
// Default constructor
//······················································································································
public: ACANFDBuffer (void) :
mBuffer (NULL),
mSize (0),
mReadIndex (0),
mCount (0),
mPeakCount (0) {
}
//······················································································································
// Destructor
//······················································································································
public: ~ ACANFDBuffer (void) {
delete [] mBuffer ;
}
//······················································································································
// Private properties
//······················································································································
private: CANFDMessage * mBuffer ;
private: uint32_t mSize ;
private: uint32_t mReadIndex ;
private: uint32_t mCount ;
private: uint32_t mPeakCount ; // > mSize if overflow did occur
//······················································································································
// Accessors
//······················································································································
public: inline uint32_t size (void) const { return mSize ; }
public: inline uint32_t count (void) const { return mCount ; }
public: inline bool isFull (void) const { return mCount == mSize ; } // Added in release 2.17 (thanks to Flole998)
public: inline uint32_t peakCount (void) const { return mPeakCount ; }
//······················································································································
// initWithSize
//······················································································································
public: void initWithSize (const uint32_t inSize) {
delete [] mBuffer ; mBuffer = new CANFDMessage [inSize] ;
mSize = inSize ;
mReadIndex = 0 ;
mCount = 0 ;
mPeakCount = 0 ;
}
//······················································································································
// append
//······················································································································
public: bool append (const CANFDMessage & inMessage) {
const bool ok = mCount < mSize ;
if (ok) {
uint32_t writeIndex = mReadIndex + mCount ;
if (writeIndex >= mSize) {
writeIndex -= mSize ;
}
mBuffer [writeIndex] = inMessage ;
mCount += 1 ;
if (mPeakCount < mCount) {
mPeakCount = mCount ;
}
}else{
mPeakCount = mSize + 1 ;
}
return ok ;
}
//······················································································································
// Remove
//······················································································································
public: bool remove (CANFDMessage & outMessage) {
const bool ok = mCount > 0 ;
if (ok) {
outMessage = mBuffer [mReadIndex] ;
mCount -= 1 ;
mReadIndex += 1 ;
if (mReadIndex == mSize) {
mReadIndex = 0 ;
}
}
return ok ;
}
//······················································································································
// No copy
//······················································································································
private: ACANFDBuffer (const ACANFDBuffer &) = delete ;
private: ACANFDBuffer & operator = (const ACANFDBuffer &) = delete ;
} ;
//----------------------------------------------------------------------------------------------------------------------
#endif

10
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD_DataBitRateFactor.h → Software/src/lib/pierremolinaro-ACAN2517FD/ACANFD_DataBitRateFactor.h
View file

@ -1,4 +1,4 @@
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// A CANFD driver // A CANFD driver
// by Pierre Molinaro // by Pierre Molinaro
@ -6,16 +6,16 @@
// https://github.com/pierremolinaro/ACAN_T4 // https://github.com/pierremolinaro/ACAN_T4
// https://github.com/pierremolinaro/ACAN2517FD // https://github.com/pierremolinaro/ACAN2517FD
// //
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#ifndef ACANFD_DATA_BIT_RATE_FACTOR_DEFINED #ifndef ACANFD_DATA_BIT_RATE_FACTOR_DEFINED
#define ACANFD_DATA_BIT_RATE_FACTOR_DEFINED #define ACANFD_DATA_BIT_RATE_FACTOR_DEFINED
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#include <stdint.h> #include <stdint.h>
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
enum class DataBitRateFactor : uint8_t { enum class DataBitRateFactor : uint8_t {
x1 = 1, x1 = 1,
@ -30,6 +30,6 @@ enum class DataBitRateFactor : uint8_t {
x10 = 10 x10 = 10
} ; } ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#endif #endif

38
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD_CANFDMessage.h → Software/src/lib/pierremolinaro-ACAN2517FD/CANFDMessage.h
View file

@ -1,21 +1,21 @@
//------------------------------------------------------------------------------ //-----------------------------------------------------------------------------
// Generic CANFD Message // Generic CANFD Message
// by Pierre Molinaro // by Pierre Molinaro
// //
// https://github.com/pierremolinaro/acan2517FD // https://github.com/pierremolinaro/acan2517FD
// //
//------------------------------------------------------------------------------ //-----------------------------------------------------------------------------
#ifndef GENERIC_CANFD_MESSAGE_DEFINED #ifndef GENERIC_CANFD_MESSAGE_DEFINED
#define GENERIC_CANFD_MESSAGE_DEFINED #define GENERIC_CANFD_MESSAGE_DEFINED
//------------------------------------------------------------------------------ //-----------------------------------------------------------------------------
#include "ACAN2517FD_CANMessage.h" #include "CANMessage.h"
//------------------------------------------------------------------------------ //-----------------------------------------------------------------------------
// CANFDMessage class // CANFDMessage class
//------------------------------------------------------------------------------ //-----------------------------------------------------------------------------
// Note that "len" field contains the actual length, not its encoding in CANFD frames // Note that "len" field contains the actual length, not its encoding in CANFD frames
// Valid values are: 0, 1, ..., 8, 12, 16, 20, 24, 32, 48, 64. // Valid values are: 0, 1, ..., 8, 12, 16, 20, 24, 32, 48, 64.
// Having other values is an error that prevents frame to be sent by tryToSend // Having other values is an error that prevents frame to be sent by tryToSend
@ -23,9 +23,9 @@
class CANFDMessage { class CANFDMessage {
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
// Constructors // Constructors
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
public : CANFDMessage (void) : public : CANFDMessage (void) :
id (0), // Frame identifier id (0), // Frame identifier
@ -36,7 +36,7 @@ class CANFDMessage {
data () { data () {
} }
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
public : CANFDMessage (const CANMessage & inMessage) : public : CANFDMessage (const CANMessage & inMessage) :
id (inMessage.id), // Frame identifier id (inMessage.id), // Frame identifier
@ -48,9 +48,9 @@ class CANFDMessage {
data64 [0] = inMessage.data64 ; data64 [0] = inMessage.data64 ;
} }
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
// Enumerated Type // Enumerated Type
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
public: typedef enum : uint8_t { public: typedef enum : uint8_t {
CAN_REMOTE, CAN_REMOTE,
@ -59,9 +59,9 @@ class CANFDMessage {
CANFD_WITH_BIT_RATE_SWITCH CANFD_WITH_BIT_RATE_SWITCH
} Type ; } Type ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
// Properties // Properties
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
public : uint32_t id ; // Frame identifier public : uint32_t id ; // Frame identifier
public : bool ext ; // false -> base frame, true -> extended frame public : bool ext ; // false -> base frame, true -> extended frame
@ -80,9 +80,9 @@ class CANFDMessage {
uint8_t data [64] ; uint8_t data [64] ;
} ; } ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
// Methods // Methods
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
public: void pad (void) { public: void pad (void) {
uint8_t paddedLength = len ; uint8_t paddedLength = len ;
@ -107,7 +107,7 @@ class CANFDMessage {
} }
} }
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
public: bool isValid (void) const { public: bool isValid (void) const {
if ((type == CAN_REMOTE) || (type == CAN_DATA)) { // Remote frame if ((type == CAN_REMOTE) || (type == CAN_DATA)) { // Remote frame
@ -121,14 +121,14 @@ class CANFDMessage {
} }
} }
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //·············································································
} ; } ;
//------------------------------------------------------------------------------ //-----------------------------------------------------------------------------
typedef void (*ACANFDCallBackRoutine) (const CANFDMessage & inMessage) ; typedef void (*ACANFDCallBackRoutine) (const CANFDMessage & inMessage) ;
//------------------------------------------------------------------------------ //-----------------------------------------------------------------------------
#endif #endif

12
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD_CANMessage.h → Software/src/lib/pierremolinaro-ACAN2517FD/CANMessage.h
View file

@ -1,4 +1,4 @@
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
// Generic CAN Message // Generic CAN Message
// by Pierre Molinaro // by Pierre Molinaro
// //
@ -8,16 +8,16 @@
// https://github.com/pierremolinaro/acan2517 // https://github.com/pierremolinaro/acan2517
// https://github.com/pierremolinaro/acan2517FD // https://github.com/pierremolinaro/acan2517FD
// //
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#ifndef GENERIC_CAN_MESSAGE_DEFINED #ifndef GENERIC_CAN_MESSAGE_DEFINED
#define GENERIC_CAN_MESSAGE_DEFINED #define GENERIC_CAN_MESSAGE_DEFINED
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#include <Arduino.h> #include <Arduino.h>
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
class CANMessage { class CANMessage {
public : uint32_t id = 0 ; // Frame identifier public : uint32_t id = 0 ; // Frame identifier
@ -38,12 +38,12 @@ class CANMessage {
} ; } ;
} ; } ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
typedef enum {kStandard, kExtended} tFrameFormat ; typedef enum {kStandard, kExtended} tFrameFormat ;
typedef enum {kData, kRemote} tFrameKind ; typedef enum {kData, kRemote} tFrameKind ;
typedef void (*ACANCallBackRoutine) (const CANMessage & inMessage) ; typedef void (*ACANCallBackRoutine) (const CANMessage & inMessage) ;
//------------------------------------------------------------------------------ //----------------------------------------------------------------------------------------------------------------------
#endif #endif

0
Software/src/lib/pierremolinaro-ACAN2517FD/README.md Executable file → Normal file
View file

9
Software/src/lib/pierremolinaro-ACAN2517FD/library.properties
View file

@ -1,9 +0,0 @@
name=ACAN2517FD
version=2.1.16
author=Pierre Molinaro
maintainer=Pierre Molinaro <Pierre.Molinaro@pcmolinaro.name>
sentence=Driver for MCP2517FD and MCP2518FD CAN Controller (CAN FD mode)
paragraph=This library is an Arduino CAN network driver for the MCP2517FD, the MCP2518FD and the MCP251863 CAN Controller, in CAN FD mode. Compatible with ACAN, ACAN2515, ACAN2517 libraries, with ACAN_T4 library from version 2.1.0. Default configuration sends and receives any frame – no default filter to provide. Reception filters (up to 32) can be easily defined. Compatible with ESP32 from version 1.1.0.
category=Communication
url=https://github.com/pierremolinaro/acan2517FD
architectures=*