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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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12 changed files with 624 additions and 591 deletions
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224
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD.cpp
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@ -1,20 +1,20 @@
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// A CAN driver for MCP2517FD, CANFD mode
// by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD
//
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#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 ;
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// Note about ESP32
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
//
// It appears that Arduino ESP32 interrupts are managed in a completely different way from "usual" Arduino:
// - SPI.usingInterrupt is not implemented;
@ -43,7 +43,7 @@ static const uint8_t TXBWS = 0 ;
// #endif
// mSPI.endTransaction () ;
//
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#ifdef ARDUINO_ARCH_ESP32
static void myESP32Task (void * pData) {
@ -55,9 +55,9 @@ static const uint8_t TXBWS = 0 ;
}
#endif
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// ACAN2517FD register addresses
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
static const uint16_t CON_REGISTER = 0x000 ;
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 BDIAG1_REGISTER = 0x03C ;
//------------------------------------------------------------------------------
//······················································································································
// TXQ REGISTERS
//------------------------------------------------------------------------------
//······················································································································
static const uint16_t TXQCON_REGISTER = 0x050 ;
static const uint16_t TXQSTA_REGISTER = 0x054 ;
static const uint16_t TXQUA_REGISTER = 0x058 ;
//------------------------------------------------------------------------------
//······················································································································
// INTERRUPT REGISTERS
//------------------------------------------------------------------------------
//······················································································································
static const uint16_t INT_REGISTER = 0x01C ;
//------------------------------------------------------------------------------
//······················································································································
// FIFO REGISTERS
//------------------------------------------------------------------------------
//······················································································································
static uint16_t FIFOCON_REGISTER (const uint16_t inFIFOIndex) { // 1 ... 31
return 0x05C + 12 * (inFIFOIndex - 1) ;
}
//------------------------------------------------------------------------------
//······················································································································
static uint16_t FIFOSTA_REGISTER (const uint16_t inFIFOIndex) { // 1 ... 31
return 0x060 + 12 * (inFIFOIndex - 1) ;
}
//------------------------------------------------------------------------------
//······················································································································
static uint16_t FIFOUA_REGISTER (const uint16_t inFIFOIndex) { // 1 ... 31
return 0x064 + 12 * (inFIFOIndex - 1) ;
}
//------------------------------------------------------------------------------
//······················································································································
// FILTER REGISTERS
//------------------------------------------------------------------------------
//······················································································································
static uint16_t FLTCON_REGISTER (const uint16_t inFilterIndex) { // 0 ... 31 (DS20005688B, page 58)
return 0x1D0 + inFilterIndex ;
}
//------------------------------------------------------------------------------
//······················································································································
static uint16_t FLTOBJ_REGISTER (const uint16_t inFilterIndex) { // 0 ... 31 (DS20005688B, page 60)
return 0x1F0 + 8 * inFilterIndex ;
}
//------------------------------------------------------------------------------
//······················································································································
static uint16_t MASK_REGISTER (const uint16_t inFilterIndex) { // 0 ... 31 (DS20005688B, page 61)
return 0x1F4 + 8 * inFilterIndex ;
}
//------------------------------------------------------------------------------
//······················································································································
// OSCILLATOR REGISTER
//------------------------------------------------------------------------------
//······················································································································
static const uint16_t OSC_REGISTER = 0xE00 ;
//------------------------------------------------------------------------------
//······················································································································
// INPUT / OUPUT CONTROL REGISTER
//------------------------------------------------------------------------------
//······················································································································
static const uint16_t IOCON_REGISTER_00_07 = 0xE04 ;
static const uint16_t IOCON_REGISTER_08_15 = 0xE05 ;
static const uint16_t IOCON_REGISTER_16_23 = 0xE06 ;
static const uint16_t IOCON_REGISTER_24_31 = 0xE07 ;
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// RECEIVE FIFO INDEX
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
static const uint8_t RECEIVE_FIFO_INDEX = 1 ;
static const uint8_t TRANSMIT_FIFO_INDEX = 2 ;
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// BYTE BUFFER UTILITY FUNCTIONS
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
static void enterU32InBufferAtIndex (const uint32_t inValue, uint8_t ioBuffer [], const uint8_t inIndex) {
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) ;
}
//------------------------------------------------------------------------------
//······················································································································
static uint32_t u32FromBufferAtIndex (uint8_t ioBuffer [], const uint8_t inIndex) {
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 ;
}
//------------------------------------------------------------------------------
//······················································································································
static uint16_t u16FromBufferAtIndex (uint8_t ioBuffer [], const uint8_t inIndex) {
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 ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
static inline void turnOffInterrupts () {
#ifndef DISABLEMCP2517FDCOMPAT
#ifdef ARDUINO_ARCH_ESP32
@ -208,6 +209,7 @@ mINT (inINT),
mUsesTXQ (false),
mHardwareTxFIFOFull (false),
mRxInterruptEnabled (true),
mHasDataBitRate (false),
mTransmitFIFOPayload (0),
mTXQBufferPayload (0),
mReceiveFIFOPayload (0),
@ -221,7 +223,7 @@ mDriverTransmitBuffer ()
{
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
void (* inInterruptServiceRoutine) (void)) {
@ -232,7 +234,7 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
return begin (inSettings, inInterruptServiceRoutine, filters) ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
void (* inInterruptServiceRoutine) (void),
@ -501,6 +503,8 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
// bits 11-8: TSEG2 - 1
// bits 7-4: unused
// bits 3-0: SJW - 1
mHasDataBitRate = inSettings.mDataBitRateFactor != ::DataBitRateFactor::x1 ;
if (mHasDataBitRate) {
data = inSettings.mBitRatePrescaler - 1 ;
data <<= 8 ;
data |= inSettings.mDataPhaseSegment1 - 1 ;
@ -509,6 +513,7 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
data <<= 8 ;
data |= inSettings.mDataSJW - 1 ;
writeRegister32 (DBTCFG_REGISTER, data) ;
}
//----------------------------------- Request mode (CON_REGISTER + 3, DS20005688B, page 24)
// bits 7-4: Transmit Bandwith Sharing Bits ---> 0
// bit 3: Abort All Pending Transmissions bit --> 0
@ -526,14 +531,14 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
}
}
#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
if (mINT != 255) { // 255 means interrupt is not used
#ifdef ARDUINO_ARCH_ESP32
attachInterrupt (itPin, inInterruptServiceRoutine, FALLING) ;
#else
mSPI.usingInterrupt (itPin) ; // usingInterrupt is not implemented in Arduino ESP32
attachInterrupt (itPin, inInterruptServiceRoutine, LOW) ; // Thank to Flole998
mSPI.usingInterrupt (itPin) ; // usingInterrupt is not implemented in Arduino ESP32
#endif
}
// If you begin() multiple times without constructor,
@ -545,9 +550,9 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings,
return errorCode ;
}
//------------------------------------------------------------------------------
//······················································································································
// end method (resets the MCP2517FD, deallocate buffers, and detach interrupt pin)
//------------------------------------------------------------------------------
//······················································································································
bool ACAN2517FD::end (void) {
mSPI.beginTransaction (mSPISettings) ;
@ -592,19 +597,15 @@ bool ACAN2517FD::end (void) {
return ok ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// SEND FRAME
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::tryToSend (const CANFDMessage & inMessage) {
bool ok = inMessage.isValid () ;
if (ok) {
mSPI.beginTransaction (mSPISettings) ;
#ifdef ARDUINO_ARCH_ESP32
taskDISABLE_INTERRUPTS () ;
#else
noInterrupts () ;
#endif
turnOffInterrupts () ;
if (inMessage.idx == 0) {
ok = inMessage.len <= mTransmitFIFOPayload ;
if (ok) {
@ -616,13 +617,13 @@ bool ACAN2517FD::tryToSend (const CANFDMessage & inMessage) {
ok = sendViaTXQ (inMessage) ;
}
}
turnOnInterrupts () ;
turnOnInterrupts();
mSPI.endTransaction () ;
}
return ok ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::enterInTransmitBuffer (const CANFDMessage & inMessage) {
bool result ;
@ -644,7 +645,7 @@ bool ACAN2517FD::enterInTransmitBuffer (const CANFDMessage & inMessage) {
return result ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
static uint32_t lengthCodeForLength (const uint8_t inLength) {
uint32_t result = inLength & 0x0F ;
@ -660,7 +661,7 @@ static uint32_t lengthCodeForLength (const uint8_t inLength) {
return result ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::appendInControllerTxFIFO (const CANFDMessage & inMessage) {
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 ;
case CANFDMessage::CANFD_WITH_BIT_RATE_SWITCH :
flags |= 1 << 7 ; // Set FDF bit
if (mHasDataBitRate) {
flags |= 1 << 6 ; // Set BRS bit
}
break ;
}
//--- Word count
@ -711,7 +714,7 @@ void ACAN2517FD::appendInControllerTxFIFO (const CANFDMessage & inMessage) {
writeRegister8Assume_SPI_transaction (FIFOCON_REGISTER (TRANSMIT_FIFO_INDEX) + 1, data8);
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::sendViaTXQ (const CANFDMessage & inMessage) {
bool ok = mUsesTXQ ;
@ -748,7 +751,9 @@ bool ACAN2517FD::sendViaTXQ (const CANFDMessage & inMessage) {
break ;
case CANFDMessage::CANFD_WITH_BIT_RATE_SWITCH :
flags |= 1 << 7 ; // Set FDF bit
if (mHasDataBitRate) {
flags |= 1 << 6 ; // Set BRS bit
}
break ;
}
//--- Word count
@ -777,48 +782,41 @@ bool ACAN2517FD::sendViaTXQ (const CANFDMessage & inMessage) {
return ok ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// RECEIVE FRAME
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::available (void) {
mSPI.beginTransaction (mSPISettings) ;
turnOffInterrupts () ;
const bool hasReceivedMessage = mDriverReceiveBuffer.count () > 0 ;
turnOnInterrupts () ;
turnOnInterrupts();
mSPI.endTransaction () ;
return hasReceivedMessage ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::receive (CANFDMessage & outMessage) {
mSPI.beginTransaction (mSPISettings) ;
turnOffInterrupts () ;
const bool hasReceivedMessage = mDriverReceiveBuffer.remove (outMessage) ;
//--- If receive interrupt is disabled, enable it (added in release 2.17)
if (mINT == 255) { // No interrupt pin
mRxInterruptEnabled = true ;
isr_poll_core () ; // Perform polling
}else if (!mRxInterruptEnabled) {
mSPI.beginTransaction (mSPISettings) ;
#ifdef ARDUINO_ARCH_ESP32
taskDISABLE_INTERRUPTS () ;
#else
noInterrupts () ;
#endif
mRxInterruptEnabled = true ;
uint8_t data8 = readRegister8Assume_SPI_transaction (INT_REGISTER + 2) ;
data8 |= (1 << 1) ; // Receive FIFO Interrupt Enable
writeRegister8Assume_SPI_transaction (INT_REGISTER + 2, data8) ;
turnOnInterrupts () ;
mSPI.endTransaction () ;
}
turnOnInterrupts();
mSPI.endTransaction () ;
return hasReceivedMessage ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMatchCallBack) {
CANFDMessage receivedMessage ;
@ -836,9 +834,9 @@ bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMat
return hasReceived ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// POLLING (ESP32)
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#ifdef ARDUINO_ARCH_ESP32
void ACAN2517FD::poll (void) {
@ -848,22 +846,22 @@ bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMat
}
#endif
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// POLLING (other than ESP32)
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#ifndef ARDUINO_ARCH_ESP32
void ACAN2517FD::poll (void) {
noInterrupts () ;
turnOffInterrupts () ;
isr_poll_core () ;
interrupts () ;
turnOnInterrupts () ;
}
#endif
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// INTERRUPT SERVICE ROUTINE (ESP32)
// https://stackoverflow.com/questions/51750377/how-to-disable-interrupt-watchdog-in-esp32-or-increase-isr-time-limit
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#ifdef ARDUINO_ARCH_ESP32
void ACAN2517FD::isr (void) {
@ -873,9 +871,9 @@ bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMat
}
#endif
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// INTERRUPT SERVICE ROUTINE (other than ESP32)
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#ifndef ARDUINO_ARCH_ESP32
void ACAN2517FD::isr (void) {
@ -883,9 +881,9 @@ bool ACAN2517FD::dispatchReceivedMessage (const tFilterMatchCallBack inFilterMat
}
#endif
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// INTERRUPT SERVICE ROUTINES (common)
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::isr_poll_core (void) {
mSPI.beginTransaction (mSPISettings) ;
@ -935,7 +933,7 @@ void ACAN2517FD::isr_poll_core (void) {
mSPI.endTransaction () ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::transmitInterrupt (void) { // Generated if hardware transmit FIFO is not full
CANFDMessage message ;
@ -950,7 +948,7 @@ void ACAN2517FD::transmitInterrupt (void) { // Generated if hardware transmit FI
}
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::receiveInterrupt (void) {
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)
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::writeRegister32Assume_SPI_transaction (const uint16_t inRegisterAddress,
const uint32_t inValue) {
@ -1029,7 +1027,7 @@ void ACAN2517FD::writeRegister32Assume_SPI_transaction (const uint16_t inRegiste
deassertCS () ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::writeRegister8Assume_SPI_transaction (const uint16_t inRegisterAddress,
const uint8_t inValue) {
@ -1044,7 +1042,7 @@ void ACAN2517FD::writeRegister8Assume_SPI_transaction (const uint16_t inRegister
deassertCS () ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::readRegister32Assume_SPI_transaction (const uint16_t inRegisterAddress) {
//--- 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 ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint16_t ACAN2517FD::readRegister16Assume_SPI_transaction (const uint16_t inRegisterAddress) {
//--- 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 ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint8_t ACAN2517FD::readRegister8Assume_SPI_transaction (const uint16_t inRegisterAddress) {
//--- 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] ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// MCP2517FD REGISTER ACCESS, THIRD LEVEL FUNCTIONS (HANDLE CS AND SPI TRANSACTION)
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::writeRegister8 (const uint16_t inRegisterAddress, const uint8_t inValue) {
mSPI.beginTransaction (mSPISettings) ;
@ -1108,59 +1106,59 @@ void ACAN2517FD::writeRegister8 (const uint16_t inRegisterAddress, const uint8_t
mSPI.endTransaction () ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint8_t ACAN2517FD::readRegister8 (const uint16_t inRegisterAddress) {
mSPI.beginTransaction (mSPISettings) ;
turnOffInterrupts () ;
const uint8_t result = readRegister8Assume_SPI_transaction (inRegisterAddress) ;
turnOnInterrupts () ;
turnOnInterrupts () ;
mSPI.endTransaction () ;
return result ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint16_t ACAN2517FD::readRegister16 (const uint16_t inRegisterAddress) {
mSPI.beginTransaction (mSPISettings) ;
turnOffInterrupts () ;
const uint16_t result = readRegister16Assume_SPI_transaction (inRegisterAddress) ;
turnOnInterrupts () ;
turnOnInterrupts () ;
mSPI.endTransaction () ;
return result ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::writeRegister32 (const uint16_t inRegisterAddress, const uint32_t inValue) {
mSPI.beginTransaction (mSPISettings) ;
turnOffInterrupts () ;
writeRegister32Assume_SPI_transaction (inRegisterAddress, inValue) ;
turnOnInterrupts () ;
turnOnInterrupts () ;
mSPI.endTransaction () ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::readRegister32 (const uint16_t inRegisterAddress) {
mSPI.beginTransaction (mSPISettings) ;
turnOffInterrupts () ;
const uint32_t result = readRegister32Assume_SPI_transaction (inRegisterAddress) ;
turnOnInterrupts () ;
turnOnInterrupts () ;
mSPI.endTransaction () ;
return result ;
}
//------------------------------------------------------------------------------
//······················································································································
// Current MCP2517FD Operation Mode
//------------------------------------------------------------------------------
//······················································································································
ACAN2517FDSettings::OperationMode ACAN2517FD::currentOperationMode (void) {
const uint8_t mode = readRegister8 (CON_REGISTER + 2) >> 5 ;
return ACAN2517FDSettings::OperationMode (mode) ;
}
//------------------------------------------------------------------------------
//······················································································································
bool ACAN2517FD::recoverFromRestrictedOperationMode (void) {
bool recoveryDone = false ;
@ -1184,9 +1182,9 @@ bool ACAN2517FD::recoverFromRestrictedOperationMode (void) {
return recoveryDone ;
}
//------------------------------------------------------------------------------
//······················································································································
// Set MCP2517FD Operation Mode
//------------------------------------------------------------------------------
//······················································································································
void ACAN2517FD::setOperationMode (const ACAN2517FDSettings::OperationMode inOperationMode) {
// 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));
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::reset2517FD (void) {
mSPI.beginTransaction (mSPISettings) ; // Check RESET is performed with 800 kHz clock
@ -1202,14 +1200,14 @@ void ACAN2517FD::reset2517FD (void) {
assertCS () ;
mSPI.transfer16 (0x00) ; // Reset instruction: 0x0000
deassertCS () ;
turnOnInterrupts () ;
turnOnInterrupts () ;
mSPI.endTransaction () ;
}
//------------------------------------------------------------------------------
//······················································································································
// Sleep Mode to Configuration 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 module will transition automatically to Configuration mode.
@ -1228,21 +1226,21 @@ bool ACAN2517FD::performSleepModeToConfigurationMode (void) {
return inSleepMode ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::errorCounters (void) {
return readRegister32 (TREC_REGISTER) ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FD::diagInfos (const int inIndex) { // thanks to Flole998 and turmary
return readRegister32 (inIndex ? BDIAG1_REGISTER: BDIAG0_REGISTER) ;
}
//------------------------------------------------------------------------------
//······················································································································
// GPIO
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::gpioSetMode (const uint8_t inPin, const uint8_t inMode) {
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) {
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) {
const uint8_t value = readRegister8 (IOCON_REGISTER_16_23) ;
return (value >> inPin) & 1 ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
void ACAN2517FD::configureGPIO0AsXSTBY (void) {
uint8_t value = readRegister8 (IOCON_REGISTER_00_07) ;
@ -1291,4 +1289,4 @@ void ACAN2517FD::configureGPIO0AsXSTBY (void) {
writeRegister8 (IOCON_REGISTER_00_07, value) ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------

168
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD.h
View file

@ -1,16 +1,17 @@
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// A CAN driver for MCP2517FD, CANFD mode
// by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD
//------------------------------------------------------------------------------
//
//----------------------------------------------------------------------------------------------------------------------
#pragma once
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#include "ACAN2517FDSettings.h"
#include "ACAN2517FD_ACANFDBuffer.h"
#include "ACAN2517FD_CANMessage.h"
#include "ACANFDBuffer.h"
#include "CANMessage.h"
#include "ACAN2517FDFilters.h"
#include <SPI.h>
@ -24,23 +25,23 @@
//
#define DISABLEMCP2517FDCOMPAT
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// ACAN2517FD class
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
class ACAN2517FD {
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// CONSTRUCTOR
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// CONSTRUCTOR
//······················································································································
public: ACAN2517FD (const uint8_t inCS, // CS input of MCP2517FD
SPIClass & inSPI, // Hardware SPI object
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,
void (* inInterruptServiceRoutine) (void)) ;
@ -72,22 +73,22 @@ class ACAN2517FD {
public: static const uint32_t kISRNotNullAndNoIntPin = uint32_t (1) << 19 ;
public: static const uint32_t kInvalidTDCO = uint32_t (1) << 20 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// end method (resets the MCP2517FD, deallocate buffers, and detach interrupt pin)
// Return true if end method succeeds, and false otherwise
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// end method (resets the MCP2517FD, deallocate buffers, and detach interrupt pin)
// Return true if end method succeeds, and false otherwise
//······················································································································
public: bool end (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Send a message
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Send a message
//······················································································································
public: bool tryToSend (const CANFDMessage & inMessage) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Receive a message
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Receive a message
//······················································································································
public: bool receive (CANFDMessage & outMessage) ;
public: bool available (void) ;
@ -97,44 +98,44 @@ class ACAN2517FD {
//--- Call back function array
private: ACANFDCallBackRoutine * mCallBackFunctionArray = NULL ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Get error counters
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Get error counters
//······················································································································
public: uint32_t errorCounters (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Get diagnostic information (thanks to Flole998 and turmary)
// inIndex == 0 returns BDIAG0_REGISTER
// inIndex != 0 returns BDIAG1_REGISTER
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Get diagnostic information (thanks to Flole998 and turmary)
// inIndex == 0 returns BDIAG0_REGISTER
// inIndex != 0 returns BDIAG1_REGISTER
//······················································································································
public: uint32_t diagInfos (const int inIndex = 1) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Operation Mode
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Operation Mode
//······················································································································
public: ACAN2517FDSettings::OperationMode currentOperationMode (void) ;
public: void setOperationMode (const ACAN2517FDSettings::OperationMode inMode) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Recovery from Restricted Operation Mode
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Recovery from Restricted Operation Mode
//······················································································································
public: bool recoverFromRestrictedOperationMode (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Sleep Mode to Configuration Mode
// (returns true if MCP2517FD was in sleep mode)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Sleep Mode to Configuration Mode
// (returns true if MCP2517FD was in sleep mode)
//······················································································································
public: bool performSleepModeToConfigurationMode (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Private properties
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Private properties
//······················································································································
#ifdef ARDUINO_ARCH_ESP32
private: TaskHandle_t mESP32TaskHandle = nullptr ;
@ -146,51 +147,40 @@ class ACAN2517FD {
private: bool mUsesTXQ ;
private: bool mHardwareTxFIFOFull ;
private: bool mRxInterruptEnabled ; // Added in 2.1.7
private: bool mHasDataBitRate ;
private: uint8_t mTransmitFIFOPayload ; // in byte count
private: uint8_t mTXQBufferPayload ; // in byte count
private: uint8_t mReceiveFIFOPayload ; // in byte count
private: uint8_t mTXBWS_RequestedMode ;
private: uint8_t mHardwareReceiveBufferOverflowCount ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Receive buffer
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Receive buffer
//······················································································································
private: ACANFDBuffer mDriverReceiveBuffer ;
public: uint32_t driverReceiveBufferPeakCount (void) const {
return mDriverReceiveBuffer.peakCount () ;
}
public: uint32_t driverReceiveBufferPeakCount (void) const { return mDriverReceiveBuffer.peakCount () ; }
public: uint8_t hardwareReceiveBufferOverflowCount (void) const {
return mHardwareReceiveBufferOverflowCount ;
}
public: uint8_t hardwareReceiveBufferOverflowCount (void) const { return mHardwareReceiveBufferOverflowCount ; }
public: void resetHardwareReceiveBufferOverflowCount (void) {
mHardwareReceiveBufferOverflowCount = 0 ;
}
public: void resetHardwareReceiveBufferOverflowCount (void) { mHardwareReceiveBufferOverflowCount = 0 ; }
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Transmit buffer
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Transmit buffer
//······················································································································
private: ACANFDBuffer mDriverTransmitBuffer ;
public: uint32_t driverTransmitBufferSize (void) const {
return mDriverTransmitBuffer.size () ;
}
public: uint32_t driverTransmitBufferSize (void) const { return mDriverTransmitBuffer.size () ; }
public: uint32_t driverTransmitBufferCount (void) const {
return mDriverTransmitBuffer.count () ;
}
public: uint32_t driverTransmitBufferCount (void) const { return mDriverTransmitBuffer.count () ; }
public: uint32_t driverTransmitBufferPeakCount (void) const {
return mDriverTransmitBuffer.peakCount () ;
}
public: uint32_t driverTransmitBufferPeakCount (void) const { return mDriverTransmitBuffer.peakCount () ; }
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Private methods
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Private methods
//······················································································································
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) ;
@ -212,15 +202,15 @@ class ACAN2517FD {
private: bool enterInTransmitBuffer (const CANFDMessage & inMessage) ;
private: void appendInControllerTxFIFO (const CANFDMessage & inMessage) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Polling
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Polling
//······················································································································
public: void poll (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Interrupt service routine
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Interrupt service routine
//······················································································································
public: void isr (void) ;
public: void isr_poll_core (void) ;
@ -230,9 +220,9 @@ class ACAN2517FD {
public: SemaphoreHandle_t mISRSemaphore ;
#endif
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Optimized CS handling (thanks to Flole998)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//----------------------------------------------------------------------------------------------------------------------
// Optimized CS handling (thanks to Flole998)
//······················································································································
#if defined(__AVR__)
private: volatile uint8_t *cs_pin_reg;
@ -303,8 +293,10 @@ class ACAN2517FD {
*(cs_pin_reg+8+2) = cs_pin_mask;
}
#elif defined(ARDUINO_ARCH_ESP8266)
// private: volatile uint32_t *cs_pin_reg;
private: uint32_t cs_pin_mask;
private: inline void initCS () {
// cs_pin_reg = (volatile uint32_t*)GPO;
cs_pin_mask = 1 << mCS;
pinMode(mCS, OUTPUT);
}
@ -341,9 +333,9 @@ class ACAN2517FD {
}
#endif
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// GPIO
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// GPIO
//······················································································································
public: void gpioSetMode (const uint8_t inPin, const uint8_t inMode) ;
@ -353,16 +345,16 @@ class ACAN2517FD {
public: void configureGPIO0AsXSTBY (void) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// No copy
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// No copy
//······················································································································
private: ACAN2517FD (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:
// - ACAN2517FD CAN driver for MCP2517FD (CANFD mode)
// by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD
//
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#ifndef ACAN2517FD_FILTERS_CLASS_DEFINED
#define ACAN2517FD_FILTERS_CLASS_DEFINED
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#include "ACAN2517FD_CANFDMessage.h"
#include "CANFDMessage.h"
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// ACAN2517FDFilters class
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
class ACAN2517FDFilters {
//------------------------------------------------------------------------------
//······················································································································
// EMBEDDED CLASS
//------------------------------------------------------------------------------
//······················································································································
private: class Filter {
public: Filter * mNextFilter ;
@ -43,9 +43,9 @@ class ACAN2517FDFilters {
private: Filter & operator = (const Filter &) ;
} ;
//------------------------------------------------------------------------------
//······················································································································
// ENUMERATED TYPE
//------------------------------------------------------------------------------
//······················································································································
public: typedef enum {
kFiltersOk,
@ -58,15 +58,15 @@ class ACAN2517FDFilters {
kInconsistencyBetweenMaskAndAcceptance
} FilterStatus ;
//------------------------------------------------------------------------------
//······················································································································
// CONSTRUCTOR
//------------------------------------------------------------------------------
//······················································································································
public: ACAN2517FDFilters (void) {}
//------------------------------------------------------------------------------
//······················································································································
// DESTRUCTOR
//------------------------------------------------------------------------------
//······················································································································
public: ~ ACAN2517FDFilters (void) {
while (mFirstFilter != NULL) {
@ -76,9 +76,9 @@ class ACAN2517FDFilters {
}
}
//------------------------------------------------------------------------------
//······················································································································
// RECEIVE FILTERS
//------------------------------------------------------------------------------
//······················································································································
public: void appendPassAllFilter (const ACANFDCallBackRoutine inCallBackRoutine) { // Accept any frame
Filter * f = new Filter (0, 0, inCallBackRoutine) ;
@ -91,7 +91,7 @@ class ACAN2517FDFilters {
mFilterCount += 1 ;
}
//------------------------------------------------------------------------------
//······················································································································
public: void appendFormatFilter (const tFrameFormat inFormat, // Accept any identifier
const ACANFDCallBackRoutine inCallBackRoutine) {
@ -107,7 +107,7 @@ class ACAN2517FDFilters {
mFilterCount += 1 ;
}
//------------------------------------------------------------------------------
//······················································································································
public: void appendFrameFilter (const tFrameFormat inFormat,
const uint32_t inIdentifier,
@ -141,7 +141,7 @@ class ACAN2517FDFilters {
mFilterCount += 1 ;
}
//------------------------------------------------------------------------------
//······················································································································
public: void appendFilter (const tFrameFormat inFormat,
const uint32_t inMask,
@ -196,9 +196,9 @@ class ACAN2517FDFilters {
mFilterCount += 1 ;
}
//------------------------------------------------------------------------------
//······················································································································
// ACCESSORS
//------------------------------------------------------------------------------
//······················································································································
public: FilterStatus filterStatus (void) const { return mFilterStatus ; }
@ -206,9 +206,9 @@ class ACAN2517FDFilters {
public: uint8_t filterCount (void) const { return mFilterCount ; }
//------------------------------------------------------------------------------
//······················································································································
// PRIVATE PROPERTIES
//------------------------------------------------------------------------------
//······················································································································
private: uint8_t mFilterCount = 0 ;
private: Filter * mFirstFilter = NULL ;
@ -216,23 +216,23 @@ class ACAN2517FDFilters {
private: FilterStatus mFilterStatus = kFiltersOk ;
private: uint8_t mFilterErrorIndex = 0 ;
//------------------------------------------------------------------------------
//······················································································································
// NO COPY
//------------------------------------------------------------------------------
//······················································································································
private: ACAN2517FDFilters (const ACAN2517FDFilters &) = delete ;
private: ACAN2517FDFilters & operator = (const ACAN2517FDFilters &) = delete ;
//------------------------------------------------------------------------------
//······················································································································
// Friend
//------------------------------------------------------------------------------
//······················································································································
friend class ACAN2517FD ;
//------------------------------------------------------------------------------
//······················································································································
} ;
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#endif

115
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FDSettings.cpp
View file

@ -1,19 +1,19 @@
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// A CAN driver for MCP2517FD (CANFD mode)
// by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD
//
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#include "ACAN2517FDSettings.h"
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#pragma GCC diagnostic error "-Wswitch-enum"
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// sysClock
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::sysClock (const Oscillator inOscillator) {
uint32_t sysClock = 40UL * 1000 * 1000 ;
@ -39,9 +39,9 @@ uint32_t ACAN2517FDSettings::sysClock (const Oscillator inOscillator) {
return sysClock ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// CONSTRUCTOR
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
ACAN2517FDSettings::ACAN2517FDSettings (const Oscillator inOscillator,
const uint32_t inDesiredArbitrationBitRate,
@ -51,7 +51,61 @@ mOscillator (inOscillator),
mSysClock (sysClock (inOscillator)),
mDesiredArbitrationBitRate (inDesiredArbitrationBitRate),
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 desiredDataBitRate = inDesiredArbitrationBitRate * uint8_t (inDataBitRateFactor) ;
uint32_t smallestError = UINT32_MAX ;
@ -59,7 +113,7 @@ mDataBitRateFactor (inDataBitRateFactor) {
uint32_t bestDataTQCount = maxDataTQCount ; // Setting for lowest bit rate
uint32_t dataTQCount = 4 ;
uint32_t brp = mSysClock / desiredDataBitRate / dataTQCount ;
//--- Loop for finding best BRP and best TQCount
//--- Loop for finding best BRP and best TQCount
while ((dataTQCount <= maxDataTQCount) && (brp > 0)) {
//--- Compute error using brp
if (brp <= MAX_BRP) {
@ -83,18 +137,18 @@ mDataBitRateFactor (inDataBitRateFactor) {
dataTQCount += 1 ;
brp = mSysClock / desiredDataBitRate / dataTQCount ;
}
//--- Compute data PS2 (1 <= PS2 <= 16)
//--- Compute data PS2 (1 <= PS2 <= 16)
uint32_t dataPS2 = bestDataTQCount / 5 ; // For sampling point at 80%
if (dataPS2 == 0) {
dataPS2 = 1 ;
}
//--- Compute data PS1 (1 <= PS1 <= 32)
//--- Compute data PS1 (1 <= PS1 <= 32)
uint32_t dataPS1 = bestDataTQCount - dataPS2 - 1 /* Sync Seg */ ;
if (dataPS1 > MAX_DATA_PHASE_SEGMENT_1) {
dataPS2 += dataPS1 - MAX_DATA_PHASE_SEGMENT_1 ;
dataPS1 = MAX_DATA_PHASE_SEGMENT_1 ;
}
//---
//---
if ((mDesiredArbitrationBitRate * uint32_t (inDataBitRateFactor)) <= (1000UL * 1000)) {
mTDCO = 0 ;
}else{
@ -105,39 +159,40 @@ mDataBitRateFactor (inDataBitRateFactor) {
mDataPhaseSegment2 = (uint8_t) dataPS2 ;
mDataSJW = mDataPhaseSegment2 ;
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%
if (arbitrationPS2 == 0) {
arbitrationPS2 = 1 ;
}
//--- Compute PS1 (1 <= PS1 <= 256)
//--- Compute PS1 (1 <= PS1 <= 256)
uint32_t arbitrationPS1 = arbitrationTQCount - arbitrationPS2 - 1 /* Sync Seg */ ;
if (arbitrationPS1 > MAX_ARBITRATION_PHASE_SEGMENT_1) {
arbitrationPS2 += arbitrationPS1 - MAX_ARBITRATION_PHASE_SEGMENT_1 ;
arbitrationPS1 = MAX_ARBITRATION_PHASE_SEGMENT_1 ;
}
//---
//---
mBitRatePrescaler = (uint16_t) bestBRP ;
mArbitrationPhaseSegment1 = (uint16_t) arbitrationPS1 ;
mArbitrationPhaseSegment2 = (uint8_t) arbitrationPS2 ;
mArbitrationSJW = mArbitrationPhaseSegment2 ; // Always 1 <= SJW <= 128, and SJW <= mArbitrationPhaseSegment2
//--- Final check of the nominal configuration
//--- Final check of the nominal configuration
const uint32_t W = arbitrationTQCount * 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) ;
}
} ;
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// ACCESSORS
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::actualArbitrationBitRate (void) const {
const uint32_t arbitrationTQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ;
return mSysClock / mBitRatePrescaler / arbitrationTQCount ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::actualDataBitRate (void) const {
if (mDataBitRateFactor == DataBitRateFactor::x1) {
@ -148,14 +203,14 @@ uint32_t ACAN2517FDSettings::actualDataBitRate (void) const {
}
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FDSettings::exactArbitrationBitRate (void) const {
const uint32_t TQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ;
return mSysClock == (mBitRatePrescaler * mDesiredArbitrationBitRate * TQCount) ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FDSettings::exactDataBitRate (void) const {
if (mDataBitRateFactor == DataBitRateFactor::x1) {
@ -166,7 +221,7 @@ bool ACAN2517FDSettings::exactDataBitRate (void) const {
}
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
bool ACAN2517FDSettings::dataBitRateIsAMultipleOfArbitrationBitRate (void) const {
bool result = mDataBitRateFactor == DataBitRateFactor::x1 ;
@ -178,7 +233,7 @@ bool ACAN2517FDSettings::dataBitRateIsAMultipleOfArbitrationBitRate (void) const
return result ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::ppmFromDesiredArbitrationBitRate (void) const {
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) ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::arbitrationSamplePointFromBitStart (void) const {
const uint32_t nominalTQCount = 1 /* Sync Seg */ + mArbitrationPhaseSegment1 + mArbitrationPhaseSegment2 ;
@ -197,7 +252,7 @@ uint32_t ACAN2517FDSettings::arbitrationSamplePointFromBitStart (void) const {
return (samplePoint * partPerCent) / nominalTQCount ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::dataSamplePointFromBitStart (void) const {
const uint32_t nominalTQCount = 1 /* Sync Seg */ + mDataPhaseSegment1 + mDataPhaseSegment2 ;
@ -206,7 +261,7 @@ uint32_t ACAN2517FDSettings::dataSamplePointFromBitStart (void) const {
return (samplePoint * partPerCent) / nominalTQCount ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::CANBitSettingConsistency (void) const {
uint32_t errorCode = 0 ; // Means no error
@ -274,9 +329,9 @@ uint32_t ACAN2517FDSettings::CANBitSettingConsistency (void) const {
return errorCode ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// RAM USAGE
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::ramUsage (void) const {
uint32_t result = 0 ;
@ -290,11 +345,11 @@ uint32_t ACAN2517FDSettings::ramUsage (void) const {
return result ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
uint32_t ACAN2517FDSettings::objectSizeForPayload (const PayloadSize inPayload) {
static const uint8_t kPayload [8] = {16, 20, 24, 28, 32, 40, 56, 72} ;
return kPayload [inPayload] ;
}
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------

182
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FDSettings.h
View file

@ -1,25 +1,25 @@
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// A CAN driver for MCP2517FD (CANFD mode)
// by Pierre Molinaro
// https://github.com/pierremolinaro/acan2517FD
//
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#pragma once
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#include "ACAN2517FD_DataBitRateFactor.h"
#include "ACANFD_DataBitRateFactor.h"
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
// ACAN2517FDSettings class
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
class ACAN2517FDSettings {
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// ENUMERATED TYPES
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// ENUMERATED TYPES
//······················································································································
public: typedef enum : uint8_t {
OSC_4MHz,
@ -64,9 +64,9 @@ class ACAN2517FDSettings {
PAYLOAD_64 = 7
} 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 {
DATA_BITRATE_x1 = 1,
@ -81,18 +81,18 @@ class ACAN2517FDSettings {
DATA_BITRATE_x10 = 10
} DataBitRateFactor_Deprecated ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// CONSTRUCTOR
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// CONSTRUCTOR
//······················································································································
public: ACAN2517FDSettings (const Oscillator inOscillator,
const uint32_t inDesiredArbitrationBitRate,
const DataBitRateFactor inDataBitRateFactor,
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,
const uint32_t inDesiredArbitrationBitRate,
@ -101,9 +101,9 @@ class ACAN2517FDSettings {
ACAN2517FDSettings (inOscillator, inDesiredArbitrationBitRate, DataBitRateFactor (inDataBitRateFactor), inTolerancePPM) {
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// CAN BIT TIMING
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// CAN BIT TIMING
//······················································································································
private: Oscillator mOscillator ;
private: uint32_t mSysClock ; // In Hz
@ -123,44 +123,44 @@ class ACAN2517FDSettings {
//--- Transmitter Delay Compensation Offset
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
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// MCP2517FD INT pin is Open Drain ?
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// MCP2517FD INT pin is Open Drain ?
//······················································································································
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
// 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 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// 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 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Requested mode
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Requested mode
//······················································································································
public: OperationMode mRequestedMode = NormalFD ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// TRANSMIT FIFO
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// TRANSMIT FIFO
//······················································································································
//--- Driver transmit buffer size
public: uint16_t mDriverTransmitFIFOSize = 16 ; // >= 0
public: uint16_t mDriverTransmitFIFOSize = 22 ; // >= 0
//--- Controller transmit FIFO size
public: uint8_t mControllerTransmitFIFOSize = 1 ; // 1 ... 32
@ -174,9 +174,9 @@ class ACAN2517FDSettings {
//--- Controller transmit FIFO retransmission attempts
public: RetransmissionAttempts mControllerTransmitFIFORetransmissionAttempts = UnlimitedNumber ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// TXQ BUFFER
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// TXQ BUFFER
//······················································································································
//--- TXQ buffer size (0 --> TXQ disabled)
public: uint8_t mControllerTXQSize = 0 ; // 0 ... 32
@ -191,9 +191,9 @@ class ACAN2517FDSettings {
public: RetransmissionAttempts mControllerTXQBufferRetransmissionAttempts = UnlimitedNumber ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// RECEIVE FIFO
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// RECEIVE FIFO
//······················································································································
//--- Driver receive buffer size
public: uint16_t mDriverReceiveFIFOSize = 32 ; // > 0
@ -204,15 +204,15 @@ class ACAN2517FDSettings {
//--- Controller receive FIFO size
public: uint8_t mControllerReceiveFIFOSize = 27 ; // 1 ... 32
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// SYSCLOCK frequency computation
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// SYSCLOCK frequency computation
//······················································································································
public: static uint32_t sysClock (const Oscillator inOscillator) ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Accessors
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Accessors
//······················································································································
public: Oscillator oscillator (void) const { return mOscillator ; }
public: uint32_t sysClock (void) const { return mSysClock ; }
@ -222,61 +222,61 @@ class ACAN2517FDSettings {
public: bool exactDataBitRate (void) const ;
public: bool dataBitRateIsAMultipleOfArbitrationBitRate (void) const ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// RAM USAGE
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// RAM USAGE
//······················································································································
public: uint32_t ramUsage (void) const ;
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 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 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 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Constants returned by CANBitSettingConsistency
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Constants returned by CANBitSettingConsistency
//······················································································································
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 kArbitrationPhaseSegment1IsLowerThan2 = uint32_t (1) << 2 ;
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 kArbitrationPhaseSegment2IsGreaterThan128 = uint32_t (1) << 5 ;
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 kArbitrationSJWIsGreaterThanPhaseSegment1 = uint32_t (1) << 8 ;
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 kDataPhaseSegment1IsLowerThan2 = uint32_t (1) << 11 ;
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 kDataPhaseSegment2IsGreaterThan16 = uint32_t (1) << 14 ;
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 kDataSJWIsGreaterThanPhaseSegment1 = uint32_t (1) << 17 ;
public: static const uint32_t kDataSJWIsGreaterThanPhaseSegment2 = uint32_t (1) << 18 ;
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 kArbitrationPhaseSegment1IsLowerThan2 = ((uint32_t) 1) << 2 ;
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 kArbitrationPhaseSegment2IsGreaterThan128 = ((uint32_t) 1) << 5 ;
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 kArbitrationSJWIsGreaterThanPhaseSegment1 = ((uint32_t) 1) << 8 ;
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 kDataPhaseSegment1IsLowerThan2 = ((uint32_t) 1) << 11 ;
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 kDataPhaseSegment2IsGreaterThan16 = ((uint32_t) 1) << 14 ;
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 kDataSJWIsGreaterThanPhaseSegment1 = ((uint32_t) 1) << 17 ;
public: static const uint32_t kDataSJWIsGreaterThanPhaseSegment2 = ((uint32_t) 1) << 18 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Max values
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
// Max values
//······················································································································
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_SJW = 16 ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//······················································································································
} ;
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------

122
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD_ACANFDBuffer.h
View file

@ -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
View file

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

46
Software/src/lib/pierremolinaro-ACAN2517FD/ACAN2517FD_CANFDMessage.h → Software/src/lib/pierremolinaro-ACAN2517FD/CANFDMessage.h
View file

@ -1,21 +1,21 @@
//------------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// Generic CANFD Message
// by Pierre Molinaro
//
// https://github.com/pierremolinaro/acan2517FD
//
//------------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#ifndef GENERIC_CANFD_MESSAGE_DEFINED
#define GENERIC_CANFD_MESSAGE_DEFINED
//------------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#include "ACAN2517FD_CANMessage.h"
#include "CANMessage.h"
//------------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// CANFDMessage class
//------------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// 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.
// Having other values is an error that prevents frame to be sent by tryToSend
@ -23,9 +23,9 @@
class CANFDMessage {
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Constructors
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//·············································································
// Constructors
//·············································································
public : CANFDMessage (void) :
id (0), // Frame identifier
@ -36,7 +36,7 @@ class CANFDMessage {
data () {
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//·············································································
public : CANFDMessage (const CANMessage & inMessage) :
id (inMessage.id), // Frame identifier
@ -48,9 +48,9 @@ class CANFDMessage {
data64 [0] = inMessage.data64 ;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Enumerated Type
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//·············································································
// Enumerated Type
//·············································································
public: typedef enum : uint8_t {
CAN_REMOTE,
@ -59,9 +59,9 @@ class CANFDMessage {
CANFD_WITH_BIT_RATE_SWITCH
} Type ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Properties
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//·············································································
// Properties
//·············································································
public : uint32_t id ; // Frame identifier
public : bool ext ; // false -> base frame, true -> extended frame
@ -80,9 +80,9 @@ class CANFDMessage {
uint8_t data [64] ;
} ;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Methods
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//·············································································
// Methods
//·············································································
public: void pad (void) {
uint8_t paddedLength = len ;
@ -107,7 +107,7 @@ class CANFDMessage {
}
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//·············································································
public: bool isValid (void) const {
if ((type == CAN_REMOTE) || (type == CAN_DATA)) { // Remote frame
@ -121,14 +121,14 @@ class CANFDMessage {
}
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
//·············································································
} ;
//------------------------------------------------------------------------------
//-----------------------------------------------------------------------------
typedef void (*ACANFDCallBackRoutine) (const CANFDMessage & inMessage) ;
//------------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#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
// by Pierre Molinaro
//
@ -8,16 +8,16 @@
// https://github.com/pierremolinaro/acan2517
// https://github.com/pierremolinaro/acan2517FD
//
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#ifndef GENERIC_CAN_MESSAGE_DEFINED
#define GENERIC_CAN_MESSAGE_DEFINED
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#include <Arduino.h>
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
class CANMessage {
public : uint32_t id = 0 ; // Frame identifier
@ -38,12 +38,12 @@ class CANMessage {
} ;
} ;
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
typedef enum {kStandard, kExtended} tFrameFormat ;
typedef enum {kData, kRemote} tFrameKind ;
typedef void (*ACANCallBackRoutine) (const CANMessage & inMessage) ;
//------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------------------------------------
#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=*