sani7/STM32HAL-MCP2515
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This commit is contained in:
Sander Speetjens
2025-02-21 17:41:48 +01:00
parent d6b1272fcb
commit 954a86ab7e
2 changed files with 43 additions and 43 deletions
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76
mcp2515.c
View File

@@ -1,6 +1,6 @@
#include "mcp2515.h"
#include "mcp2515_consts.h"
// #include <stm32f0xx_hal.h>
#include <stm32f0xx_hal.h>
#define SPI_TIMEOUT 10
@@ -95,7 +95,7 @@ CAN_Error MCP2515_Set_Mode(MCP2515_HandleTypeDef* hcan, CANCTRL_REQOP_MODE mode)
uint8_t modeMatch = 0;
while (HAL_GetTick() < endTime) {
MCP2515_Modify_Register(hcan, MCP_CANCTRL, CANCTRL_REQOP, mode);
uint8_t newmode = MCP2515_Read_Registers(hcan, MCP_CANSTAT);
uint8_t newmode = MCP2515_Read_Register(hcan, MCP_CANSTAT);
newmode &= CANSTAT_OPMOD;
modeMatch = newmode == mode;
@@ -140,7 +140,7 @@ uint8_t MCP2515_Get_Status(MCP2515_HandleTypeDef* hcan) {
}
CAN_Error MCP2515_Set_Filter_Mask(MCP2515_HandleTypeDef* hcan, MASK mask, uint8_t ext, uint32_t ulData) {
CAN_Error res = setConfigMode();
CAN_Error res = MCP2515_Set_Config_Mode(hcan);
if (res != ERROR_OK) {
return res;
}
@@ -160,13 +160,13 @@ CAN_Error MCP2515_Set_Filter_Mask(MCP2515_HandleTypeDef* hcan, MASK mask, uint8_
return ERROR_FAIL;
}
setRegisters(reg, tbufdata, 4);
MCP2515_Set_Registers(hcan, reg, tbufdata, 4);
return ERROR_OK;
}
CAN_Error MCP2515_Set_Filter(MCP2515_HandleTypeDef* hcan, RXF num, uint8_t ext, uint32_t ulData) {
CAN_Error res = setConfigMode();
CAN_Error res = MCP2515_Set_Config_Mode(hcan);
if (res != ERROR_OK) {
return res;
}
@@ -198,7 +198,7 @@ CAN_Error MCP2515_Set_Filter(MCP2515_HandleTypeDef* hcan, RXF num, uint8_t ext,
uint8_t tbufdata[4];
MCP2515_Prepare_Id(tbufdata, ext, ulData);
setRegisters(reg, tbufdata, 4);
MCP2515_Set_Registers(hcan, reg, tbufdata, 4);
return ERROR_OK;
}
@@ -212,14 +212,14 @@ CAN_Error MCP2515_Reset(MCP2515_HandleTypeDef* hcan) {
uint8_t zeros[14] = {0};
setRegisters(MCP_TXB0CTRL, zeros, 14);
setRegisters(MCP_TXB1CTRL, zeros, 14);
setRegisters(MCP_TXB2CTRL, zeros, 14);
MCP2515_Set_Registers(hcan, MCP_TXB0CTRL, zeros, 14);
MCP2515_Set_Registers(hcan, MCP_TXB1CTRL, zeros, 14);
MCP2515_Set_Registers(hcan, MCP_TXB2CTRL, zeros, 14);
setRegister(MCP_RXB0CTRL, 0);
setRegister(MCP_RXB1CTRL, 0);
MCP2515_Set_Register(hcan, MCP_RXB0CTRL, 0);
MCP2515_Set_Register(hcan, MCP_RXB1CTRL, 0);
setRegister(MCP_CANINTE, CANINTF_RX0IF | CANINTF_RX1IF | CANINTF_ERRIF | CANINTF_MERRF);
MCP2515_Set_Register(hcan, MCP_CANINTE, CANINTF_RX0IF | CANINTF_RX1IF | CANINTF_ERRIF | CANINTF_MERRF);
// receives all valid messages using either Standard or Extended Identifiers that
// meet filter criteria. RXF0 is applied for RXB0, RXF1 is applied for RXB1
@@ -268,7 +268,7 @@ CAN_Error MCP2515_Set_Normal_Mode(MCP2515_HandleTypeDef* hcan) {
}
CAN_Error MCP2515_Set_Bitrate_Clock(MCP2515_HandleTypeDef* hcan, CAN_SPEED canSpeed, CAN_CLOCK canClock) {
CAN_Error error = setConfigMode();
CAN_Error error = MCP2515_Set_Config_Mode(hcan);
if (error != ERROR_OK) {
return error;
}
@@ -540,9 +540,9 @@ CAN_Error MCP2515_Set_Bitrate_Clock(MCP2515_HandleTypeDef* hcan, CAN_SPEED canSp
}
if (set) {
setRegister(MCP_CNF1, cfg1);
setRegister(MCP_CNF2, cfg2);
setRegister(MCP_CNF3, cfg3);
MCP2515_Set_Register(hcan, MCP_CNF1, cfg1);
MCP2515_Set_Register(hcan, MCP_CNF2, cfg2);
MCP2515_Set_Register(hcan, MCP_CNF3, cfg3);
return ERROR_OK;
}
@@ -555,7 +555,7 @@ void MCP2515_Request_To_Send(MCP2515_HandleTypeDef* hcan, uint8_t instruction) {
HAL_GPIO_WritePin(hcan->cs_port, hcan->cs_pin, GPIO_PIN_SET);
}
CAN_Error MCP2515_Send_Message_To(MCP2515_HandleTypeDef* hcan, TXBn txbn, can_frame* frame)
CAN_Error MCP2515_Send_Message_To(MCP2515_HandleTypeDef* hcan, TXBn txbn, can_frame_t* frame)
// TXBm is just 0,1,2 for txbox number
{
if (frame->can_dlc > CAN_MAX_DLEN) {
@@ -583,28 +583,28 @@ CAN_Error MCP2515_Send_Message_To(MCP2515_HandleTypeDef* hcan, TXBn txbn, can_fr
// memcpy(&data[MCP_DATA], frame->data, frame->can_dlc);
loadTx(load_addr, data, 5 + frame->can_dlc);
// setRegisters(load_addr, data, 5 + frame->can_dlc);
MCP2515_Load_Tx(hcan, load_addr, data, 5 + frame->can_dlc);
// MCP2515_Set_Registers(hcan, load_addr, data, 5 + frame->can_dlc);
// MCP2515_Modify_Register(hcan, txbuf->CTRL, TXB_TXREQ, TXB_TXREQ);
// MCP2515_Modify_Register(hcan, rts_addr, TXB_TXREQ, TXB_TXREQ);
MCP_RequestToSend(rts_addr);
// setRegister(rts_addr, TXB_TXREQ);
MCP2515_Request_To_Send(hcan, rts_addr);
// MCP2515_Set_Register(hcan, rts_addr, TXB_TXREQ);
uint8_t ctrl = MCP2515_Read_Registers(hcan, rts_addr);
uint8_t ctrl = MCP2515_Read_Register(hcan, rts_addr);
if ((ctrl & (TXB_ABTF | TXB_MLOA | TXB_TXERR)) != 0) {
return ERROR_FAILTX;
}
return ERROR_OK;
}
CAN_Error MCP2515_Send_Message(MCP2515_HandleTypeDef* hcan, can_frame* frame) {
CAN_Error MCP2515_Send_Message(MCP2515_HandleTypeDef* hcan, can_frame_t* frame) {
if (frame->can_dlc > CAN_MAX_DLEN) {
return ERROR_FAILTX;
}
for (uint8_t i = 0; i < N_TXBUFFERS; i++) {
uint8_t ctrlval = MCP2515_Read_Registers(hcan, (i + 3) << 4);
uint8_t ctrlval = MCP2515_Read_Register(hcan, (i + 3) << 4);
if ((ctrlval & TXB_TXREQ) == 0) {
return MCP2515_Send_Message_To(hcan, i, frame);
}
@@ -613,11 +613,11 @@ CAN_Error MCP2515_Send_Message(MCP2515_HandleTypeDef* hcan, can_frame* frame) {
return ERROR_ALLTXBUSY;
}
CAN_Error MCP2515_Read_Message_From(MCP2515_HandleTypeDef* hcan, RXBn rxbn, can_frame* frame) {
CAN_Error MCP2515_Read_Message_From(MCP2515_HandleTypeDef* hcan, RXBn rxbn, can_frame_t* frame) {
uint8_t readCommand = (rxbn << 2) | 0x90;
rx_reg_t rxReg;
readRx(readCommand, rxReg.rx_reg_array, sizeof(rxReg.rx_reg_array));
MCP2515_Read_Rx(hcan, readCommand, rxReg.rx_reg_array, sizeof(rxReg.rx_reg_array));
uint32_t id = (rxReg.rx_reg_array[MCP_SIDH] << 3) + (rxReg.rx_reg_array[MCP_SIDL] >> 5);
@@ -634,7 +634,7 @@ CAN_Error MCP2515_Read_Message_From(MCP2515_HandleTypeDef* hcan, RXBn rxbn, can_
}
// 0x60 or 0x70
uint8_t ctrl = MCP2515_Read_Registers(hcan, (rxbn + 6) << 4);
uint8_t ctrl = MCP2515_Read_Register(hcan, (rxbn + 6) << 4);
if (ctrl & RXBnCTRL_RTR) {
id |= CAN_RTR_FLAG;
}
@@ -657,14 +657,14 @@ CAN_Error MCP2515_Read_Message_From(MCP2515_HandleTypeDef* hcan, RXBn rxbn, can_
return ERROR_OK;
}
CAN_Error MCP2515_Read_Message(MCP2515_HandleTypeDef* hcan, can_frame* frame) {
CAN_Error MCP2515_Read_Message(MCP2515_HandleTypeDef* hcan, can_frame_t* frame) {
CAN_Error rc;
uint8_t stat = MCP2515_Get_Status(hcan);
if (stat & STAT_RX0IF) {
rc = MCP2515_Read_Message_From(RXB0, frame);
rc = MCP2515_Read_Message_From(hcan, RXB0, frame);
} else if (stat & STAT_RX1IF) {
rc = MCP2515_Read_Message_From(RXB1, frame);
rc = MCP2515_Read_Message_From(hcan, RXB1, frame);
} else {
rc = ERROR_NOMSG;
}
@@ -682,11 +682,11 @@ uint8_t MCP2515_Check_Receive(MCP2515_HandleTypeDef* hcan) {
}
uint8_t MCP2515_Get_Error_Flags(MCP2515_HandleTypeDef* hcan) {
return MCP2515_Read_Registers(hcan, MCP_EFLG);
return MCP2515_Read_Register(hcan, MCP_EFLG);
}
uint8_t MCP2515_Check_Error(MCP2515_HandleTypeDef* hcan) {
uint8_t eflg = MCP_getErrorFlags();
uint8_t eflg = MCP2515_Get_Error_Flags(hcan);
if (eflg & EFLG_ERRORMASK) {
return 1;
@@ -700,15 +700,15 @@ void MCP2515_Clear_RXn_OVR_Flags(MCP2515_HandleTypeDef* hcan) {
}
uint8_t MCP2515_Get_Interrupts(MCP2515_HandleTypeDef* hcan) {
return MCP2515_Read_Registers(hcan, MCP_CANINTF);
return MCP2515_Read_Register(hcan, MCP_CANINTF);
}
void MCP2515_Clear_Interrupts(MCP2515_HandleTypeDef* hcan) {
setRegister(MCP_CANINTF, 0);
MCP2515_Set_Register(hcan, MCP_CANINTF, 0);
}
uint8_t MCP2515_Get_Interrupt_Mask(MCP2515_HandleTypeDef* hcan) {
return MCP2515_Read_Registers(hcan, MCP_CANINTE);
return MCP2515_Read_Register(hcan, MCP_CANINTE);
}
void MCP2515_Clear_TX_Interrupts(MCP2515_HandleTypeDef* hcan) {
@@ -716,10 +716,10 @@ void MCP2515_Clear_TX_Interrupts(MCP2515_HandleTypeDef* hcan) {
}
void MCP2515_Clear_RXn_OVR(MCP2515_HandleTypeDef* hcan) {
uint8_t eflg = MCP_getErrorFlags();
uint8_t eflg = MCP2515_Get_Error_Flags(hcan);
if (eflg != 0) {
MCP_clearRXnOVRFlags();
MCP_clearInterrupts();
MCP2515_Clear_RXn_OVR_Flags(hcan);
MCP2515_Clear_Interrupts(hcan);
// MCP2515_Modify_Register(hcan, MCP_CANINTF, CANINTF_ERRIF, 0);
}
}

10
mcp2515.h
View File

@@ -2,7 +2,7 @@
#define APPLICATION_USER_INC_MCP2515_H_
#include <stdint.h>
#include "can.h"
#include <stm32f0xx_hal.h>
typedef enum {
ERROR_OK = 0,
@@ -76,11 +76,11 @@ CAN_Error MCP2515_Set_Bitrate_Clock(MCP2515_HandleTypeDef* hcan, CAN_SPEED canSp
CAN_Error MCP2515_Set_Filter_Mask(MCP2515_HandleTypeDef* hcan, MASK mask, uint8_t ext, uint32_t ulData);
CAN_Error MCP2515_Set_Filter(MCP2515_HandleTypeDef* hcan, RXF num, uint8_t ext, uint32_t ulData);
CAN_Error MCP2515_Send_Message_To(MCP2515_HandleTypeDef* hcan, TXBn txbn, can_frame* frame);
CAN_Error MCP2515_Send_Message(MCP2515_HandleTypeDef* hcan, can_frame* frame);
CAN_Error MCP2515_Send_Message_To(MCP2515_HandleTypeDef* hcan, TXBn txbn, can_frame_t* frame);
CAN_Error MCP2515_Send_Message(MCP2515_HandleTypeDef* hcan, can_frame_t* frame);
CAN_Error MCP2515_Read_Message_From(MCP2515_HandleTypeDef* hcan, RXBn rxbn, can_frame* frame);
CAN_Error MCP2515_Read_Message(MCP2515_HandleTypeDef* hcan, can_frame* frame);
CAN_Error MCP2515_Read_Message_From(MCP2515_HandleTypeDef* hcan, RXBn rxbn, can_frame_t* frame);
CAN_Error MCP2515_Read_Message(MCP2515_HandleTypeDef* hcan, can_frame_t* frame);
uint8_t MCP2515_Check_Receive(MCP2515_HandleTypeDef* hcan);
uint8_t MCP2515_Get_Error_Flags(MCP2515_HandleTypeDef* hcan);