1.0.4 : fixed mask and acceptance filter for extended messages

pierremolinaro · Jan 14, 2019 · 0070c13 · 0070c13
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diff --git a/examples/LoopBackDemoTeensy3xExtendedFilterTest/LoopBackDemoTeensy3xExtendedFilterTest.ino b/examples/LoopBackDemoTeensy3xExtendedFilterTest/LoopBackDemoTeensy3xExtendedFilterTest.ino
@@ -0,0 +1,123 @@
+//——————————————————————————————————————————————————————————————————————————————
+//  ACAN2517FD Filter Demo in loopback mode, using hardware SPI1
+//  This sketch tests extended receive filters
+//——————————————————————————————————————————————————————————————————————————————
+
+#include <ACAN2517FD.h>
+
+//——————————————————————————————————————————————————————————————————————————————
+//  MCP2517 connections: adapt theses settings to your design
+//  As hardware SPI is used, you should select pins that support SPI functions.
+//  This sketch is designed for a Teensy 3.5, using SPI1
+//  But standard Teensy 3.5 SPI1 pins are not used
+//    SCK input of MCP2517 is connected to pin #32
+//    SDI input of MCP2517 is connected to pin #0
+//    SDO output of MCP2517 is connected to pin #1
+//  CS input of MCP2517 should be connected to a digital output port
+//  INT output of MCP2517 should be connected to a digital input port, with interrupt capability
+//——————————————————————————————————————————————————————————————————————————————
+
+static const byte MCP2517_SCK = 32 ; // SCK input of MCP2517 
+static const byte MCP2517_SDI =  0 ; // SDI input of MCP2517  
+static const byte MCP2517_SDO =  1 ; // SDO output of MCP2517 
+
+static const byte MCP2517_CS  = 31 ; // CS input of MCP2517 
+static const byte MCP2517_INT = 38 ; // INT output of MCP2517
+
+//——————————————————————————————————————————————————————————————————————————————
+//  MCP2517 Driver object
+//——————————————————————————————————————————————————————————————————————————————
+
+ACAN2517FD can (MCP2517_CS, SPI1, MCP2517_INT) ;
+
+//——————————————————————————————————————————————————————————————————————————————
+//   SETUP
+//——————————————————————————————————————————————————————————————————————————————
+
+void setup () {
+//--- Switch on builtin led
+  pinMode (LED_BUILTIN, OUTPUT) ;
+  digitalWrite (LED_BUILTIN, HIGH) ;
+//--- Start serial
+  Serial.begin (38400) ;
+//--- Wait for serial (blink led at 10 Hz during waiting)
+  while (!Serial) {
+    delay (50) ;
+    digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
+  }
+//----------------------------------- Define alternate pins for SPI1 (see https://www.pjrc.com/teensy/td_libs_SPI.html)
+  SPI1.setMOSI (MCP2517_SDI) ;
+  SPI1.setMISO (MCP2517_SDO) ;
+  SPI1.setSCK (MCP2517_SCK) ;
+//----------------------------------- Begin SPI1
+  SPI1.begin () ;
+//----------------------------------- Configure ACAN2517FD
+  Serial.println ("Configure ACAN2517FD") ;
+  ACAN2517FDSettings settings (ACAN2517FDSettings::OSC_4MHz10xPLL, 125 * 1000, ACAN2517FDSettings::DATA_BITRATE_x4) ; // CAN bit rate 125 kb/s
+  settings.mRequestedMode = ACAN2517FDSettings::InternalLoopBack; // Select loopback mode
+//----------------------------------- Append filters
+  ACAN2517FDFilters filters ;
+  for (uint32_t i=0 ; i<29 ; i++) {
+    filters.appendFrameFilter (kExtended, 1 << i, NULL) ; // Filter #i: receive extended frame with identifier 1 << i
+  }
+//----------------------------------- Enter configuration
+  const uint32_t errorCode = can.begin (settings, [] { can.isr () ; }, filters) ;
+//----------------------------------- Config ok ?
+ if (errorCode != 0) {
+    Serial.print ("Configuration error 0x") ;
+    Serial.println (errorCode, HEX) ;
+  }
+}
+
+//——————————————————————————————————————————————————————————————————————————————————————————————————————————————————————
+
+static unsigned gBlinkLedDate = 0 ;
+static uint32_t gPhase = 0 ;
+static uint32_t gReceiveFlags = (1 << 29) - 1 ;
+
+//——————————————————————————————————————————————————————————————————————————————
+
+void loop () {
+  CANFDMessage frame ;
+  if (gBlinkLedDate < millis ()) {
+    gBlinkLedDate += 100 ;
+    digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
+    if (gPhase < 29) {
+      frame.ext = true ;
+      frame.id = 1 << gPhase ;
+      frame.data32 [0] = 1 << gPhase ;
+      frame.len = 4 ;
+      const bool ok = can.tryToSend (frame) ;
+      if (ok) {
+        gPhase +=1 ;
+      }
+    }
+  }
+//--- Dispatch received messages
+  if (can.receive (frame)) {
+    bool ok = (frame.len == 4) && frame.ext ;
+    if (ok) {
+      ok = frame.data32 [0] == (1U << frame.idx) ;
+    }
+    if (!ok) {
+      Serial.print ("Receive error: idx ") ;
+      Serial.print (frame.idx) ;
+      Serial.print (", data ") ;
+      Serial.print (frame.data32 [0], HEX) ;
+      Serial.print (", length ") ;
+      Serial.print (frame.len) ;
+      Serial.print (", ext ") ;
+      Serial.println (frame.ext) ;
+    }else if ((gReceiveFlags & (1 << frame.idx)) == 0) {
+      Serial.print ("Multiple reception ") ;
+      Serial.println (frame.idx) ;
+    }else{
+      gReceiveFlags &= ~ (1 << frame.idx) ;
+      if (gReceiveFlags == 0) {
+        Serial.println ("Done, all extended frames received") ;
+      }
+    }
+  }
+}
+
+//——————————————————————————————————————————————————————————————————————————————
diff --git a/examples/LoopBackDemoTeensy3xStandardFilterTest/LoopBackDemoTeensy3xStandardFilterTest.ino b/examples/LoopBackDemoTeensy3xStandardFilterTest/LoopBackDemoTeensy3xStandardFilterTest.ino
@@ -0,0 +1,123 @@
+//——————————————————————————————————————————————————————————————————————————————
+//  ACAN2517FD Filter Demo in loopback mode, using hardware SPI1
+//  This sketch tests standard receive filters
+//——————————————————————————————————————————————————————————————————————————————
+
+#include <ACAN2517FD.h>
+
+//——————————————————————————————————————————————————————————————————————————————
+//  MCP2517 connections: adapt theses settings to your design
+//  As hardware SPI is used, you should select pins that support SPI functions.
+//  This sketch is designed for a Teensy 3.5, using SPI1
+//  But standard Teensy 3.5 SPI1 pins are not used
+//    SCK input of MCP2517 is connected to pin #32
+//    SDI input of MCP2517 is connected to pin #0
+//    SDO output of MCP2517 is connected to pin #1
+//  CS input of MCP2517 should be connected to a digital output port
+//  INT output of MCP2517 should be connected to a digital input port, with interrupt capability
+//——————————————————————————————————————————————————————————————————————————————
+
+static const byte MCP2517_SCK = 32 ; // SCK input of MCP2517 
+static const byte MCP2517_SDI =  0 ; // SDI input of MCP2517  
+static const byte MCP2517_SDO =  1 ; // SDO output of MCP2517 
+
+static const byte MCP2517_CS  = 31 ; // CS input of MCP2517 
+static const byte MCP2517_INT = 38 ; // INT output of MCP2517
+
+//——————————————————————————————————————————————————————————————————————————————
+//  MCP2517 Driver object
+//——————————————————————————————————————————————————————————————————————————————
+
+ACAN2517FD can (MCP2517_CS, SPI1, MCP2517_INT) ;
+
+//——————————————————————————————————————————————————————————————————————————————
+//   SETUP
+//——————————————————————————————————————————————————————————————————————————————
+
+void setup () {
+//--- Switch on builtin led
+  pinMode (LED_BUILTIN, OUTPUT) ;
+  digitalWrite (LED_BUILTIN, HIGH) ;
+//--- Start serial
+  Serial.begin (38400) ;
+//--- Wait for serial (blink led at 10 Hz during waiting)
+  while (!Serial) {
+    delay (50) ;
+    digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
+  }
+//----------------------------------- Define alternate pins for SPI1 (see https://www.pjrc.com/teensy/td_libs_SPI.html)
+  SPI1.setMOSI (MCP2517_SDI) ;
+  SPI1.setMISO (MCP2517_SDO) ;
+  SPI1.setSCK (MCP2517_SCK) ;
+//----------------------------------- Begin SPI1
+  SPI1.begin () ;
+//----------------------------------- Configure ACAN2517FD
+  Serial.println ("Configure ACAN2517FD") ;
+  ACAN2517FDSettings settings (ACAN2517FDSettings::OSC_4MHz10xPLL, 125 * 1000, ACAN2517FDSettings::DATA_BITRATE_x4) ;
+  settings.mRequestedMode = ACAN2517FDSettings::InternalLoopBack; // Select loopback mode
+//----------------------------------- Append filters
+  ACAN2517FDFilters filters ;
+  for (uint32_t i=0 ; i<11 ; i++) {
+    filters.appendFrameFilter (kStandard, 1 << i, NULL) ; // Filter #i: receive standard frame with identifier 1 << i
+  }
+//----------------------------------- Enter configuration
+  const uint32_t errorCode = can.begin (settings, [] { can.isr () ; }, filters) ;
+//----------------------------------- Config ok ?
+ if (errorCode != 0) {
+    Serial.print ("Configuration error 0x") ;
+    Serial.println (errorCode, HEX) ;
+  }
+}
+
+//——————————————————————————————————————————————————————————————————————————————————————————————————————————————————————
+
+static unsigned gBlinkLedDate = 0 ;
+static uint32_t gPhase = 0 ;
+static uint32_t gReceiveFlags = (1 << 11) - 1 ;
+
+//——————————————————————————————————————————————————————————————————————————————
+
+void loop () {
+  CANFDMessage frame ;
+  if (gBlinkLedDate < millis ()) {
+    gBlinkLedDate += 100 ;
+    digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
+    if (gPhase < 11) {
+      frame.ext = false ;
+      frame.id = 1 << gPhase ;
+      frame.data32 [0] = 1 << gPhase ;
+      frame.len = 4 ;
+      const bool ok = can.tryToSend (frame) ;
+      if (ok) {
+        gPhase +=1 ;
+      }
+    }
+  }
+//--- Dispatch received messages
+  if (can.receive (frame)) {
+    bool ok = (frame.len == 4) && !frame.ext ;
+    if (ok) {
+      ok = frame.data32 [0] == (1U << frame.idx) ;
+    }
+    if (!ok) {
+      Serial.print ("Receive error: idx ") ;
+      Serial.print (frame.idx) ;
+      Serial.print (", data ") ;
+      Serial.print (frame.data32 [0], HEX) ;
+      Serial.print (", length ") ;
+      Serial.print (frame.len) ;
+      Serial.print (", ext ") ;
+      Serial.println (frame.ext) ;
+    }else if ((gReceiveFlags & (1 << frame.idx)) == 0) {
+      Serial.print ("Multiple reception ") ;
+      Serial.println (frame.idx) ;
+    }else{
+      gReceiveFlags &= ~ (1 << frame.idx) ;
+      if (gReceiveFlags == 0) {
+        Serial.println ("Done, all standard frames received") ;
+      }
+    }
+  }
+}
+
+//——————————————————————————————————————————————————————————————————————————————
diff --git a/extras/acan2517FD.pdf b/extras/acan2517FD.pdf
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=ACAN2517FD
-version=1.0.3
+version=1.0.4
 author=Pierre Molinaro
 maintainer=Pierre Molinaro <Pierre.Molinaro@pcmolinaro.name>
 sentence=Driver for MCP2517FD CAN Controller (CAN FD mode)

diff --git a/src/ACAN2517FDFilters.h b/src/ACAN2517FDFilters.h
@@ -122,9 +122,15 @@ class ACAN2517FDFilters {
       mFilterStatus = kStandardIdentifierTooLarge ;
       mFilterErrorIndex = mFilterCount ;
     }
-  //--- Enter filter
+  //--- Re order bits if extended filter
     const uint32_t mask = (1 << 30) | ((inFormat == kExtended) ? 0x1FFFFFFF : 0x7FF) ;
-    const uint32_t acceptance = inIdentifier | ((inFormat == kExtended) ? (1 << 30) : 0) ;
+    uint32_t acceptance ;
+    if (inFormat == kExtended) {
+      acceptance = ((inIdentifier >> 18) & 0x7FF) | ((inIdentifier & 0x3FFFF) << 11) | (1 << 30) ;
+    }else{
+      acceptance = inIdentifier ;
+    }
+  //--- Enter filter
     Filter * f = new Filter (mask, acceptance, inCallBackRoutine) ;
     if (mFirstFilter == NULL) {
       mFirstFilter = f ;
@@ -166,9 +172,20 @@ class ACAN2517FDFilters {
       mFilterStatus = kStandardMaskTooLarge ;
       mFilterErrorIndex = mFilterCount ;
     }
+  //--- Re order bits if extended filter
+    uint32_t mask = 1 << 30 ;
+    if (inFormat == kExtended) {
+      mask |= ((inMask >> 18) & 0x7FF) | ((inMask & 0x3FFFF) << 11) ;
+    }else{
+      mask |= inMask ;
+    }
+    uint32_t acceptance ;
+    if (inFormat == kExtended) {
+      acceptance = ((inAcceptance >> 18) & 0x7FF) | ((inAcceptance & 0x3FFFF) << 11) | (1 << 30) ;
+    }else{
+      acceptance = inAcceptance ;
+    }
   //--- Enter filter
-    const uint32_t mask = (1 << 30) | inMask ;
-    const uint32_t acceptance = ((inFormat == kExtended) ? (1 << 30) : 0) | inAcceptance ;
     Filter * f = new Filter (mask, acceptance, inCallBackRoutine) ;
     if (mFirstFilter == NULL) {
       mFirstFilter = f ;