From 59fb4ac902a705c1a594109fde2ede0079b3070d Mon Sep 17 00:00:00 2001 From: "pierre@pcmolinaro.name" Date: Fri, 8 Feb 2019 11:50:57 +0100 Subject: [PATCH] Arduino Uno compatibility --- .../LoopBackDemoArduinoUno.ino | 103 ++++++++++++++++++ .../LoopBackDemoESP32/LoopBackDemoESP32.ino | 18 +-- .../LoopBackDemoESP32NoInt.ino | 20 ++-- .../LoopBackDemoTeensy3x.ino | 14 +-- ...LoopBackDemoTeensy3xExtendedFilterTest.ino | 12 +- .../LoopBackDemoTeensy3xNoInt.ino | 14 +-- ...LoopBackDemoTeensy3xStandardFilterTest.ino | 10 +- .../LoopBackDemoTeensy3xWithFilters.ino | 14 +-- .../LoopBackESP32-intensive.ino | 20 ++-- .../LoopBackIntensiveTestTeensy3x.ino | 16 +-- extras/acan2517FD.pdf | Bin 348482 -> 348659 bytes library.properties | 2 +- src/ACAN2517FD.cpp | 12 +- src/ACAN2517FD.h | 48 ++++---- src/ACAN2517FDFilters.h | 16 +-- src/ACAN2517FDSettings.cpp | 14 +-- src/ACAN2517FDSettings.h | 38 +++---- src/ACANFDBuffer.h | 10 +- 18 files changed, 242 insertions(+), 139 deletions(-) create mode 100644 examples/LoopBackDemoArduinoUno/LoopBackDemoArduinoUno.ino diff --git a/examples/LoopBackDemoArduinoUno/LoopBackDemoArduinoUno.ino b/examples/LoopBackDemoArduinoUno/LoopBackDemoArduinoUno.ino new file mode 100644 index 0000000..09582b6 --- /dev/null +++ b/examples/LoopBackDemoArduinoUno/LoopBackDemoArduinoUno.ino @@ -0,0 +1,103 @@ +//—————————————————————————————————————————————————————————————————————————————— +// ACAN2517FD Demo in loopback mode, for Arduino Uno +//—————————————————————————————————————————————————————————————————————————————— + +#include +#include + +//—————————————————————————————————————————————————————————————————————————————— +// Very very important: put a 10kΩ resistor between CS and VDD of MCP2517FD + +static const byte MCP2517_CS = 10 ; // CS input of MCP2517 +static const byte MCP2517_INT = 3 ; // INT output of MCP2517 + +//—————————————————————————————————————————————————————————————————————————————— +// ACAN2517FD Driver object +//—————————————————————————————————————————————————————————————————————————————— + +ACAN2517FD can (MCP2517_CS, SPI, MCP2517_INT) ; + +//—————————————————————————————————————————————————————————————————————————————— +// SETUP +//—————————————————————————————————————————————————————————————————————————————— + +void setup () { +//--- Start serial + Serial.begin (115200) ; +//--- Wait for serial (blink led at 10 Hz during waiting) + while (!Serial) { + delay (50) ; + } +//----------------------------------- Begin SPI + SPI.begin () ; +//--- Configure ACAN2517FD + Serial.print ("sizeof (ACAN2517FDSettings): ") ; + Serial.print (sizeof (ACAN2517FDSettings)) ; + Serial.println (" bytes") ; + Serial.println ("Configure ACAN2517FD") ; + ACAN2517FDSettings settings (ACAN2517FDSettings::OSC_40MHz, 125UL * 1000UL, ACAN2517FDSettings::DATA_BITRATE_x1) ; + settings.mRequestedMode = ACAN2517FDSettings::InternalLoopBack ; // Select loopback mode +//--- Default values are too high for an Arduino Uno that contains 2048 bytes of RAM: reduce them + settings.mDriverTransmitFIFOSize = 1 ; + settings.mDriverReceiveFIFOSize = 1 ; +//--- RAM Usage + Serial.print ("MCP2517FD RAM Usage: ") ; + Serial.print (settings.ramUsage ()) ; + Serial.println (" bytes") ; +//--- Begin + const uint32_t errorCode = can.begin (settings, [] { can.isr () ; }) ; + if (errorCode == 0) { + Serial.print ("Bit Rate prescaler: ") ; + Serial.println (settings.mBitRatePrescaler) ; + Serial.print ("Arbitration Phase segment 1: ") ; + Serial.println (settings.mArbitrationPhaseSegment1) ; + Serial.print ("Arbitration Phase segment 2: ") ; + Serial.println (settings.mArbitrationPhaseSegment2) ; + Serial.print ("Arbitration SJW:") ; + Serial.println (settings.mArbitrationSJW) ; + Serial.print ("Actual Arbitration Bit Rate: ") ; + Serial.print (settings.actualArbitrationBitRate ()) ; + Serial.println (" bit/s") ; + Serial.print ("Exact Arbitration Bit Rate ? ") ; + Serial.println (settings.exactArbitrationBitRate () ? "yes" : "no") ; + Serial.print ("Arbitration Sample point: ") ; + Serial.print (settings.arbitrationSamplePointFromBitStart ()) ; + Serial.println ("%") ; + }else{ + Serial.print ("Configuration error 0x") ; + Serial.println (errorCode, HEX) ; + } +} + +//—————————————————————————————————————————————————————————————————————————————— +// LOOP +//—————————————————————————————————————————————————————————————————————————————— + +static uint32_t gSendDate = 0 ; +static uint32_t gReceivedFrameCount = 0 ; +static uint32_t gSentFrameCount = 0 ; + +//—————————————————————————————————————————————————————————————————————————————— + +void loop () { + CANFDMessage frame ; + if (gSendDate < millis ()) { + gSendDate += 2000 ; + const bool ok = can.tryToSend (frame) ; + if (ok) { + gSentFrameCount += 1 ; + Serial.print ("Sent: ") ; + Serial.println (gSentFrameCount) ; + }else{ + Serial.println ("Send failure") ; + } + } + if (can.available ()) { + can.receive (frame) ; + gReceivedFrameCount ++ ; + Serial.print ("Received: ") ; + Serial.println (gReceivedFrameCount) ; + } +} + +//—————————————————————————————————————————————————————————————————————————————— diff --git a/examples/LoopBackDemoESP32/LoopBackDemoESP32.ino b/examples/LoopBackDemoESP32/LoopBackDemoESP32.ino index 150d2ce..f282c8b 100644 --- a/examples/LoopBackDemoESP32/LoopBackDemoESP32.ino +++ b/examples/LoopBackDemoESP32/LoopBackDemoESP32.ino @@ -3,7 +3,7 @@ //—————————————————————————————————————————————————————————————————————————————— #ifndef ARDUINO_ARCH_ESP32 - #error "Select an ESP32 board" + #error "Select an ESP32 board" #endif //—————————————————————————————————————————————————————————————————————————————— @@ -23,16 +23,16 @@ // Notes: // - GPIOs 34 to 39 are GPIs – input only pins. These pins don’t have internal pull-ups or // pull-down resistors. They can’t be used as outputs. -// - some pins do not support INPUT_PULLUP (see https://www.esp32.com/viewtopic.php?t=439) +// - some pins do not support INPUT_PULLUP (see https://www.esp32.com/viewtopic.php?t=439) // - All GPIOs can be configured as interrupts // See https://randomnerdtutorials.com/esp32-pinout-reference-gpios/ //—————————————————————————————————————————————————————————————————————————————— -static const byte MCP2517_SCK = 26 ; // SCK input of MCP2517 -static const byte MCP2517_MOSI = 19 ; // SDI input of MCP2517 -static const byte MCP2517_MISO = 18 ; // SDO output of MCP2517 +static const byte MCP2517_SCK = 26 ; // SCK input of MCP2517 +static const byte MCP2517_MOSI = 19 ; // SDI input of MCP2517 +static const byte MCP2517_MISO = 18 ; // SDO output of MCP2517 -static const byte MCP2517_CS = 16 ; // CS input of MCP2517 +static const byte MCP2517_CS = 16 ; // CS input of MCP2517 static const byte MCP2517_INT = 32 ; // INT output of MCP2517 //—————————————————————————————————————————————————————————————————————————————— @@ -98,9 +98,9 @@ void setup () { // LOOP //—————————————————————————————————————————————————————————————————————————————— -static unsigned gBlinkLedDate = 0 ; -static unsigned gReceivedFrameCount = 0 ; -static unsigned gSentFrameCount = 0 ; +static uint32_t gBlinkLedDate = 0 ; +static uint32_t gReceivedFrameCount = 0 ; +static uint32_t gSentFrameCount = 0 ; //—————————————————————————————————————————————————————————————————————————————— diff --git a/examples/LoopBackDemoESP32NoInt/LoopBackDemoESP32NoInt.ino b/examples/LoopBackDemoESP32NoInt/LoopBackDemoESP32NoInt.ino index f909431..137a95f 100644 --- a/examples/LoopBackDemoESP32NoInt/LoopBackDemoESP32NoInt.ino +++ b/examples/LoopBackDemoESP32NoInt/LoopBackDemoESP32NoInt.ino @@ -3,7 +3,7 @@ //—————————————————————————————————————————————————————————————————————————————— #ifndef ARDUINO_ARCH_ESP32 - #error "Select an ESP32 board" + #error "Select an ESP32 board" #endif //—————————————————————————————————————————————————————————————————————————————— @@ -22,15 +22,15 @@ // Notes: // - GPIOs 34 to 39 are GPIs – input only pins. These pins don’t have internal pull-ups or // pull-down resistors. They can’t be used as outputs. -// - some pins do not support INPUT_PULLUP (see https://www.esp32.com/viewtopic.php?t=439) +// - some pins do not support INPUT_PULLUP (see https://www.esp32.com/viewtopic.php?t=439) // See https://randomnerdtutorials.com/esp32-pinout-reference-gpios/ //—————————————————————————————————————————————————————————————————————————————— -static const byte MCP2517_SCK = 26 ; // SCK input of MCP2517 -static const byte MCP2517_MOSI = 19 ; // SDI input of MCP2517 -static const byte MCP2517_MISO = 18 ; // SDO output of MCP2517 +static const byte MCP2517_SCK = 26 ; // SCK input of MCP2517 +static const byte MCP2517_MOSI = 19 ; // SDI input of MCP2517 +static const byte MCP2517_MISO = 18 ; // SDO output of MCP2517 -static const byte MCP2517_CS = 16 ; // CS input of MCP2517 +static const byte MCP2517_CS = 16 ; // CS input of MCP2517 //—————————————————————————————————————————————————————————————————————————————— // ACAN2517FD Driver object @@ -67,7 +67,7 @@ void setup () { Serial.print (settings.ramUsage ()) ; Serial.println (" bytes") ; //--- Begin - const uint32_t errorCode = can.begin (settings, NULL) ; // Second argument is NULL -> no interrupt service routine + const uint32_t errorCode = can.begin (settings, NULL) ; // Second argument is NULL -> no interrupt service routine if (errorCode == 0) { Serial.print ("Bit Rate prescaler: ") ; Serial.println (settings.mBitRatePrescaler) ; @@ -95,9 +95,9 @@ void setup () { // LOOP //—————————————————————————————————————————————————————————————————————————————— -static unsigned gBlinkLedDate = 0 ; -static unsigned gReceivedFrameCount = 0 ; -static unsigned gSentFrameCount = 0 ; +static uint32_t gBlinkLedDate = 0 ; +static uint32_t gReceivedFrameCount = 0 ; +static uint32_t gSentFrameCount = 0 ; //—————————————————————————————————————————————————————————————————————————————— diff --git a/examples/LoopBackDemoTeensy3x/LoopBackDemoTeensy3x.ino b/examples/LoopBackDemoTeensy3x/LoopBackDemoTeensy3x.ino index 9fdd84c..cf8c497 100644 --- a/examples/LoopBackDemoTeensy3x/LoopBackDemoTeensy3x.ino +++ b/examples/LoopBackDemoTeensy3x/LoopBackDemoTeensy3x.ino @@ -16,11 +16,11 @@ // 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_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_CS = 31 ; // CS input of MCP2517 static const byte MCP2517_INT = 38 ; // INT output of MCP2517 //—————————————————————————————————————————————————————————————————————————————— @@ -97,9 +97,9 @@ void setup () { //—————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— -static unsigned gBlinkLedDate = 0 ; -static unsigned gReceivedFrameCount = 0 ; -static unsigned gSentFrameCount = 0 ; +static uint32_t gBlinkLedDate = 0 ; +static uint32_t gReceivedFrameCount = 0 ; +static uint32_t gSentFrameCount = 0 ; //—————————————————————————————————————————————————————————————————————————————— diff --git a/examples/LoopBackDemoTeensy3xExtendedFilterTest/LoopBackDemoTeensy3xExtendedFilterTest.ino b/examples/LoopBackDemoTeensy3xExtendedFilterTest/LoopBackDemoTeensy3xExtendedFilterTest.ino index f28cd9d..8d4b577 100644 --- a/examples/LoopBackDemoTeensy3xExtendedFilterTest/LoopBackDemoTeensy3xExtendedFilterTest.ino +++ b/examples/LoopBackDemoTeensy3xExtendedFilterTest/LoopBackDemoTeensy3xExtendedFilterTest.ino @@ -17,11 +17,11 @@ // 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_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_CS = 31 ; // CS input of MCP2517 static const byte MCP2517_INT = 38 ; // INT output of MCP2517 //—————————————————————————————————————————————————————————————————————————————— @@ -71,9 +71,9 @@ void setup () { //—————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— -static unsigned gBlinkLedDate = 0 ; +static uint32_t gBlinkLedDate = 0 ; static uint32_t gPhase = 0 ; -static uint32_t gReceiveFlags = (1 << 29) - 1 ; +static uint32_t gReceiveFlags = (1UL << 29) - 1 ; //—————————————————————————————————————————————————————————————————————————————— diff --git a/examples/LoopBackDemoTeensy3xNoInt/LoopBackDemoTeensy3xNoInt.ino b/examples/LoopBackDemoTeensy3xNoInt/LoopBackDemoTeensy3xNoInt.ino index 05fed8b..4653255 100644 --- a/examples/LoopBackDemoTeensy3xNoInt/LoopBackDemoTeensy3xNoInt.ino +++ b/examples/LoopBackDemoTeensy3xNoInt/LoopBackDemoTeensy3xNoInt.ino @@ -15,11 +15,11 @@ // CS input of MCP2517 should be connected to a digital output port //—————————————————————————————————————————————————————————————————————————————— -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_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_CS = 31 ; // CS input of MCP2517 //—————————————————————————————————————————————————————————————————————————————— // ACAN2517FD Driver object @@ -95,9 +95,9 @@ void setup () { //—————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— -static unsigned gBlinkLedDate = 0 ; -static unsigned gReceivedFrameCount = 0 ; -static unsigned gSentFrameCount = 0 ; +static uint32_t gBlinkLedDate = 0 ; +static uint32_t gReceivedFrameCount = 0 ; +static uint32_t gSentFrameCount = 0 ; //—————————————————————————————————————————————————————————————————————————————— diff --git a/examples/LoopBackDemoTeensy3xStandardFilterTest/LoopBackDemoTeensy3xStandardFilterTest.ino b/examples/LoopBackDemoTeensy3xStandardFilterTest/LoopBackDemoTeensy3xStandardFilterTest.ino index 56d8363..8027758 100644 --- a/examples/LoopBackDemoTeensy3xStandardFilterTest/LoopBackDemoTeensy3xStandardFilterTest.ino +++ b/examples/LoopBackDemoTeensy3xStandardFilterTest/LoopBackDemoTeensy3xStandardFilterTest.ino @@ -17,11 +17,11 @@ // 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_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_CS = 31 ; // CS input of MCP2517 static const byte MCP2517_INT = 38 ; // INT output of MCP2517 //—————————————————————————————————————————————————————————————————————————————— @@ -71,7 +71,7 @@ void setup () { //—————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— -static unsigned gBlinkLedDate = 0 ; +static uint32_t gBlinkLedDate = 0 ; static uint32_t gPhase = 0 ; static uint32_t gReceiveFlags = (1 << 11) - 1 ; diff --git a/examples/LoopBackDemoTeensy3xWithFilters/LoopBackDemoTeensy3xWithFilters.ino b/examples/LoopBackDemoTeensy3xWithFilters/LoopBackDemoTeensy3xWithFilters.ino index 9266feb..fcb1800 100644 --- a/examples/LoopBackDemoTeensy3xWithFilters/LoopBackDemoTeensy3xWithFilters.ino +++ b/examples/LoopBackDemoTeensy3xWithFilters/LoopBackDemoTeensy3xWithFilters.ino @@ -16,11 +16,11 @@ // 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_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_CS = 31 ; // CS input of MCP2517 static const byte MCP2517_INT = 38 ; // INT output of MCP2517 //—————————————————————————————————————————————————————————————————————————————— @@ -96,7 +96,7 @@ void setup () { //—————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— -static unsigned gBlinkLedDate = 0 ; +static uint32_t gBlinkLedDate = 0 ; static uint8_t gPhase = 0 ; //—————————————————————————————————————————————————————————————————————————————— @@ -107,10 +107,10 @@ void loop() { digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ; CANFDMessage frame ; if (gPhase == 0) { - frame.id = 0x123 ; // Will match filter #0 + frame.id = 0x123 ; // Will match filter #0 }else if (gPhase == 1) { frame.ext = true ; - frame.id = 0x12345678 ; // Will match filter #1 + frame.id = 0x12345678 ; // Will match filter #1 }else if (gPhase == 2) { frame.id = 0x334 ; // Will match filter #2 } diff --git a/examples/LoopBackESP32-intensive/LoopBackESP32-intensive.ino b/examples/LoopBackESP32-intensive/LoopBackESP32-intensive.ino index c8afc9a..811fbd4 100644 --- a/examples/LoopBackESP32-intensive/LoopBackESP32-intensive.ino +++ b/examples/LoopBackESP32-intensive/LoopBackESP32-intensive.ino @@ -3,7 +3,7 @@ //—————————————————————————————————————————————————————————————————————————————— #ifndef ARDUINO_ARCH_ESP32 - #error "Select an ESP32 board" + #error "Select an ESP32 board" #endif //—————————————————————————————————————————————————————————————————————————————— @@ -23,16 +23,16 @@ // Notes: // - GPIOs 34 to 39 are GPIs – input only pins. These pins don’t have internal pull-ups or // pull-down resistors. They can’t be used as outputs. -// - some pins do not support INPUT_PULLUP (see https://www.esp32.com/viewtopic.php?t=439) +// - some pins do not support INPUT_PULLUP (see https://www.esp32.com/viewtopic.php?t=439) // - All GPIOs can be configured as interrupts // See https://randomnerdtutorials.com/esp32-pinout-reference-gpios/ //—————————————————————————————————————————————————————————————————————————————— -static const byte MCP2517_SCK = 26 ; // SCK input of MCP2517 -static const byte MCP2517_MOSI = 19 ; // SDI input of MCP2517 -static const byte MCP2517_MISO = 18 ; // SDO output of MCP2517 +static const byte MCP2517_SCK = 26 ; // SCK input of MCP2517 +static const byte MCP2517_MOSI = 19 ; // SDI input of MCP2517 +static const byte MCP2517_MISO = 18 ; // SDO output of MCP2517 -static const byte MCP2517_CS = 16 ; // CS input of MCP2517 +static const byte MCP2517_CS = 16 ; // CS input of MCP2517 static const byte MCP2517_INT = 32 ; // INT output of MCP2517 //—————————————————————————————————————————————————————————————————————————————— @@ -94,11 +94,11 @@ void setup () { // LOOP //—————————————————————————————————————————————————————————————————————————————— -static unsigned gBlinkLedDate = 0 ; -static unsigned gReceivedFrameCount = 0 ; -static unsigned gSentFrameCount = 0 ; +static uint32_t gBlinkLedDate = 0 ; +static uint32_t gReceivedFrameCount = 0 ; +static uint32_t gSentFrameCount = 0 ; -static const unsigned MESSAGE_COUNT = 100 * 1000 ; +static const uint32_t MESSAGE_COUNT = 100UL * 1000 ; //—————————————————————————————————————————————————————————————————————————————— diff --git a/examples/LoopBackIntensiveTestTeensy3x/LoopBackIntensiveTestTeensy3x.ino b/examples/LoopBackIntensiveTestTeensy3x/LoopBackIntensiveTestTeensy3x.ino index 553bc9d..bec263d 100644 --- a/examples/LoopBackIntensiveTestTeensy3x/LoopBackIntensiveTestTeensy3x.ino +++ b/examples/LoopBackIntensiveTestTeensy3x/LoopBackIntensiveTestTeensy3x.ino @@ -16,11 +16,11 @@ // 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_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_CS = 31 ; // CS input of MCP2517 static const byte MCP2517_INT = 38 ; // INT output of MCP2517 //—————————————————————————————————————————————————————————————————————————————— @@ -106,9 +106,9 @@ void setup () { //—————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— -static unsigned gBlinkLedDate = 0 ; -static unsigned gFrameCount = 0 ; -static unsigned gDebit = 0 ; +static uint32_t gBlinkLedDate = 0 ; +static uint32_t gFrameCount = 0 ; +static uint32_t gDebit = 0 ; static CANFDMessage gCurrentFrame ; static bool gWaitingForReception = false ; @@ -136,7 +136,7 @@ void loop () { } gCurrentFrame.rtr = (random () & 1) == 0 ; if (gCurrentFrame.rtr) { // Remote frame - gCurrentFrame.len = (uint8_t) (((uint32_t) random ()) % 8) ; + gCurrentFrame.len = (uint8_t) (((uint32_t) random ()) % 8) ; }else{ // Data frame gCurrentFrame.len = (uint8_t) (((uint32_t) random ()) % 65) ; for (uint8_t i=0 ; i3%vqYzDW7@W+ZQHhO+h5zZZQHhO+qV1c%k$sV3uIJ8W!B1p0<_0Mv^aJk zmU<2>ARwVcWgs2^ZJj&QYbx+T;hF#oA~QyHK@1sYJriNs-d0^>2)-(6pMkT)OJ(GO z#|QjzCko%Mqn`ZlXzlSyZ!g%BE94bTDoD+G!Cun5JZ>_u3};eWkeLzVHN~@o0C)Vc z7vF8skWGC=S)pO*Qfq8sgoUy)TH|6NDE~mG?63y8m5Om9A}|%;Mm`kP>MEeSh{0eH zBfxx0ZoeibWkWQC1K=HRpTKZ@uy#P4H%sX+3=AdaoFSDcIoe6O`;o)g1pD%aGh>Qtfjoms+Y^1!KV(VEQs^D)4 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MCP2517FD CAN Controller (CAN FD mode) diff --git a/src/ACAN2517FD.cpp b/src/ACAN2517FD.cpp index 265c392..e5e331b 100644 --- a/src/ACAN2517FD.cpp +++ b/src/ACAN2517FD.cpp @@ -225,14 +225,14 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings, pinMode (mCS, OUTPUT) ; deassertCS () ; //----------------------------------- Set SPI clock to 1 MHz - mSPISettings = SPISettings (1 * 1000 * 1000, MSBFIRST, SPI_MODE0) ; + mSPISettings = SPISettings (1000UL * 1000, MSBFIRST, SPI_MODE0) ; //----------------------------------- Request configuration writeByteRegister (C1CON_REGISTER + 3, 0x04 | (1 << 3)) ; // Request configuration mode, abort all transmissions //----------------------------------- Wait (2 ms max) until requested mode is reached bool wait = true ; const uint32_t deadline = millis () + 2 ; while (wait) { - const uint32_t actualMode = (readByteRegister (C1CON_REGISTER + 2) >> 5) & 0x07 ; + const uint8_t actualMode = (readByteRegister (C1CON_REGISTER + 2) >> 5) & 0x07 ; wait = actualMode != 0x04 ; if (wait && (millis () >= deadline)) { errorCode |= kRequestedConfigurationModeTimeOut ; @@ -254,7 +254,7 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings, //----------------------------------- Now, set internal clock with OSC register // Bit 0: (rw) 1 --> 10xPLL // Bit 4: (rw) 0 --> SCLK is divided by 1, 1 --> SCLK is divided by 2 -// Bits 5-6: Clovk Output Divisor +// Bits 5-6: Clock Output Divisor if (errorCode == 0) { uint8_t pll = 0 ; // No PLL uint8_t osc = 0 ; // Divide by 1 @@ -295,10 +295,11 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings, } } //----------------------------------- Set full speed clock - mSPISettings = SPISettings (inSettings.sysClock () / 2, MSBFIRST, SPI_MODE0) ; +// mSPISettings = SPISettings (inSettings.sysClock () / 2, MSBFIRST, SPI_MODE0) ; //----------------------------------- Checking SPI connection is on (with a full speed clock) // We write and the read back 2517 RAM at address 0x400 for (uint32_t i=1 ; (i != 0) && (errorCode == 0) ; i <<= 1) { + // Serial.println (i, HEX) ; writeRegister (0x400, i) ; const uint32_t readBackValue = readRegister (0x400) ; if (readBackValue != i) { @@ -308,9 +309,11 @@ uint32_t ACAN2517FD::begin (const ACAN2517FDSettings & inSettings, //----------------------------------- Install interrupt, configure external interrupt if (errorCode == 0) { //----------------------------------- Configure transmit and receive buffers + Serial.println ("init buffers") ; mDriverTransmitBuffer.initWithSize (inSettings.mDriverTransmitFIFOSize) ; mDriverReceiveBuffer.initWithSize (inSettings.mDriverReceiveFIFOSize) ; //----------------------------------- Reset RAM + Serial.println ("Reset RAM") ; for (uint16_t address = 0x400 ; address < 0xC00 ; address += 4) { writeRegister (address, 0) ; } @@ -465,6 +468,7 @@ bool ACAN2517FD::tryToSend (const CANMessage & inMessage) { message.rtr = inMessage.rtr ; message.ext = inMessage.ext ; message.len = inMessage.len ; + message.idx = inMessage.idx ; message.data64 [0] = inMessage.data64 ; //--- return tryToSend (message) ; diff --git a/src/ACAN2517FD.h b/src/ACAN2517FD.h index ef6a0c6..55c6641 100644 --- a/src/ACAN2517FD.h +++ b/src/ACAN2517FD.h @@ -41,26 +41,26 @@ class ACAN2517FD { const ACAN2517FDFilters & inFilters) ; //--- Error code returned by begin - public: static const uint32_t kRequestedConfigurationModeTimeOut = 1 << 0 ; - public: static const uint32_t kReadBackErrorWith1MHzSPIClock = 1 << 1 ; - public: static const uint32_t kTooFarFromDesiredBitRate = 1 << 2 ; - public: static const uint32_t kInconsistentBitRateSettings = 1 << 3 ; - public: static const uint32_t kINTPinIsNotAnInterrupt = 1 << 4 ; - public: static const uint32_t kISRIsNull = 1 << 5 ; - public: static const uint32_t kFilterDefinitionError = 1 << 6 ; - public: static const uint32_t kMoreThan32Filters = 1 << 7 ; - public: static const uint32_t kControllerReceiveFIFOSizeIsZero = 1 << 8 ; - public: static const uint32_t kControllerReceiveFIFOSizeGreaterThan32 = 1 << 9 ; - public: static const uint32_t kControllerTransmitFIFOSizeIsZero = 1 << 10 ; - public: static const uint32_t kControllerTransmitFIFOSizeGreaterThan32 = 1 << 11 ; - public: static const uint32_t kControllerRamUsageGreaterThan2048 = 1 << 12 ; - public: static const uint32_t kControllerTXQPriorityGreaterThan31 = 1 << 13 ; - public: static const uint32_t kControllerTransmitFIFOPriorityGreaterThan31 = 1 << 14 ; - public: static const uint32_t kControllerTXQSizeGreaterThan32 = 1 << 15 ; - public: static const uint32_t kRequestedModeTimeOut = 1 << 16 ; - public: static const uint32_t kX10PLLNotReadyWithin1MS = 1 << 17 ; - public: static const uint32_t kReadBackErrorWithFullSpeedSPIClock = 1 << 18 ; - public: static const uint32_t kISRNotNullAndNoIntPin = 1 << 19 ; + public: static const uint32_t kRequestedConfigurationModeTimeOut = ((uint32_t) 1) << 0 ; + public: static const uint32_t kReadBackErrorWith1MHzSPIClock = ((uint32_t) 1) << 1 ; + public: static const uint32_t kTooFarFromDesiredBitRate = ((uint32_t) 1) << 2 ; + public: static const uint32_t kInconsistentBitRateSettings = ((uint32_t) 1) << 3 ; + public: static const uint32_t kINTPinIsNotAnInterrupt = ((uint32_t) 1) << 4 ; + public: static const uint32_t kISRIsNull = ((uint32_t) 1) << 5 ; + public: static const uint32_t kFilterDefinitionError = ((uint32_t) 1) << 6 ; + public: static const uint32_t kMoreThan32Filters = ((uint32_t) 1) << 7 ; + public: static const uint32_t kControllerReceiveFIFOSizeIsZero = ((uint32_t) 1) << 8 ; + public: static const uint32_t kControllerReceiveFIFOSizeGreaterThan32 = ((uint32_t) 1) << 9 ; + public: static const uint32_t kControllerTransmitFIFOSizeIsZero = ((uint32_t) 1) << 10 ; + public: static const uint32_t kControllerTransmitFIFOSizeGreaterThan32 = ((uint32_t) 1) << 11 ; + public: static const uint32_t kControllerRamUsageGreaterThan2048 = ((uint32_t) 1) << 12 ; + public: static const uint32_t kControllerTXQPriorityGreaterThan31 = ((uint32_t) 1) << 13 ; + public: static const uint32_t kControllerTransmitFIFOPriorityGreaterThan31 = ((uint32_t) 1) << 14 ; + public: static const uint32_t kControllerTXQSizeGreaterThan32 = ((uint32_t) 1) << 15 ; + public: static const uint32_t kRequestedModeTimeOut = ((uint32_t) 1) << 16 ; + public: static const uint32_t kX10PLLNotReadyWithin1MS = ((uint32_t) 1) << 17 ; + public: static const uint32_t kReadBackErrorWithFullSpeedSPIClock = ((uint32_t) 1) << 18 ; + public: static const uint32_t kISRNotNullAndNoIntPin = ((uint32_t) 1) << 19 ; //······················································································································ // Send a message @@ -107,13 +107,13 @@ class ACAN2517FD { // Receive buffer //······················································································································ - private: ACANBuffer mDriverReceiveBuffer ; + private: ACANFDBuffer mDriverReceiveBuffer ; //······················································································································ // Transmit buffer //······················································································································ - private: ACANBuffer mDriverTransmitBuffer ; + private: ACANFDBuffer mDriverTransmitBuffer ; public: uint32_t driverTransmitBufferSize (void) const { return mDriverTransmitBuffer.size () ; } @@ -169,8 +169,8 @@ class ACAN2517FD { // No copy //······················································································································ - private: ACAN2517FD (const ACAN2517FD &) ; - private: ACAN2517FD & operator = (const ACAN2517FD &) ; + private: ACAN2517FD (const ACAN2517FD &) = delete ; + private: ACAN2517FD & operator = (const ACAN2517FD &) = delete ; //······················································································································ diff --git a/src/ACAN2517FDFilters.h b/src/ACAN2517FDFilters.h index d8096b9..9cedf33 100644 --- a/src/ACAN2517FDFilters.h +++ b/src/ACAN2517FDFilters.h @@ -95,8 +95,8 @@ class ACAN2517FDFilters { public: void appendFormatFilter (const tFrameFormat inFormat, // Accept any identifier const ACANFDCallBackRoutine inCallBackRoutine) { - Filter * f = new Filter (1 << 30, - (inFormat == kExtended) ? (1 << 30) : 0, + Filter * f = new Filter (((uint32_t) 1) << 30, + (inFormat == kExtended) ? (((uint32_t) 1) << 30) : 0, inCallBackRoutine) ; if (mFirstFilter == NULL) { mFirstFilter = f ; @@ -123,10 +123,10 @@ class ACAN2517FDFilters { mFilterErrorIndex = mFilterCount ; } //--- Re order bits if extended filter - const uint32_t mask = (1 << 30) | ((inFormat == kExtended) ? 0x1FFFFFFF : 0x7FF) ; + const uint32_t mask = (((uint32_t) 1) << 30) | ((inFormat == kExtended) ? 0x1FFFFFFF : 0x7FF) ; uint32_t acceptance ; if (inFormat == kExtended) { - acceptance = ((inIdentifier >> 18) & 0x7FF) | ((inIdentifier & 0x3FFFF) << 11) | (1 << 30) ; + acceptance = ((inIdentifier >> 18) & 0x7FF) | ((inIdentifier & 0x3FFFF) << 11) | (((uint32_t) 1) << 30) ; }else{ acceptance = inIdentifier ; } @@ -173,7 +173,7 @@ class ACAN2517FDFilters { mFilterErrorIndex = mFilterCount ; } //--- Re order bits if extended filter - uint32_t mask = 1 << 30 ; + uint32_t mask = ((uint32_t) 1) << 30 ; if (inFormat == kExtended) { mask |= ((inMask >> 18) & 0x7FF) | ((inMask & 0x3FFFF) << 11) ; }else{ @@ -181,7 +181,7 @@ class ACAN2517FDFilters { } uint32_t acceptance ; if (inFormat == kExtended) { - acceptance = ((inAcceptance >> 18) & 0x7FF) | ((inAcceptance & 0x3FFFF) << 11) | (1 << 30) ; + acceptance = ((inAcceptance >> 18) & 0x7FF) | ((inAcceptance & 0x3FFFF) << 11) | (((uint32_t) 1) << 30) ; }else{ acceptance = inAcceptance ; } @@ -220,8 +220,8 @@ class ACAN2517FDFilters { // NO COPY //······················································································································ - private: ACAN2517FDFilters (const ACAN2517FDFilters &) ; - private: ACAN2517FDFilters & operator = (const ACAN2517FDFilters &) ; + private: ACAN2517FDFilters (const ACAN2517FDFilters &) = delete ; + private: ACAN2517FDFilters & operator = (const ACAN2517FDFilters &) = delete ; //······················································································································ // Friend diff --git a/src/ACAN2517FDSettings.cpp b/src/ACAN2517FDSettings.cpp index 82f7fb3..6f2c61e 100644 --- a/src/ACAN2517FDSettings.cpp +++ b/src/ACAN2517FDSettings.cpp @@ -12,21 +12,21 @@ //—————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— uint32_t ACAN2517FDSettings::sysClock (const Oscillator inOscillator) { - uint32_t sysClock = 40 * 1000 * 1000 ; + uint32_t sysClock = 40UL * 1000 * 1000 ; switch (inOscillator) { case OSC_4MHz: - sysClock = 4 * 1000 * 1000 ; + sysClock = 4UL * 1000 * 1000 ; break ; case OSC_4MHz_DIVIDED_BY_2: - sysClock = 2 * 1000 * 1000 ; + sysClock = 2UL * 1000 * 1000 ; break ; case OSC_4MHz10xPLL_DIVIDED_BY_2 : case OSC_40MHz_DIVIDED_BY_2: case OSC_20MHz: - sysClock = 20 * 1000 * 1000 ; + sysClock = 20UL * 1000 * 1000 ; break ; case OSC_20MHz_DIVIDED_BY_2: - sysClock = 10 * 1000 * 1000 ; + sysClock = 10UL * 1000 * 1000 ; break ; case OSC_4MHz10xPLL: case OSC_40MHz: @@ -137,8 +137,6 @@ mDataBitRateFactor (inDataBitRateFactor) { uint32_t dataPS2 = bestDataTQCount / 5 ; // For sampling point at 80% if (dataPS2 == 0) { dataPS2 = 1 ; -// }else if (dataPS2 > MAX_DATA_PHASE_SEGMENT_2) { -// dataPS2 = MAX_DATA_PHASE_SEGMENT_2 ; } //--- Compute data PS1 (1 <= PS1 <= 32) uint32_t dataPS1 = bestDataTQCount - dataPS2 - 1 /* Sync Seg */ ; @@ -155,8 +153,6 @@ mDataBitRateFactor (inDataBitRateFactor) { uint32_t arbitrationPS2 = arbitrationTQCount / 5 ; // For sampling point at 80% if (arbitrationPS2 == 0) { arbitrationPS2 = 1 ; -// }else if (PS2 > MAX_ARBITRATION_PHASE_SEGMENT_2) { -// PS2 = MAX_ARBITRATION_PHASE_SEGMENT_2 ; } //--- Compute PS1 (1 <= PS1 <= 256) uint32_t arbitrationPS1 = arbitrationTQCount - arbitrationPS2 - 1 /* Sync Seg */ ; diff --git a/src/ACAN2517FDSettings.h b/src/ACAN2517FDSettings.h index 1ccfa3e..62a39ab 100644 --- a/src/ACAN2517FDSettings.h +++ b/src/ACAN2517FDSettings.h @@ -231,25 +231,25 @@ class ACAN2517FDSettings { // Constants returned by CANBitSettingConsistency //······················································································································ - public: static const uint32_t kBitRatePrescalerIsZero = 1 << 0 ; - public: static const uint32_t kBitRatePrescalerIsGreaterThan256 = 1 << 1 ; - public: static const uint32_t kArbitrationPhaseSegment1IsLowerThan2 = 1 << 2 ; - public: static const uint32_t kArbitrationPhaseSegment1IsGreaterThan256 = 1 << 3 ; - public: static const uint32_t kArbitrationPhaseSegment2IsZero = 1 << 4 ; - public: static const uint32_t kArbitrationPhaseSegment2IsGreaterThan128 = 1 << 5 ; - public: static const uint32_t kArbitrationSJWIsZero = 1 << 6 ; - public: static const uint32_t kArbitrationSJWIsGreaterThan128 = 1 << 7 ; - public: static const uint32_t kArbitrationSJWIsGreaterThanPhaseSegment1 = 1 << 8 ; - public: static const uint32_t kArbitrationSJWIsGreaterThanPhaseSegment2 = 1 << 9 ; - public: static const uint32_t kArbitrationTQCountNotDivisibleByDataBitRateFactor = 1 << 10 ; - public: static const uint32_t kDataPhaseSegment1IsLowerThan2 = 1 << 11 ; - public: static const uint32_t kDataPhaseSegment1IsGreaterThan32 = 1 << 12 ; - public: static const uint32_t kDataPhaseSegment2IsZero = 1 << 13 ; - public: static const uint32_t kDataPhaseSegment2IsGreaterThan16 = 1 << 14 ; - public: static const uint32_t kDataSJWIsZero = 1 << 15 ; - public: static const uint32_t kDataSJWIsGreaterThan16 = 1 << 16 ; - public: static const uint32_t kDataSJWIsGreaterThanPhaseSegment1 = 1 << 17 ; - public: static const uint32_t kDataSJWIsGreaterThanPhaseSegment2 = 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 diff --git a/src/ACANFDBuffer.h b/src/ACANFDBuffer.h index db9cd46..4ab000f 100644 --- a/src/ACANFDBuffer.h +++ b/src/ACANFDBuffer.h @@ -14,13 +14,13 @@ //—————————————————————————————————————————————————————————————————————————————————————————————————————————————————————— -class ACANBuffer { +class ACANFDBuffer { //······················································································································ // Default constructor //······················································································································ - public: ACANBuffer (void) : + public: ACANFDBuffer (void) : mBuffer (NULL), mSize (0), mReadIndex (0), @@ -33,7 +33,7 @@ class ACANBuffer { // Destructor //······················································································································ - public: ~ ACANBuffer (void) { + public: ~ ACANFDBuffer (void) { delete [] mBuffer ; } @@ -110,8 +110,8 @@ class ACANBuffer { // No copy //······················································································································ - private: ACANBuffer (const ACANBuffer &) ; - private: ACANBuffer & operator = (const ACANBuffer &) ; + private: ACANFDBuffer (const ACANFDBuffer &) = delete ; + private: ACANFDBuffer & operator = (const ACANFDBuffer &) = delete ; } ; //——————————————————————————————————————————————————————————————————————————————————————————————————————————————————————