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This commit is contained in:
Wolfgang Hottgenroth
2016-10-31 07:38:13 +01:00
commit 7e4bac25c8
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/*
mcp_can.cpp
2012 Copyright (c) Seeed Technology Inc. All right reserved.
Author:Loovee
2014-1-16
Contributor:
Cory J. Fowler
Latonita
Woodward1
Mehtajaghvi
BykeBlast
TheRo0T
Tsipizic
ralfEdmund
Nathancheek
BlueAndi
Adlerweb
Btetz
Hurvajs
xboxpro1
The MIT License (MIT)
Copyright (c) 2013 Seeed Technology Inc.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include "mcp_can.h"
#define spi_readwrite SPI.transfer
#define spi_read() spi_readwrite(0x00)
#define SPI_BEGIN() SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE0))
#define SPI_END() SPI.endTransaction()
/*********************************************************************************************************
** Function name: mcp2515_reset
** Descriptions: reset the device
*********************************************************************************************************/
void MCP_CAN::mcp2515_reset(void)
{
#ifdef SPI_HAS_TRANSACTION
SPI_BEGIN();
#endif
MCP2515_SELECT();
spi_readwrite(MCP_RESET);
MCP2515_UNSELECT();
#ifdef SPI_HAS_TRANSACTION
SPI_END();
#endif
delay(10);
}
/*********************************************************************************************************
** Function name: mcp2515_readRegister
** Descriptions: read register
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_readRegister(const INT8U address)
{
INT8U ret;
#ifdef SPI_HAS_TRANSACTION
SPI_BEGIN();
#endif
MCP2515_SELECT();
spi_readwrite(MCP_READ);
spi_readwrite(address);
ret = spi_read();
MCP2515_UNSELECT();
#ifdef SPI_HAS_TRANSACTION
SPI_END();
#endif
return ret;
}
/*********************************************************************************************************
** Function name: mcp2515_readRegisterS
** Descriptions: read registerS
*********************************************************************************************************/
void MCP_CAN::mcp2515_readRegisterS(const INT8U address, INT8U values[], const INT8U n)
{
INT8U i;
#ifdef SPI_HAS_TRANSACTION
SPI_BEGIN();
#endif
MCP2515_SELECT();
spi_readwrite(MCP_READ);
spi_readwrite(address);
// mcp2515 has auto-increment of address-pointer
for (i=0; i<n && i<CAN_MAX_CHAR_IN_MESSAGE; i++) {
values[i] = spi_read();
}
MCP2515_UNSELECT();
#ifdef SPI_HAS_TRANSACTION
SPI_END();
#endif
}
/*********************************************************************************************************
** Function name: mcp2515_setRegister
** Descriptions: set register
*********************************************************************************************************/
void MCP_CAN::mcp2515_setRegister(const INT8U address, const INT8U value)
{
#ifdef SPI_HAS_TRANSACTION
SPI_BEGIN();
#endif
MCP2515_SELECT();
spi_readwrite(MCP_WRITE);
spi_readwrite(address);
spi_readwrite(value);
MCP2515_UNSELECT();
#ifdef SPI_HAS_TRANSACTION
SPI_END();
#endif
}
/*********************************************************************************************************
** Function name: mcp2515_setRegisterS
** Descriptions: set registerS
*********************************************************************************************************/
void MCP_CAN::mcp2515_setRegisterS(const INT8U address, const INT8U values[], const INT8U n)
{
INT8U i;
#ifdef SPI_HAS_TRANSACTION
SPI_BEGIN();
#endif
MCP2515_SELECT();
spi_readwrite(MCP_WRITE);
spi_readwrite(address);
for (i=0; i<n; i++)
{
spi_readwrite(values[i]);
}
MCP2515_UNSELECT();
#ifdef SPI_HAS_TRANSACTION
SPI_END();
#endif
}
/*********************************************************************************************************
** Function name: mcp2515_modifyRegister
** Descriptions: set bit of one register
*********************************************************************************************************/
void MCP_CAN::mcp2515_modifyRegister(const INT8U address, const INT8U mask, const INT8U data)
{
#ifdef SPI_HAS_TRANSACTION
SPI_BEGIN();
#endif
MCP2515_SELECT();
spi_readwrite(MCP_BITMOD);
spi_readwrite(address);
spi_readwrite(mask);
spi_readwrite(data);
MCP2515_UNSELECT();
#ifdef SPI_HAS_TRANSACTION
SPI_END();
#endif
}
/*********************************************************************************************************
** Function name: mcp2515_readStatus
** Descriptions: read mcp2515's Status
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_readStatus(void)
{
INT8U i;
#ifdef SPI_HAS_TRANSACTION
SPI_BEGIN();
#endif
MCP2515_SELECT();
spi_readwrite(MCP_READ_STATUS);
i = spi_read();
MCP2515_UNSELECT();
#ifdef SPI_HAS_TRANSACTION
SPI_END();
#endif
return i;
}
/*********************************************************************************************************
** Function name: mcp2515_setCANCTRL_Mode
** Descriptions: set control mode
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode)
{
INT8U i;
mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode);
i = mcp2515_readRegister(MCP_CANCTRL);
i &= MODE_MASK;
if ( i == newmode )
{
return MCP2515_OK;
}
return MCP2515_FAIL;
}
/*********************************************************************************************************
** Function name: mcp2515_configRate
** Descriptions: set boadrate
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed)
{
INT8U set, cfg1, cfg2, cfg3;
set = 1;
switch (canSpeed)
{
case (CAN_5KBPS):
cfg1 = MCP_16MHz_5kBPS_CFG1;
cfg2 = MCP_16MHz_5kBPS_CFG2;
cfg3 = MCP_16MHz_5kBPS_CFG3;
break;
case (CAN_10KBPS):
cfg1 = MCP_16MHz_10kBPS_CFG1;
cfg2 = MCP_16MHz_10kBPS_CFG2;
cfg3 = MCP_16MHz_10kBPS_CFG3;
break;
case (CAN_20KBPS):
cfg1 = MCP_16MHz_20kBPS_CFG1;
cfg2 = MCP_16MHz_20kBPS_CFG2;
cfg3 = MCP_16MHz_20kBPS_CFG3;
break;
case (CAN_25KBPS):
cfg1 = MCP_16MHz_25kBPS_CFG1;
cfg2 = MCP_16MHz_25kBPS_CFG2;
cfg3 = MCP_16MHz_25kBPS_CFG3;
break;
case (CAN_31K25BPS):
cfg1 = MCP_16MHz_31k25BPS_CFG1;
cfg2 = MCP_16MHz_31k25BPS_CFG2;
cfg3 = MCP_16MHz_31k25BPS_CFG3;
break;
case (CAN_33KBPS):
cfg1 = MCP_16MHz_33kBPS_CFG1;
cfg2 = MCP_16MHz_33kBPS_CFG2;
cfg3 = MCP_16MHz_33kBPS_CFG3;
break;
case (CAN_40KBPS):
cfg1 = MCP_16MHz_40kBPS_CFG1;
cfg2 = MCP_16MHz_40kBPS_CFG2;
cfg3 = MCP_16MHz_40kBPS_CFG3;
break;
case (CAN_50KBPS):
cfg1 = MCP_16MHz_50kBPS_CFG1;
cfg2 = MCP_16MHz_50kBPS_CFG2;
cfg3 = MCP_16MHz_50kBPS_CFG3;
break;
case (CAN_80KBPS):
cfg1 = MCP_16MHz_80kBPS_CFG1;
cfg2 = MCP_16MHz_80kBPS_CFG2;
cfg3 = MCP_16MHz_80kBPS_CFG3;
break;
case (CAN_83K3BPS):
cfg1 = MCP_16MHz_83k3BPS_CFG1;
cfg2 = MCP_16MHz_83k3BPS_CFG2;
cfg3 = MCP_16MHz_83k3BPS_CFG3;
break;
case (CAN_95KBPS):
cfg1 = MCP_16MHz_95kBPS_CFG1;
cfg2 = MCP_16MHz_95kBPS_CFG2;
cfg3 = MCP_16MHz_95kBPS_CFG3;
break;
case (CAN_100KBPS): /* 100KBPS */
cfg1 = MCP_16MHz_100kBPS_CFG1;
cfg2 = MCP_16MHz_100kBPS_CFG2;
cfg3 = MCP_16MHz_100kBPS_CFG3;
break;
case (CAN_125KBPS):
cfg1 = MCP_16MHz_125kBPS_CFG1;
cfg2 = MCP_16MHz_125kBPS_CFG2;
cfg3 = MCP_16MHz_125kBPS_CFG3;
break;
case (CAN_200KBPS):
cfg1 = MCP_16MHz_200kBPS_CFG1;
cfg2 = MCP_16MHz_200kBPS_CFG2;
cfg3 = MCP_16MHz_200kBPS_CFG3;
break;
case (CAN_250KBPS):
cfg1 = MCP_16MHz_250kBPS_CFG1;
cfg2 = MCP_16MHz_250kBPS_CFG2;
cfg3 = MCP_16MHz_250kBPS_CFG3;
break;
case (CAN_500KBPS):
cfg1 = MCP_16MHz_500kBPS_CFG1;
cfg2 = MCP_16MHz_500kBPS_CFG2;
cfg3 = MCP_16MHz_500kBPS_CFG3;
break;
case (CAN_666KBPS):
cfg1 = MCP_16MHz_666kBPS_CFG1;
cfg2 = MCP_16MHz_666kBPS_CFG2;
cfg3 = MCP_16MHz_666kBPS_CFG3;
break;
case (CAN_1000KBPS):
cfg1 = MCP_16MHz_1000kBPS_CFG1;
cfg2 = MCP_16MHz_1000kBPS_CFG2;
cfg3 = MCP_16MHz_1000kBPS_CFG3;
break;
default:
set = 0;
break;
}
if (set) {
mcp2515_setRegister(MCP_CNF1, cfg1);
mcp2515_setRegister(MCP_CNF2, cfg2);
mcp2515_setRegister(MCP_CNF3, cfg3);
return MCP2515_OK;
}
else {
return MCP2515_FAIL;
}
}
/*********************************************************************************************************
** Function name: mcp2515_initCANBuffers
** Descriptions: init canbuffers
*********************************************************************************************************/
void MCP_CAN::mcp2515_initCANBuffers(void)
{
INT8U i, a1, a2, a3;
a1 = MCP_TXB0CTRL;
a2 = MCP_TXB1CTRL;
a3 = MCP_TXB2CTRL;
for (i = 0; i < 14; i++) { /* in-buffer loop */
mcp2515_setRegister(a1, 0);
mcp2515_setRegister(a2, 0);
mcp2515_setRegister(a3, 0);
a1++;
a2++;
a3++;
}
mcp2515_setRegister(MCP_RXB0CTRL, 0);
mcp2515_setRegister(MCP_RXB1CTRL, 0);
}
/*********************************************************************************************************
** Function name: mcp2515_init
** Descriptions: init the device
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_init(const INT8U canSpeed) /* mcp2515init */
{
INT8U res;
mcp2515_reset();
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0)
{
#if DEBUG_MODE
Serial.print("Enter setting mode fall\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print("Enter setting mode success \r\n");
#else
delay(10);
#endif
/* set boadrate */
if(mcp2515_configRate(canSpeed))
{
#if DEBUG_MODE
Serial.print("set rate fall!!\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print("set rate success!!\r\n");
#else
delay(10);
#endif
if ( res == MCP2515_OK ) {
/* init canbuffers */
mcp2515_initCANBuffers();
/* interrupt mode */
mcp2515_setRegister(MCP_CANINTE, MCP_RX0IF | MCP_RX1IF);
#if (DEBUG_RXANY==1)
/* enable both receive-buffers */
/* to receive any message */
/* and enable rollover */
mcp2515_modifyRegister(MCP_RXB0CTRL,
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
MCP_RXB_RX_ANY | MCP_RXB_BUKT_MASK);
mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
MCP_RXB_RX_ANY);
#else
/* enable both receive-buffers */
/* to receive messages */
/* with std. and ext. identifie */
/* rs */
/* and enable rollover */
mcp2515_modifyRegister(MCP_RXB0CTRL,
MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK,
MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK,
MCP_RXB_RX_STDEXT);
#endif
/* enter normal mode */
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if(res)
{
#if DEBUG_MODE
Serial.print("Enter Normal Mode Fall!!\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print("Enter Normal Mode Success!!\r\n");
#else
delay(10);
#endif
}
return res;
}
/*********************************************************************************************************
** Function name: mcp2515_write_id
** Descriptions: write can id
*********************************************************************************************************/
void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr, const INT8U ext, const INT32U id )
{
uint16_t canid;
INT8U tbufdata[4];
canid = (uint16_t)(id & 0x0FFFF);
if ( ext == 1)
{
tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF);
tbufdata[MCP_EID8] = (INT8U) (canid >> 8);
canid = (uint16_t)(id >> 16);
tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03);
tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3);
tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 );
}
else
{
tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 );
tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07 ) << 5);
tbufdata[MCP_EID0] = 0;
tbufdata[MCP_EID8] = 0;
}
mcp2515_setRegisterS( mcp_addr, tbufdata, 4 );
}
/*********************************************************************************************************
** Function name: mcp2515_read_id
** Descriptions: read can id
*********************************************************************************************************/
void MCP_CAN::mcp2515_read_id( const INT8U mcp_addr, INT8U* ext, INT32U* id )
{
INT8U tbufdata[4];
*ext = 0;
*id = 0;
mcp2515_readRegisterS( mcp_addr, tbufdata, 4 );
*id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M )
{
/* extended id */
*id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03);
*id = (*id<<8) + tbufdata[MCP_EID8];
*id = (*id<<8) + tbufdata[MCP_EID0];
*ext = 1;
}
}
/*********************************************************************************************************
** Function name: mcp2515_write_canMsg
** Descriptions: write msg
*********************************************************************************************************/
void MCP_CAN::mcp2515_write_canMsg( const INT8U buffer_sidh_addr)
{
INT8U mcp_addr;
mcp_addr = buffer_sidh_addr;
mcp2515_setRegisterS(mcp_addr+5, m_nDta, m_nDlc ); /* write data bytes */
if ( m_nRtr == 1) /* if RTR set bit in byte */
{
m_nDlc |= MCP_RTR_MASK;
}
mcp2515_setRegister((mcp_addr+4), m_nDlc ); /* write the RTR and DLC */
mcp2515_write_id(mcp_addr, m_nExtFlg, m_nID ); /* write CAN id */
}
/*********************************************************************************************************
** Function name: mcp2515_read_canMsg
** Descriptions: read message
*********************************************************************************************************/
void MCP_CAN::mcp2515_read_canMsg( const INT8U buffer_sidh_addr) /* read can msg */
{
INT8U mcp_addr, ctrl;
mcp_addr = buffer_sidh_addr;
mcp2515_read_id( mcp_addr, &m_nExtFlg,&m_nID );
ctrl = mcp2515_readRegister( mcp_addr-1 );
m_nDlc = mcp2515_readRegister( mcp_addr+4 );
if ((ctrl & 0x08)) {
m_nRtr = 1;
}
else {
m_nRtr = 0;
}
m_nDlc &= MCP_DLC_MASK;
mcp2515_readRegisterS( mcp_addr+5, &(m_nDta[0]), m_nDlc );
}
/*********************************************************************************************************
** Function name: mcp2515_start_transmit
** Descriptions: start transmit
*********************************************************************************************************/
void MCP_CAN::mcp2515_start_transmit(const INT8U mcp_addr) /* start transmit */
{
mcp2515_modifyRegister( mcp_addr-1 , MCP_TXB_TXREQ_M, MCP_TXB_TXREQ_M );
}
/*********************************************************************************************************
** Function name: mcp2515_getNextFreeTXBuf
** Descriptions: get Next free txbuf
*********************************************************************************************************/
INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n) /* get Next free txbuf */
{
INT8U res, i, ctrlval;
INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
res = MCP_ALLTXBUSY;
*txbuf_n = 0x00;
/* check all 3 TX-Buffers */
for (i=0; i<MCP_N_TXBUFFERS; i++) {
ctrlval = mcp2515_readRegister( ctrlregs[i] );
if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
*txbuf_n = ctrlregs[i]+1; /* return SIDH-address of Buffe */
/* r */
res = MCP2515_OK;
return res; /* ! function exit */
}
}
return res;
}
/*********************************************************************************************************
** Function name: set CS
** Descriptions: init CS pin and set UNSELECTED
*********************************************************************************************************/
MCP_CAN::MCP_CAN(INT8U _CS)
{
SPICS = _CS;
pinMode(SPICS, OUTPUT);
MCP2515_UNSELECT();
}
/*********************************************************************************************************
** Function name: init
** Descriptions: init can and set speed
*********************************************************************************************************/
INT8U MCP_CAN::begin(INT8U speedset)
{
INT8U res;
SPI.begin();
res = mcp2515_init(speedset);
if (res == MCP2515_OK) return CAN_OK;
else return CAN_FAILINIT;
}
/*********************************************************************************************************
** Function name: init_Mask
** Descriptions: init canid Masks
*********************************************************************************************************/
INT8U MCP_CAN::init_Mask(INT8U num, INT8U ext, INT32U ulData)
{
INT8U res = MCP2515_OK;
#if DEBUG_MODE
Serial.print("Begin to set Mask!!\r\n");
#else
delay(10);
#endif
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0){
#if DEBUG_MODE
Serial.print("Enter setting mode fall\r\n");
#else
delay(10);
#endif
return res;
}
if (num == 0){
mcp2515_write_id(MCP_RXM0SIDH, ext, ulData);
}
else if(num == 1){
mcp2515_write_id(MCP_RXM1SIDH, ext, ulData);
}
else res = MCP2515_FAIL;
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if(res > 0){
#if DEBUG_MODE
Serial.print("Enter normal mode fall\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print("set Mask success!!\r\n");
#else
delay(10);
#endif
return res;
}
/*********************************************************************************************************
** Function name: init_Filt
** Descriptions: init canid filters
*********************************************************************************************************/
INT8U MCP_CAN::init_Filt(INT8U num, INT8U ext, INT32U ulData)
{
INT8U res = MCP2515_OK;
#if DEBUG_MODE
Serial.print("Begin to set Filter!!\r\n");
#else
delay(10);
#endif
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0)
{
#if DEBUG_MODE
Serial.print("Enter setting mode fall\r\n");
#else
delay(10);
#endif
return res;
}
switch( num )
{
case 0:
mcp2515_write_id(MCP_RXF0SIDH, ext, ulData);
break;
case 1:
mcp2515_write_id(MCP_RXF1SIDH, ext, ulData);
break;
case 2:
mcp2515_write_id(MCP_RXF2SIDH, ext, ulData);
break;
case 3:
mcp2515_write_id(MCP_RXF3SIDH, ext, ulData);
break;
case 4:
mcp2515_write_id(MCP_RXF4SIDH, ext, ulData);
break;
case 5:
mcp2515_write_id(MCP_RXF5SIDH, ext, ulData);
break;
default:
res = MCP2515_FAIL;
}
res = mcp2515_setCANCTRL_Mode(MODE_NORMAL);
if(res > 0)
{
#if DEBUG_MODE
Serial.print("Enter normal mode fall\r\nSet filter fail!!\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_MODE
Serial.print("set Filter success!!\r\n");
#else
delay(10);
#endif
return res;
}
/*********************************************************************************************************
** Function name: setMsg
** Descriptions: set can message, such as dlc, id, dta[] and so on
*********************************************************************************************************/
INT8U MCP_CAN::setMsg(INT32U id, INT8U ext, INT8U len, INT8U rtr, INT8U *pData)
{
m_nExtFlg = ext;
m_nID = id;
m_nDlc = min( len, MAX_CHAR_IN_MESSAGE );
m_nRtr = rtr;
for(int i = 0; i<m_nDlc; i++)
{
m_nDta[i] = *(pData+i);
}
return MCP2515_OK;
}
/*********************************************************************************************************
** Function name: setMsg
** Descriptions: set can message, such as dlc, id, dta[] and so on
*********************************************************************************************************/
INT8U MCP_CAN::setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData)
{
return setMsg( id, ext, len, 0, pData );
}
/*********************************************************************************************************
** Function name: clearMsg
** Descriptions: set all message to zero
*********************************************************************************************************/
INT8U MCP_CAN::clearMsg()
{
m_nID = 0;
m_nDlc = 0;
m_nExtFlg = 0;
m_nRtr = 0;
m_nfilhit = 0;
for(int i = 0; i<m_nDlc; i++ )
m_nDta[i] = 0x00;
return MCP2515_OK;
}
/*********************************************************************************************************
** Function name: sendMsg
** Descriptions: send message
*********************************************************************************************************/
INT8U MCP_CAN::sendMsg()
{
INT8U res, res1, txbuf_n;
uint16_t uiTimeOut = 0;
do {
res = mcp2515_getNextFreeTXBuf(&txbuf_n); /* info = addr. */
uiTimeOut++;
} while (res == MCP_ALLTXBUSY && (uiTimeOut < TIMEOUTVALUE));
if(uiTimeOut == TIMEOUTVALUE)
{
return CAN_GETTXBFTIMEOUT; /* get tx buff time out */
}
uiTimeOut = 0;
mcp2515_write_canMsg( txbuf_n);
mcp2515_start_transmit( txbuf_n );
do
{
uiTimeOut++;
res1= mcp2515_readRegister(txbuf_n-1 /* the ctrl reg is located at txbuf_n-1 */); /* read send buff ctrl reg */
res1 = res1 & 0x08;
}while(res1 && (uiTimeOut < TIMEOUTVALUE));
if(uiTimeOut == TIMEOUTVALUE) /* send msg timeout */
{
return CAN_SENDMSGTIMEOUT;
}
return CAN_OK;
}
/*********************************************************************************************************
** Function name: sendMsgBuf
** Descriptions: send buf
*********************************************************************************************************/
INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U ext, INT8U rtr, INT8U len, INT8U *buf)
{
setMsg(id, ext, len, rtr, buf);
return sendMsg();
}
/*********************************************************************************************************
** Function name: sendMsgBuf
** Descriptions: send buf
*********************************************************************************************************/
INT8U MCP_CAN::sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf)
{
setMsg(id, ext, len, buf);
return sendMsg();
}
/*********************************************************************************************************
** Function name: readMsg
** Descriptions: read message
*********************************************************************************************************/
INT8U MCP_CAN::readMsg()
{
INT8U stat, res;
stat = mcp2515_readStatus();
if ( stat & MCP_STAT_RX0IF ) /* Msg in Buffer 0 */
{
mcp2515_read_canMsg( MCP_RXBUF_0);
mcp2515_modifyRegister(MCP_CANINTF, MCP_RX0IF, 0);
res = CAN_OK;
}
else if ( stat & MCP_STAT_RX1IF ) /* Msg in Buffer 1 */
{
mcp2515_read_canMsg( MCP_RXBUF_1);
mcp2515_modifyRegister(MCP_CANINTF, MCP_RX1IF, 0);
res = CAN_OK;
}
else
{
res = CAN_NOMSG;
}
return res;
}
/*********************************************************************************************************
** Function name: readMsgBuf
** Descriptions: read message buf
*********************************************************************************************************/
INT8U MCP_CAN::readMsgBuf(INT8U *len, INT8U buf[])
{
INT8U rc;
rc = readMsg();
if (rc == CAN_OK) {
*len = m_nDlc;
for(int i = 0; i<m_nDlc; i++) {
buf[i] = m_nDta[i];
}
} else {
*len = 0;
}
return rc;
}
/*********************************************************************************************************
** Function name: readMsgBufID
** Descriptions: read message buf and can bus source ID
*********************************************************************************************************/
INT8U MCP_CAN::readMsgBufID(INT32U *ID, INT8U *len, INT8U buf[])
{
INT8U rc;
rc = readMsg();
if (rc == CAN_OK) {
*len = m_nDlc;
*ID = m_nID;
for(int i = 0; i<m_nDlc && i < MAX_CHAR_IN_MESSAGE; i++) {
buf[i] = m_nDta[i];
}
} else {
*len = 0;
}
return rc;
}
/*********************************************************************************************************
** Function name: checkReceive
** Descriptions: check if got something
*********************************************************************************************************/
INT8U MCP_CAN::checkReceive(void)
{
INT8U res;
res = mcp2515_readStatus(); /* RXnIF in Bit 1 and 0 */
if ( res & MCP_STAT_RXIF_MASK )
{
return CAN_MSGAVAIL;
}
else
{
return CAN_NOMSG;
}
}
/*********************************************************************************************************
** Function name: checkError
** Descriptions: if something error
*********************************************************************************************************/
INT8U MCP_CAN::checkError(void)
{
INT8U eflg = mcp2515_readRegister(MCP_EFLG);
if ( eflg & MCP_EFLG_ERRORMASK )
{
return CAN_CTRLERROR;
}
else
{
return CAN_OK;
}
}
/*********************************************************************************************************
** Function name: getCanId
** Descriptions: when receive something you can get the can id!!
*********************************************************************************************************/
INT32U MCP_CAN::getCanId(void)
{
return m_nID;
}
/*********************************************************************************************************
** Function name: isRemoteRequest
** Descriptions: when receive something you can check if it was a request
*********************************************************************************************************/
INT8U MCP_CAN::isRemoteRequest(void)
{
return m_nRtr;
}
/*********************************************************************************************************
** Function name: isExtendedFrame
** Descriptions: did we just receive standard 11bit frame or extended 29bit? 0 = std, 1 = ext
*********************************************************************************************************/
INT8U MCP_CAN::isExtendedFrame(void)
{
return m_nExtFlg;
}
/*********************************************************************************************************
END FILE
*********************************************************************************************************/

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/*
mcp_can.h
2012 Copyright (c) Seeed Technology Inc. All right reserved.
Author:Loovee
2014-1-16
Contributor:
Cory J. Fowler
Latonita
Woodward1
Mehtajaghvi
BykeBlast
TheRo0T
Tsipizic
ralfEdmund
Nathancheek
BlueAndi
Adlerweb
Btetz
Hurvajs
The MIT License (MIT)
Copyright (c) 2013 Seeed Technology Inc.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef _MCP2515_H_
#define _MCP2515_H_
#include "mcp_can_dfs.h"
#define MAX_CHAR_IN_MESSAGE 8
class MCP_CAN
{
private:
INT8U m_nExtFlg; /* identifier xxxID */
/* either extended (the 29 LSB) */
/* or standard (the 11 LSB) */
INT32U m_nID; /* can id */
INT8U m_nDlc; /* data length: */
INT8U m_nDta[MAX_CHAR_IN_MESSAGE]; /* data */
INT8U m_nRtr; /* rtr */
INT8U m_nfilhit;
INT8U SPICS;
/*
* mcp2515 driver function
*/
// private:
private:
void mcp2515_reset(void); /* reset mcp2515 */
INT8U mcp2515_readRegister(const INT8U address); /* read mcp2515's register */
void mcp2515_readRegisterS(const INT8U address,
INT8U values[],
const INT8U n);
void mcp2515_setRegister(const INT8U address, /* set mcp2515's register */
const INT8U value);
void mcp2515_setRegisterS(const INT8U address, /* set mcp2515's registers */
const INT8U values[],
const INT8U n);
void mcp2515_initCANBuffers(void);
void mcp2515_modifyRegister(const INT8U address, /* set bit of one register */
const INT8U mask,
const INT8U data);
INT8U mcp2515_readStatus(void); /* read mcp2515's Status */
INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); /* set mode */
INT8U mcp2515_configRate(const INT8U canSpeed); /* set boadrate */
INT8U mcp2515_init(const INT8U canSpeed); /* mcp2515init */
void mcp2515_write_id( const INT8U mcp_addr, /* write can id */
const INT8U ext,
const INT32U id );
void mcp2515_read_id( const INT8U mcp_addr, /* read can id */
INT8U* ext,
INT32U* id );
void mcp2515_write_canMsg( const INT8U buffer_sidh_addr ); /* write can msg */
void mcp2515_read_canMsg( const INT8U buffer_sidh_addr); /* read can msg */
void mcp2515_start_transmit(const INT8U mcp_addr); /* start transmit */
INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); /* get Next free txbuf */
/*
* can operator function
*/
INT8U setMsg(INT32U id, INT8U ext, INT8U len, INT8U rtr, INT8U *pData); /* set message */
INT8U setMsg(INT32U id, INT8U ext, INT8U len, INT8U *pData); /* set message */
INT8U clearMsg(); /* clear all message to zero */
INT8U readMsg(); /* read message */
INT8U sendMsg(); /* send message */
public:
MCP_CAN(INT8U _CS);
INT8U begin(INT8U speedset); /* init can */
INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData); /* init Masks */
INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData); /* init filters */
INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U rtr, INT8U len, INT8U *buf); /* send buf */
INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf); /* send buf */
INT8U readMsgBuf(INT8U *len, INT8U *buf); /* read buf */
INT8U readMsgBufID(INT32U *ID, INT8U *len, INT8U *buf); /* read buf with object ID */
INT8U checkReceive(void); /* if something received */
INT8U checkError(void); /* if something error */
INT32U getCanId(void); /* get can id when receive */
INT8U isRemoteRequest(void); /* get RR flag when receive */
INT8U isExtendedFrame(void); /* did we recieve 29bit frame? */
};
#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/

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/*
mcp_can_dfs.h
2012 Copyright (c) Seeed Technology Inc. All right reserved.
Author:Loovee
2014-1-16
Contributor:
Cory J. Fowler
Latonita
Woodward1
Mehtajaghvi
BykeBlast
TheRo0T
Tsipizic
ralfEdmund
Nathancheek
BlueAndi
Adlerweb
Btetz
Hurvajs
xboxpro1
The MIT License (MIT)
Copyright (c) 2013 Seeed Technology Inc.
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef _MCP2515DFS_H_
#define _MCP2515DFS_H_
#include <Arduino.h>
#include <SPI.h>
#include <inttypes.h>
#ifndef INT32U
#define INT32U unsigned long
#endif
#ifndef INT8U
#define INT8U byte
#endif
// if print debug information
#define DEBUG_MODE 0
/*
* Begin mt
*/
#define TIMEOUTVALUE 50
#define MCP_SIDH 0
#define MCP_SIDL 1
#define MCP_EID8 2
#define MCP_EID0 3
#define MCP_TXB_EXIDE_M 0x08 /* In TXBnSIDL */
#define MCP_DLC_MASK 0x0F /* 4 LSBits */
#define MCP_RTR_MASK 0x40 /* (1<<6) Bit 6 */
#define MCP_RXB_RX_ANY 0x60
#define MCP_RXB_RX_EXT 0x40
#define MCP_RXB_RX_STD 0x20
#define MCP_RXB_RX_STDEXT 0x00
#define MCP_RXB_RX_MASK 0x60
#define MCP_RXB_BUKT_MASK (1<<2)
/*
** Bits in the TXBnCTRL registers.
*/
#define MCP_TXB_TXBUFE_M 0x80
#define MCP_TXB_ABTF_M 0x40
#define MCP_TXB_MLOA_M 0x20
#define MCP_TXB_TXERR_M 0x10
#define MCP_TXB_TXREQ_M 0x08
#define MCP_TXB_TXIE_M 0x04
#define MCP_TXB_TXP10_M 0x03
#define MCP_TXB_RTR_M 0x40 /* In TXBnDLC */
#define MCP_RXB_IDE_M 0x08 /* In RXBnSIDL */
#define MCP_RXB_RTR_M 0x40 /* In RXBnDLC */
#define MCP_STAT_RXIF_MASK (0x03)
#define MCP_STAT_RX0IF (1<<0)
#define MCP_STAT_RX1IF (1<<1)
#define MCP_EFLG_RX1OVR (1<<7)
#define MCP_EFLG_RX0OVR (1<<6)
#define MCP_EFLG_TXBO (1<<5)
#define MCP_EFLG_TXEP (1<<4)
#define MCP_EFLG_RXEP (1<<3)
#define MCP_EFLG_TXWAR (1<<2)
#define MCP_EFLG_RXWAR (1<<1)
#define MCP_EFLG_EWARN (1<<0)
#define MCP_EFLG_ERRORMASK (0xF8) /* 5 MS-Bits */
/*
* Define MCP2515 register addresses
*/
#define MCP_RXF0SIDH 0x00
#define MCP_RXF0SIDL 0x01
#define MCP_RXF0EID8 0x02
#define MCP_RXF0EID0 0x03
#define MCP_RXF1SIDH 0x04
#define MCP_RXF1SIDL 0x05
#define MCP_RXF1EID8 0x06
#define MCP_RXF1EID0 0x07
#define MCP_RXF2SIDH 0x08
#define MCP_RXF2SIDL 0x09
#define MCP_RXF2EID8 0x0A
#define MCP_RXF2EID0 0x0B
#define MCP_CANSTAT 0x0E
#define MCP_CANCTRL 0x0F
#define MCP_RXF3SIDH 0x10
#define MCP_RXF3SIDL 0x11
#define MCP_RXF3EID8 0x12
#define MCP_RXF3EID0 0x13
#define MCP_RXF4SIDH 0x14
#define MCP_RXF4SIDL 0x15
#define MCP_RXF4EID8 0x16
#define MCP_RXF4EID0 0x17
#define MCP_RXF5SIDH 0x18
#define MCP_RXF5SIDL 0x19
#define MCP_RXF5EID8 0x1A
#define MCP_RXF5EID0 0x1B
#define MCP_TEC 0x1C
#define MCP_REC 0x1D
#define MCP_RXM0SIDH 0x20
#define MCP_RXM0SIDL 0x21
#define MCP_RXM0EID8 0x22
#define MCP_RXM0EID0 0x23
#define MCP_RXM1SIDH 0x24
#define MCP_RXM1SIDL 0x25
#define MCP_RXM1EID8 0x26
#define MCP_RXM1EID0 0x27
#define MCP_CNF3 0x28
#define MCP_CNF2 0x29
#define MCP_CNF1 0x2A
#define MCP_CANINTE 0x2B
#define MCP_CANINTF 0x2C
#define MCP_EFLG 0x2D
#define MCP_TXB0CTRL 0x30
#define MCP_TXB1CTRL 0x40
#define MCP_TXB2CTRL 0x50
#define MCP_RXB0CTRL 0x60
#define MCP_RXB0SIDH 0x61
#define MCP_RXB1CTRL 0x70
#define MCP_RXB1SIDH 0x71
#define MCP_TX_INT 0x1C // Enable all transmit interrup ts
#define MCP_TX01_INT 0x0C // Enable TXB0 and TXB1 interru pts
#define MCP_RX_INT 0x03 // Enable receive interrupts
#define MCP_NO_INT 0x00 // Disable all interrupts
#define MCP_TX01_MASK 0x14
#define MCP_TX_MASK 0x54
/*
* Define SPI Instruction Set
*/
#define MCP_WRITE 0x02
#define MCP_READ 0x03
#define MCP_BITMOD 0x05
#define MCP_LOAD_TX0 0x40
#define MCP_LOAD_TX1 0x42
#define MCP_LOAD_TX2 0x44
#define MCP_RTS_TX0 0x81
#define MCP_RTS_TX1 0x82
#define MCP_RTS_TX2 0x84
#define MCP_RTS_ALL 0x87
#define MCP_READ_RX0 0x90
#define MCP_READ_RX1 0x94
#define MCP_READ_STATUS 0xA0
#define MCP_RX_STATUS 0xB0
#define MCP_RESET 0xC0
/*
* CANCTRL Register Values
*/
#define MODE_NORMAL 0x00
#define MODE_SLEEP 0x20
#define MODE_LOOPBACK 0x40
#define MODE_LISTENONLY 0x60
#define MODE_CONFIG 0x80
#define MODE_POWERUP 0xE0
#define MODE_MASK 0xE0
#define ABORT_TX 0x10
#define MODE_ONESHOT 0x08
#define CLKOUT_ENABLE 0x04
#define CLKOUT_DISABLE 0x00
#define CLKOUT_PS1 0x00
#define CLKOUT_PS2 0x01
#define CLKOUT_PS4 0x02
#define CLKOUT_PS8 0x03
/*
* CNF1 Register Values
*/
#define SJW1 0x00
#define SJW2 0x40
#define SJW3 0x80
#define SJW4 0xC0
/*
* CNF2 Register Values
*/
#define BTLMODE 0x80
#define SAMPLE_1X 0x00
#define SAMPLE_3X 0x40
/*
* CNF3 Register Values
*/
#define SOF_ENABLE 0x80
#define SOF_DISABLE 0x00
#define WAKFIL_ENABLE 0x40
#define WAKFIL_DISABLE 0x00
/*
* CANINTF Register Bits
*/
#define MCP_RX0IF 0x01
#define MCP_RX1IF 0x02
#define MCP_TX0IF 0x04
#define MCP_TX1IF 0x08
#define MCP_TX2IF 0x10
#define MCP_ERRIF 0x20
#define MCP_WAKIF 0x40
#define MCP_MERRF 0x80
/*
* speed 16M
*/
#define MCP_16MHz_1000kBPS_CFG1 (0x00)
#define MCP_16MHz_1000kBPS_CFG2 (0xD0)
#define MCP_16MHz_1000kBPS_CFG3 (0x82)
#define MCP_16MHz_500kBPS_CFG1 (0x00)
#define MCP_16MHz_500kBPS_CFG2 (0xF0)
#define MCP_16MHz_500kBPS_CFG3 (0x86)
#define MCP_16MHz_250kBPS_CFG1 (0x41)
#define MCP_16MHz_250kBPS_CFG2 (0xF1)
#define MCP_16MHz_250kBPS_CFG3 (0x85)
#define MCP_16MHz_200kBPS_CFG1 (0x01)
#define MCP_16MHz_200kBPS_CFG2 (0xFA)
#define MCP_16MHz_200kBPS_CFG3 (0x87)
#define MCP_16MHz_125kBPS_CFG1 (0x03)
#define MCP_16MHz_125kBPS_CFG2 (0xF0)
#define MCP_16MHz_125kBPS_CFG3 (0x86)
#define MCP_16MHz_100kBPS_CFG1 (0x03)
#define MCP_16MHz_100kBPS_CFG2 (0xFA)
#define MCP_16MHz_100kBPS_CFG3 (0x87)
#define MCP_16MHz_95kBPS_CFG1 (0x03)
#define MCP_16MHz_95kBPS_CFG2 (0xAD)
#define MCP_16MHz_95kBPS_CFG3 (0x07)
#define MCP_16MHz_83k3BPS_CFG1 (0x03)
#define MCP_16MHz_83k3BPS_CFG2 (0xBE)
#define MCP_16MHz_83k3BPS_CFG3 (0x07)
#define MCP_16MHz_80kBPS_CFG1 (0x03)
#define MCP_16MHz_80kBPS_CFG2 (0xFF)
#define MCP_16MHz_80kBPS_CFG3 (0x87)
#define MCP_16MHz_50kBPS_CFG1 (0x07)
#define MCP_16MHz_50kBPS_CFG2 (0xFA)
#define MCP_16MHz_50kBPS_CFG3 (0x87)
#define MCP_16MHz_40kBPS_CFG1 (0x07)
#define MCP_16MHz_40kBPS_CFG2 (0xFF)
#define MCP_16MHz_40kBPS_CFG3 (0x87)
#define MCP_16MHz_33kBPS_CFG1 (0x09)
#define MCP_16MHz_33kBPS_CFG2 (0xBE)
#define MCP_16MHz_33kBPS_CFG3 (0x07)
#define MCP_16MHz_31k25BPS_CFG1 (0x0F)
#define MCP_16MHz_31k25BPS_CFG2 (0xF1)
#define MCP_16MHz_31k25BPS_CFG3 (0x85)
#define MCP_16MHz_25kBPS_CFG1 (0X0F)
#define MCP_16MHz_25kBPS_CFG2 (0XBA)
#define MCP_16MHz_25kBPS_CFG3 (0X07)
#define MCP_16MHz_20kBPS_CFG1 (0x0F)
#define MCP_16MHz_20kBPS_CFG2 (0xFF)
#define MCP_16MHz_20kBPS_CFG3 (0x87)
#define MCP_16MHz_10kBPS_CFG1 (0x1F)
#define MCP_16MHz_10kBPS_CFG2 (0xFF)
#define MCP_16MHz_10kBPS_CFG3 (0x87)
#define MCP_16MHz_5kBPS_CFG1 (0x3F)
#define MCP_16MHz_5kBPS_CFG2 (0xFF)
#define MCP_16MHz_5kBPS_CFG3 (0x87)
#define MCP_16MHz_666kBPS_CFG1 (0x00)
#define MCP_16MHz_666kBPS_CFG2 (0xA0)
#define MCP_16MHz_666kBPS_CFG3 (0x04)
#define MCPDEBUG (0)
#define MCPDEBUG_TXBUF (0)
#define MCP_N_TXBUFFERS (3)
#define MCP_RXBUF_0 (MCP_RXB0SIDH)
#define MCP_RXBUF_1 (MCP_RXB1SIDH)
//#define SPICS 10
#define MCP2515_SELECT() digitalWrite(SPICS, LOW)
#define MCP2515_UNSELECT() digitalWrite(SPICS, HIGH)
#define MCP2515_OK (0)
#define MCP2515_FAIL (1)
#define MCP_ALLTXBUSY (2)
#define CANDEBUG 1
#define CANUSELOOP 0
#define CANSENDTIMEOUT (200) /* milliseconds */
/*
* initial value of gCANAutoProcess
*/
#define CANAUTOPROCESS (1)
#define CANAUTOON (1)
#define CANAUTOOFF (0)
#define CAN_STDID (0)
#define CAN_EXTID (1)
#define CANDEFAULTIDENT (0x55CC)
#define CANDEFAULTIDENTEXT (CAN_EXTID)
#define CAN_5KBPS 1
#define CAN_10KBPS 2
#define CAN_20KBPS 3
#define CAN_25KBPS 4
#define CAN_31K25BPS 5
#define CAN_33KBPS 6
#define CAN_40KBPS 7
#define CAN_50KBPS 8
#define CAN_80KBPS 9
#define CAN_83K3BPS 10
#define CAN_95KBPS 11
#define CAN_100KBPS 12
#define CAN_125KBPS 13
#define CAN_200KBPS 14
#define CAN_250KBPS 15
#define CAN_500KBPS 16
#define CAN_666KBPS 17
#define CAN_1000KBPS 18
#define CAN_OK (0)
#define CAN_FAILINIT (1)
#define CAN_FAILTX (2)
#define CAN_MSGAVAIL (3)
#define CAN_NOMSG (4)
#define CAN_CTRLERROR (5)
#define CAN_GETTXBFTIMEOUT (6)
#define CAN_SENDMSGTIMEOUT (7)
#define CAN_FAIL (0xff)
#define CAN_MAX_CHAR_IN_MESSAGE (8)
#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/