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Rework, use ESP32 native CAN, include library

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21
Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/License.txt
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The MIT License (MIT)
Copyright (c) 2018 Longan Labs 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.

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Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/README.md
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# CAN Bus Library
[![GitHub](https://img.shields.io/github/license/Longan-Labs/Arduino_CAN_BUS_MCP2515)](https://github.com/Longan-Labs/Arduino_CAN_BUS_MCP2515/blob/master/LICENSE)
[![Installation instructions](https://www.ardu-badge.com/badge/mcp_canbus.svg?)](https://www.ardu-badge.com/mcp_canbus)
[![GitHub version](https://img.shields.io/github/release/Longan-Labs/Arduino_CAN_BUS_MCP2515.svg?logo=github&logoColor=ffffff)](https://github.com/Longan-Labs/Arduino_CAN_BUS_MCP2515/releases/latest)
[![GitHub Release Date](https://img.shields.io/github/release-date/Longan-Labs/Arduino_CAN_BUS_MCP2515.svg?logo=github&logoColor=ffffff)](https://github.com/Longan-Labs/Arduino_CAN_BUS_MCP2515/releases/latest)
[![GitHub Repo stars](https://img.shields.io/github/stars/Longan-Labs/Arduino_CAN_BUS_MCP2515?logo=github&logoColor=ffffff)](https://github.com/Longan-Labs/Arduino_CAN_BUS_MCP2515/stargazers)
[![GitHub issues](https://img.shields.io/github/issues/Longan-Labs/Arduino_CAN_BUS_MCP2515.svg?logo=github&logoColor=ffffff)](https://github.com/Longan-Labs/Arduino_CAN_BUS_MCP2515/issues)
Arduino library for MCP2515, it's available for most of theArduino boards, we test it with Arduino UNO, Leonardo, Mega as well as Zero.
With this library, you can,
1. Send a CAN2.0 frame
2. Receive a CAN2.0 frame
3. Get data from OBD-II
4. Set the masks and filters, there're 32 masks and filters.
## Installation
You can install it similiar to any other Arduino libraries, using the Library Manager or from a Zip file in the Arduino IDE.
- Install using the Library Manager
1. In the Arduino IDE, navigate to Sketch > Include Library > Manage Libraries...
2. Search for "mcp_canbus" to find this library
3. Click "INSTALL"
- Install from a Zip file
1. [Download this library](https://github.com/Longan-Labs/Aruino_CAN_BUS_MCP2515/archive/refs/heads/master.zip)
2. Extract the zip file
3. In the Arduino IDE, navigate to Sketch > Include Library > Add .ZIP Library
You can also read [how to install mcp_canbus library](https://www.ardu-badge.com/mcp_canbus) for a reference.
## Respository Contents
* [**/examples**](./examples) - Example sketches for the library (.ino). Run these from the Arduino IDE.
* [**/src**](./src) - Source files for the library (.cpp, .h).
* [**keywords.txt**](./keywords.txt) - Keywords from this library that will be highlighted in the Arduino IDE.
* [**library.properties**](./library.properties) - General library properties for the Arduino package manager.
## How to use
### Header
```
#include <mcp_canbus.h>
```
### Functions
- begin()
- init_Mask()
- init_filt()
- checkReceive()
- readMsgBufID()
- readMsgBuf()
- getCanId()
- sendMsgBuf()
- isRemoteRequest()
- isExtendedFrame()
### Examples
here are many examples implemented in this library. One of the examples is below. You can find other examples [here](./examples)
```Cpp
/* send a frame from can bus
support@longan-labs.cc
CAN Baudrate,
#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
CANBed V1: https://www.longan-labs.cc/1030008.html
CANBed M0: https://www.longan-labs.cc/1030014.html
CAN Bus Shield: https://www.longan-labs.cc/1030016.html
OBD-II CAN Bus GPS Dev Kit: https://www.longan-labs.cc/1030003.html
*/
#include <mcp_canbus.h>
#include <SPI.h>
const int SPI_CS_PIN = 17; // CANBed V1
// const int SPI_CS_PIN = 3; // CANBed M0
// const int SPI_CS_PIN = 9; // CAN Bus Shield
MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
void setup()
{
Serial.begin(115200);
while(!Serial);
// below code need for OBD-II GPS Dev Kit
// pinMode(A3, OUTPUT);
// digitalWrite(A3, HIGH);
while (CAN_OK != CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
{
Serial.println("CAN BUS FAIL!");
delay(100);
}
Serial.println("CAN BUS OK!");
}
unsigned char stmp[8] = {0, 1, 2, 3, 4, 5, 6, 7};
void loop()
{
CAN.sendMsgBuf(0x00, 0, 8, stmp);
delay(100); // send data per 100ms
}
// END FILE
```
## Get a Dev Board
If you need a Dev board, plese try,
- [CAN Bus Shield for Arduino](https://www.longan-labs.cc/1030016.html)
- [CANBed V1](https://www.longan-labs.cc/1030008.html)
- [CANBed M0](https://www.longan-labs.cc/1030014.html)
- [OBD-II CAN Bus GPS Dev Kit](https://www.longan-labs.cc/1030003.html)
## Contact us
If you have any question, please feel free to contact [support@longan-labs.cc](support@longan-labs.cc)

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Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/examples/OBDII_PIDs/getRpm/getRpm.ino
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/*************************************************************************************************
OBD-II_PIDs TEST CODE
Query
send id: 0x7df
dta: 0x02, 0x01, PID_CODE, 0, 0, 0, 0, 0
Response
From id: 0x7E9 or 0x7EA or 0x7EB
dta: len, 0x41, PID_CODE, byte0, byte1(option), byte2(option), byte3(option), byte4(option)
https://en.wikipedia.org/wiki/OBD-II_PIDs
***************************************************************************************************/
#include <SPI.h>
#include <mcp_canbus.h>
/* Please modify SPI_CS_PIN to adapt to your board.
CANBed V1 - 17
CANBed M0 - 3
CAN Bus Shield - 9
CANBed 2040 - 9
CANBed Dual - 9
OBD-2G Dev Kit - 9
OBD-II GPS Kit - 9
Hud Dev Kit - 9
Seeed Studio CAN-Bus Breakout Board for XIAO and QT Py - D7
*/
#define SPI_CS_PIN 9
MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
#define PID_ENGIN_PRM 0x0C
#define PID_VEHICLE_SPEED 0x0D
#define PID_COOLANT_TEMP 0x05
#define CAN_ID_PID 0x7DF
void set_mask_filt()
{
// set mask, set both the mask to 0x3ff
CAN.init_Mask(0, 0, 0x7FC);
CAN.init_Mask(1, 0, 0x7FC);
// set filter, we can receive id from 0x04 ~ 0x09
CAN.init_Filt(0, 0, 0x7E8);
CAN.init_Filt(1, 0, 0x7E8);
CAN.init_Filt(2, 0, 0x7E8);
CAN.init_Filt(3, 0, 0x7E8);
CAN.init_Filt(4, 0, 0x7E8);
CAN.init_Filt(5, 0, 0x7E8);
}
void sendPid(unsigned char __pid) {
unsigned char tmp[8] = {0x02, 0x01, __pid, 0, 0, 0, 0, 0};
CAN.sendMsgBuf(CAN_ID_PID, 0, 8, tmp);
}
bool getRPM(int *r)
{
sendPid(PID_ENGIN_PRM);
unsigned long __timeout = millis();
while(millis()-__timeout < 1000) // 1s time out
{
unsigned char len = 0;
unsigned char buf[8];
if (CAN_MSGAVAIL == CAN.checkReceive()) { // check if get data
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
if(buf[1] == 0x41)
{
*r = (256*buf[3]+buf[4])/4;
return 1;
}
}
}
return 0;
}
void setup()
{
Serial.begin(115200);
while(!Serial);
// below code need for OBD-II GPS Dev Kit Atemga32U4 version
// pinMode(A3, OUTPUT);
// digitalWrite(A3, HIGH);
// below code need for OBD-II GPS Dev Kit RP2040 version
// pinMode(12, OUTPUT);
// digitalWrite(12, HIGH);
while (CAN_OK != CAN.begin(CAN_500KBPS)) { // init can bus : baudrate = 500k
Serial.println("CAN init fail, retry...");
delay(100);
}
Serial.println("CAN init ok!");
set_mask_filt();
}
void loop() {
int __rpm = 0;
int ret = getRPM(&__rpm);
if(ret)
{
Serial.print("Engin Speed: ");
Serial.print(__rpm);
Serial.println(" rpm");
}else Serial.println("get Engin Speed Fail...");
delay(500);
}
// END FILE

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/*************************************************************************************************
OBD-II_PIDs TEST CODE
Query
send id: 0x7df
dta: 0x02, 0x01, PID_CODE, 0, 0, 0, 0, 0
Response
From id: 0x7E9 or 0x7EA or 0x7EB
dta: len, 0x41, PID_CODE, byte0, byte1(option), byte2(option), byte3(option), byte4(option)
https://en.wikipedia.org/wiki/OBD-II_PIDs
***************************************************************************************************/
#include <SPI.h>
#include <mcp_canbus.h>
/* Please modify SPI_CS_PIN to adapt to your board.
CANBed V1 - 17
CANBed M0 - 3
CAN Bus Shield - 9
CANBed 2040 - 9
CANBed Dual - 9
OBD-2G Dev Kit - 9
OBD-II GPS Kit - 9
Hud Dev Kit - 9
Seeed Studio CAN-Bus Breakout Board for XIAO and QT Py - D7
*/
#define SPI_CS_PIN 9
MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
#define PID_ENGIN_PRM 0x0C
#define PID_VEHICLE_SPEED 0x0D
#define PID_COOLANT_TEMP 0x05
#define CAN_ID_PID 0x7DF
void set_mask_filt()
{
// set mask, set both the mask to 0x3ff
CAN.init_Mask(0, 0, 0x7FC);
CAN.init_Mask(1, 0, 0x7FC);
// set filter, we can receive id from 0x04 ~ 0x09
CAN.init_Filt(0, 0, 0x7E8);
CAN.init_Filt(1, 0, 0x7E8);
CAN.init_Filt(2, 0, 0x7E8);
CAN.init_Filt(3, 0, 0x7E8);
CAN.init_Filt(4, 0, 0x7E8);
CAN.init_Filt(5, 0, 0x7E8);
}
void sendPid(unsigned char __pid) {
unsigned char tmp[8] = {0x02, 0x01, __pid, 0, 0, 0, 0, 0};
CAN.sendMsgBuf(CAN_ID_PID, 0, 8, tmp);
}
bool getSpeed(int *s)
{
sendPid(PID_VEHICLE_SPEED);
unsigned long __timeout = millis();
while(millis()-__timeout < 1000) // 1s time out
{
unsigned char len = 0;
unsigned char buf[8];
if (CAN_MSGAVAIL == CAN.checkReceive()) { // check if get data
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
if(buf[1] == 0x41)
{
*s = buf[3];
return 1;
}
}
}
return 0;
}
void setup() {
Serial.begin(115200);
while(!Serial);
// below code need for OBD-II GPS Dev Kit Atemga32U4 version
// pinMode(A3, OUTPUT);
// digitalWrite(A3, HIGH);
// below code need for OBD-II GPS Dev Kit RP2040 version
// pinMode(12, OUTPUT);
// digitalWrite(12, HIGH);
while (CAN_OK != CAN.begin(CAN_500KBPS)) { // init can bus : baudrate = 500k
Serial.println("CAN init fail, retry...");
delay(100);
}
Serial.println("CAN init ok!");
set_mask_filt();
}
void loop() {
int __speed = 0;
int ret = getSpeed(&__speed);
if(ret)
{
Serial.print("Vehicle Speed: ");
Serial.print(__speed);
Serial.println(" kmh");
}
delay(500);
}
// END FILE

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Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/examples/recv/recv.ino
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/* receive a frame from can bus
CAN Baudrate,
#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
CANBed V1: https://www.longan-labs.cc/1030008.html
CANBed M0: https://www.longan-labs.cc/1030014.html
CAN Bus Shield: https://www.longan-labs.cc/1030016.html
OBD-II CAN Bus GPS Dev Kit: https://www.longan-labs.cc/1030003.html
*/
#include <SPI.h>
#include <mcp_canbus.h>
/* Please modify SPI_CS_PIN to adapt to your board.
CANBed V1 - 17
CANBed M0 - 3
CAN Bus Shield - 9
CANBed 2040 - 9
CANBed Dual - 9
OBD-2G Dev Kit - 9
OBD-II GPS Kit - 9
Hud Dev Kit - 9
Seeed Studio CAN-Bus Breakout Board for XIAO and QT Py - D7
*/
#define SPI_CS_PIN 9
MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
void setup()
{
Serial.begin(115200);
while(!Serial);
// below code need for OBD-II GPS Dev Kit Atemga32U4 version
// pinMode(A3, OUTPUT);
// digitalWrite(A3, HIGH);
// below code need for OBD-II GPS Dev Kit RP2040 version
// pinMode(12, OUTPUT);
// digitalWrite(12, HIGH);
while (CAN_OK != CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
{
Serial.println("CAN BUS FAIL!");
delay(100);
}
Serial.println("CAN BUS OK!");
}
void loop()
{
unsigned char len = 0;
unsigned char buf[8];
if(CAN_MSGAVAIL == CAN.checkReceive()) // check if data coming
{
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
unsigned long canId = CAN.getCanId();
Serial.println("-----------------------------");
Serial.print("Get data from ID: ");
Serial.println(canId, HEX);
for(int i = 0; i<len; i++) // print the data
{
Serial.print(buf[i], HEX);
Serial.print("\t");
}
Serial.println();
}
}
// END FILE

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Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/examples/send/send.ino
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/* send a frame from can bus
CAN Baudrate,
#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
*/
#include <mcp_canbus.h>
#include <SPI.h>
/* Please modify SPI_CS_PIN to adapt to your board.
CANBed V1 - 17
CANBed M0 - 3
CAN Bus Shield - 9
CANBed 2040 - 9
CANBed Dual - 9
OBD-2G Dev Kit - 9
OBD-II GPS Kit - 9
Hud Dev Kit - 9
Seeed Studio CAN-Bus Breakout Board for XIAO and QT Py - D7
*/
#define SPI_CS_PIN 9
MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
void setup()
{
Serial.begin(115200);
while(!Serial);
// below code need for OBD-II GPS Dev Kit Atemga32U4 version
// pinMode(A3, OUTPUT);
// digitalWrite(A3, HIGH);
// below code need for OBD-II GPS Dev Kit RP2040 version
// pinMode(12, OUTPUT);
// digitalWrite(12, HIGH);
while (CAN_OK != CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
{
Serial.println("CAN BUS FAIL!");
delay(100);
}
Serial.println("CAN BUS OK!");
}
unsigned char stmp[8] = {0, 1, 2, 3, 4, 5, 6, 7};
void loop()
{
CAN.sendMsgBuf(0x00, 0, 8, stmp);
delay(100); // send data per 100ms
}
// END FILE

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Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/examples/set_mask_filter_recv/set_mask_filter_recv.ino
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/* receive a frame from can bus with mask and filter setting
CAN Baudrate,
#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
CANBed V1: https://www.longan-labs.cc/1030008.html
CANBed M0: https://www.longan-labs.cc/1030014.html
CAN Bus Shield: https://www.longan-labs.cc/1030016.html
OBD-II CAN Bus GPS Dev Kit: https://www.longan-labs.cc/1030003.html
*/
#include <SPI.h>
#include <mcp_canbus.h>
/* Please modify SPI_CS_PIN to adapt to your board.
CANBed V1 - 17
CANBed M0 - 3
CAN Bus Shield - 9
CANBed 2040 - 9
CANBed Dual - 9
OBD-2G Dev Kit - 9
OBD-II GPS Kit - 9
Hud Dev Kit - 9
Seeed Studio CAN-Bus Breakout Board for XIAO and QT Py - D7
*/
#define SPI_CS_PIN 9
MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
unsigned char flagRecv = 0;
unsigned char len = 0;
unsigned char buf[8];
char str[20];
void setup()
{
Serial.begin(115200);
while(!Serial);
// below code need for OBD-II GPS Dev Kit Atemga32U4 version
// pinMode(A3, OUTPUT);
// digitalWrite(A3, HIGH);
// below code need for OBD-II GPS Dev Kit RP2040 version
// pinMode(12, OUTPUT);
// digitalWrite(12, HIGH);
while (CAN_OK != CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
{
Serial.println("CAN BUS FAIL!");
delay(100);
}
Serial.println("CAN BUS OK!");
/*
* set mask, set both the mask to 0x3ff
*/
CAN.init_Mask(0, 0, 0x3ff); // there are 2 mask in mcp2515, you need to set both of them
CAN.init_Mask(1, 0, 0x3ff);
/*
* set filter, we can receive id from 0x04 ~ 0x09
*/
CAN.init_Filt(0, 0, 0x04); // there are 6 filter in mcp2515
CAN.init_Filt(1, 0, 0x05); // there are 6 filter in mcp2515
CAN.init_Filt(2, 0, 0x06); // there are 6 filter in mcp2515
CAN.init_Filt(3, 0, 0x07); // there are 6 filter in mcp2515
CAN.init_Filt(4, 0, 0x08); // there are 6 filter in mcp2515
CAN.init_Filt(5, 0, 0x09); // there are 6 filter in mcp2515
}
void loop()
{
if(CAN_MSGAVAIL == CAN.checkReceive()) // check if get data
{
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
Serial.println("\r\n------------------------------------------------------------------");
Serial.print("Get Data From id: ");
Serial.println(CAN.getCanId());
for(int i = 0; i<len; i++) // print the data
{
Serial.print("0x");
Serial.print(buf[i], HEX);
Serial.print("\t");
}
Serial.println();
}
}
// END FILE

85
Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/examples/set_mask_filter_send/set_mask_filter_send.ino
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/* demo: set_mask_filter_send
this demo will show you how to use mask and filter
CAN Baudrate,
#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
CANBed V1: https://www.longan-labs.cc/1030008.html
CANBed M0: https://www.longan-labs.cc/1030014.html
CAN Bus Shield: https://www.longan-labs.cc/1030016.html
OBD-II CAN Bus GPS Dev Kit: https://www.longan-labs.cc/1030003.html
*/
#include <mcp_canbus.h>
#include <SPI.h>
/* Please modify SPI_CS_PIN to adapt to your board.
CANBed V1 - 17
CANBed M0 - 3
CAN Bus Shield - 9
CANBed 2040 - 9
CANBed Dual - 9
OBD-2G Dev Kit - 9
OBD-II GPS Kit - 9
Hud Dev Kit - 9
Seeed Studio CAN-Bus Breakout Board for XIAO and QT Py - D7
*/
#define SPI_CS_PIN 9
MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
void setup()
{
Serial.begin(115200);
while(!Serial);
// below code need for OBD-II GPS Dev Kit Atemga32U4 version
// pinMode(A3, OUTPUT);
// digitalWrite(A3, HIGH);
// below code need for OBD-II GPS Dev Kit RP2040 version
// pinMode(12, OUTPUT);
// digitalWrite(12, HIGH);
while (CAN_OK != CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
{
Serial.println("CAN BUS FAIL!");
delay(100);
}
Serial.println("CAN BUS OK!");
}
unsigned char stmp[8] = {0, 1, 2, 3, 4, 5, 6, 7};
void loop()
{
for(int id=0; id<10; id++)
{
memset(stmp, id, sizeof(stmp)); // set id to send data buff
CAN.sendMsgBuf(id, 0, sizeof(stmp), stmp);
delay(100);
}
}
// END FILE

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Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/keywords.txt
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#######################################
# Syntax Coloring Map For debug_lvc
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
MCP_CAN KEYWORD1
mcp_can_dfs KEYWORD1
mcp_can KEYWORD1
CAN KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
init_Mask KEYWORD2
init_Filt KEYWORD2
sendMsgBuf KEYWORD2
readMsgBuf KEYWORD2
checkReceive KEYWORD2
checkError KEYWORD2
getCanId KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################
CAN_5KBPS LITERAL1
CAN_10KBPS LITERAL1
CAN_20KBPS LITERAL1
CAN_25KBPS LITERAL1
CAN_31KBPS LITERAL1
CAN_33KBPS LITERAL1
CAN_40KBPS LITERAL1
CAN_50KBPS LITERAL1
CAN_80KBPS LITERAL1
CAN_83KBPS LITERAL1
CAN_95KBPS LITERAL1
CAN_100KBPS LITERAL1
CAN_125KBPS LITERAL1
CAN_200KBPS LITERAL1
CAN_250KBPS LITERAL1
CAN_500KBPS LITERAL1
CAN_666KBPS LITERAL1
CAN_1000KBPS LITERAL1
CAN_OK LITERAL1
CAN_FAILINIT LITERAL1
CAN_FAILTX LITERAL1
CAN_MSGAVAIL LITERAL1
CAN_NOMSG LITERAL1
CAN_CTRLERROR LITERAL1
CAN_GETTXBFTIMEOUT LITERAL1
CAN_SENDMSGTIMEOUT LITERAL1
CAN_FAIL LITERAL1
SPI_CS_PIN LITERAL1

13
Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/library.json
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@ -1,13 +0,0 @@
{
"name": "CAN_BUS_Shield",
"keywords": "can, bus, mcp2515, MCP-2515",
"description": "Arduino Library for MCP2515",
"repository":
{
"type": "git",
"url": "https://github.com/Longan-Labs/Aruino_CAN_BUS_MCP2515.git"
},
"version": "1.0.0",
"frameworks": "arduino",
"platforms": "atmelavr"
}

9
Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/library.properties
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@ -1,9 +0,0 @@
name=mcp_canbus
version=1.0.0
author=Longan Labs
maintainer=Longan Labs
sentence=A library for MCP2515
paragraph=Arduino CAN Bus Library for MCP2515
category=Communication
url=https://github.com/Longan-Labs/Aruino_CAN_BUS_MCP2515
architectures=*

356
Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/mcp_can_dfs.h
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@ -1,356 +0,0 @@
/*
mcp_can_dfs.h
The MIT License (MIT)
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>
// if print debug information
#define DEBUG_EN 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 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
*********************************************************************************************************/

971
Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/mcp_canbus.cpp
View file

@ -1,971 +0,0 @@
/*
mcp_can.cpp
Author:Stephen Lo
2014-1-16
Contributor:
Cory J. Fowler
Latonita
Woodward1
Mehtajaghvi
BykeBlast
TheRo0T
Tsipizic
ralfEdmund
Nathancheek
BlueAndi
Adlerweb
Btetz
Hurvajs
xboxpro1
The MIT License (MIT)
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_canbus.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
*********************************************************************************************************/
byte MCP_CAN::mcp2515_readRegister(const byte address)
{
byte 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 byte address, byte values[], const byte n)
{
byte 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 byte address, const byte 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 byte address, const byte values[], const byte n)
{
byte 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 byte address, const byte mask, const byte 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
*********************************************************************************************************/
byte MCP_CAN::mcp2515_readStatus(void)
{
byte 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
*********************************************************************************************************/
byte MCP_CAN::mcp2515_setCANCTRL_Mode(const byte newmode)
{
byte 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
*********************************************************************************************************/
byte MCP_CAN::mcp2515_configRate(const byte canSpeed)
{
byte 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):
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)
{
byte 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
*********************************************************************************************************/
byte MCP_CAN::mcp2515_init(const byte canSpeed)
{
byte res;
mcp2515_reset();
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0)
{
#if DEBUG_EN
Serial.print("Enter setting mode fall\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_EN
Serial.print("Enter setting mode success \r\n");
#else
delay(10);
#endif
// set boadrate
if(mcp2515_configRate(canSpeed))
{
#if DEBUG_EN
Serial.print("set rate fall!!\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_EN
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. identifiers 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_EN
Serial.print("Enter Normal Mode Fall!!\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_EN
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 byte mcp_addr, const byte ext, const unsigned long id)
{
uint16_t canid;
byte tbufdata[4];
canid = (uint16_t)(id & 0x0FFFF);
if(ext == 1)
{
tbufdata[MCP_EID0] = (byte) (canid & 0xFF);
tbufdata[MCP_EID8] = (byte) (canid >> 8);
canid = (uint16_t)(id >> 16);
tbufdata[MCP_SIDL] = (byte) (canid & 0x03);
tbufdata[MCP_SIDL] += (byte) ((canid & 0x1C) << 3);
tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
tbufdata[MCP_SIDH] = (byte) (canid >> 5);
}
else
{
tbufdata[MCP_SIDH] = (byte) (canid >> 3);
tbufdata[MCP_SIDL] = (byte) ((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 byte mcp_addr, byte* ext, unsigned long* id)
{
byte 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 byte buffer_sidh_addr, int rtrBit)
{
byte mcp_addr;
mcp_addr = buffer_sidh_addr;
mcp2515_setRegisterS(mcp_addr+5, dta, dta_len); // write data bytes
// Serial.print("RTR: ");
// Serial.println(rtrBit);
if(rtrBit == 1) // if RTR set bit in byte
{
dta_len |= MCP_RTR_MASK;
}
mcp2515_setRegister((mcp_addr+4), dta_len); // write the RTR and DLC
mcp2515_write_id(mcp_addr, ext_flg, can_id); // write CAN id
}
/*********************************************************************************************************
** Function name: mcp2515_read_canMsg
** Descriptions: read message
*********************************************************************************************************/
void MCP_CAN::mcp2515_read_canMsg(const byte buffer_sidh_addr) // read can msg
{
byte mcp_addr, ctrl;
mcp_addr = buffer_sidh_addr;
mcp2515_read_id(mcp_addr, &ext_flg,&can_id);
ctrl = mcp2515_readRegister(mcp_addr-1);
dta_len = mcp2515_readRegister(mcp_addr+4);
rtr = (ctrl & 0x08) ? 1 : 0;
dta_len &= MCP_DLC_MASK;
mcp2515_readRegisterS(mcp_addr+5, &(dta[0]), dta_len);
}
/*********************************************************************************************************
** Function name: mcp2515_start_transmit
** Descriptions: start transmit
*********************************************************************************************************/
void MCP_CAN::mcp2515_start_transmit(const byte 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
*********************************************************************************************************/
byte MCP_CAN::mcp2515_getNextFreeTXBuf(byte *txbuf_n) // get Next free txbuf
{
byte res, i, ctrlval;
byte 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 Buffer
res = MCP2515_OK;
return res; // ! function exit
}
}
return res;
}
/*********************************************************************************************************
** Function name: set CS
** Descriptions: init CS pin and set UNSELECTED
*********************************************************************************************************/
MCP_CAN::MCP_CAN(byte _CS)
{
SPICS = _CS;
}
/*********************************************************************************************************
** Function name: init
** Descriptions: init can and set speed
*********************************************************************************************************/
byte MCP_CAN::begin(byte speedset)
{
pinMode(SPICS, OUTPUT);
MCP2515_UNSELECT();
SPI.begin();
byte res = mcp2515_init(speedset);
return ((res == MCP2515_OK) ? CAN_OK : CAN_FAILINIT);
}
/*********************************************************************************************************
** Function name: init_Mask
** Descriptions: init canid Masks
*********************************************************************************************************/
byte MCP_CAN::init_Mask(byte num, byte ext, unsigned long ulData)
{
byte res = MCP2515_OK;
#if DEBUG_EN
Serial.print("Begin to set Mask!!\r\n");
#else
delay(10);
#endif
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0){
#if DEBUG_EN
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_EN
Serial.print("Enter normal mode fall\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_EN
Serial.print("set Mask success!!\r\n");
#else
delay(10);
#endif
return res;
}
/*********************************************************************************************************
** Function name: init_Filt
** Descriptions: init canid filters
*********************************************************************************************************/
byte MCP_CAN::init_Filt(byte num, byte ext, unsigned long ulData)
{
byte res = MCP2515_OK;
#if DEBUG_EN
Serial.print("Begin to set Filter!!\r\n");
#else
delay(10);
#endif
res = mcp2515_setCANCTRL_Mode(MODE_CONFIG);
if(res > 0)
{
#if DEBUG_EN
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_EN
Serial.print("Enter normal mode fall\r\nSet filter fail!!\r\n");
#else
delay(10);
#endif
return res;
}
#if DEBUG_EN
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
*********************************************************************************************************/
byte MCP_CAN::setMsg(unsigned long id, byte ext, byte len, byte rtr, byte *pData)
{
ext_flg = ext;
can_id = id;
//dta_len = min(len, MAX_CHAR_IN_MESSAGE);
dta_len = len > MAX_CHAR_IN_MESSAGE ? MAX_CHAR_IN_MESSAGE: len;
rtr = rtr;
for(int i = 0; i<dta_len; i++)
{
dta[i] = *(pData+i);
}
return MCP2515_OK;
}
/*********************************************************************************************************
** Function name: setMsg
** Descriptions: set can message, such as dlc, id, dta[] and so on
*********************************************************************************************************/
byte MCP_CAN::setMsg(unsigned long id, byte ext, byte len, byte *pData)
{
return setMsg(id, ext, len, 0, pData);
}
/*********************************************************************************************************
** Function name: clearMsg
** Descriptions: set all message to zero
*********************************************************************************************************/
byte MCP_CAN::clearMsg()
{
can_id = 0;
dta_len = 0;
ext_flg = 0;
rtr = 0;
filhit = 0;
for(int i = 0; i<dta_len; i++)
{
dta[i] = 0x00;
}
return MCP2515_OK;
}
/*********************************************************************************************************
** Function name: sendMsg
** Descriptions: send message
*********************************************************************************************************/
byte MCP_CAN::sendMsg(int rtrBit)
{
byte 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, rtrBit);
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
*********************************************************************************************************/
byte MCP_CAN::sendMsgBuf(unsigned long id, byte ext, byte rtr, byte len, byte *buf)
{
setMsg(id, ext, len, rtr, buf);
// Serial.print("RTR00: ");
// Serial.println(rtr, HEX);
return sendMsg(rtr);
}
/*********************************************************************************************************
** Function name: sendMsgBuf
** Descriptions: send buf
*********************************************************************************************************/
byte MCP_CAN::sendMsgBuf(unsigned long id, byte ext, byte len, byte *buf)
{
setMsg(id, ext, len, buf);
return sendMsg(0);
}
/*********************************************************************************************************
** Function name: readMsg
** Descriptions: read message
*********************************************************************************************************/
byte MCP_CAN::readMsg()
{
byte 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
*********************************************************************************************************/
byte MCP_CAN::readMsgBuf(byte *len, byte buf[])
{
byte rc;
rc = readMsg();
if(rc == CAN_OK) {
*len = dta_len;
for(int i = 0; i<dta_len; i++)
{
buf[i] = dta[i];
}
} else {
*len = 0;
}
return rc;
}
/*********************************************************************************************************
** Function name: readMsgBufID
** Descriptions: read message buf and can bus source ID
*********************************************************************************************************/
byte MCP_CAN::readMsgBufID(unsigned long *ID, byte *len, byte buf[])
{
byte rc;
rc = readMsg();
if(rc == CAN_OK) {
*len = dta_len;
*ID = can_id;
for(int i = 0; i<dta_len && i < MAX_CHAR_IN_MESSAGE; i++)
{
buf[i] = dta[i];
}
} else {
*len = 0;
}
return rc;
}
/*********************************************************************************************************
** Function name: checkReceive
** Descriptions: check if got something
*********************************************************************************************************/
byte MCP_CAN::checkReceive(void)
{
byte res;
res = mcp2515_readStatus(); // RXnIF in Bit 1 and 0
return ((res & MCP_STAT_RXIF_MASK)?CAN_MSGAVAIL:CAN_NOMSG);
}
/*********************************************************************************************************
** Function name: checkError
** Descriptions: if something error
*********************************************************************************************************/
byte MCP_CAN::checkError(void)
{
byte eflg = mcp2515_readRegister(MCP_EFLG);
return ((eflg & MCP_EFLG_ERRORMASK) ? CAN_CTRLERROR : CAN_OK);
}
/*********************************************************************************************************
** Function name: getCanId
** Descriptions: when receive something you can get the can id!!
*********************************************************************************************************/
unsigned long MCP_CAN::getCanId(void)
{
return can_id;
}
/*********************************************************************************************************
** Function name: isRemoteRequest
** Descriptions: when receive something you can check if it was a request
*********************************************************************************************************/
byte MCP_CAN::isRemoteRequest(void)
{
return rtr;
}
/*********************************************************************************************************
** Function name: isExtendedFrame
** Descriptions: did we just receive standard 11bit frame or extended 29bit? 0 = std, 1 = ext
*********************************************************************************************************/
byte MCP_CAN::isExtendedFrame(void)
{
return ext_flg;
}
/*********************************************************************************************************
END FILE
*********************************************************************************************************/

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/*
mcp_can.h
The MIT License (MIT)
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:
byte ext_flg; // identifier xxxID
// either extended (the 29 LSB) or standard (the 11 LSB)
unsigned long can_id; // can id
byte dta_len; // data length
byte dta[MAX_CHAR_IN_MESSAGE]; // data
byte rtr; // rtr
byte filhit;
byte SPICS;
/*
* mcp2515 driver function
*/
private:
void mcp2515_reset(void); // reset mcp2515
byte mcp2515_readRegister(const byte address); // read mcp2515's register
void mcp2515_readRegisterS(const byte address,
byte values[],
const byte n);
void mcp2515_setRegister(const byte address, // set mcp2515's register
const byte value);
void mcp2515_setRegisterS(const byte address, // set mcp2515's registers
const byte values[],
const byte n);
void mcp2515_initCANBuffers(void);
void mcp2515_modifyRegister(const byte address, // set bit of one register
const byte mask,
const byte data);
byte mcp2515_readStatus(void); // read mcp2515's Status
byte mcp2515_setCANCTRL_Mode(const byte newmode); // set mode
byte mcp2515_configRate(const byte canSpeed); // set boadrate
byte mcp2515_init(const byte canSpeed); // mcp2515init
void mcp2515_write_id( const byte mcp_addr, // write can id
const byte ext,
const unsigned long id );
void mcp2515_read_id( const byte mcp_addr, // read can id
byte* ext,
unsigned long* id );
void mcp2515_write_canMsg( const byte buffer_sidh_addr, int rtrBit ); // write can msg
void mcp2515_read_canMsg( const byte buffer_sidh_addr); // read can msg
void mcp2515_start_transmit(const byte mcp_addr); // start transmit
byte mcp2515_getNextFreeTXBuf(byte *txbuf_n); // get Next free txbuf
/*
* can operator function
*/
byte setMsg(unsigned long id, byte ext, byte len, byte rtr, byte *pData); // set message
byte setMsg(unsigned long id, byte ext, byte len, byte *pData); // set message
byte clearMsg(); // clear all message to zero
byte readMsg(); // read message
byte sendMsg(int rtrBit); // send message
public:
MCP_CAN(byte _CS);
byte begin(byte speedset); // init can
byte init_Mask(byte num, byte ext, unsigned long ulData); // init Masks
byte init_Filt(byte num, byte ext, unsigned long ulData); // init filters
byte sendMsgBuf(unsigned long id, byte ext, byte rtr, byte len, byte *buf); // send buf
byte sendMsgBuf(unsigned long id, byte ext, byte len, byte *buf); // send buf
byte readMsgBuf(byte *len, byte *buf); // read buf
byte readMsgBufID(unsigned long *ID, byte *len, byte *buf); // read buf with object ID
byte checkReceive(void); // if something received
byte checkError(void); // if something error
unsigned long getCanId(void); // get can id when receive
byte isRemoteRequest(void); // get RR flag when receive
byte isExtendedFrame(void); // did we recieve 29bit frame?
};
#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/

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# These are supported funding model platforms
github: [sandeepmistry]

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language: generic
env:
global:
- IDE_VERSION=1.8.5
matrix:
- BOARD="arduino:avr:uno"
- BOARD="arduino:samd:mkrzero"
- BOARD="espressif:esp32:esp32"
before_install:
- wget http://downloads.arduino.cc/arduino-$IDE_VERSION-linux64.tar.xz
- tar xf arduino-$IDE_VERSION-linux64.tar.xz
- mv arduino-$IDE_VERSION $HOME/arduino-ide
- export PATH=$PATH:$HOME/arduino-ide
- if [[ "$BOARD" =~ "arduino:samd:" ]]; then
arduino --install-boards arduino:samd;
fi
- if [[ "$BOARD" =~ "espressif:esp32:" ]]; then
mkdir -p $HOME/Arduino/hardware/espressif;
git clone https://github.com/espressif/arduino-esp32.git $HOME/Arduino/hardware/espressif/esp32;
pushd $HOME/Arduino/hardware/espressif/esp32/tools/;
python get.py;
popd;
fi
- buildExampleSketch() { arduino --verbose-build --verify --board $BOARD $PWD/examples/$1/$1.ino; }
install:
- mkdir -p $HOME/Arduino/libraries
- ln -s $PWD $HOME/Arduino/libraries/CAN
script:
- buildExampleSketch CANReceiver
- buildExampleSketch CANReceiverCallback
- buildExampleSketch CANSender

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# CAN API
## Include Library
```arduino
#include <CAN.h>
```
## Setup
### Begin
Initialize the library with the specified bit rate.
```arduino
CAN.begin(bitrate);
```
* `bitrate` - bit rate in bits per seconds (bps) (`1000E3`, `500E3`, `250E3`, `200E3`, `125E3`, `100E3`, `80E3`, `50E3`, `40E3`, `20E3`, `10E3`, `5E3`)
Returns `1` on success, `0` on failure.
### Set pins
#### MCP2515
Override the default `CS` and `INT` pins used by the library. **Must** be called before `CAN.begin(...)`.
```arduino
CAN.setPins(cs, irq);
```
* `cs` - new chip select pin to use, defaults to `10`
* `irq` - new INT pin to use, defaults to `2`. **Must** be interrupt capable via [attachInterrupt(...)](https://www.arduino.cc/en/Reference/AttachInterrupt).
This call is optional and only needs to be used if you need to change the default pins used.
#### ESP32
Override the default `CTX` and `CRX` pins used by the library. **Must** be called before `CAN.begin(...)`.
```arduino
CAN.setPins(rx, tx);
```
* `rx` - new CRX pin to use, defaults to `4`
* `tx` - new CTX pin to use, defaults to `5`.
This call is optional and only needs to be used if you need to change the default pins used.
### Set SPI Frequency
**MCP2515 only**
Override the default SPI frequency of 10 MHz used by the library. **Must** be called before `CAN.begin(...)`.
```arduino
CAN.setSPIFrequency(frequency);
```
* `frequency` - new SPI frequency to use, defaults to `10E6`
This call is optional and only needs to be used if you need to change the default SPI frequency used. Some logic level converters cannot support high speeds such as 10 MHz, so a lower SPI frequency can be selected with `CAN.setSPIFrequency(frequency)`.
### Set Clock Frequency
**MCP2515 only**
Override the default clock source frequency that is connected to the MCP2515. **Must** be called before `CAN.begin(...)`.
```arduino
CAN.setClockFrequency(clockFrequency);
```
* `clockFrequency` - new clock frequency to use (`8E6`, `16E6`) connected to MCP2515, defaults to `16 Mhz`
This call is optional and only needs to be used if you need to change the clock source frequency connected to the MCP2515. Most shields have a 16 MHz clock source on board, some breakout boards have a 8 MHz source.
### End
Stop the library
```arduino
CAN.end()
```
## Sending data
### Begin packet
Start the sequence of sending a packet.
```arduino
CAN.beginPacket(id);
CAN.beginPacket(id, dlc);
CAN.beginPacket(id, dlc, rtr);
CAN.beginExtendedPacket(id);
CAN.beginExtendedPacket(id, dlc);
CAN.beginExtendedPacket(id, dlc, rtr);
```
* `id` - 11-bit id (standard packet) or 29-bit packet id (extended packet)
* `dlc` - (optional) value of Data Length Code (DLC) field of packet, default is size of data written in packet
* `rtr` - (optional) value of Remote Transmission Request (RTR) field of packet (`false` or `true`), defaults to `false`. RTR packets contain no data, the DLC field of the packet represents the requested length.
Returns `1` on success, `0` on failure.
### Writing
Write data to the packet. Each packet can contain up to 8 bytes.
```arduino
CAN.write(byte);
CAN.write(buffer, length);
```
* `byte` - single byte to write to packet
or
* `buffer` - data to write to packet
* `length` - size of data to write
Returns the number of bytes written.
**Note:** Other Arduino `Print` API's can also be used to write data into the packet
### End packet
End the sequence of sending a packet.
```arduino
CAN.endPacket()
```
Returns `1` on success, `0` on failure.
## Receiving data
### Parsing packet
Check if a packet has been received.
```arduino
int packetSize = CAN.parsePacket();
```
Returns the packet size in bytes or `0` if no packet was received. For RTR packets the size reflects the DLC field of the packet.
### Register callback
Register a callback function for when a packet is received.
```arduino
CAN.onReceive(onReceive);
void onReceive(int packetSize) {
// ...
}
```
* `onReceive` - function to call when a packet is received.
### Packet ID
```arduino
long id = CAN.packetId();
```
Returns the id (11-bit or 29 bit) of the received packet. Standard packets have an 11-bit id, extended packets have an 29-bit id.
### Packet Extended
```arduino
bool extended = CAN.packetExtended();
```
Returns `true` if the received packet is extended, `false` otherwise.
### Packet RTR
```arduino
bool rtr = CAN.packetRtr();
```
Returns the value of the Remote Transmission Request (RTR) field of the packet `true`/`false`. RTR packets contain no data, the DLC field is the requested data length.
### Packet DLC
```arduino
int DLC = CAN.packetDlc();
```
Returns the value of the Data Length Code (DLC) field of the packet.
### Available
```arduino
int availableBytes = CAN.available()
```
Returns number of bytes available for reading.
### Peeking
Peek at the next byte in the packet.
```arduino
int b = CAN.peek();
```
Returns the next byte in the packet or `-1` if no bytes are available.
### Reading
Read the next byte from the packet.
```arduino
int b = CAN.read();
```
Returns the next byte in the packet or `-1` if no bytes are available.
**Note:** Other Arduino [`Stream` API's](https://www.arduino.cc/en/Reference/Stream) can also be used to read data from the packet
### Filtering
Filter packets that meet the desired criteria.
```
CAN.filter(id);
CAN.filter(id, mask);
CAN.filterExtended(id);
CAN.filterExtended(id, mask);
```
* `id` - 11-bit id (standard packet) or 29-bit packet id (extended packet)
* `mask` - (optional) 11-bit mask (standard packet) or 29-bit mask (extended packet), defaults to `0x7ff` or `0x1fffffff` (extended)
Only packets that meet the following criteria are acknowleged and received, other packets are ignored:
```
if ((packetId & mask) == id) {
// acknowleged and received
} else {
// ignored
}
```
Returns `1` on success, `0` on failure.
## Other modes
### Loopback mode
Put the CAN controller in loopback mode, any outgoing packets will also be received.
```arduino
CAN.loopback();
```
### Sleep mode
Put the CAN contoller in sleep mode.
```arduino
CAN.sleep();
```
Wake up the CAN contoller if it was previously in sleep mode.
```arduino
CAN.wakeup();
```

4
Easylink_CAN_Waker/lib/Arduino_CAN_BUS_MCP2515-master/LICENSE → Easylink_CAN_Waker/lib/arduino-CAN-master/LICENSE
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@ -1,6 +1,6 @@
MIT License
Copyright (c) 2018 @ Longan Labs
Copyright (c) 2017 Sandeep Mistry
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
@ -18,4 +18,4 @@ 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.
SOFTWARE.

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# Arduino CAN
[![Build Status](https://travis-ci.org/sandeepmistry/arduino-CAN.svg?branch=master)](https://travis-ci.org/sandeepmistry/arduino-CAN)
An Arduino library for sending and receiving data using CAN bus.
## Compatible Hardware
* [Microchip MCP2515](http://www.microchip.com/wwwproducts/en/en010406) based boards/shields
* [Arduino MKR CAN shield](https://store.arduino.cc/arduino-mkr-can-shield)
* [Espressif ESP32](http://espressif.com/en/products/hardware/esp32/overview)'s built-in [SJA1000](https://www.nxp.com/products/analog/interfaces/in-vehicle-network/can-transceiver-and-controllers/stand-alone-can-controller:SJA1000T) compatible CAN controller with an external 3.3V CAN transceiver
### Microchip MCP2515 wiring
| Microchip MCP2515 | Arduino |
| :---------------: | :-----: |
| VCC | 5V |
| GND | GND |
| SCK | SCK |
| SO | MISO |
| SI | MOSI |
| CS | 10 |
| INT | 2 |
`CS` and `INT` pins can be changed by using `CAN.setPins(cs, irq)`. `INT` pin is optional, it is only needed for receive callback mode. If `INT` pin is used, it **must** be interrupt capable via [`attachInterrupt(...)`](https://www.arduino.cc/reference/en/language/functions/external-interrupts/attachinterrupt/).
**NOTE**: Logic level converters must be used for boards which operate at 3.3V.
### Espressif ESP32 wiring
Requires an external 3.3V CAN transceiver, such as a [TI SN65HVD230](http://www.ti.com/product/SN65HVD230).
| CAN transceiver | ESP32 |
| :-------------: | :---: |
| 3V3 | 3V3 |
| GND | GND |
| CTX | GPIO_5 |
| CRX | GPIO_4 |
`CTX` and `CRX` pins can be changed by using `CAN.setPins(rx, tx)`.
## Installation
### Using the Arduino IDE Library Manager
1. Choose `Sketch` -> `Include Library` -> `Manage Libraries...`
2. Type `CAN` into the search box.
3. Click the row to select the library.
4. Click the `Install` button to install the library.
### Using Git
```sh
cd ~/Documents/Arduino/libraries/
git clone https://github.com/sandeepmistry/arduino-CAN CAN
```
## API
See [API.md](API.md).
## Examples
See [examples](examples) folder.
For OBD-II examples, checkout the [arduino-OBD2](https://github.com/sandeepmistry/arduino-OBD2) library's [examples](https://github.com/sandeepmistry/arduino-OBD2/examples).
## License
This library is [licensed](LICENSE) under the [MIT Licence](http://en.wikipedia.org/wiki/MIT_License).

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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#include <CAN.h>
void setup() {
Serial.begin(9600);
while (!Serial);
Serial.println("CAN Receiver");
// start the CAN bus at 500 kbps
if (!CAN.begin(500E3)) {
Serial.println("Starting CAN failed!");
while (1);
}
}
void loop() {
// try to parse packet
int packetSize = CAN.parsePacket();
if (packetSize || CAN.packetId() != -1) {
// received a packet
Serial.print("Received ");
if (CAN.packetExtended()) {
Serial.print("extended ");
}
if (CAN.packetRtr()) {
// Remote transmission request, packet contains no data
Serial.print("RTR ");
}
Serial.print("packet with id 0x");
Serial.print(CAN.packetId(), HEX);
if (CAN.packetRtr()) {
Serial.print(" and requested length ");
Serial.println(CAN.packetDlc());
} else {
Serial.print(" and length ");
Serial.println(packetSize);
// only print packet data for non-RTR packets
while (CAN.available()) {
Serial.print((char)CAN.read());
}
Serial.println();
}
Serial.println();
}
}

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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#include <CAN.h>
void setup() {
Serial.begin(9600);
while (!Serial);
Serial.println("CAN Receiver Callback");
// start the CAN bus at 500 kbps
if (!CAN.begin(500E3)) {
Serial.println("Starting CAN failed!");
while (1);
}
// register the receive callback
CAN.onReceive(onReceive);
}
void loop() {
// do nothing
}
void onReceive(int packetSize) {
// received a packet
Serial.print("Received ");
if (CAN.packetExtended()) {
Serial.print("extended ");
}
if (CAN.packetRtr()) {
// Remote transmission request, packet contains no data
Serial.print("RTR ");
}
Serial.print("packet with id 0x");
Serial.print(CAN.packetId(), HEX);
if (CAN.packetRtr()) {
Serial.print(" and requested length ");
Serial.println(CAN.packetDlc());
} else {
Serial.print(" and length ");
Serial.println(packetSize);
// only print packet data for non-RTR packets
while (CAN.available()) {
Serial.print((char)CAN.read());
}
Serial.println();
}
Serial.println();
}

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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#include <CAN.h>
void setup() {
Serial.begin(9600);
while (!Serial);
Serial.println("CAN Sender");
// start the CAN bus at 500 kbps
if (!CAN.begin(500E3)) {
Serial.println("Starting CAN failed!");
while (1);
}
}
void loop() {
// send packet: id is 11 bits, packet can contain up to 8 bytes of data
Serial.print("Sending packet ... ");
CAN.beginPacket(0x12);
CAN.write('h');
CAN.write('e');
CAN.write('l');
CAN.write('l');
CAN.write('o');
CAN.endPacket();
Serial.println("done");
delay(1000);
// send extended packet: id is 29 bits, packet can contain up to 8 bytes of data
Serial.print("Sending extended packet ... ");
CAN.beginExtendedPacket(0xabcdef);
CAN.write('w');
CAN.write('o');
CAN.write('r');
CAN.write('l');
CAN.write('d');
CAN.endPacket();
Serial.println("done");
delay(1000);
}

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#######################################
# Syntax Coloring Map For CAN
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
CAN KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
end KEYWORD2
beginPacket KEYWORD2
beginExtendedPacket KEYWORD2
endPacket KEYWORD2
parsePacket KEYWORD2
packetId KEYWORD2
packetExtended KEYWORD2
packetRtr KEYWORD2
packetDlc KEYWORD2
write KEYWORD2
available KEYWORD2
read KEYWORD2
peek KEYWORD2
flush KEYWORD2
onReceive KEYWORD2
filter KEYWORD2
filterExtended KEYWORD2
loopback KEYWORD2
sleep KEYWORD2
wakeup KEYWORD2
setPins KEYWORD2
setSPIFrequency KEYWORD2
setClockFrequency KEYWORD2
dumpRegisters KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################

10
Easylink_CAN_Waker/lib/arduino-CAN-master/library.properties Normal file
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@ -0,0 +1,10 @@
name=CAN
version=0.3.1
author=Sandeep Mistry <sandeep.mistry@gmail.com>
maintainer=Sandeep Mistry <sandeep.mistry@gmail.com>
sentence=An Arduino library for sending and receiving data using CAN bus.
paragraph=Supports Microchip MCP2515 based boards/shields and the Espressif ESP32's built-in SJA1000 compatible CAN controller.
category=Communication
url=https://github.com/sandeepmistry/arduino-CAN
architectures=*
includes=CAN.h

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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifndef CAN_H
#define CAN_H
#ifdef ARDUINO_ARCH_ESP32
#include "ESP32SJA1000.h"
#else
#include "MCP2515.h"
#endif
#endif

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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#include "CANController.h"
CANControllerClass::CANControllerClass() :
_onReceive(NULL),
_packetBegun(false),
_txId(-1),
_txExtended(-1),
_txRtr(false),
_txDlc(0),
_txLength(0),
_rxId(-1),
_rxExtended(false),
_rxRtr(false),
_rxDlc(0),
_rxLength(0),
_rxIndex(0)
{
// overide Stream timeout value
setTimeout(0);
}
CANControllerClass::~CANControllerClass()
{
}
int CANControllerClass::begin(long /*baudRate*/)
{
_packetBegun = false;
_txId = -1;
_txRtr =false;
_txDlc = 0;
_txLength = 0;
_rxId = -1;
_rxRtr = false;
_rxDlc = 0;
_rxLength = 0;
_rxIndex = 0;
return 1;
}
void CANControllerClass::end()
{
}
int CANControllerClass::beginPacket(int id, int dlc, bool rtr)
{
if (id < 0 || id > 0x7FF) {
return 0;
}
if (dlc > 8) {
return 0;
}
_packetBegun = true;
_txId = id;
_txExtended = false;
_txRtr = rtr;
_txDlc = dlc;
_txLength = 0;
memset(_txData, 0x00, sizeof(_txData));
return 1;
}
int CANControllerClass::beginExtendedPacket(long id, int dlc, bool rtr)
{
if (id < 0 || id > 0x1FFFFFFF) {
return 0;
}
if (dlc > 8) {
return 0;
}
_packetBegun = true;
_txId = id;
_txExtended = true;
_txRtr = rtr;
_txDlc = dlc;
_txLength = 0;
memset(_txData, 0x00, sizeof(_txData));
return 1;
}
int CANControllerClass::endPacket()
{
if (!_packetBegun) {
return 0;
}
_packetBegun = false;
if (_txDlc >= 0) {
_txLength = _txDlc;
}
return 1;
}
int CANControllerClass::parsePacket()
{
return 0;
}
long CANControllerClass::packetId()
{
return _rxId;
}
bool CANControllerClass::packetExtended()
{
return _rxExtended;
}
bool CANControllerClass::packetRtr()
{
return _rxRtr;
}
int CANControllerClass::packetDlc()
{
return _rxDlc;
}
size_t CANControllerClass::write(uint8_t byte)
{
return write(&byte, sizeof(byte));
}
size_t CANControllerClass::write(const uint8_t *buffer, size_t size)
{
if (!_packetBegun) {
return 0;
}
if (size > (sizeof(_txData) - _txLength)) {
size = sizeof(_txData) - _txLength;
}
memcpy(&_txData[_txLength], buffer, size);
_txLength += size;
return size;
}
int CANControllerClass::available()
{
return (_rxLength - _rxIndex);
}
int CANControllerClass::read()
{
if (!available()) {
return -1;
}
return _rxData[_rxIndex++];
}
int CANControllerClass::peek()
{
if (!available()) {
return -1;
}
return _rxData[_rxIndex];
}
void CANControllerClass::flush()
{
}
void CANControllerClass::onReceive(void(*callback)(int))
{
_onReceive = callback;
}
int CANControllerClass::filter(int /*id*/, int /*mask*/)
{
return 0;
}
int CANControllerClass::filterExtended(long /*id*/, long /*mask*/)
{
return 0;
}
int CANControllerClass::observe()
{
return 0;
}
int CANControllerClass::loopback()
{
return 0;
}
int CANControllerClass::sleep()
{
return 0;
}
int CANControllerClass::wakeup()
{
return 0;
}

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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifndef CAN_CONTROLLER_H
#define CAN_CONTROLLER_H
#include <Arduino.h>
class CANControllerClass : public Stream {
public:
virtual int begin(long baudRate);
virtual void end();
int beginPacket(int id, int dlc = -1, bool rtr = false);
int beginExtendedPacket(long id, int dlc = -1, bool rtr = false);
virtual int endPacket();
virtual int parsePacket();
long packetId();
bool packetExtended();
bool packetRtr();
int packetDlc();
// from Print
virtual size_t write(uint8_t byte);
virtual size_t write(const uint8_t *buffer, size_t size);
// from Stream
virtual int available();
virtual int read();
virtual int peek();
virtual void flush();
virtual void onReceive(void(*callback)(int));
virtual int filter(int id) { return filter(id, 0x7ff); }
virtual int filter(int id, int mask);
virtual int filterExtended(long id) { return filterExtended(id, 0x1fffffff); }
virtual int filterExtended(long id, long mask);
virtual int observe();
virtual int loopback();
virtual int sleep();
virtual int wakeup();
protected:
CANControllerClass();
virtual ~CANControllerClass();
protected:
void (*_onReceive)(int);
bool _packetBegun;
long _txId;
bool _txExtended;
bool _txRtr;
int _txDlc;
int _txLength;
uint8_t _txData[8];
long _rxId;
bool _rxExtended;
bool _rxRtr;
int _rxDlc;
int _rxLength;
int _rxIndex;
uint8_t _rxData[8];
};
#endif

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Easylink_CAN_Waker/lib/arduino-CAN-master/src/ESP32SJA1000.cpp Normal file
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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifdef ARDUINO_ARCH_ESP32
#include "esp_intr.h"
#include "soc/dport_reg.h"
#include "driver/gpio.h"
#include "ESP32SJA1000.h"
#define REG_BASE 0x3ff6b000
#define REG_MOD 0x00
#define REG_CMR 0x01
#define REG_SR 0x02
#define REG_IR 0x03
#define REG_IER 0x04
#define REG_BTR0 0x06
#define REG_BTR1 0x07
#define REG_OCR 0x08
#define REG_ALC 0x0b
#define REG_ECC 0x0c
#define REG_EWLR 0x0d
#define REG_RXERR 0x0e
#define REG_TXERR 0x0f
#define REG_SFF 0x10
#define REG_EFF 0x10
#define REG_ACRn(n) (0x10 + n)
#define REG_AMRn(n) (0x14 + n)
#define REG_CDR 0x1F
ESP32SJA1000Class::ESP32SJA1000Class() :
CANControllerClass(),
_rxPin(DEFAULT_CAN_RX_PIN),
_txPin(DEFAULT_CAN_TX_PIN),
_loopback(false),
_intrHandle(NULL)
{
}
ESP32SJA1000Class::~ESP32SJA1000Class()
{
}
int ESP32SJA1000Class::begin(long baudRate)
{
CANControllerClass::begin(baudRate);
_loopback = false;
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
// RX pin
gpio_set_direction(_rxPin, GPIO_MODE_INPUT);
gpio_matrix_in(_rxPin, CAN_RX_IDX, 0);
gpio_pad_select_gpio(_rxPin);
// TX pin
gpio_set_direction(_txPin, GPIO_MODE_OUTPUT);
gpio_matrix_out(_txPin, CAN_TX_IDX, 0, 0);
gpio_pad_select_gpio(_txPin);
modifyRegister(REG_CDR, 0x80, 0x80); // pelican mode
modifyRegister(REG_BTR0, 0xc0, 0x40); // SJW = 1
modifyRegister(REG_BTR1, 0x70, 0x10); // TSEG2 = 1
switch (baudRate) {
case (long)1000E3:
modifyRegister(REG_BTR1, 0x0f, 0x04);
modifyRegister(REG_BTR0, 0x3f, 4);
break;
case (long)500E3:
modifyRegister(REG_BTR1, 0x0f, 0x0c);
modifyRegister(REG_BTR0, 0x3f, 4);
break;
case (long)250E3:
modifyRegister(REG_BTR1, 0x0f, 0x0c);
modifyRegister(REG_BTR0, 0x3f, 9);
break;
case (long)200E3:
modifyRegister(REG_BTR1, 0x0f, 0x0c);
modifyRegister(REG_BTR0, 0x3f, 12);
break;
case (long)125E3:
modifyRegister(REG_BTR1, 0x0f, 0x0c);
modifyRegister(REG_BTR0, 0x3f, 19);
break;
case (long)100E3:
modifyRegister(REG_BTR1, 0x0f, 0x0c);
modifyRegister(REG_BTR0, 0x3f, 24);
break;
case (long)80E3:
modifyRegister(REG_BTR1, 0x0f, 0x0c);
modifyRegister(REG_BTR0, 0x3f, 30);
break;
case (long)50E3:
modifyRegister(REG_BTR1, 0x0f, 0x0c);
modifyRegister(REG_BTR0, 0x3f, 49);
break;
/*
Due to limitations in ESP32 hardware and/or RTOS software, baudrate can't be lower than 50kbps.
See https://esp32.com/viewtopic.php?t=2142
*/
default:
return 0;
break;
}
modifyRegister(REG_BTR1, 0x80, 0x80); // SAM = 1
writeRegister(REG_IER, 0xff); // enable all interrupts
// set filter to allow anything
writeRegister(REG_ACRn(0), 0x00);
writeRegister(REG_ACRn(1), 0x00);
writeRegister(REG_ACRn(2), 0x00);
writeRegister(REG_ACRn(3), 0x00);
writeRegister(REG_AMRn(0), 0xff);
writeRegister(REG_AMRn(1), 0xff);
writeRegister(REG_AMRn(2), 0xff);
writeRegister(REG_AMRn(3), 0xff);
modifyRegister(REG_OCR, 0x03, 0x02); // normal output mode
// reset error counters
writeRegister(REG_TXERR, 0x00);
writeRegister(REG_RXERR, 0x00);
// clear errors and interrupts
readRegister(REG_ECC);
readRegister(REG_IR);
// normal mode
modifyRegister(REG_MOD, 0x08, 0x08);
modifyRegister(REG_MOD, 0x17, 0x00);
return 1;
}
void ESP32SJA1000Class::end()
{
if (_intrHandle) {
esp_intr_free(_intrHandle);
_intrHandle = NULL;
}
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
CANControllerClass::end();
}
int ESP32SJA1000Class::endPacket()
{
if (!CANControllerClass::endPacket()) {
return 0;
}
// wait for TX buffer to free
while ((readRegister(REG_SR) & 0x04) != 0x04) {
yield();
}
int dataReg;
if (_txExtended) {
writeRegister(REG_EFF, 0x80 | (_txRtr ? 0x40 : 0x00) | (0x0f & _txLength));
writeRegister(REG_EFF + 1, _txId >> 21);
writeRegister(REG_EFF + 2, _txId >> 13);
writeRegister(REG_EFF + 3, _txId >> 5);
writeRegister(REG_EFF + 4, _txId << 3);
dataReg = REG_EFF + 5;
} else {
writeRegister(REG_SFF, (_txRtr ? 0x40 : 0x00) | (0x0f & _txLength));
writeRegister(REG_SFF + 1, _txId >> 3);
writeRegister(REG_SFF + 2, _txId << 5);
dataReg = REG_SFF + 3;
}
for (int i = 0; i < _txLength; i++) {
writeRegister(dataReg + i, _txData[i]);
}
if ( _loopback) {
// self reception request
modifyRegister(REG_CMR, 0x1f, 0x10);
} else {
// transmit request
modifyRegister(REG_CMR, 0x1f, 0x01);
}
// wait for TX complete
while ((readRegister(REG_SR) & 0x08) != 0x08) {
if (readRegister(REG_ECC) == 0xd9) {
modifyRegister(REG_CMR, 0x1f, 0x02); // error, abort
return 0;
}
yield();
}
return 1;
}
int ESP32SJA1000Class::parsePacket()
{
if ((readRegister(REG_SR) & 0x01) != 0x01) {
// no packet
return 0;
}
_rxExtended = (readRegister(REG_SFF) & 0x80) ? true : false;
_rxRtr = (readRegister(REG_SFF) & 0x40) ? true : false;
_rxDlc = (readRegister(REG_SFF) & 0x0f);
_rxIndex = 0;
int dataReg;
if (_rxExtended) {
_rxId = (readRegister(REG_EFF + 1) << 21) |
(readRegister(REG_EFF + 2) << 13) |
(readRegister(REG_EFF + 3) << 5) |
(readRegister(REG_EFF + 4) >> 3);
dataReg = REG_EFF + 5;
} else {
_rxId = (readRegister(REG_SFF + 1) << 3) | ((readRegister(REG_SFF + 2) >> 5) & 0x07);
dataReg = REG_SFF + 3;
}
if (_rxRtr) {
_rxLength = 0;
} else {
_rxLength = _rxDlc;
for (int i = 0; i < _rxLength; i++) {
_rxData[i] = readRegister(dataReg + i);
}
}
// release RX buffer
modifyRegister(REG_CMR, 0x04, 0x04);
return _rxDlc;
}
void ESP32SJA1000Class::onReceive(void(*callback)(int))
{
CANControllerClass::onReceive(callback);
if (_intrHandle) {
esp_intr_free(_intrHandle);
_intrHandle = NULL;
}
if (callback) {
esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, ESP32SJA1000Class::onInterrupt, this, &_intrHandle);
}
}
int ESP32SJA1000Class::filter(int id, int mask)
{
id &= 0x7ff;
mask = ~(mask & 0x7ff);
modifyRegister(REG_MOD, 0x17, 0x01); // reset
writeRegister(REG_ACRn(0), id >> 3);
writeRegister(REG_ACRn(1), id << 5);
writeRegister(REG_ACRn(2), 0x00);
writeRegister(REG_ACRn(3), 0x00);
writeRegister(REG_AMRn(0), mask >> 3);
writeRegister(REG_AMRn(1), (mask << 5) | 0x1f);
writeRegister(REG_AMRn(2), 0xff);
writeRegister(REG_AMRn(3), 0xff);
modifyRegister(REG_MOD, 0x17, 0x00); // normal
return 1;
}
int ESP32SJA1000Class::filterExtended(long id, long mask)
{
id &= 0x1FFFFFFF;
mask &= ~(mask & 0x1FFFFFFF);
modifyRegister(REG_MOD, 0x17, 0x01); // reset
writeRegister(REG_ACRn(0), id >> 21);
writeRegister(REG_ACRn(1), id >> 13);
writeRegister(REG_ACRn(2), id >> 5);
writeRegister(REG_ACRn(3), id << 3);
writeRegister(REG_AMRn(0), mask >> 21);
writeRegister(REG_AMRn(1), mask >> 13);
writeRegister(REG_AMRn(2), mask >> 5);
writeRegister(REG_AMRn(3), (mask << 3) | 0x1f);
modifyRegister(REG_MOD, 0x17, 0x00); // normal
return 1;
}
int ESP32SJA1000Class::observe()
{
modifyRegister(REG_MOD, 0x17, 0x01); // reset
modifyRegister(REG_MOD, 0x17, 0x02); // observe
return 1;
}
int ESP32SJA1000Class::loopback()
{
_loopback = true;
modifyRegister(REG_MOD, 0x17, 0x01); // reset
modifyRegister(REG_MOD, 0x17, 0x04); // self test mode
return 1;
}
int ESP32SJA1000Class::sleep()
{
modifyRegister(REG_MOD, 0x1f, 0x10);
return 1;
}
int ESP32SJA1000Class::wakeup()
{
modifyRegister(REG_MOD, 0x1f, 0x00);
return 1;
}
void ESP32SJA1000Class::setPins(int rx, int tx)
{
_rxPin = (gpio_num_t)rx;
_txPin = (gpio_num_t)tx;
}
void ESP32SJA1000Class::dumpRegisters(Stream& out)
{
for (int i = 0; i < 32; i++) {
byte b = readRegister(i);
out.print("0x");
if (i < 16) {
out.print('0');
}
out.print(i, HEX);
out.print(": 0x");
if (b < 16) {
out.print('0');
}
out.println(b, HEX);
}
}
void ESP32SJA1000Class::handleInterrupt()
{
uint8_t ir = readRegister(REG_IR);
if (ir & 0x01) {
// received packet, parse and call callback
parsePacket();
_onReceive(available());
}
}
uint8_t ESP32SJA1000Class::readRegister(uint8_t address)
{
volatile uint32_t* reg = (volatile uint32_t*)(REG_BASE + address * 4);
return *reg;
}
void ESP32SJA1000Class::modifyRegister(uint8_t address, uint8_t mask, uint8_t value)
{
volatile uint32_t* reg = (volatile uint32_t*)(REG_BASE + address * 4);
*reg = (*reg & ~mask) | value;
}
void ESP32SJA1000Class::writeRegister(uint8_t address, uint8_t value)
{
volatile uint32_t* reg = (volatile uint32_t*)(REG_BASE + address * 4);
*reg = value;
}
void ESP32SJA1000Class::onInterrupt(void* arg)
{
((ESP32SJA1000Class*)arg)->handleInterrupt();
}
ESP32SJA1000Class CAN;
#endif

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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifdef ARDUINO_ARCH_ESP32
#ifndef ESP32_SJA1000_H
#define ESP32_SJA1000_H
#include "CANController.h"
#define DEFAULT_CAN_RX_PIN GPIO_NUM_4
#define DEFAULT_CAN_TX_PIN GPIO_NUM_5
class ESP32SJA1000Class : public CANControllerClass {
public:
ESP32SJA1000Class();
virtual ~ESP32SJA1000Class();
virtual int begin(long baudRate);
virtual void end();
virtual int endPacket();
virtual int parsePacket();
virtual void onReceive(void(*callback)(int));
using CANControllerClass::filter;
virtual int filter(int id, int mask);
using CANControllerClass::filterExtended;
virtual int filterExtended(long id, long mask);
virtual int observe();
virtual int loopback();
virtual int sleep();
virtual int wakeup();
void setPins(int rx, int tx);
void dumpRegisters(Stream& out);
private:
void reset();
void handleInterrupt();
uint8_t readRegister(uint8_t address);
void modifyRegister(uint8_t address, uint8_t mask, uint8_t value);
void writeRegister(uint8_t address, uint8_t value);
static void onInterrupt(void* arg);
private:
gpio_num_t _rxPin;
gpio_num_t _txPin;
bool _loopback;
intr_handle_t _intrHandle;
};
extern ESP32SJA1000Class CAN;
#endif
#endif

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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifndef ARDUINO_ARCH_ESP32
#include "MCP2515.h"
#define REG_BFPCTRL 0x0c
#define REG_TXRTSCTRL 0x0d
#define REG_CANCTRL 0x0f
#define REG_CNF3 0x28
#define REG_CNF2 0x29
#define REG_CNF1 0x2a
#define REG_CANINTE 0x2b
#define REG_CANINTF 0x2c
#define FLAG_RXnIE(n) (0x01 << n)
#define FLAG_RXnIF(n) (0x01 << n)
#define FLAG_TXnIF(n) (0x04 << n)
#define REG_RXFnSIDH(n) (0x00 + (n * 4))
#define REG_RXFnSIDL(n) (0x01 + (n * 4))
#define REG_RXFnEID8(n) (0x02 + (n * 4))
#define REG_RXFnEID0(n) (0x03 + (n * 4))
#define REG_RXMnSIDH(n) (0x20 + (n * 0x04))
#define REG_RXMnSIDL(n) (0x21 + (n * 0x04))
#define REG_RXMnEID8(n) (0x22 + (n * 0x04))
#define REG_RXMnEID0(n) (0x23 + (n * 0x04))
#define REG_TXBnCTRL(n) (0x30 + (n * 0x10))
#define REG_TXBnSIDH(n) (0x31 + (n * 0x10))
#define REG_TXBnSIDL(n) (0x32 + (n * 0x10))
#define REG_TXBnEID8(n) (0x33 + (n * 0x10))
#define REG_TXBnEID0(n) (0x34 + (n * 0x10))
#define REG_TXBnDLC(n) (0x35 + (n * 0x10))
#define REG_TXBnD0(n) (0x36 + (n * 0x10))
#define REG_RXBnCTRL(n) (0x60 + (n * 0x10))
#define REG_RXBnSIDH(n) (0x61 + (n * 0x10))
#define REG_RXBnSIDL(n) (0x62 + (n * 0x10))
#define REG_RXBnEID8(n) (0x63 + (n * 0x10))
#define REG_RXBnEID0(n) (0x64 + (n * 0x10))
#define REG_RXBnDLC(n) (0x65 + (n * 0x10))
#define REG_RXBnD0(n) (0x66 + (n * 0x10))
#define FLAG_IDE 0x08
#define FLAG_SRR 0x10
#define FLAG_RTR 0x40
#define FLAG_EXIDE 0x08
#define FLAG_RXM0 0x20
#define FLAG_RXM1 0x40
MCP2515Class::MCP2515Class() :
CANControllerClass(),
_spiSettings(10E6, MSBFIRST, SPI_MODE0),
_csPin(MCP2515_DEFAULT_CS_PIN),
_intPin(MCP2515_DEFAULT_INT_PIN),
_clockFrequency(MCP2515_DEFAULT_CLOCK_FREQUENCY)
{
}
MCP2515Class::~MCP2515Class()
{
}
int MCP2515Class::begin(long baudRate)
{
CANControllerClass::begin(baudRate);
pinMode(_csPin, OUTPUT);
// start SPI
SPI.begin();
reset();
writeRegister(REG_CANCTRL, 0x80);
if (readRegister(REG_CANCTRL) != 0x80) {
return 0;
}
const struct {
long clockFrequency;
long baudRate;
uint8_t cnf[3];
} CNF_MAPPER[] = {
{ (long)8E6, (long)1000E3, { 0x00, 0x80, 0x00 } },
{ (long)8E6, (long)500E3, { 0x00, 0x90, 0x02 } },
{ (long)8E6, (long)250E3, { 0x00, 0xb1, 0x05 } },
{ (long)8E6, (long)200E3, { 0x00, 0xb4, 0x06 } },
{ (long)8E6, (long)125E3, { 0x01, 0xb1, 0x05 } },
{ (long)8E6, (long)100E3, { 0x01, 0xb4, 0x06 } },
{ (long)8E6, (long)80E3, { 0x01, 0xbf, 0x07 } },
{ (long)8E6, (long)50E3, { 0x03, 0xb4, 0x06 } },
{ (long)8E6, (long)40E3, { 0x03, 0xbf, 0x07 } },
{ (long)8E6, (long)20E3, { 0x07, 0xbf, 0x07 } },
{ (long)8E6, (long)10E3, { 0x0f, 0xbf, 0x07 } },
{ (long)8E6, (long)5E3, { 0x1f, 0xbf, 0x07 } },
{ (long)16E6, (long)1000E3, { 0x00, 0xd0, 0x82 } },
{ (long)16E6, (long)500E3, { 0x00, 0xf0, 0x86 } },
{ (long)16E6, (long)250E3, { 0x41, 0xf1, 0x85 } },
{ (long)16E6, (long)200E3, { 0x01, 0xfa, 0x87 } },
{ (long)16E6, (long)125E3, { 0x03, 0xf0, 0x86 } },
{ (long)16E6, (long)100E3, { 0x03, 0xfa, 0x87 } },
{ (long)16E6, (long)80E3, { 0x03, 0xff, 0x87 } },
{ (long)16E6, (long)50E3, { 0x07, 0xfa, 0x87 } },
{ (long)16E6, (long)40E3, { 0x07, 0xff, 0x87 } },
{ (long)16E6, (long)20E3, { 0x0f, 0xff, 0x87 } },
{ (long)16E6, (long)10E3, { 0x1f, 0xff, 0x87 } },
{ (long)16E6, (long)5E3, { 0x3f, 0xff, 0x87 } },
};
const uint8_t* cnf = NULL;
for (unsigned int i = 0; i < (sizeof(CNF_MAPPER) / sizeof(CNF_MAPPER[0])); i++) {
if (CNF_MAPPER[i].clockFrequency == _clockFrequency && CNF_MAPPER[i].baudRate == baudRate) {
cnf = CNF_MAPPER[i].cnf;
break;
}
}
if (cnf == NULL) {
return 0;
}
writeRegister(REG_CNF1, cnf[0]);
writeRegister(REG_CNF2, cnf[1]);
writeRegister(REG_CNF3, cnf[2]);
writeRegister(REG_CANINTE, FLAG_RXnIE(1) | FLAG_RXnIE(0));
writeRegister(REG_BFPCTRL, 0x00);
writeRegister(REG_TXRTSCTRL, 0x00);
writeRegister(REG_RXBnCTRL(0), FLAG_RXM1 | FLAG_RXM0);
writeRegister(REG_RXBnCTRL(1), FLAG_RXM1 | FLAG_RXM0);
writeRegister(REG_CANCTRL, 0x00);
if (readRegister(REG_CANCTRL) != 0x00) {
return 0;
}
return 1;
}
void MCP2515Class::end()
{
SPI.end();
CANControllerClass::end();
}
int MCP2515Class::endPacket()
{
if (!CANControllerClass::endPacket()) {
return 0;
}
int n = 0;
if (_txExtended) {
writeRegister(REG_TXBnSIDH(n), _txId >> 21);
writeRegister(REG_TXBnSIDL(n), (((_txId >> 18) & 0x07) << 5) | FLAG_EXIDE | ((_txId >> 16) & 0x03));
writeRegister(REG_TXBnEID8(n), (_txId >> 8) & 0xff);
writeRegister(REG_TXBnEID0(n), _txId & 0xff);
} else {
writeRegister(REG_TXBnSIDH(n), _txId >> 3);
writeRegister(REG_TXBnSIDL(n), _txId << 5);
writeRegister(REG_TXBnEID8(n), 0x00);
writeRegister(REG_TXBnEID0(n), 0x00);
}
if (_txRtr) {
writeRegister(REG_TXBnDLC(n), 0x40 | _txLength);
} else {
writeRegister(REG_TXBnDLC(n), _txLength);
for (int i = 0; i < _txLength; i++) {
writeRegister(REG_TXBnD0(n) + i, _txData[i]);
}
}
writeRegister(REG_TXBnCTRL(n), 0x08);
bool aborted = false;
while (readRegister(REG_TXBnCTRL(n)) & 0x08) {
if (readRegister(REG_TXBnCTRL(n)) & 0x10) {
// abort
aborted = true;
modifyRegister(REG_CANCTRL, 0x10, 0x10);
}
yield();
}
if (aborted) {
// clear abort command
modifyRegister(REG_CANCTRL, 0x10, 0x00);
}
modifyRegister(REG_CANINTF, FLAG_TXnIF(n), 0x00);
return (readRegister(REG_TXBnCTRL(n)) & 0x70) ? 0 : 1;
}
int MCP2515Class::parsePacket()
{
int n;
uint8_t intf = readRegister(REG_CANINTF);
if (intf & FLAG_RXnIF(0)) {
n = 0;
} else if (intf & FLAG_RXnIF(1)) {
n = 1;
} else {
_rxId = -1;
_rxExtended = false;
_rxRtr = false;
_rxLength = 0;
return 0;
}
_rxExtended = (readRegister(REG_RXBnSIDL(n)) & FLAG_IDE) ? true : false;
uint32_t idA = ((readRegister(REG_RXBnSIDH(n)) << 3) & 0x07f8) | ((readRegister(REG_RXBnSIDL(n)) >> 5) & 0x07);
if (_rxExtended) {
uint32_t idB = (((uint32_t)(readRegister(REG_RXBnSIDL(n)) & 0x03) << 16) & 0x30000) | ((readRegister(REG_RXBnEID8(n)) << 8) & 0xff00) | readRegister(REG_RXBnEID0(n));
_rxId = (idA << 18) | idB;
_rxRtr = (readRegister(REG_RXBnDLC(n)) & FLAG_RTR) ? true : false;
} else {
_rxId = idA;
_rxRtr = (readRegister(REG_RXBnSIDL(n)) & FLAG_SRR) ? true : false;
}
_rxDlc = readRegister(REG_RXBnDLC(n)) & 0x0f;
_rxIndex = 0;
if (_rxRtr) {
_rxLength = 0;
} else {
_rxLength = _rxDlc;
for (int i = 0; i < _rxLength; i++) {
_rxData[i] = readRegister(REG_RXBnD0(n) + i);
}
}
modifyRegister(REG_CANINTF, FLAG_RXnIF(n), 0x00);
return _rxDlc;
}
void MCP2515Class::onReceive(void(*callback)(int))
{
CANControllerClass::onReceive(callback);
pinMode(_intPin, INPUT);
if (callback) {
SPI.usingInterrupt(digitalPinToInterrupt(_intPin));
attachInterrupt(digitalPinToInterrupt(_intPin), MCP2515Class::onInterrupt, LOW);
} else {
detachInterrupt(digitalPinToInterrupt(_intPin));
#ifdef SPI_HAS_NOTUSINGINTERRUPT
SPI.notUsingInterrupt(digitalPinToInterrupt(_intPin));
#endif
}
}
int MCP2515Class::filter(int id, int mask)
{
id &= 0x7ff;
mask &= 0x7ff;
// config mode
writeRegister(REG_CANCTRL, 0x80);
if (readRegister(REG_CANCTRL) != 0x80) {
return 0;
}
for (int n = 0; n < 2; n++) {
// standard only
writeRegister(REG_RXBnCTRL(n), FLAG_RXM0);
writeRegister(REG_RXBnCTRL(n), FLAG_RXM0);
writeRegister(REG_RXMnSIDH(n), mask >> 3);
writeRegister(REG_RXMnSIDL(n), mask << 5);
writeRegister(REG_RXMnEID8(n), 0);
writeRegister(REG_RXMnEID0(n), 0);
}
for (int n = 0; n < 6; n++) {
writeRegister(REG_RXFnSIDH(n), id >> 3);
writeRegister(REG_RXFnSIDL(n), id << 5);
writeRegister(REG_RXFnEID8(n), 0);
writeRegister(REG_RXFnEID0(n), 0);
}
// normal mode
writeRegister(REG_CANCTRL, 0x00);
if (readRegister(REG_CANCTRL) != 0x00) {
return 0;
}
return 1;
}
int MCP2515Class::filterExtended(long id, long mask)
{
id &= 0x1FFFFFFF;
mask &= 0x1FFFFFFF;
// config mode
writeRegister(REG_CANCTRL, 0x80);
if (readRegister(REG_CANCTRL) != 0x80) {
return 0;
}
for (int n = 0; n < 2; n++) {
// extended only
writeRegister(REG_RXBnCTRL(n), FLAG_RXM1);
writeRegister(REG_RXBnCTRL(n), FLAG_RXM1);
writeRegister(REG_RXMnSIDH(n), mask >> 21);
writeRegister(REG_RXMnSIDL(n), (((mask >> 18) & 0x03) << 5) | FLAG_EXIDE | ((mask >> 16) & 0x03));
writeRegister(REG_RXMnEID8(n), (mask >> 8) & 0xff);
writeRegister(REG_RXMnEID0(n), mask & 0xff);
}
for (int n = 0; n < 6; n++) {
writeRegister(REG_RXFnSIDH(n), id >> 21);
writeRegister(REG_RXFnSIDL(n), (((id >> 18) & 0x03) << 5) | FLAG_EXIDE | ((id >> 16) & 0x03));
writeRegister(REG_RXFnEID8(n), (id >> 8) & 0xff);
writeRegister(REG_RXFnEID0(n), id & 0xff);
}
// normal mode
writeRegister(REG_CANCTRL, 0x00);
if (readRegister(REG_CANCTRL) != 0x00) {
return 0;
}
return 1;
}
int MCP2515Class::observe()
{
writeRegister(REG_CANCTRL, 0x60);
if (readRegister(REG_CANCTRL) != 0x60) {
return 0;
}
return 1;
}
int MCP2515Class::loopback()
{
writeRegister(REG_CANCTRL, 0x40);
if (readRegister(REG_CANCTRL) != 0x40) {
return 0;
}
return 1;
}
int MCP2515Class::sleep()
{
writeRegister(REG_CANCTRL, 0x01);
if (readRegister(REG_CANCTRL) != 0x01) {
return 0;
}
return 1;
}
int MCP2515Class::wakeup()
{
writeRegister(REG_CANCTRL, 0x00);
if (readRegister(REG_CANCTRL) != 0x00) {
return 0;
}
return 1;
}
void MCP2515Class::setPins(int cs, int irq)
{
_csPin = cs;
_intPin = irq;
}
void MCP2515Class::setSPIFrequency(uint32_t frequency)
{
_spiSettings = SPISettings(frequency, MSBFIRST, SPI_MODE0);
}
void MCP2515Class::setClockFrequency(long clockFrequency)
{
_clockFrequency = clockFrequency;
}
void MCP2515Class::dumpRegisters(Stream& out)
{
for (int i = 0; i < 128; i++) {
byte b = readRegister(i);
out.print("0x");
if (i < 16) {
out.print('0');
}
out.print(i, HEX);
out.print(": 0x");
if (b < 16) {
out.print('0');
}
out.println(b, HEX);
}
}
void MCP2515Class::reset()
{
SPI.beginTransaction(_spiSettings);
digitalWrite(_csPin, LOW);
SPI.transfer(0xc0);
digitalWrite(_csPin, HIGH);
SPI.endTransaction();
delayMicroseconds(10);
}
void MCP2515Class::handleInterrupt()
{
if (readRegister(REG_CANINTF) == 0) {
return;
}
while (parsePacket() || _rxId != -1) {
_onReceive(available());
}
}
uint8_t MCP2515Class::readRegister(uint8_t address)
{
uint8_t value;
SPI.beginTransaction(_spiSettings);
digitalWrite(_csPin, LOW);
SPI.transfer(0x03);
SPI.transfer(address);
value = SPI.transfer(0x00);
digitalWrite(_csPin, HIGH);
SPI.endTransaction();
return value;
}
void MCP2515Class::modifyRegister(uint8_t address, uint8_t mask, uint8_t value)
{
SPI.beginTransaction(_spiSettings);
digitalWrite(_csPin, LOW);
SPI.transfer(0x05);
SPI.transfer(address);
SPI.transfer(mask);
SPI.transfer(value);
digitalWrite(_csPin, HIGH);
SPI.endTransaction();
}
void MCP2515Class::writeRegister(uint8_t address, uint8_t value)
{
SPI.beginTransaction(_spiSettings);
digitalWrite(_csPin, LOW);
SPI.transfer(0x02);
SPI.transfer(address);
SPI.transfer(value);
digitalWrite(_csPin, HIGH);
SPI.endTransaction();
}
void MCP2515Class::onInterrupt()
{
CAN.handleInterrupt();
}
MCP2515Class CAN;
#endif

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// Copyright (c) Sandeep Mistry. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.
#ifndef ARDUINO_ARCH_ESP32
#ifndef MCP2515_H
#define MCP2515_H
#include <SPI.h>
#include "CANController.h"
#define MCP2515_DEFAULT_CLOCK_FREQUENCY 16e6
#if defined(ARDUINO_ARCH_SAMD) && defined(PIN_SPI_MISO) && defined(PIN_SPI_MOSI) && defined(PIN_SPI_SCK) && (PIN_SPI_MISO == 10) && (PIN_SPI_MOSI == 8) && (PIN_SPI_SCK == 9)
// Arduino MKR board: MKR CAN shield CS is pin 3, INT is pin 7
#define MCP2515_DEFAULT_CS_PIN 3
#define MCP2515_DEFAULT_INT_PIN 7
#else
#define MCP2515_DEFAULT_CS_PIN 10
#define MCP2515_DEFAULT_INT_PIN 2
#endif
class MCP2515Class : public CANControllerClass {
public:
MCP2515Class();
virtual ~MCP2515Class();
virtual int begin(long baudRate);
virtual void end();
virtual int endPacket();
virtual int parsePacket();
virtual void onReceive(void(*callback)(int));
using CANControllerClass::filter;
virtual int filter(int id, int mask);
using CANControllerClass::filterExtended;
virtual int filterExtended(long id, long mask);
virtual int observe();
virtual int loopback();
virtual int sleep();
virtual int wakeup();
void setPins(int cs = MCP2515_DEFAULT_CS_PIN, int irq = MCP2515_DEFAULT_INT_PIN);
void setSPIFrequency(uint32_t frequency);
void setClockFrequency(long clockFrequency);
void dumpRegisters(Stream& out);
private:
void reset();
void handleInterrupt();
uint8_t readRegister(uint8_t address);
void modifyRegister(uint8_t address, uint8_t mask, uint8_t value);
void writeRegister(uint8_t address, uint8_t value);
static void onInterrupt();
private:
SPISettings _spiSettings;
int _csPin;
int _intPin;
long _clockFrequency;
};
extern MCP2515Class CAN;
#endif
#endif

8
Easylink_CAN_Waker/platformio.ini
View file

@ -8,8 +8,8 @@
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:megaatmega2560]
platform = atmelavr
board = megaatmega2560
[env:nodemcu-32s]
platform = espressif32
board = nodemcu-32s
framework = arduino
monitor_speed = 115200
monitor_speed = 115200

38
Easylink_CAN_Waker/src/main.cpp
View file

@ -1,8 +1,6 @@
#include <Arduino.h>
#include <mcp_canbus.h>
#include <SPI.h>
#include <CAN.h>
MCP_CAN CAN0(53); // Set CS pin for MCP2515
#define TX_DELAY 3 // Delay between messages
byte sndStat; // Status of the sent message (global variable)
@ -1177,8 +1175,6 @@ const CanPacket packets[] PROGMEM = {
{0x46F, "10 EE F5 00 24 84 07 30"},
{0x0AC, "21 7E 00 2E 4F 19 80 A0"},
{0x0B4, "F9 60 7E 17 DE 7C 77 CD"},
};
/*
{0x46F, "30 58 9E 00 24 84 07 30"},
{0x0AC, "71 7E 00 2E 4F 1D 80 A0"},
{0x46F, "50 92 46 00 24 84 07 30"},
@ -1411,7 +1407,7 @@ const CanPacket packets[] PROGMEM = {
{0x47F, "94 84 96 00 7A 5E C4 00"},
{0x0B4, "78 90 7D C7 D9 7C C7 D0"},
{0x0AC, "91 7E 00 2E 4F 17 80 A0"},
};*/
};
// Function to send a CAN message
void sendCanMessage(unsigned long canId, const char* hexString) {
@ -1425,32 +1421,28 @@ void sendCanMessage(unsigned long canId, const char* hexString) {
data[i] = (byte)byteData;
}
// Send the CAN message
sndStat = CAN0.sendMsgBuf(canId, 0, len, data);
CAN.beginPacket(canId);
CAN.write(data, len);
CAN.endPacket();
if (sndStat == CAN_OK) {
Serial.print("Message Sent: ID = ");
Serial.print(canId, HEX);
Serial.print(", Data = ");
Serial.println(hexString);
} else {
Serial.println("Error Sending Message...");
}
Serial.print("Message Sent: ID = ");
Serial.print(canId, HEX);
Serial.print(", Data = ");
Serial.println(hexString);
}
void setup() {
Serial.begin(115200);
Serial.println("CAN_Waker starting up...");
// Initialize MCP2515
if (CAN0.begin(CAN_500KBPS) == CAN_OK) {
Serial.println("MCP2515 Initialized Successfully!");
} else {
Serial.println("Error Initializing MCP2515...");
// start the CAN bus at 500 kbps
if (!CAN.begin(500E3)) {
Serial.println("Starting CAN failed!");
while (1);
}
//CAN0.setMode(MCP_NORMAL); // Change to normal mode
//CAN0.setMode(MODE_ONESHOT); // Change to normal mode
delay(2000);
}