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Code Issues Releases Wiki Activity

send functionality

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This commit is contained in:
mvturnho 2019-07-21 18:39:33 +02:00
parent e04cf24d03
commit f6848b1451
6 changed files with 1008 additions and 1045 deletions
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8
esphome/components/canbus/canbus.cpp
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@ -6,7 +6,13 @@ namespace canbus {
static const char *TAG = "canbus"; static const char *TAG = "canbus";
void Canbus::setup() { ESP_LOGCONFIG(TAG, "Setting up Canbus..."); } void Canbus::setup() {
ESP_LOGCONFIG(TAG, "Setting up Canbus...");
if (!this->setup_internal_()) {
ESP_LOGE(TAG, "Canbus setup error!");
this->mark_failed();
}
}
void Canbus::dump_config() { ESP_LOGCONFIG(TAG, "Canbus: sender_id=%d", this->sender_id_); } void Canbus::dump_config() { ESP_LOGCONFIG(TAG, "Canbus: sender_id=%d", this->sender_id_); }

43
esphome/components/canbus/canbus.h
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@ -21,16 +21,29 @@ class CanbusBinarySensor : public CanbusSensor, public binary_sensor::BinarySens
class Canbus : public Component { class Canbus : public Component {
public: public:
Canbus(){}; /* special address description flags for the CAN_ID */
Canbus(const std::string &name){}; static const uint32_t CAN_EFF_FLAG = 0x80000000UL; /* EFF/SFF is set in the MSB */
void setup() override; static const uint32_t CAN_RTR_FLAG = 0x40000000UL; /* remote transmission request */
void dump_config() override; static const uint32_t CAN_ERR_FLAG = 0x20000000UL; /* error message frame */
float get_setup_priority() const override { return setup_priority::HARDWARE; }
void loop() override; /* valid bits in CAN ID for frame formats */
static const uint32_t CAN_SFF_MASK = 0x000007FFUL; /* standard frame format (SFF) */
static const uint32_t CAN_EFF_MASK = 0x1FFFFFFFUL; /* extended frame format (EFF) */
static const uint32_t CAN_ERR_MASK = 0x1FFFFFFFUL; /* omit EFF, RTR, ERR flags */
/*
* Controller Area Network Identifier structure
*
* bit 0-28 : CAN identifier (11/29 bit)
* bit 29 : error message frame flag (0 = data frame, 1 = error message)
* bit 30 : remote transmission request flag (1 = rtr frame)
* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
*/
typedef uint32_t canid_t;
/* CAN payload length and DLC definitions according to ISO 11898-1 */
static const uint8_t CAN_MAX_DLC = 8;
static const uint8_t CAN_MAX_DLEN = 8;
void send(int can_id, uint8_t *data);
void register_can_device(CanbusSensor *component){};
void set_sender_id(int sender_id) { this->sender_id_ = sender_id; }
enum CAN_SPEED { enum CAN_SPEED {
CAN_5KBPS, CAN_5KBPS,
CAN_10KBPS, CAN_10KBPS,
@ -57,6 +70,18 @@ class Canbus : public Component {
ERROR_FAILTX = 4, ERROR_FAILTX = 4,
ERROR_NOMSG = 5 ERROR_NOMSG = 5
}; };
Canbus(){};
Canbus(const std::string &name){};
void setup() override;
void dump_config() override;
float get_setup_priority() const override { return setup_priority::HARDWARE; }
void loop() override;
void send(int can_id, uint8_t *data);
void register_can_device(CanbusSensor *component){};
void set_sender_id(int sender_id) { this->sender_id_ = sender_id; }
protected: protected:
int sender_id_{0}; int sender_id_{0};
virtual bool send_internal_(int can_id, uint8_t *data); virtual bool send_internal_(int can_id, uint8_t *data);

6
esphome/components/mcp2515/canbus.py
View File

@ -1,9 +1,8 @@
import esphome.codegen as cg import esphome.codegen as cg
import esphome.config_validation as cv import esphome.config_validation as cv
from esphome import pins
from esphome.components import spi, canbus from esphome.components import spi, canbus
from esphome.const import CONF_CS_PIN, CONF_ID from esphome.const import CONF_ID
from esphome.components.canbus import CanbusComponent, CONF_CAN_ID from esphome.components.canbus import CanbusComponent
print("mcp2515.canbus.py") print("mcp2515.canbus.py")
AUTO_LOAD = ['canbus'] AUTO_LOAD = ['canbus']
@ -14,7 +13,6 @@ mcp2515 = mcp2515_ns.class_('MCP2515', CanbusComponent, spi.SPIDevice)
CONFIG_SCHEMA = canbus.CONFIG_SCHEMA.extend({ CONFIG_SCHEMA = canbus.CONFIG_SCHEMA.extend({
cv.GenerateID(): cv.declare_id(mcp2515), cv.GenerateID(): cv.declare_id(mcp2515),
cv.Required(CONF_CS_PIN): pins.gpio_output_pin_schema,
}).extend(spi.SPI_DEVICE_SCHEMA) }).extend(spi.SPI_DEVICE_SCHEMA)

254
esphome/components/mcp2515/mcp2515.cpp
View File

@ -6,10 +6,53 @@ namespace mcp2515 {
static const char *TAG = "mcp2515"; static const char *TAG = "mcp2515";
bool MCP2515::send_internal_(int can_id, uint8_t *data) { return true; }; const struct MCP2515::TXBn_REGS MCP2515::TXB[MCP2515::N_TXBUFFERS] = {{MCP_TXB0CTRL, MCP_TXB0SIDH, MCP_TXB0DATA},
{MCP_TXB1CTRL, MCP_TXB1SIDH, MCP_TXB1DATA},
{MCP_TXB2CTRL, MCP_TXB2SIDH, MCP_TXB2DATA}};
const struct MCP2515::RXBn_REGS MCP2515::RXB[N_RXBUFFERS] = {{MCP_RXB0CTRL, MCP_RXB0SIDH, MCP_RXB0DATA, CANINTF_RX0IF},
{MCP_RXB1CTRL, MCP_RXB1SIDH, MCP_RXB1DATA, CANINTF_RX1IF}};
bool MCP2515::send_internal_(int can_id, uint8_t *data) {
struct can_frame canMsg1;
canMsg1.can_id = can_id;
canMsg1.can_dlc = CAN_MAX_DLEN;
canMsg1.data[0] = 0x8E;
canMsg1.data[1] = 0x87;
canMsg1.data[2] = 0x32;
canMsg1.data[3] = 0xFA;
canMsg1.data[4] = 0x26;
canMsg1.data[5] = 0x8E;
canMsg1.data[6] = 0xBE;
canMsg1.data[7] = 0x86;
if (this->send_message_(&canMsg1) == ERROR_FAILTX) {
ESP_LOGE(TAG, "transmit error %d", can_id);
return false;
}
return true;
};
bool MCP2515::setup_internal_() { bool MCP2515::setup_internal_() {
this->reset_(); ESP_LOGD(TAG, "setup_internal_()");
this->spi_setup();
if (this->reset_() == ERROR_FAIL)
return false;
this->set_bitrate_(CAN_125KBPS);
this->set_normal_mode_();
ESP_LOGD(TAG, "setup done send test message");
struct can_frame canMsg1;
canMsg1.can_dlc = 8;
canMsg1.data[0] = 0x8E;
canMsg1.data[1] = 0x87;
canMsg1.data[2] = 0x32;
canMsg1.data[3] = 0xFA;
canMsg1.data[4] = 0x26;
canMsg1.data[5] = 0x8E;
canMsg1.data[6] = 0xBE;
canMsg1.data[7] = 0x86;
this->send_message_(&canMsg1);
return true; return true;
} }
@ -17,23 +60,24 @@ MCP2515::ERROR MCP2515::reset_(void) {
this->enable(); this->enable();
this->transfer_byte(INSTRUCTION_RESET); this->transfer_byte(INSTRUCTION_RESET);
this->disable(); this->disable();
ESP_LOGD(TAG, "reset_()");
delay(10); delay(10);
ESP_LOGD(TAG, "reset() CLEAR ALL TXB registers");
uint8_t zeros[14]; uint8_t zeros[14];
memset(zeros, 0, sizeof(zeros)); memset(zeros, 0, sizeof(zeros));
set_registers_(MCP_TXB0CTRL, zeros, 14); set_registers_(MCP_TXB0CTRL, zeros, 14);
set_registers_(MCP_TXB1CTRL, zeros, 14); set_registers_(MCP_TXB1CTRL, zeros, 14);
set_registers_(MCP_TXB2CTRL, zeros, 14); set_registers_(MCP_TXB2CTRL, zeros, 14);
ESP_LOGD(TAG, "reset() CLEARED TXB registers");
set_register_(MCP_RXB0CTRL, 0); set_register_(MCP_RXB0CTRL, 0);
set_register_(MCP_RXB1CTRL, 0); set_register_(MCP_RXB1CTRL, 0);
set_register_(MCP_CANINTE, CANINTF_RX0IF | CANINTF_RX1IF | CANINTF_ERRIF | CANINTF_MERRF); set_register_(MCP_CANINTE, CANINTF_RX0IF | CANINTF_RX1IF | CANINTF_ERRIF | CANINTF_MERRF);
modify_register_(MCP_RXB0CTRL, modify_register_(MCP_RXB0CTRL, RXBnCTRL_RXM_MASK | RXB0CTRL_BUKT, RXBnCTRL_RXM_STDEXT | RXB0CTRL_BUKT);
RXBnCTRL_RXM_MASK | RXB0CTRL_BUKT,
RXBnCTRL_RXM_STDEXT | RXB0CTRL_BUKT);
modify_register_(MCP_RXB1CTRL, RXBnCTRL_RXM_MASK, RXBnCTRL_RXM_STDEXT); modify_register_(MCP_RXB1CTRL, RXBnCTRL_RXM_MASK, RXBnCTRL_RXM_STDEXT);
// clear filters and masks // clear filters and masks
@ -56,8 +100,7 @@ MCP2515::ERROR MCP2515::reset_(void) {
return ERROR_OK; return ERROR_OK;
} }
uint8_t MCP2515::read_register_(const REGISTER reg) uint8_t MCP2515::read_register_(const REGISTER reg) {
{
this->enable(); this->enable();
this->transfer_byte(INSTRUCTION_READ); this->transfer_byte(INSTRUCTION_READ);
this->transfer_byte(reg); this->transfer_byte(reg);
@ -67,21 +110,19 @@ uint8_t MCP2515::read_register_(const REGISTER reg)
return ret; return ret;
} }
void MCP2515::read_registers_(const REGISTER reg, uint8_t values[], const uint8_t n) void MCP2515::read_registers_(const REGISTER reg, uint8_t values[], const uint8_t n) {
{
this->enable(); this->enable();
this->transfer_byte(INSTRUCTION_READ); this->transfer_byte(INSTRUCTION_READ);
this->transfer_byte(reg); this->transfer_byte(reg);
this->transfer_array(values,n); // this->transfer_array(values, n);
// mcp2515 has auto - increment of address - pointer // mcp2515 has auto - increment of address - pointer
// for (uint8_t i=0; i<n; i++) { for (uint8_t i = 0; i < n; i++) {
// values[i] = this->transfer_byte(0x00); values[i] = this->transfer_byte(0x00);
// } }
this->disable(); this->disable();
} }
void MCP2515::set_register_(const REGISTER reg, const uint8_t value) void MCP2515::set_register_(const REGISTER reg, const uint8_t value) {
{
this->enable(); this->enable();
this->transfer_byte(INSTRUCTION_WRITE); this->transfer_byte(INSTRUCTION_WRITE);
this->transfer_byte(reg); this->transfer_byte(reg);
@ -89,20 +130,18 @@ void MCP2515::set_register_(const REGISTER reg, const uint8_t value)
this->disable(); this->disable();
} }
void MCP2515::set_registers_(const REGISTER reg, uint8_t values[], const uint8_t n) void MCP2515::set_registers_(const REGISTER reg, uint8_t values[], const uint8_t n) {
{
this->enable(); this->enable();
this->transfer_byte(INSTRUCTION_WRITE); this->transfer_byte(INSTRUCTION_WRITE);
this->transfer_byte(reg); this->transfer_byte(reg);
this->transfer_array(values,n); // this->transfer_array(values, n);
// for (uint8_t i=0; i<n; i++) { for (uint8_t i = 0; i < n; i++) {
// this->transfer_byte(values[i]); this->transfer_byte(values[i]);
// } }
this->disable(); this->disable();
} }
void MCP2515::modify_register_(const REGISTER reg, const uint8_t mask, const uint8_t data) void MCP2515::modify_register_(const REGISTER reg, const uint8_t mask, const uint8_t data) {
{
this->enable(); this->enable();
this->transfer_byte(INSTRUCTION_BITMOD); this->transfer_byte(INSTRUCTION_BITMOD);
this->transfer_byte(reg); this->transfer_byte(reg);
@ -111,8 +150,7 @@ void MCP2515::modify_register_(const REGISTER reg, const uint8_t mask, const uin
this->disable(); this->disable();
} }
uint8_t MCP2515::get_status_(void) uint8_t MCP2515::get_status_(void) {
{
this->enable(); this->enable();
this->transfer_byte(INSTRUCTION_READ_STATUS); this->transfer_byte(INSTRUCTION_READ_STATUS);
uint8_t i = this->transfer_byte(0x00); uint8_t i = this->transfer_byte(0x00);
@ -121,33 +159,17 @@ uint8_t MCP2515::get_status_(void)
return i; return i;
} }
MCP2515::ERROR MCP2515::set_config_mode_() MCP2515::ERROR MCP2515::set_config_mode_() { return set_mode_(CANCTRL_REQOP_CONFIG); }
{
return set_mode_(CANCTRL_REQOP_CONFIG);
}
MCP2515::ERROR MCP2515::set_listen_only_() MCP2515::ERROR MCP2515::set_listen_only_() { return set_mode_(CANCTRL_REQOP_LISTENONLY); }
{
return set_mode_(CANCTRL_REQOP_LISTENONLY);
}
MCP2515::ERROR MCP2515::set_sleep_mode_() MCP2515::ERROR MCP2515::set_sleep_mode_() { return set_mode_(CANCTRL_REQOP_SLEEP); }
{
return set_mode_(CANCTRL_REQOP_SLEEP);
}
MCP2515::ERROR MCP2515::set_loop_back_mode_() MCP2515::ERROR MCP2515::set_loop_back_mode_() { return set_mode_(CANCTRL_REQOP_LOOPBACK); }
{
return set_mode_(CANCTRL_REQOP_LOOPBACK);
}
MCP2515::ERROR MCP2515::set_normal_mode_() MCP2515::ERROR MCP2515::set_normal_mode_() { return set_mode_(CANCTRL_REQOP_NORMAL); }
{
return set_mode_(CANCTRL_REQOP_NORMAL);
}
MCP2515::ERROR MCP2515::set_mode_(const CANCTRL_REQOP_MODE mode) MCP2515::ERROR MCP2515::set_mode_(const CANCTRL_REQOP_MODE mode) {
{
modify_register_(MCP_CANCTRL, CANCTRL_REQOP, mode); modify_register_(MCP_CANCTRL, CANCTRL_REQOP, mode);
unsigned long endTime = millis() + 10; unsigned long endTime = millis() + 10;
@ -163,8 +185,7 @@ MCP2515::ERROR MCP2515::set_mode_(const CANCTRL_REQOP_MODE mode)
return modeMatch ? ERROR_OK : ERROR_FAIL; return modeMatch ? ERROR_OK : ERROR_FAIL;
} }
MCP2515::ERROR MCP2515::set_clk_out_(const CAN_CLKOUT divisor) MCP2515::ERROR MCP2515::set_clk_out_(const CAN_CLKOUT divisor) {
{
ERROR res; ERROR res;
uint8_t cfg3; uint8_t cfg3;
@ -188,8 +209,7 @@ MCP2515::ERROR MCP2515::set_clk_out_(const CAN_CLKOUT divisor)
return ERROR_OK; return ERROR_OK;
} }
void MCP2515::prepare_id_(uint8_t *buffer, const bool ext, const uint32_t id) void MCP2515::prepare_id_(uint8_t *buffer, const bool ext, const uint32_t id) {
{
uint16_t canid = (uint16_t)(id & 0x0FFFF); uint16_t canid = (uint16_t)(id & 0x0FFFF);
if (ext) { if (ext) {
@ -208,8 +228,7 @@ void MCP2515::prepare_id_(uint8_t *buffer, const bool ext, const uint32_t id)
} }
} }
MCP2515::ERROR MCP2515::set_filter_mask_(const MASK mask, const bool ext, const uint32_t ulData) MCP2515::ERROR MCP2515::set_filter_mask_(const MASK mask, const bool ext, const uint32_t ulData) {
{
ERROR res = set_config_mode_(); ERROR res = set_config_mode_();
if (res != ERROR_OK) { if (res != ERROR_OK) {
return res; return res;
@ -220,8 +239,12 @@ MCP2515::ERROR MCP2515::set_filter_mask_(const MASK mask, const bool ext, const
REGISTER reg; REGISTER reg;
switch (mask) { switch (mask) {
case MASK0: reg = MCP_RXM0SIDH; break; case MASK0:
case MASK1: reg = MCP_RXM1SIDH; break; reg = MCP_RXM0SIDH;
break;
case MASK1:
reg = MCP_RXM1SIDH;
break;
default: default:
return ERROR_FAIL; return ERROR_FAIL;
} }
@ -231,8 +254,7 @@ MCP2515::ERROR MCP2515::set_filter_mask_(const MASK mask, const bool ext, const
return ERROR_OK; return ERROR_OK;
} }
MCP2515::ERROR MCP2515::set_filter_(const RXF num, const bool ext, const uint32_t ulData) MCP2515::ERROR MCP2515::set_filter_(const RXF num, const bool ext, const uint32_t ulData) {
{
ERROR res = set_config_mode_(); ERROR res = set_config_mode_();
if (res != ERROR_OK) { if (res != ERROR_OK) {
return res; return res;
@ -241,12 +263,24 @@ MCP2515::ERROR MCP2515::set_filter_(const RXF num, const bool ext, const uint32_
REGISTER reg; REGISTER reg;
switch (num) { switch (num) {
case RXF0: reg = MCP_RXF0SIDH; break; case RXF0:
case RXF1: reg = MCP_RXF1SIDH; break; reg = MCP_RXF0SIDH;
case RXF2: reg = MCP_RXF2SIDH; break; break;
case RXF3: reg = MCP_RXF3SIDH; break; case RXF1:
case RXF4: reg = MCP_RXF4SIDH; break; reg = MCP_RXF1SIDH;
case RXF5: reg = MCP_RXF5SIDH; break; break;
case RXF2:
reg = MCP_RXF2SIDH;
break;
case RXF3:
reg = MCP_RXF3SIDH;
break;
case RXF4:
reg = MCP_RXF4SIDH;
break;
case RXF5:
reg = MCP_RXF5SIDH;
break;
default: default:
return ERROR_FAIL; return ERROR_FAIL;
} }
@ -258,8 +292,7 @@ MCP2515::ERROR MCP2515::set_filter_(const RXF num, const bool ext, const uint32_
return ERROR_OK; return ERROR_OK;
} }
MCP2515::ERROR MCP2515::send_message_(const TXBn txbn, const struct can_frame *frame) MCP2515::ERROR MCP2515::send_message_(const TXBn txbn, const struct can_frame *frame) {
{
const struct TXBn_REGS *txbuf = &TXB[txbn]; const struct TXBn_REGS *txbuf = &TXB[txbn];
uint8_t data[13]; uint8_t data[13];
@ -267,32 +300,28 @@ MCP2515::ERROR MCP2515::send_message_(const TXBn txbn, const struct can_frame *f
bool ext = (frame->can_id & CAN_EFF_FLAG); bool ext = (frame->can_id & CAN_EFF_FLAG);
bool rtr = (frame->can_id & CAN_RTR_FLAG); bool rtr = (frame->can_id & CAN_RTR_FLAG);
uint32_t id = (frame->can_id & (ext ? CAN_EFF_MASK : CAN_SFF_MASK)); uint32_t id = (frame->can_id & (ext ? CAN_EFF_MASK : CAN_SFF_MASK));
prepare_id_(data, ext, id); prepare_id_(data, ext, id);
data[MCP_DLC] = rtr ? (frame->can_dlc | RTR_MASK) : frame->can_dlc; data[MCP_DLC] = rtr ? (frame->can_dlc | RTR_MASK) : frame->can_dlc;
memcpy(&data[MCP_DATA], frame->data, frame->can_dlc); memcpy(&data[MCP_DATA], frame->data, frame->can_dlc);
set_registers_(txbuf->SIDH, data, 5 + frame->can_dlc); set_registers_(txbuf->SIDH, data, 5 + frame->can_dlc);
modify_register_(txbuf->CTRL, TXB_TXREQ, TXB_TXREQ); modify_register_(txbuf->CTRL, TXB_TXREQ, TXB_TXREQ);
return ERROR_OK; return ERROR_OK;
} }
MCP2515::ERROR MCP2515::send_message_(const struct can_frame *frame) MCP2515::ERROR MCP2515::send_message_(const struct can_frame *frame) {
{ ESP_LOGD(TAG, "send_message_: frame.id = %d", frame->can_id);
if (frame->can_dlc > CAN_MAX_DLEN) { if (frame->can_dlc > CAN_MAX_DLEN) {
return ERROR_FAILTX; return ERROR_FAILTX;
} }
ESP_LOGD(TAG, "send_message_: size = %d is OK", frame->can_dlc);
TXBn txBuffers[N_TXBUFFERS] = {TXB0, TXB1, TXB2}; TXBn txBuffers[N_TXBUFFERS] = {TXB0, TXB1, TXB2};
for (int i = 0; i < N_TXBUFFERS; i++) { for (int i = 0; i < N_TXBUFFERS; i++) {
const struct TXBn_REGS *txbuf = &TXB[txBuffers[i]]; const struct TXBn_REGS *txbuf = &TXB[txBuffers[i]];
uint8_t ctrlval = read_register_(txbuf->CTRL); uint8_t ctrlval = read_register_(txbuf->CTRL);
if ((ctrlval & TXB_TXREQ) == 0) { if ((ctrlval & TXB_TXREQ) == 0) {
ESP_LOGD(TAG, "send buffer: %d, ctrl_val = %d", i, ctrlval);
return send_message_(txBuffers[i], frame); return send_message_(txBuffers[i], frame);
} }
} }
@ -300,8 +329,7 @@ MCP2515::ERROR MCP2515::send_message_(const struct can_frame *frame)
return ERROR_FAILTX; return ERROR_FAILTX;
} }
MCP2515::ERROR MCP2515::readMessage(const RXBn rxbn, struct can_frame *frame) MCP2515::ERROR MCP2515::read_message_(const RXBn rxbn, struct can_frame *frame) {
{
const struct RXBn_REGS *rxb = &RXB[rxbn]; const struct RXBn_REGS *rxb = &RXB[rxbn];
uint8_t tbufdata[5]; uint8_t tbufdata[5];
@ -337,15 +365,14 @@ MCP2515::ERROR MCP2515::readMessage(const RXBn rxbn, struct can_frame *frame)
return ERROR_OK; return ERROR_OK;
} }
MCP2515::ERROR MCP2515::readMessage(struct can_frame *frame) MCP2515::ERROR MCP2515::read_message_(struct can_frame *frame) {
{
ERROR rc; ERROR rc;
uint8_t stat = get_status_(); uint8_t stat = get_status_();
if (stat & STAT_RX0IF) { if (stat & STAT_RX0IF) {
rc = readMessage(RXB0, frame); rc = read_message_(RXB0, frame);
} else if (stat & STAT_RX1IF) { } else if (stat & STAT_RX1IF) {
rc = readMessage(RXB1, frame); rc = read_message_(RXB1, frame);
} else { } else {
rc = ERROR_NOMSG; rc = ERROR_NOMSG;
} }
@ -353,8 +380,7 @@ MCP2515::ERROR MCP2515::readMessage(struct can_frame *frame)
return rc; return rc;
} }
bool MCP2515::check_receive_(void) bool MCP2515::check_receive_(void) {
{
uint8_t res = get_status_(); uint8_t res = get_status_();
if (res & STAT_RXIF_MASK) { if (res & STAT_RXIF_MASK) {
return true; return true;
@ -363,8 +389,7 @@ bool MCP2515::check_receive_(void)
} }
} }
bool MCP2515::check_error_(void) bool MCP2515::check_error_(void) {
{
uint8_t eflg = get_error_flags_(); uint8_t eflg = get_error_flags_();
if (eflg & EFLG_ERRORMASK) { if (eflg & EFLG_ERRORMASK) {
@ -374,68 +399,44 @@ bool MCP2515::check_error_(void)
} }
} }
uint8_t MCP2515::get_error_flags_(void) uint8_t MCP2515::get_error_flags_(void) { return read_register_(MCP_EFLG); }
{
return read_register_(MCP_EFLG);
}
void MCP2515::clearRXnOVRFlags(void) void MCP2515::clearRXnOVRFlags(void) { modify_register_(MCP_EFLG, EFLG_RX0OVR | EFLG_RX1OVR, 0); }
{
modify_register_(MCP_EFLG, EFLG_RX0OVR | EFLG_RX1OVR, 0);
}
uint8_t MCP2515::getInterrupts(void) uint8_t MCP2515::getInterrupts(void) { return read_register_(MCP_CANINTF); }
{
return read_register_(MCP_CANINTF);
}
void MCP2515::clearInterrupts(void) void MCP2515::clearInterrupts(void) { set_register_(MCP_CANINTF, 0); }
{
set_register_(MCP_CANINTF, 0);
}
uint8_t MCP2515::getInterruptMask(void) uint8_t MCP2515::getInterruptMask(void) { return read_register_(MCP_CANINTE); }
{
return read_register_(MCP_CANINTE);
}
void MCP2515::clearTXInterrupts(void) void MCP2515::clearTXInterrupts(void) {
{
modify_register_(MCP_CANINTF, (CANINTF_TX0IF | CANINTF_TX1IF | CANINTF_TX2IF), 0); modify_register_(MCP_CANINTF, (CANINTF_TX0IF | CANINTF_TX1IF | CANINTF_TX2IF), 0);
} }
void MCP2515::clearRXnOVR(void) void MCP2515::clearRXnOVR(void) {
{
uint8_t eflg = get_error_flags_(); uint8_t eflg = get_error_flags_();
if (eflg != 0) { if (eflg != 0) {
clearRXnOVRFlags(); clearRXnOVRFlags();
clearInterrupts(); clearInterrupts();
// modify_register_(MCP_CANINTF, CANINTF_ERRIF, 0); // modify_register_(MCP_CANINTF, CANINTF_ERRIF, 0);
} }
} }
void MCP2515::clearMERR() void MCP2515::clearMERR() {
{
// modify_register_(MCP_EFLG, EFLG_RX0OVR | EFLG_RX1OVR, 0); // modify_register_(MCP_EFLG, EFLG_RX0OVR | EFLG_RX1OVR, 0);
// clearInterrupts(); // clearInterrupts();
modify_register_(MCP_CANINTF, CANINTF_MERRF, 0); modify_register_(MCP_CANINTF, CANINTF_MERRF, 0);
} }
void MCP2515::clearERRIF() void MCP2515::clearERRIF() {
{
// modify_register_(MCP_EFLG, EFLG_RX0OVR | EFLG_RX1OVR, 0); // modify_register_(MCP_EFLG, EFLG_RX0OVR | EFLG_RX1OVR, 0);
// clearInterrupts(); // clearInterrupts();
modify_register_(MCP_CANINTF, CANINTF_ERRIF, 0); modify_register_(MCP_CANINTF, CANINTF_ERRIF, 0);
} }
MCP2515::ERROR MCP2515::set_bitrate_(const CAN_SPEED canSpeed) { return set_bitrate_(canSpeed, MCP_16MHZ); }
MCP2515::ERROR MCP2515::set_bitrate_(const CAN_SPEED canSpeed) { MCP2515::ERROR MCP2515::set_bitrate_(const CAN_SPEED canSpeed, CAN_CLOCK canClock) {
return set_bitrate_(canSpeed, MCP_16MHZ);
}
MCP2515::ERROR MCP2515::set_bitrate_(const CAN_SPEED canSpeed, CAN_CLOCK canClock)
{
ERROR error = set_config_mode_(); ERROR error = set_config_mode_();
if (error != ERROR_OK) { if (error != ERROR_OK) {
return error; return error;
@ -443,11 +444,9 @@ MCP2515::ERROR MCP2515::set_bitrate_(const CAN_SPEED canSpeed, CAN_CLOCK canCloc
uint8_t set, cfg1, cfg2, cfg3; uint8_t set, cfg1, cfg2, cfg3;
set = 1; set = 1;
switch (canClock) switch (canClock) {
{
case (MCP_8MHZ): case (MCP_8MHZ):
switch (canSpeed) switch (canSpeed) {
{
case (CAN_5KBPS): // 5KBPS case (CAN_5KBPS): // 5KBPS
cfg1 = MCP_8MHz_5kBPS_CFG1; cfg1 = MCP_8MHz_5kBPS_CFG1;
cfg2 = MCP_8MHz_5kBPS_CFG2; cfg2 = MCP_8MHz_5kBPS_CFG2;
@ -525,8 +524,7 @@ MCP2515::ERROR MCP2515::set_bitrate_(const CAN_SPEED canSpeed, CAN_CLOCK canCloc
break; break;
case (MCP_16MHZ): case (MCP_16MHZ):
switch (canSpeed) switch (canSpeed) {
{
case (CAN_5KBPS): // 5Kbps case (CAN_5KBPS): // 5Kbps
cfg1 = MCP_16MHz_5kBPS_CFG1; cfg1 = MCP_16MHz_5kBPS_CFG1;
cfg2 = MCP_16MHz_5kBPS_CFG2; cfg2 = MCP_16MHz_5kBPS_CFG2;
@ -603,8 +601,7 @@ MCP2515::ERROR MCP2515::set_bitrate_(const CAN_SPEED canSpeed, CAN_CLOCK canCloc
break; break;
case (MCP_20MHZ): case (MCP_20MHZ):
switch (canSpeed) switch (canSpeed) {
{
case (CAN_33KBPS): // 33.333Kbps case (CAN_33KBPS): // 33.333Kbps
cfg1 = MCP_20MHz_33k3BPS_CFG1; cfg1 = MCP_20MHz_33k3BPS_CFG1;
cfg2 = MCP_20MHz_33k3BPS_CFG2; cfg2 = MCP_20MHz_33k3BPS_CFG2;
@ -676,8 +673,7 @@ MCP2515::ERROR MCP2515::set_bitrate_(const CAN_SPEED canSpeed, CAN_CLOCK canCloc
set_register_(MCP_CNF2, cfg2); set_register_(MCP_CNF2, cfg2);
set_register_(MCP_CNF3, cfg3); set_register_(MCP_CNF3, cfg3);
return ERROR_OK; return ERROR_OK;
} } else {
else {
return ERROR_FAIL; return ERROR_FAIL;
} }
} }

75
esphome/components/mcp2515/mcp2515.h
View File

@ -9,46 +9,24 @@ namespace esphome {
namespace mcp2515 { namespace mcp2515 {
class MCP2515 : public canbus::Canbus, class MCP2515 : public canbus::Canbus,
public spi::SPIDevice<spi::BIT_ORDER_MSB_FIRST, spi::CLOCK_POLARITY_LOW, public spi::SPIDevice<spi::BIT_ORDER_MSB_FIRST, spi::CLOCK_POLARITY_LOW, spi::CLOCK_PHASE_LEADING,
spi::CLOCK_PHASE_LEADING, spi::DATA_RATE_8MHZ> { spi::DATA_RATE_8MHZ> {
public: public:
MCP2515(){}; MCP2515(){};
void set_cs_pin(GPIOPin *cs_pin) { cs_pin_ = cs_pin; }
static const uint32_t SPI_CLOCK = 10000000; // 10MHz static const uint32_t SPI_CLOCK = 10000000; // 10MHz
/* special address description flags for the CAN_ID */
static const uint32_t CAN_EFF_FLAG =
0x80000000UL; /* EFF/SFF is set in the MSB */
static const uint32_t CAN_RTR_FLAG =
0x40000000UL; /* remote transmission request */
static const uint32_t CAN_ERR_FLAG = 0x20000000UL; /* error message frame */
/* valid bits in CAN ID for frame formats */
static const uint32_t CAN_SFF_MASK =
0x000007FFUL; /* standard frame format (SFF) */
static const uint32_t CAN_EFF_MASK =
0x1FFFFFFFUL; /* extended frame format (EFF) */
static const uint32_t CAN_ERR_MASK =
0x1FFFFFFFUL; /* omit EFF, RTR, ERR flags */
static const int N_TXBUFFERS = 3; static const int N_TXBUFFERS = 3;
static const int N_RXBUFFERS = 2; static const int N_RXBUFFERS = 2;
/* enum CAN_CLOCK { MCP_20MHZ, MCP_16MHZ, MCP_8MHZ };
* Controller Area Network Identifier structure enum MASK { MASK0, MASK1 };
*
* bit 0-28 : CAN identifier (11/29 bit)
* bit 29 : error message frame flag (0 = data frame, 1 = error message)
* bit 30 : remote transmission request flag (1 = rtr frame)
* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
*/
typedef uint32_t canid_t;
/* CAN payload length and DLC definitions according to ISO 11898-1 */ enum RXF { RXF0 = 0, RXF1 = 1, RXF2 = 2, RXF3 = 3, RXF4 = 4, RXF5 = 5 };
static const uint8_t CAN_MAX_DLC = 8;
static const uint8_t CAN_MAX_DLEN =8;
enum RXBn { RXB0 = 0, RXB1 = 1 };
enum TXBn { TXB0 = 0, TXB1 = 1, TXB2 = 2 };
struct can_frame { struct can_frame {
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
@ -56,7 +34,37 @@ struct can_frame {
uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8))); uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
}; };
enum CAN_CLKOUT {
CLKOUT_DISABLE = -1,
CLKOUT_DIV1 = 0x0,
CLKOUT_DIV2 = 0x1,
CLKOUT_DIV4 = 0x2,
CLKOUT_DIV8 = 0x3,
};
enum /*class*/ CANINTF : uint8_t {
CANINTF_RX0IF = 0x01,
CANINTF_RX1IF = 0x02,
CANINTF_TX0IF = 0x04,
CANINTF_TX1IF = 0x08,
CANINTF_TX2IF = 0x10,
CANINTF_ERRIF = 0x20,
CANINTF_WAKIF = 0x40,
CANINTF_MERRF = 0x80
};
enum /*class*/ EFLG : uint8_t {
EFLG_RX1OVR = (1 << 7),
EFLG_RX0OVR = (1 << 6),
EFLG_TXBO = (1 << 5),
EFLG_TXEP = (1 << 4),
EFLG_RXEP = (1 << 3),
EFLG_TXWAR = (1 << 2),
EFLG_RXWAR = (1 << 1),
EFLG_EWARN = (1 << 0)
};
enum /*class*/ STAT : uint8_t { STAT_RX0IF = (1 << 0), STAT_RX1IF = (1 << 1) };
static const struct TXBn_REGS { static const struct TXBn_REGS {
REGISTER CTRL; REGISTER CTRL;
@ -71,9 +79,10 @@ struct can_frame {
CANINTF CANINTF_RXnIF; CANINTF CANINTF_RXnIF;
} RXB[N_RXBUFFERS]; } RXB[N_RXBUFFERS];
static const uint8_t STAT_RXIF_MASK = STAT_RX0IF | STAT_RX1IF;
static const uint8_t EFLG_ERRORMASK = EFLG_RX1OVR | EFLG_RX0OVR | EFLG_TXBO | EFLG_TXEP | EFLG_RXEP;
protected: protected:
GPIOPin *cs_pin_;
bool send_internal_(int can_id, uint8_t *data) override; bool send_internal_(int can_id, uint8_t *data) override;
bool setup_internal_() override; bool setup_internal_() override;
ERROR set_mode_(const CANCTRL_REQOP_MODE mode); ERROR set_mode_(const CANCTRL_REQOP_MODE mode);
@ -98,8 +107,8 @@ protected:
ERROR set_filter_(const RXF num, const bool ext, const uint32_t ulData); ERROR set_filter_(const RXF num, const bool ext, const uint32_t ulData);
ERROR send_message_(const TXBn txbn, const struct can_frame *frame); ERROR send_message_(const TXBn txbn, const struct can_frame *frame);
ERROR send_message_(const struct can_frame *frame); ERROR send_message_(const struct can_frame *frame);
ERROR readMessage(const RXBn rxbn, struct can_frame *frame); ERROR read_message_(const RXBn rxbn, struct can_frame *frame);
ERROR readMessage(struct can_frame *frame); ERROR read_message_(struct can_frame *frame);
bool check_receive_(void); bool check_receive_(void);
bool check_error_(void); bool check_error_(void);
uint8_t get_error_flags_(void); uint8_t get_error_flags_(void);

77
esphome/components/mcp2515/mcp2515_defs.h
View File

@ -3,71 +3,12 @@
namespace esphome { namespace esphome {
namespace mcp2515 { namespace mcp2515 {
enum CAN_CLOCK {
MCP_20MHZ,
MCP_16MHZ,
MCP_8MHZ
};
enum MASK {
MASK0,
MASK1
};
enum RXF {
RXF0 = 0,
RXF1 = 1,
RXF2 = 2,
RXF3 = 3,
RXF4 = 4,
RXF5 = 5
};
enum RXBn {
RXB0 = 0,
RXB1 = 1
};
enum TXBn {
TXB0 = 0,
TXB1 = 1,
TXB2 = 2
};
enum CAN_CLKOUT {
CLKOUT_DISABLE = -1,
CLKOUT_DIV1 = 0x0,
CLKOUT_DIV2 = 0x1,
CLKOUT_DIV4 = 0x2,
CLKOUT_DIV8 = 0x3,
};
enum /*class*/ CANINTF : uint8_t {
CANINTF_RX0IF = 0x01,
CANINTF_RX1IF = 0x02,
CANINTF_TX0IF = 0x04,
CANINTF_TX1IF = 0x08,
CANINTF_TX2IF = 0x10,
CANINTF_ERRIF = 0x20,
CANINTF_WAKIF = 0x40,
CANINTF_MERRF = 0x80
};
enum /*class*/ EFLG : uint8_t {
EFLG_RX1OVR = (1<<7),
EFLG_RX0OVR = (1<<6),
EFLG_TXBO = (1<<5),
EFLG_TXEP = (1<<4),
EFLG_RXEP = (1<<3),
EFLG_TXWAR = (1<<2),
EFLG_RXWAR = (1<<1),
EFLG_EWARN = (1<<0)
};
static const uint8_t CANCTRL_REQOP = 0xE0; static const uint8_t CANCTRL_REQOP = 0xE0;
static const uint8_t CANCTRL_ABAT = 0x10; static const uint8_t CANCTRL_ABAT = 0x10;
static const uint8_t CANCTRL_OSM = 0x08; static const uint8_t CANCTRL_OSM = 0x08;
static const uint8_t CANCTRL_CLKEN = 0x04; static const uint8_t CANCTRL_CLKEN = 0x04;
static const uint8_t CANCTRL_CLKPRE = 0x03; static const uint8_t CANCTRL_CLKPRE = 0x03;
enum /*class*/ CANCTRL_REQOP_MODE : uint8_t { enum /*class*/ CANCTRL_REQOP_MODE : uint8_t {
CANCTRL_REQOP_NORMAL = 0x00, CANCTRL_REQOP_NORMAL = 0x00,
CANCTRL_REQOP_SLEEP = 0x20, CANCTRL_REQOP_SLEEP = 0x20,
@ -77,13 +18,6 @@ enum CAN_CLOCK {
CANCTRL_REQOP_POWERUP = 0xE0 CANCTRL_REQOP_POWERUP = 0xE0
}; };
enum /*class*/ STAT : uint8_t {
STAT_RX0IF = (1<<0),
STAT_RX1IF = (1<<1)
};
static const uint8_t STAT_RXIF_MASK = STAT_RX0IF | STAT_RX1IF;
enum /*class*/ TXBnCTRL : uint8_t { enum /*class*/ TXBnCTRL : uint8_t {
TXB_ABTF = 0x40, TXB_ABTF = 0x40,
TXB_MLOA = 0x20, TXB_MLOA = 0x20,
@ -93,12 +27,6 @@ enum CAN_CLOCK {
TXB_TXP = 0x03 TXB_TXP = 0x03
}; };
static const uint8_t EFLG_ERRORMASK = EFLG_RX1OVR
| EFLG_RX0OVR
| EFLG_TXBO
| EFLG_TXEP
| EFLG_RXEP;
enum /*class*/ INSTRUCTION : uint8_t { enum /*class*/ INSTRUCTION : uint8_t {
INSTRUCTION_WRITE = 0x02, INSTRUCTION_WRITE = 0x02,
INSTRUCTION_READ = 0x03, INSTRUCTION_READ = 0x03,
@ -385,4 +313,5 @@ static const uint8_t MCP_20MHz_33k3BPS_CFG1 =0x0B;
static const uint8_t MCP_20MHz_33k3BPS_CFG2 = 0xFF; static const uint8_t MCP_20MHz_33k3BPS_CFG2 = 0xFF;
static const uint8_t MCP_20MHz_33k3BPS_CFG3 = 0x87; static const uint8_t MCP_20MHz_33k3BPS_CFG3 = 0x87;
}} } // namespace mcp2515
} // namespace esphome