forked from Longan-Labs/CANBedDual_Arduino_Lib
/
canbed_dual.cpp
242 lines (187 loc) · 5.22 KB
/
canbed_dual.cpp
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#include "canbed_dual.h"
unsigned long CANBedDual::char2long(unsigned char *str)
{
unsigned long __t = 0;
__t = str[0];
__t <<= 8;
__t |= str[1];
__t <<= 8;
__t |= str[2];
__t <<= 8;
__t |= str[3];
return __t;
}
void CANBedDual::long2char(unsigned long __t, unsigned char *str)
{
str[0] = (__t>>24)&0xff;
str[1] = (__t>>16)&0xff;
str[2] = (__t>>8)&0xff;
str[3] = (__t>>0)&0xff;
}
void CANBedDual::makeCanConfig()
{
unsigned long can20_baud = 500000;
unsigned long canfd_baud = 1000000;
unsigned char mf_set0 = 1;
unsigned char mf_ext0 = 0;
unsigned long mf_mask0 = 0;
unsigned long mf_filt0 = 0;
unsigned char mf_set1 = 0;
unsigned char mf_ext1 = 0;
unsigned long mf_mask1 = 0;
unsigned long mf_filt1 = 0;
unsigned char mf_set2 = 0;
unsigned char mf_ext2 = 0;
unsigned long mf_mask2 = 0;
unsigned long mf_filt2 = 0;
unsigned char mf_set3 = 0;
unsigned char mf_ext3 = 0;
unsigned long mf_mask3 = 0;
unsigned long mf_filt3 = 0;
long2char(can20_baud, &canconfig[0]);
long2char(canfd_baud, &canconfig[4]);
// set mask&filt 0
canconfig[8] = mf_set0;
canconfig[9] = mf_ext0;
long2char(mf_mask0, &canconfig[10]);
long2char(mf_filt0, &canconfig[14]);
// set mask&filt 1
canconfig[18] = mf_set1;
canconfig[19] = mf_ext1;
long2char(mf_mask1, &canconfig[20]);
long2char(mf_filt1, &canconfig[24]);
// set mask&filt 2
canconfig[28] = mf_set2;
canconfig[29] = mf_ext2;
long2char(mf_mask2, &canconfig[30]);
long2char(mf_filt2, &canconfig[34]);
// set mask&filt 3
canconfig[38] = mf_set3;
canconfig[39] = mf_ext3;
long2char(mf_mask3, &canconfig[40]);
long2char(mf_filt3, &canconfig[44]);
}
void CANBedDual::sendConfig()
{
CANI2C.beginTransmission(0x41);
CANI2C.write(canNum ? 0x19 : 0x09);
CANI2C.write(canconfig, 48);
CANI2C.endTransmission();
delay(10);
}
void CANBedDual::init(unsigned long speed)
{
makeCanConfig();
long2char(speed, &canconfig[0]);
long2char(1000000, &canconfig[4]);
sendConfig();
}
void CANBedDual::initFD(unsigned long speed20, unsigned long speedfd)
{
makeCanConfig();
long2char(speed20, &canconfig[0]);
long2char(speedfd, &canconfig[4]);
sendConfig();
}
void CANBedDual::initMaskFilt(unsigned char num, unsigned char ext, unsigned long mask, unsigned long filt)
{
if(num > 3)return;
canconfig[10*num+8] = 1;
canconfig[10*num+9] = ext;
long2char(mask, &canconfig[10+10*num]);
long2char(filt, &canconfig[14+10*num]);
sendConfig();
}
void CANBedDual::send(unsigned long id, unsigned char ext, unsigned char rtr, unsigned char fd, unsigned char len, unsigned char *dta)
{
/* if(micros()-timerDelay < DELAY_TIME)
{
delayMicroseconds(DELAY_TIME-(micros()-timerDelay));
}
timerDelay = micros();
*/
unsigned char dsend[100];
dsend[0] = canNum ? 0x15 : 0X05;
dsend[4] = id&0xff;
dsend[3] = (id>>8)&0xff;
dsend[2] = (id>>16)&0xff;
dsend[1] = (id>>24)&0xff;
dsend[5] = rtr; // data or remote, 1:remote, 0:data
dsend[6] = ext; // standard or ext, 1 ext, 0 standard
dsend[7] = fd;
dsend[8] = len;
for(int i=0; i<dsend[8]; i++)
{
dsend[i+9] = dta[i];
}
CANI2C.beginTransmission(0x41);
CANI2C.write(dsend, dsend[8] + 9);
CANI2C.endTransmission();
}
byte CANBedDual::checkRecv()
{
CANI2C.beginTransmission(0x41);
CANI2C.write(canNum ? 0x14 : 0x04);
CANI2C.endTransmission();
CANI2C.requestFrom(0x41, 1);
int len = CANI2C.read();
return len;
}
byte CANBedDual::read(unsigned long *id, int *ext, int *rtr, int *fd, int *len, unsigned char *str)
{
/* if(micros()-timerDelay < DELAY_TIME)
{
delayMicroseconds(DELAY_TIME-(micros()-timerDelay));
}
timerDelay = micros();
*/
if(checkRecv() == 0)return 0;
CANI2C.beginTransmission(0x41);
CANI2C.write(canNum ? 0x16 : 0x06);
CANI2C.endTransmission();
CANI2C.requestFrom(0x41, 8);
unsigned char strg[100];
for(int i=0; i<8; i++)
{
strg[i] = CANI2C.read();
}
unsigned long _id = 0;
_id = char2long(&strg[0]);
*id = _id;
*rtr = strg[5];
*ext = strg[4];
*fd = strg[6];
int dtaLen = strg[7];
*len = dtaLen;
if(dtaLen <= 32)
{
CANI2C.beginTransmission(0x41);
CANI2C.write(canNum ? 0x17 : 0x07);
CANI2C.endTransmission();
CANI2C.requestFrom(0x41, 8);
for(int i=0; i<8; i++)
{
str[i]= CANI2C.read();
}
}
else
{
CANI2C.beginTransmission(0x41);
CANI2C.write(canNum ? 0x17 : 0x07);
CANI2C.endTransmission();
CANI2C.requestFrom(0x41, 32);
for(int i=0; i<32; i++)
{
str[i]= CANI2C.read();
}
CANI2C.beginTransmission(0x41);
CANI2C.write(canNum ? 0x18 : 0x08);
CANI2C.endTransmission();
CANI2C.requestFrom(0x41, dtaLen-32);
for(int i=0; i<(dtaLen-32); i++)
{
str[32+i]= CANI2C.read();
}
}
return dtaLen;
}