2.1.0 : fixed extended frame reception

pierremolinaro · Feb 16, 2022 · 977c3eb · 977c3eb
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diff --git a/examples/LoopBackDemoRaspberryPiPico/LoopBackDemoRaspberryPiPico.ino b/examples/LoopBackDemoRaspberryPiPico/LoopBackDemoRaspberryPiPico.ino
@@ -13,11 +13,9 @@
 
 //——————————————————————————————————————————————————————————————————————————————
 // The Pico has two SPI peripherals, SPI and SPI1. Either (or both) can be used.
-// The are no default pin assignments to these must be set explicitly.
-// At the time of writing (Apr 2021) there is no official Arduino core for the Pico
+// The are no default pin assignments so they must be set explicitly.
 // Testing was done with Earle Philhower's arduino-pico core:
 // https://github.com/earlephilhower/arduino-pico
-// There is a small bug in release 1.0.3 so you will require at least 1.0.4
 //——————————————————————————————————————————————————————————————————————————————
 
 static const byte MCP2515_SCK  = 2 ; // SCK input of MCP2515

diff --git a/examples/LoopBackDemoRaspberryPiPicoSPI1/LoopBackDemoRaspberryPiPicoSPI1.ino b/examples/LoopBackDemoRaspberryPiPicoSPI1/LoopBackDemoRaspberryPiPicoSPI1.ino
@@ -0,0 +1,144 @@
+//——————————————————————————————————————————————————————————————————————————————
+//  ACAN2515 Demo in loopback mode, for the Raspberry Pi Pico
+//  Demo sketch that uses SPI1
+//——————————————————————————————————————————————————————————————————————————————
+
+#ifndef ARDUINO_ARCH_RP2040
+#error "Select a Raspberry Pi Pico board"
+#endif
+
+//——————————————————————————————————————————————————————————————————————————————
+
+#include <ACAN2515.h>
+
+//——————————————————————————————————————————————————————————————————————————————
+// The Pico has two SPI peripherals, SPI and SPI1. Either (or both) can be used.
+// The are no default pin assignments so they must be set explicitly.
+// Testing was done with Earle Philhower's arduino-pico core:
+// https://github.com/earlephilhower/arduino-pico
+//——————————————————————————————————————————————————————————————————————————————
+
+static const byte MCP2515_SCK  = 14 ; // SCK input of MCP2515 (adapt to your design)
+static const byte MCP2515_MOSI = 15 ; // SDI input of MCP2515 (adapt to your design)
+static const byte MCP2515_MISO = 12 ; // SDO output of MCP2515 (adapt to your design)
+
+static const byte MCP2515_CS   = 13 ;  // CS input of MCP2515 (adapt to your design)
+static const byte MCP2515_INT  = 11 ;  // INT output of MCP2515 (adapt to your design)
+
+//——————————————————————————————————————————————————————————————————————————————
+//  MCP2515 Driver object
+//——————————————————————————————————————————————————————————————————————————————
+
+ACAN2515 can (MCP2515_CS, SPI1, MCP2515_INT) ;
+
+//——————————————————————————————————————————————————————————————————————————————
+//  MCP2515 Quartz: adapt to your design
+//——————————————————————————————————————————————————————————————————————————————
+
+static const uint32_t QUARTZ_FREQUENCY = 20UL * 1000UL * 1000UL ; // 20 MHz
+
+//——————————————————————————————————————————————————————————————————————————————
+//   SETUP
+//——————————————————————————————————————————————————————————————————————————————
+
+void setup () {
+  //--- Switch on builtin led
+  pinMode (LED_BUILTIN, OUTPUT) ;
+  digitalWrite (LED_BUILTIN, HIGH) ;
+  //--- Start serial
+  Serial.begin (115200) ;
+  //--- Wait for serial (blink led at 10 Hz during waiting)
+  while (!Serial) {
+    delay (50) ;
+    digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
+  }
+  //--- There are no default SPI1 pins so they must be explicitly assigned
+  SPI1.setSCK (MCP2515_SCK);
+  SPI1.setTX (MCP2515_MOSI);
+  SPI1.setRX (MCP2515_MISO);
+  SPI1.setCS (MCP2515_CS);
+  //--- Begin SPI1
+  SPI1.begin () ;
+  //--- Configure ACAN2515
+  Serial.println ("Configure ACAN2515") ;
+  ACAN2515Settings settings (QUARTZ_FREQUENCY, 125UL * 1000UL) ; // CAN bit rate 125 kb/s
+  settings.mRequestedMode = ACAN2515Settings::LoopBackMode ; // Select loopback mode
+  const uint16_t errorCode = can.begin (settings, [] { can.isr () ; }) ;
+  if (errorCode == 0) {
+    Serial.print ("Bit Rate prescaler: ") ;
+    Serial.println (settings.mBitRatePrescaler) ;
+    Serial.print ("Propagation Segment: ") ;
+    Serial.println (settings.mPropagationSegment) ;
+    Serial.print ("Phase segment 1: ") ;
+    Serial.println (settings.mPhaseSegment1) ;
+    Serial.print ("Phase segment 2: ") ;
+    Serial.println (settings.mPhaseSegment2) ;
+    Serial.print ("SJW: ") ;
+    Serial.println (settings.mSJW) ;
+    Serial.print ("Triple Sampling: ") ;
+    Serial.println (settings.mTripleSampling ? "yes" : "no") ;
+    Serial.print ("Actual bit rate: ") ;
+    Serial.print (settings.actualBitRate ()) ;
+    Serial.println (" bit/s") ;
+    Serial.print ("Exact bit rate ? ") ;
+    Serial.println (settings.exactBitRate () ? "yes" : "no") ;
+    Serial.print ("Sample point: ") ;
+    Serial.print (settings.samplePointFromBitStart ()) ;
+    Serial.println ("%") ;
+  }else{
+    Serial.print ("Configuration error 0x") ;
+    Serial.println (errorCode, HEX) ;
+  }
+}
+
+//----------------------------------------------------------------------------------------------------------------------
+
+static uint32_t gBlinkLedDate = 0 ;
+static uint32_t gReceivedFrameCount = 0 ;
+static uint32_t gSentFrameCount = 0 ;
+
+//——————————————————————————————————————————————————————————————————————————————
+
+void loop () {
+  CANMessage frame ;
+  if (gBlinkLedDate < millis ()) {
+    gBlinkLedDate += 2000 ;
+    digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
+    frame.ext = true ;
+    frame.id = 0x1FFFFFFF ;
+    frame.len = 8 ;
+    frame.data [0] = 0x11 ;
+    frame.data [1] = 0x22 ;
+    frame.data [2] = 0x33 ;
+    frame.data [3] = 0x44 ;
+    frame.data [4] = 0x55 ;
+    frame.data [5] = 0x66 ;
+    frame.data [6] = 0x77 ;
+    frame.data [7] = 0x88 ;
+    const bool ok = can.tryToSend (frame) ;
+    if (ok) {
+      gSentFrameCount += 1 ;
+      Serial.print ("Sent: ") ;
+      Serial.println (gSentFrameCount) ;
+    }else{
+      Serial.println ("Send failure") ;
+    }
+  }
+  if (can.receive (frame)) {
+    gReceivedFrameCount ++ ;
+    Serial.print ("  id: ");Serial.println (frame.id,HEX);
+    Serial.print ("  ext: ");Serial.println (frame.ext);
+    Serial.print ("  rtr: ");Serial.println (frame.rtr);
+    Serial.print ("  len: ");Serial.println (frame.len);
+    Serial.print ("  data: ");
+    for(int x=0;x<frame.len;x++) {
+      Serial.print (frame.data[x],HEX); Serial.print(":");
+    }
+    Serial.println ("");
+    Serial.print ("Received: ") ;
+    Serial.println (gReceivedFrameCount) ;
+  }
+}
+
+
+//——————————————————————————————————————————————————————————————————————————————
diff --git a/extras/acan2515.pdf b/extras/acan2515.pdf
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=ACAN2515
-version=2.0.9
+version=2.1.0
 author=Pierre Molinaro
 maintainer=Pierre Molinaro <[email protected]>
 sentence=Driver for MCP2515 CAN Controller

diff --git a/src/ACAN2515.cpp b/src/ACAN2515.cpp
@@ -89,6 +89,7 @@ mSPI (inSPI),
 mSPISettings (10UL * 1000UL * 1000UL, MSBFIRST, SPI_MODE0),  // 10 MHz, UL suffix is required for Arduino Uno
 mCS (inCS),
 mINT (inINT),
+mRolloverEnable (false),
 #ifdef ARDUINO_ARCH_ESP32
   mISRSemaphore (xSemaphoreCreateCounting (10, 0)),
 #endif
@@ -365,8 +366,10 @@ uint16_t ACAN2515::internalBeginOperation (const ACAN2515Settings & inSettings,
   //----------------------------------- Set TXnRTS as inputs
     write2515Register (TXRTSCTRL_REGISTER, 0);
   //----------------------------------- RXBnCTRL
-    write2515Register (RXB0CTRL_REGISTER, ((uint8_t) inSettings.mRolloverEnable) << 2) ;
-    write2515Register (RXB1CTRL_REGISTER, 0x00) ;
+    mRolloverEnable = inSettings.mRolloverEnable ;
+    const uint8_t acceptAll = (inAcceptanceFilterCount == 0) ? 0x60 : 0x00 ;
+    write2515Register (RXB0CTRL_REGISTER, acceptAll | (uint8_t (inSettings.mRolloverEnable) << 2)) ;
+    write2515Register (RXB1CTRL_REGISTER, acceptAll) ;
   //----------------------------------- Setup mask registers
     setupMaskRegister (inRXM0, RXM0SIDH_REGISTER) ;
     setupMaskRegister (inRXM1, RXM1SIDH_REGISTER) ;
@@ -382,6 +385,10 @@ uint16_t ACAN2515::internalBeginOperation (const ACAN2515Settings & inSettings,
         mCallBackFunctionArray [idx] = inAcceptanceFilters [inAcceptanceFilterCount-1].mCallBack ;
         idx += 1 ;
       }
+//     }else{
+//       for (int i=0 ; i<6 ; i++) {
+//         setupMaskRegister (ACAN2515Mask (), RXFSIDH_REGISTER [i]) ;
+//       }
     }
   //----------------------------------- Set TXBi priorities
     write2515Register (TXB0CTRL_REGISTER, inSettings.mTXBPriority & 3) ;
@@ -521,6 +528,9 @@ uint16_t ACAN2515::internalSetFiltersOnTheFly (const ACAN2515Mask inRXM0,
   uint16_t errorCode = setRequestedMode (configurationMode) ;
 //--- Setup mask registers
   if (errorCode == 0) {
+    const uint8_t acceptAll = (inAcceptanceFilterCount == 0) ? 0x60 : 0x00 ;
+    write2515Register (RXB0CTRL_REGISTER, acceptAll | (uint8_t (mRolloverEnable) << 2)) ;
+    write2515Register (RXB1CTRL_REGISTER, acceptAll) ;
     setupMaskRegister (inRXM0, RXM0SIDH_REGISTER) ;
     setupMaskRegister (inRXM1, RXM1SIDH_REGISTER) ;
     if (inAcceptanceFilterCount > 0) {
@@ -656,8 +666,8 @@ void ACAN2515::handleRXBInterrupt (void) {
   if (received) { // Message in RXB0 and / or RXB1
     const bool accessRXB0 = (rxStatus & 0x40) != 0 ;
     CANMessage message ;
-    message.rtr = (rxStatus & 0x08) != 0 ; // Thanks to Arjan-Woltjer for having fixed this bug
-    message.ext = (rxStatus & 0x10) != 0 ; // Thanks to Arjan-Woltjer for having fixed this bug
+//     message.rtr = (rxStatus & 0x08) != 0 ; // Thanks to Arjan-Woltjer for having fixed this bug
+//     message.ext = (rxStatus & 0x10) != 0 ; // Thanks to Arjan-Woltjer for having fixed this bug
   //--- Set idx field to matching receive filter
     message.idx = rxStatus & 0x07 ;
     if (message.idx > 5) {
@@ -668,10 +678,12 @@ void ACAN2515::handleRXBInterrupt (void) {
     mSPI.transfer (accessRXB0 ? READ_FROM_RXB0SIDH_COMMAND : READ_FROM_RXB1SIDH_COMMAND) ;
   //--- SIDH
     message.id = mSPI.transfer (0) ;
+    message.id <<= 3 ;
   //--- SIDL
     const uint32_t sidl = mSPI.transfer (0) ;
-    message.id <<= 3 ;
     message.id |= sidl >> 5 ;
+    message.rtr = (sidl & 0x10) != 0 ;
+    message.ext = (sidl & 0x08) != 0 ;
   //--- EID8
     const uint32_t eid8 = mSPI.transfer (0) ;
     if (message.ext) {

diff --git a/src/ACAN2515.h b/src/ACAN2515.h
@@ -8,7 +8,7 @@
 
 //··································································································
 
-#include <ACANBuffer16.h>
+#include <ACAN2515_Buffer16.h>
 #include <ACAN2515Settings.h>
 #include <MCP2515ReceiveFilters.h>
 #include <SPI.h>
@@ -127,6 +127,7 @@ class ACAN2515 {
   private: const SPISettings mSPISettings ;
   private: const uint8_t mCS ;
   private: const uint8_t mINT ;
+  private: bool mRolloverEnable ;
   #ifdef ARDUINO_ARCH_ESP32
     public: SemaphoreHandle_t mISRSemaphore ;
   #endif
@@ -136,7 +137,7 @@ class ACAN2515 {
 //    Receive buffer
 //··································································································
 
-  private: ACANBuffer16 mReceiveBuffer ;
+  private: ACAN2515_Buffer16 mReceiveBuffer ;
 
 
 //··································································································
@@ -184,7 +185,7 @@ class ACAN2515 {
 //    Driver transmit buffer
 //··································································································
 
-  private: ACANBuffer16 mTransmitBuffer [3] ;
+  private: ACAN2515_Buffer16 mTransmitBuffer [3] ;
   private: bool mTXBIsFree [3] ;
 
   public: inline uint16_t transmitBufferSize (const uint8_t inIndex) const {