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The mcp2515 is a CAN bus controller. It was developed using the Seeed CAN bus shield. Signed-off-by: Jon Trulson <jtrulson@ics.com>
145 lines
4.6 KiB
C
145 lines
4.6 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <stdio.h>
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#include <signal.h>
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#include <upm_utilities.h>
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#include "mcp2515.h"
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bool shouldRun = true;
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void sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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int main(int argc, char **argv)
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{
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signal(SIGINT, sig_handler);
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// by default we just receive packets
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bool do_tx = false;
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// if an argument is given, we will transmit packets
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if (argc > 1)
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do_tx = true;
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//! [Interesting]
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// NOTE: This example assumes that only two devices are connected
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// to the CAN bus, and that both devices are running this example;
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// one in TX (transmit) mode, and one in RX (receive) mode.
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// If this is not the case, then in rx mode you may see other
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// packets from other devices, or not, depending on whether the
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// speed is correct for the network. In tx mode, errors may be
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// generated on the bus, especially if the CAN bus speed does not
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// match the rest of the network.
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// You should start the receiver example first. The transmitter
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// example will fail after about 5 seconds (timeout) of not being
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// able to transmit a message.
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// Instantiate a MCP2515 on SPI bus 0 using a hw CS pin (-1).
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mcp2515_context sensor = mcp2515_init(0, -1);
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if (!sensor)
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{
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printf("mcp2515_init() failed\n");
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return 1;
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}
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// By default, after initialization, the baud rate is set to
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// 50Kbps, and the mode is NORMAL, so we don't need to set any of
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// that here.
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if (!do_tx)
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printf("RX mode, waiting for packets...\n");
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// our TX payload. If transmitting, the first number will be
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// incremented (and rollover) on each transmission.
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uint8_t myPayload[8] = {0, 1, 2, 3, 4, 5, 6, 7};
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while (shouldRun)
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{
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if (do_tx)
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{
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// lets build up a packet and try loading it.
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printf("Loading a packet of 8 numbers into a tx buffer...\n");
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if (mcp2515_load_tx_buffer(sensor, MCP2515_TX_BUFFER0, 0,
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false, false, myPayload, 8))
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{
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printf("mcp2515_load_tx_buffer() failed\n");
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return 1;
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}
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// now lets try to transmit it
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printf("Transmitting packet...\n");
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upm_result_t rv = 0;
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if ((rv = mcp2515_transmit_buffer(sensor, MCP2515_TX_BUFFER0,
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true)))
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{
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printf("mcp2515_transmit_buffer() failed with code %d\n", rv);
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return 1;
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}
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// increment the first number for each transmission
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myPayload[0]++;
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printf("Transmit successful\n\n");
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upm_delay_ms(500);
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}
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else
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{
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// RX mode
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// Look for a packet waiting for us in RXB0
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if (mcp2515_rx_status_msgs(sensor) == MCP2515_RXMSG_RXB0)
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{
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printf("Packet received in RXB0, decoding...\n");
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// now lets retrieve it
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MCP2515_MSG_T msg;
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if (mcp2515_get_rx_msg(sensor, MCP2515_RX_BUFFER0, &msg))
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{
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printf("mcp2515_get_rx_msg() failed\n");
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return 1;
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}
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mcp2515_print_msg(sensor, &msg);
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printf("\n");
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}
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upm_delay_ms(100);
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}
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}
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printf("Exiting...\n");
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mcp2515_close(sensor);
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//! [Interesting]
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return 0;
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}
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