can.c File Reference

#include <avr/interrupt.h>
#include <avr/io.h>
#include <stdint.h>
#include <util/delay.h>
#include "can.h"
#include "log.h"
#include "mcp.h"
#include "spi.h"

Go to the source code of this file.

Functions
	LOG_MODULE_DEFINE ("CAN")
int8_t	can_init (struct can_device *dev)
	Initialize a CAN device.
int8_t	can_write (struct can_device *dev, struct CAN_frame msg)
	Write a CAN frame to the MCP2515 transmit buffer.
int8_t	can_read_rx0 (struct can_device *dev, struct CAN_frame *out)
	Read a message from RX buffer 0.
int8_t	can_read_rx1 (struct can_device *dev, struct CAN_frame *out)
	Read a message from RX buffer 1.
int	can_rxq_add (struct CAN_frame *msg)
	Add a CAN frame to the internal receive queue.
int	can_rxq_pull (struct CAN_frame *out)
	Pull a CAN frame from the internal receive queue.
	ISR (INT2_vect)
int8_t	MCP2515_init (struct can_device *dev)
int8_t	MCP2515_write (struct can_device *dev, uint8_t addr, uint8_t data)
int8_t	MCP2515_write_n (struct can_device *dev, uint8_t addr, uint8_t *data)
int8_t	MCP2515_read (struct can_device *dev, uint8_t addr, uint8_t *out)
int8_t	MCP2515_request_to_send (struct can_device *dev, uint8_t buffer)
int8_t	MCP2515_bit_modify (struct can_device *dev, uint8_t reg, uint8_t mask, uint8_t set_val)
int8_t	MCP2515_reset (struct can_device *dev)
int8_t	MCP2515_read_status (struct can_device *dev, uint8_t *out)

Variables
struct can_device *	can_irq
struct CAN_frame	new_message
static volatile uint8_t	rxq_head = 0
static volatile uint8_t	rxq_tail = 0
struct CAN_frame	rxq [CAN_RXQ_SIZE]

Function Documentation

ISR()

ISR

(

INT2_vect

)

Definition at line 186 of file can.c.

               {
 
  // LOG_INF("External interrupt")
  uint8_t status;
  MCP2515_read(can_irq, MCP2515_CANINTF,
               &status); // MCP2515_read_status(can_irq, &status);
 
  if (status & MCP2515_RX0IF) {
    can_read_rx0(can_irq, &new_message);
    can_rxq_add(&new_message);
    LOG_INF("RX0 Full");
  }
 
  if (status & MCP2515_RX1IF) {
    can_read_rx1(can_irq, &new_message);
    can_rxq_add(&new_message);
    LOG_INF("RX1 Full");
  }
 
  if (status & tx_buff_0_busy) {
    LOG_INF("TX0 Busy");
  }
 
  if (status & tx_buff_0_empty) {
    LOG_INF("TX0 Empty");
  }
 
  // reset CANINTF / clear flag
  MCP2515_write(can_irq, MCP2515_CANINTF, 0x00);
}

LOG_MODULE_DEFINE()

LOG_MODULE_DEFINE

(

"CAN"

)

MCP2515_write_n()

int8_t MCP2515_write_n	(	struct can_device *	dev,
		uint8_t	addr,
		uint8_t *	data )

Definition at line 326 of file can.c.

                                                                            {
 
  unsigned char frame[10] = {MCP2515_WRITE, addr,    data[0], data[1], data[2],
                             data[3],       data[4], data[5], data[6], data[7]};
  spi_send_n(&dev->spi, frame, 2 + 8);
 
  return 0;
}

Variable Documentation

can_irq

struct can_device* can_irq

Definition at line 13 of file can.c.

Referenced by can_init(), and ISR().

new_message

struct CAN_frame new_message

Definition at line 14 of file can.c.

Referenced by ISR().

rxq

struct CAN_frame rxq[CAN_RXQ_SIZE]

Definition at line 17 of file can.c.

Referenced by can_rxq_add(), and can_rxq_pull().

rxq_head

volatile uint8_t rxq_head = 0

static

Definition at line 16 of file can.c.

Referenced by can_rxq_add(), and can_rxq_pull().

rxq_tail

volatile uint8_t rxq_tail = 0

static

Definition at line 16 of file can.c.

Referenced by can_rxq_add(), and can_rxq_pull().