Mcp2515CAN.rar arduino UNO编译的头文件

/* Most of this code are derived from Microchip MCP2518FD SDK */ #include "mcp2518fd_can.h" static CAN_CONFIG config; // Receive objects static CAN_RX_FIFO_CONFIG rxConfig; static REG_CiFLTOBJ fObj; static REG_CiMASK mObj; static CAN_RX_FIFO_EVENT rxFlags; static CAN_RX_MSGOBJ rxObj; static uint8_t rxd[MAX_DATA_BYTES]; // Transmit objects static CAN_TX_FIFO_CONFIG txConfig; static CAN_TX_FIFO_EVENT txFlags; static CAN_TX_MSGOBJ txObj; static uint8_t txd[MAX_DATA_BYTES]; #define MAX_TXQUEUE_ATTEMPTS 50 // Transmit Channels #define APP_TX_FIFO CAN_FIFO_CH2 // Receive Channels #define APP_RX_FIFO CAN_FIFO_CH1 // Maximum number of data bytes in message #define MAX_DATA_BYTES 64 // ***************************************************************************** // ***************************************************************************** // Section: Variables //! SPI Transmit buffer static uint8_t spiTransmitBuffer[SPI_DEFAULT_BUFFER_LENGTH + 2]; //! SPI Receive buffer static uint8_t spiReceiveBuffer[SPI_DEFAULT_BUFFER_LENGTH]; uint16_t DRV_CANFDSPI_CalculateCRC16(uint8_t *data, uint16_t size) { uint16_t init = CRCBASE; uint8_t index; while (size-- != 0) { index = ((uint8_t *)&init)[CRCUPPER] ^ *data++; init = (init << 8) ^ crc16_table[index]; } return init; } /********************************************************************************************************* ** Function name: begin ** Descriptions: init can and set speed *********************************************************************************************************/ byte mcp2518fd::begin(uint32_t speedset, const byte clockset) { SPI.begin(); /* compatible layer translation */ speedset = bittime_compat_to_mcp2518fd(speedset); byte res = mcp2518fd_init(speedset, clockset); return res; } /********************************************************************************************************* ** Function name: mcp2518fd_reset ** Descriptions: reset the device *********************************************************************************************************/ int8_t mcp2518fd::mcp2518fd_reset(void) { int8_t spiTransferError = 0; // Compose command spiTransmitBuffer[0] = (uint8_t)(cINSTRUCTION_RESET << 4); spiTransmitBuffer[1] = 0; #ifdef SPI_HAS_TRANSACTION SPI_BEGIN(); #endif MCP2518fd_SELECT(); spi_readwrite(spiTransmitBuffer[0]); spi_readwrite(spiTransmitBuffer[1]); MCP2518fd_UNSELECT(); #ifdef SPI_HAS_TRANSACTION SPI_END(); #endif delay(10); return spiTransferError; } int8_t mcp2518fd::mcp2518fd_ReadByte(uint16_t address, uint8_t *rxd) { int8_t spiTransferError = 0; // Compose command spiTransmitBuffer[0] = (uint8_t)((cINSTRUCTION_READ << 4) + ((address >> 8) & 0xF)); spiTransmitBuffer[1] = (uint8_t)(address & 0xFF); spiTransmitBuffer[2] = 0; #ifdef SPI_HAS_TRANSACTION SPI_BEGIN(); #endif MCP2518fd_SELECT(); spi_readwrite(spiTransmitBuffer[0]); spi_readwrite(spiTransmitBuffer[1]); spiReceiveBuffer[2] = spi_readwrite(0x00); MCP2518fd_UNSELECT(); #ifdef SPI_HAS_TRANSACTION SPI_END(); #endif // Update data *rxd = spiReceiveBuffer[2]; return spiTransferError; } int8_t mcp2518fd::mcp2518fd_WriteByte(uint16_t address, uint8_t txd) { int8_t spiTransferError = 0; // Compose command spiTransmitBuffer[0] = (uint8_t)((cINSTRUCTION_WRITE << 4) + ((address >> 8) & 0xF)); spiTransmitBuffer[1] = (uint8_t)(address & 0xFF); spiTransmitBuffer[2] = txd; #ifdef SPI_HAS_TRANSACTION SPI_BEGIN(); #endif MCP2518fd_SELECT(); spi_readwrite(spiTransmitBuffer[0]); spi_readwrite(spiTransmitBuffer[1]); spi_readwrite(spiTransmitBuffer[2]); MCP2518fd_UNSELECT(); #ifdef SPI_HAS_TRANSACTION SPI_END(); #endif return spiTransferError; } int8_t mcp2518fd::mcp2518fd_ReadWord(uint16_t address, uint32_t *rxd) { uint8_t i; uint32_t x; int8_t spiTransferError = 0; // Compose command spiTransmitBuffer[0] = (uint8_t)((cINSTRUCTION_READ << 4) + ((address >> 8) & 0xF)); spiTransmitBuffer[1] = (uint8_t)(address & 0xFF); #ifdef SPI_HAS_TRANSACTION SPI_BEGIN(); #endif MCP2518fd_SELECT(); spi_readwrite(spiTransmitBuffer[0]); spi_readwrite(spiTransmitBuffer[1]); for (i = 2; i < 6; i++) { spiReceiveBuffer[i] = spi_readwrite(0x00); } MCP2518fd_UNSELECT(); #ifdef SPI_HAS_TRANSACTION SPI_END(); #endif // Update data *rxd = 0; for (i = 2; i < 6; i++) { x = (uint32_t)spiReceiveBuffer[i]; *rxd += x << ((i - 2) * 8); } return spiTransferError; } int8_t mcp2518fd::mcp2518fd_WriteWord(uint16_t address, uint32_t txd) { uint8_t i; int8_t spiTransferError = 0; // Compose command spiTransmitBuffer[0] = (uint8_t)((cINSTRUCTION_WRITE << 4) + ((address >> 8) & 0xF)); spiTransmitBuffer[1] = (uint8_t)(address & 0xFF); // Split word into 4 bytes and add them to buffer for (i = 0; i < 4; i++) { spiTransmitBuffer[i + 2] = (uint8_t)((txd >> (i * 8)) & 0xFF); } #ifdef SPI_HAS_TRANSACTION SPI_BEGIN(); #endif MCP2518fd_SELECT(); spi_readwrite(spiTransmitBuffer[0]); spi_readwrite(spiTransmitBuffer[1]); spi_readwrite(spiTransmitBuffer[2]); spi_readwrite(spiTransmitBuffer[3]); spi_readwrite(spiTransmitBuffer[4]); spi_readwrite(spiTransmitBuffer[5]); MCP2518fd_UNSELECT(); #ifdef SPI_HAS_TRANSACTION SPI_END(); #endif return spiTransferError; } int8_t mcp2518fd::mcp2518fd_ReadHalfWord(uint16_t address, uint16_t *rxd) { uint8_t i; uint32_t x; int8_t spiTransferError = 0; // Compose command spiTransmitBuffer[0] = (uint8_t)((cINSTRUCTION_READ << 4) + ((address >> 8) & 0xF)); spiTransmitBuffer[1] = (uint8_t)(address & 0xFF); #ifdef SPI_HAS_TRANSACTION SPI_BEGIN(); #endif MCP2518fd_SELECT(); spi_readwrite(spiTransmitBuffer[0]); spi_readwrite(spiTransmitBuffer[1]); for (i = 2; i < 4; i++) { spiReceiveBuffer[i] = spi_readwrite(0x00); } MCP2518fd_UNSELECT(); #ifdef SPI_HAS_TRANSACTION SPI_END(); #endif // Update data *rxd = 0; for (i = 2; i < 4; i++) { x = (uint32_t)spiReceiveBuffer[i]; *rxd += x << ((i - 2) * 8); } return spiTransferError; } int8_t mcp2518fd::mcp2518fd_WriteHalfWord(uint16_t address, uint16_t txd) { uint8_t i; int8_t spiTransferError = 0; // Compose command spiTransmitBuffer[0] = (uint8_t)((cINSTRUCTION_WRITE << 4) + ((address >> 8) & 0xF)); spiTransmitBuffer[1] = (uint8_t)(address & 0xFF); // Split word into 2 bytes and add them to buffer for (i = 0; i < 2; i++) { spiTransmitBuffer[i + 2] = (uint8_t)((txd >> (i * 8)) & 0xFF); } #ifdef SPI_HAS_TRANSACTION SPI_BEGIN(); #endif MCP2518fd_SELECT(); spi_readwrite(spiTransmitBuffer[0]); spi_readwrite(spiTransmitBuffer[1]); spi_readwrite(spiTransmitBuffer[2]); spi_readwrite(spiTransmitBuffer[3]); MCP2518fd_UNSELECT(); #ifdef SPI_HAS_TRANSACTION SPI_END(); #endif return spiTransferError; } int8_t mcp2518fd::mcp2518fd_ReadByteArray(uint16_t address, uint8_t *rxd, uint16_t nBytes) { uint16_t i; uint16_t spiTransferSize = nBytes + 2; int8_t spiTransferError = 0; // Compose command spiTransmitBuffer[0] = (uint8_t)((cINSTRUCTION_READ << 4) + ((address >> 8) & 0xF)); spiTransmitBuffer[1] = (uint8_t)(address & 0xFF); // Clear data for (i = 2; i < spiTransferSize; i++) { spiTransmitBuffer[i] = 0; } #ifdef SPI_HAS_TRANSACTION SPI_BEGIN(); #endif MCP2518fd_SELECT(); spi_readwrite(spiTransmitBuffer[0]); spi_readwrite(spiTransmitBuffer[1]); for (i = 0; i < nBytes; i++) { spiReceiveBuffer[i + 2] = spi_readwrite(0x00); } MCP2518fd_UNSELECT(); #ifdef SPI_HAS_TRANSACTION SPI_END(); #endif // Update data for (i = 0; i < nBytes; i++) { rxd[i] = spiReceiveBuffer[i + 2]; } return spiTransferError; } int8_t mcp2518fd::mcp2518fd_WriteByteArray(uint16_t address, uint8_t *txd, u