A CAN Driver for the MCP2515 CAN controller. More...

#include <mcp2515_can_interface.hpp>

Inheritance diagram for isobus::MCP2515CANInterface:

Collaboration diagram for isobus::MCP2515CANInterface:

Public Member Functions
	MCP2515CANInterface (SPIHardwarePlugin *transactionHandler, const std::uint8_t cfg1, const std::uint8_t cfg2, const std::uint8_t cfg3)
	Constructor for the socket CAN driver.

virtual	~MCP2515CANInterface ()
	The destructor for SocketCANInterface.

bool	get_is_valid () const override
	Returns if the socket connection is valid.

void	close () override
	Closes the socket.

void	open () override
	Connects to the socket.

bool	reset ()
	Resets the MCP2515.

bool	read_frame (isobus::CANMessageFrame &canFrame) override
	Returns a frame from the hardware (synchronous), or `false` if no frame can be read.

bool	write_frame (const isobus::CANMessageFrame &canFrame) override
	Writes a frame to the bus (synchronous)

Private Types
enum class	MCPInstruction : std::uint8_t { WRITE = 0x02 , READ = 0x03 , BITMOD = 0x05 , RX_STATUS = 0xB0 , READ_STATUS = 0xA0 , RESET = 0xC0 }
	Some essential instructions of the MCP2515. More...

enum class	MCPRegister : std::uint8_t { CANSTAT = 0x0E , CANCTRL = 0x0F , CNF3 = 0x28 , CNF2 = 0x29 , CNF1 = 0x2A , CANINTE = 0x2B , CANINTF = 0x2C , TXB0CTRL = 0x30 , TXB0SIDH = 0x31 , TXB1CTRL = 0x40 , TXB1SIDH = 0x41 , TXB2CTRL = 0x50 , TXB2SIDH = 0x51 , RXB0CTRL = 0x60 , RXB0DATA = 0x66 , RXB1CTRL = 0x70 , RXB1DATA = 0x76 }
	Some essential registers of the MCP2515. More...

enum class	MCPMode : std::uint8_t { NORMAL = 0x00 , SLEEP = 0x20 , LOOPBACK = 0x40 , LISTEN_ONLY = 0x60 , CONFIG = 0x80 }
	The different modes of the MCP2515 associated with their internal bits. More...

Private Member Functions
bool	get_read_status (std::uint8_t &status)
	Read the rx status of the mcp2515.

bool	read_register (const MCPRegister address, std::uint8_t &data)
	read a single byte register of the mcp2515

bool	read_register (const MCPRegister address, std::uint8_t *data, const std::size_t length)
	read multiple byte register of the mcp2515

bool	modify_register (const MCPRegister address, const std::uint8_t mask, const std::uint8_t data)
	modify a register of the mcp2515

bool	write_register (const MCPRegister address, const std::uint8_t data)
	write a single byte register of the mcp2515

bool	write_register (const MCPRegister address, const std::uint8_t data[], const std::size_t length)
	write multiple byte register of the mcp2515

bool	write_reset ()
	Reset the mcp2515 internally.

bool	set_mode (const MCPMode mode)
	set the mode of the mcp2515

bool	read_frame (isobus::CANMessageFrame &canFrame, const MCPRegister ctrlRegister, const MCPRegister dataRegister, const std::uint8_t intfMask)
	Read a frame from a buffer on the mcp2515.

bool	write_frame (const isobus::CANMessageFrame &canFrame, const MCPRegister ctrlRegister, const MCPRegister sidhRegister)
	Write a frame to a buffer on the mcp2515.

Private Attributes
SPIHardwarePlugin *	transactionHandler
	The SPI transaction handler.

std::uint8_t	rxIndex = 0
	The index of the rx buffer to read from next.

std::uint8_t	txIndex = 2
	The index of the tx buffer to write to next, start with 2 as it is the buffer with the highest priority.

std::uint8_t	txPriority = 3
	The priority of the next tx frame.

const std::uint8_t	cfg1
	Configuration value for CFG1 register.

const std::uint8_t	cfg2
	Configuration value for CFG2 register.

const std::uint8_t	cfg3
	Configuration value for CFG3 register.

bool	initialized = false
	If the mcp2515 has been initialized and no errors have occurred.

Static Private Attributes
static constexpr std::uint32_t	RECEIVE_MESSAGE_READ_RATE = 10
	Hardcoded time in ms between polling the MCP2515 module for new messages, mostly arbitrary.

Detailed Description

A CAN Driver for the MCP2515 CAN controller.

Definition at line 29 of file mcp2515_can_interface.hpp.

Member Enumeration Documentation

◆ MCPInstruction

enum class isobus::MCP2515CANInterface::MCPInstruction : std::uint8_t

strongprivate

Some essential instructions of the MCP2515.

Definition at line 68 of file mcp2515_can_interface.hpp.

◆ MCPMode

enum class isobus::MCP2515CANInterface::MCPMode : std::uint8_t

strongprivate

The different modes of the MCP2515 associated with their internal bits.

Definition at line 101 of file mcp2515_can_interface.hpp.

◆ MCPRegister

enum class isobus::MCP2515CANInterface::MCPRegister : std::uint8_t

strongprivate

Some essential registers of the MCP2515.

Definition at line 79 of file mcp2515_can_interface.hpp.

Constructor & Destructor Documentation

◆ MCP2515CANInterface()

isobus::MCP2515CANInterface::MCP2515CANInterface	(	SPIHardwarePlugin *	transactionHandler,
		const std::uint8_t	cfg1,
		const std::uint8_t	cfg2,
		const std::uint8_t	cfg3 )

Constructor for the socket CAN driver.

Parameters

[in]	transactionHandler	The SPI transaction handler
[in]	cfg1	The configuration value for CFG register 1
[in]	cfg2	The configuration value for CFG register 2
[in]	cfg3	The configuration value for CFG register 3

Definition at line 19 of file mcp2515_can_interface.cpp.

◆ ~MCP2515CANInterface()

isobus::MCP2515CANInterface::~MCP2515CANInterface ( )

virtual

The destructor for SocketCANInterface.

Definition at line 27 of file mcp2515_can_interface.cpp.

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Member Function Documentation

◆ close()

void isobus::MCP2515CANInterface::close ( )

overridevirtual

Closes the socket.

Implements isobus::CANHardwarePlugin.

Definition at line 37 of file mcp2515_can_interface.cpp.

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◆ get_is_valid()

bool isobus::MCP2515CANInterface::get_is_valid ( ) const

overridevirtual

Returns if the socket connection is valid.

Returns: true if connected, false if not connected

Implements isobus::CANHardwarePlugin.

Definition at line 32 of file mcp2515_can_interface.cpp.

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◆ get_read_status()

bool isobus::MCP2515CANInterface::get_read_status ( std::uint8_t & status )

private

Read the rx status of the mcp2515.

Parameters

[out] status The status that was read

Returns: If the read was successfull

Definition at line 78 of file mcp2515_can_interface.cpp.

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◆ modify_register()

bool isobus::MCP2515CANInterface::modify_register	(	const MCPRegister	address,
		const std::uint8_t	mask,
		const std::uint8_t	data )

private

modify a register of the mcp2515

Parameters

[in]	address	The address of the register to modify
[in]	mask	The mask to apply to the register
[in]	data	The data to write to the register

Returns: If the write was successfull

Definition at line 136 of file mcp2515_can_interface.cpp.

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◆ open()

void isobus::MCP2515CANInterface::open ( )

overridevirtual

Connects to the socket.

Implements isobus::CANHardwarePlugin.

Definition at line 42 of file mcp2515_can_interface.cpp.

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◆ read_frame() [1/2]

bool isobus::MCP2515CANInterface::read_frame ( isobus::CANMessageFrame & canFrame )

overridevirtual

Returns a frame from the hardware (synchronous), or false if no frame can be read.

Parameters

[in,out] canFrame The CAN frame that was read

Returns: true if a CAN frame was read, otherwise false

Implements isobus::CANHardwarePlugin.

Definition at line 263 of file mcp2515_can_interface.cpp.

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◆ read_frame() [2/2]

bool isobus::MCP2515CANInterface::read_frame	(	isobus::CANMessageFrame &	canFrame,
		const MCPRegister	ctrlRegister,
		const MCPRegister	dataRegister,
		const std::uint8_t	intfMask )

private

Read a frame from a buffer on the mcp2515.

Parameters

[in,out]	canFrame	The frame that was read
[in]	ctrlRegister	The control register of the buffer to read from
[in]	dataRegister	The data register of the buffer to read from
[in]	intfMask	The interrupt flag of the buffer to reset after reading

Returns: If the read was successfull

Definition at line 224 of file mcp2515_can_interface.cpp.

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◆ read_register() [1/2]

bool isobus::MCP2515CANInterface::read_register	(	const MCPRegister	address,
		std::uint8_t &	data )

private

read a single byte register of the mcp2515

Parameters

[in]	address	The address of the register to read
[out]	data	The data that was read

Returns: If the read was successfull

Definition at line 95 of file mcp2515_can_interface.cpp.

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◆ read_register() [2/2]

bool isobus::MCP2515CANInterface::read_register	(	const MCPRegister	address,
		std::uint8_t *	data,
		const std::size_t	length )

private

read multiple byte register of the mcp2515

Parameters

[in]	address	The address of the register to read
[out]	data	The data that was read
[in]	length	The length of the data to read

Returns: If the read was successfull

Definition at line 116 of file mcp2515_can_interface.cpp.

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◆ reset()

bool isobus::MCP2515CANInterface::reset ( )

Resets the MCP2515.

Returns: true if the reset was successful, otherwise false

Definition at line 61 of file mcp2515_can_interface.cpp.

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◆ set_mode()

bool isobus::MCP2515CANInterface::set_mode ( const MCPMode mode )

private

set the mode of the mcp2515

Parameters

[in] mode The mode to set the mcp2515 to

Returns: If the mode was set successfully

Definition at line 201 of file mcp2515_can_interface.cpp.

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◆ write_frame() [1/2]

bool isobus::MCP2515CANInterface::write_frame ( const isobus::CANMessageFrame & canFrame )

overridevirtual

Writes a frame to the bus (synchronous)

Parameters

[in] canFrame The frame to write to the bus

Returns: true if the frame was written, otherwise false

Implements isobus::CANHardwarePlugin.

Definition at line 360 of file mcp2515_can_interface.cpp.

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◆ write_frame() [2/2]

bool isobus::MCP2515CANInterface::write_frame	(	const isobus::CANMessageFrame &	canFrame,
		const MCPRegister	ctrlRegister,
		const MCPRegister	sidhRegister )

private

Write a frame to a buffer on the mcp2515.

Parameters

[in]	canFrame	The frame to write
[in]	ctrlRegister	The control register of the buffer to write to
[in]	sidhRegister	The sidh register of the buffer to write to

Returns: If the write was successfull

Definition at line 297 of file mcp2515_can_interface.cpp.

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◆ write_register() [1/2]

bool isobus::MCP2515CANInterface::write_register	(	const MCPRegister	address,
		const std::uint8_t	data )

private

write a single byte register of the mcp2515

Parameters

[in]	address	The address of the register to write
[in]	data	The data to write to the register

Returns: If the write was successfull

Definition at line 167 of file mcp2515_can_interface.cpp.

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◆ write_register() [2/2]

bool isobus::MCP2515CANInterface::write_register	(	const MCPRegister	address,
		const std::uint8_t	data[],
		const std::size_t	length )

private

write multiple byte register of the mcp2515

Parameters

[in]	address	The address of the register to write
[in]	data	The data to write to the register
[in]	length	The length of the data to write to the register

Returns: If the write was successfull

Definition at line 183 of file mcp2515_can_interface.cpp.

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◆ write_reset()

bool isobus::MCP2515CANInterface::write_reset ( )

private

Reset the mcp2515 internally.

Returns: If the reset was successfull

Definition at line 153 of file mcp2515_can_interface.cpp.

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Member Data Documentation

◆ cfg1

const std::uint8_t isobus::MCP2515CANInterface::cfg1

private

Configuration value for CFG1 register.

Definition at line 178 of file mcp2515_can_interface.hpp.

◆ cfg2

const std::uint8_t isobus::MCP2515CANInterface::cfg2

private

Configuration value for CFG2 register.

Definition at line 179 of file mcp2515_can_interface.hpp.

◆ cfg3

const std::uint8_t isobus::MCP2515CANInterface::cfg3

private

Configuration value for CFG3 register.

Definition at line 180 of file mcp2515_can_interface.hpp.

◆ initialized

bool isobus::MCP2515CANInterface::initialized = false

private

If the mcp2515 has been initialized and no errors have occurred.

Definition at line 181 of file mcp2515_can_interface.hpp.

◆ RECEIVE_MESSAGE_READ_RATE

constexpr std::uint32_t isobus::MCP2515CANInterface::RECEIVE_MESSAGE_READ_RATE = 10

staticconstexprprivate

Hardcoded time in ms between polling the MCP2515 module for new messages, mostly arbitrary.

Definition at line 110 of file mcp2515_can_interface.hpp.

◆ rxIndex

std::uint8_t isobus::MCP2515CANInterface::rxIndex = 0

private

The index of the rx buffer to read from next.

Definition at line 175 of file mcp2515_can_interface.hpp.

◆ transactionHandler

SPIHardwarePlugin* isobus::MCP2515CANInterface::transactionHandler

private

The SPI transaction handler.

Definition at line 174 of file mcp2515_can_interface.hpp.

◆ txIndex

std::uint8_t isobus::MCP2515CANInterface::txIndex = 2

private

The index of the tx buffer to write to next, start with 2 as it is the buffer with the highest priority.

Definition at line 176 of file mcp2515_can_interface.hpp.

◆ txPriority

std::uint8_t isobus::MCP2515CANInterface::txPriority = 3

private

The priority of the next tx frame.

Definition at line 177 of file mcp2515_can_interface.hpp.

The documentation for this class was generated from the following files:

hardware_integration/include/isobus/hardware_integration/mcp2515_can_interface.hpp
hardware_integration/src/mcp2515_can_interface.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ MCPInstruction

◆ MCPMode

◆ MCPRegister

Constructor & Destructor Documentation

◆ MCP2515CANInterface()

◆ ~MCP2515CANInterface()

Member Function Documentation

◆ close()

◆ get_is_valid()

◆ get_read_status()

◆ modify_register()

◆ open()

◆ read_frame() [1/2]

◆ read_frame() [2/2]

◆ read_register() [1/2]

◆ read_register() [2/2]

◆ reset()

◆ set_mode()

◆ write_frame() [1/2]

◆ write_frame() [2/2]

◆ write_register() [1/2]

◆ write_register() [2/2]

◆ write_reset()

Member Data Documentation

◆ cfg1

◆ cfg2

◆ cfg3

◆ initialized

◆ RECEIVE_MESSAGE_READ_RATE

◆ rxIndex

◆ transactionHandler

◆ txIndex

◆ txPriority