mcp2515_can_interface.hpp

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//================================================================================================
//================================================================================================
#ifndef MCP2515_CAN_INTERFACE_HPP
#define MCP2515_CAN_INTERFACE_HPP
 
#include <cstring>
#include <string>
#include <vector>
 
#include "isobus/hardware_integration/can_hardware_plugin.hpp"
#include "isobus/hardware_integration/spi_hardware_plugin.hpp"
#include "isobus/isobus/can_constants.hpp"
#include "isobus/isobus/can_hardware_abstraction.hpp"
#include "isobus/isobus/can_message_frame.hpp"
 
namespace isobus
{
    //================================================================================================
    //================================================================================================
    class MCP2515CANInterface : public CANHardwarePlugin
    {
    public:
        MCP2515CANInterface(SPIHardwarePlugin *transactionHandler, const std::uint8_t cfg1, const std::uint8_t cfg2, const std::uint8_t cfg3);
 
        virtual ~MCP2515CANInterface();
 
        bool get_is_valid() const override;
 
        void close() override;
 
        void open() override;
 
        bool reset();
 
        bool read_frame(isobus::CANMessageFrame &canFrame) override;
 
        bool write_frame(const isobus::CANMessageFrame &canFrame) override;
 
    private:
        enum class MCPInstruction : std::uint8_t
        {
            WRITE = 0x02,
            READ = 0x03,
            BITMOD = 0x05,
            RX_STATUS = 0xB0,
            READ_STATUS = 0xA0,
            RESET = 0xC0
        };
 
        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
        };
 
        enum class MCPMode : std::uint8_t
        {
            NORMAL = 0x00,
            SLEEP = 0x20,
            LOOPBACK = 0x40,
            LISTEN_ONLY = 0x60,
            CONFIG = 0x80,
        };
 
        static constexpr std::uint32_t RECEIVE_MESSAGE_READ_RATE = 10; 
 
        bool get_read_status(std::uint8_t &status);
 
        bool read_register(const MCPRegister address, std::uint8_t &data);
 
        bool read_register(const MCPRegister address, std::uint8_t *data, const std::size_t length);
 
        bool modify_register(const MCPRegister address, const std::uint8_t mask, const std::uint8_t data);
 
        bool write_register(const MCPRegister address, const std::uint8_t data);
 
        bool write_register(const MCPRegister address, const std::uint8_t data[], const std::size_t length);
 
        bool write_reset();
 
        bool set_mode(const MCPMode mode);
 
        bool read_frame(isobus::CANMessageFrame &canFrame, const MCPRegister ctrlRegister, const MCPRegister dataRegister, const std::uint8_t intfMask);
 
        bool write_frame(const isobus::CANMessageFrame &canFrame, const MCPRegister ctrlRegister, const MCPRegister sidhRegister);
 
        SPIHardwarePlugin *transactionHandler; 
        std::uint8_t rxIndex = 0; 
        std::uint8_t txIndex = 2; 
        std::uint8_t txPriority = 3; 
        const std::uint8_t cfg1; 
        const std::uint8_t cfg2; 
        const std::uint8_t cfg3; 
        bool initialized = false; 
    };
}
#endif // MCP2515_CAN_INTERFACE_HPP