Changeset 570 for trunk/electronics/avr

Timestamp:

10/15/09 12:51:15 (2 years ago)

Author:

auchtemm

Message:

added support for extended RTR frames

Location:

trunk/electronics/avr/can-bridge

Files:

• mcp.c (modified) (3 diffs)
• mcp.h (modified) (2 diffs)

trunk/electronics/avr/can-bridge/mcp.c

@@ -140 +140 @@
    uint8_t tmp;
    _setcs(kCSLow);
+   CANMSG_ZERO(msg);
    spi_send(kCmdReadRXBuffer | rxbuf);
-
-   tmp = spi_recv();
+   tmp = spi_recv(); //RXBnSIDH
    msg->addr[0] = tmp >> 3;
    msg->addr[1] = ((tmp & 0x07) << 5);
-   tmp = spi_recv();
+   tmp = spi_recv(); // RXBnSIDL
+   if (tmp & mRXBSIDL_IDE)
+      CANMSG_SET_FLAG(msg, mCANMSG_EX);
+   else if (tmp & mRXBSIDL_SRR)
+      CANMSG_SET_FLAG(msg, mCANMSG_RTR);
    msg->addr[1] |= ((tmp & 0xE0) >> 3) | (tmp & 0x03);
-   msg->addr[2] = spi_recv();
-   msg->addr[3] = spi_recv();
-
-   
-   //msg->sidh = spi_recv();
-   //msg->sidl = spi_recv();
-   //msg->sidl &= ~0x18;
-   //msg->eid8 = spi_recv();
-   //msg->eid0 = spi_recv();
-
-   msg->dlc = spi_recv() & 0x0F;
-
-   for (i = 0; i < msg->dlc; i++)
-      msg->data[i] = spi_recv();
+   msg->addr[2] = spi_recv(); // RXBnEID8
+   msg->addr[3] = spi_recv(); // RXBnEID0
+
+   tmp = spi_recv(); //DLC
+   msg->dlc = tmp & 0x0F;
+   if (CANMSG_TST_FLAG(msg, mCANMSG_EX) && (tmp & mRXBDLC_RTR))
+      CANMSG_SET_FLAG(msg, mCANMSG_RTR);
+
+   // data bytes are meaningless for RTR frames
+   if (!CANMSG_TST_FLAG(msg, mCANMSG_RTR)) {
+      for (i = 0; i < msg->dlc; i++)
+         msg->data[i] = spi_recv();
+   }
 
    _setcs(kCSHigh);
@@ -168 +171 @@
 {
    uint8_t i;
-   usart_put('T');
+   //usart_put('T');
+   switch (msg->flags & (mCANMSG_EX|mCANMSG_RTR)) {
+      case mCANMSG_EX:
+         usart_put('T'); break;
+      case mCANMSG_EX|mCANMSG_RTR:
+         usart_put('R'); break;
+   }
 
    for (i = 0; i < 4; i++)
       usart_print_hex(msg->addr[i]);
 
-   //usart_print_hex(msg->sidh);
-   //usart_print_hex(msg->sidl);
-   //usart_print_hex(msg->eid8);
-   //usart_print_hex(msg->eid0);
-
    usart_print_hex_nibble(msg->dlc);
-   for (i = 0; i < (msg->dlc & 0x0F); i++)
-      usart_print_hex(msg->data[i]);
+
+   if (!CANMSG_TST_FLAG(msg, mCANMSG_RTR)) {
+      for (i = 0; i < (msg->dlc & 0x0F); i++)
+         usart_print_hex(msg->data[i]);
+   }
 
    usart_put('\r');
@@ -199 +206 @@
    spi_send(msg->addr[3]);
 
-
-   //spi_send(msg->sidh);
-   //spi_send(msg->sidl | ((msg->flags & mCANMSG_EX) ? 0x08 : 0x00));
-   //spi_send(msg->eid8);
-   //spi_send(msg->eid0);
-
-   spi_send(msg->dlc);
-
-   for (i = 0; i < msg->dlc; i++)
-      spi_send(msg->data[i]);
+   spi_send(msg->dlc | (CANMSG_TST_FLAG(msg, mCANMSG_RTR) ? mTXBDLC_RTR : 0));
+
+   if (!CANMSG_TST_FLAG(msg, mCANMSG_RTR)) {
+      for (i = 0; i < msg->dlc; i++)
+         spi_send(msg->data[i]);
+   }
 
    _setcs(kCSHigh);

trunk/electronics/avr/can-bridge/mcp.h

@@ -73 +73 @@
 #define mCANMSG_EX    (1<<0)
 #define mCANMSG_RTR   (1<<1)
+
+#define mTXBDLC_RTR (1<<6)
+
+#define mRXBDLC_RTR (1<<6)
+#define mRXBSIDL_IDE (1<<3)
+#define mRXBSIDL_SRR (1<<4)
+
 /*
 typedef struct {
@@ -94 +101 @@
 void can_send_message(canmsg_t *msg);
 
-#define CAN_EID_ADDR(_sid, _eid) .sidh = (((_sid) >> 3) & 0xFF), .sidl = (((_sid) & 0x07) << 5) \
-                                     | (((_eid) >> 16) & 0x03), \
-                             .eid8 = (((_eid) >> 8) & 0xFF), .eid0 = ((_eid) & 0xFF), .flags = mCANMSG_EXIDE
-
 #define CANMSG_SET_FLAG(msg, flag_mask) (msg)->flags |= (flag_mask)
 #define CANMSG_CLR_FLAG(msg, flag_mask) (msg)->flags &= (flag_mask)
 #define CANMSG_TST_FLAG(msg, flag_mask) ((msg)->flags & (flag_mask))
-
 
 #define CANMSG_ZERO(msg) do { \