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modm::Mcp2515< SPI, CS, INT > Class Template Reference
External Device Drivers » MPC2515 External CAN Controller

Driver for the MPC2515 CAN controller. More...

#include <modm/driver/can/mcp2515.hpp>

Inheritance diagram for modm::Mcp2515< SPI, CS, INT >:
modm::Can modm::PeripheralDriver

Public Types

enum  Register {
  RXF0SIDH = 0x00, RXF0SIDL = 0x01, RXF0EID8 = 0x02, RXF0EID0 = 0x03,
  RXF1SIDH = 0x04, RXF1SIDL = 0x05, RXF1EID8 = 0x06, RXF1EID0 = 0x07,
  RXF2SIDH = 0x08, RXF2SIDL = 0x09, RXF2EID8 = 0x0A, RXF2EID0 = 0x0B,
  BFPCTRL = 0x0C, TXRTSCTRL = 0x0D, CANSTAT = 0x0E, CANCTRL = 0x0F,
  RXF3SIDH = 0x10, RXF3SIDL = 0x11, RXF3EID8 = 0x12, RXF3EID0 = 0x13,
  RXF4SIDH = 0x14, RXF4SIDL = 0x15, RXF4EID8 = 0x16, RXF4EID0 = 0x17,
  RXF5SIDH = 0x18, RXF5SIDL = 0x19, RXF5EID8 = 0x1A, RXF5EID0 = 0x1B,
  TEC = 0x1C, REC = 0x1D, RXM0SIDH = 0x20, RXM0SIDL = 0x21,
  RXM0EID8 = 0x22, RXM0EID0 = 0x23, RXM1SIDH = 0x24, RXM1SIDL = 0x25,
  RXM1EID8 = 0x26, RXM1EID0 = 0x27, CNF3 = 0x28, CNF2 = 0x29,
  CNF1 = 0x2A, CANINTE = 0x2B, CANINTF = 0x2C, EFLG = 0x2D,
  TXB0CTRL = 0x30, TXB0SIDH = 0x31, TXB0SIDL = 0x32, TXB0EID8 = 0x33,
  TXB0EID0 = 0x34, TXB0DLC = 0x35, TXB0D0 = 0x36, TXB0D1 = 0x37,
  TXB0D2 = 0x38, TXB0D3 = 0x39, TXB0D4 = 0x3A, TXB0D5 = 0x3B,
  TXB0D6 = 0x3C, TXB0D7 = 0x3D, TXB1CTRL = 0x40, TXB1SIDH = 0x41,
  TXB1SIDL = 0x42, TXB1EID8 = 0x43, TXB1EID0 = 0x44, TXB1DLC = 0x45,
  TXB1D0 = 0x46, TXB1D1 = 0x47, TXB1D2 = 0x48, TXB1D3 = 0x49,
  TXB1D4 = 0x4A, TXB1D5 = 0x4B, TXB1D6 = 0x4C, TXB1D7 = 0x4D,
  TXB2CTRL = 0x50, TXB2SIDH = 0x51, TXB2SIDL = 0x52, TXB2EID8 = 0x53,
  TXB2EID0 = 0x54, TXB2DLC = 0x55, TXB2D0 = 0x56, TXB2D1 = 0x57,
  TXB2D2 = 0x58, TXB2D3 = 0x59, TXB2D4 = 0x5A, TXB2D5 = 0x5B,
  TXB2D6 = 0x5C, TXB2D7 = 0x5D, RXB0CTRL = 0x60, RXB0SIDH = 0x61,
  RXB0SIDL = 0x62, RXB0EID8 = 0x63, RXB0EID0 = 0x64, RXB0DLC = 0x65,
  RXB0D0 = 0x66, RXB0D1 = 0x67, RXB0D2 = 0x68, RXB0D3 = 0x69,
  RXB0D4 = 0x6A, RXB0D5 = 0x6B, RXB0D6 = 0x6C, RXB0D7 = 0x6D,
  RXB1CTRL = 0x70, RXB1SIDH = 0x71, RXB1SIDL = 0x72, RXB1EID8 = 0x73,
  RXB1EID0 = 0x74, RXB1DLC = 0x75, RXB1D0 = 0x76, RXB1D1 = 0x77,
  RXB1D2 = 0x78, RXB1D3 = 0x79, RXB1D4 = 0x7A, RXB1D5 = 0x7B,
  RXB1D6 = 0x7C, RXB1D7 = 0x7D
}
 Adressen der Register des MCP2515. More...
 
enum  BFPCTRL {
  B1BFS = (1 << 5), B0BFS = (1 << 4), B1BFE = (1 << 3), B0BFE = (1 << 2),
  B1BFM = (1 << 1), B0BFM = (1 << 0)
}
 Bitdefinition von BFPCTRL.
 
enum  TXRTSCTRL {
  B2RTS = (1 << 5), B1RTS = (1 << 4), B0RTS = (1 << 3), B2RTSM = (1 << 2),
  B1RTSM = (1 << 1), B0RTSM = (1 << 0)
}
 Bitdefinition von TXRTSCTRL.
 
enum  CANSTAT {
  OPMOD2 = (1 << 7), OPMOD1 = (1 << 6), OPMOD0 = (1 << 5), ICOD2 = (1 << 3),
  ICOD1 = (1 << 2), ICOD0 = (1 << 1)
}
 Bitdefinition von CANSTAT.
 
enum  CANCTRL {
  REQOP2 = (1 << 7), REQOP1 = (1 << 6), REQOP0 = (1 << 5), ABAT = (1 << 4),
  CLKEN = (1 << 2), CLKPRE1 = (1 << 1), CLKPRE0 = (1 << 0)
}
 Bitdefinition von CANCTRL.
 
enum  CNF3 { WAKFIL = (1 << 6), PHSEG22 = (1 << 2), PHSEG21 = (1 << 1), PHSEG20 = (1 << 0) }
 Bitdefinition von CNF3.
 
enum  CNF2 {
  BTLMODE = (1 << 7), SAM = (1 << 6), PHSEG12 = (1 << 5), PHSEG11 = (1 << 4),
  PHSEG10 = (1 << 3), PHSEG2 = (1 << 2), PHSEG1 = (1 << 1), PHSEG0 = (1 << 0)
}
 Bitdefinition von CNF2.
 
enum  CNF1 {
  MCP2515_SJW1 = (1 << 7), MCP2515_SJW0 = (1 << 6), MCP2515_BRP5 = (1 << 5), MCP2515_BRP4 = (1 << 4),
  MCP2515_BRP3 = (1 << 3), MCP2515_BRP2 = (1 << 2), MCP2515_BRP1 = (1 << 1), MCP2515_BRP0 = (1 << 0)
}
 Bitdefinition von CNF1.
 
enum  CANINTE {
  MERRE = (1 << 7), WAKIE = (1 << 6), ERRIE = (1 << 5), TX2IE = (1 << 4),
  TX1IE = (1 << 3), TX0IE = (1 << 2), RX1IE = (1 << 1), RX0IE = (1 << 0)
}
 Bitdefinition von CANINTE.
 
enum  CANINTF {
  MERRF = (1 << 7), WAKIF = (1 << 6), ERRIF = (1 << 5), TX2IF = (1 << 4),
  TX1IF = (1 << 3), TX0IF = (1 << 2), RX1IF = (1 << 1), RX0IF = (1 << 0)
}
 Bitdefinition von CANINTF.
 
enum  EFLG {
  RX1OVR = (1 << 7), RX0OVR = (1 << 6), TXB0 = (1 << 5), TXEP = (1 << 4),
  RXEP = (1 << 3), TXWAR = (1 << 2), RXWAR = (1 << 1), EWARN = (1 << 0)
}
 Bitdefinition von EFLG.
 
enum  TXBnCTRL {
  ABTF = (1 << 6), MLOA = (1 << 5), TXERR = (1 << 4), TXREQ = (1 << 3),
  TXP1 = (1 << 1), TXP0 = (1 << 0)
}
 Bitdefinition von TXBnCTRL (n = 0, 1), 2)
 
enum  RXB0CTRL {
  RXM1 = (1 << 6), RXM0 = (1 << 5), RXRTR = (1 << 3), BUKT = (1 << 2),
  BUKT1 = (1 << 1), FILHIT0 = (1 << 0)
}
 Bitdefinition von RXB0CTRL.
 
enum  TXBnSIDL { EXIDE = (1 << 3) }
 Bitdefinition von TXBnSIDL (n = 0, 1)
 
enum  RXB1CTRL { FILHIT2 = (1 << 2), FILHIT1 = (1 << 1) }
 Bitdefinition von RXB1CTRL. More...
 
enum  RXBnSIDL { MCP2515_SRR = (1 << 4), MCP2515_IDE = (1 << 3) }
 Bitdefinition von RXBnSIDL (n = 0, 1)
 
enum  RXBnDLC {
  MCP2515_RTR = (1 << 6), MCP2515_DLC3 = (1 << 3), MCP2515_DLC2 = (1 << 2), MCP2515_DLC1 = (1 << 1),
  MCP2515_DLC0 = (1 << 0)
}
 Bitdefinition von RXBnDLC (n = 0, 1) More...
 
enum  Status {
  CANINTF_TX2IF = (1 << 7), TXB2CNTRL_TXREQ = (1 << 6), CANINTF_TX1IF = (1 << 5), TXB1CNTRL_TXREQ = (1 << 4),
  CANINTF_TX0IF = (1 << 3), TXB0CNTRL_TXREQ = (1 << 2), CANINTF_RX1IF = (1 << 1), CANINTF_RX0IF = (1 << 0)
}
 Definition of the status register.
 
enum  RxStatus {
  FLAG_RXB1_FULL = (1 << 7), FLAG_RXB0_FULL = (1 << 6), FLAG_EXTENDED = (1 << 4), FLAG_RTR = (1 << 3),
  TYPE_EXTENDED_REMOTE_FRAME = (1 << 4) | (1 << 3), TYPE_EXTENDED_DATA_FRAME = (1 << 4), TYPE_STANDARD_REMOTE_FRAME = (1 << 3), TYPE_STANDARD_DATA_FRAME = 0,
  MATCH_RXF1_ROLLOVER_TO_RXB1 = 7, MATCH_RXF0_ROLLOVER_TO_RXB1 = 6, MATCH_RXF5 = 5, MATCH_RXF4 = 4,
  MATCH_RXF3 = 3, MATCH_RXF2 = 2, MATCH_RXF1 = 1, MATCH_RXF0 = 0
}
 Definition of the receive status register.
 
enum  BusState : uint8_t { BusState::Connected = 0, BusState::ErrorWarning = 1, BusState::ErrorPassive = 2, Off = 3 }
 
enum  Mode : uint8_t { Mode::Normal = 0b00, Mode::ListenOnly = 0b01, Mode::LoopBack = 0b10, Mode::ListenOnlyLoopBack = 0b11 }
 Possible modes of the CAN controller. More...
 

Static Public Member Functions

template<frequency_t ExternalClock, bitrate_t bitrate = kbps(125), percent_t tolerance = pct(1)>
static bool initialize ()
 
static void setFilter (accessor::Flash< uint8_t > filter)
 
static void setMode (Can::Mode mode)
 
static bool isMessageAvailable ()
 
static bool getMessage (can::Message &message)
 
static bool isReadyToSend ()
 
static bool sendMessage (const can::Message &message)
 
static BusState getBusState ()
 
static void acknowledgeInterruptFlag ()
 
template<uint64_t available, uint64_t requested, percent_t tolerance>
static void assertBaudrateInTolerance ()
 
template<double available, double requested, percent_t tolerance>
static void assertDurationInTolerance ()
 
static void configurePurpose ()
 configures a peripheral for a specific purpose
 
template<class... Signals>
static void connect ()
 
static bool getInterruptFlag ()
 Read an interrupt flag.
 
static void getParameter ()
 returns a parameter
 
static uint8_t getReceiveErrorCounter ()
 Get Receive Error Counter.
 
static uint8_t getTransmitErrorCounter ()
 Get Transmit Error Counter.
 
template<class SystemClock , bitrate_t bitrate = 125_kbps, percent_t tolerance = 1_pct>
static void initialize (Mode startupMode)
 
static void setParameter ()
 sets a parameter
 

Static Public Attributes

static constexpr size_t RxBufferSize = 16
 Size of the receive buffer.
 
static constexpr size_t TxBufferSize = 16
 Size of the transmit buffer.
 

Protected Types

enum  SpiCommand {
  RESET = 0xC0, READ = 0x03, READ_RX = 0x90, WRITE = 0x02,
  WRITE_TX = 0x40, RTS = 0x80, READ_STATUS = 0xA0, RX_STATUS = 0xB0,
  BIT_MODIFY = 0x05
}
 

Static Protected Member Functions

static void writeRegister (uint8_t address, uint8_t data)
 
static uint8_t readRegister (uint8_t address)
 
static void bitModify (uint8_t address, uint8_t mask, uint8_t data)
 
static uint8_t readStatus (uint8_t type)
 
static void writeIdentifier (const uint32_t &identifier, bool isExtendedFrame)
 
static bool readIdentifier (uint32_t &identifier)
 

Static Protected Attributes

static SPI spi
 
static CS chipSelect
 
static INT interruptPin
 

Detailed Description

template<typename SPI, typename CS, typename INT>
class modm::Mcp2515< SPI, CS, INT >

Driver for the MPC2515 CAN controller.

Template Parameters
SPISPI interface
CSChip select pin
INTInterrupt pin

If you want to activate the internal pull-up for the INT pin you need to do this by yourself before calling the initialize method!

Author
Fabian Greif

Member Enumeration Documentation

enum modm::Can::BusState : uint8_t
inheritedstrong
Enum ValuesDocumentation
Connected 

This bit is set by hardware when the warning limit has been reached (Receive Error Counter or Transmit Error Counter ≥ 96).

ErrorWarning 

This bit is set by hardware when the Error Passive limit has been reached (Receive Error Counter or Transmit Error Counter > 127).

ErrorPassive 

This bit is set by hardware when it enters the bus-off state. The bus-off state is entered on TEC overflow, greater than 255

enum modm::Can::Mode : uint8_t
inheritedstrong

Possible modes of the CAN controller.

Enum ValuesDocumentation
Normal 

standard operation mode

ListenOnly 

only possible to receive messages

LoopBack 

messages sent are immediately received by own controller

ListenOnlyLoopBack 

combination of both modes

Member Function Documentation

static void modm::PeripheralDriver::acknowledgeInterruptFlag ( )
inheritedstatic

Acknowledge an interrupt flag.

We use acknowledge here, since it describes the intention rather than the actual implementation.

template<uint64_t available, uint64_t requested, percent_t tolerance>
static void modm::PeripheralDriver::assertBaudrateInTolerance ( )
inheritedinlinestatic

Since baudrates are usually generated by prescaling a system clock, only several distinct values can be generated. This method checks if the user requested baudrate is within error tolerance of the system achievable baudrate.

template<class... Signals>
static void modm::Can::connect ( )
inheritedstatic

Configures the Tx and Rx signals and connects them.

Template Parameters
SignalsOne Tx and one Rx signal are required and can be passed out-of-order.
template<class SystemClock , bitrate_t bitrate = 125_kbps, percent_t tolerance = 1_pct>
static void modm::Can::initialize ( Mode  startupMode)
inheritedstatic

Initializes the hardware and sets the baudrate.

Template Parameters
SystemClockthe currently active system clock
bitratethe desired bitrate in Hz
tolerancethe allowed relative tolerance for the resulting baudrate
The documentation for this class was generated from the following files: