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Update canbed_dual.cpp #3

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104 changes: 43 additions & 61 deletions canbed_dual.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
#include "canbed_dual.h"



unsigned long CANBedDual::char2long(unsigned char *str)
{
unsigned long __t = 0;
Expand Down Expand Up @@ -49,39 +48,39 @@ void CANBedDual::makeCanConfig()
unsigned long mf_mask3 = 0;
unsigned long mf_filt3 = 0;

long2char(can20_baud, &canconfig[0]);
long2char(canfd_baud, &canconfig[4]);
long2char(can20_baud, &canConfig[0]);
long2char(canfd_baud, &canConfig[4]);

// set mask&filt 0
canconfig[8] = mf_set0;
canconfig[9] = mf_ext0;
long2char(mf_mask0, &canconfig[10]);
long2char(mf_filt0, &canconfig[14]);
canConfig[8] = mf_set0;
canConfig[9] = mf_ext0;
long2char(mf_mask0, &canConfig[10]);
long2char(mf_filt0, &canConfig[14]);

// set mask&filt 1
canconfig[18] = mf_set1;
canconfig[19] = mf_ext1;
long2char(mf_mask1, &canconfig[20]);
long2char(mf_filt1, &canconfig[24]);
canConfig[18] = mf_set1;
canConfig[19] = mf_ext1;
long2char(mf_mask1, &canConfig[20]);
long2char(mf_filt1, &canConfig[24]);

// set mask&filt 2
canconfig[28] = mf_set2;
canconfig[29] = mf_ext2;
long2char(mf_mask2, &canconfig[30]);
long2char(mf_filt2, &canconfig[34]);
canConfig[28] = mf_set2;
canConfig[29] = mf_ext2;
long2char(mf_mask2, &canConfig[30]);
long2char(mf_filt2, &canConfig[34]);

// set mask&filt 3
canconfig[38] = mf_set3;
canconfig[39] = mf_ext3;
long2char(mf_mask3, &canconfig[40]);
long2char(mf_filt3, &canconfig[44]);
canConfig[38] = mf_set3;
canConfig[39] = mf_ext3;
long2char(mf_mask3, &canConfig[40]);
long2char(mf_filt3, &canConfig[44]);
}

void CANBedDual::sendConfig()
{
CANI2C.beginTransmission(0x41);
CANI2C.write(canNum ? 0x19 : 0x09);
CANI2C.write(canconfig, 48);
CANI2C.write(canConfig, 48);
CANI2C.endTransmission();

delay(10);
Expand All @@ -90,8 +89,8 @@ void CANBedDual::sendConfig()
void CANBedDual::init(unsigned long speed)
{
makeCanConfig();
long2char(speed, &canconfig[0]);
long2char(1000000, &canconfig[4]);
long2char(speed, &canConfig[0]);
long2char(1000000, &canConfig[4]);

sendConfig();
}
Expand All @@ -100,39 +99,29 @@ void CANBedDual::initFD(unsigned long speed20, unsigned long speedfd)
{

makeCanConfig();
long2char(speed20, &canconfig[0]);
long2char(speedfd, &canconfig[4]);
long2char(speed20, &canConfig[0]);
long2char(speedfd, &canConfig[4]);

sendConfig();
}

void CANBedDual::initMaskFilt(unsigned char num, unsigned char ext, unsigned long mask, unsigned long filt)
{
if(num > 3)return;
canconfig[10*num+8] = 1;
canconfig[10*num+9] = ext;
long2char(mask, &canconfig[10+10*num]);
long2char(filt, &canconfig[14+10*num]);
if(num > 3) return;
canConfig[10*num+8] = 1;
canConfig[10*num+9] = ext;
long2char(mask, &canConfig[10+10*num]);
long2char(filt, &canConfig[14+10*num]);

sendConfig();

}

void CANBedDual::send(unsigned long id, unsigned char ext, unsigned char rtr, unsigned char fd, unsigned char len, unsigned char *dta)
{
/* if(micros()-timerDelay < DELAY_TIME)
{
delayMicroseconds(DELAY_TIME-(micros()-timerDelay));
}
timerDelay = micros();
*/
unsigned char dsend[100];

dsend[0] = canNum ? 0x15 : 0X05;
dsend[4] = id&0xff;
dsend[3] = (id>>8)&0xff;
dsend[2] = (id>>16)&0xff;
dsend[1] = (id>>24)&0xff;
long2char(id, &dsend[1]);

dsend[5] = rtr; // data or remote, 1:remote, 0:data
dsend[6] = ext; // standard or ext, 1 ext, 0 standard
Expand All @@ -145,39 +134,32 @@ void CANBedDual::send(unsigned long id, unsigned char ext, unsigned char rtr, un
dsend[i+9] = dta[i];
}

CANI2C.beginTransmission(0x41);
CANI2C.beginTransmission(I2C_ADDR);
CANI2C.write(dsend, dsend[8] + 9);
CANI2C.endTransmission();
}

byte CANBedDual::checkRecv()
{

CANI2C.beginTransmission(0x41);
CANI2C.beginTransmission(I2C_ADDR);
CANI2C.write(canNum ? 0x14 : 0x04);
CANI2C.endTransmission();

CANI2C.requestFrom(0x41, 1);
CANI2C.requestFrom(I2C_ADDR, 1);
int len = CANI2C.read();

return len;
}

byte CANBedDual::read(unsigned long *id, int *ext, int *rtr, int *fd, int *len, unsigned char *str)
{
/* if(micros()-timerDelay < DELAY_TIME)
{
delayMicroseconds(DELAY_TIME-(micros()-timerDelay));
}
timerDelay = micros();
*/
if(checkRecv() == 0)return 0;
if(checkRecv() == 0) return 0;

CANI2C.beginTransmission(0x41);
CANI2C.beginTransmission(I2C_ADDR);
CANI2C.write(canNum ? 0x16 : 0x06);
CANI2C.endTransmission();

CANI2C.requestFrom(0x41, 8);
CANI2C.requestFrom(I2C_ADDR, 8);

unsigned char strg[100];

Expand All @@ -200,35 +182,35 @@ byte CANBedDual::read(unsigned long *id, int *ext, int *rtr, int *fd, int *len,

if(dtaLen <= 32)
{
CANI2C.beginTransmission(0x41);
CANI2C.beginTransmission(I2C_ADDR);
CANI2C.write(canNum ? 0x17 : 0x07);
CANI2C.endTransmission();

CANI2C.requestFrom(0x41, 8);
CANI2C.requestFrom(I2C_ADDR, dtaLen);

for(int i=0; i<8; i++)
for(int i=0; i<dtaLen; i++)
{
str[i]= CANI2C.read();
}
}
else
{
CANI2C.beginTransmission(0x41);
CANI2C.beginTransmission(I2C_ADDR);
CANI2C.write(canNum ? 0x17 : 0x07);
CANI2C.endTransmission();

CANI2C.requestFrom(0x41, 32);
CANI2C.requestFrom(I2C_ADDR, 32);

for(int i=0; i<32; i++)
{
str[i]= CANI2C.read();
}

CANI2C.beginTransmission(0x41);
CANI2C.beginTransmission(I2C_ADDR);
CANI2C.write(canNum ? 0x18 : 0x08);
CANI2C.endTransmission();

CANI2C.requestFrom(0x41, dtaLen-32);
CANI2C.requestFrom(I2C_ADDR, dtaLen-32);

for(int i=0; i<(dtaLen-32); i++)
{
Expand All @@ -239,4 +221,4 @@ byte CANBedDual::read(unsigned long *id, int *ext, int *rtr, int *fd, int *len,
return dtaLen;
}