public bool InitCAN(enBaudRate baudrate, UInt16 filter, UInt16 mask)
{
// Configure SPI
var configSPI = new SPI.Configuration(Pins.GPIO_NONE, LOW, 0, 0, HIGH, HIGH, 10000, SPI.SPI_module.SPI1); //a0 D10
spi = new SPI(configSPI);
// Write reset to the CAN transceiver.
// spi.Write(new byte[] { RESET });
//Read mode and make sure it is config
Thread.Sleep(100);
// BECKER WHAT IS HAPPENING HERE.
// byte mode = (byte)(ReadRegister(CANSTAT)); // >> 5);
// if (mode != 0x04)
// {
// return false;
// }
// else
// Must set the filters and masks while the 2515 is in reset state.
//SetMask(mask, filter);
//SetCANBaud(baudrate);
return(true);
}
/// <summary>Set the CAN baud rate.</summary>
/// <param name="baudrate">The configured baudrate.</param>
/// <returns>True if configured.</returns>
///
public bool SetCANBaud(enBaudRate baudrate)
{
byte brp;
//BRP<5:0> = 00h, so divisor (0+1)*2 for 125ns per quantum at 16MHz for 500K
//SJW<1:0> = 00h, Sync jump width = 1
switch (baudrate)
{
case enBaudRate.CAN_BAUD_10K:
brp = 5;
break;
case enBaudRate.CAN_BAUD_50K:
brp = 4;
break;
case enBaudRate.CAN_BAUD_100K:
brp = 3;
break;
case enBaudRate.CAN_BAUD_125K:
brp = 2;
break;
case enBaudRate.CAN_BAUD_250K:
brp = 1;
break;
case enBaudRate.CAN_BAUD_500K:
brp = 0;
break;
default:
return(false);
break;
}
byte[] cmdBuffer = new byte[] { WRITE, CNF1, (byte)(brp & 0x3F) };
spi.Write(cmdBuffer);
//PRSEG<2:0> = 0x01, 2 time quantum for prop
//PHSEG<2:0> = 0x06, 7 time constants to PS1 sample
//SAM = 0, just 1 sampling
//BTLMODE = 1, PS2 determined by CNF3
//spi.Write(new byte[] { WRITE, CNF2, 0xB1 });
//PHSEG2<2:0> = 5 for 6 time constants after sample
//spi.Write(new byte[] { WRITE, CNF3, 0x05 });
//spi.Write(new byte[] { WRITE, CNF1, 0x00 });
spi.Write(new byte[] { WRITE, CNF2, 0x90 });
spi.Write(new byte[] { WRITE, CNF3, 0x02 });
//SyncSeg + PropSeg + PS1 + PS2 = 1 + 2 + 7 + 6 = 16
return(true);
}
public bool InitCAN(enBaudRate baudrate, UInt16 filter0, UInt16 filter1, UInt16 mask)
{
// Configure SPI
var configSPI = new SPI.Configuration(Pins.GPIO_PIN_D2, LOW, 0, 0, HIGH, HIGH, 10000, SPI.SPI_module.SPI1); //a0 D10
spi = new SPI(configSPI);
// Write reset to the CAN transceiver.
spi.Write(new byte[] { RESET });
//Read mode and make sure it is config
Thread.Sleep(100);
{
SetMask(mask, filter0, false);
SetMask(mask, filter1, true);
SetCANBaud(baudrate);
return(true);
}
}
/// <summary>Initialize the CAN transceiver.</summary>
/// <param name="baudrate">The selected baud rate.</param>
/// <returns>True if configuration was successful.</returns>
/// <remarks>Transceiver needs to be set to normal mode before starting TX/RX operations.</remarks>
public bool InitCAN(enBaudRate baudrate)
{
// Configure SPI
var configSPI = new SPI.Configuration(SLAVESELECT, LOW, 0, 0, HIGH, HIGH, 10000, SPI.SPI_module.SPI1);
spi = new SPI(configSPI);
// Write reset to the CAN transceiver.
spi.Write(new byte[] { RESET });
//Read mode and make sure it is config
Thread.Sleep(100);
byte mode = (byte)(ReadRegister(CANSTAT) >> 5);
if (mode != 0x04)
{
return(false);
}
else
{
SetCANBaud(baudrate);
return(true);
}
}
/// <summary>Set the CAN baud rate.</summary>
/// <param name="baudrate">The configured baudrate.</param>
/// <returns>True if configured.</returns>
///
private bool SetCANBaud(enBaudRate baudrate)
{
byte brp;
//BRP<5:0> = 00h, so divisor (0+1)*2 for 125ns per quantum at 16MHz for 500K
//SJW<1:0> = 00h, Sync jump width = 1
switch (baudrate)
{
case enBaudRate.CAN_BAUD_10K:
brp = 5;
break;
case enBaudRate.CAN_BAUD_50K:
brp = 4;
break;
case enBaudRate.CAN_BAUD_100K:
brp = 3;
break;
case enBaudRate.CAN_BAUD_125K:
brp = 2;
break;
case enBaudRate.CAN_BAUD_250K:
brp = 1;
break;
case enBaudRate.CAN_BAUD_500K:
brp = 0;
break;
default:
return false;
}
byte[] cmdBuffer = new byte[] { WRITE, CNF1, (byte)(brp & 0x3F) };
spi.Write(cmdBuffer);
//PRSEG<2:0> = 0x01, 2 time quantum for prop
//PHSEG<2:0> = 0x06, 7 time constants to PS1 sample
//SAM = 0, just 1 sampling
//BTLMODE = 1, PS2 determined by CNF3
spi.Write(new byte[] { WRITE, CNF2, 0xB1 });
//PHSEG2<2:0> = 5 for 6 time constants after sample
spi.Write(new byte[] { WRITE, CNF3, 0x05 });
//1000 spi.Write(new byte[] { WRITE, CNF1, 0x00 });
//1000 spi.Write(new byte[] { WRITE, CNF2, 0x90 });
//1000 spi.Write(new byte[] { WRITE, CNF3, 0x02 });
//SyncSeg + PropSeg + PS1 + PS2 = 1 + 2 + 7 + 6 = 16
return true;
}
public bool InitCAN(enBaudRate baudrate, UInt16 filter0, UInt16 filter1, UInt16 mask)
{
// Configure SPI
var configSPI = new SPI.Configuration(Pins.GPIO_PIN_D2, LOW, 0, 0, HIGH, HIGH, 10000, SPI.SPI_module.SPI1); //a0 D10
spi = new SPI(configSPI);
// Write reset to the CAN transceiver.
spi.Write(new byte[] { RESET });
//Read mode and make sure it is config
Thread.Sleep(100);
{
SetMask(mask, filter0, false);
SetMask(mask, filter1, true);
SetCANBaud(baudrate);
return true;
}
}
/// <summary>Initialize the CAN transceiver.</summary>
/// <param name="baudrate">The selected baud rate.</param>
/// <returns>True if configuration was successful.</returns>
/// <remarks>Transceiver needs to be set to normal mode before starting TX/RX operations.</remarks>
public bool InitCAN(enBaudRate baudrate, UInt16 filter, UInt16 mask)
{
// Configure SPI
var configSPI = new SPI.Configuration(Pins.GPIO_PIN_D2, LOW, 0, 0, HIGH, HIGH, 10000, SPI.SPI_module.SPI1); //a0 D10
spi = new SPI(configSPI);
// Write reset to the CAN transceiver.
spi.Write(new byte[] { RESET });
//Read mode and make sure it is config
Thread.Sleep(100);
// BECKER WHAT IS HAPPENING HERE.
// byte mode = (byte)(ReadRegister(CANSTAT)); // >> 5);
// if (mode != 0x04)
// {
// return false;
// }
// else
{
// Must set the filters and masks while the 2515 is in reset state.
SetMask(mask, filter,false);
SetCANBaud(baudrate);
return true;
}
}
