init can bus
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5 changed files with 180 additions and 0 deletions
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@ -18,6 +18,8 @@ project(test C CXX ASM)
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pico_sdk_init()
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# == NODE 1 ==
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# the executable
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add_executable( node1 node1.c bme280.c pms5003.c )
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pico_set_program_version(node1 "0.1")
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@ -29,6 +31,8 @@ target_link_libraries( node1 pico_stdlib hardware_i2c)
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# create map/bin/hex file etc.
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pico_add_extra_outputs( node1 )
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# == WIFI SCAN ==
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add_executable(wifi_scan wifi_scan.c)
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target_include_directories(wifi_scan PRIVATE
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${CMAKE_CURRENT_LIST_DIR}
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@ -42,6 +46,7 @@ target_link_libraries(wifi_scan
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pico_add_extra_outputs(wifi_scan)
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# == MQTT TEST ==
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# Define the host name of the MQTT server in an environment variable or pass it to cmake,
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# e.g. cmake -DMQTT_SERVER=myserver ..
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@ -94,3 +99,11 @@ target_compile_definitions(${TARGET_NAME} PRIVATE
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)
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pico_add_extra_outputs(${TARGET_NAME})
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# == CAN BUS SENDER TEST ==
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add_executable( can_bus_sender_test can_bus_sender_test.c can_bus.c )
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pico_set_program_version(can_bus_sender_test "0.1")
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pico_set_program_name(can_bus_sender_test "Can Bus Sender Test")
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target_link_libraries(can_bus_sender_test pico_stdlib hardware_spi)
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pico_add_extra_outputs(can_bus_sender_test)
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109
can_bus.c
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109
can_bus.c
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@ -0,0 +1,109 @@
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#include "can_bus.h"
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// https://docs.cirkitdesigner.com/component/a4fea22c-a62d-453b-8645-1c8efe324cbc/mcp2515
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// https://learn.adafruit.com/adafruit-picowbell-can-bus-for-pico/overview
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// Pico Lib: https://github.com/adamczykpiotr/pico-mcp2515
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// Arduino Lib: https://github.com/autowp/arduino-mcp2515
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// MCP2515 is the cheap aliexpress boards I have
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// spi_inst_t* CHANNEL = spi0;
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// uint32_t SPI_CLOCK = DEFAULT_SPI_CLOCK
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//
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//
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// 10000000 //10Mhz
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#define MCP_SPI_CLOCK 5000000 // 5Mhz
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#define MCP_INSTRUCTION_RESET 0xC0
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#define MCP_INSTRUCTION_WRITE 0x02
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void mcp2515_init(mcp2515_config *config, uint8_t cs_pin, uint8_t tx_pin,
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uint8_t rx_pin, uint8_t sck_pin, spi_inst_t *spi_inst) {
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config->CHANNEL = spi_inst;
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config->CS_PIN = cs_pin;
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spi_init(config->CHANNEL, MCP_SPI_CLOCK);
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gpio_set_function(rx_pin, GPIO_FUNC_SPI);
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gpio_set_function(sck_pin, GPIO_FUNC_SPI);
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gpio_set_function(tx_pin, GPIO_FUNC_SPI);
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spi_set_format(config->CHANNEL, 8, SPI_CPOL_0, SPI_CPHA_0, SPI_MSB_FIRST);
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// Chip select is active-low, so we'll initialise it to a driven-high state
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gpio_init(config->CS_PIN);
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gpio_set_dir(config->CS_PIN, GPIO_OUT);
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// gpio_put(cs_pin, 0);
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}
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static void mcp2515_start_spi(mcp2515_config *config) {
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asm volatile("nop \n nop \n nop");
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gpio_put(config->CS_PIN, 0);
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asm volatile("nop \n nop \n nop");
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}
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static void mcp2515_end_spi(mcp2515_config *config) {
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asm volatile("nop \n nop \n nop");
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gpio_put(config->CS_PIN, 1);
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asm volatile("nop \n nop \n nop");
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}
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static void mcp2515_set_registers(mcp2515_config *config, const uint8_t reg,
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const uint8_t values[], const uint8_t n) {
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mcp2515_start_spi(config);
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uint8_t data[2] = {MCP_INSTRUCTION_WRITE, reg};
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spi_write_blocking(config->CHANNEL, data, 2);
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spi_write_blocking(config->CHANNEL, values, n);
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mcp2515_end_spi(config);
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}
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enum MCP_ERROR mcp2515_reset(mcp2515_config *config) {
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mcp2515_start_spi(config);
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uint8_t instruction = MCP_INSTRUCTION_RESET;
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spi_write_blocking(config->CHANNEL, &instruction, 1);
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mcp2515_end_spi(config);
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sleep_ms(10);
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uint8_t zeros[14];
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memset(zeros, 0, sizeof(zeros));
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// setRegisters(MCP_TXB0CTRL, zeros, 14);
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// setRegisters(MCP_TXB1CTRL, zeros, 14);
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// setRegisters(MCP_TXB2CTRL, zeros, 14);
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// setRegister(MCP_RXB0CTRL, 0);
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// setRegister(MCP_RXB1CTRL, 0);
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// setRegister(MCP_CANINTE,
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// CANINTF_RX0IF | CANINTF_RX1IF | CANINTF_ERRIF | CANINTF_MERRF);
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// receives all valid messages using either Standard or Extended Identifiers
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// that meet filter criteria. RXF0 is applied for RXB0, RXF1 is applied for
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// RXB1
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// modifyRegister(MCP_RXB0CTRL,
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// RXBnCTRL_RXM_MASK | RXB0CTRL_BUKT | RXB0CTRL_FILHIT_MASK,
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// RXBnCTRL_RXM_STDEXT | RXB0CTRL_BUKT | RXB0CTRL_FILHIT);
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// modifyRegister(MCP_RXB1CTRL, RXBnCTRL_RXM_MASK | RXB1CTRL_FILHIT_MASK,
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// RXBnCTRL_RXM_STDEXT | RXB1CTRL_FILHIT);
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// clear filters and masks
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// do not filter any standard frames for RXF0 used by RXB0
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// do not filter any extended frames for RXF1 used by RXB1
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// RXF filters[] = {RXF0, RXF1, RXF2, RXF3, RXF4, RXF5};
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// for (int i = 0; i < 6; i++) {
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// bool ext = (i == 1);
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// ERROR result = setFilter(filters[i], ext, 0);
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// if (result != ERROR_OK) {
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// return result;
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// }
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// }
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// MASK masks[] = {MASK0, MASK1};
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// for (int i = 0; i < 2; i++) {
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// ERROR result = setFilterMask(masks[i], true, 0);
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// if (result != ERROR_OK) {
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// return result;
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// }
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// }
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return ERROR_OK;
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}
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// mcp2515.setBitrate(CAN_125KBPS);
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// mcp2515.setLoopbackMode();
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38
can_bus.h
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38
can_bus.h
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@ -0,0 +1,38 @@
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#include "boards/pico.h"
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#include "hardware/spi.h"
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#include "pico/stdlib.h"
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#include "pico/time.h"
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// 16MHz 125Kbps
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#define MCP_CFG1 (0x03)
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#define MCP_CFG2 (0xF0)
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#define MCP_CFG3 (0x86)
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typedef struct {
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spi_inst_t *CHANNEL;
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uint8_t CS_PIN;
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// uint8_t TX_PIN;
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// uint8_t RX_PIN;
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// uint8_t SCK_PIN;
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// uint32_t SPI_CLOCK;
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} mcp2515_config;
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struct can_frame {
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uint32_t can_id; // 32 bit CAN_ID + EFF/RTR/ERR flags
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char can_dlc; // frame payload length in byte (0 .. CAN_MAX_DLEN) */
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char data[8]; // msg
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};
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enum MCP_ERROR {
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ERROR_OK = 0,
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ERROR_FAIL = 1,
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ERROR_ALLTXBUSY = 2,
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ERROR_FAILINIT = 3,
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ERROR_FAILTX = 4,
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ERROR_NOMSG = 5
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};
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void mcp2515_init(mcp2515_config *config, uint8_t cs_pin, uint8_t tx_pin,
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uint8_t rx_pin, uint8_t sck_pin, spi_inst_t *spi_inst);
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enum MCP_ERROR sendMessage(const struct can_frame *frame);
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enum MPC_ERROR readMessage(struct can_frame *frame);
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0
can_bus_reader_test.c
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0
can_bus_reader_test.c
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20
can_bus_sender_test.c
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20
can_bus_sender_test.c
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#include "pico/stdlib.h"
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#include <hardware/gpio.h>
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#include <hardware/spi.h>
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#include "can_bus.h"
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static mcp2515_config can_bus_config;
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int main() {
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stdio_init_all();
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// Setup BME280
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mcp2515_init(&can_bus_config, 13, 11, 12, 10, spi1);
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while (true) {
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// TODO: send message
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// mcp2515.reset();
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sleep_ms(1000);
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// tight_loop_contents();
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}
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}
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