CAN2515.h

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// Copyright (C) Sven Rosvall (sven@rosvall.ie)
// This file is part of VLCB-Arduino project on https://github.com/SvenRosvall/VLCB-Arduino
// Licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
// The full licence can be found at: http://creativecommons.org/licenses/by-nc-sa/4.0/
 
#pragma once
 
// header files
 
#include <Controller.h>
#include <CanTransport.h>
#include <ACAN2515.h>           // ACAN2515 library
#include <SPI.h>
 
namespace VLCB
{
 
// constants
 
static const byte MCP2515_CS = 10;                          // SPI chip select pin
static const byte MCP2515_INT = 2;                          // interrupt pin
static const byte NUM_RX_BUFFS = 4;                         // default value
static const byte NUM_TX_BUFFS = 2;                         // default value
static const uint32_t CANBITRATE = 125000UL;                // 125Kb/s - fixed for VLCB
static const uint32_t OSCFREQ = 16000000UL;                 // crystal frequency default

class CAN2515 : public CanTransport
{
public:
 
  CAN2515();

  // these methods are declared virtual in the base class and must be implemented by the derived class
#ifdef ARDUINO_ARCH_RP2040
  bool begin(bool poll = false, SPIClassRP2040 & spi = SPI);    // note default args
#else
  bool begin(bool poll = false, SPIClass & spi = SPI);
#endif
  virtual bool available() override;
  virtual CANFrame getNextCanFrame() override;
  virtual bool sendCanFrame(CANFrame *frame) override;
  virtual void reset() override;
  virtual byte getHardwareType() override { return CAN_HW_MCP2515; };
 
  // these methods are specific to this implementation
  // they are not declared or implemented by the Transport interface class
  void setNumBuffers(byte num_rx_buffers, byte num_tx_buffers = 0);      // note default arg
  void printStatus();
  void setOscFreq(unsigned long freq);
 
#ifdef ARDUINO_ARCH_RP2040
  void setPins(byte cs_pin, byte int_pin, byte mosi_pin, byte miso_pin, byte sck_pin);
#else
  void setPins(byte cs_pin, byte int_pin);
#endif
 
  virtual unsigned int receiveCounter() override { return _numMsgsRcvd; }
  virtual unsigned int transmitCounter() override { return _numMsgsSent; }
  virtual unsigned int receiveErrorCounter() override { return canp->receiveErrorCounter(); }
  virtual unsigned int transmitErrorCounter() override { return canp->transmitErrorCounter(); }
  virtual unsigned int receiveBufferSize() override { return canp->receiveBufferSize(); };
  virtual unsigned int transmitBufferSize() override { return canp->transmitBufferSize(0); };
  virtual unsigned int receiveBufferUsage() override { return canp->receiveBufferCount(); };
  virtual unsigned int transmitBufferUsage() override { return canp->transmitBufferCount(0); };
  virtual unsigned int receiveBufferPeak() override { return canp->receiveBufferPeakCount(); };
  virtual unsigned int transmitBufferPeak() override { return canp->transmitBufferPeakCount(0); };
  virtual unsigned int errorStatus() override { return canp->errorFlagRegister(); }
 
private:
  ACAN2515 *canp;   // pointer to CAN object
  unsigned int _numMsgsSent, _numMsgsRcvd;
  unsigned long _osc_freq;
  byte _csPin, _intPin;
  byte _num_rx_buffers, _num_tx_buffers;
  bool _poll;
 
#ifdef ARDUINO_ARCH_RP2040
  byte _mosi_pin, _miso_pin, _sck_pin;
#endif
};
 
}