changed mcp2515 driver to use nonblocking spi

examples/nucleo_f439zi/can_m2515/main.cpp

@@ -0,0 +1,139 @@
+/*
+ * Copyright (c) 2013, Kevin Läufer
+ * Copyright (c) 2013-2017, Niklas Hauser
+ * Copyright (c) 2016, Raphael Lehmann
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/platform/spi/spi_master_1.hpp>
+#include <modm/platform/spi/spi_master_2.hpp>
+#include <modm/processing/protothread.hpp>
+#include <modm/driver/can/mcp2515.hpp>
+
+#define SENDER 1
+
+// Set the log level
+#undef MODM_LOG_LEVEL
+#define MODM_LOG_LEVEL modm::log::DEBUG
+
+// If you use a different SPI instance, you may have to also choose different
+// GPIOs to connect to.
+using Cs = GpioOutputA4;
+using Mosi = GpioOutputB5;
+using Miso = GpioInputB4;
+using Sck = GpioOutputB3;
+using Int = GpioInputC7;
+using SpiMaster = SpiMaster1;
+// Note that you can also use a bit-banged SPI driver as a drop-in replacement
+// using SpiMaster = BitBangSpiMaster<Sck, Mosi, Miso>;
+
+// Default filters to receive any extended CAN frame
+FLASH_STORAGE(uint8_t canFilter[]) = {
+	MCP2515_FILTER_EXTENDED(0),  // Filter 0
+	MCP2515_FILTER_EXTENDED(0),  // Filter 1
+
+	MCP2515_FILTER_EXTENDED(0),  // Filter 2
+	MCP2515_FILTER_EXTENDED(0),  // Filter 3
+	MCP2515_FILTER_EXTENDED(0),  // Filter 4
+	MCP2515_FILTER_EXTENDED(0),  // Filter 5
+
+	MCP2515_FILTER_EXTENDED(0),  // Mask 0
+	MCP2515_FILTER_EXTENDED(0),  // Mask 1
+};
+
+modm::Mcp2515<SpiMaster, Cs, Int> mcp2515;
+
+class MyTask : modm::pt::Protothread
+{
+public:
+	MyTask() :
+		message_{0x1337},
+		i_{0},
+		j_{0}
+		{}
+
+	bool
+	run()
+	{
+		PT_BEGIN();
+
+		MODM_LOG_INFO << "Initializing mcp2515 ..." << modm::endl;
+		// Configure MCP2515 and set the filters
+		initialized_ = mcp2515.initialize<8_MHz, 500_kbps>();
+		MODM_LOG_INFO << "Success: " << initialized_ << modm::endl;
+		mcp2515.setFilter(modm::accessor::asFlash(canFilter));
+		MODM_LOG_INFO << "Running ... " << modm::endl;
+#if SENDER == 0
+		while (initialized_)
+		{
+			// receive messages
+			if (mcp2515.isMessageAvailable())
+			{
+				MODM_LOG_INFO << "Message Available ... " << modm::endl;
+				mcp2515.getMessage(message_);
+				for(i_ = 0; i_ < message_.length; ++i_){
+					MODM_LOG_INFO << modm::hex<< " 0x" << message_.data[i_];
+				}
+				MODM_LOG_INFO << modm::endl;
+				MODM_LOG_INFO << "Received message [" << j_ << "]: " << modm::hex << message_.identifier << modm::endl;
+				j_+=1;
+				MODM_LOG_INFO << modm::endl;
+			}
+			PT_CALL(mcp2515.update());
+		}
+#else
+		while (initialized_)
+		{
+			wait_.restart(1000ms);
+			PT_WAIT_UNTIL(wait_.isExpired());
+			message_.length = 2;
+			message_.data[0] = i_++;
+			message_.data[1] = i_++;
+			MODM_LOG_INFO << "Sending Message ... "<< modm::endl;
+			for(j_ = 0; j_ < message_.length; ++j_){
+				MODM_LOG_INFO << modm::hex<< " 0x" << message_.data[j_];
+			}
+			MODM_LOG_INFO << modm::endl;
+			mcp2515.sendMessage(message_);
+			PT_CALL(mcp2515.update());
+		}
+#endif
+
+		PT_END();
+	}
+
+private:
+	modm::can::Message message_;
+	bool initialized_;
+	modm::ShortTimeout wait_;
+	uint8_t i_, j_;
+};
+
+MyTask task;
+
+int
+main()
+{
+	Board::initialize();
+
+	MODM_LOG_INFO << "Hello" << modm::endl;
+	// Initialize SPI interface and the other pins
+	// needed by the MCP2515
+	SpiMaster::connect<Miso::Miso, Mosi::Mosi, Sck::Sck>();
+	/// we initialize a higher baud rate then n the avr example, dunnow hats the mcp2515 is capable
+	/// of
+	SpiMaster::initialize<Board::SystemClock, 20_MHz>();
+	Cs::setOutput();
+	Int::setInput(Gpio::InputType::PullUp);
+
+	while (true) {
+		task.run();
+	}
+}

examples/nucleo_f439zi/can_m2515/project.xml

@@ -0,0 +1,18 @@
+<library>
+  <extends>modm:nucleo-f439zi</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/stm32f4_discovery/mcp2515</option>
+  </options>
+  <modules>
+    <module>modm:platform:gpio</module>
+    <module>modm:platform:spi.bitbang</module>
+    <module>modm:platform:spi:1</module>
+    <module>modm:platform:spi:2</module>
+    <module>modm:build:scons</module>
+
+    <module>modm:processing:protothread</module>
+    <module>modm:processing:timer</module>
+    <module>modm:driver:mcp2515</module>
+
+  </modules>
+</library>

src/modm/driver/can/mcp2515.hpp

@@ -20,6 +20,11 @@
 #include <modm/architecture/interface/accessor.hpp>
 #include <modm/architecture/interface/delay.hpp>
 #include <modm/architecture/interface/can.hpp>
+#include <modm/architecture/interface/spi_device.hpp>
+#include <modm/architecture/driver/atomic/queue.hpp>
+#include <modm/processing/protothread.hpp>
+#include <modm/processing/resumable.hpp>
+#include <modm/processing/timer.hpp>
 #include <modm/debug/logger.hpp>
 
 #include "mcp2515_definitions.hpp"
@@ -115,15 +120,24 @@ namespace modm
 	template < typename SPI,
 			   typename CS,
 			   typename INT >
-    class Mcp2515 : public ::modm::Can
+    class Mcp2515 : public modm::Can,
+					public modm::SpiDevice<SPI>,
+					protected modm::NestedResumable<4>
 	{
 	public:
+		Mcp2515() : messageBuffer_{}, delayR_{}, delayS_{} {
+			this->attachConfigurationHandler([]() {
+				SPI::setDataMode(SPI::DataMode::Mode3);
+				SPI::setDataOrder(SPI::DataOrder::MsbFirst);
+			});
+		}
+
 		template<frequency_t ExternalClock, bitrate_t bitrate=kbps(125), percent_t tolerance=pct(1) >
-		static inline bool
+		static bool
 		initialize();
 
 	private:
-		static inline bool
+		static bool
 		initializeWithPrescaler(
 			uint8_t prescaler,
 			uint8_t sjw,
@@ -132,25 +146,25 @@ namespace modm
 			uint8_t ps2);
 
 	public:
-		static void
+		void
 		setFilter(accessor::Flash<uint8_t> filter);
 
-		static void
+		void
 		setMode(Can::Mode mode);
 
 
 		static inline bool
 		isMessageAvailable();
 
 		static bool
-		getMessage(can::Message& message);
+		getMessage(can::Message& message, uint8_t *filter_id=nullptr);
 
 		/*
 		 * The CAN controller has a free slot to send a new message.
 		 *
 		 * \return true if a slot is available, false otherwise
 		 */
-		static inline bool
+		static bool
 		isReadyToSend();
 
 		/*
@@ -161,18 +175,27 @@ namespace modm
 		static bool
 		sendMessage(const can::Message& message);
 
+		/*
+		 * Poll the transmit buffer (should be called periodically)
+		 *
+		 * \return true if a message was send this cycle, false otherwise
+		 */
+		modm::ResumableResult<bool>
+		update();
+
+
     public:
         // Extended Functionality
 
         /*
          * Fixme: Empty implementation, required by connector
          */
-        static BusState
+        BusState
         getBusState() {
             return BusState::Connected;
         }
 
-	protected:
+	private:
 		enum SpiCommand
 		{
 			RESET = 0xC0,
@@ -186,28 +209,61 @@ namespace modm
 			BIT_MODIFY = 0x05
 		};
 
+		modm::ResumableResult<bool>
+		mcp2515ReadMessage();
+
+		bool
+		mcp2515IsReadyToSend(uint8_t status);
+
+		modm::ResumableResult<bool>
+		mcp2515IsReadyToSend();
+
+		modm::ResumableResult<bool>
+		mcp2515SendMessage(const can::Message& message);
+
 		static void
 		writeRegister(uint8_t address, uint8_t data);
 
 		static uint8_t
 		readRegister(uint8_t address);
 
-		static void
+		void
 		bitModify(uint8_t address, uint8_t mask, uint8_t data);
 
-		static uint8_t
+		modm::ResumableResult<uint8_t>
 		readStatus(uint8_t type);
 
-		static inline void
+		modm::ResumableResult<void>
 		writeIdentifier(const uint32_t& identifier, bool isExtendedFrame);
 
-		static inline bool
+		modm::ResumableResult<bool>
 		readIdentifier(uint32_t& identifier);
 
-	protected:
+	private:
+		inline static modm::atomic::Queue<modm::can::Message, 32> txQueue;
+		inline static modm::atomic::Queue<modm::can::Message, 32> rxQueue;
+
 		static SPI spi;
 		static CS chipSelect;
 		static INT interruptPin;
+
+		modm::can::Message messageBuffer_;
+		modm::ShortTimeout delayR_;
+		modm::ShortTimeout delayS_;
+		uint8_t statusBuffer_ = 0;
+		uint8_t statusBufferR_ = 0;
+		uint8_t statusBufferS_ = 0;
+		uint8_t statusBufferReady_ = 0;
+		uint8_t addressBufferR_ = 0;
+		uint8_t addressBufferS_ = 0;
+		uint8_t i_, j_ = 0;
+		uint8_t a_ = 0;
+		uint8_t b_ = 0;
+		uint8_t data_ = 0;
+		bool tempR_ = false;
+		bool tempS_ = false;
+		bool temp_ = false;
+		bool receiveSuccess_ = false;
 	};
 }
 

src/modm/driver/can/mcp2515.lb

@@ -31,6 +31,10 @@ def prepare(module, options):
         ":architecture:can",
         ":architecture:clock",
         ":architecture:delay",
+        ":architecture:interrupt",
+        ":architecture:spi.device",
+        ":processing:protothread",
+        ":processing:timer",
         ":debug")
     return True