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Canbus + MCP2515 including ExtID support (#1384)

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Daniel Schramm 2020-12-21 20:27:20 +01:00 committed by GitHub
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CODEOWNERS
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@ -19,6 +19,7 @@ esphome/components/async_tcp/* @OttoWinter
esphome/components/atc_mithermometer/* @ahpohl esphome/components/atc_mithermometer/* @ahpohl
esphome/components/bang_bang/* @OttoWinter esphome/components/bang_bang/* @OttoWinter
esphome/components/binary_sensor/* @esphome/core esphome/components/binary_sensor/* @esphome/core
esphome/components/canbus/* @danielschramm @mvturnho
esphome/components/captive_portal/* @OttoWinter esphome/components/captive_portal/* @OttoWinter
esphome/components/climate/* @esphome/core esphome/components/climate/* @esphome/core
esphome/components/climate_ir/* @glmnet esphome/components/climate_ir/* @glmnet
@ -43,6 +44,7 @@ esphome/components/light/* @esphome/core
esphome/components/logger/* @esphome/core esphome/components/logger/* @esphome/core
esphome/components/mcp23s08/* @SenexCrenshaw esphome/components/mcp23s08/* @SenexCrenshaw
esphome/components/mcp23s17/* @SenexCrenshaw esphome/components/mcp23s17/* @SenexCrenshaw
esphome/components/mcp2515/* @danielschramm @mvturnho
esphome/components/mcp9808/* @k7hpn esphome/components/mcp9808/* @k7hpn
esphome/components/network/* @esphome/core esphome/components/network/* @esphome/core
esphome/components/ota/* @esphome/core esphome/components/ota/* @esphome/core

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esphome/components/canbus/__init__.py Normal file
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import esphome.codegen as cg
import esphome.config_validation as cv
from esphome import automation
from esphome.core import CORE, coroutine
from esphome.const import CONF_ID, CONF_TRIGGER_ID, CONF_DATA
CODEOWNERS = ['@mvturnho', '@danielschramm']
IS_PLATFORM_COMPONENT = True
CONF_CAN_ID = 'can_id'
CONF_USE_EXTENDED_ID = 'use_extended_id'
CONF_CANBUS_ID = 'canbus_id'
CONF_BIT_RATE = 'bit_rate'
CONF_ON_FRAME = 'on_frame'
CONF_CANBUS_SEND = 'canbus.send'
def validate_id(id_value, id_ext):
if not id_ext:
if id_value > 0x7ff:
raise cv.Invalid("Standard IDs must be 11 Bit (0x000-0x7ff / 0-2047)")
def validate_raw_data(value):
if isinstance(value, str):
return value.encode('utf-8')
if isinstance(value, list):
return cv.Schema([cv.hex_uint8_t])(value)
raise cv.Invalid("data must either be a string wrapped in quotes or a list of bytes")
canbus_ns = cg.esphome_ns.namespace('canbus')
CanbusComponent = canbus_ns.class_('CanbusComponent', cg.Component)
CanbusTrigger = canbus_ns.class_('CanbusTrigger',
automation.Trigger.template(cg.std_vector.template(cg.uint8)),
cg.Component)
CanSpeed = canbus_ns.enum('CAN_SPEED')
CAN_SPEEDS = {
'5KBPS': CanSpeed.CAN_5KBPS,
'10KBPS': CanSpeed.CAN_10KBPS,
'20KBPS': CanSpeed.CAN_20KBPS,
'31K25BPS': CanSpeed.CAN_31K25BPS,
'33KBPS': CanSpeed.CAN_33KBPS,
'40KBPS': CanSpeed.CAN_40KBPS,
'50KBPS': CanSpeed.CAN_50KBPS,
'80KBPS': CanSpeed.CAN_80KBPS,
'83K3BPS': CanSpeed.CAN_83K3BPS,
'95KBPS': CanSpeed.CAN_95KBPS,
'100KBPS': CanSpeed.CAN_100KBPS,
'125KBPS': CanSpeed.CAN_125KBPS,
'200KBPS': CanSpeed.CAN_200KBPS,
'250KBPS': CanSpeed.CAN_250KBPS,
'500KBPS': CanSpeed.CAN_500KBPS,
'1000KBPS': CanSpeed.CAN_1000KBPS,
}
CONFIG_SCHEMA = cv.Schema({
cv.GenerateID(): cv.declare_id(CanbusComponent),
cv.Required(CONF_CAN_ID): cv.int_range(min=0, max=0x1fffffff),
cv.Optional(CONF_BIT_RATE, default='125KBPS'): cv.enum(CAN_SPEEDS, upper=True),
cv.Optional(CONF_USE_EXTENDED_ID, default=False): cv.boolean,
cv.Optional(CONF_ON_FRAME): automation.validate_automation({
cv.GenerateID(CONF_TRIGGER_ID): cv.declare_id(CanbusTrigger),
cv.GenerateID(CONF_CAN_ID): cv.int_range(min=0, max=0x1fffffff),
cv.Optional(CONF_USE_EXTENDED_ID, default=False): cv.boolean,
}),
}).extend(cv.COMPONENT_SCHEMA)
@coroutine
def setup_canbus_core_(var, config):
validate_id(config[CONF_CAN_ID], config[CONF_USE_EXTENDED_ID])
yield cg.register_component(var, config)
cg.add(var.set_can_id([config[CONF_CAN_ID]]))
cg.add(var.set_use_extended_id([config[CONF_USE_EXTENDED_ID]]))
cg.add(var.set_bitrate(CAN_SPEEDS[config[CONF_BIT_RATE]]))
for conf in config.get(CONF_ON_FRAME, []):
can_id = conf[CONF_CAN_ID]
ext_id = conf[CONF_USE_EXTENDED_ID]
validate_id(can_id, ext_id)
trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID], var, can_id, ext_id)
yield cg.register_component(trigger, conf)
yield automation.build_automation(trigger, [(cg.std_vector.template(cg.uint8), 'x')], conf)
@coroutine
def register_canbus(var, config):
if not CORE.has_id(config[CONF_ID]):
var = cg.new_Pvariable(config[CONF_ID], var)
yield setup_canbus_core_(var, config)
# Actions
@automation.register_action(CONF_CANBUS_SEND,
canbus_ns.class_('CanbusSendAction', automation.Action),
cv.maybe_simple_value({
cv.GenerateID(CONF_CANBUS_ID): cv.use_id(CanbusComponent),
cv.Optional(CONF_CAN_ID): cv.int_range(min=0, max=0x1fffffff),
cv.Optional(CONF_USE_EXTENDED_ID, default=False): cv.boolean,
cv.Required(CONF_DATA): cv.templatable(validate_raw_data),
}, key=CONF_DATA))
def canbus_action_to_code(config, action_id, template_arg, args):
validate_id(config[CONF_CAN_ID], config[CONF_USE_EXTENDED_ID])
var = cg.new_Pvariable(action_id, template_arg)
yield cg.register_parented(var, config[CONF_CANBUS_ID])
if CONF_CAN_ID in config:
can_id = yield cg.templatable(config[CONF_CAN_ID], args, cg.uint32)
cg.add(var.set_can_id(can_id))
use_extended_id = yield cg.templatable(config[CONF_USE_EXTENDED_ID], args, cg.uint32)
cg.add(var.set_use_extended_id(use_extended_id))
data = config[CONF_DATA]
if isinstance(data, bytes):
data = [int(x) for x in data]
if cg.is_template(data):
templ = yield cg.templatable(data, args, cg.std_vector.template(cg.uint8))
cg.add(var.set_data_template(templ))
else:
cg.add(var.set_data_static(data))
yield var

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esphome/components/canbus/canbus.cpp Normal file
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#include "canbus.h"
#include "esphome/core/log.h"
namespace esphome {
namespace canbus {
static const char *TAG = "canbus";
void Canbus::setup() {
ESP_LOGCONFIG(TAG, "Setting up Canbus...");
if (!this->setup_internal()) {
ESP_LOGE(TAG, "setup error!");
this->mark_failed();
}
}
void Canbus::dump_config() {
if (this->use_extended_id_) {
ESP_LOGCONFIG(TAG, "config extended id=0x%08x", this->can_id_);
} else {
ESP_LOGCONFIG(TAG, "config standard id=0x%03x", this->can_id_);
}
}
void Canbus::send_data(uint32_t can_id, bool use_extended_id, const std::vector<uint8_t> &data) {
struct CanFrame can_message;
uint8_t size = static_cast<uint8_t>(data.size());
if (use_extended_id) {
ESP_LOGD(TAG, "send extended id=0x%08x size=%d", can_id, size);
} else {
ESP_LOGD(TAG, "send extended id=0x%03x size=%d", can_id, size);
}
if (size > CAN_MAX_DATA_LENGTH)
size = CAN_MAX_DATA_LENGTH;
can_message.can_data_length_code = size;
can_message.can_id = can_id;
can_message.use_extended_id = use_extended_id;
for (int i = 0; i < size; i++) {
can_message.data[i] = data[i];
ESP_LOGVV(TAG, " data[%d]=%02x", i, can_message.data[i]);
}
this->send_message(&can_message);
}
void Canbus::add_trigger(CanbusTrigger *trigger) {
if (trigger->use_extended_id_) {
ESP_LOGVV(TAG, "add trigger for extended canid=0x%08x", trigger->can_id_);
} else {
ESP_LOGVV(TAG, "add trigger for std canid=0x%03x", trigger->can_id_);
}
this->triggers_.push_back(trigger);
};
void Canbus::loop() {
struct CanFrame can_message;
// readmessage
if (this->read_message(&can_message) == canbus::ERROR_OK) {
if (can_message.use_extended_id) {
ESP_LOGD(TAG, "received can message extended can_id=0x%x size=%d", can_message.can_id,
can_message.can_data_length_code);
} else {
ESP_LOGD(TAG, "received can message std can_id=0x%x size=%d", can_message.can_id,
can_message.can_data_length_code);
}
std::vector<uint8_t> data;
// show data received
for (int i = 0; i < can_message.can_data_length_code; i++) {
ESP_LOGV(TAG, " can_message.data[%d]=%02x", i, can_message.data[i]);
data.push_back(can_message.data[i]);
}
// fire all triggers
for (auto trigger : this->triggers_) {
if ((trigger->can_id_ == can_message.can_id) && (trigger->use_extended_id_ == can_message.use_extended_id)) {
trigger->trigger(data);
}
}
}
}
} // namespace canbus
} // namespace esphome

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esphome/components/canbus/canbus.h Normal file
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#pragma once
#include "esphome/core/automation.h"
#include "esphome/core/component.h"
#include "esphome/core/optional.h"
namespace esphome {
namespace canbus {
enum Error : uint8_t {
ERROR_OK = 0,
ERROR_FAIL = 1,
ERROR_ALLTXBUSY = 2,
ERROR_FAILINIT = 3,
ERROR_FAILTX = 4,
ERROR_NOMSG = 5
};
enum CanSpeed : uint8_t {
CAN_5KBPS,
CAN_10KBPS,
CAN_20KBPS,
CAN_31K25BPS,
CAN_33KBPS,
CAN_40KBPS,
CAN_50KBPS,
CAN_80KBPS,
CAN_83K3BPS,
CAN_95KBPS,
CAN_100KBPS,
CAN_125KBPS,
CAN_200KBPS,
CAN_250KBPS,
CAN_500KBPS,
CAN_1000KBPS
};
class CanbusTrigger;
template<typename... Ts> class CanbusSendAction;
/* CAN payload length definitions according to ISO 11898-1 */
static const uint8_t CAN_MAX_DATA_LENGTH = 8;
/*
Can Frame describes a normative CAN Frame
The RTR = Remote Transmission Request is implemented in every CAN controller but rarely used
So currently the flag is passed to and from the hardware but currently ignored to the user application.
*/
struct CanFrame {
bool use_extended_id = false;
bool remote_transmission_request = false;
uint32_t can_id; /* 29 or 11 bit CAN_ID */
uint8_t can_data_length_code; /* frame payload length in byte (0 .. CAN_MAX_DATA_LENGTH) */
uint8_t data[CAN_MAX_DATA_LENGTH] __attribute__((aligned(8)));
};
class Canbus : public Component {
public:
Canbus(){};
void setup() override;
void dump_config() override;
float get_setup_priority() const override { return setup_priority::HARDWARE; }
void loop() override;
void send_data(uint32_t can_id, bool use_extended_id, const std::vector<uint8_t> &data);
void set_can_id(uint32_t can_id) { this->can_id_ = can_id; }
void set_use_extended_id(bool use_extended_id) { this->use_extended_id_ = use_extended_id; }
void set_bitrate(CanSpeed bit_rate) { this->bit_rate_ = bit_rate; }
void add_trigger(CanbusTrigger *trigger);
protected:
template<typename... Ts> friend class CanbusSendAction;
std::vector<CanbusTrigger *> triggers_{};
uint32_t can_id_;
bool use_extended_id_;
CanSpeed bit_rate_;
virtual bool setup_internal();
virtual Error send_message(struct CanFrame *frame);
virtual Error read_message(struct CanFrame *frame);
};
template<typename... Ts> class CanbusSendAction : public Action<Ts...>, public Parented<Canbus> {
public:
void set_data_template(const std::function<std::vector<uint8_t>(Ts...)> func) {
this->data_func_ = func;
this->static_ = false;
}
void set_data_static(const std::vector<uint8_t> &data) {
this->data_static_ = data;
this->static_ = true;
}
void set_can_id(uint32_t can_id) { this->can_id_ = can_id; }
void set_use_extended_id(bool use_extended_id) { this->use_extended_id_ = use_extended_id; }
void play(Ts... x) override {
auto can_id = this->can_id_.has_value() ? *this->can_id_ : this->parent_->can_id_;
auto use_extended_id =
this->use_extended_id_.has_value() ? *this->use_extended_id_ : this->parent_->use_extended_id_;
if (this->static_) {
this->parent_->send_data(can_id, use_extended_id, this->data_static_);
} else {
auto val = this->data_func_(x...);
this->parent_->send_data(can_id, use_extended_id, val);
}
}
protected:
optional<uint32_t> can_id_{};
optional<bool> use_extended_id_{};
bool static_{false};
std::function<std::vector<uint8_t>(Ts...)> data_func_{};
std::vector<uint8_t> data_static_{};
};
class CanbusTrigger : public Trigger<std::vector<uint8_t>>, public Component {
friend class Canbus;
public:
explicit CanbusTrigger(Canbus *parent, const std::uint32_t can_id, const bool use_extended_id)
: parent_(parent), can_id_(can_id), use_extended_id_(use_extended_id){};
void setup() override { this->parent_->add_trigger(this); }
protected:
Canbus *parent_;
uint32_t can_id_;
bool use_extended_id_;
};
} // namespace canbus
} // namespace esphome

0
esphome/components/mcp2515/__init__.py Normal file
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47
esphome/components/mcp2515/canbus.py Normal file
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import esphome.codegen as cg
import esphome.config_validation as cv
from esphome.components import spi, canbus
from esphome.const import CONF_ID, CONF_MODE
from esphome.components.canbus import CanbusComponent
CODEOWNERS = ['@mvturnho', '@danielschramm']
DEPENDENCIES = ['spi']
CONF_CLOCK = 'clock'
mcp2515_ns = cg.esphome_ns.namespace('mcp2515')
mcp2515 = mcp2515_ns.class_('MCP2515', CanbusComponent, spi.SPIDevice)
CanClock = mcp2515_ns.enum('CAN_CLOCK')
McpMode = mcp2515_ns.enum('CANCTRL_REQOP_MODE')
CAN_CLOCK = {
'8MHZ': CanClock.MCP_8MHZ,
'16MHZ': CanClock.MCP_16MHZ,
'20MHZ': CanClock.MCP_20MHZ,
}
MCP_MODE = {
'NORMAL': McpMode.CANCTRL_REQOP_NORMAL,
'LOOPBACK': McpMode.CANCTRL_REQOP_LOOPBACK,
'LISTENONLY': McpMode.CANCTRL_REQOP_LISTENONLY,
}
CONFIG_SCHEMA = canbus.CONFIG_SCHEMA.extend({
cv.GenerateID(): cv.declare_id(mcp2515),
cv.Optional(CONF_CLOCK, default='8MHZ'): cv.enum(CAN_CLOCK, upper=True),
cv.Optional(CONF_MODE, default='NORMAL'): cv.enum(MCP_MODE, upper=True),
}).extend(spi.spi_device_schema(True))
def to_code(config):
rhs = mcp2515.new()
var = cg.Pvariable(config[CONF_ID], rhs)
yield canbus.register_canbus(var, config)
if CONF_CLOCK in config:
canclock = CAN_CLOCK[config[CONF_CLOCK]]
cg.add(var.set_mcp_clock(canclock))
if CONF_MODE in config:
mode = MCP_MODE[config[CONF_MODE]]
cg.add(var.set_mcp_mode(mode))
yield spi.register_spi_device(var, config)

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esphome/components/mcp2515/mcp2515.cpp Normal file
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#include "mcp2515.h"
#include "esphome/core/log.h"
namespace esphome {
namespace mcp2515 {
static const char *TAG = "mcp2515";
const struct MCP2515::TxBnRegs MCP2515::TXB[N_TXBUFFERS] = {{MCP_TXB0CTRL, MCP_TXB0SIDH, MCP_TXB0DATA},
{MCP_TXB1CTRL, MCP_TXB1SIDH, MCP_TXB1DATA},
{MCP_TXB2CTRL, MCP_TXB2SIDH, MCP_TXB2DATA}};
const struct MCP2515::RxBnRegs MCP2515::RXB[N_RXBUFFERS] = {{MCP_RXB0CTRL, MCP_RXB0SIDH, MCP_RXB0DATA, CANINTF_RX0IF},
{MCP_RXB1CTRL, MCP_RXB1SIDH, MCP_RXB1DATA, CANINTF_RX1IF}};
bool MCP2515::setup_internal() {
this->spi_setup();
if (this->reset_() == canbus::ERROR_FAIL)
return false;
this->set_bitrate_(this->bit_rate_, this->mcp_clock_);
this->set_mode_(this->mcp_mode_);
ESP_LOGV(TAG, "setup done");
return true;
}
canbus::Error MCP2515::reset_() {
this->enable();
this->transfer_byte(INSTRUCTION_RESET);
this->disable();
ESP_LOGV(TAG, "reset_()");
delay(10);
ESP_LOGV(TAG, "reset() CLEAR ALL TXB registers");
uint8_t zeros[14];
memset(zeros, 0, sizeof(zeros));
set_registers_(MCP_TXB0CTRL, zeros, 14);
set_registers_(MCP_TXB1CTRL, zeros, 14);
set_registers_(MCP_TXB2CTRL, zeros, 14);
ESP_LOGD(TAG, "reset() CLEARED TXB registers");
set_register_(MCP_RXB0CTRL, 0);
set_register_(MCP_RXB1CTRL, 0);
set_register_(MCP_CANINTE, CANINTF_RX0IF | CANINTF_RX1IF | CANINTF_ERRIF | CANINTF_MERRF);
modify_register_(MCP_RXB0CTRL, RXB_CTRL_RXM_MASK | RXB_0_CTRL_BUKT, RXB_CTRL_RXM_STDEXT | RXB_0_CTRL_BUKT);
modify_register_(MCP_RXB1CTRL, RXB_CTRL_RXM_MASK, RXB_CTRL_RXM_STDEXT);
return canbus::ERROR_OK;
}
uint8_t MCP2515::read_register_(const REGISTER reg) {
this->enable();
this->transfer_byte(INSTRUCTION_READ);
this->transfer_byte(reg);
uint8_t ret = this->transfer_byte(0x00);
this->disable();
return ret;
}
void MCP2515::read_registers_(const REGISTER reg, uint8_t values[], const uint8_t n) {
this->enable();
this->transfer_byte(INSTRUCTION_READ);
this->transfer_byte(reg);
// this->transfer_array(values, n);
// mcp2515 has auto - increment of address - pointer
for (uint8_t i = 0; i < n; i++) {
values[i] = this->transfer_byte(0x00);
}
this->disable();
}
void MCP2515::set_register_(const REGISTER reg, const uint8_t value) {
this->enable();
this->transfer_byte(INSTRUCTION_WRITE);
this->transfer_byte(reg);
this->transfer_byte(value);
this->disable();
}
void MCP2515::set_registers_(const REGISTER reg, uint8_t values[], const uint8_t n) {
this->enable();
this->transfer_byte(INSTRUCTION_WRITE);
this->transfer_byte(reg);
// this->transfer_array(values, n);
for (uint8_t i = 0; i < n; i++) {
this->transfer_byte(values[i]);
}
this->disable();
}
void MCP2515::modify_register_(const REGISTER reg, const uint8_t mask, const uint8_t data) {
this->enable();
this->transfer_byte(INSTRUCTION_BITMOD);
this->transfer_byte(reg);
this->transfer_byte(mask);
this->transfer_byte(data);
this->disable();
}
uint8_t MCP2515::get_status_() {
this->enable();
this->transfer_byte(INSTRUCTION_READ_STATUS);
uint8_t i = this->transfer_byte(0x00);
this->disable();
return i;
}
canbus::Error MCP2515::set_mode_(const CanctrlReqopMode mode) {
modify_register_(MCP_CANCTRL, CANCTRL_REQOP, mode);
unsigned long end_time = millis() + 10;
bool mode_match = false;
while (millis() < end_time) {
uint8_t new_mode = read_register_(MCP_CANSTAT);
new_mode &= CANSTAT_OPMOD;
mode_match = new_mode == mode;
if (mode_match) {
break;
}
}
return mode_match ? canbus::ERROR_OK : canbus::ERROR_FAIL;
}
canbus::Error MCP2515::set_clk_out_(const CanClkOut divisor) {
canbus::Error res;
uint8_t cfg3;
if (divisor == CLKOUT_DISABLE) {
/* Turn off CLKEN */
modify_register_(MCP_CANCTRL, CANCTRL_CLKEN, 0x00);
/* Turn on CLKOUT for SOF */
modify_register_(MCP_CNF3, CNF3_SOF, CNF3_SOF);
return canbus::ERROR_OK;
}
/* Set the prescaler (CLKPRE) */
modify_register_(MCP_CANCTRL, CANCTRL_CLKPRE, divisor);
/* Turn on CLKEN */
modify_register_(MCP_CANCTRL, CANCTRL_CLKEN, CANCTRL_CLKEN);
/* Turn off CLKOUT for SOF */
modify_register_(MCP_CNF3, CNF3_SOF, 0x00);
return canbus::ERROR_OK;
}
void MCP2515::prepare_id_(uint8_t *buffer, const bool extended, const uint32_t id) {
uint16_t canid = (uint16_t)(id & 0x0FFFF);
if (extended) {
buffer[MCP_EID0] = (uint8_t)(canid & 0xFF);
buffer[MCP_EID8] = (uint8_t)(canid >> 8);
canid = (uint16_t)(id >> 16);
buffer[MCP_SIDL] = (uint8_t)(canid & 0x03);
buffer[MCP_SIDL] += (uint8_t)((canid & 0x1C) << 3);
buffer[MCP_SIDL] |= TXB_EXIDE_MASK;
buffer[MCP_SIDH] = (uint8_t)(canid >> 5);
} else {
buffer[MCP_SIDH] = (uint8_t)(canid >> 3);
buffer[MCP_SIDL] = (uint8_t)((canid & 0x07) << 5);
buffer[MCP_EID0] = 0;
buffer[MCP_EID8] = 0;
}
}
canbus::Error MCP2515::set_filter_mask_(const MASK mask, const bool extended, const uint32_t ul_data) {
canbus::Error res = set_mode_(CANCTRL_REQOP_CONFIG);
if (res != canbus::ERROR_OK) {
return res;
}
uint8_t tbufdata[4];
prepare_id_(tbufdata, extended, ul_data);
REGISTER reg;
switch (mask) {
case MASK0:
reg = MCP_RXM0SIDH;
break;
case MASK1:
reg = MCP_RXM1SIDH;
break;
default:
return canbus::ERROR_FAIL;
}
set_registers_(reg, tbufdata, 4);
return canbus::ERROR_OK;
}
canbus::Error MCP2515::set_filter_(const RXF num, const bool extended, const uint32_t ul_data) {
canbus::Error res = set_mode_(CANCTRL_REQOP_CONFIG);
if (res != canbus::ERROR_OK) {
return res;
}
REGISTER reg;
switch (num) {
case RXF0:
reg = MCP_RXF0SIDH;
break;
case RXF1:
reg = MCP_RXF1SIDH;
break;
case RXF2:
reg = MCP_RXF2SIDH;
break;
case RXF3:
reg = MCP_RXF3SIDH;
break;
case RXF4:
reg = MCP_RXF4SIDH;
break;
case RXF5:
reg = MCP_RXF5SIDH;
break;
default:
return canbus::ERROR_FAIL;
}
uint8_t tbufdata[4];
prepare_id_(tbufdata, extended, ul_data);
set_registers_(reg, tbufdata, 4);
return canbus::ERROR_OK;
}
canbus::Error MCP2515::send_message_(TXBn txbn, struct canbus::CanFrame *frame) {
const struct TxBnRegs *txbuf = &TXB[txbn];
uint8_t data[13];
prepare_id_(data, frame->use_extended_id, frame->can_id);
data[MCP_DLC] =
frame->remote_transmission_request ? (frame->can_data_length_code | RTR_MASK) : frame->can_data_length_code;
memcpy(&data[MCP_DATA], frame->data, frame->can_data_length_code);
set_registers_(txbuf->SIDH, data, 5 + frame->can_data_length_code);
modify_register_(txbuf->CTRL, TXB_TXREQ, TXB_TXREQ);
return canbus::ERROR_OK;
}
canbus::Error MCP2515::send_message(struct canbus::CanFrame *frame) {
if (frame->can_data_length_code > canbus::CAN_MAX_DATA_LENGTH) {
return canbus::ERROR_FAILTX;
}
TXBn tx_buffers[N_TXBUFFERS] = {TXB0, TXB1, TXB2};
for (auto &tx_buffer : tx_buffers) {
const struct TxBnRegs *txbuf = &TXB[tx_buffer];
uint8_t ctrlval = read_register_(txbuf->CTRL);
if ((ctrlval & TXB_TXREQ) == 0) {
return send_message_(tx_buffer, frame);
}
}
return canbus::ERROR_FAILTX;
}
canbus::Error MCP2515::read_message_(RXBn rxbn, struct canbus::CanFrame *frame) {
const struct RxBnRegs *rxb = &RXB[rxbn];
uint8_t tbufdata[5];
read_registers_(rxb->SIDH, tbufdata, 5);
uint32_t id = (tbufdata[MCP_SIDH] << 3) + (tbufdata[MCP_SIDL] >> 5);
bool use_extended_id = false;
bool remote_transmission_request = false;
if ((tbufdata[MCP_SIDL] & TXB_EXIDE_MASK) == TXB_EXIDE_MASK) {
id = (id << 2) + (tbufdata[MCP_SIDL] & 0x03);
id = (id << 8) + tbufdata[MCP_EID8];
id = (id << 8) + tbufdata[MCP_EID0];
// id |= canbus::CAN_EFF_FLAG;
use_extended_id = true;
}
uint8_t dlc = (tbufdata[MCP_DLC] & DLC_MASK);
if (dlc > canbus::CAN_MAX_DATA_LENGTH) {
return canbus::ERROR_FAIL;
}
uint8_t ctrl = read_register_(rxb->CTRL);
if (ctrl & RXB_CTRL_RTR) {
// id |= canbus::CAN_RTR_FLAG;
remote_transmission_request = true;
}
frame->can_id = id;
frame->can_data_length_code = dlc;
frame->use_extended_id = use_extended_id;
frame->remote_transmission_request = remote_transmission_request;
read_registers_(rxb->DATA, frame->data, dlc);
modify_register_(MCP_CANINTF, rxb->CANINTF_RXnIF, 0);
return canbus::ERROR_OK;
}
canbus::Error MCP2515::read_message(struct canbus::CanFrame *frame) {
canbus::Error rc;
uint8_t stat = get_status_();
if (stat & STAT_RX0IF) {
rc = read_message_(RXB0, frame);
} else if (stat & STAT_RX1IF) {
rc = read_message_(RXB1, frame);
} else {
rc = canbus::ERROR_NOMSG;
}
return rc;
}
bool MCP2515::check_receive_() {
uint8_t res = get_status_();
return (res & STAT_RXIF_MASK) != 0;
}
bool MCP2515::check_error_() {
uint8_t eflg = get_error_flags_();
return (eflg & EFLG_ERRORMASK) != 0;
}
uint8_t MCP2515::get_error_flags_() { return read_register_(MCP_EFLG); }
void MCP2515::clear_rx_n_ovr_flags_() { modify_register_(MCP_EFLG, EFLG_RX0OVR | EFLG_RX1OVR, 0); }
uint8_t MCP2515::get_int_() { return read_register_(MCP_CANINTF); }
void MCP2515::clear_int_() { set_register_(MCP_CANINTF, 0); }
uint8_t MCP2515::get_int_mask_() { return read_register_(MCP_CANINTE); }
void MCP2515::clear_tx_int_() { modify_register_(MCP_CANINTF, (CANINTF_TX0IF | CANINTF_TX1IF | CANINTF_TX2IF), 0); }
void MCP2515::clear_rx_n_ovr_() {
uint8_t eflg = get_error_flags_();
if (eflg != 0) {
clear_rx_n_ovr_flags_();
clear_int_();
// modify_register_(MCP_CANINTF, CANINTF_ERRIF, 0);
}
}
void MCP2515::clear_merr_() {
// modify_register_(MCP_EFLG, EFLG_RX0OVR | EFLG_RX1OVR, 0);
// clear_int_();
modify_register_(MCP_CANINTF, CANINTF_MERRF, 0);
}
void MCP2515::clear_errif_() {
// modify_register_(MCP_EFLG, EFLG_RX0OVR | EFLG_RX1OVR, 0);
// clear_int_();
modify_register_(MCP_CANINTF, CANINTF_ERRIF, 0);
}
canbus::Error MCP2515::set_bitrate_(canbus::CanSpeed can_speed) { return this->set_bitrate_(can_speed, MCP_16MHZ); }
canbus::Error MCP2515::set_bitrate_(canbus::CanSpeed can_speed, CanClock can_clock) {
canbus::Error error = set_mode_(CANCTRL_REQOP_CONFIG);
if (error != canbus::ERROR_OK) {
return error;
}
uint8_t set, cfg1, cfg2, cfg3;
set = 1;
switch (can_clock) {
case (MCP_8MHZ):
switch (can_speed) {
case (canbus::CAN_5KBPS): // 5KBPS
cfg1 = MCP_8MHZ_5KBPS_CFG1;
cfg2 = MCP_8MHZ_5KBPS_CFG2;
cfg3 = MCP_8MHZ_5KBPS_CFG3;
break;
case (canbus::CAN_10KBPS): // 10KBPS
cfg1 = MCP_8MHZ_10KBPS_CFG1;
cfg2 = MCP_8MHZ_10KBPS_CFG2;
cfg3 = MCP_8MHZ_10KBPS_CFG3;
break;
case (canbus::CAN_20KBPS): // 20KBPS
cfg1 = MCP_8MHZ_20KBPS_CFG1;
cfg2 = MCP_8MHZ_20KBPS_CFG2;
cfg3 = MCP_8MHZ_20KBPS_CFG3;
break;
case (canbus::CAN_31K25BPS): // 31.25KBPS
cfg1 = MCP_8MHZ_31K25BPS_CFG1;
cfg2 = MCP_8MHZ_31K25BPS_CFG2;
cfg3 = MCP_8MHZ_31K25BPS_CFG3;
break;
case (canbus::CAN_33KBPS): // 33.333KBPS
cfg1 = MCP_8MHZ_33K3BPS_CFG1;
cfg2 = MCP_8MHZ_33K3BPS_CFG2;
cfg3 = MCP_8MHZ_33K3BPS_CFG3;
break;
case (canbus::CAN_40KBPS): // 40Kbps
cfg1 = MCP_8MHZ_40KBPS_CFG1;
cfg2 = MCP_8MHZ_40KBPS_CFG2;
cfg3 = MCP_8MHZ_40KBPS_CFG3;
break;
case (canbus::CAN_50KBPS): // 50Kbps
cfg1 = MCP_8MHZ_50KBPS_CFG1;
cfg2 = MCP_8MHZ_50KBPS_CFG2;
cfg3 = MCP_8MHZ_50KBPS_CFG3;
break;
case (canbus::CAN_80KBPS): // 80Kbps
cfg1 = MCP_8MHZ_80KBPS_CFG1;
cfg2 = MCP_8MHZ_80KBPS_CFG2;
cfg3 = MCP_8MHZ_80KBPS_CFG3;
break;
case (canbus::CAN_100KBPS): // 100Kbps
cfg1 = MCP_8MHZ_100KBPS_CFG1;
cfg2 = MCP_8MHZ_100KBPS_CFG2;
cfg3 = MCP_8MHZ_100KBPS_CFG3;
break;
case (canbus::CAN_125KBPS): // 125Kbps
cfg1 = MCP_8MHZ_125KBPS_CFG1;
cfg2 = MCP_8MHZ_125KBPS_CFG2;
cfg3 = MCP_8MHZ_125KBPS_CFG3;
break;
case (canbus::CAN_200KBPS): // 200Kbps
cfg1 = MCP_8MHZ_200KBPS_CFG1;
cfg2 = MCP_8MHZ_200KBPS_CFG2;
cfg3 = MCP_8MHZ_200KBPS_CFG3;
break;
case (canbus::CAN_250KBPS): // 250Kbps
cfg1 = MCP_8MHZ_250KBPS_CFG1;
cfg2 = MCP_8MHZ_250KBPS_CFG2;
cfg3 = MCP_8MHZ_250KBPS_CFG3;
break;
case (canbus::CAN_500KBPS): // 500Kbps
cfg1 = MCP_8MHZ_500KBPS_CFG1;
cfg2 = MCP_8MHZ_500KBPS_CFG2;
cfg3 = MCP_8MHZ_500KBPS_CFG3;
break;
case (canbus::CAN_1000KBPS): // 1Mbps
cfg1 = MCP_8MHZ_1000KBPS_CFG1;
cfg2 = MCP_8MHZ_1000KBPS_CFG2;
cfg3 = MCP_8MHZ_1000KBPS_CFG3;
break;
default:
set = 0;
break;
}
break;
case (MCP_16MHZ):
switch (can_speed) {
case (canbus::CAN_5KBPS): // 5Kbps
cfg1 = MCP_16MHZ_5KBPS_CFG1;
cfg2 = MCP_16MHZ_5KBPS_CFG2;
cfg3 = MCP_16MHZ_5KBPS_CFG3;
break;
case (canbus::CAN_10KBPS): // 10Kbps
cfg1 = MCP_16MHZ_10KBPS_CFG1;
cfg2 = MCP_16MHZ_10KBPS_CFG2;
cfg3 = MCP_16MHZ_10KBPS_CFG3;
break;
case (canbus::CAN_20KBPS): // 20Kbps
cfg1 = MCP_16MHZ_20KBPS_CFG1;
cfg2 = MCP_16MHZ_20KBPS_CFG2;
cfg3 = MCP_16MHZ_20KBPS_CFG3;
break;
case (canbus::CAN_33KBPS): // 33.333Kbps
cfg1 = MCP_16MHZ_33K3BPS_CFG1;
cfg2 = MCP_16MHZ_33K3BPS_CFG2;
cfg3 = MCP_16MHZ_33K3BPS_CFG3;
break;
case (canbus::CAN_40KBPS): // 40Kbps
cfg1 = MCP_16MHZ_40KBPS_CFG1;
cfg2 = MCP_16MHZ_40KBPS_CFG2;
cfg3 = MCP_16MHZ_40KBPS_CFG3;
break;
case (canbus::CAN_50KBPS): // 50Kbps
cfg2 = MCP_16MHZ_50KBPS_CFG2;
cfg3 = MCP_16MHZ_50KBPS_CFG3;
break;
case (canbus::CAN_80KBPS): // 80Kbps
cfg1 = MCP_16MHZ_80KBPS_CFG1;
cfg2 = MCP_16MHZ_80KBPS_CFG2;
cfg3 = MCP_16MHZ_80KBPS_CFG3;
break;
case (canbus::CAN_83K3BPS): // 83.333Kbps
cfg1 = MCP_16MHZ_83K3BPS_CFG1;
cfg2 = MCP_16MHZ_83K3BPS_CFG2;
cfg3 = MCP_16MHZ_83K3BPS_CFG3;
break;
case (canbus::CAN_100KBPS): // 100Kbps
cfg1 = MCP_16MHZ_100KBPS_CFG1;
cfg2 = MCP_16MHZ_100KBPS_CFG2;
cfg3 = MCP_16MHZ_100KBPS_CFG3;
break;
case (canbus::CAN_125KBPS): // 125Kbps
cfg1 = MCP_16MHZ_125KBPS_CFG1;
cfg2 = MCP_16MHZ_125KBPS_CFG2;
cfg3 = MCP_16MHZ_125KBPS_CFG3;
break;
case (canbus::CAN_200KBPS): // 200Kbps
cfg1 = MCP_16MHZ_200KBPS_CFG1;
cfg2 = MCP_16MHZ_200KBPS_CFG2;
cfg3 = MCP_16MHZ_200KBPS_CFG3;
break;
case (canbus::CAN_250KBPS): // 250Kbps
cfg1 = MCP_16MHZ_250KBPS_CFG1;
cfg2 = MCP_16MHZ_250KBPS_CFG2;
cfg3 = MCP_16MHZ_250KBPS_CFG3;
break;
case (canbus::CAN_500KBPS): // 500Kbps
cfg1 = MCP_16MHZ_500KBPS_CFG1;
cfg2 = MCP_16MHZ_500KBPS_CFG2;
cfg3 = MCP_16MHZ_500KBPS_CFG3;
break;
case (canbus::CAN_1000KBPS): // 1Mbps
cfg1 = MCP_16MHZ_1000KBPS_CFG1;
cfg2 = MCP_16MHZ_1000KBPS_CFG2;
cfg3 = MCP_16MHZ_1000KBPS_CFG3;
break;
default:
set = 0;
break;
}
break;
case (MCP_20MHZ):
switch (can_speed) {
case (canbus::CAN_33KBPS): // 33.333Kbps
cfg1 = MCP_20MHZ_33K3BPS_CFG1;
cfg2 = MCP_20MHZ_33K3BPS_CFG2;
cfg3 = MCP_20MHZ_33K3BPS_CFG3;
break;
case (canbus::CAN_40KBPS): // 40Kbps
cfg1 = MCP_20MHZ_40KBPS_CFG1;
cfg2 = MCP_20MHZ_40KBPS_CFG2;
cfg3 = MCP_20MHZ_40KBPS_CFG3;
break;
case (canbus::CAN_50KBPS): // 50Kbps
cfg1 = MCP_20MHZ_50KBPS_CFG1;
cfg2 = MCP_20MHZ_50KBPS_CFG2;
cfg3 = MCP_20MHZ_50KBPS_CFG3;
break;
case (canbus::CAN_80KBPS): // 80Kbps
cfg1 = MCP_20MHZ_80KBPS_CFG1;
cfg2 = MCP_20MHZ_80KBPS_CFG2;
cfg3 = MCP_20MHZ_80KBPS_CFG3;
break;
case (canbus::CAN_83K3BPS): // 83.333Kbps
cfg1 = MCP_20MHZ_83K3BPS_CFG1;
cfg2 = MCP_20MHZ_83K3BPS_CFG2;
cfg3 = MCP_20MHZ_83K3BPS_CFG3;
break;
case (canbus::CAN_100KBPS): // 100Kbps
cfg1 = MCP_20MHZ_100KBPS_CFG1;
cfg2 = MCP_20MHZ_100KBPS_CFG2;
cfg3 = MCP_20MHZ_100KBPS_CFG3;
break;
case (canbus::CAN_125KBPS): // 125Kbps
cfg1 = MCP_20MHZ_125KBPS_CFG1;
cfg2 = MCP_20MHZ_125KBPS_CFG2;
cfg3 = MCP_20MHZ_125KBPS_CFG3;
break;
case (canbus::CAN_200KBPS): // 200Kbps
cfg1 = MCP_20MHZ_200KBPS_CFG1;
cfg2 = MCP_20MHZ_200KBPS_CFG2;
cfg3 = MCP_20MHZ_200KBPS_CFG3;
break;
case (canbus::CAN_250KBPS): // 250Kbps
cfg1 = MCP_20MHZ_250KBPS_CFG1;
cfg2 = MCP_20MHZ_250KBPS_CFG2;
cfg3 = MCP_20MHZ_250KBPS_CFG3;
break;
case (canbus::CAN_500KBPS): // 500Kbps
cfg1 = MCP_20MHZ_500KBPS_CFG1;
cfg2 = MCP_20MHZ_500KBPS_CFG2;
cfg3 = MCP_20MHZ_500KBPS_CFG3;
break;
case (canbus::CAN_1000KBPS): // 1Mbps
cfg1 = MCP_20MHZ_1000KBPS_CFG1;
cfg2 = MCP_20MHZ_1000KBPS_CFG2;
cfg3 = MCP_20MHZ_1000KBPS_CFG3;
break;
default:
set = 0;
break;
}
break;
default:
set = 0;
break;
}
if (set) {
set_register_(MCP_CNF1, cfg1);
set_register_(MCP_CNF2, cfg2);
set_register_(MCP_CNF3, cfg3);
return canbus::ERROR_OK;
} else {
return canbus::ERROR_FAIL;
}
}
} // namespace mcp2515
} // namespace esphome

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#pragma once
#include "esphome/components/canbus/canbus.h"
#include "esphome/components/spi/spi.h"
#include "esphome/core/component.h"
#include "mcp2515_defs.h"
namespace esphome {
namespace mcp2515 {
static const uint32_t SPI_CLOCK = 10000000; // 10MHz
static const int N_TXBUFFERS = 3;
static const int N_RXBUFFERS = 2;
enum CanClock { MCP_20MHZ, MCP_16MHZ, MCP_8MHZ };
enum MASK { MASK0, MASK1 };
enum RXF { RXF0 = 0, RXF1 = 1, RXF2 = 2, RXF3 = 3, RXF4 = 4, RXF5 = 5 };
enum RXBn { RXB0 = 0, RXB1 = 1 };
enum TXBn { TXB0 = 0, TXB1 = 1, TXB2 = 2 };
enum CanClkOut {
CLKOUT_DISABLE = -1,
CLKOUT_DIV1 = 0x0,
CLKOUT_DIV2 = 0x1,
CLKOUT_DIV4 = 0x2,
CLKOUT_DIV8 = 0x3,
};
enum CANINTF : uint8_t {
CANINTF_RX0IF = 0x01,
CANINTF_RX1IF = 0x02,
CANINTF_TX0IF = 0x04,
CANINTF_TX1IF = 0x08,
CANINTF_TX2IF = 0x10,
CANINTF_ERRIF = 0x20,
CANINTF_WAKIF = 0x40,
CANINTF_MERRF = 0x80
};
enum EFLG : uint8_t {
EFLG_RX1OVR = (1 << 7),
EFLG_RX0OVR = (1 << 6),
EFLG_TXBO = (1 << 5),
EFLG_TXEP = (1 << 4),
EFLG_RXEP = (1 << 3),
EFLG_TXWAR = (1 << 2),
EFLG_RXWAR = (1 << 1),
EFLG_EWARN = (1 << 0)
};
enum STAT : uint8_t { STAT_RX0IF = (1 << 0), STAT_RX1IF = (1 << 1) };
static const uint8_t STAT_RXIF_MASK = STAT_RX0IF | STAT_RX1IF;
static const uint8_t EFLG_ERRORMASK = EFLG_RX1OVR | EFLG_RX0OVR | EFLG_TXBO | EFLG_TXEP | EFLG_RXEP;
class MCP2515 : public canbus::Canbus,
public spi::SPIDevice<spi::BIT_ORDER_MSB_FIRST, spi::CLOCK_POLARITY_LOW, spi::CLOCK_PHASE_LEADING,
spi::DATA_RATE_8MHZ> {
public:
MCP2515(){};
void set_mcp_clock(CanClock clock) { this->mcp_clock_ = clock; };
void set_mcp_mode(const CanctrlReqopMode mode) { this->mcp_mode_ = mode; }
static const struct TxBnRegs {
REGISTER CTRL;
REGISTER SIDH;
REGISTER DATA;
} TXB[N_TXBUFFERS];
static const struct RxBnRegs {
REGISTER CTRL;
REGISTER SIDH;
REGISTER DATA;
CANINTF CANINTF_RXnIF;
} RXB[N_RXBUFFERS];
protected:
CanClock mcp_clock_{MCP_8MHZ};
CanctrlReqopMode mcp_mode_ = CANCTRL_REQOP_NORMAL;
bool setup_internal() override;
canbus::Error set_mode_(CanctrlReqopMode mode);
uint8_t read_register_(REGISTER reg);
void read_registers_(REGISTER reg, uint8_t values[], uint8_t n);
void set_register_(REGISTER reg, uint8_t value);
void set_registers_(REGISTER reg, uint8_t values[], uint8_t n);
void modify_register_(REGISTER reg, uint8_t mask, uint8_t data);
void prepare_id_(uint8_t *buffer, bool extended, uint32_t id);
canbus::Error reset_();
canbus::Error set_clk_out_(CanClkOut divisor);
canbus::Error set_bitrate_(canbus::CanSpeed can_speed);
canbus::Error set_bitrate_(canbus::CanSpeed can_speed, CanClock can_clock);
canbus::Error set_filter_mask_(MASK mask, bool extended, uint32_t ul_data);
canbus::Error set_filter_(RXF num, bool extended, uint32_t ul_data);
canbus::Error send_message_(TXBn txbn, struct canbus::CanFrame *frame);
canbus::Error send_message(struct canbus::CanFrame *frame) override;
canbus::Error read_message_(RXBn rxbn, struct canbus::CanFrame *frame);
canbus::Error read_message(struct canbus::CanFrame *frame) override;
bool check_receive_();
bool check_error_();
uint8_t get_error_flags_();
void clear_rx_n_ovr_flags_();
uint8_t get_int_();
uint8_t get_int_mask_();
void clear_int_();
void clear_tx_int_();
uint8_t get_status_();
void clear_rx_n_ovr_();
void clear_merr_();
void clear_errif_();
};
} // namespace mcp2515
} // namespace esphome

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#pragma once
namespace esphome {
namespace mcp2515 {
static const uint8_t CANCTRL_REQOP = 0xE0;
static const uint8_t CANCTRL_ABAT = 0x10;
static const uint8_t CANCTRL_OSM = 0x08;
static const uint8_t CANCTRL_CLKEN = 0x04;
static const uint8_t CANCTRL_CLKPRE = 0x03;
enum CanctrlReqopMode : uint8_t {
CANCTRL_REQOP_NORMAL = 0x00,
CANCTRL_REQOP_SLEEP = 0x20,
CANCTRL_REQOP_LOOPBACK = 0x40,
CANCTRL_REQOP_LISTENONLY = 0x60,
CANCTRL_REQOP_CONFIG = 0x80,
CANCTRL_REQOP_POWERUP = 0xE0
};
enum TxbNCtrl : uint8_t {
TXB_ABTF = 0x40,
TXB_MLOA = 0x20,
TXB_TXERR = 0x10,
TXB_TXREQ = 0x08,
TXB_TXIE = 0x04,
TXB_TXP = 0x03
};
enum INSTRUCTION : uint8_t {
INSTRUCTION_WRITE = 0x02,
INSTRUCTION_READ = 0x03,
INSTRUCTION_BITMOD = 0x05,
INSTRUCTION_LOAD_TX0 = 0x40,
INSTRUCTION_LOAD_TX1 = 0x42,
INSTRUCTION_LOAD_TX2 = 0x44,
INSTRUCTION_RTS_TX0 = 0x81,
INSTRUCTION_RTS_TX1 = 0x82,
INSTRUCTION_RTS_TX2 = 0x84,
INSTRUCTION_RTS_ALL = 0x87,
INSTRUCTION_READ_RX0 = 0x90,
INSTRUCTION_READ_RX1 = 0x94,
INSTRUCTION_READ_STATUS = 0xA0,
INSTRUCTION_RX_STATUS = 0xB0,
INSTRUCTION_RESET = 0xC0
};
enum REGISTER : uint8_t {
MCP_RXF0SIDH = 0x00,
MCP_RXF0SIDL = 0x01,
MCP_RXF0EID8 = 0x02,
MCP_RXF0EID0 = 0x03,
MCP_RXF1SIDH = 0x04,
MCP_RXF1SIDL = 0x05,
MCP_RXF1EID8 = 0x06,
MCP_RXF1EID0 = 0x07,
MCP_RXF2SIDH = 0x08,
MCP_RXF2SIDL = 0x09,
MCP_RXF2EID8 = 0x0A,
MCP_RXF2EID0 = 0x0B,
MCP_CANSTAT = 0x0E,
MCP_CANCTRL = 0x0F,
MCP_RXF3SIDH = 0x10,
MCP_RXF3SIDL = 0x11,
MCP_RXF3EID8 = 0x12,
MCP_RXF3EID0 = 0x13,
MCP_RXF4SIDH = 0x14,
MCP_RXF4SIDL = 0x15,
MCP_RXF4EID8 = 0x16,
MCP_RXF4EID0 = 0x17,
MCP_RXF5SIDH = 0x18,
MCP_RXF5SIDL = 0x19,
MCP_RXF5EID8 = 0x1A,
MCP_RXF5EID0 = 0x1B,
MCP_TEC = 0x1C,
MCP_REC = 0x1D,
MCP_RXM0SIDH = 0x20,
MCP_RXM0SIDL = 0x21,
MCP_RXM0EID8 = 0x22,
MCP_RXM0EID0 = 0x23,
MCP_RXM1SIDH = 0x24,
MCP_RXM1SIDL = 0x25,
MCP_RXM1EID8 = 0x26,
MCP_RXM1EID0 = 0x27,
MCP_CNF3 = 0x28,
MCP_CNF2 = 0x29,
MCP_CNF1 = 0x2A,
MCP_CANINTE = 0x2B,
MCP_CANINTF = 0x2C,
MCP_EFLG = 0x2D,
MCP_TXB0CTRL = 0x30,
MCP_TXB0SIDH = 0x31,
MCP_TXB0SIDL = 0x32,
MCP_TXB0EID8 = 0x33,
MCP_TXB0EID0 = 0x34,
MCP_TXB0DLC = 0x35,
MCP_TXB0DATA = 0x36,
MCP_TXB1CTRL = 0x40,
MCP_TXB1SIDH = 0x41,
MCP_TXB1SIDL = 0x42,
MCP_TXB1EID8 = 0x43,
MCP_TXB1EID0 = 0x44,
MCP_TXB1DLC = 0x45,
MCP_TXB1DATA = 0x46,
MCP_TXB2CTRL = 0x50,
MCP_TXB2SIDH = 0x51,
MCP_TXB2SIDL = 0x52,
MCP_TXB2EID8 = 0x53,
MCP_TXB2EID0 = 0x54,
MCP_TXB2DLC = 0x55,
MCP_TXB2DATA = 0x56,
MCP_RXB0CTRL = 0x60,
MCP_RXB0SIDH = 0x61,
MCP_RXB0SIDL = 0x62,
MCP_RXB0EID8 = 0x63,
MCP_RXB0EID0 = 0x64,
MCP_RXB0DLC = 0x65,
MCP_RXB0DATA = 0x66,
MCP_RXB1CTRL = 0x70,
MCP_RXB1SIDH = 0x71,
MCP_RXB1SIDL = 0x72,
MCP_RXB1EID8 = 0x73,
MCP_RXB1EID0 = 0x74,
MCP_RXB1DLC = 0x75,
MCP_RXB1DATA = 0x76
};
static const uint8_t CANSTAT_OPMOD = 0xE0;
static const uint8_t CANSTAT_ICOD = 0x0E;
static const uint8_t CNF3_SOF = 0x80;
static const uint8_t TXB_EXIDE_MASK = 0x08;
static const uint8_t DLC_MASK = 0x0F;
static const uint8_t RTR_MASK = 0x40;
static const uint8_t RXB_CTRL_RXM_STD = 0x20;
static const uint8_t RXB_CTRL_RXM_EXT = 0x40;
static const uint8_t RXB_CTRL_RXM_STDEXT = 0x00;
static const uint8_t RXB_CTRL_RXM_MASK = 0x60;
static const uint8_t RXB_CTRL_RTR = 0x08;
static const uint8_t RXB_0_CTRL_BUKT = 0x04;
static const uint8_t MCP_SIDH = 0;
static const uint8_t MCP_SIDL = 1;
static const uint8_t MCP_EID8 = 2;
static const uint8_t MCP_EID0 = 3;
static const uint8_t MCP_DLC = 4;
static const uint8_t MCP_DATA = 5;
/*
* Speed 8M
*/
static const uint8_t MCP_8MHZ_1000KBPS_CFG1 = 0x00;
static const uint8_t MCP_8MHZ_1000KBPS_CFG2 = 0x80;
static const uint8_t MCP_8MHZ_1000KBPS_CFG3 = 0x80;
static const uint8_t MCP_8MHZ_500KBPS_CFG1 = 0x00;
static const uint8_t MCP_8MHZ_500KBPS_CFG2 = 0x90;
static const uint8_t MCP_8MHZ_500KBPS_CFG3 = 0x82;
static const uint8_t MCP_8MHZ_250KBPS_CFG1 = 0x00;
static const uint8_t MCP_8MHZ_250KBPS_CFG2 = 0xB1;
static const uint8_t MCP_8MHZ_250KBPS_CFG3 = 0x85;
static const uint8_t MCP_8MHZ_200KBPS_CFG1 = 0x00;
static const uint8_t MCP_8MHZ_200KBPS_CFG2 = 0xB4;
static const uint8_t MCP_8MHZ_200KBPS_CFG3 = 0x86;
static const uint8_t MCP_8MHZ_125KBPS_CFG1 = 0x01;
static const uint8_t MCP_8MHZ_125KBPS_CFG2 = 0xB1;
static const uint8_t MCP_8MHZ_125KBPS_CFG3 = 0x85;
static const uint8_t MCP_8MHZ_100KBPS_CFG1 = 0x01;
static const uint8_t MCP_8MHZ_100KBPS_CFG2 = 0xB4;
static const uint8_t MCP_8MHZ_100KBPS_CFG3 = 0x86;
static const uint8_t MCP_8MHZ_80KBPS_CFG1 = 0x01;
static const uint8_t MCP_8MHZ_80KBPS_CFG2 = 0xBF;
static const uint8_t MCP_8MHZ_80KBPS_CFG3 = 0x87;
static const uint8_t MCP_8MHZ_50KBPS_CFG1 = 0x03;
static const uint8_t MCP_8MHZ_50KBPS_CFG2 = 0xB4;
static const uint8_t MCP_8MHZ_50KBPS_CFG3 = 0x86;
static const uint8_t MCP_8MHZ_40KBPS_CFG1 = 0x03;
static const uint8_t MCP_8MHZ_40KBPS_CFG2 = 0xBF;
static const uint8_t MCP_8MHZ_40KBPS_CFG3 = 0x87;
static const uint8_t MCP_8MHZ_33K3BPS_CFG1 = 0x47;
static const uint8_t MCP_8MHZ_33K3BPS_CFG2 = 0xE2;
static const uint8_t MCP_8MHZ_33K3BPS_CFG3 = 0x85;
static const uint8_t MCP_8MHZ_31K25BPS_CFG1 = 0x07;
static const uint8_t MCP_8MHZ_31K25BPS_CFG2 = 0xA4;
static const uint8_t MCP_8MHZ_31K25BPS_CFG3 = 0x84;
static const uint8_t MCP_8MHZ_20KBPS_CFG1 = 0x07;
static const uint8_t MCP_8MHZ_20KBPS_CFG2 = 0xBF;
static const uint8_t MCP_8MHZ_20KBPS_CFG3 = 0x87;
static const uint8_t MCP_8MHZ_10KBPS_CFG1 = 0x0F;
static const uint8_t MCP_8MHZ_10KBPS_CFG2 = 0xBF;
static const uint8_t MCP_8MHZ_10KBPS_CFG3 = 0x87;
static const uint8_t MCP_8MHZ_5KBPS_CFG1 = 0x1F;
static const uint8_t MCP_8MHZ_5KBPS_CFG2 = 0xBF;
static const uint8_t MCP_8MHZ_5KBPS_CFG3 = 0x87;
/*
* speed 16M
*/
static const uint8_t MCP_16MHZ_1000KBPS_CFG1 = 0x00;
static const uint8_t MCP_16MHZ_1000KBPS_CFG2 = 0xD0;
static const uint8_t MCP_16MHZ_1000KBPS_CFG3 = 0x82;
static const uint8_t MCP_16MHZ_500KBPS_CFG1 = 0x00;
static const uint8_t MCP_16MHZ_500KBPS_CFG2 = 0xF0;
static const uint8_t MCP_16MHZ_500KBPS_CFG3 = 0x86;
static const uint8_t MCP_16MHZ_250KBPS_CFG1 = 0x41;
static const uint8_t MCP_16MHZ_250KBPS_CFG2 = 0xF1;
static const uint8_t MCP_16MHZ_250KBPS_CFG3 = 0x85;
static const uint8_t MCP_16MHZ_200KBPS_CFG1 = 0x01;
static const uint8_t MCP_16MHZ_200KBPS_CFG2 = 0xFA;
static const uint8_t MCP_16MHZ_200KBPS_CFG3 = 0x87;
static const uint8_t MCP_16MHZ_125KBPS_CFG1 = 0x03;
static const uint8_t MCP_16MHZ_125KBPS_CFG2 = 0xF0;
static const uint8_t MCP_16MHZ_125KBPS_CFG3 = 0x86;
static const uint8_t MCP_16MHZ_100KBPS_CFG1 = 0x03;
static const uint8_t MCP_16MHZ_100KBPS_CFG2 = 0xFA;
static const uint8_t MCP_16MHZ_100KBPS_CFG3 = 0x87;
static const uint8_t MCP_16MHZ_80KBPS_CFG1 = 0x03;
static const uint8_t MCP_16MHZ_80KBPS_CFG2 = 0xFF;
static const uint8_t MCP_16MHZ_80KBPS_CFG3 = 0x87;
static const uint8_t MCP_16MHZ_83K3BPS_CFG1 = 0x03;
static const uint8_t MCP_16MHZ_83K3BPS_CFG2 = 0xBE;
static const uint8_t MCP_16MHZ_83K3BPS_CFG3 = 0x07;
static const uint8_t MCP_16MHZ_50KBPS_CFG1 = 0x07;
static const uint8_t MCP_16MHZ_50KBPS_CFG2 = 0xFA;
static const uint8_t MCP_16MHZ_50KBPS_CFG3 = 0x87;
static const uint8_t MCP_16MHZ_40KBPS_CFG1 = 0x07;
static const uint8_t MCP_16MHZ_40KBPS_CFG2 = 0xFF;
static const uint8_t MCP_16MHZ_40KBPS_CFG3 = 0x87;
static const uint8_t MCP_16MHZ_33K3BPS_CFG1 = 0x4E;
static const uint8_t MCP_16MHZ_33K3BPS_CFG2 = 0xF1;
static const uint8_t MCP_16MHZ_33K3BPS_CFG3 = 0x85;
static const uint8_t MCP_16MHZ_20KBPS_CFG1 = 0x0F;
static const uint8_t MCP_16MHZ_20KBPS_CFG2 = 0xFF;
static const uint8_t MCP_16MHZ_20KBPS_CFG3 = 0x87;
static const uint8_t MCP_16MHZ_10KBPS_CFG1 = 0x1F;
static const uint8_t MCP_16MHZ_10KBPS_CFG2 = 0xFF;
static const uint8_t MCP_16MHZ_10KBPS_CFG3 = 0x87;
static const uint8_t MCP_16MHZ_5KBPS_CFG1 = 0x3F;
static const uint8_t MCP_16MHZ_5KBPS_CFG2 = 0xFF;
static const uint8_t MCP_16MHZ_5KBPS_CFG3 = 0x87;
/*
* speed 20M
*/
static const uint8_t MCP_20MHZ_1000KBPS_CFG1 = 0x00;
static const uint8_t MCP_20MHZ_1000KBPS_CFG2 = 0xD9;
static const uint8_t MCP_20MHZ_1000KBPS_CFG3 = 0x82;
static const uint8_t MCP_20MHZ_500KBPS_CFG1 = 0x00;
static const uint8_t MCP_20MHZ_500KBPS_CFG2 = 0xFA;
static const uint8_t MCP_20MHZ_500KBPS_CFG3 = 0x87;
static const uint8_t MCP_20MHZ_250KBPS_CFG1 = 0x41;
static const uint8_t MCP_20MHZ_250KBPS_CFG2 = 0xFB;
static const uint8_t MCP_20MHZ_250KBPS_CFG3 = 0x86;
static const uint8_t MCP_20MHZ_200KBPS_CFG1 = 0x01;
static const uint8_t MCP_20MHZ_200KBPS_CFG2 = 0xFF;
static const uint8_t MCP_20MHZ_200KBPS_CFG3 = 0x87;
static const uint8_t MCP_20MHZ_125KBPS_CFG1 = 0x03;
static const uint8_t MCP_20MHZ_125KBPS_CFG2 = 0xFA;
static const uint8_t MCP_20MHZ_125KBPS_CFG3 = 0x87;
static const uint8_t MCP_20MHZ_100KBPS_CFG1 = 0x04;
static const uint8_t MCP_20MHZ_100KBPS_CFG2 = 0xFA;
static const uint8_t MCP_20MHZ_100KBPS_CFG3 = 0x87;
static const uint8_t MCP_20MHZ_83K3BPS_CFG1 = 0x04;
static const uint8_t MCP_20MHZ_83K3BPS_CFG2 = 0xFE;
static const uint8_t MCP_20MHZ_83K3BPS_CFG3 = 0x87;
static const uint8_t MCP_20MHZ_80KBPS_CFG1 = 0x04;
static const uint8_t MCP_20MHZ_80KBPS_CFG2 = 0xFF;
static const uint8_t MCP_20MHZ_80KBPS_CFG3 = 0x87;
static const uint8_t MCP_20MHZ_50KBPS_CFG1 = 0x09;
static const uint8_t MCP_20MHZ_50KBPS_CFG2 = 0xFA;
static const uint8_t MCP_20MHZ_50KBPS_CFG3 = 0x87;
static const uint8_t MCP_20MHZ_40KBPS_CFG1 = 0x09;
static const uint8_t MCP_20MHZ_40KBPS_CFG2 = 0xFF;
static const uint8_t MCP_20MHZ_40KBPS_CFG3 = 0x87;
static const uint8_t MCP_20MHZ_33K3BPS_CFG1 = 0x0B;
static const uint8_t MCP_20MHZ_33K3BPS_CFG2 = 0xFF;
static const uint8_t MCP_20MHZ_33K3BPS_CFG3 = 0x87;
} // namespace mcp2515
} // namespace esphome

22
tests/test1.yaml
View file

@ -1890,6 +1890,9 @@ text_sensor:
- globals.set: - globals.set:
id: glob_int id: glob_int
value: '0' value: '0'
- canbus.send:
can_id: 23
data: [ 0x10, 0x20, 0x30 ]
- platform: template - platform: template
name: Template Text Sensor name: Template Text Sensor
id: template_text id: template_text
@ -1916,3 +1919,22 @@ sn74hc595:
rtttl: rtttl:
output: gpio_19 output: gpio_19
canbus:
- platform: mcp2515
cs_pin: GPIO17
can_id: 4
bit_rate: 50kbps
on_frame:
- can_id: 500
then:
- lambda: |-
std::string b(x.begin(), x.end());
ESP_LOGD("canid 500", "%s", &b[0] );
- can_id: 23
then:
- if:
condition:
lambda: 'return x[0] == 0x11;'
then:
light.toggle: living_room_lights