changed mcp2515 driver to use nonblocking spi

examples/avr/can/mcp2515/main.cpp

@@ -30,7 +30,7 @@ typedef SpiMaster SPI;
 modm::Mcp2515<SPI, Cs, Int> mcp2515;
 
 // Default filters to receive any extended CAN frame
-FLASH_STORAGE(uint8_t canFilter[]) =
+const uint8_t canFilter[] =
 {
 	MCP2515_FILTER_EXTENDED(0),	// Filter 0
 	MCP2515_FILTER_EXTENDED(0),	// Filter 1
@@ -56,7 +56,7 @@ main()
 
 	// Configure MCP2515 and set the filters
 	mcp2515.initialize<8_MHz, 125_kbps>();
-	mcp2515.setFilter(modm::accessor::asFlash(canFilter));
+	mcp2515.setFilter(canFilter);
 
 	// Create a new message
 	modm::can::Message message(0x123456);

examples/avr/can/mcp2515_uart/main.cpp

@@ -13,7 +13,8 @@
 
 #include <modm/platform.hpp>
 #include <modm/driver/can/mcp2515.hpp>
-#include <modm/processing/timer.hpp>
+#include <modm/processing.hpp>
+#include <modm/io.hpp>
 
 using namespace modm::platform;
 using namespace modm::literals;
@@ -34,7 +35,7 @@ typedef BitBangSpiMaster<Sclk, Mosi, Miso> SPI;
 modm::Mcp2515<SPI, Cs, Int> mcp2515;
 
 // Default filters to receive any extended CAN frame
-FLASH_STORAGE(uint8_t canFilter[]) =
+const uint8_t canFilter[] =
 {
 	MCP2515_FILTER_EXTENDED(0),	// Filter 0
 	MCP2515_FILTER_EXTENDED(0),	// Filter 1
@@ -48,6 +49,10 @@ FLASH_STORAGE(uint8_t canFilter[]) =
 	MCP2515_FILTER_EXTENDED(0),	// Mask 1
 };
 
+// Create a IOStream for complex formatting tasks
+modm::IODeviceWrapper< Uart0, modm::IOBuffer::BlockIfFull > device;
+modm::IOStream stream(device);
+
 int
 main()
 {
@@ -58,10 +63,6 @@ main()
 	Uart0::connect<GpioD1::Txd, GpioD0::Rxd>();
 	Uart0::initialize<SystemClock, 115200_Bd>();
 
-	// Create a IOStream for complex formatting tasks
-	modm::IODeviceWrapper< Uart0, modm::IOBuffer::BlockIfFull > device;
-	modm::IOStream stream(device);
-
 	// enable interrupts
 	enableInterrupts();
 
@@ -76,7 +77,7 @@ main()
 
 	// Configure MCP2515 and set the filters
 	mcp2515.initialize<8_MHz, 125_kbps>();
-	mcp2515.setFilter(modm::accessor::asFlash(canFilter));
+	mcp2515.setFilter(canFilter);
 
 	// Create a new message
 	modm::can::Message message(0x123456);

examples/avr/xpcc/receiver/main.cpp

@@ -63,7 +63,7 @@ Postman postman;
 xpcc::Dispatcher dispatcher(&connector, &postman);
 
 // Default filters to receive any extended CAN frame
-FLASH_STORAGE(uint8_t canFilter[]) =
+const uint8_t canFilter[] =
 {
 	MCP2515_FILTER_EXTENDED(0),	// Filter 0
 	MCP2515_FILTER_EXTENDED(0),	// Filter 1
@@ -98,7 +98,7 @@ main()
 
 	// Configure MCP2515 and set the filters
 	device.initialize<8_MHz, 125_kbps>();
-	device.setFilter(modm::accessor::asFlash(canFilter));
+	device.setFilter(canFilter);
 
 	// Enable Interrupts
 	enableInterrupts();

examples/avr/xpcc/sender/main.cpp

@@ -63,7 +63,7 @@ Postman postman;
 xpcc::Dispatcher dispatcher(&connector, &postman);
 
 // Default filters to receive any extended CAN frame
-FLASH_STORAGE(uint8_t canFilter[]) =
+const uint8_t canFilter[] =
 {
 	MCP2515_FILTER_EXTENDED(0),	// Filter 0
 	MCP2515_FILTER_EXTENDED(0),	// Filter 1
@@ -98,7 +98,7 @@ main()
 
 	// Configure MCP2515 and set the filters
 	device.initialize<8_MHz, 125_kbps>();
-	device.setFilter(modm::accessor::asFlash(canFilter));
+	device.setFilter(canFilter);
 
 	// Enable Interrupts
 	enableInterrupts();

examples/nucleo_f439zi/can_m2515/main.cpp

@@ -0,0 +1,115 @@
+/*
+ * 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/processing.hpp>
+#include <modm/driver/can/mcp2515.hpp>
+
+// 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
+const uint8_t canFilter[] =
+{
+	MCP2515_FILTER_EXTENDED(0), // Filter 0
+	MCP2515_FILTER_EXTENDED(0), // Filter 1
+
+	MCP2515_FILTER(0), // Filter 2
+	MCP2515_FILTER(0), // Filter 3
+	MCP2515_FILTER(0), // Filter 4
+	MCP2515_FILTER(0), // Filter 5
+
+	MCP2515_MASK_EXTENDED(0), // Mask 0
+	MCP2515_MASK(0), // Mask 1
+};
+
+modm::Mcp2515<SpiMaster, Cs, Int> mcp2515;
+
+modm::Fiber fiber_mcp2515([]
+{
+	MODM_LOG_INFO << "Initializing mcp2515 ..." << modm::endl;
+	mcp2515.initialize<8_MHz, 500_kbps>();
+
+	while(1)
+	{
+		mcp2515.update();
+		modm::this_fiber::yield();
+	}
+});
+
+modm::Fiber fiber_can([]
+{
+	modm::can::Message msg;
+	modm::ShortPeriodicTimer tmr{1s};
+	uint8_t i, j;
+
+	/// Set filters of MCP2515
+	MODM_LOG_INFO << "Setting filters of mcp2515 ..." << modm::endl;
+	mcp2515.setFilter(canFilter);
+	MODM_LOG_INFO << "Running ... " << modm::endl;
+	while (true)
+	{
+		// receive messages
+		if (mcp2515.isMessageAvailable())
+		{
+			MODM_LOG_INFO << "Message Available ... " << modm::endl;
+			mcp2515.getMessage(msg);
+			MODM_LOG_INFO << "Received message: " << modm::hex << msg.identifier << modm::endl;
+			for(i = 0; i < msg.length; ++i){
+				MODM_LOG_INFO << modm::hex << " 0x" << msg.data[i];
+			}
+			MODM_LOG_INFO << modm::endl << modm::endl;
+		}
+
+		if(tmr.execute())
+		{
+			msg.identifier = 0xAA;
+			msg.length = 2;
+			msg.data[0] = 13;
+			msg.data[1] = 37;
+			MODM_LOG_INFO << "Sending Message ... "<< modm::endl;
+			for(j = 0; j < msg.length; ++j){
+				MODM_LOG_INFO << modm::hex<< " 0x" << msg.data[j];
+			}
+			MODM_LOG_INFO << modm::endl;
+			MODM_LOG_INFO << "Success: " << mcp2515.sendMessage(msg) << modm::endl;
+		}
+
+		modm::this_fiber::yield();
+	}
+});
+
+int
+main()
+{
+	Board::initialize();
+	SpiMaster::connect<Miso::Miso, Mosi::Mosi, Sck::Sck>();
+	SpiMaster::initialize<Board::SystemClock, 10_MHz>();
+
+	MODM_LOG_INFO << "Mcp2515 Example" << modm::endl;
+
+	modm::fiber::Scheduler::run();
+	return 0;
+}

examples/nucleo_f439zi/can_m2515/project.xml

@@ -0,0 +1,13 @@
+<library>
+  <extends>modm:nucleo-f439zi</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo-f439zi/mcp2515</option>
+  </options>
+  <modules>
+    <module>modm:platform:spi:1</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/architecture/interface/can.hpp

@@ -11,8 +11,7 @@
  */
 // ----------------------------------------------------------------------------
 
-#ifndef MODM_INTERFACE_CAN_HPP
-#define MODM_INTERFACE_CAN_HPP
+#pragma once
 
 #include <modm/architecture/interface/peripheral.hpp>
 #include "can_message.hpp"
@@ -118,10 +117,63 @@ class Can : public ::modm::PeripheralDriver
 #endif
 };
 
+/// Wraps an object CAN driver into the static CAN interface
 /// @ingroup modm_architecture_can
-modm::IOStream&
-operator << (modm::IOStream& stream, const Can::BusState state);
+template <class CanType, CanType &can>
+struct StaticCanWrapper : public modm::Can
+{
+	static bool
+	isMessageAvailable()
+	{ return can.isMessageAvailable(); }
+
+	static bool
+	getMessage(can::Message& message, uint8_t *filter_id=nullptr)
+	{
+		return can.getMessage(message, filter_id);
+	}
+
+	static bool
+	isReadyToSend()
+	{ return can.isReadyToSend(); }
+
+	static bool
+	sendMessage(const can::Message& message)
+	{ return can.sendMessage(message); }
+
+	static BusState
+	getBusState() { return can.getBusState(); }
+};
 
 } // namespace modm
 
-#endif // MODM_INTERFACE_CAN_HPP
+#if MODM_HAS_IOSTREAM
+#include <modm/io/iostream.hpp>
+
+namespace modm
+{
+
+/// @ingroup modm_architecture_can
+inline modm::IOStream&
+operator << (modm::IOStream& stream, const Can::BusState state)
+{
+	switch (state)
+	{
+		case Can::BusState::Connected:
+			stream << "connected";
+			break;
+		case Can::BusState::ErrorWarning:
+			stream << "error warning";
+			break;
+		case Can::BusState::ErrorPassive:
+			stream << "error passive";
+			break;
+		case Can::BusState::Off:
+			stream << "off";
+			break;
+	}
+	return stream;
+}
+
+} // namespace modm
+
+#endif

src/modm/architecture/interface/can_filter.hpp

@@ -8,10 +8,7 @@
  * file, You can obtain one at http://mozilla.org/MPL/2.0/.
  */
 
-#ifndef MODM_CAN_FILTER_HPP
-#define MODM_CAN_FILTER_HPP
-
-#include <modm/io/iostream.hpp>
+#pragma once
 
 namespace modm::can
 {
@@ -69,5 +66,3 @@ struct ExtendedMask
 };
 
 }
-
-#endif