2 # GoodFET MCP2515 CAN Bus Client
4 # (C) 2012 Travis Goodspeed <travis at radiantmachines.com>
6 # This code is being rewritten and refactored. You've been warned!
9 # The MCP2515 is a CAN Bus to SPI adapter from Microchip Technology,
10 # as used in the Goodthopter series of boards. It requires a separate
11 # chip for voltage level conversion, such as the MCP2551.
13 import sys, time, string, cStringIO, struct, glob, os;
15 from GoodFETSPI import GoodFETSPI;
17 class GoodFETMCPCAN(GoodFETSPI):
19 """Sets up the ports."""
21 self.MCPreset(); #Reset the chip.
24 """Reset the MCP2515 chip."""
25 self.SPItrans([0xC0]);
26 def MCPrxstatus(self):
27 """Reads the RX Status by the SPI verb of the same name."""
28 data=self.SPItrans([0xB0,0x00]);
30 def MCPreadstatus(self):
31 """Reads the RX Status by the SPI verb of the same name."""
32 data=self.SPItrans([0xA0,0x00]);
35 """Read a byte from the given address. Untested."""
36 data=self.SPItrans([0x03,adr&0xFF,00]);
39 def poke8(self,adr,val):
40 """Poke a value into RAM. Untested"""
41 self.SPItrans([0x02,adr&0xFF,val&0xFF]);
44 """Read a random 16-bit word."""
46 data=self.EZSPtrans([0x49]);
48 print "Insufficient random data.";
50 return ord(data[6])+(ord(data[7])<<8);
53 """Read the info bytes."""
54 print "Ember EM26 Z-Stack SPI Module.";
55 version=self.EM260spiversion();
56 status=self.EM260spistatus();
57 print "Version: %i" % (version);
58 print "Status: %s" % (["dead","alive"][status]);
61 print "Node ID: %04x" % (self.getNodeID());
62 print "Connected to %2i neighbors." % self.neighborCount();