Merge pull request autowp#35 from jxltom/support-receive-both-eid-and-sid

Support receiving both standard and extended frames

Author: jxltom

mcp2515.cpp

@@ -49,15 +49,22 @@ MCP2515::ERROR MCP2515::reset(void)
 
     setRegister(MCP_CANINTE, CANINTF_RX0IF | CANINTF_RX1IF | CANINTF_ERRIF | CANINTF_MERRF);
 
+    // receives all valid messages using either Standard or Extended Identifiers that
+    // meet filter criteria. RXF0 is applied for RXB0, RXF1 is applied for RXB1
     modifyRegister(MCP_RXB0CTRL,
-                   RXBnCTRL_RXM_MASK | RXB0CTRL_BUKT,
-                   RXBnCTRL_RXM_STDEXT | RXB0CTRL_BUKT);
-    modifyRegister(MCP_RXB1CTRL, RXBnCTRL_RXM_MASK, RXBnCTRL_RXM_STDEXT);
+                   RXBnCTRL_RXM_MASK | RXB0CTRL_BUKT | RXB0CTRL_FILHIT_MASK,
+                   RXBnCTRL_RXM_STDEXT | RXB0CTRL_BUKT | RXB0CTRL_FILHIT);
+    modifyRegister(MCP_RXB1CTRL,
+                   RXBnCTRL_RXM_MASK | RXB1CTRL_FILHIT_MASK,
+                   RXBnCTRL_RXM_STDEXT | RXB1CTRL_FILHIT);
 
     // clear filters and masks
-    /*RXF filters[] = {RXF0, RXF1, RXF2, RXF3, RXF4, RXF5};
+    // do not filter any standard frames for RXF0 used by RXB0
+    // do not filter any extended frames for RXF1 used by RXB1
+    RXF filters[] = {RXF0, RXF1, RXF2, RXF3, RXF4, RXF5};
     for (int i=0; i<6; i++) {
-        ERROR result = setFilter(filters[i], true, 0);
+        bool ext = (i == 1);
+        ERROR result = setFilter(filters[i], ext, 0);
         if (result != ERROR_OK) {
             return result;
         }
@@ -69,7 +76,7 @@ MCP2515::ERROR MCP2515::reset(void)
         if (result != ERROR_OK) {
             return result;
         }
-    }*/
+    }
 
     return ERROR_OK;
 }

mcp2515.h

@@ -292,6 +292,10 @@ class MCP2515
         static const uint8_t RXBnCTRL_RXM_MASK   = 0x60;
         static const uint8_t RXBnCTRL_RTR        = 0x08;
         static const uint8_t RXB0CTRL_BUKT       = 0x04;
+        static const uint8_t RXB0CTRL_FILHIT_MASK = 0x03;
+        static const uint8_t RXB1CTRL_FILHIT_MASK = 0x07;
+        static const uint8_t RXB0CTRL_FILHIT = 0x00;
+        static const uint8_t RXB1CTRL_FILHIT = 0x01;
 
         static const uint8_t MCP_SIDH = 0;
         static const uint8_t MCP_SIDL = 1;