-
Notifications
You must be signed in to change notification settings - Fork 43
/
CAN_AT90CAN.h
206 lines (159 loc) · 6.74 KB
/
CAN_AT90CAN.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
/*
Copyright © 2007-2015 Fabian Greif, David Harding, Kyle Crockett,
Nuno Alves, Stevenh, Collin Kidder, Daniel Kasamis, Cory Fowler, teachop,
Pedro Cevallos, Neil McNeight
This file is part of CAN_Library.
CAN_Library is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 2.1 of the License, or
(at your option) any later version.
CAN_Library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Acknowledgements:
Fabian Greif for the initial libraries for MCP2515, SJA1000 and AT90CAN
http://www.kreatives-chaos.com/artikel/universelle-can-bibliothek
as well as his updates at https://github.com/dergraaf/avr-can-lib
David Harding for his version of the MCP2515 library
http://forum.arduino.cc/index.php/topic,8730.0.html
Kyle Crockett CANduino library with 16Mhz oscillator
http://code.google.com/p/canduino/
Nuno Alves for the help on Extended ID messaging
Stevenh for his work on library and all of the MCP research/work
http://modelrail.otenko.com/arduino/arduino-controller-area-network-can
Collin Kidder (collin80) for his work on the Arduino Due CAN interface
https://github.com/collin80/due_can
Daniel Kasamis (togglebit) both for his code at
https://github.com/togglebit/ArduinoDUE_OBD_FreeRunningCAN as well as his
DUE CANshield http://togglebit.net/product/arduino-due-can-shield/
Cory Fowler (coryjfowler) for 16 MHz bitrate timing information
https://github.com/coryjfowler/MCP2515_lib
teachop for the FlexCAN library for the Teensy 3.1
https://github.com/teachop/FlexCAN_Library
-------------------------------------------------------------------------------
Change Log
DATE VER WHO WHAT
07/07/13 0.1 PC Modified and merge all MCP2515 libraries found. Stripped
away most unused functions and corrected MCP2515 defs
09/12/13 0.2 PC Added selectable CS SPI for CAN controller to use 1 IC
to control several mcp2515
02/05/14 0.3 PC Added filter and mask controls
05/01/14 0.4 PC Cleaned up functions, variables and added message
structures for J1939, CANopen and CAN.
05/07/14 1.0 PC Released Library to the public through GitHub
06/18/14 1.5 NEM Preparing a unified CAN library across three different
CAN controllers
06/14/15 1.6.0 NEM Code cleanup and compatibility with Arduino 1.6.*
-------------------------------------------------------------------------------
*/
#if defined(__AVR_AT90CAN32__) || \
defined(__AVR_AT90CAN64__) || \
defined(__AVR_AT90CAN128__)
#ifndef _CAN_AT90CAN_H_
#define _CAN_AT90CAN_H_
#include <Arduino.h>
#include "CAN.h"
#if F_CPU != 16000000UL
#error only 16 MHz for F_CPU supported!
#endif
#define SUPPORT_FOR_AT90CAN__ 1
// ----------------------------------------------------------------------------
#if CAN_RX_BUFFER_SIZE > 0
extern can_buffer_t can_rx_buffer;
#else
extern volatile uint8_t _messages_waiting;
#endif
#if CAN_TX_BUFFER_SIZE > 0
extern can_buffer_t can_tx_buffer;
#else
extern volatile uint8_t _free_buffer;
#endif
#if CAN_FORCE_TX_ORDER
extern volatile uint8_t _transmission_in_progress ;
#endif
// ----------------------------------------------------------------------------
extern uint8_t _find_free_mob(void);
// ----------------------------------------------------------------------------
extern void _disable_mob_interrupt(uint8_t mob);
// ----------------------------------------------------------------------------
extern void _enable_mob_interrupt(uint8_t mob);
// ----------------------------------------------------------------------------
extern uint8_t at90can_send_message(const can_t *msg);
// ----------------------------------------------------------------------------
extern uint8_t at90can_get_message(can_t *msg);
// ----------------------------------------------------------------------------
/**
* \brief Copy data form a message in RAM to the actual registers
* \warning this function assumes CANPAGE to be set properly
*/
extern void at90can_copy_message_to_mob(const can_t *msg);
// ----------------------------------------------------------------------------
/**
* \brief Copy data form a message the registers to RAM
* \warning this function assumes CANPAGE to be set properly
*/
extern void at90can_copy_mob_to_message(can_t *msg);
// ----------------------------------------------------------------------------
// enter standby mode => messages are not transmitted nor received
extern __attribute__ ((gnu_inline)) inline void _enter_standby_mode(void)
{
// request abort
CANGCON = (1 << ABRQ);
// wait until receiver is not busy
while (CANGSTA & (1 << RXBSY))
;
// request standby mode
CANGCON = 0;
// wait until the CAN Controller has entered standby mode
while (CANGSTA & (1 << ENFG))
;
}
// ----------------------------------------------------------------------------
// leave standby mode => CAN Controller is connected to CAN Bus
extern __attribute__ ((gnu_inline)) inline void _leave_standby_mode(void)
{
// save CANPAGE register
uint8_t canpage = CANPAGE;
// reenable all MObs
for (uint8_t i = 0; i < 15; i++) {
CANPAGE = i << 4;
CANCDMOB = CANCDMOB;
}
// restore CANPAGE
CANPAGE = canpage;
// request normal mode
CANGCON = (1 << ENASTB);
// wait until the CAN Controller has left standby mode
while ((CANGSTA & (1 << ENFG)) == 0)
;
}
// MCP class
class CAN_AT90CAN : public CANClass
{
public:
CAN_AT90CAN();
void begin (uint32_t bitrate)
{
begin(bitrate, AT90CAN_MODE_NORMAL);
};
// Initializes CAN communications
void begin (uint32_t bitrate, uint8_t mode);
void end();
// check if message has been received on any of the buffers
uint8_t available();
//Receive and display CAN message and allows use of the message structure for easier message handling
CAN_Frame read();
// Receive and display any message (J1939, CANopen, CAN)
void read(uint32_t *ID, uint8_t *length_out, uint8_t *data_out);
void flush();
uint8_t write(CAN_Frame&);
// Load and send message. No RTS needed.
uint8_t write(uint32_t ID, uint8_t frameType, uint8_t length, uint8_t *data);
};
#endif // _CAN_AT90CAN_H_
#endif // defined(__AVR_AT90CAN32__) || \
// defined(__AVR_AT90CAN64__) || \
// defined(__AVR_AT90CAN128__)