Added #defines for timeouts as per ISO 11783-3

Changed CAN_FRAME to CAN_Frame; subtle perhaps, but all caps usually
 indicates a #define or other constant
Added uint16_t timeout to CAN_Frame
Added new struct CAN_Filter
Revised keywords.txt to reflect new API
Began standardizing private functions using set and get prefixes and
 camel case
Use const CAN_Frame in write() to minimize memory use
Bugfix for extended ID decoding in CAN_MCP2515::read()
Began revising CAN_K2X.{h,cpp} to match CANClass API

keywords.txt

@@ -6,74 +6,19 @@
 # Datatypes (KEYWORD1)
 #######################################
 
-CAN	KEYWORD1
-J1939 KEYWORD1
-CANopen KEYWORD1
-
-# From due_can library
-
-CAN_FRAME	KEYWORD1
+CANClass	KEYWORD1
+CAN_Frame	KEYWORD1
 
 #######################################
 # Methods and Functions (KEYWORD2)
 #######################################
 
 begin	KEYWORD2
-bitRate	KEYWORD2
-setMode	KEYWORD2
-reset	KEYWORD2
-readMode	KEYWORD2
-readRate	KEYWORD2
-
-# From due_can library
-
-set_baudrate	KEYWORD2
-init	KEYWORD2
-enable	KEYWORD2
-disable	KEYWORD2
-disable_low_power_mode	KEYWORD2
-enable_low_power_mode	KEYWORD2
-disable_autobaud_listen_mode	KEYWORD2
-enable_autobaud_listen_mode	KEYWORD2
-disable_overload_frame	KEYWORD2
-enable_overload_frame	KEYWORD2
-set_timestamp_capture_point	KEYWORD2
-disable_time_triggered_mode	KEYWORD2
-enable_time_triggered_mode	KEYWORD2
-disable_timer_freeze	KEYWORD2
-enable_timer_freeze	KEYWORD2
-disable_tx_repeat	KEYWORD2
-enable_tx_repeat	KEYWORD2
-set_rx_sync_stage	KEYWORD2
-enable_interrupt	KEYWORD2
-disable_interrupt	KEYWORD2
-get_interrupt_mask	KEYWORD2
-get_status	KEYWORD2
-get_internal_timer_value	KEYWORD2
-get_timestamp_value	KEYWORD2
-get_tx_error_cnt	KEYWORD2
-get_rx_error_cnt	KEYWORD2
-reset_internal_timer	KEYWORD2
-global_send_transfer_cmd	KEYWORD2
-global_send_abort_cmd	KEYWORD2
-mailbox_set_timemark	KEYWORD2
-mailbox_get_status	KEYWORD2
-mailbox_send_transfer_cmd	KEYWORD2
-mailbox_send_abort_cmd	KEYWORD2
-mailbox_init	KEYWORD2
-mailbox_read	KEYWORD2
-mailbox_tx_frame	KEYWORD2
-mailbox_set_id	KEYWORD2
-mailbox_set_priority	KEYWORD2
-mailbox_set_accept_mask	KEYWORD2
-mailbox_set_mode	KEYWORD2
-mailbox_set_databyte	KEYWORD2
-mailbox_set_datalen	KEYWORD2
-mailbox_set_datal	KEYWORD2
-mailbox_set_datah	KEYWORD2
-reset_all_mailbox	KEYWORD2
-rx_avail	KEYWORD2
-get_rx_buff	KEYWORD2
+end	KEYWORD2
+available	KEYWORD2
+read	KEYWORD2
+flush	KEYWORD2
+write	KEYWORD2
 
 #######################################
 # Instances (KEYWORD2)
@@ -86,38 +31,33 @@ CAN2	KEYWORD2
 # Constants (LITERAL1)
 #######################################
 
+CAN_DOMINANT	LITERAL1
+CAN_RECESSIVE	LITERAL1
+CAN_STANDARD_FRAME	LITERAL1
+CAN_EXTENDED_FRAME	LITERAL1
+CAN_STANDARD_ID_MASK	LITERAL1
+CAN_EXTENDED_ID_MASK	LITERAL1
+CAN_BPS_1M	LITERAL1
 CAN_BPS_1000K	LITERAL1
 CAN_BPS_800K	LITERAL1
 CAN_BPS_500K	LITERAL1
 CAN_BPS_250K	LITERAL1
+CAN_BPS_200K	LITERAL1
 CAN_BPS_125K	LITERAL1
+CAN_BPS_100K	LITERAL1
+CAN_BPS_83K	LITERAL1
+CAN_BPS_80K	LITERAL1
 CAN_BPS_50K	LITERAL1
+CAN_BPS_40K	LITERAL1
+CAN_BPS_33333	LITERAL1
+CAN_BPS_31K25	LITERAL1
 CAN_BPS_25K	LITERAL1
+CAN_BPS_20K	LITERAL1
 CAN_BPS_10K	LITERAL1
 CAN_BPS_5K	LITERAL1
-CAN_MB_DISABLE_MODE	LITERAL1
-CAN_MB_RX_MODE	LITERAL1
-CAN_MB_RX_OVER_WR_MODE	LITERAL1
-CAN_MB_TX_MODE	LITERAL1
-CAN_MB_CONSUMER_MODE	LITERAL1
-CAN_MB_PRODUCER_MODE	LITERAL1
-CAN_TCR_MB0	LITERAL1
-CAN_TCR_MB1	LITERAL1
-CAN_TCR_MB2	LITERAL1
-CAN_TCR_MB3	LITERAL1
-CAN_TCR_MB4	LITERAL1
-CAN_TCR_MB5	LITERAL1
-CAN_TCR_MB6	LITERAL1
-CAN_TCR_MB7	LITERAL1
-CAN_MSR_MRDY	LITERAL1
-CAN_IER_MB0	LITERAL1
-CAN_IER_MB1	LITERAL1
-CAN_IER_MB2	LITERAL1
-CAN_IER_MB3	LITERAL1
-CAN_IER_MB4	LITERAL1
-CAN_IER_MB5	LITERAL1
-CAN_IER_MB6	LITERAL1
-CAN_IER_MB7	LITERAL1
-CAN_DISABLE_ALL_INTERRUPT_MASK	LITERAL1
-CAN0_IRQn	LITERAL1
-CAN1_IRQn	LITERAL1
+CAN_TIMEOUT_TR	LITERAL1
+CAN_TIMEOUT_TH	LITERAL1
+CAN_TIMEOUT_T1	LITERAL1
+CAN_TIMEOUT_T2	LITERAL1
+CAN_TIMEOUT_T3	LITERAL1
+CAN_TIMEOUT_T4	LITERAL1

src/CAN.cpp

@@ -38,6 +38,6 @@ DATE		VER		WHO			WHAT
 
 #include "CAN.h"
 
-//CAN_FRAME& CANClass::operator=(const CAN_FRAME&)
+//CAN_Frame& CANClass::operator=(const CAN_Frame&)
 //{
 //}

src/CAN.h

@@ -80,32 +80,42 @@ DATE		VER		WHO			WHAT
 #define CAN_BPS_10K                    10000
 #define CAN_BPS_5K                     5000
 
-typedef struct
+// ISO 11783-3:2014
+// Section 5.13.3
+// Controller response time and timeout defaults
+#define CAN_TIMEOUT_TR 200
+#define CAN_TIMEOUT_TH 500
+#define CAN_TIMEOUT_T1 750
+#define CAN_TIMEOUT_T2 1250
+#define CAN_TIMEOUT_T3 1250
+#define CAN_TIMEOUT_T4 1050
+
+
+typedef struct __attribute__((__packed__))
 {
-  uint32_t id : 29;      // if (ide == CAN_RECESSIVE) { extended ID } else { standard ID }
-  uint8_t valid : 1;     // To avoid passing garbage frames around
-  uint8_t rtr : 1;       // Remote Transmission Request Bit
-  uint8_t extended : 1;  // Identifier Extension Bit
-  uint32_t fid;          // family ID
-  uint8_t priority : 4;	 // Priority but only important for TX frames and then only for special uses.
-  uint8_t length : 4;    // Data Length
-  uint8_t data[8]; 			 // Message data
-} CAN_FRAME;
-
-typedef struct CAN_message_t {
-  uint32_t id; // can identifier
-  uint8_t ext; // identifier is extended
-  uint8_t len; // length of data
-  uint16_t timeout; // milliseconds, zero will disable waiting
-  uint8_t buf[8];
-} CAN_message_t;
-
-typedef struct CAN_filter_t {
-  uint8_t rtr;
-  uint8_t ext;
-  uint32_t id;
-  uint8_t data[2];
-} CAN_filter_t;
+  uint32_t id : 29;       // if (ide == CAN_RECESSIVE) { extended ID }
+                          //   else { standard ID }
+  uint8_t valid : 1;      // To avoid passing garbage frames around
+  uint8_t rtr : 1;        // Remote Transmission Request Bit (RTR)
+  uint8_t extended : 1;   // Identifier Extension Bit (IDE)
+  uint32_t fid;           // family ID
+  uint8_t priority : 4;	  // Priority but only important for TX frames and then only for special uses.
+  uint8_t length : 4;     // Data Length
+  uint16_t timeout;       // milliseconds, zero will disable waiting
+  uint8_t data[8]; 			  // Message data
+} CAN_Frame; // suffix of '_t' is reserved by POSIX for future use
+
+
+// From http://www.cse.dmu.ac.uk/~eg/tele/CanbusIDandMask.html
+// 
+typedef struct __attribute__((__packed__))
+{
+  uint32_t id : 29;       // if (ide == CAN_RECESSIVE) { extended ID }
+                          //   else { standard ID }
+  uint8_t rtr : 1;        // Remote Transmission Request Bit (RTR)
+  uint8_t extended : 1;   // Identifier Extension Bit (IDE)
+  uint8_t data[2];        // Filter / Mask for message data
+} CAN_Filter; // suffix of '_t' is reserved by POSIX for future use
 
 
 class CANClass // Can't inherit from Stream
@@ -114,11 +124,11 @@ class CANClass // Can't inherit from Stream
     virtual void begin(uint32_t bitrate);
     virtual void end();
     virtual uint8_t available();
-    virtual CAN_FRAME read();
+    virtual CAN_Frame read();
     virtual void flush();
-    virtual uint8_t write(CAN_FRAME&);
+    virtual uint8_t write(const CAN_Frame&);
 
-    //CAN_FRAME& operator=(const CAN_FRAME&);
+    //CAN_Frame& operator=(const CAN_Frame&);
 };
 
 //extern CANClass CAN;

src/CAN_AT90CAN.h

@@ -168,13 +168,13 @@ class CAN_AT90CAN : public CANClass
     // 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();
+    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&);
+    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);