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Preparation for a 1.6.0 release
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- Code cleanup and compatibility with Arduino 1.6.*
- Proper documentation of code sources and licenses used
- Updated library.properties and keywords.txt
- "Appropriated" the method used by Paul Stoffregen for determining which architecture is which from the Teensyduino SPI.h file
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McNeight committed Jun 15, 2015
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66 changes: 35 additions & 31 deletions CAN.cpp
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Original file line number Diff line number Diff line change
@@ -1,55 +1,59 @@
/* Copyright (C) 2014
/*
Copyright © 2007-2015 Fabian Greif, David Harding, Kyle Crockett,
Nuno Alves, Stevenh, Collin Kidder, Daniel Kasamis, Cory Fowler, teachop,
Pedro Cevallos, Neil McNeight
Contributors: Pedro Cevallos & Neil McNeight
This file is part of CAN_Library.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
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.
This program is distributed in the hope that it will be useful,
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 General Public License for more details.
GNU Lesser General Public License for more details.
You should have received a copy of the GNU General Public License
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
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
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
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 1.9 NEM Preparing a unified CAN library across three different
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.*
-------------------------------------------------------------------------------
*/
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122 changes: 73 additions & 49 deletions CAN.h
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Original file line number Diff line number Diff line change
@@ -1,55 +1,59 @@
/* Copyright (C) 2014
/*
Copyright © 2007-2015 Fabian Greif, David Harding, Kyle Crockett,
Nuno Alves, Stevenh, Collin Kidder, Daniel Kasamis, Cory Fowler, teachop,
Pedro Cevallos, Neil McNeight
Contributors: Pedro Cevallos & Neil McNeight
This file is part of CAN_Library.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
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.
This program is distributed in the hope that it will be useful,
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 General Public License for more details.
GNU Lesser General Public License for more details.
You should have received a copy of the GNU General Public License
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
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
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
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 1.9 NEM Preparing a unified CAN library across three different
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.*
-------------------------------------------------------------------------------
*/
Expand Down Expand Up @@ -113,17 +117,16 @@ DATE VER WHO WHAT
//
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 (RTR)
uint32_t id : 29; // if (extended == 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
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
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
Expand Down Expand Up @@ -172,22 +175,27 @@ typedef struct __attribute__((__packed__))
// number of different tasks.
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)
uint32_t id : 29; // if (extended == 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
} CAN_Filter; // suffix of '_t' is reserved by POSIX for future use


class CANClass // Can't inherit from Stream
{
public:
// Initializes CAN communications.
virtual void begin(uint32_t bitrate);
// Finishes CAN communications
virtual void end();
// Check if message has been received on any of the buffers
virtual uint8_t available();
// Receive CAN message and allows use of the message structure for easier message handling
virtual CAN_Frame read();

virtual void flush();
// Load and send CAN message.
virtual uint8_t write(const CAN_Frame&);

//CAN_Frame& operator=(const CAN_Frame&);
Expand All @@ -199,8 +207,11 @@ class CANClass // Can't inherit from Stream
// Unable to use extern on a base class

// It's time for #ifdef bingo!
#if defined(ARDUINO_ARCH_AVR) && !defined(__MK20DX256__)
//
/**********************************************************/
/* 8 bit AVR-based boards */
/**********************************************************/
#if defined(__AVR__)

#if defined(__AVR_AT90CAN32__) || \
defined(__AVR_AT90CAN64__) || \
defined(__AVR_AT90CAN128__)
Expand All @@ -218,21 +229,34 @@ class CANClass // Can't inherit from Stream
#define CAN_CONTROLLER_MCP2515 // SPI interface to MCP2515 chip
#include <SPI.h>
#include "CAN_MCP2515.h"
//#elif defined(SJA1000) // SPI interface to SJA1000 chip
//#elif defined(SJA1000) // 8-bit parallel interface to SJA1000 chip
//#define CAN_CONTROLLER_SJA1000
//#include <SPI.h>
//#include "CAN_SJA1000.h"
//#else
//#error "Your SPI CAN controller is currently unsupported."
//#endif // MCP2515 / SJA1000
#endif // AT90 / M1 / C1 / SPI

#elif defined(ARDUINO_ARCH_SAM) || defined(__SAM3X8E__) // Arduino Due
/**********************************************************/
/* 32 bit Arduino Due */
/**********************************************************/
#elif defined(__arm__) && defined(__SAM3X8E__)
#define CAN_CONTROLLER_SAM3X
#include "CAN_SAM3X.h"
#elif defined(__MK20DX256__) // Teensy 3.1
/**********************************************************/
/* 32 bit Teensy 3.0 and 3.1 */
/**********************************************************/
#elif defined(__arm__) && defined(TEENSYDUINO) && defined(KINETISK)
#define CAN_CONTROLLER_K2X
#include "CAN_K2X.h"
/**********************************************************/
/* 32 bit Teensy-LC */
/**********************************************************/
#elif defined(__arm__) && defined(TEENSYDUINO) && defined(KINETISL)
// Assume an SPI interface to an MCP2515
#define CAN_CONTROLLER_MCP2515 // SPI interface to MCP2515 chip
#include <SPI.h>
#include "CAN_MCP2515.h"
#else
#error "Your CPU & CAN controller are currently unsupported."
#endif // ARDUINO_ARCH_*
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62 changes: 33 additions & 29 deletions CAN_AT90CAN.cpp
View file
Original file line number Diff line number Diff line change
@@ -1,45 +1,48 @@
/* Copyright (C) 2014
/*
Copyright © 2007-2015 Fabian Greif, David Harding, Kyle Crockett,
Nuno Alves, Stevenh, Collin Kidder, Daniel Kasamis, Cory Fowler, teachop,
Pedro Cevallos, Neil McNeight
Contributors: Pedro Cevallos & Neil McNeight
This file is part of CAN_Library.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
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.
This program is distributed in the hope that it will be useful,
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 General Public License for more details.
GNU Lesser General Public License for more details.
You should have received a copy of the GNU General Public License
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
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
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
Expand All @@ -48,8 +51,9 @@ DATE VER WHO WHAT
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 1.9 NEM Preparing a unified CAN library across three different
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.*
-------------------------------------------------------------------------------
*/
Expand Down
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