Added bitrate timing values from https://github.com/coryjfowler/MCP25…

…15_lib/blob/master/mcp_can_dfs.h Began importing FlexCAN library for Teensy 3.1 (Freescale K2X)
McNeight · Jun 11, 2014 · b467746 · b467746
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Showing 3 changed files with 121 additions and 8 deletions.
diff --git a/examples/SendAnyMessages/SendAnyMessages.ino b/examples/SendAnyMessages/SendAnyMessages.ino
@@ -23,6 +23,7 @@
 #elif defined(ARDUINO_ARCH_SAM)
 #include <variant.h>
 #include "CAN_SAM3X8E.h"
+#elif defined(__MK20DX256__) // Teensy 3.1
 #else
 #error “This library only supports boards with an AVR or SAM processor.”
 #endif

diff --git a/src/CAN.h b/src/CAN.h
@@ -66,11 +66,15 @@ DATE		VER		WHO			WHAT
 #define CAN_BPS_800K                   800000
 #define CAN_BPS_500K                   500000
 #define CAN_BPS_250K                   250000
+#define CAN_BPS_200K                   200000
 #define CAN_BPS_125K                   125000
 #define CAN_BPS_100K                   100000
 #define CAN_BPS_83K                    83333  // According to ARINC 825, this is a thing
+#define CAN_BPS_80K                    80000
 #define CAN_BPS_50K                    50000
+#define CAN_BPS_40K                    40000
 #define CAN_BPS_33333                  33333
+#define CAN_BPS_31K25                  31250
 #define CAN_BPS_25K                    25000
 #define CAN_BPS_20K                    20000
 #define CAN_BPS_10K                    10000
@@ -88,6 +92,22 @@ typedef struct
   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;
+
+
 class CANClass // Can't inherit from Stream
 {
   public:

diff --git a/src/CAN_MCP2515.cpp b/src/CAN_MCP2515.cpp
@@ -417,21 +417,113 @@ void CAN_MCP2515::bitRate(uint32_t bitrate)
   }
   else if (bitrate == 250000)
   {
-    CNF1 = 0x01; //CNF1 = 0x41; these are other configs for 500kb/s. need to confirm with current crystal osc @ 16mhz
-    CNF2 = 0xB8; //CNF2 = 0xF1;
-    CNF3 = 0x05; //CNF3 = 0x85;
+    CNF1 = 0x01;
+    CNF2 = 0xB8;
+    CNF3 = 0x05;
   }
   else if (bitrate == 500000)
   {
     CNF1 = 0x00;
-    CNF2 = 0xB8; //CNF2 = 0xF0; these are other configs for 500kb/s. need to confirm with current crystal osc @ 16mhz
-    CNF3 = 0x05; //CNF3 = 0x86;
+    CNF2 = 0xB8;
+    CNF3 = 0x05;
   }
   else if (bitrate == 1000000)
   {
-    CNF1 = 0x00; //CNF1 = 0x80; these are other configs for 1Mb/s. need to confirm with current crystal osc @ 16mhz
-    CNF2 = 0xD0; //CNF2 = 0x90;
-    CNF3 = 0x82; //CNF3 = 0x02;
+    CNF1 = 0x00;
+    CNF2 = 0xD0;
+    CNF3 = 0x82;
+  }
+  writeAddress(MCP2515_CNF1, CNF1);//Write config address 1
+  writeAddress(MCP2515_CNF2, CNF2);//Write config address 2
+  writeAddress(MCP2515_CNF3, CNF3);//Write config address 3
+}
+
+//Sets MCP2515 controller bitrate.
+// Configuration speeds are determined by 16 MHz Crystal Oscillator.
+// https://github.com/coryjfowler/MCP2515_lib/blob/master/mcp_can_dfs.h
+// Baudrates 5k, 10k, 20k, 50k, 100k, 125k, 250k, 500k, & 1000k are confirmed
+// to work using a Peak-System PCAN-USB dongle as a reference.
+void CAN_MCP2515::bitrate16MHz(uint32_t bitrate)
+{
+  uint8_t CNF1, CNF2, CNF3;
+
+  if (bitrate == 5000)
+  {
+    CNF1 = 0x3F;
+    CNF2 = 0xFF;
+    CNF3 = 0x87;
+  }
+  else if (bitrate == 10000)
+  {
+    CNF1 = 0x1F;
+    CNF2 = 0xFF;
+    CNF3 = 0x87;
+  }
+  else if (bitrate == 20000)
+  {
+    CNF1 = 0x0F;
+    CNF2 = 0xFF;
+    CNF3 = 0x87;
+  }
+  else if (bitrate == 31025)
+  {
+    CNF1 = 0x0F;
+    CNF2 = 0xF1;
+    CNF3 = 0x85;
+  }
+  else if (bitrate == 40000)
+  {
+    CNF1 = 0x07;
+    CNF2 = 0xFF;
+    CNF3 = 0x87;
+  }
+  else if (bitrate == 50000)
+  {
+    CNF1 = 0x07;
+    CNF2 = 0xFA;
+    CNF3 = 0x87;
+  }
+  else if (bitrate == 80000)
+  {
+    CNF1 = 0x03;
+    CNF2 = 0xFF;
+    CNF3 = 0x87;
+  }
+  else if (bitrate == 100000)
+  {
+    CNF1 = 0x03;
+    CNF2 = 0xFA;
+    CNF3 = 0x87;
+  }
+  else if (bitrate == 125000)
+  {
+    CNF1 = 0x03;
+    CNF2 = 0xF0;
+    CNF3 = 0x86;
+  }
+  else if (bitrate == 200000)
+  {
+    CNF1 = 0x01;
+    CNF2 = 0xFA;
+    CNF3 = 0x87;
+  }
+  else if (bitrate == 250000)
+  {
+    CNF1 = 0x41;
+    CNF2 = 0xF1;
+    CNF3 = 0x85;
+  }
+  else if (bitrate == 500000)
+  {
+    CNF1 = 0x00;
+    CNF2 = 0xF0;
+    CNF3 = 0x86;
+  }
+  else if (bitrate == 1000000)
+  {
+    CNF1 = 0x00;
+    CNF2 = 0xD0;
+    CNF3 = 0x82;
   }
   writeAddress(MCP2515_CNF1, CNF1);//Write config address 1
   writeAddress(MCP2515_CNF2, CNF2);//Write config address 2