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Commit8031008

Browse files
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Merge pull request#633 from arduino/mbed-can-support
Provide CAN library for enabling useage of CAN for ArduinoCore-mbed enabled boards.
2 parentse594a0e +f4cad9f commit8031008

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13 files changed

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13 files changed

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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include<Arduino_CAN.h>
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/**************************************************************************************
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* SETUP/LOOP
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**************************************************************************************/
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voidsetup()
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{
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Serial.begin(115200);
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while (!Serial) { }
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if (!CAN.begin(CanBitRate::BR_250k))
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{
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Serial.println("CAN.begin(...) failed.");
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for (;;) {}
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}
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}
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voidloop()
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{
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if (CAN.available())
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{
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CanMsgconst msg = CAN.read();
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Serial.println(msg);
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}
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}
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include<Arduino_CAN.h>
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/**************************************************************************************
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* CONSTANTS
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**************************************************************************************/
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staticuint32_tconst CAN_ID =0x20;
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/**************************************************************************************
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* SETUP/LOOP
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**************************************************************************************/
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voidsetup()
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{
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Serial.begin(115200);
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while (!Serial) { }
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if (!CAN.begin(CanBitRate::BR_250k))
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{
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Serial.println("CAN.begin(...) failed.");
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for (;;) {}
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}
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}
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staticuint32_t msg_cnt =0;
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voidloop()
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{
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/* Assemble a CAN message with the format of
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* 0xCA 0xFE 0x00 0x00 [4 byte message counter]
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*/
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uint8_tconst msg_data[] = {0xCA,0xFE,0,0,0,0,0,0};
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memcpy((void *)(msg_data +4), &msg_cnt,sizeof(msg_cnt));
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CanMsgmsg(CAN_ID,sizeof(msg_data), msg_data);
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/* Transmit the CAN message, capture and display an
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* error core in case of failure.
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*/
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if (intconst rc = CAN.write(msg); rc <=0)
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{
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Serial.print ("CAN.write(...) failed with error code");
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Serial.println(rc);
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for (;;) { }
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}
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/* Increase the message counter.*/
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msg_cnt++;
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/* Only send one message per second.*/
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delay(1000);
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}
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`extras/scripts`
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================
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This directory contains helpful shell scripts when working with CAN.
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###How-to-`SocketCAN`
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```bash
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sudo ./setup_scan.sh
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```
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Display received CAN frames via[`candump`](https://manpages.ubuntu.com/manpages/jammy/man1/candump.1.html):
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```bash
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candump can0
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```
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Transmit CAN frames via[`cansend`](https://manpages.ubuntu.com/manpages/jammy/man1/cansend.1.html):
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```bash
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cansend can0 00001234#DEADBEEF
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```
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#!/bin/bash
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sudo ip linkset can0type can bitrate 250000
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sudo ip linkset can0 up
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‎libraries/Arduino_CAN/keywords.txt‎

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#######################################
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# Syntax Coloring Map for CAN
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#######################################
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#######################################
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# Class (KEYWORD1)
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#######################################
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CANKEYWORD1
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CAN1KEYWORD1
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CanMsgKEYWORD1
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CanBitRateKEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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beginKEYWORD2
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endKEYWORD2
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writeKEYWORD2
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availableKEYWORD2
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readKEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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BR_100kLITERAL1
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BR_125kLITERAL1
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BR_250kLITERAL1
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BR_500kLITERAL1
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BR_1000kLITERAL1
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name=Arduino_CAN
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version=1.0.0
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author=Arduino
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maintainer=Arduino <info@arduino.cc>
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sentence=CAN communication library for ArduinoCore-mbed enabled boards.
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paragraph=This library provides CAN for ArduinoCore-mbed enabled boards which expose CAN on their connectors.
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category=Other
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url=
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architectures=mbed,mbed_portenta
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include=Arduino_CAN.h
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/*
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* Copyright (c) 2022 by Alexander Entinger <a.entinger@arduino.cc>
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* Arduino_CAN library for Arduino.
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*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include"Arduino_CAN.h"
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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namespacearduino
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{
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/**************************************************************************************
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* CTOR/DTOR
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**************************************************************************************/
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Arduino_CAN::Arduino_CAN(PinNameconst can_tx_pin, PinNameconst can_rx_pin)
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: _can(can_rx_pin, can_tx_pin)
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{
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}
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/**************************************************************************************
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* PUBLIC MEMBER FUNCTIONS
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**************************************************************************************/
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boolArduino_CAN::begin(CanBitRateconst can_bitrate)
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{
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intconst rc = _can.frequency(static_cast<int>(can_bitrate));
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return (rc ==1);
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}
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voidArduino_CAN::end()
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{
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/* Nothing to do.*/
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}
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intArduino_CAN::write(CanMsgconst & msg)
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{
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mbed::CANMessageconstcan_msg(
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msg.id,
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msg.data,
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msg.data_length,
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CANData,
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CANStandard);
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return _can.write(can_msg);
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}
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size_tArduino_CAN::available()
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{
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mbed::CANMessage can_msg;
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boolconst msg_read = _can.read(can_msg) >0;
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if (msg_read)
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{
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CanMsgconstmsg(
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can_msg.id,
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can_msg.len,
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can_msg.data);
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_rx_msg_buf.enqueue(msg);
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}
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return _rx_msg_buf.available();
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}
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CanMsgArduino_CAN::read()
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{
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return _rx_msg_buf.dequeue();
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}
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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}/* arduino*/
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/**************************************************************************************
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* OBJECT INSTANTIATION
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**************************************************************************************/
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#if CAN_HOWMANY > 0
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arduino::Arduino_CANCAN(PIN_CAN0_TX, PIN_CAN0_RX);
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#endif
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#if CAN_HOWMANY > 1
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arduino::Arduino_CANCAN1(PIN_CAN1_TX, PIN_CAN1_RX);
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#endif
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/*
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* Copyright (c) 2022 by Alexander Entinger <a.entinger@arduino.cc>
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* CAN library for Arduino.
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*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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#ifndef ARDUINO_CORE_MBED_CAN_H_
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#defineARDUINO_CORE_MBED_CAN_H_
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/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
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#include<Arduino.h>
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#include<mbed.h>
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#include"api/HardwareCAN.h"
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/**************************************************************************************
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* COMPILE TIME CHECKS
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**************************************************************************************/
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#if !(defined(ARDUINO_PORTENTA_H7_M7) || defined(ARDUINO_PORTENTA_H7_M4) || defined(ARDUINO_GIGA))
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#error "CAN only available on Arduino Portenta H7 and Arduino Giga (of all ArduinoCore-mbed enabled boards)."
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#endif
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/**************************************************************************************
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* TYPEDEF
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**************************************************************************************/
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typedef arduino::CanMsg CanMsg;
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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namespacearduino
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{
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/**************************************************************************************
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* CLASS DECLARATION
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**************************************************************************************/
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classArduino_CANfinal : public HardwareCAN
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{
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public:
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Arduino_CAN(PinNameconst can_tx_pin, PinNameconst can_rx_pin);
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virtual~Arduino_CAN() { }
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boolbegin(CanBitRateconst can_bitrate)override;
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voidend()override;
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intwrite(CanMsgconst & msg)override;
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size_tavailable()override;
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CanMsgread()override;
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private:
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mbed::CAN _can;
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CanMsgRingbuffer _rx_msg_buf;
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};
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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}/* arduino*/
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/**************************************************************************************
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* EXTERN DECLARATION
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**************************************************************************************/
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#if CAN_HOWMANY > 0
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extern arduino::Arduino_CAN CAN;
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#endif
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#if CAN_HOWMANY > 1
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extern arduino::Arduino_CAN CAN1;
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#endif
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#endif/* ARDUINO_CORE_MBED_CAN_H_*/

‎variants/GIGA/pins_arduino.h‎

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#defineUSB_MAX_POWER(500)
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#defineCAN_HOWMANY 2
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#definePIN_CAN0_TX (PB_13)
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#definePIN_CAN0_RX (PB_12)
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#definePIN_CAN1_TX (PH_13)
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#definePIN_CAN1_RX (PB_8)
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#endif//__PINS_ARDUINO__

‎variants/PORTENTA_H7_M4/pins_arduino.h‎

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#include"../GIGA/pins_arduino.h"
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#endif
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#undef SERIAL_CDC
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#undef SERIAL_CDC

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