Baudrate

Make CAN baudrate settable in the canInit function
Oh-Doo-Yong · Feb 21, 2018 · 75ee6db · 75ee6db
1 parent 0396c14
commit 75ee6db
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Showing 8 changed files with 376 additions and 336 deletions.
diff --git a/Libraries/Arduino/AST_CAN/examples/CAN_Receiver/CAN_Receiver.ino b/Libraries/Arduino/AST_CAN/examples/CAN_Receiver/CAN_Receiver.ino
@@ -20,7 +20,7 @@ st_cmd_t Msg;
 uint8_t Buffer[8] = {};
 
 void setup() {
-  canInit();                   // Initialise CAN port. must be before Serial.begin
+  canInit(500000);            // Initialise CAN port. must be before Serial.begin
   Serial.begin(1000000);       // start serial port
   Msg.pt_data = &Buffer[0];    // reference message data to buffer
 

diff --git a/Libraries/Arduino/AST_CAN/examples/CAN_Transmitter/CAN_Transmitter.ino b/Libraries/Arduino/AST_CAN/examples/CAN_Transmitter/CAN_Transmitter.ino
@@ -19,7 +19,7 @@ const uint8_t sendData[8] = {0,10,20,40,80,100,120,127};
 uint8_t txBuffer[8] = {};
 
 void setup() {
-  canInit();                         // Initialise CAN port. must be before Serial.begin
+  canInit(500000);                  // Initialise CAN port. must be before Serial.begin
   Serial.begin(1000000);             // start serial port
   txMsg.pt_data = &txBuffer[0];      // reference message data to transmit buffer
 }

diff --git a/Libraries/Arduino/AST_CAN/src/ASTCanLib.cpp b/Libraries/Arduino/AST_CAN/src/ASTCanLib.cpp
@@ -9,7 +9,7 @@
 
 #include "ASTCanLib.h"
 
-void canInit(void){
+void canInit(long baud){
   // Clock prescaler
   CLKPR  = ( 1 << CLKPCE );          // Set Clock Prescaler change enable
   CLKPR  = 0x00;
@@ -23,7 +23,7 @@ void canInit(void){
   PORTB &= ~(1<<PORTB1);            // RST Led
   PORTB &= ~(1<<PORTB4);            // Go into normal mode (CAN_STBY low)
   _delay_ms(50);
-  can_init(0);
+  can_init(0,baud);
 }
 
 void clearBuffer(uint8_t *Buffer){

diff --git a/Libraries/Arduino/AST_CAN/src/ASTCanLib.h b/Libraries/Arduino/AST_CAN/src/ASTCanLib.h
@@ -16,7 +16,7 @@ extern "C"{
 	#include <can_lib.h>
 }
 
-void canInit(void);
+void canInit(long baud);
 void clearBuffer(uint8_t *Buffer);
 
 #endif
diff --git a/Libraries/Arduino/AST_CAN/src/can_drv.c b/Libraries/Arduino/AST_CAN/src/can_drv.c
diff --git a/Libraries/Arduino/AST_CAN/src/can_drv.h b/Libraries/Arduino/AST_CAN/src/can_drv.h
diff --git a/Libraries/Arduino/AST_CAN/src/can_lib.c b/Libraries/Arduino/AST_CAN/src/can_lib.c
@@ -53,12 +53,52 @@
 //!         ==1: baudrate performed 
 //!
 //------------------------------------------------------------------------------
-U8 can_init(U8 mode)
+// U8 can_init(U8 mode)
+// {
+//     if ((Can_bit_timing(mode))==0) return (0);  // c.f. macro in "can_drv.h"
+//     can_clear_all_mob();                        // c.f. function in "can_drv.c"
+//     Can_enable();                               // c.f. macro in "can_drv.h" 
+//     return (1);
+// }
+U8 can_init(U8 mode,long baud)
 {
-    if ((Can_bit_timing(mode))==0) return (0);  // c.f. macro in "can_drv.h"
-    can_clear_all_mob();                        // c.f. function in "can_drv.c"
-    Can_enable();                               // c.f. macro in "can_drv.h" 
-    return (1);
+  switch(baud){
+    case 100000:
+      CANBT1 = 0x12;
+      CANBT2 = 0x0C;
+      CANBT3 = 0x37;
+      break;
+    case 125000:
+      CANBT1 = 0x0E;
+      CANBT2 = 0x0C;
+      CANBT3 = 0x37;
+      break;
+    case 200000:
+      CANBT1 = 0x08;
+      CANBT2 = 0x0C;
+      CANBT3 = 0x37;
+      break;
+    case 250000:
+      CANBT1 = 0x06;
+      CANBT2 = 0x0C;
+      CANBT3 = 0x37;
+      break;
+    case 500000:
+      CANBT1 = 0x06;
+      CANBT2 = 0x04;
+      CANBT3 = 0x13;
+      break;
+    case 1000000:
+      CANBT1 = 0x02;
+      CANBT2 = 0x04;
+      CANBT3 = 0x13;
+      break;
+    default:
+      return(0);
+  }
+  can_clear_all_mob();                        // c.f. function in "can_drv.c"
+  Can_enable();                               // c.f. macro in "can_drv.h" 
+  return (1);
 }
 
 //------------------------------------------------------------------------------

diff --git a/Libraries/Arduino/AST_CAN/src/can_lib.h b/Libraries/Arduino/AST_CAN/src/can_lib.h
@@ -134,7 +134,7 @@ typedef  struct{
 //!         ==0: research of bit timing configuration failed
 //!         ==1: baudrate performed 
 //!
-extern U8 can_init(U8 mode);
+extern U8 can_init(U8 mode,long baud);
 
 //------------------------------------------------------------------------------
 //  @fn can_cmd