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git-subtree-dir: Libraries/CAN
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git-subtree-split: dcf5d27

Libraries/CAN/README.md

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+AST Can Library
+===================================
+
+An Arduino library for controlling the hardware Can port on the CAN485 platform
+
+Installation
+--------------
+* Unzip into .../MyDocuments/Arduino/libraries/
+* Create the libraries folder if it does not exist
+* Directory structure should look like: .../MyDocuments/Arduino/libraries/AST_CanLib
+
+License Information
+-------------------
+This library modifies the ATMEL can library. See the license folder for details

Libraries/CAN/examples/CAN_Receiver/CAN_Receiver.ino

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+/*
+ * CAN port receiver example
+ * Receives data on the CAN buss and prints to the serial port
+ */
+
+#include <ASTCanLib.h>              
+
+#define MESSAGE_ID        0       // Message ID
+#define MESSAGE_PROTOCOL  1       // CAN protocol (0: CAN 2.0A, 1: CAN 2.0B)
+#define MESSAGE_LENGTH    8       // Data length: 8 bytes
+#define MESSAGE_RTR       0       // rtr bit
+
+// Function prototypes
+void serialPrintData(st_cmd_t *msg);
+
+// CAN message object
+st_cmd_t Msg;
+
+// Buffer for CAN data
+uint8_t Buffer[8] = {};
+
+void setup() {
+  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
+
+  // Initialise CAN packet.
+  // All of these will be overwritten by a received packet
+  Msg.ctrl.ide = MESSAGE_PROTOCOL;  // Set CAN protocol (0: CAN 2.0A, 1: CAN 2.0B)
+  Msg.id.ext   = MESSAGE_ID;        // Set message ID
+  Msg.dlc      = MESSAGE_LENGTH;    // Data length: 8 bytes
+  Msg.ctrl.rtr = MESSAGE_RTR;       // Set rtr bit
+}
+
+void loop() {
+  // Clear the message buffer
+  clearBuffer(&Buffer[0]);
+
+  // Send command to the CAN port controller
+  Msg.cmd = CMD_RX_DATA;
+
+  // Wait for the command to be accepted by the controller
+  while(can_cmd(&Msg) != CAN_CMD_ACCEPTED);
+  // Wait for command to finish executing
+  while(can_get_status(&Msg) == CAN_STATUS_NOT_COMPLETED);
+  // Data is now available in the message object
+  // Print received data to the terminal
+  serialPrintData(&Msg);
+}
+
+void serialPrintData(st_cmd_t *msg){
+  char textBuffer[50] = {0};
+  if (msg->ctrl.ide>0){
+    sprintf(textBuffer,"id %d ",msg->id.ext);
+  }
+  else
+  {
+    sprintf(textBuffer,"id %04x ",msg->id.std);
+  }
+  Serial.print(textBuffer);
+
+  //  IDE
+  sprintf(textBuffer,"ide %d ",msg->ctrl.ide);
+  Serial.print(textBuffer);
+  //  RTR
+  sprintf(textBuffer,"rtr %d ",msg->ctrl.rtr);
+  Serial.print(textBuffer);
+  //  DLC
+  sprintf(textBuffer,"dlc %d ",msg->dlc);
+  Serial.print(textBuffer);
+  //  Data
+  sprintf(textBuffer,"data ");
+  Serial.print(textBuffer);
+
+  for (int i =0; i<msg->dlc; i++){
+    sprintf(textBuffer,"%02X ",msg->pt_data[i]);
+    Serial.print(textBuffer);
+  }
+  Serial.print("\r\n");
+}

Libraries/CAN/examples/CAN_Transmitter/CAN_Transmitter.ino

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+/*
+ * CAN port receiver example
+ * Repeatedly transmits an array of test data to the CAN port
+ */
+
+#include <ASTCanLib.h>  
+
+#define MESSAGE_ID        256       // Message ID
+#define MESSAGE_PROTOCOL  1         // CAN protocol (0: CAN 2.0A, 1: CAN 2.0B)
+#define MESSAGE_LENGTH    8         // Data length: 8 bytes
+#define MESSAGE_RTR       0         // rtr bit
+
+// CAN message object
+st_cmd_t txMsg;
+
+// Array of test data to send
+const uint8_t sendData[8] = {0,10,20,40,80,100,120,127};
+// Transmit buffer
+uint8_t txBuffer[8] = {};
+
+void setup() {
+  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
+}
+
+void loop() {
+  //  load data into tx buffer
+  for (int i=0; i<8; i++){
+    txBuffer[i] = sendData[i];
+  }
+  // Setup CAN packet.
+  txMsg.ctrl.ide = MESSAGE_PROTOCOL;  // Set CAN protocol (0: CAN 2.0A, 1: CAN 2.0B)
+  txMsg.id.ext   = MESSAGE_ID;        // Set message ID
+  txMsg.dlc      = MESSAGE_LENGTH;    // Data length: 8 bytes
+  txMsg.ctrl.rtr = MESSAGE_RTR;       // Set rtr bit
+
+  // Send command to the CAN port controller
+  txMsg.cmd = CMD_TX_DATA;       // send message
+  // Wait for the command to be accepted by the controller
+  while(can_cmd(&txMsg) != CAN_CMD_ACCEPTED);
+  // Wait for command to finish executing
+  while(can_get_status(&txMsg) == CAN_STATUS_NOT_COMPLETED);
+  // Transmit is now complete. Wait a bit and loop
+  delay(500);
+}

Libraries/CAN/examples/README.md

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+# CAN Example
+This example shows how to use the CAN port on the CAN485 board.
+
+## Description
+The transmitter node transmits a test packet over the CAN port every 500ms. The receiver passes anything received data to the serial port.
+
+## Setup
+- Setup as shown:
+![CAN Example Setup](https://raw.githubusercontent.com/Atlantis-Specialist-Technologies/ast-arduino-boards/master/docs/_images/CAN-annotated.png)
+- Flash the transmitter: [CAN Transmitter Sketch](https://github.com/Atlantis-Specialist-Technologies/AST_CanLib/blob/master/examples/CAN_Transmitter/CAN_Transmitter.ino "CAN Transmitter Sketch")
+- Flash the Receiver: [CAN Receiver Sketch](https://github.com/Atlantis-Specialist-Technologies/AST_CanLib/blob/master/examples/CAN_Receiver/CAN_Receiver.ino "CAN Receiver Sketch")
+- Connect the FTDI port of the receiver to a PC.
+## Use
+- Open a serial monitor for the receiver node.
+- Observe the test data being received.

Libraries/CAN/keywords.txt

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+#######################################
+# Syntax Coloring Map Servo
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+
+#######################################
+# Constants (LITERAL1)
+#######################################

Libraries/CAN/library.properties

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+name=AST_CAN
+version=0.0.1
+author=Atlantis Specialist Technologies
+maintainer=Atlantis Specialist Technologies
+sentence=AST CAN library
+paragraph=This library allows for use of the hardware CAN port on the CAN485 board
+category=Uncategorized
+url=*
+architectures=*

Libraries/CAN/license/Notice.md

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+AST License Notice
+===================================
+
+This library modifies the Atmel can library in order to allow it to be used in the Arduino environment
+
+Refer to file: "Atmel Form MCU LLA (Clickthrough).doc" for license details.

Libraries/CAN/src/ASTCanLib.cpp

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+/**********************************************************************************
+ * Created by Atlantis Specialist Technologies
+ * by James Blakey-Milner, 1 Aug 2017.
+ * Ported the library to the Arduino platform
+ * Main header file to include the library
+ * Note! this file is in early development
+ * (alpha) and is likely to change without notice.
+ **********************************************************************************/
+
+#include "ASTCanLib.h"
+
+void canInit(long baud){
+  // Clock prescaler
+  CLKPR  = ( 1 << CLKPCE );          // Set Clock Prescaler change enable
+  CLKPR  = 0x00;
+  // Setup ports
+  DDRB  |= (1<<DDB1)|(1<<DDB4);
+  DDRD  |= (1<<DDD5);                // TxCan
+  PORTB |= (1<<PORTB1)|(1<<PORTB4); // set LED & CAN_STBY high
+  PORTD |= (1<<PORTD5);             // txCAn High
+  // Flash LED off
+  _delay_ms(50);
+  PORTB &= ~(1<<PORTB1);            // RST Led
+  PORTB &= ~(1<<PORTB4);            // Go into normal mode (CAN_STBY low)
+  _delay_ms(50);
+  can_init(0,baud);
+}
+
+void clearBuffer(uint8_t *Buffer){
+  for (int i=0; i<8; i++){
+    Buffer[i] = 0x00;
+  }
+}

Libraries/CAN/src/ASTCanLib.h

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+/**********************************************************************************
+ * Created by Atlantis Specialist Technologies
+ * by James Blakey-Milner, 1 Aug 2017.
+ * Ported the library to the Arduino platform
+ * Main header file to include the library
+ * Note! this file is in early development
+ * (alpha) and is likely to change without notice.
+ **********************************************************************************/
+
+#ifndef _CAN_LIBRARY_H_
+#define _CAN_LIBRARY_H_
+
+#include <Arduino.h>
+
+extern "C"{
+	#include <can_lib.h>
+}
+
+void canInit(long baud);
+void clearBuffer(uint8_t *Buffer);
+
+#endif