[CAN] adding raw class first stage

hardware/arduino/sam/libraries/CAN/CAN.cpp

@@ -1,129 +0,0 @@
-#include "CAN.h"
-#include "sn65hvd234.h"
-
-/*----------------------------------------------------------------------------
- *        Variables
- *----------------------------------------------------------------------------*/
-
-/* CAN0 Transceiver */
-SSN65HVD234_Data gCanTransceiver0 ;
-/* CAN1 Transceiver */
-SSN65HVD234_Data gCanTransceiver1 ;
-
-/* CAN0 Transfer */
-SCanTransfer gCanTransfer0 ;
-/* CAN1 Transfer */
-SCanTransfer gCanTransfer1 ;
-
-/*----------------------------------------------------------------------------
- *        Local functions
- *----------------------------------------------------------------------------*/
-
-uint32_t CAN_InitShieldHardware( uint32_t )
-{
-  // Initialize CAN0 pins
-  PIO_Configure(
-    g_APinDescription[PINS_CAN0].pPort,
-    g_APinDescription[PINS_CAN0].ulPinType,
-    g_APinDescription[PINS_CAN0].ulPin,
-    g_APinDescription[PINS_CAN0].ulPinConfiguration);
-
-  /* Initialize CAN0 Transceiver */
-  SN65HVD234_Init( &gCanTransceiver0 ) ;
-  SN65HVD234_SetRs( &gCanTransceiver0, PIOB, PIO_PB20 ) ;
-  SN65HVD234_SetEN( &gCanTransceiver0, PIOB, PIO_PB21 ) ;
-  /* Enable CAN0 Transceiver */
-  SN65HVD234_DisableLowPower( &gCanTransceiver0 ) ;
-  SN65HVD234_Enable( &gCanTransceiver0 ) ;
-
-  // Initialize CAN1 pins
-  PIO_Configure(
-    g_APinDescription[PINS_CAN1].pPort,
-    g_APinDescription[PINS_CAN1].ulPinType,
-    g_APinDescription[PINS_CAN1].ulPin,
-    g_APinDescription[PINS_CAN1].ulPinConfiguration);
-
-  /* Initialize CAN1 Transceiver */
-  SN65HVD234_Init( &gCanTransceiver1 ) ;
-  SN65HVD234_SetRs( &gCanTransceiver1, PIOE, PIO_PB15 ) ;
-  SN65HVD234_SetEN( &gCanTransceiver1, PIOE, PIO_PB16 ) ;
-  /* Enable CAN1 Transceiver */
-  SN65HVD234_DisableLowPower( &gCanTransceiver1 ) ;
-  SN65HVD234_Enable( &gCanTransceiver1 ) ;
-}
-
-uint32_t CAN_DeInitShieldHardware( uint32_t )
-{
-}
-
-
-/*----------------------------------------------------------------------------
- *        Exported functions
- *----------------------------------------------------------------------------*/
-
-/**
- * \brief Default interrupt handler for CAN 0.
- */
-void CAN0_IrqHandler( void )
-{
-  CAN_Handler( CAN0, &gCanTransfer0 ) ;
-}
-
-/**
- * \brief Default interrupt handler for CAN 1.
- */
-void CAN1_IrqHandler( void )
-{
-  CAN_Handler( CAN1, &gCanTransfer1 ) ;
-}
-
-
-/**
- *  main function
- */
-extern int main( void )
-{
-
-    if ( ( CAN_Init( CAN0, BOARD_MCK, 1000, &gCanTransfer0 ) == 1 ) &&
-         ( CAN_Init( CAN1, BOARD_MCK, 1000, &gCanTransfer1 ) == 1 ) )
-    {
-        puts( "CAN initialization complete."STRING_EOL ) ;
-
-        /* Run tests */
-        puts( "Press any key to start test"STRING_EOL ) ;
-        UART_GetChar() ;
-        _Test1() ;
-
-        puts( "Press any key to continue..."STRING_EOL ) ;
-        UART_GetChar() ;
-        _Test2() ;
-
-        puts( "Press any key to continue..."STRING_EOL ) ;
-        UART_GetChar() ;
-        _Test3() ;
-
-        puts( "Press any key to continue..."STRING_EOL ) ;
-        UART_GetChar() ;
-        _Test4() ;
-
-        /* Disable CAN0 Controller */
-        CAN_Disable(CAN0) ;
-        /* Disable CAN0 Transceiver */
-        SN65HVD234_EnableLowPower( &gCanTransceiver0 ) ;
-        SN65HVD234_Disable( &gCanTransceiver0 ) ;
-
-        /* Disable CAN1 Controller */
-        CAN_Disable(CAN1) ;
-        /* Disable CAN1 Transceiver */
-        SN65HVD234_EnableLowPower( &gCanTransceiver1 ) ;
-        SN65HVD234_Disable( &gCanTransceiver1 ) ;
-
-        puts( "End of all test"STRING_EOL ) ;
-    }
-    else
-    {
-        puts( "ERROR CAN initialisation (synchro)"STRING_EOL ) ;
-    }
-
-    return 0 ;
-}

hardware/arduino/sam/libraries/CAN/CANRaw.cpp

@@ -0,0 +1,89 @@
+#include "CANRaw.h"
+#include "sn65hvd234.h"
+
+CANRawClass::CANRawClass( Can* pCan )
+{
+  m_pCan=pCan ;
+}
+
+uint32_t CANRawClass::begin( uint32_t dwPinEN, uint32_t dwPinRs, uint32_t dwBaudrate )
+{
+  uint32_t dwPins ;
+
+  /* Initialize CAN pins */
+  if ( m_pCan == CAN0 )
+  {
+    dwPins=PINS_CAN0 ;
+  }
+  else
+  {
+    dwPins=PINS_CAN1 ;
+  }
+
+  PIO_Configure(
+    g_APinDescription[dwPins].pPort,
+    g_APinDescription[dwPins].ulPinType,
+    g_APinDescription[dwPins].ulPin,
+    g_APinDescription[dwPins].ulPinConfiguration);
+
+  /* Initialize CAN Transceiver */
+  SN65HVD234_Init( &m_Transceiver ) ;
+  SN65HVD234_SetRs( &m_Transceiver, dwPinRs ) ;
+  SN65HVD234_SetEN( &m_Transceiver, dwPinEN ) ;
+  /* Enable CAN Transceiver */
+  SN65HVD234_DisableLowPower( &m_Transceiver ) ;
+  SN65HVD234_Enable( &m_Transceiver ) ;
+
+  if ( can_init( m_pCan, SystemCoreClock, 1000 ) == 1 )
+  {
+    can_reset_all_mailbox( m_pCan ) ;
+  }
+  else
+  {
+    puts( "ERROR CAN initialisation (synchro)" ) ;
+
+    return -1 ;
+  }
+
+  return 0 ;
+}
+
+uint32_t CANRawClass::end( void )
+{
+  /* Disable CAN Controller */
+  can_disable( m_pCan ) ;
+
+  /* Disable CAN Transceiver */
+  SN65HVD234_EnableLowPower( &m_Transceiver ) ;
+  SN65HVD234_Disable( &m_Transceiver ) ;
+
+  return 0 ;
+}
+
+/*----------------------------------------------------------------------------
+ *        Exported objects
+ *----------------------------------------------------------------------------*/
+CANRawClass CANRaw0( CAN0 ) ;
+CANRawClass CANRaw1( CAN1 ) ;
+
+/*----------------------------------------------------------------------------
+ *        Exported functions
+ *----------------------------------------------------------------------------*/
+
+/**
+ * \brief Default interrupt handler for CAN 0.
+ */
+void CAN0_IrqHandler( void )
+{
+  CAN_Handler( CAN0, &gCanTransfer0 ) ;
+}
+
+/**
+ * \brief Default interrupt handler for CAN 1.
+ */
+void CAN1_IrqHandler( void )
+{
+  CAN_Handler( CAN1, &gCanTransfer1 ) ;
+}
+
+

hardware/arduino/sam/libraries/CAN/CANRaw.h

@@ -0,0 +1,32 @@
+#ifndef _CAN_LIBRARY_
+#define _CAN_LIBRARY_
+
+#include "sn65hvd234.h"
+
+class CANRawClass
+{
+  protected:
+    /* CAN peripheral, set by constructor */
+    Can* m_pCan ;
+
+    /* CAN Transceiver */
+    SSN65HVD234_Data m_Transceiver ;
+
+    /** CAN Transfer */
+    can_mb_conf_t m_Mailbox ;
+
+  private:
+
+  public:
+    // Constructor
+    CANRawClass( Can* pCan ) ;
+
+    uint32_t begin( uint32_t dwPinEN, uint32_t dwPinRs, uint32_t dwBaudrate ) ;
+    uint32_t end( void ) ;
+
+} ;
+
+extern CANRawClass CANRaw0 ;
+extern CANRawClass CANRaw1 ;
+
+#endif // _CAN_LIBRARY_

hardware/arduino/sam/libraries/CAN/examples/Arduino_Due_CAN_Sample_1/Arduino_Due_CAN_Sample_1.ino

@@ -4,9 +4,8 @@
 // Modified from Atmel ASF SAM3X-EK CAN sample by Wilfredo Molina 2012
 
 // Required libraries
-#include <can.h>
+#include "variant.h"
-#include <sysclk.h>
+#include "CAN.h"
-#include <sam3x8e.h>
 
 #define TEST1_CAN_COMM_MB_IDX    0
 #define TEST1_CAN_TRANSFER_ID    0x07
@@ -25,52 +24,41 @@ can_mb_conf_t can1_mailbox;
 
 void setup()
 {
-  // start serial port at 9600 bps: 
+  // start serial port at 9600 bps:
   Serial.begin(9600);
   Serial.println("Type CAN message to send");
-  while (Serial.available() == 0);  
+  while (Serial.available() == 0);
 }
 
 void loop(){
-  
+
      while (Serial.available() > 0) {
      CAN_MSG_1 = Serial.parseInt();
-      if (Serial.read() == '\n') {      
+      if (Serial.read() == '\n') {
       Serial.print("Sent value= ");
       Serial.println(CAN_MSG_1);
-      delay(1000);  
+      delay(1000);
     }
   }
-  
+
-  uint32_t ul_sysclk;
+  // Enable CAN0 & CAN1 clock
-  
-  /* Initialize the SAM system. */
-  sysclk_init();
-  board_init();
-  
-  // Enable CAN0 & CAN1 clock 
   pmc_enable_periph_clk(ID_CAN0);
   pmc_enable_periph_clk(ID_CAN1);
-   
+
   // Initialize CAN0 and CAN1, baudrate is 1Mb/s
-  ul_sysclk = sysclk_get_cpu_hz();
+  can_init(CAN0, SystemCoreClock, CAN_BPS_1000K);
-  can_init(CAN0, ul_sysclk, CAN_BPS_1000K);
+  can_init(CAN1, SystemCoreClock, CAN_BPS_1000K);
-  can_init(CAN1, ul_sysclk, CAN_BPS_1000K);
+
-  
-  // Reset all CAN0 and CAN1 mailboxes
-  can_reset_all_mailbox(CAN0);
-  can_reset_all_mailbox(CAN1);
-   
   // Initialize CAN1 mailbox 0 as receiver, frame ID is 0x07
-  reset_mailbox_conf(&can1_mailbox);
+  can_reset_mailbox_data(&can1_mailbox);
   can1_mailbox.ul_mb_idx = TEST1_CAN_COMM_MB_IDX;
   can1_mailbox.uc_obj_type = CAN_MB_RX_MODE;
   can1_mailbox.ul_id_msk = CAN_MAM_MIDvA_Msk | CAN_MAM_MIDvB_Msk;
   can1_mailbox.ul_id = CAN_MID_MIDvA(TEST1_CAN_TRANSFER_ID);
   can_mailbox_init(CAN1, &can1_mailbox);
-  
+
   // Initialize CAN0 mailbox 0 as transmitter, transmit priority is 15
-  reset_mailbox_conf(&can0_mailbox);
+  can_reset_mailbox_data(&can0_mailbox);
   can0_mailbox.ul_mb_idx = TEST1_CAN_COMM_MB_IDX;
   can0_mailbox.uc_obj_type = CAN_MB_TX_MODE;
   can0_mailbox.uc_tx_prio = TEST1_CAN0_TX_PRIO;
@@ -78,16 +66,16 @@ void loop(){
   can0_mailbox.ul_id_msk = 0;
   can_mailbox_init(CAN0, &can0_mailbox);
 
-  // Prepare transmit ID, data and data length in CAN0 mailbox 0 
+  // Prepare transmit ID, data and data length in CAN0 mailbox 0
   can0_mailbox.ul_id = CAN_MID_MIDvA(TEST1_CAN_TRANSFER_ID);
   can0_mailbox.ul_datal = CAN_MSG_1;
   can0_mailbox.ul_datah = CAN_MSG_DUMMY_DATA;
   can0_mailbox.uc_length = MAX_CAN_FRAME_DATA_LEN;
   can_mailbox_write(CAN0, &can0_mailbox);
-  
+
   // Send out the information in the mailbox
   can_global_send_transfer_cmd(CAN0, CAN_TCR_MB0);
-  
+
   // Wait for CAN1 mailbox 0 to receive the data
   while (!(can_mailbox_get_status(CAN1, 0) & CAN_MSR_MRDY)) {
  }
@@ -97,4 +85,4 @@ void loop(){
   Serial.println(can1_mailbox.ul_datal);
 
   while (1) {}
-}
+}