Merge pull request arduino#47 from bcmi-labs/can-bitrate

Support different CAN bitrates

Author: facchinm

.gitignore

@@ -0,0 +1 @@
+.idea/

libraries/CAN/examples/CAN1Read/CAN1Read.ino

@@ -0,0 +1,41 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <CAN.h>
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial) { }
+
+  /* You need to enable the CAN transceiver
+ * by commenting in below code when using
+ * a Portenta H33 on a Portenta Max Carrier.
+ * Note: Only CAN1 is available on the Portenta
+ * Max Carrier's RJ10 CAN connector.
+ */
+#if (PIN_CAN1_STBY >= 0)
+  pinMode(PIN_CAN1_STBY, OUTPUT);
+  digitalWrite(PIN_CAN1_STBY, LOW);
+#endif
+
+  if (!CAN1.begin(CanBitRate::BR_250k))
+  {
+    Serial.println("CAN.begin(...) failed.");
+    for (;;) {}
+  }
+}
+
+void loop()
+{
+  if (CAN1.available())
+  {
+    CanMsg const msg = CAN1.read();
+    Serial.println(msg);
+  }
+}

libraries/CAN/examples/CAN1Write/CAN1Write.ino

@@ -0,0 +1,66 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <CAN.h>
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+static uint32_t const CAN_ID = 0x20;
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup()
+{
+  //Serial.begin(115200);
+  //while (!Serial) { }
+
+  /* You need to enable the CAN transceiver
+   * by commenting in below code when using
+   * a Portenta H33 on a Portenta Max Carrier.
+   * Note: Only CAN1 is available on the Portenta
+   * Max Carrier's RJ10 CAN connector.
+   */
+#if (PIN_CAN1_STBY >= 0)
+  pinMode(PIN_CAN1_STBY, OUTPUT);
+  digitalWrite(PIN_CAN1_STBY, LOW);
+#endif
+
+  if (!CAN1.begin(CanBitRate::BR_125k))
+  {
+    //Serial.println("CAN.begin(...) failed.");
+    for (;;) {}
+  }
+}
+
+static uint32_t msg_cnt = 0;
+
+void loop()
+{
+  /* Assemble a CAN message with the format of
+   * 0xCA 0xFE 0x00 0x00 [4 byte message counter]
+   */
+  uint8_t const msg_data[] = {0xCA,0xFE,0,0,0,0,0,0};
+  memcpy((void *)(msg_data + 4), &msg_cnt, sizeof(msg_cnt));
+  CanMsg msg(CAN_ID, sizeof(msg_data), msg_data);
+
+  /* Transmit the CAN message, capture and display an
+   * error core in case of failure.
+   */
+  if (int const rc = CAN1.write(msg); rc < 0)
+  {
+    //Serial.print  ("CAN.write(...) failed with error code ");
+    //Serial.println(rc);
+    for (;;) { }
+  }
+
+  /* Increase the message counter. */
+  msg_cnt++;
+
+  /* Only send one message per second. */
+  delay(1000);
+}

libraries/CAN/examples/CANWrite/CANWrite.ino

@@ -19,15 +19,6 @@ void setup()
   Serial.begin(115200);
   while (!Serial) { }
 
-  /* You need to enable the CAN transceiver
-   * by commenting in below code when using
-   * a Portenta H33 on a Portenta Max Carrier.
-   * Note: Only CAN1 is available on the Portenta
-   * Max Carrier's RJ10 CAN connector.
-   */
-  pinMode(PIN_CAN1_STBY, OUTPUT);
-  digitalWrite(PIN_CAN1_STBY, LOW);
-
   if (!CAN.begin(CanBitRate::BR_250k))
   {
     Serial.println("CAN.begin(...) failed.");

libraries/CAN/extras/test/.gitignore

@@ -0,0 +1,2 @@
+build/
+

libraries/CAN/extras/test/CMakeLists.txt

@@ -0,0 +1,29 @@
+##########################################################################
+cmake_minimum_required(VERSION 2.8)
+##########################################################################
+project(can-test)
+##########################################################################
+include_directories(../../src)
+include_directories(external/catch2/v2.13.10/include)
+##########################################################################
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+##########################################################################
+set(TEST_TARGET ${CMAKE_PROJECT_NAME})
+##########################################################################
+set(TEST_TARGET_SRCS
+  src/test_calc_can_bit_timinig.cpp
+  src/test_main.cpp
+  ../../src/CanUtil.cpp
+)
+##########################################################################
+add_compile_options(-Wall -Wextra -Wpedantic)
+##########################################################################
+set(CMAKE_C_FLAGS   ${CMAKE_C_FLAGS}   "--coverage")
+set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "--coverage -Wno-deprecated-copy")
+##########################################################################
+add_executable(
+  ${TEST_TARGET}
+  ${TEST_TARGET_SRCS}
+)
+##########################################################################

libraries/CAN/extras/test/README.md

@@ -0,0 +1,10 @@
+`CAN/test`
+==========
+This directory contains CAN library test code for compilation and execution on host.
+
+#### How-to-build/run
+```bash
+mkdir build && cd build
+cmake ..
+make && bin/can-test
+```