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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 parents e594a0e + f4cad9f commit 8031008

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13 files changed

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‎libraries/Arduino_CAN/examples/CANRead/CANRead.ino

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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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void setup()
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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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void loop()
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{
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if (CAN.available())
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{
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CanMsg const msg = CAN.read();
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Serial.println(msg);
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}
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}

‎libraries/Arduino_CAN/examples/CANWrite/CANWrite.ino

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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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static uint32_t const CAN_ID = 0x20;
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/**************************************************************************************
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* SETUP/LOOP
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**************************************************************************************/
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void setup()
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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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static uint32_t msg_cnt = 0;
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void loop()
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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_t const 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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CanMsg msg(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 (int const 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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}

‎libraries/Arduino_CAN/extras/scripts/README.md

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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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```

‎libraries/Arduino_CAN/extras/scripts/setup_scan.sh

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#!/bin/bash
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sudo ip link set can0 type can bitrate 250000
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sudo ip link set 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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CAN KEYWORD1
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CAN1 KEYWORD1
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CanMsg KEYWORD1
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CanBitRate KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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begin KEYWORD2
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end KEYWORD2
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write KEYWORD2
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available KEYWORD2
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read KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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BR_100k LITERAL1
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BR_125k LITERAL1
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BR_250k LITERAL1
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BR_500k LITERAL1
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BR_1000k LITERAL1

‎libraries/Arduino_CAN/library.properties

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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

‎libraries/Arduino_CAN/src/Arduino_CAN.cpp

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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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namespace arduino
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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(PinName const can_tx_pin, PinName const 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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bool Arduino_CAN::begin(CanBitRate const can_bitrate)
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{
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int const rc = _can.frequency(static_cast<int>(can_bitrate));
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return (rc == 1);
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}
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void Arduino_CAN::end()
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{
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/* Nothing to do. */
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}
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int Arduino_CAN::write(CanMsg const & msg)
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{
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mbed::CANMessage const can_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_t Arduino_CAN::available()
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{
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mbed::CANMessage can_msg;
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bool const msg_read = _can.read(can_msg) > 0;
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if (msg_read)
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{
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CanMsg const msg(
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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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CanMsg Arduino_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_CAN CAN(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_CAN CAN1(PIN_CAN1_TX, PIN_CAN1_RX);
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#endif

‎libraries/Arduino_CAN/src/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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* 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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#define ARDUINO_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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namespace arduino
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{
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/**************************************************************************************
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* CLASS DECLARATION
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**************************************************************************************/
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class Arduino_CAN final : public HardwareCAN
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{
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public:
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Arduino_CAN(PinName const can_tx_pin, PinName const can_rx_pin);
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virtual ~Arduino_CAN() { }
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bool begin(CanBitRate const can_bitrate) override;
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void end() override;
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int write(CanMsg const & msg) override;
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size_t available() override;
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CanMsg read() 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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#define USB_MAX_POWER (500)
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#define CAN_HOWMANY 2
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#define PIN_CAN0_TX (PB_13)
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#define PIN_CAN0_RX (PB_12)
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#define PIN_CAN1_TX (PH_13)
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#define PIN_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

‎variants/PORTENTA_H7_M4/variant.cpp

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#undef initVariant
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void initVariant() {}
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void initVariant() {}

‎variants/PORTENTA_H7_M7/pins_arduino.h

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#define USB_MAX_POWER (500)
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#define CAN_HOWMANY 1
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#define PIN_CAN0_TX (PH_13) /* Labeled CAN1_TX on high-density connector. */
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#define PIN_CAN0_RX (PB_8) /* Labeled CAN1_RX on high-density connector. */
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#endif //__PINS_ARDUINO__

‎variants/PORTENTA_H7_M7/variant.cpp

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{ PB_5, NULL, NULL, NULL },
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{ PB_6, NULL, NULL, NULL },
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{ PB_7, NULL, NULL, NULL },
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{ PB_8, NULL, NULL, NULL },
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{ PB_8, NULL, NULL, NULL }, // HD-connector: CAN1_RX -> software object: CAN
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{ PB_9, NULL, NULL, NULL },
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{ PB_10, NULL, NULL, NULL },
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{ PB_11, NULL, NULL, NULL },
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{ PH_10, NULL, NULL, NULL },
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{ PH_11, NULL, NULL, NULL },
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{ PH_12, NULL, NULL, NULL },
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{ PH_13, NULL, NULL, NULL },
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{ PH_13, NULL, NULL, NULL }, // HD-connector: CAN1_TX -> software object: CAN
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{ PH_14, NULL, NULL, NULL },
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{ PH_15, NULL, NULL, NULL },
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{ PI_0, NULL, NULL, NULL },

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