/* Calls the initialization routines */
static inline void
init(void)
{
uint8_t cnf1=0x03, cnf2=0xb6, cnf3=0x04; /* Defaults to 125k */
uint8_t can_speed = 0;
init_spi();
/* Set the direction for the status LEDs' */
DDRB |= (1<<PB0);
DDRB |= (1<<PB1);
/* Set the CAN speed. The values for 125k are the defaults so 0 is ignored
and bad values also result in 125k */
can_speed = eeprom_read_byte(EE_CAN_SPEED);
if(can_speed==BITRATE_250) cnf1=0x01; /* 250kbps */
else if(can_speed==BITRATE_500) cnf1=0x00; /* 500kbps */
else if(can_speed==BITRATE_1000) { cnf1=0x00; cnf2=0x92; cnf3=0x02; } /* 1Mbps */
node_id = eeprom_read_byte(EE_NODE_ID);
/* Initialize the MCP2515 */
can_init(cnf1, cnf2, cnf3, 0x00);
/* Set the masks and filters to listen for Node Specific Messages
on RX 0. We put the node specific messages in RX0 and the
two way communication channels in RX1 */
can_mode(CAN_MODE_CONFIG, 0);
can_mask(0, 0x0700);
/* This sets the filter to get a firmware update command to our
node address. For the bootloader this is all we care about. */
can_filter(CAN_RXF0SIDH, 0x0700);
can_mask(1, 0x07C0);
can_filter(CAN_RXF2SIDH, 0x06E0);
can_mode(CAN_MODE_NORMAL, 0);
#ifdef UART_DEBUG
init_serial();
#endif
TCCR1B=0x05; /* Set Timer/Counter 1 to clk/1024 */
/* Move the Interrupt Vector table to the Bootloader section */
MCUCR = (1<<IVCE);
MCUCR = (1<<IVSEL);
EICRA = 0x02; /* Set INT0 to falling edge */
}
int CAN::mode(Mode mode) {
lock();
int ret = can_mode(&_can, (CanMode)mode);
unlock();
return ret;
}
int CAN::mode(Mode mode) {
return can_mode(&_can, (CanMode)mode);
}
