int can_init(can_speed_t can_speed, can_send_callback_t send_callback, can_recv_callback_t recv_callback,
uint32_t send_timeout_real_us, can_mask_t masked_id, can_mask_t mask) {
if((send_callback == NULL) || (recv_callback == NULL)) {
return 1;
}
cli();
can_send_callback = send_callback;
can_recv_callback = recv_callback;
can_send_timeout_ms = send_timeout_real_us / 1000;
can_masked_id = masked_id;
can_mask = mask;
if(can_set_speed(can_speed) == -1) return -1;
list_init(can_cmd_list);
can_clear_all_mob();
CAN_ENABLE();
CAN_SET_TCON(199); // FIXME for F_CPU = 16 Mhz -> CAN timestamp will be 100uS resolution
CAN_INT_MOB_ENABLE();
CAN_INT_ENABLE();
sei();
if(init_recv_buffers() == -1) {
return -2;
}
return 0;
}
void USB2CAN_open(u32 speed,u32 flags,CAN_TIMINGS *CanTimings)
{
CAN_ENABLE();
USB2CAN_set_speed(speed,CanTimings);
switch( flags & 0x0003 )
{
case CAN_MODE_NORMAL: // normal mode
CAN_LeaveTestMode();
break;
case CAN_MODE_SILENT: // silent mode
CAN_EnterTestMode( CAN_TESTR_SILENT );
break;
case CAN_MODE_LOOPBACK: // loopback mode
CAN_EnterTestMode( CAN_TESTR_LBACK );
break;
case CAN_MODE_SILENT_LOOPBACK:
CAN_EnterTestMode( CAN_TESTR_LBACK | CAN_TESTR_SILENT );
break;
default:
CAN_LeaveTestMode();
break;
}
// DAR
if( flags & 0x0004 )
CAN->CR |= CAN_CR_DAR; // disable auto retransmitions
else
CAN->CR &= ~CAN_CR_DAR; // enable auto retransmitions
}
int can_reset(unsigned long int afcpu, uint32_t bps) {
/* Configure CAN module */
CAN_DISABLE();
CAN_RESET();
/* Enables mob 0-14 interrupts */
CANIE1 = 0x7F;
CANIE2 = 0xFF;
/* Configure bitrate */
can_configure_bitrate(afcpu, bps);
/* Configure MOBS */
can_configure_mobs();
/* Enable and return */
CAN_ENABLE();
CAN_SET_INTERRUPT();
return 0;
}