can_driver.c File Reference

#include "general_header.h"
#include "spi_driver.h"
#include "can_driver.h"
#include "MCP2515.h"
#include "mcp_driver.h"

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Functions
int	CAN_init (uint16_t mode, uint8_t id)
uint8_t	CAN_loopback (uint8_t data)
void	CAN_transfer (uint8_t data)
void	CAN_send (uint8_t id, int data_byte, int *data)
void	CAN_transfer_2 (uint8_t data1, uint8_t data2)
uint8_t	CAN_busywait_reveive (void)
uint8_t	CAN_check_reveive (void)
	ISR (INT2_vect)
	CAN message interupt on receive. More...

Variables
volatile bool	can_wait_for_receive
	Initialize CAN controller and MCP. More...

Detailed Description

Implementation of high level CAN bus controller.

Function Documentation

CAN_busywait_reveive()

uint8_t CAN_busywait_reveive

(

void

)

CAN receive function

WAIT FOR RX BUFFER 0 INTERUPT

read RX0 data buffer.

turn off the interrupt flag after reading

CAN_check_reveive()

uint8_t CAN_check_reveive

(

void

)

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CAN_init()

int CAN_init	(	uint16_t	mode,
		uint8_t	id
	)

Trigger interrupt on falling edge on INT2.

Enable interrupt on INT2

< Set ID

< Set mode

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CAN_loopback()

uint8_t CAN_loopback

(

uint8_t

data

)

SET ARBRITARY VALUES FOR ID AND DATA LENGTH

< Load data into TX0 buffer

WAIT FOR RX BUFFER 0 INTERUPT

CAN_send()

void CAN_send	(	uint8_t	id,
		int	data_byte,
		int *	data
	)

Send message on can bus.

Parameters

id	CAN ID to send with
data_byte	Number of bytes (from 1 to 8)
data	Pointer with data to send.

< Ready to send function.

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CAN_transfer()

void CAN_transfer

(

uint8_t

data

)

Send message on can bus.

Parameters

data	Data to send on bus

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CAN_transfer_2()

void CAN_transfer_2	(	uint8_t	data1,
		uint8_t	data2
	)

SET ARBRITARY VALUES FOR ID AND DATA LENGTH

< Load data into TX0 buffer

< Load data into TX0 buffer

ISR()

ISR

(

INT2_vect

)

CAN message interupt on receive.

Variable Documentation

can_wait_for_receive

volatile bool can_wait_for_receive

Initialize CAN controller and MCP.

Can variable to check if ready to receive.

/*!

Parameters

mode	Choose between MODE_NORMAL or MODE_LOOPBACK
id	Initialize with fixed message ID.