Merge pull request #6 from ttlappalainen/master

FlexCAN support for different revisions

NMEA2000_teensy.cpp

@@ -28,41 +28,87 @@
   Requires FlexCAN library.
 */
 
-#include <NMEA2000_teensy.h>
+
+#include "NMEA2000_teensy.h" 
 #include <FlexCAN.h>
 #include <kinetis_flexcan.h>
 
 //*****************************************************************************
-tNMEA2000_teensy::tNMEA2000_teensy(uint16_t _DefTimeOut) : tNMEA2000() {
+tNMEA2000_teensy::tNMEA2000_teensy(uint16_t _DefTimeOut, uint8_t CANBusIndex) : tNMEA2000() {
+#if defined(FlexCAN_MAILBOX_TX_BUFFER_SUPPORT)
+  NumTxMailBoxes=3; // Use different buffers for high and low priorities and fast packet
+#else
+  NumTxMailBoxes=1; // Force all to be sent through one mail box.
+#endif
+
+#if NMEA2000_TEENSY_VER == 1  
   CANbus = new FlexCAN(250000);
+#else
+
+#if NMEA2000_TEENSY_MAX_CAN_BUSSES == 2 && NMEA2000_TEENSY_VER>1
+  if ( CANBusIndex>1 ) CANBusIndex=1;
+  if ( CANBusIndex==0 ) { 
+    CANbus = &Can0; 
+  } else {
+    CANbus = &Can1; 
+  }
+#else
+  CANBusIndex=0;
+  CANbus = &Can0; 
+#endif
+
+#endif
   DefTimeOut=_DefTimeOut;
 }
 
 //*****************************************************************************
 bool tNMEA2000_teensy::CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent) {
   CAN_message_t out;
   out.id = id;
-  out.ext = 1;
   out.len = len;
+  out.ext = 1;
+#if NMEA2000_TEENSY_VER == 1 
   out.timeout = (wait_sent?DefTimeOut:0);
+#endif  
+#if NMEA2000_TEENSY_VER == 2 
+  out.rtr=0;
+#endif  
 
+  // Fill the frame buffer
   for (int i=0; i<len && i<8; i++) out.buf[i] = buf[i];
 
-  return CANbus->write(out) == 1;
+#if defined(FlexCAN_MAILBOX_TX_BUFFER_SUPPORT)
+  if ( wait_sent ) {
+    // Use last mail box for fast packet
+    return CANbus->write(out,CANbus->getLastTxBox());
+  } else {
+    uint8_t prio = (uint8_t) ((id >> 26) & 0x7);
+    // For high priority messages use first mail box and rest for others.
+    return (prio<4?CANbus->write(out,CANbus->getFirstTxBox()):CANbus->write(out)) == 1;
+  }
+#else
+  return (CANbus->write(out) == 1);
+#endif
 
-  // FIXME: The Arduino Due had a retry mechanism here. Check whether we need it on Teensy.
-  /*
-  do {
-    if (TryCount>0) delay(3);
-    result=CAN.sendFrame(output);
-    TryCount++;
-  } while (TryCount<2 && !result);
-    */
 }
 
 //*****************************************************************************
 bool tNMEA2000_teensy::CANOpen() {
-  CANbus->begin();
+#if NMEA2000_TEENSY_VER == 1
+  CANbus->begin(); 
+#else 
+  CANbus->begin(250000);  
+  CANbus->setNumTXBoxes(NumTxMailBoxes); 
+
+  CAN_filter_t filter;
+  filter.rtr=0;
+  filter.ext=1;
+  filter.id=0;
+  // Leave one box for other than extended messages
+  for (int box=1; box<NUM_MAILBOXES; box++) CANbus->setFilter(filter,box);
+  // Set mask to all rx mailboxes. Just fix error on FlexCAN constructor, where numTxMailboxes where not initialized.
+  for (int box=0; box<NUM_MAILBOXES; box++) CANbus->setMask(0,box);
+#endif
   return true;
 }
 
@@ -71,7 +117,7 @@ bool tNMEA2000_teensy::CANGetFrame(unsigned long &id, unsigned char &len, unsign
   CAN_message_t incoming;
 
   if (CANbus->available() > 0) {
-    CANbus->read(incoming);
+    CANbus->read(incoming); 
     id = incoming.id;
     len = incoming.len;
     for (int i = 0; i < len && i < 8; i++) {
@@ -84,3 +130,37 @@ bool tNMEA2000_teensy::CANGetFrame(unsigned long &id, unsigned char &len, unsign
   }
 }
 
+//*****************************************************************************
+void tNMEA2000_teensy::InitCANFrameBuffers() {
+#if defined(FlexCAN_DYNAMIC_BUFFER_SUPPORT)
+  if ( MaxCANReceiveFrames<10 ) MaxCANReceiveFrames=10;
+  CANbus->setRxBufferSize(MaxCANReceiveFrames);
+
+  if (MaxCANSendFrames<30 ) MaxCANSendFrames=30;
+
+  uint16_t TotalFrames=MaxCANSendFrames;
+  MaxCANSendFrames=4; // we do not need libary internal buffer since driver has them.
+  uint16_t CANGlobalBufSize=TotalFrames-5;
+
+#if defined(FlexCAN_MAILBOX_TX_BUFFER_SUPPORT)
+  CANbus->setNumTXBoxes(NumTxMailBoxes); 
+
+// With this support system can have different buffers for high and low priority and fast packet messages.
+// After message has been sent to driver, it buffers it automatically and sends it by interrupt.
+// We may need to make these possible to set.
+  uint16_t HighPriorityBufferSize=CANGlobalBufSize / 10;
+  HighPriorityBufferSize=(HighPriorityBufferSize<15?HighPriorityBufferSize:15); // just guessing
+  CANGlobalBufSize-=HighPriorityBufferSize;
+  uint16_t FastPacketBufferSize= (CANGlobalBufSize * 9 / 10);
+  CANGlobalBufSize-=FastPacketBufferSize;
+
+  CANbus->setMailBoxTxBufferSize(CANbus->getFirstTxBox(),HighPriorityBufferSize); // Highest priority buffer
+  CANbus->setMailBoxTxBufferSize(CANbus->getLastTxBox(),FastPacketBufferSize); // Fastpacket buffer
+#endif
+  CANbus->setTxBufferSize(CANGlobalBufSize);
+
+#endif
+
+  tNMEA2000::InitCANFrameBuffers(); // call main initialization
+}
+

NMEA2000_teensy.h

@@ -31,22 +31,35 @@
 #ifndef _NMEA2000_TEENSY_H_
 #define _NMEA2000_TEENSY_H_
 
-#include <NMEA2000.h>
+#include <NMEA2000.h> 
 #include <N2kMsg.h>
 
 #include <FlexCAN.h>
+#if !defined(NUM_MAILBOXES)
+#define NMEA2000_TEENSY_VER 1
+#else
+#define NMEA2000_TEENSY_VER 2
+#endif
+
+#if defined(__MK66FX1M0__)
+#define NMEA2000_TEENSY_MAX_CAN_BUSSES 2
+#else
+#define NMEA2000_TEENSY_MAX_CAN_BUSSES 1
+#endif
 
 class tNMEA2000_teensy : public tNMEA2000
 {
 protected:
   FlexCAN *CANbus;
-  uint16_t DefTimeOut;
+  uint16_t DefTimeOut; 
+  uint8_t NumTxMailBoxes;
   bool CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent);
   bool CANOpen();
   bool CANGetFrame(unsigned long &id, unsigned char &len, unsigned char *buf);
-
+  void InitCANFrameBuffers();
+
 public:
-  tNMEA2000_teensy(uint16_t _DefTimeOut=2);
+  tNMEA2000_teensy(uint16_t _DefTimeOut=4, uint8_t CANBusIndex=0);
 };
 
 #endif