CAN bus implementation

.gitignore

@@ -72,3 +72,5 @@ docs/source/Plugin/_plugin_sets_overview.repl
 
 .platformio/
 .pio/
+
+*.Identifier

lib/arduino-CAN/.travis.yml

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+language: generic
+env:
+  global:
+    - IDE_VERSION=1.8.5
+  matrix:
+    - BOARD="arduino:avr:uno"
+    - BOARD="arduino:samd:mkrzero"
+    - BOARD="espressif:esp32:esp32"
+before_install:
+  - wget http://downloads.arduino.cc/arduino-$IDE_VERSION-linux64.tar.xz
+  - tar xf arduino-$IDE_VERSION-linux64.tar.xz
+  - mv arduino-$IDE_VERSION $HOME/arduino-ide
+  - export PATH=$PATH:$HOME/arduino-ide
+  - if [[ "$BOARD" =~ "arduino:samd:" ]]; then
+      arduino --install-boards arduino:samd;
+    fi
+  - if [[ "$BOARD" =~ "espressif:esp32:" ]]; then
+      mkdir -p $HOME/Arduino/hardware/espressif;
+      git clone https://github.com/espressif/arduino-esp32.git $HOME/Arduino/hardware/espressif/esp32;
+      pushd $HOME/Arduino/hardware/espressif/esp32/tools/;
+      python get.py;
+      popd;
+    fi
+  - buildExampleSketch() { arduino --verbose-build --verify --board $BOARD $PWD/examples/$1/$1.ino; }
+install:
+  - mkdir -p $HOME/Arduino/libraries
+  - ln -s $PWD $HOME/Arduino/libraries/CAN
+script:
+  - buildExampleSketch CANReceiver
+  - buildExampleSketch CANReceiverCallback
+  - buildExampleSketch CANSender

lib/arduino-CAN/API.md

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+# CAN API
+
+## Include Library
+
+```arduino
+#include <CAN.h>
+```
+
+## Setup
+
+### Begin
+
+Initialize the library with the specified bit rate.
+
+```arduino
+CAN.begin(bitrate);
+```
+ * `bitrate` - bit rate in bits per seconds (bps) (`1000E3`, `500E3`, `250E3`, `200E3`, `125E3`, `100E3`, `80E3`, `50E3`, `40E3`, `20E3`, `10E3`, `5E3`)
+
+Returns `1` on success, `0` on failure.
+
+### Set pins
+
+#### MCP2515
+
+Override the default `CS` and `INT` pins used by the library. **Must** be called before `CAN.begin(...)`.
+
+```arduino
+CAN.setPins(cs, irq);
+```
+ * `cs` - new chip select pin to use, defaults to `10`
+ * `irq` - new INT pin to use, defaults to `2`.  **Must** be interrupt capable via [attachInterrupt(...)](https://www.arduino.cc/en/Reference/AttachInterrupt).
+
+This call is optional and only needs to be used if you need to change the default pins used.
+
+#### ESP32
+
+Override the default `CTX` and `CRX` pins used by the library. **Must** be called before `CAN.begin(...)`.
+
+```arduino
+CAN.setPins(rx, tx);
+```
+ * `rx` - new CRX pin to use, defaults to `4`
+ * `tx` - new CTX pin to use, defaults to `5`.
+
+This call is optional and only needs to be used if you need to change the default pins used.
+
+### Set SPI Frequency
+
+**MCP2515 only**
+
+Override the default SPI frequency of 10 MHz used by the library. **Must** be called before `CAN.begin(...)`.
+
+```arduino
+CAN.setSPIFrequency(frequency);
+```
+ * `frequency` - new SPI frequency to use, defaults to `10E6`
+
+This call is optional and only needs to be used if you need to change the default SPI frequency used. Some logic level converters cannot support high speeds such as 10 MHz, so a lower SPI frequency can be selected with `CAN.setSPIFrequency(frequency)`.
+
+### Set Clock Frequency
+
+**MCP2515 only**
+
+Override the default clock source frequency that is connected to the MCP2515. **Must** be called before `CAN.begin(...)`.
+
+```arduino
+CAN.setClockFrequency(clockFrequency);
+```
+ * `clockFrequency` - new clock frequency to use (`8E6`, `16E6`) connected to MCP2515, defaults to `16 Mhz`
+
+This call is optional and only needs to be used if you need to change the clock source frequency connected to the MCP2515. Most shields have a 16 MHz clock source on board, some breakout boards have a 8 MHz source.
+
+### End
+
+Stop the library
+
+```arduino
+CAN.end()
+```
+
+## Sending data
+
+### Begin packet
+
+Start the sequence of sending a packet.
+
+```arduino
+CAN.beginPacket(id);
+CAN.beginPacket(id, dlc);
+CAN.beginPacket(id, dlc, rtr);
+
+CAN.beginExtendedPacket(id);
+CAN.beginExtendedPacket(id, dlc);
+CAN.beginExtendedPacket(id, dlc, rtr);
+```
+
+ * `id` - 11-bit id (standard packet) or 29-bit packet id (extended packet)
+ * `dlc` - (optional) value of Data Length Code (DLC) field of packet, default is size of data written in packet
+ * `rtr` - (optional) value of Remote Transmission Request (RTR) field of packet (`false` or `true`), defaults to `false`. RTR packets contain no data, the DLC field of the packet represents the requested length.
+
+Returns `1` on success, `0` on failure.
+
+### Writing
+
+Write data to the packet. Each packet can contain up to 8 bytes.
+
+```arduino
+CAN.write(byte);
+
+CAN.write(buffer, length);
+```
+* `byte` - single byte to write to packet
+
+or
+
+* `buffer` - data to write to packet
+* `length` - size of data to write
+
+Returns the number of bytes written.
+
+**Note:** Other Arduino `Print` API's can also be used to write data into the packet
+
+### End packet
+
+End the sequence of sending a packet.
+
+```arduino
+CAN.endPacket()
+```
+
+Returns `1` on success, `0` on failure.
+
+## Receiving data
+
+### Parsing packet
+
+Check if a packet has been received.
+
+```arduino
+int packetSize = CAN.parsePacket();
+```
+
+Returns the packet size in bytes or `0` if no packet was received. For RTR packets the size reflects the DLC field of the packet.
+
+### Register callback
+
+Register a callback function for when a packet is received.
+
+```arduino
+CAN.onReceive(onReceive);
+
+void onReceive(int packetSize) {
+ // ...
+}
+```
+
+ * `onReceive` - function to call when a packet is received.
+
+### Packet ID
+
+```arduino
+long id = CAN.packetId();
+```
+
+Returns the id (11-bit or 29 bit) of the received packet. Standard packets have an 11-bit id, extended packets have an 29-bit id.
+
+### Packet Extended
+
+```arduino
+bool extended = CAN.packetExtended();
+```
+
+Returns `true` if the received packet is extended, `false` otherwise.
+
+### Packet RTR
+
+```arduino
+bool rtr = CAN.packetRtr();
+```
+
+Returns the value of the Remote Transmission Request (RTR) field of the packet `true`/`false`. RTR packets contain no data, the DLC field is the requested data length.
+
+### Packet DLC
+
+```arduino
+int DLC = CAN.packetDlc();
+```
+
+Returns the value of the Data Length Code (DLC) field of the packet.
+
+
+### Available
+
+```arduino
+int availableBytes = CAN.available()
+```
+
+Returns number of bytes available for reading.
+
+### Peeking
+
+Peek at the next byte in the packet.
+
+```arduino
+int b = CAN.peek();
+```
+
+Returns the next byte in the packet or `-1` if no bytes are available.
+
+### Reading
+
+Read the next byte from the packet.
+
+```arduino
+int b = CAN.read();
+```
+
+Returns the next byte in the packet or `-1` if no bytes are available.
+
+**Note:** Other Arduino [`Stream` API's](https://www.arduino.cc/en/Reference/Stream) can also be used to read data from the packet
+
+### Filtering
+
+Filter packets that meet the desired criteria.
+
+```
+CAN.filter(id);
+CAN.filter(id, mask);
+
+CAN.filterExtended(id);
+CAN.filterExtended(id, mask);
+```
+
+ * `id` - 11-bit id (standard packet) or 29-bit packet id (extended packet)
+ * `mask` - (optional) 11-bit mask (standard packet) or 29-bit mask (extended packet), defaults to `0x7ff` or `0x1fffffff` (extended)
+
+Only packets that meet the following criteria are acknowleged and received, other packets are ignored:
+
+```
+if ((packetId & mask) == id) {
+  // acknowleged and received
+} else {
+  // ignored
+}
+```
+
+Returns `1` on success, `0` on failure.
+
+## Other modes
+
+### Loopback mode
+
+Put the CAN controller in loopback mode, any outgoing packets will also be received.
+
+```arduino
+CAN.loopback();
+```
+
+### Sleep mode
+
+Put the CAN contoller in sleep mode.
+
+```arduino
+CAN.sleep();
+```
+
+Wake up the CAN contoller if it was previously in sleep mode.
+
+```arduino
+CAN.wakeup();
+```

lib/arduino-CAN/LICENSE

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+MIT License
+
+Copyright (c) 2017 Sandeep Mistry
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.