##CANbus Library for Teensy 3.1

###Introduction FlexCAN is a serial communication driver for the CAN0 peripheral built into the Teensy 3.1 CPU. The driver is organized in the Arduino library format.

When the FlexCAN object is constructed, Arduino pins Digital 3 and Digital 4 are assigned to CAN functions TX and RX. These should be wired to a 3.3V CAN transceiver TXD and RXD respectively to allow connection of the Teensy 3.1 to a CAN network.

Even though the Teensy is operating on 3.3V, use of 5V transceivers may be an option if the system has regulated +5V available. The CAN RXD input on the CPU is 5V tolerant and most 5V transceivers will accept the 3V TXD signal. This is a good choice for breadboarding due to availability of thru-hole 5V transceiver parts.

Note that CAN will normally require termination resistors. These are located at the two ends of a CAN bus to prevent reflections. Do not add more terminators when connecting devices to an existing properly terminated CAN bus.

Supported baud rates are 5000, 10000, 20000, 25000, 31250, 33333, 40000, 50000, 80000, 83333, 95000, 100000, 125000, 200000, 250000, 500000, 666666, and 1000000 bits per second. If the baud rate is not specified it will default to 125000. Use given speedindex in: ###bus-speed-definitions.txt If you want to add another speed, use the Excel sheet ###can-timing.xls ###CAN Transceiver Options Please add parts you are using successfully with Teensy 3.1 to this list.

• TI SN65HVD230D on 3.3V (1MBPS)
• TI SN65HVD232D / SN65HVD232QDQ1 on 3.3V (1MBPS)
• NXP TJA1050T/VM,118 on the same 5V supply as the Teensy. (1MBPS)
• Microchip MCP2551/2 on 5V (1MBPS)
• Linear LT1796 on 5V (not speedtested)

###Driver API begin(speedindex) Enable the CAN to start actively participating on the CANbus. Default speedindex is CAN_125KBPS.

connect(speedindex, check) Enable the CAN to start actively participating on the CANbus with given speedindex. If check = 1 the device checks if there is a frame available. If speedindex = 0, the device try an Auto Connect on the CANbus. Default (0, 0). See autoconnect.ino. Returns speedindex 1 - 18, 255 -> Error, CANbus not connected or speed is not available.

end() Disable the CAN from participating on the CANbus. Pins remain assigned to the alternate function CAN0.

reset() Softreset the device and enter freeze mode.

write(message) Send a frame of up to 8 bytes using the given identifier. write() will return 0 if no buffer was available for sending (see "Caller blocking" below).

message is a CAN_message_t type buffer structure.

• uint32_t id; // can identifier
• uint8_t ext; // identifier is extended
• uint8_t req; // message is request
• uint8_t len; // length of data
• uint16_t timestamp; // receive frame timestamp
• uint16_t timeout; // milliseconds, zero will disable waiting
• uint8_t buf[8]; // 8 byte data buffer

read(message) Receive a frame into "message" if available. read() will return 1 if a frame was copied into the callers buffer, or 0 if no frame is available (see "Caller blocking" below).

available() Returns 1 if at least one receive frame is waiting, or 0 if no frame is available.

synchron() Returns 1 if the device is synchron with CANbus, or 0 if not synchron.

###Use of Optional RX Filtering setMask(mask) Enable reception of all messages that fit the mask. This is a global mask that applies to all the receive filters.

setFilter(filter, number) Set the receive filter selected by number, 0-7. When using filters it is required to set them all. If the application uses less than 8 filters, duplicate one filter for the unused ones.

The mask and filter are CAN_filter_t type structures.

• uint8_t rtr; // request can identifier
• uint8_t ext; // extended can identifier
• uint32_t id; // can identifier

clearMask() Enable reception of all messages.

clearFilter() Clear filter from 0 - 7.

###Caller Blocking Support Support has been included for wait / blocking in both the read() and write() calls.

When the CAN_message_t field timeout is given, the read() and write() calls will wait if needed until the frame transfer can take place. The maximum wait for transfer is specified by timeout in milliseconds. If the call times out, it will return 0 as in the non-blocking case.

Setting the timeout field to 0 will make the calls non-blocking.

The timeout monitoring mechanism calls yield() until a buffer is found or the timeout time is exceeded.

###In-order Transmission Caller blocking can be used to write() frames guaranteed in-order to the bus. When caller blocking is selected for write() (non-zero timeout specified), a single hardware transmit buffer is used.