Merge pull request #271 from LinjingZhang/xmc1400_can

XMC CAN Sending & Unity starting point

.github/workflows/compile-platform-examples.yml

@@ -148,10 +148,10 @@ jobs:
  - libraries/RTC/examples/AlarmRTC
  steps:
  - name: Checkout repository
- uses: actions/checkout@v2
+ uses: actions/checkout@v4
 
  - name: Compile examples
- uses: arduino/compile-sketches@v1
+ uses: arduino/compile-sketches@v1.1.0
  with:
  github-token: ${{ secrets.GITHUB_TOKEN }}
  fqbn: ${{ matrix.board.fqbn }}
@@ -182,7 +182,7 @@ jobs:
  sketches-report-path: ${{ env.SKETCHES_REPORTS_PATH }}
 
  - name: Save sketches report as workflow artifact
- uses: actions/upload-artifact@v2
+ uses: actions/upload-artifact@v3
  with:
  if-no-files-found: error
  path: ${{ env.SKETCHES_REPORTS_PATH }}

.gitignore

@@ -1,3 +1,4 @@
 .history
 .vscode
-pkg_build
+pkg_build
+build

libraries/CAN/Makefile

@@ -0,0 +1,115 @@
+FQBN ?=
+PORT ?=
+TESTS ?=
+
+$(info FQBN : $(FQBN))
+$(info PORT : $(PORT))
+
+
+TESTS_CONNECTED=-DTEST_CAN_CONNECTED 
+
+TESTS_NOT_CONNECTED=-DTEST_CAN
+
+
+CAN_connected: TESTS=-DTEST_CAN -DTEST_CAN_CONNECTED
+CAN: TESTS=-DTEST_CAN
+
+CAN_connected CAN: unity flash
+
+
+# master_baudrate: TESTS=-DMASTER_BAUDRATE
+# master_baudrate: PORT=COM18
+
+# slave_baudrate: TESTS=-DSLAVE_BAUDRATE
+# master_baudrate: PORT=COM17
+
+# master_baudrate slave_baudrate: unity flash
+
+
+test_all: TESTS=$(TESTS_CONNECTED) $(TESTS_NOT_CONNECTED)
+test_connected: TESTS=$(TESTS_CONNECTED)
+test: TESTS=$(TESTS_NOT_CONNECTED)
+
+test_all \
+test_connected \
+test: unity flash
+#test: unity compile
+
+
+EXAMPLES = CANReceiver CANReceiverCallback CANSender
+
+
+clean:
+ -rm -rf build/*
+
+
+arduino: clean
+ mkdir -p build
+# copy library file
+# cp -r libraries/CAN/* build 
+# find src -name '*.[hc]*' -a \( \! -name 'main*' \) -print -exec cp {} build \;
+
+
+CANReceiver: arduino
+ cp examples/CANReceiver/CANReceiver.ino build/build.ino
+
+CANReceiverCallback: arduino
+ cp examples/CANReceiverCallback/CANReceiverCallback.ino build/build.ino 
+
+CANSender: arduino
+ cp examples/CANSender/CANSender.ino build/build.ino 
+
+# master1:
+# ...
+
+# slave1:
+# ...
+
+
+unity: arduino
+ cp -r test/unit/Unity/*.[hc] build
+ cp test/unit/src/framework/arduino/Test_*.[hc]* build
+ cp test/unit/src/framework/arduino/unity_ifx.cpp build
+ cp test/unit/src/framework/arduino/Test_main.ino build/build.ino
+
+
+# For WSL and Windows :
+# download arduino-cli.exe from : https://downloads.arduino.cc/arduino-cli/arduino-cli_latest_Windows_64bit.zip
+compile:
+ifeq ($(FQBN),)
+ $(error "Must set variable FQBN in order to be able to compile Arduino sketches !")
+else
+# CAUTION : only use '=' when assigning values to vars, not '+='
+ arduino-cli.exe compile --clean --log --warnings all --fqbn $(FQBN) --build-property "compiler.c.extra_flags=\"-DUNITY_INCLUDE_CONFIG_H=1\"" \
+ --build-property compiler.cpp.extra_flags="$(TESTS)" \
+ --build-property compiler.ar.cmd=arm-none-eabi-gcc-ar \
+ --build-property compiler.libraries.ldflags=-lstdc++ \
+ --build-property compiler.arm.cmsis.path="-isystem{compiler.xmclib_include.path}/XMCLib_CAN_v4_3_0/inc -isystem{compiler.xmclib_include.path}/XMCLib/inc -isystem{compiler.dsp_include.path} -isystem{compiler.nn_include.path} -isystem{compiler.cmsis_include.path} -isystem{compiler.xmclib_include.path}/LIBS -isystem{build.variant.path} -isystem{build.variant.config_path}" \
+ --build-property compiler.usb.path="-isystem{runtime.platform.path}/cores/usblib -isystem{runtime.platform.path}/cores/usblib/Common -isystem{runtime.platform.path}/cores/usblib/Class -isystem{runtime.platform.path}/cores/usblib/Class/Common -isystem{runtime.platform.path}/cores/usblib/Class/Device -isystem{runtime.platform.path}/cores/usblib/Core -isystem{runtime.platform.path}/cores/usblib/Core/XMC4000" \
+ build
+endif
+
+
+upload: 
+ifeq ($(PORT),)
+ $(error "Must set variable PORT (Windows port naming convention, ie COM16) in order to be able to flash Arduino sketches !")
+endif
+ifeq ($(FQBN),)
+ $(error "Must set variable FQBN in order to be able to flash Arduino sketches !")
+else
+ arduino-cli.exe upload -p $(PORT) --fqbn $(FQBN) build
+endif
+
+
+flash: compile upload
+
+
+monitor:
+ifeq ($(PORT),)
+ $(error "Must set variable PORT (Windows port naming convention, ie COM16) in order to be able to flash Arduino sketches !")
+endif
+ifeq ($(FQBN),)
+ $(error "Must set variable FQBN in order to be able to flash Arduino sketches !")
+else
+ arduino-cli.exe monitor -c baudrate=9600 -p $(PORT) --fqbn $(FQBN)
+endif

libraries/CAN/Makefile.test

@@ -0,0 +1,16 @@
+### Build commands
+
+
+### Example program
+make FQBN=Infineon:xmc:XMC4700_Relax_Kit PORT=COM20 CANReceiver flash monitor
+
+make FQBN=Infineon:xmc:XMC4700_Relax_Kit PORT=COM20 CANReceiverCallback flash monitor
+
+make FQBN=Infineon:xmc:XMC4700_Relax_Kit PORT=COM24 CANSender flash monitor
+
+
+
+### Unit tests
+make FQBN=Infineon:xmc:XMC4700_Relax_Kit PORT=COM20 CAN monitor
+
+make FQBN=Infineon:xmc:XMC1100_XMC2GO PORT=COM21 CAN_connected monitor

libraries/CAN/README_CAN.md

@@ -3,7 +3,7 @@
 ## Include Library and using namespace
 
 ```arduino
-#include <CANXMC.h>
+#include <CAN.h>
 using namespace ifx;
 ```
 
@@ -14,17 +14,24 @@ using namespace ifx;
 Initialize the library with the specified bit rate.
 
 ```arduino
-CAN.begin(bitrate);
+CAN.begin(bitrate, id);
 ```
- * `bitrate` - bit rate in bits per seconds (bps) (default 500E3. `1000E3`, `500E3`, `250E3`, `200E3`, `125E3`, `100E3`, `80E3`, `50E3`, `40E3`, `20E3`, `10E3`, `5E3`)
+ * `bitrate` - bit rate in bits per seconds (bps) (`1000E3`, `500E3`(default), `250E3`, `200E3`, `125E3`, `100E3`, `80E3`, `50E3`, `40E3`, `20E3`, `10E3`, `5E3`)
 
 Returns `1` on success, `0` on failure.
 
 ### Set pins
 
 The RX and TX pins are determined. 
 
-<strike>
+### Set identifier
+
+```arduino
+ CAN.setIdentifier(id);
+```
+ * `id` - 11 bits standard identifier. Reflecting the contents and priority of the message. (default: `0x12`)
+
+
 ### End
 
 Stop the library
@@ -33,6 +40,7 @@ Stop the library
 CAN.end()
 ```
 
+
 ## Sending data
 
 ### Begin packet
@@ -43,13 +51,9 @@ Start the sequence of sending a packet.
 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)
+ * `id` - 11-bit id (standard packet) <strike> or 29-bit packet id (extended packet)</strike>
  * `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.
 
@@ -84,7 +88,7 @@ CAN.endPacket()
 ```
 
 Returns `1` on success, `0` on failure.
-</strike>
+
 ## Receiving data
 
 ### Parsing packet
@@ -152,7 +156,7 @@ int availableBytes = CAN.available()
 ```
 
 Returns number of bytes available for reading.
-<strike>
+
 ### Peeking
 
 Peek at the next byte in the packet.
@@ -175,6 +179,7 @@ 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
 
+<strike>
 ### Filtering
 
 Filter packets that meet the desired criteria.

libraries/CAN/examples/CANReceiver/CANReceiver.ino

@@ -1,20 +1,21 @@
 // Copyright (c) Sandeep Mistry. All rights reserved.
 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
 
-#include <CANXMC.h>
+#include <CAN.h>
 using namespace ifx;
 
 void setup() {
  Serial.begin(9600);
  while (!Serial);
- delay(5000);
+ delay(1000);
  Serial.println("CAN Receiver");
 
  // start the CAN bus at 500 kbps
  if (!CAN.begin(500000)) {
  Serial.println("Starting CAN failed!");
  while (1);
  }
+ CAN.setIdentifier(0x12);
 }
 
 void loop() {
@@ -48,7 +49,7 @@ void loop() {
 
  // only print packet data for non-RTR packets
  while (CAN.available()) {
- Serial.print(CAN.read());
+ Serial.print((char)CAN.read());
  }
  Serial.println();
  }

libraries/CAN/examples/CANReceiverCallback/CANReceiverCallback.ino

@@ -1,13 +1,13 @@
 // Copyright (c) Sandeep Mistry. All rights reserved.
 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
 
-#include <CANXMC.h>
+#include <CAN.h>
 using namespace ifx;
 
 void setup() {
  Serial.begin(9600);
  while (!Serial);
-
+ delay(1000);
  Serial.println("CAN Receiver Callback");
 
  // start the CAN bus at 500 kbps
@@ -18,6 +18,7 @@ void setup() {
 
  // register the receive callback
  CAN.onReceive(onReceive);
+ CAN.setIdentifier(0x12);
 }
 
 void loop() {
@@ -49,7 +50,7 @@ void onReceive(int packetSize) {
 
  // only print packet data for non-RTR packets
  while (CAN.available()) {
- Serial.print(CAN.read());
+ Serial.print((char)CAN.read());
  }
  Serial.println();
  }

libraries/CAN/examples/CANSender/CANSender.ino

@@ -2,6 +2,7 @@
 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
 
 #include <CAN.h>
+using namespace ifx;
 
 void setup() {
  Serial.begin(9600);
@@ -32,10 +33,7 @@ void loop() {
 
  delay(1000);
 
- // send extended packet: id is 29 bits, packet can contain up to 8 bytes of data
- Serial.print("Sending extended packet ... ");
-
- CAN.beginExtendedPacket(0xabcdef);
+ CAN.beginPacket(0x12);
  CAN.write('w');
  CAN.write('o');
  CAN.write('r');

libraries/CAN/src/CAN.h

@@ -0,0 +1,8 @@
+#ifndef CAN_H
+#define CAN_H
+
+#if defined(CAN_xmc)
+#include "CANXMC.h"
+#endif
+
+#endif