Resolve issue with Teensy not sending CAN msgs

adbancroft · Dec 21, 2023 · 7d817e3 · 7d817e3
1 parent 5d6440f
commit 7d817e3
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Showing 7 changed files with 402 additions and 366 deletions.
diff --git a/speeduino/board_teensy35.cpp b/speeduino/board_teensy35.cpp
@@ -8,12 +8,15 @@
 #include "timers.h"
 #include "comms_secondary.h"
 
+/*
+  //These are declared locally in comms_CAN now due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67
 #if defined(__MK64FX512__)         // use for Teensy 3.5 only 
   FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
 #elif defined(__MK66FX1M0__)         // use for Teensy 3.6 only
   FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
   FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can1; 
 #endif
+*/
 
 void initBoard()
 {
@@ -22,6 +25,7 @@ void initBoard()
     * General
     */
    pSecondarySerial = &Serial2;
+   //Can0.setBaudRate(500000);
 
     /*
     ***********************************************************************************************************

diff --git a/speeduino/board_teensy35.h b/speeduino/board_teensy35.h
@@ -160,12 +160,16 @@
   #define SECONDARY_SERIAL_T HardwareSerial
 
   #include <FlexCAN_T4.h>
+  /*
+  //These are declared locally in comms_CAN now due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67
 #if defined(__MK64FX512__)         // use for Teensy 3.5 only 
   extern FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
+  FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
 #elif defined(__MK66FX1M0__)         // use for Teensy 3.6 only
   extern FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
   extern FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can1; 
 #endif
+*/
   #define NATIVE_CAN_AVAILABLE
 #endif //CORE_TEENSY
 #endif //TEENSY35_H
diff --git a/speeduino/comms_CAN.cpp b/speeduino/comms_CAN.cpp
diff --git a/speeduino/comms_CAN.h b/speeduino/comms_CAN.h
@@ -16,6 +16,9 @@
 
 #define TS_CAN_OFFSET 0x100
 
+void initCAN();
+int CAN_read();
+void CAN_write();
 void sendBMWCluster();
 void sendVAGCluster();
 void DashMessages(uint16_t DashMessageID);

diff --git a/speeduino/comms_secondary.cpp b/speeduino/comms_secondary.cpp
@@ -207,7 +207,7 @@ void sendCancommand(uint8_t cmdtype, uint16_t canaddress, uint8_t candata1, uint
         outMsg.buf[5] = 0x70;
         outMsg.buf[6] = 0x9E;
         outMsg.buf[7] = 0x4D;
-        Can0.write(outMsg);
+        CAN_write();
         #endif
         break;
 

diff --git a/speeduino/init.cpp b/speeduino/init.cpp
@@ -8,6 +8,7 @@
 #include "speeduino.h"
 #include "timers.h"
 #include "comms_secondary.h"
+#include "comms_CAN.h"
 #include "utilities.h"
 #include "scheduledIO.h"
 #include "scheduler.h"
@@ -291,15 +292,7 @@ void initialiseAll(void)
     //Setup the calibration tables
     loadCalibration();
 
-    #if defined (NATIVE_CAN_AVAILABLE)
-      configPage9.intcan_available = 1;   // device has internal canbus
-      //Teensy uses the Flexcan_T4 library to use the internal canbus
-      //enable local can interface
-      //setup can interface to 500k   
-      Can0.begin();
-      Can0.setBaudRate(500000);
-      Can0.enableFIFO();
-    #endif
+
 
     //Set the pin mappings
     if((configPage2.pinMapping == 255) || (configPage2.pinMapping == 0)) //255 = EEPROM value in a blank AVR; 0 = EEPROM value in new FRAM
@@ -310,11 +303,8 @@ void initialiseAll(void)
     }
     else { setPinMapping(configPage2.pinMapping); }
 
-    /* Note: This must come after the call to setPinMapping() or else pins 29 and 30 will become unusable as outputs.
-     * Workaround for: https://github.com/tonton81/FlexCAN_T4/issues/14 */
-    #if defined(CORE_TEENSY35)
-      Can0.setRX(DEF);
-      Can0.setTX(DEF);
+    #if defined(NATIVE_CAN_AVAILABLE)
+      initCAN();
     #endif
 
     //Must come after setPinMapping() as secondary serial can be changed on a per board basis

diff --git a/speeduino/speeduino.ino b/speeduino/speeduino.ino
@@ -122,7 +122,7 @@ void loop(void)
         {            
           //check local can module
           // if ( BIT_CHECK(LOOP_TIMER, BIT_TIMER_15HZ) or (CANbus0.available())
-          while (Can0.read(inMsg) ) 
+          while (CAN_read()) 
           {
             can_Command();
             readAuxCanBus();