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Merge pull request #91 from jorisa/master 

Add CAN api filter support and LPC11CXX CAN implementation
pull/94/head
Emilio Monti 2013-10-25 06:58:05 -07:00
parent 9d881770c9 739f2a6375
commit 317a1f66d2
10 changed files with 2236 additions and 21 deletions
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16
libraries/mbed/api/CAN.h
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@ -131,12 +131,13 @@ public:
/** Read a CANMessage from the bus.
*
* @param msg A CANMessage to read to.
* @param handle message filter handle (0 for any message)
*
* @returns
* 0 if no message arrived,
* 1 if message arrived
*/
int read(CANMessage &msg);
int read(CANMessage &msg, int handle = 0);
/** Reset CAN interface.
*
@ -169,6 +170,19 @@ public:
*/
int mode(Mode mode);
/** Filter out incomming messages
*
* @param id the id to filter on
* @param mask the mask applied to the id
* @param format format to filter on (Default CANAny)
* @param handle message filter handle (Optional)
*
* @returns
* 0 if filter change failed or unsupported,
* new filter handle if successful
*/
int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0);
/** Returns number of read errors to detect read overflow errors.
*/
unsigned char rderror();

3
libraries/mbed/api/can_helper.h
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@ -24,7 +24,8 @@ extern "C" {
enum CANFormat {
CANStandard = 0,
CANExtended = 1
CANExtended = 1,
CANAny = 2
};
typedef enum CANFormat CANFormat;

30
libraries/mbed/common/CAN.cpp
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@ -39,8 +39,8 @@ int CAN::write(CANMessage msg) {
return can_write(&_can, msg, 0);
}
int CAN::read(CANMessage &msg) {
return can_read(&_can, &msg);
int CAN::read(CANMessage &msg, int handle) {
return can_read(&_can, &msg, handle);
}
void CAN::reset() {
@ -63,19 +63,23 @@ int CAN::mode(Mode mode) {
return can_mode(&_can, (CanMode)mode);
}
void CAN::attach(void (*fptr)(void), IrqType type) {
if (fptr) {
_irq[(CanIrqType)type].attach(fptr);
can_irq_set(&_can, (CanIrqType)type, 1);
} else {
can_irq_set(&_can, (CanIrqType)type, 0);
}
}
int CAN::filter(unsigned int id, unsigned int mask, CANFormat format, int handle) {
return can_filter(&_can, id, mask, format, handle);
}
void CAN::_irq_handler(uint32_t id, CanIrqType type) {
CAN *handler = (CAN*)id;
handler->_irq[type].call();
void CAN::attach(void (*fptr)(void), IrqType type) {
if (fptr) {
_irq[(CanIrqType)type].attach(fptr);
can_irq_set(&_can, (CanIrqType)type, 1);
} else {
can_irq_set(&_can, (CanIrqType)type, 0);
}
}
void CAN::_irq_handler(uint32_t id, CanIrqType type) {
CAN *handler = (CAN*)id;
handler->_irq[type].call();
}
} // namespace mbed

3
libraries/mbed/hal/can_api.h
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@ -63,8 +63,9 @@ void can_irq_free (can_t *obj);
void can_irq_set (can_t *obj, CanIrqType irq, uint32_t enable);
int can_write (can_t *obj, CAN_Message, int cc);
int can_read (can_t *obj, CAN_Message *msg);
int can_read (can_t *obj, CAN_Message *msg, int handle);
int can_mode (can_t *obj, CanMode mode);
int can_filter (can_t *obj, unsigned int id, unsigned int mask, CANFormat format, int handle);
void can_reset (can_t *obj);
unsigned char can_rderror (can_t *obj);
unsigned char can_tderror (can_t *obj);

1768
libraries/mbed/targets/cmsis/TARGET_NXP/TARGET_LPC11XX_11CXX/bitfields.h Normal file
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File diff suppressed because it is too large Load Diff

1
libraries/mbed/targets/cmsis/TARGET_NXP/TARGET_LPC11XX_11CXX/cmsis.h
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@ -9,5 +9,6 @@
#include "LPC11xx.h"
#include "cmsis_nvic.h"
#include "bitfields.h"
#endif

411
libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c Normal file
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@ -0,0 +1,411 @@
/* mbed Microcontroller Library
* Copyright (c) 2006-2013 ARM Limited
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "can_api.h"
#include "cmsis.h"
#include "error.h"
#include <math.h>
#include <string.h>
/* Handy defines */
#define MSG_OBJ_MAX 32
#define DLC_MAX 8
#define ID_STD_MASK 0x07FF
#define ID_EXT_MASK 0x1FFFFFFF
#define DLC_MASK 0x0F
static uint32_t can_irq_id = 0;
static can_irq_handler irq_handler;
static uint32_t can_disable(can_t *obj) {
uint32_t sm = LPC_CAN->CNTL;
LPC_CAN->CNTL |= CANCNTL_INIT;
return sm;
}
static inline void can_enable(can_t *obj) {
if (LPC_CAN->CNTL & CANCNTL_INIT) {
LPC_CAN->CNTL &= ~CANCNTL_INIT;
}
}
int can_mode(can_t *obj, CanMode mode) {
return 0; // not implemented
}
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
uint16_t i;
// Find first free message object
if(handle == 0) {
uint32_t msgval = LPC_CAN->MSGV1 | (LPC_CAN->MSGV2 << 16);
// Find first free messagebox
for(i = 0; i < 32; i++) {
if((msgval & (1 << i)) == 0) {
handle = i+1;
break;
}
}
}
if(handle > 0 && handle < 32) {
if(format == CANExtended) {
// Mark message valid, Direction = TX, Extended Frame, Set Identifier and mask everything
LPC_CAN->IF1_ARB1 = BFN_PREP(id, CANIFn_ARB1_ID);
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | BFN_PREP(id >> 16, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK1 = BFN_PREP(mask, CANIFn_MSK1_MSK);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | BFN_PREP(mask >> 16, CANIFn_MSK2_MSK);
}
else {
// Mark message valid, Direction = TX, Set Identifier and mask everything
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | BFN_PREP(id << 2, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MDIR | BFN_PREP(mask << 2, CANIFn_MSK2_MSK);
}
// Use mask, single message object and set DLC
LPC_CAN->IF1_MCTRL = CANIFn_MCTRL_UMASK | CANIFn_MCTRL_EOB | CANIFn_MCTRL_RXIE | BFN_PREP(DLC_MAX, CANIFn_MCTRL_DLC);
// Transfer all fields to message object
LPC_CAN->IF1_CMDMSK = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL;
// Start Transfer to given message number
LPC_CAN->IF1_CMDREQ = BFN_PREP(handle, CANIFn_CMDREQ_MN);
// Wait until transfer to message ram complete - TODO: maybe not block??
while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
}
return handle;
}
static inline void can_irq() {
irq_handler(can_irq_id, IRQ_RX);
}
// Register CAN object's irq handler
void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) {
irq_handler = handler;
can_irq_id = id;
}
// Unregister CAN object's irq handler
void can_irq_free(can_t *obj) {
LPC_CAN->CNTL &= ~CANCNTL_IE; // Disable Interrupts :)
can_irq_id = 0;
NVIC_DisableIRQ(CAN_IRQn);
}
// Clear or set a irq
void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) {
// Put CAN in Reset Mode and enable interrupt
can_disable(obj);
if(enable == 0) {
LPC_CAN->CNTL &= ~(CANCNTL_IE | CANCNTL_SIE);
}
else {
LPC_CAN->CNTL |= CANCNTL_IE | CANCNTL_SIE;
}
// Take it out of reset...
can_enable(obj);
// Enable NVIC if at least 1 interrupt is active
NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq);
NVIC_EnableIRQ(CAN_IRQn);
}
// This table has the sampling points as close to 75% as possible. The first
// value is TSEG1, the second TSEG2.
static const int timing_pts[23][2] = {
{0x0, 0x0}, // 2, 50%
{0x1, 0x0}, // 3, 67%
{0x2, 0x0}, // 4, 75%
{0x3, 0x0}, // 5, 80%
{0x3, 0x1}, // 6, 67%
{0x4, 0x1}, // 7, 71%
{0x5, 0x1}, // 8, 75%
{0x6, 0x1}, // 9, 78%
{0x6, 0x2}, // 10, 70%
{0x7, 0x2}, // 11, 73%
{0x8, 0x2}, // 12, 75%
{0x9, 0x2}, // 13, 77%
{0x9, 0x3}, // 14, 71%
{0xA, 0x3}, // 15, 73%
{0xB, 0x3}, // 16, 75%
{0xC, 0x3}, // 17, 76%
{0xD, 0x3}, // 18, 78%
{0xD, 0x4}, // 19, 74%
{0xE, 0x4}, // 20, 75%
{0xF, 0x4}, // 21, 76%
{0xF, 0x5}, // 22, 73%
{0xF, 0x6}, // 23, 70%
{0xF, 0x7}, // 24, 67%
};
static unsigned int can_speed(unsigned int sclk, unsigned int cclk, unsigned char psjw) {
uint32_t btr;
uint32_t clkdiv = 1;
uint16_t brp = 0;
uint32_t calcbit;
uint32_t bitwidth;
int hit = 0;
int bits = 0;
bitwidth = sclk / cclk;
brp = bitwidth / 0x18;
while ((!hit) && (brp < bitwidth / 4)) {
brp++;
for (bits = 22; bits > 0; bits--) {
calcbit = (bits + 3) * (brp + 1);
if (calcbit == bitwidth) {
hit = 1;
break;
}
}
}
/* This might be funky
while(btr > 63 && clkdiv < 16) {
btr = btr / 2;
clkdiv = clkdiv * 2;
}
*/
clkdiv = clkdiv - 1;
if (hit) {
btr = BFN_PREP(timing_pts[bits][1], CANBT_TSEG2)
| BFN_PREP(timing_pts[bits][0], CANBT_TSEG1)
| BFN_PREP(psjw, CANBT_SJW)
| BFN_PREP(brp, CANBT_BRP);
btr = btr | (clkdiv << 16);
} else {
btr = 0;
}
return btr;
}
int can_config_rxmsgobj(can_t *obj) {
uint16_t i = 0;
// Make sure the interface is available
//while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
// Mark message valid, Direction = RX, Don't care about anything else
LPC_CAN->IF1_ARB1 = 0;
LPC_CAN->IF1_ARB2 = 0;
LPC_CAN->IF1_MCTRL = 0;
for ( i = 0; i < MSG_OBJ_MAX; i++ )
{
// Transfer arb and control fields to message object
LPC_CAN->IF1_CMDMSK = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_TXRQST;
// Start Transfer to given message number
LPC_CAN->IF1_CMDREQ = BFN_PREP(i, CANIFn_CMDREQ_MN);
// Wait until transfer to message ram complete - TODO: maybe not block??
while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
}
// Accept all messages
can_filter(obj, 0, 0, CANStandard, 1);
return 1;
}
void can_init(can_t *obj, PinName rd, PinName td) {
// Enable power and clock
LPC_SYSCON->PRESETCTRL |= PRESETCTRL_CAN_RST_N;
LPC_SYSCON->SYSAHBCLKCTRL |= SYSAHBCLKCTRL_CAN;
// Enable Initialization mode
if (!(LPC_CAN->CNTL & CANCNTL_INIT)) {
LPC_CAN->CNTL |= CANCNTL_INIT;
}
can_frequency(obj, 125000);
// Resume operation
LPC_CAN->CNTL &= ~CANCNTL_INIT;
while ( LPC_CAN->CNTL & CANCNTL_INIT );
// Initialize RX message object
can_config_rxmsgobj(obj);
}
void can_free(can_t *obj) {
LPC_SYSCON->SYSAHBCLKCTRL &= ~(SYSAHBCLKCTRL_CAN);
LPC_SYSCON->PRESETCTRL &= ~(PRESETCTRL_CAN_RST_N);
}
int can_frequency(can_t *obj, int f) {
int btr = can_speed(SystemCoreClock, (unsigned int)f, 1);
int clkdiv = (btr >> 16) & 0x0F;
btr = btr & 0xFFFF;
if (btr > 0) {
// Set the bit clock
LPC_CAN->CNTL |= CANCNTL_CCE;
LPC_CAN->CLKDIV = clkdiv;
LPC_CAN->BT = btr;
LPC_CAN->BRPE = 0x0000;
LPC_CAN->CNTL &= ~CANCNTL_CCE;
return 1;
}
return 0;
}
int can_write(can_t *obj, CAN_Message msg, int cc) {
uint16_t msgnum = 0;
// Make sure controller is enabled
can_enable(obj);
// Make sure the interface is available
while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
if(msg.format == CANExtended) {
// Mark message valid, Direction = TX, Extended Frame, Set Identifier and mask everything
LPC_CAN->IF1_ARB1 = BFN_PREP(msg.id, CANIFn_ARB1_ID);
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | CANIFn_ARB2_DIR | BFN_PREP(msg.id >> 16, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK1 = BFN_PREP(ID_EXT_MASK, CANIFn_MSK1_MSK);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | BFN_PREP(ID_EXT_MASK >> 16, CANIFn_MSK2_MSK);
}
else {
// Mark message valid, Direction = TX, Set Identifier and mask everything
LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_DIR | BFN_PREP(msg.id << 2, CANIFn_ARB2_ID);
LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MDIR | BFN_PREP(ID_STD_MASK << 2, CANIFn_MSK2_MSK);
}
// Use mask, request transmission, single message object and set DLC
LPC_CAN->IF1_MCTRL = CANIFn_MCTRL_UMASK | CANIFn_MCTRL_TXRQST | CANIFn_MCTRL_EOB | BFN_PREP(msg.len, CANIFn_MCTRL_DLC);
LPC_CAN->IF1_DA1 = BFN_PREP(msg.data[1], CANIFn_DA1_DATA1) | BFN_PREP(msg.data[0], CANIFn_DA1_DATA0);
LPC_CAN->IF1_DA2 = BFN_PREP(msg.data[3], CANIFn_DA2_DATA3) | BFN_PREP(msg.data[2], CANIFn_DA2_DATA2);
LPC_CAN->IF1_DB1 = BFN_PREP(msg.data[5], CANIFn_DB1_DATA5) | BFN_PREP(msg.data[4], CANIFn_DB1_DATA4);
LPC_CAN->IF1_DB2 = BFN_PREP(msg.data[7], CANIFn_DB2_DATA7) | BFN_PREP(msg.data[6], CANIFn_DB2_DATA6);
// Transfer all fields to message object
LPC_CAN->IF1_CMDMSK = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_TXRQST | CANIFn_CMDMSK_DATA_A | CANIFn_CMDMSK_DATA_B;
// Start Transfer to given message number
LPC_CAN->IF1_CMDREQ = BFN_PREP(msgnum, CANIFn_CMDREQ_MN);
// Wait until transfer to message ram complete - TODO: maybe not block??
while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY);
// Wait until TXOK is set, then clear it - TODO: maybe not block
//while( !(LPC_CAN->STAT & CANSTAT_TXOK) );
LPC_CAN->STAT &= ~(CANSTAT_TXOK);
return 1;
}
int can_read(can_t *obj, CAN_Message *msg, int handle) {
uint16_t i;
// Make sure controller is enabled
can_enable(obj);
// Find first message object with new data
if(handle == 0) {
uint32_t newdata = LPC_CAN->ND1 | (LPC_CAN->ND2 << 16);
// Find first free messagebox
for(i = 0; i < 32; i++) {
if(newdata & (1 << i)) {
handle = i+1;
break;
}
}
}
if(handle > 0 && handle < 32) {
// Wait until message interface is free
while( LPC_CAN->IF2_CMDREQ & CANIFn_CMDREQ_BUSY );
// Transfer all fields to message object
LPC_CAN->IF2_CMDMSK = CANIFn_CMDMSK_RD | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_CLRINTPND | CANIFn_CMDMSK_TXRQST | CANIFn_CMDMSK_DATA_A | CANIFn_CMDMSK_DATA_B;
// Start Transfer from given message number
LPC_CAN->IF2_CMDREQ = BFN_PREP(handle, CANIFn_CMDREQ_MN);
// Wait until transfer to message ram complete
while( LPC_CAN->IF2_CMDREQ & CANIFn_CMDREQ_BUSY );
if (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_XTD) {
msg->format = CANExtended;
msg->id = (LPC_CAN->IF2_ARB1 & CANIFn_ARB2_ID_MASK) << 16;
msg->id |= (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_ID_MASK);
}
else {
msg->format = CANStandard;
msg->id = (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_ID_MASK) >> 2;
}
// TODO: Remote frame support
msg->type = CANData;
msg->len = BFN_GET(LPC_CAN->IF2_MCTRL, CANIFn_MCTRL_DLC); // TODO: If > 8, len = 8
msg->data[0] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA0);
msg->data[1] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA1);
msg->data[2] = BFN_GET(LPC_CAN->IF2_DA2, CANIFn_DA2_DATA2);
msg->data[3] = BFN_GET(LPC_CAN->IF2_DA2, CANIFn_DA2_DATA3);
msg->data[4] = BFN_GET(LPC_CAN->IF2_DB1, CANIFn_DB1_DATA4);
msg->data[5] = BFN_GET(LPC_CAN->IF2_DB1, CANIFn_DB1_DATA5);
msg->data[6] = BFN_GET(LPC_CAN->IF2_DB2, CANIFn_DB2_DATA6);
msg->data[7] = BFN_GET(LPC_CAN->IF2_DB2, CANIFn_DB2_DATA7);
LPC_CAN->STAT &= ~(CANSTAT_RXOK);
return 1;
}
return 0;
}
void can_reset(can_t *obj) {
LPC_SYSCON->PRESETCTRL &= ~PRESETCTRL_CAN_RST_N;
LPC_CAN->STAT = 0;
can_config_rxmsgobj(obj);
}
unsigned char can_rderror(can_t *obj) {
return BFN_GET(LPC_CAN->EC, CANEC_REC);
}
unsigned char can_tderror(can_t *obj) {
return BFN_GET(LPC_CAN->EC, CANEC_TEC);
}
void can_monitor(can_t *obj, int silent) {
if (silent) {
LPC_CAN->CNTL |= CANCNTL_TEST;
LPC_CAN->TEST |= CANTEST_SILENT;
} else {
LPC_CAN->CNTL &= ~(CANCNTL_TEST);
LPC_CAN->TEST &= ~CANTEST_SILENT;
}
if (!(LPC_CAN->CNTL & CANCNTL_INIT)) {
LPC_CAN->CNTL |= CANCNTL_INIT;
}
}

9
libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC176X/can_api.c
View File

@ -78,8 +78,11 @@ static inline void can_enable(can_t *obj) {
}
}
int can_mode(can_t *obj, CanMode mode)
{
int can_mode(can_t *obj, CanMode mode) {
return 0; // not implemented
}
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
return 0; // not implemented
}
@ -355,7 +358,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
return 0;
}
int can_read(can_t *obj, CAN_Message *msg) {
int can_read(can_t *obj, CAN_Message *msg, int handle) {
CANMsg x;
unsigned int *i = (unsigned int *)&x;

10
libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC23XX/can_api.c
View File

@ -72,6 +72,14 @@ static inline void can_enable(can_t *obj) {
}
}
int can_mode(can_t *obj, CanMode mode) {
return 0; // not implemented
}
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
return 0; // not implemented
}
static int can_pclk(can_t *obj) {
int value = 0;
switch ((int)obj->dev) {
@ -247,7 +255,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
return 0;
}
int can_read(can_t *obj, CAN_Message *msg) {
int can_read(can_t *obj, CAN_Message *msg, int handle) {
CANMsg x;
unsigned int *i = (unsigned int *)&x;

6
libraries/mbed/targets/hal/TARGET_NXP/TARGET_LPC408X/can_api.c
View File

@ -83,6 +83,10 @@ int can_mode(can_t *obj, CanMode mode)
return 0; // not implemented
}
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
return 0; // not implemented
}
static inline void can_irq(uint32_t icr, uint32_t index) {
uint32_t i;
@ -340,7 +344,7 @@ int can_write(can_t *obj, CAN_Message msg, int cc) {
return 0;
}
int can_read(can_t *obj, CAN_Message *msg) {
int can_read(can_t *obj, CAN_Message *msg, int handle) {
CANMsg x;
unsigned int *i = (unsigned int *)&x;