Helper wrapper around MIT EVT's Can_Validator library for use in MY17 control system.

Compatible with both AtMega boards and ARM boards.

Installation

If you're cloning this for the first time, use git clone --recursive to pull all submodules. However, if you're switching from another branch/already have this repository cloned non-recursively, make sure to run git submodule init and git submodule update.

Before using this library, run the main.py file in can_validator (with Python 3). This file generates all of the necessary source files that are listed in .gitignore. These files are dependent on the CAN spec. If you want to change one of these files, don't edit them directly, but instead figure out what needs to change in the CAN spec. (If that still doesn't work, edit the generator scripts in can_validator rather than the generated files.) Source files that aren't ignored aren't generated from the CAN spec, so they can be edited directly.

Note: The CAN messages to and from the motor controller are structured differently than other CAN messages used in MY17, so they are not completely described in the CAN spec. For more information about motor controller CAN messages, see mc.h, can_validator\templates\special_cases.txt, or the motor controller manual.

Use

You'll need to include MY17_Can_Library.h and define your architecture (define either CAN_ARCHITECTURE_ARM or CAN_ARCHITECTURE_AVR). Make sure to call CanInit with the appropriate baudrate, and then you can then call Can_MsgType to receive the latest CAN message. From there you can check what type of CAN message it is and handle it accordingly. See other MY17 projects for examples.