diff -r b74f7ec412fc -r 03fb0bfccc1f drivers/AVR/can_AVR.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/AVR/can_AVR.c	Thu Jan 31 15:20:59 2008 +0100
@@ -0,0 +1,229 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+AVR Port: Andreas GLAUSER and Peter CHRISTEN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+//#define DEBUG_WAR_CONSOLE_ON
+//#define DEBUG_ERR_CONSOLE_ON
+
+#include "can_AVR.h"
+#include "canfestival.h"
+
+volatile unsigned char msg_received = 0;
+
+unsigned char canInit(unsigned int bitrate)
+/******************************************************************************
+Initialize the hardware to receive CAN messages and start the timer for the
+CANopen stack.
+INPUT	bitrate		bitrate in kilobit
+OUTPUT	1 if successful	
+******************************************************************************/
+{
+  unsigned char i,k;
+    //- Pull-up on TxCAN & RxCAN one by one to use bit-addressing
+  CAN_PORT_DIR &= ~(1<<CAN_INPUT_PIN );
+  CAN_PORT_DIR &= ~(1<<CAN_OUTPUT_PIN);
+  CAN_PORT_OUT |=  (1<<CAN_INPUT_PIN );
+  CAN_PORT_OUT |=  (1<<CAN_OUTPUT_PIN);
+
+  Can_reset();				// Reset the CAN controller
+
+  if (bitrate <= 500)
+  {
+    // CANopen 10..500 kbit with 16 tq, sample point is at 14 tq
+    // all values are added to 1 by hardware
+    // Resynchronisation jump width (SJW)	= 1 tq 
+    // Propagation Time Segment (PRS)		= 5 tq
+    // Phase Segment 1 (PHS1)			= 8 tq 
+    // Phase Segment 2 (PHS2)			= 2 tq
+    // Total					= 16 tq
+    CANBT1 = ((F_CPU/16/1000/bitrate-1) << BRP);	// set bitrate
+    CANBT2 = ((1-1) << SJW) |((5-1) << PRS);	// set SJW, PRS
+    CANBT3 = (((2-1) << PHS2) | ((8-1) << PHS1) | (1<<SMP)); // set PHS1, PHS2, 3 sample points
+  }
+  else 
+    return 0;
+
+  // Reset all mailsboxes (MObs), filters are zero (accept all) by clear all MOb
+  // Set the lower MObs as rx buffer
+  for (i = 0; i < NB_MOB; i++)
+  {
+    Can_set_mob(i);		// Change to MOb with the received message
+    Can_clear_mob();		// All MOb Registers=0
+    for (k = 0; k < NB_DATA_MAX; k++)
+      CANMSG = 0;		// MOb data FIFO
+    if (i < NB_RX_MOB)		// Is receive MOb
+      Can_config_rx_buffer();	// configure as receive buffer
+  }
+  // The tx MOb is still disabled, it will be set to tx mode when the first message will be sent
+  // Enable the general CAN interrupts
+  CANGIE = (1 << ENIT) | (1 << ENRX) | (1 << ENTX) | (0 << ENERR) | (0 << ENERG) | (0 << ENOVRT);
+  CANIE1 = 0x7F;	// Enable the interrupts of all MObs (0..14)
+  CANIE2 = 0xFF;   
+  Can_enable();                                 // Enable the CAN bus controller
+  return 1;
+}
+
+unsigned char canSend(CAN_PORT notused, Message *m)
+/******************************************************************************
+The driver send a CAN message passed from the CANopen stack
+INPUT	CAN_PORT is not used (only 1 avaiable)
+	Message *m pointer to message to send
+OUTPUT	1 if  hardware -> CAN frame
+******************************************************************************/
+{
+  unsigned char i;
+
+  for (i = START_TX_MOB; i < NB_MOB; i++)	// Search the first free MOb
+  {
+    Can_set_mob(i);			// Change to MOb
+    if ((CANCDMOB & CONMOB_MSK) == 0)	// MOb disabled = free
+    {
+      break;
+    }
+  }
+  if (i < NB_MOB)			// free MOb found
+  {
+    Can_set_mob(i);			// Switch to the sending messagebox
+    Can_set_std_id(m->cob_id);		// Set cob id
+    if (m->rtr)				// Set remote transmission request
+      Can_set_rtr();
+    Can_set_dlc(m->len);		// Set data lenght code
+
+    for (i= 0; i < (m->len); i++)	// Add data bytes to the MOb
+      CANMSG = m->data[i];
+  // Start sending by writing the MB configuration register to transmit
+    Can_config_tx();		// Set the last MOb to transmit mode
+    return 1;	// succesful
+  }
+  else
+    return 0;	// not succesful
+}
+
+unsigned char canReceive(Message *m)
+/******************************************************************************
+The driver pass a received CAN message to the stack
+INPUT	Message *m pointer to received CAN message
+OUTPUT	1 if a message received
+******************************************************************************/
+{
+  unsigned char i;
+
+  if (msg_received == 0)
+    return 0;		// Nothing received
+
+  for (i = 0; i < NB_RX_MOB; i++)	// Search the first MOb received
+  {
+    Can_set_mob(i);			// Change to MOb
+    if ((CANCDMOB & CONMOB_MSK) == 0)	// MOb disabled = received
+    {
+      msg_received--;
+      break;
+    }
+  }
+  if (i < NB_RX_MOB)			// message found
+  {
+    Can_get_std_id(m->cob_id);		// Get cob id
+    m->rtr = Can_get_rtr();		// Get remote transmission request
+    m->len = Can_get_dlc();		// Get data lenght code
+    for (i= 0; i < (m->len); i++)	// get data bytes from the MOb
+      m->data[i] = CANMSG;
+    Can_config_rx_buffer();		// reset the MOb for receive
+    return 1;                  		// message received
+  }
+  else					// no message found
+  {
+    msg_received = 0;			// reset counter
+    return 0;                  		// no message received
+  }
+}
+
+#ifdef  __IAR_SYSTEMS_ICC__
+#pragma type_attribute = __interrupt
+#pragma vector=CANIT_vect
+void CANIT_interrupt(void)
+#else	// GCC
+ISR(CANIT_vect)
+#endif	// GCC
+/******************************************************************************
+CAN Interrupt
+******************************************************************************/
+{
+  unsigned char i;
+
+  if (CANGIT & (1 << CANIT))	// is a messagebox interrupt
+  {
+    if ((CANSIT1 & TX_INT_MSK) == 0)	// is a Rx interrupt
+    {
+      for (i = 0; (i < NB_RX_MOB) && (CANGIT & (1 << CANIT)); i++)	// Search the first MOb received
+      {
+        Can_set_mob(i);			// Change to MOb
+        if (CANSTMOB & MOB_RX_COMPLETED)	// receive ok
+        {
+          Can_clear_status_mob();	// Clear status register
+	  Can_mob_abort();		// disable the MOb = received
+	  msg_received++;
+        }
+        else if (CANSTMOB & ~MOB_RX_COMPLETED)	// error
+        {
+          Can_clear_status_mob();	// Clear status register
+	  Can_config_rx_buffer();	// reconfigure as receive buffer
+        }
+      }
+    }
+    else				// is a Tx interrupt	 
+    {
+      for (i = NB_RX_MOB; i < NB_MOB; i++)	// Search the first MOb transmitted
+      {
+        Can_set_mob(i);			// change to MOb
+        if (CANSTMOB)			// transmission ok or error
+        {
+          Can_clear_status_mob();	// clear status register
+	  CANCDMOB = 0;			// disable the MOb
+	  break;
+        }
+      }
+    }
+  }
+
+  // Bus Off Interrupt Flag
+  if (CANGIT & (1 << BOFFIT))    // Finaly clear the interrupt status register
+  {
+    CANGIT |= (1 << BOFFIT);                    // Clear the interrupt flag
+  }
+  else
+    CANGIT |= (1 << BXOK) | (1 << SERG) | (1 << CERG) | (1 << FERG) | (1 << AERG);// Finaly clear other interrupts
+}
+
+#ifdef  __IAR_SYSTEMS_ICC__
+#pragma type_attribute = __interrupt
+#pragma vector=OVRIT_vect
+void OVRIT_interrupt(void)
+#else	// GCC
+ISR(OVRIT_vect)
+#endif	// GCC
+/******************************************************************************
+CAN Timer Interrupt
+******************************************************************************/
+{
+  CANGIT |= (1 << OVRTIM);
+}
+