CAN Filter and Mask

Added CAN Filter and Mask

Author: Woodwarth

libraries/Arduino_CAN/examples/CANReadFilter/CANReadFilter.ino

@@ -0,0 +1,51 @@
+/*
+  CANRead
+
+  Receive and read CAN Bus messages
+  
+  
+  Mailbox Groups 0-3 (Mailbox  0-15) -> TRANSMIT
+  Mailbox Groups 4-5 (Mailbox 16-23) -> RECEIVE EXTENDED
+  Mailbox Groups 6-7 (Mailbox 24-31) -> RECEIVE STANDARD
+
+  See the full documentation here:
+  https://docs.arduino.cc/tutorials/uno-r4-wifi/can
+*/
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Arduino_CAN.h>
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial) { }
+
+  CAN.setMailboxMask(4, 0x1FFFFFFF);
+  CAN.setMailboxMask(6, 0x1FFFFFFF);
+
+  for (int c=16; c <= 31; c++) {
+    CAN.setMailboxID(c, 0x10);
+  }
+
+  if (!CAN.begin(CanBitRate::BR_250k))
+  {
+    Serial.println("CAN.begin(...) failed.");
+    for (;;) {}
+  }
+}
+
+void loop()
+{
+  if (CAN.available())
+  {
+    CanMsg const msg = CAN.read();
+    Serial.println(msg);
+  }
+}

libraries/Arduino_CAN/src/R7FA4M1_CAN.cpp

@@ -187,6 +187,18 @@ void R7FA4M1_CAN::end()
   R_CAN_Close(&_can_ctrl);
 }
 
+
+void R7FA4M1_CAN::setMailboxMask(int mailbox_group, uint32_t mask)
+{
+	_can_mailbox_mask[mailbox_group] = mask;
+}
+
+void R7FA4M1_CAN::setMailboxID(int mailbox, int id)
+{
+	_can_mailbox[mailbox].mailbox_id = id;
+}
+
+
 int R7FA4M1_CAN::enableInternalLoopback()
 {
   if(fsp_err_t const rc = R_CAN_ModeTransition(&_can_ctrl, CAN_OPERATION_MODE_NORMAL, CAN_TEST_MODE_LOOPBACK_EXTERNAL); rc != FSP_SUCCESS)

libraries/Arduino_CAN/src/R7FA4M1_CAN.h

@@ -54,6 +54,8 @@ class R7FA4M1_CAN final : public HardwareCAN
   bool begin(CanBitRate const can_bitrate) override;
   void end() override;
 
+  void setMailboxMask(int mailbox_group,uint32_t mask);
+  void setMailboxID(int mailbox,int id);
 
   int enableInternalLoopback();
   int disableInternalLoopback();