From f2027360a0748556b83ae92c380d757679d2d735 Mon Sep 17 00:00:00 2001
From: Christian Kroll <chris@das-labor.org>
Date: Sun, 6 May 2012 18:45:43 +0000
Subject: [PATCH]

---
 animations/borg_time.c |   4 +-
 can/borg_can.c         |  47 +--
 can/can.c              | 743 +++++++++++++++++++++--------------------
 can/can.h              |  79 ++---
 can/lap.c              |  34 +-
 can/lap.h              | 110 +++---
 can/spi.c              |  35 +-
 can/spi.h              |  18 -
 8 files changed, 547 insertions(+), 523 deletions(-)

diff --git a/animations/borg_time.c b/animations/borg_time.c
index 6b08b54..44cb144 100644
--- a/animations/borg_time.c
+++ b/animations/borg_time.c
@@ -6,7 +6,7 @@
 
 #include <stdio.h>
 #include <stdlib.h>
-#include <avr/pgmspace.h>
+#include "../compat/pgmspace.h"
 #include "../config.h"
 #include "../can/can.h"
 #include "../can/lap.h"
@@ -21,7 +21,7 @@
 #endif
 
 //hackhack
-extern can_addr myaddr;
+extern can_addr_t myaddr;
 
 //send a time request packet via can
 void time_request(void)
diff --git a/can/borg_can.c b/can/borg_can.c
index c547d03..b49247e 100644
--- a/can/borg_can.c
+++ b/can/borg_can.c
@@ -4,13 +4,19 @@
 #include "spi.h"
 #include "../borg_hw/borg_hw.h"
 
-#include <avr/pgmspace.h>
 #include <setjmp.h>
-#include <avr/interrupt.h>
-#include <avr/eeprom.h>
+
+#ifdef __AVR__
+#  include <avr/pgmspace.h>
+#  include <avr/interrupt.h>
+#  include <avr/eeprom.h>
+#else
+#  include "../compat/eeprom.h"
+#endif
+
 #include <string.h>
 
-can_addr myaddr;
+can_addr_t myaddr;
 extern jmp_buf newmode_jmpbuf;
 
 #ifdef LAP_TIME_EXTENSION
@@ -45,9 +51,11 @@ void process_mgt_msg(pdo_message *msg)
 
 	switch(msg->cmd) {
 	case FKT_MGT_RESET:
+#ifdef __AVR__
 		timer0_off();
 		cli();
 		while(1);
+#endif
 		break;
 	case FKT_MGT_PING:
 		rmsg = (pdo_message *)can_buffer_get();
@@ -75,26 +83,27 @@ void process_borg_msg(pdo_message *msg)
 {
 	unsigned char i, j;
 
-	switch(msg->cmd) {
+	switch (msg->cmd) {
 	case FKT_BORG_MODE:
 		longjmp(newmode_jmpbuf, msg->data[0]);
 		break;
+
 	case FKT_BORG_SCROLLTEXT_RESET:
-		for(i=0; i < msg->dlc-1; i++) {
+		for (i = 0; i < msg->dlc - 1; i++) {
 			scrolltext_text[i] = msg->data[i];
 		}
 		scrolltext_text[i] = 0;
-
 		break;
+
 	case FKT_BORG_SCROLLTEXT_APPEND:
-		j=0;
-		while(scrolltext_text[j]) j++;
+		j = 0;
+		while (scrolltext_text[j])
+			j++;
 
-		for(i=0; i < msg->dlc-1; i++) {
-			scrolltext_text[i+j] = msg->data[i];
+		for (i = 0; i < msg->dlc - 1; i++) {
+			scrolltext_text[i + j] = msg->data[i];
 		}
-		scrolltext_text[i+j] = 0;
-
+		scrolltext_text[i + j] = 0;
 		break;
 
 #ifdef Hansi_hat_gelernt_Werte_vorher_zu_definieren
@@ -129,21 +138,19 @@ void process_borg_msg(pdo_message *msg)
 	}
 }
 
-void bcan_process_messages()
-{
+void bcan_process_messages() {
 	pdo_message *msg = (pdo_message*) can_get_nb();
 
-	while(msg) {
+	while (msg) {
 		if (!msg)
 			return;
 
-		if(msg->addr_dst == myaddr && msg->port_dst == PORT_MGT)
+		if (msg->addr_dst == myaddr && msg->port_dst == PORT_MGT)
 			process_mgt_msg(msg);
 
-		if(msg->addr_dst == myaddr && msg->port_dst == PORT_BORG)
+		if (msg->addr_dst == myaddr && msg->port_dst == PORT_BORG)
 			process_borg_msg(msg);
 
 		msg = (pdo_message*) can_get_nb();
-	};
-
+	}
 }
diff --git a/can/can.c b/can/can.c
index 3497a6d..0f6f539 100644
--- a/can/can.c
+++ b/can/can.c
@@ -1,7 +1,9 @@
 
 #ifndef __C64__
-#include <avr/io.h>
-#include <avr/interrupt.h>
+#ifdef __AVR__
+	#include <avr/io.h>
+	#include <avr/interrupt.h>
+#endif
 #define asm asm volatile
 #endif
 
@@ -121,376 +123,393 @@ void mcp_bitmod(unsigned char reg, unsigned char mask, unsigned char val);
 unsigned char mcp_status();
 //unsigned char mcp_rx_status();
 
-// Functions
-/*
-unsigned char mcp_rx_status(){
-	unsigned char d;
-	spi_set_ss();
-	spi_data(RX_STATUS);
-	d = spi_data(0);
-	spi_clear_ss();
-	return d;
-}
-*/
-
-unsigned char mcp_status(){
-	unsigned char d;
-	spi_set_ss();
-	spi_data(READ_STATUS);
-	d = spi_data(0);
-	spi_clear_ss();
-	return d;
-}
-
-void mcp_bitmod(unsigned char reg, unsigned char mask, unsigned char val){
-	spi_set_ss();
-	spi_data(BIT_MODIFY);
-	spi_data(reg);
-	spi_data(mask);
-	spi_data(val);
-	spi_clear_ss();
-}
-
-//load a message to mcp2515 and start transmission
-void message_load(can_message_x * msg){
-	unsigned char x;
-	
-	spi_set_ss();
-	spi_data(WRITE);
-	spi_data(TXB0SIDH);
-
-	spi_data( ((unsigned char)(msg->msg.port_src << 2)) | (msg->msg.port_dst >> 4 ) );
-	spi_data( (unsigned char)((msg->msg.port_dst & 0x0C) << 3) | (1<<EXIDE) | (msg->msg.port_dst & 0x03) );
-	spi_data(msg->msg.addr_src);
-	spi_data(msg->msg.addr_dst);
-	spi_data(msg->msg.dlc);
-	for(x=0;x<msg->msg.dlc;x++){
-		spi_data(msg->msg.data[x]);
+#ifdef __AVR__
+	// Functions
+	/*
+	unsigned char mcp_rx_status() {
+		unsigned char d;
+		spi_set_ss();
+		spi_data(RX_STATUS);
+		d = spi_data(0);
+		spi_clear_ss();
+		return d;
 	}
-	spi_clear_ss();
-	spi_set_ss();
-	spi_data(WRITE);
-	spi_data(TXB0CTRL);
-	spi_data( (1<<TXREQ) );
-	spi_clear_ss();
-}
+	*/
 
-//get a message from mcp2515 and disable RX interrupt Condition
-void message_fetch(can_message_x * msg){
-	unsigned char tmp1, tmp2, tmp3;
-	unsigned char x;
-
-	spi_set_ss();
-	spi_data(READ);
-	spi_data(RXB0SIDH);
-	tmp1 = spi_data(0);
-	msg->msg.port_src = tmp1 >> 2;
-	tmp2 = spi_data(0);
-	tmp3 = (unsigned char)((unsigned char)(tmp2 >> 3) & 0x0C);
-	msg->msg.port_dst = ((unsigned char)(tmp1 <<4 ) & 0x30) | tmp3 | (unsigned char)(tmp2 & 0x03);
-	msg->msg.addr_src = spi_data(0);
-	msg->msg.addr_dst = spi_data(0);
-	msg->msg.dlc = spi_data(0) & 0x0F;	
-	for(x=0;x<msg->msg.dlc;x++){
-		msg->msg.data[x] = spi_data(0);
+	unsigned char mcp_status() {
+		unsigned char d;
+		spi_set_ss();
+		spi_data(READ_STATUS);
+		d = spi_data(0);
+		spi_clear_ss();
+		return d;
 	}
-	spi_clear_ss();
 	
-	mcp_bitmod(CANINTF, (1<<RX0IF), 0x00);
-}
-#ifdef CAN_INTERRUPT
+	void mcp_bitmod(unsigned char reg, unsigned char mask, unsigned char val) {
+		spi_set_ss();
+		spi_data(BIT_MODIFY);
+		spi_data(reg);
+		spi_data(mask);
+		spi_data(val);
+		spi_clear_ss();
+	}
 
-static can_message_x RX_BUFFER[CAN_RX_BUFFER_SIZE], TX_BUFFER[CAN_TX_BUFFER_SIZE];
-unsigned char RX_HEAD=0;volatile unsigned char RX_TAIL=0;
-unsigned char TX_HEAD= 0;volatile unsigned char TX_TAIL=0;
-static volatile unsigned char TX_INT;
+	//load a message to mcp2515 and start transmission
+	void message_load(can_message_x * msg) {
+		unsigned char x;
 
-ISR(INT0_vect) {
-	unsigned char status = mcp_status();
+		spi_set_ss();
+		spi_data(WRITE);
+		spi_data(TXB0SIDH);
+
+		spi_data(((unsigned char)(msg->msg.port_src << 2)) |
+				(msg->msg.port_dst >> 4));
+		spi_data((unsigned char)((msg->msg.port_dst & 0x0C) << 3) |
+				(1<<EXIDE) | (msg->msg.port_dst & 0x03));
+		spi_data(msg->msg.addr_src);
+		spi_data(msg->msg.addr_dst);
+		spi_data(msg->msg.dlc);
+		for(x=0;x<msg->msg.dlc;x++) {
+			spi_data(msg->msg.data[x]);
+		}
+		spi_clear_ss();
+		spi_set_ss();
+		spi_data(WRITE);
+		spi_data(TXB0CTRL);
+		spi_data((1<<TXREQ));
+		spi_clear_ss();
+	}
+	
+	//get a message from mcp2515 and disable RX interrupt Condition
+	void message_fetch(can_message_x * msg) {
+		unsigned char tmp1, tmp2, tmp3;
+		unsigned char x;
+
+		spi_set_ss();
+		spi_data(READ);
+		spi_data(RXB0SIDH);
+		tmp1 = spi_data(0);
+		msg->msg.port_src = tmp1 >> 2;
+		tmp2 = spi_data(0);
+		tmp3 = (unsigned char)((unsigned char)(tmp2 >> 3) & 0x0C);
+		msg->msg.port_dst = ((unsigned char)(tmp1 <<4 ) & 0x30) | tmp3 |
+				(unsigned char)(tmp2 & 0x03);
+		msg->msg.addr_src = spi_data(0);
+		msg->msg.addr_dst = spi_data(0);
+		msg->msg.dlc = spi_data(0) & 0x0F;
+		for(x=0;x<msg->msg.dlc;x++) {
+			msg->msg.data[x] = spi_data(0);
+		}
+		spi_clear_ss();
+
+		mcp_bitmod(CANINTF, (1<<RX0IF), 0x00);
+	}
+
+	#ifdef CAN_INTERRUPT
+		static can_message_x RX_BUFFER[CAN_RX_BUFFER_SIZE],
+			TX_BUFFER[CAN_TX_BUFFER_SIZE];
+		unsigned char RX_HEAD=0;volatile unsigned char RX_TAIL=0;
+		unsigned char TX_HEAD= 0;volatile unsigned char TX_TAIL=0;
+		static volatile unsigned char TX_INT;
 		
-	if ( status & 0x01 ) {	// Message in RX0
-		if ( !(((can_message_x*)&RX_BUFFER[RX_HEAD])->flags & 0x01) ) {
-			message_fetch(&RX_BUFFER[RX_HEAD]);
-			RX_BUFFER[RX_HEAD].flags |= 0x01;//mark buffer as used
-			if( ++RX_HEAD == CAN_RX_BUFFER_SIZE) RX_HEAD = 0;
-		}else{
-			//buffer overflow
-			//just clear the Interrupt condition, and lose the message
-			mcp_bitmod(CANINTF, (1<<RX0IF), 0x00);
-		}
-	} else if ( status & 0x08 ) {	// TX1 empty
-		if(((can_message_x*)&TX_BUFFER[TX_TAIL])->flags & 0x01) {
-			((can_message_x*)&TX_BUFFER[TX_TAIL])->flags &= ~0x01;
-			TX_INT = 1;
-			message_load(&TX_BUFFER[TX_TAIL]);
-			if(++TX_TAIL == CAN_TX_BUFFER_SIZE) TX_TAIL = 0;
-		}else{
-			TX_INT = 0;
-		}
-		mcp_bitmod(CANINTF, (1<<TX0IF), 0x00);
-	} else {
-#ifdef CAN_HANDLEERROR
-		status = mcp_read(EFLG);
+		ISR(INT0_vect) {
+			unsigned char status = mcp_status();
 
-		if(status) { // we've got a error condition
-			can_error = status;
+			if ( status & 0x01 ) {	// Message in RX0
+				if ( !(((can_message_x*)&RX_BUFFER[RX_HEAD])->flags & 0x01) ) {
+					message_fetch(&RX_BUFFER[RX_HEAD]);
+					RX_BUFFER[RX_HEAD].flags |= 0x01;//mark buffer as used
+					if( ++RX_HEAD == CAN_RX_BUFFER_SIZE) RX_HEAD = 0;
+				}else{
+					//buffer overflow
+					//just clear the Interrupt condition, and lose the message
+					mcp_bitmod(CANINTF, (1<<RX0IF), 0x00);
+				}
+			} else if ( status & 0x08 ) {	// TX1 empty
+				if(((can_message_x*)&TX_BUFFER[TX_TAIL])->flags & 0x01) {
+					((can_message_x*)&TX_BUFFER[TX_TAIL])->flags &= ~0x01;
+					TX_INT = 1;
+					message_load(&TX_BUFFER[TX_TAIL]);
+					if(++TX_TAIL == CAN_TX_BUFFER_SIZE) TX_TAIL = 0;
+				}else{
+					TX_INT = 0;
+				}
+				mcp_bitmod(CANINTF, (1<<TX0IF), 0x00);
+			} else {
+				#ifdef CAN_HANDLEERROR
+					status = mcp_read(EFLG);
 
-			mcp_write(EFLG, 0);
+					if(status) { // we've got a error condition
+						can_error = status;
+
+						mcp_write(EFLG, 0);
+					}
+				#endif // CAN_HANDLEERROR
+			}
 		}
-#endif // CAN_HANDLEERROR
+	#endif
+
+
+	void mcp_reset() {
+		spi_set_ss();
+		spi_data(RESET);
+		spi_clear_ss();
 	}
-}
-
-#endif
-
-
-void mcp_reset(){
-	spi_set_ss();
-	spi_data(RESET);
-	spi_clear_ss();
-}
-
-void mcp_write(unsigned char reg, unsigned char data){
-	spi_set_ss();
-	spi_data(WRITE);
-	spi_data(reg);
-	spi_data(data);
-	spi_clear_ss();
-}
-
-/*
-void mcp_write_b(unsigned char reg, unsigned char *buf, unsigned char len){
-	unsigned char x;
-	spi_set_ss();
-	spi_data(WRITE);
-	spi_data(reg);
-	for(x=0;x<len;x++){
-		spi_data(buf[x]);
-	}
-	spi_clear_ss();
-}
-*/
-
-unsigned char mcp_read(unsigned char reg){
-	unsigned char d;
-	spi_set_ss();
-	spi_data(READ);
-	spi_data(reg);
-	d = spi_data(0);
-	spi_clear_ss();
-	return d;
-}
-
-/*
-void mcp_read_b(unsigned char reg, unsigned char *buf, unsigned char len){
-	unsigned char x;
-	spi_set_ss();
-	spi_data(READ);
-	spi_data(reg);
-	for(x=0;x<len;x++){
-		buf[x] = spi_data(0);
-	}
-	spi_clear_ss();
-}
-*/
-
-
-/* Management */
-void can_setmode( can_mode_t mode ) {
-	unsigned char val = mode << 5;  
-	val |= 0x04;  // CLKEN
-
-	mcp_write( CANCTRL, val );
-}
-
-
-void can_setfilter() {
-	//RXM1   RXM0
-	//  0      0     receive matching filter
-	//  0      1     " only 11bit Identifier
-	//  1      0     " only 29bit Identifier
-	//  1      1     any
-	mcp_write(RXB0CTRL, (1<<RXM1) | (1<<RXM0));
-}
-
-void can_setled(unsigned char led, unsigned char state){
-	mcp_bitmod(BFPCTRL, 0x10<<led, state?0xff:0);
-}
-
-/*******************************************************************/
-void delayloop(){
-	unsigned char x;
-	for(x=0;x<255;x++){		
-		asm ("nop");
-	}
-
-}
-
-void can_init(){
-	//set Slave select high
-	SPI_PORT |= (1<<SPI_PIN_SS);
-	
-#ifdef CAN_INTERRUPT	
-	unsigned char x;
-	for(x=0;x<CAN_RX_BUFFER_SIZE;x++){
-		RX_BUFFER[x].flags = 0;
-	}
-	for(x=0;x<CAN_TX_BUFFER_SIZE;x++){
-		TX_BUFFER[x].flags = 0;
-	}
-
-#endif	
-
-#ifdef CAN_HANDLEERROR
-	can_error = 0;
-#endif	
-	
-	mcp_reset();
-	
-	delayloop();
-	
-	mcp_write(BFPCTRL,0x0C);//RXBF Pins to Output
-	
-	// 0x01 : 125kbit/8MHz
-	// 0x03 : 125kbit/16MHz
-	// 0x04 : 125kbit/20MHz
-	
-#if FREQ == 16000000
-#define CNF1_T 0x03
-#elif FREQ == 8000000
-#define CNF1_T 0x01
-#elif FREQ == 20000000
-#define CNF1_T 0x04
-#else
-#error Can Baudrate is only defined for 8, 16 and 20 MHz
-#endif 
-	mcp_write( CNF1, 0x40 | CNF1_T );
-	mcp_write( CNF2, 0xf1 );
-	mcp_write( CNF3, 0x05 );
-
-	// configure IRQ
-	// this only configures the INT Output of the mcp2515, not the int on the Atmel
-	mcp_write( CANINTE, (1<<RX0IE) | (1<<TX0IE) );
-
-	can_setfilter();
-	can_setmode(normal);
-
-#ifdef CAN_INTERRUPT
-
-	// configure IRQ
-	// this only configures the INT Output of the mcp2515, not the int on the Atmel
-	mcp_write( CANINTE, (1<<RX0IE) | (1<<TX0IE) );
-	
-	
-#ifdef __C64__
-	#error not implemented yet
-#elif ATMEGA
-	//this turns on INT0 on the Atmega	
-	GICR |= (1<<INT0);
-#else
-	//this turns on INT0 on the Atmel
-	MCUCR |=  (1<<ISC01);
-	GIMSK |= (1<<INT0);
-#endif //ATMEGA
-
-#else  //CAN_INTERRUPT
-	// configure IRQ
-	// this only configures the INT Output of the mcp2515, not the int on the Atmel
-	mcp_write( CANINTE, (1<<RX0IE) ); //only turn RX int on
-#endif //CAN_INTERRUPT
-}
-
-#ifdef CAN_INTERRUPT
-//returns next can message in buffer, or 0 Pointer if buffer is empty
-can_message * can_get_nb(){
-	can_message_x *p;
-	if(RX_HEAD == RX_TAIL){
-		return 0;
-	}else{
-		p = &RX_BUFFER[RX_TAIL];
-		if(++RX_TAIL == CAN_RX_BUFFER_SIZE) RX_TAIL = 0;
-		return &(p->msg);
-	}
-}
-
-can_message * can_get(){
-	can_message_x *p;
-
-	while(RX_HEAD == RX_TAIL) { };
-
-	p = &RX_BUFFER[RX_TAIL];
-	if(++RX_TAIL == CAN_RX_BUFFER_SIZE) RX_TAIL = 0;
-
-	return &(p->msg);
-}
-
-
-//marks a receive buffer as unused again so it can be overwritten in Interrupt
-void can_free(can_message * msg){
-	can_message_x * msg_x = (can_message_x *) msg;
-	msg_x->flags = 0;
-}
-
-
-//returns pointer to the next can TX buffer
-can_message * can_buffer_get(){
-	can_message_x *p;
-	p = &TX_BUFFER[TX_HEAD];
-	while (p->flags&0x01); //wait until buffer is free
-	if(++TX_HEAD == CAN_TX_BUFFER_SIZE) TX_HEAD = 0;
-	return &(p->msg);
-}
-
-
-//start transmitting can messages, and mark message msg as transmittable
-void can_transmit(can_message* msg2){
-	can_message_x* msg=(can_message_x*) msg2;
-	if(msg){
-		msg->flags |= 0x01;
-	}
-	if(!TX_INT){
-		if(((can_message_x*)&TX_BUFFER[TX_TAIL])->flags & 0x01){
-			((can_message_x*)&TX_BUFFER[TX_TAIL])->flags &= ~0x01;
-			TX_INT = 1;
-			message_load(&TX_BUFFER[TX_TAIL]);
-			if(++TX_TAIL == CAN_TX_BUFFER_SIZE) TX_TAIL = 0;
-		}
-	}
-}
-
-#else  // NON INTERRUPT VERSION 
-
-can_message_x RX_MESSAGE, TX_MESSAGE;
-
-can_message * can_get_nb(){
-	//check the pin, that the MCP's Interrup output connects to
-	if(SPI_REG_PIN_MCP_INT & (1<<SPI_PIN_MCP_INT)){
-		return 0;
-	}else{
-		//So the MCP Generates an RX Interrupt
-		message_fetch(&RX_MESSAGE);
-		return &(RX_MESSAGE.msg);
-	}
-}
-
-can_message * can_get(){
-	//wait while the MCP doesn't generate an RX Interrupt
-	while(SPI_REG_PIN_MCP_INT & (1<<SPI_PIN_MCP_INT)) { };
-	
-	message_fetch(&RX_MESSAGE);
-	return &(RX_MESSAGE.msg);
-}
-
-	//only for compatibility with Interrupt driven Version
-can_message * can_buffer_get(){
-	return &(TX_MESSAGE.msg);
-}
-
-void can_transmit(can_message * msg){
-	message_load((can_message_x*)msg);
-}
-
-void can_free(can_message * msg){
-}
 
+	void mcp_write(unsigned char reg, unsigned char data) {
+		spi_set_ss();
+		spi_data(WRITE);
+		spi_data(reg);
+		spi_data(data);
+		spi_clear_ss();
+	}
+
+	/*
+	 void mcp_write_b(unsigned char reg, unsigned char *buf, unsigned char len) {
+		unsigned char x;
+		spi_set_ss();
+		spi_data(WRITE);
+		spi_data(reg);
+		for(x=0;x<len;x++) {
+			spi_data(buf[x]);
+		}
+		spi_clear_ss();
+	}
+	*/
+
+	unsigned char mcp_read(unsigned char reg) {
+		unsigned char d;
+		spi_set_ss();
+		spi_data(READ);
+		spi_data(reg);
+		d = spi_data(0);
+		spi_clear_ss();
+		return d;
+	}
+
+	/*
+		void mcp_read_b(unsigned char reg, unsigned char *buf, unsigned char len) {
+			unsigned char x;
+			spi_set_ss();
+			spi_data(READ);
+			spi_data(reg);
+			for(x=0;x<len;x++) {
+				buf[x] = spi_data(0);
+			}
+			spi_clear_ss();
+		}
+	*/
+
+
+	/* Management */
+	void can_setmode(can_mode_t mode) {
+		unsigned char val = mode << 5;
+		val |= 0x04; // CLKEN
+	
+		mcp_write( CANCTRL, val );
+	}
+
+	void can_setfilter() {
+		//RXM1   RXM0
+		//  0      0     receive matching filter
+		//  0      1     " only 11bit Identifier
+		//  1      0     " only 29bit Identifier
+		//  1      1     any
+		mcp_write(RXB0CTRL, (1<<RXM1) | (1<<RXM0));
+	}
+	
+	void can_setled(unsigned char led, unsigned char state) {
+		mcp_bitmod(BFPCTRL, 0x10<<led, state?0xff:0);
+	}
+	
+	/*******************************************************************/
+	void delayloop(){
+		unsigned char x;
+		for(x=0;x<255;x++){
+			asm ("nop");
+		}
+	
+	}
+	
+	void can_init(){
+		//set Slave select high
+		SPI_PORT |= (1<<SPI_PIN_SS);
+
+		#ifdef CAN_INTERRUPT
+			unsigned char x;
+			for(x=0;x<CAN_RX_BUFFER_SIZE;x++){
+				RX_BUFFER[x].flags = 0;
+			}
+			for(x=0;x<CAN_TX_BUFFER_SIZE;x++){
+				TX_BUFFER[x].flags = 0;
+			}
+
+		#endif
+
+		#ifdef CAN_HANDLEERROR
+			can_error = 0;
+		#endif
+
+		mcp_reset();
+
+		delayloop();
+
+		mcp_write(BFPCTRL,0x0C);//RXBF Pins to Output
+
+		// 0x01 : 125kbit/8MHz
+		// 0x03 : 125kbit/16MHz
+		// 0x04 : 125kbit/20MHz
+
+		#if FREQ == 16000000
+			#define CNF1_T 0x03
+		#elif FREQ == 8000000
+			#define CNF1_T 0x01
+		#elif FREQ == 20000000
+			#define CNF1_T 0x04
+		#else
+			#error Can Baudrate is only defined for 8, 16 and 20 MHz
+		#endif
+
+		mcp_write( CNF1, 0x40 | CNF1_T );
+		mcp_write( CNF2, 0xf1 );
+		mcp_write( CNF3, 0x05 );
+	
+		// configure IRQ: this only configures the INT Output of the mcp2515, not
+		// the int on the Atmel
+		mcp_write( CANINTE, (1<<RX0IE) | (1<<TX0IE) );
+	
+		can_setfilter();
+		can_setmode(normal);
+	
+		#ifdef CAN_INTERRUPT
+
+			// configure IRQ: this only configures the INT Output of the mcp2515,
+			// not the int on the Atmel
+			mcp_write( CANINTE, (1<<RX0IE) | (1<<TX0IE) );
+
+			#ifdef __C64__
+				#error not implemented yet
+			#elif ATMEGA
+				//this turns on INT0 on the Atmega
+				GICR |= (1<<INT0);
+			#else
+				//this turns on INT0 on the Atmel
+				MCUCR |=  (1<<ISC01);
+				GIMSK |= (1<<INT0);
+			#endif //ATMEGA
+		#else  //CAN_INTERRUPT
+			// configure IRQ: this only configures the INT Output of the mcp2515,
+			// not the int on the Atmel
+			mcp_write( CANINTE, (1<<RX0IE) ); //only turn RX int on
+		#endif //CAN_INTERRUPT
+	}
+
+	#ifdef CAN_INTERRUPT
+		//returns next can message in buffer, or 0 Pointer if buffer is empty
+		can_message * can_get_nb() {
+			can_message_x *p;
+			if(RX_HEAD == RX_TAIL) {
+				return 0;
+			} else {
+				p = &RX_BUFFER[RX_TAIL];
+				if(++RX_TAIL == CAN_RX_BUFFER_SIZE) RX_TAIL = 0;
+				return &(p->msg);
+			}
+		}
+
+		can_message * can_get() {
+			can_message_x *p;
+
+			while(RX_HEAD == RX_TAIL) {};
+
+			p = &RX_BUFFER[RX_TAIL];
+			if(++RX_TAIL == CAN_RX_BUFFER_SIZE) RX_TAIL = 0;
+
+			return &(p->msg);
+		}
+
+		//marks a receive buffer as unused again so it can be overwritten in Interrupt
+		void can_free(can_message * msg) {
+			can_message_x * msg_x = (can_message_x *) msg;
+			msg_x->flags = 0;
+		}
+
+		//returns pointer to the next can TX buffer
+		can_message * can_buffer_get() {
+			can_message_x *p;
+			p = &TX_BUFFER[TX_HEAD];
+			while (p->flags&0x01); //wait until buffer is free
+			if(++TX_HEAD == CAN_TX_BUFFER_SIZE) TX_HEAD = 0;
+			return &(p->msg);
+		}
+
+		//start transmitting can messages, and mark message msg as transmittable
+		void can_transmit(can_message* msg2) {
+			can_message_x* msg=(can_message_x*) msg2;
+			if(msg) {
+				msg->flags |= 0x01;
+			}
+			if(!TX_INT) {
+				if(((can_message_x*)&TX_BUFFER[TX_TAIL])->flags & 0x01) {
+					((can_message_x*)&TX_BUFFER[TX_TAIL])->flags &= ~0x01;
+					TX_INT = 1;
+					message_load(&TX_BUFFER[TX_TAIL]);
+					if(++TX_TAIL == CAN_TX_BUFFER_SIZE) TX_TAIL = 0;
+				}
+			}
+		}
+	#else  // NON INTERRUPT VERSION
+		can_message_x RX_MESSAGE, TX_MESSAGE;
+
+		can_message * can_get_nb() {
+			//check the pin, that the MCP's interrupt output connects to
+			if(SPI_REG_PIN_MCP_INT & (1<<SPI_PIN_MCP_INT)) {
+				return 0;
+			} else {
+				//So the MCP Generates an RX Interrupt
+				message_fetch(&RX_MESSAGE);
+				return &(RX_MESSAGE.msg);
+			}
+		}
+
+		can_message * can_get() {
+			//wait while the MCP doesn't generate an RX Interrupt
+			while(SPI_REG_PIN_MCP_INT & (1<<SPI_PIN_MCP_INT)) {};
+
+			message_fetch(&RX_MESSAGE);
+			return &(RX_MESSAGE.msg);
+		}
+
+		//only for compatibility with Interrupt driven Version
+		can_message * can_buffer_get() {
+			return &(TX_MESSAGE.msg);
+		}
+
+		void can_transmit(can_message * msg) {
+			message_load((can_message_x*)msg);
+		}
+
+		void can_free(can_message * msg) {
+		}
+	#endif /* CAN_INTERRUPT */
+#else /* ifdef __AVR__ */
+	/* stubs for simulator */
+	static can_message null_msg = {0};
+	unsigned char mcp_status() {return 0;}
+	void mcp_bitmod(unsigned char reg, unsigned char mask, unsigned char val){}
+	void message_load(can_message_x * msg){}
+	void message_fetch(can_message_x * msg){}
+	void mcp_reset(){}
+	void mcp_write(unsigned char reg, unsigned char data){}
+	unsigned char mcp_read(unsigned char reg){return 0;}
+	void can_setmode(can_mode_t mode) {}
+	void can_setfilter() {}
+	void can_setled(unsigned char led, unsigned char state){}
+	void delayloop(){}
+	void can_init(){}
+	can_message * can_get_nb(){return &null_msg;}
+	can_message * can_get(){return &null_msg;}
+	can_message * can_buffer_get(){return &null_msg;}
+	void can_transmit(can_message * msg){}
+	void can_free(can_message * msg){}
 #endif
diff --git a/can/can.h b/can/can.h
index cea9395..c6d867b 100644
--- a/can/can.h
+++ b/can/can.h
@@ -4,78 +4,73 @@
 /*****************************************************************************
  * Simple CAN Library
  *
- * #define CAN_INTERRUPT 1	//set this to enable interrupt driven 
- *                                and buffering version
- * #define CAN_RX_BUFFER_SIZE 2	//only used for Interrupt
- * #define CAN_TX_BUFFER_SIZE 2	//only used for Interrupt
+ * #define CAN_INTERRUPT 1	     // set this to enable interrupt driven
+ *                               // and buffering version
+ * #define CAN_RX_BUFFER_SIZE 2	 // only used for Interrupt
+ * #define CAN_TX_BUFFER_SIZE 2	 // only used for Interrupt
  */
 
 /*****************************************************************************
  * Types
  */
- 
- #include <stdint.h>
 
-typedef unsigned char can_addr;
-typedef unsigned char can_port;
+#include <stdint.h>
+
+typedef unsigned char can_addr_t;
+typedef unsigned char can_port_t;
 typedef uint16_t can_channel_t;
 typedef uint8_t can_subchannel_t;
 
-typedef struct
-{
+typedef struct {
 	uint32_t id;
 	uint8_t dlc;
 	uint8_t data[8];
 } can_message_raw;
 
-typedef struct{
-	can_addr      addr_src;
-	can_addr      addr_dst;
-	can_port      port_src;
-	can_port      port_dst;
+typedef struct {
+	can_addr_t addr_src;
+	can_addr_t addr_dst;
+	can_port_t port_src;
+	can_port_t port_dst;
 	unsigned char dlc;
 	unsigned char data[8];
-}can_message;
+} can_message;
 
-typedef struct
-{
-	can_channel_t    channel;
+typedef struct {
+	can_channel_t channel;
 	can_subchannel_t subchannel;
-	can_addr         addr_src;
-	can_addr         addr_dst;
-	uint8_t          dlc;
-	uint8_t          data[8];
+	can_addr_t addr_src;
+	can_addr_t addr_dst;
+	uint8_t dlc;
+	uint8_t data[8];
 } can_message_v2;
 
-
-typedef enum { normal, mode_sleep, loopback, listenonly, config } can_mode_t ;
-
+typedef enum {
+	normal, mode_sleep, loopback, listenonly, config
+} can_mode_t;
 
 /*****************************************************************************
  * Global variables
  */
 #ifdef CAN_HANDLEERROR
-  extern unsigned char can_error;
+extern unsigned char can_error;
 #endif
 
-
 /*****************************************************************************
  * Management
  */
 
 void can_init();
 void can_setfilter();
-void can_setmode(can_mode_t);
+void can_setmode( can_mode_t);
 void can_setled(unsigned char led, unsigned char state);
 
-
 /*****************************************************************************
  * Sending
  */
 
 can_message * can_buffer_get();
-void can_transmit( can_message *msg );
-
+void can_transmit(can_message *msg);
 
 /*****************************************************************************
  * Receiving
@@ -87,19 +82,17 @@ can_message *can_get_nb();
 // this is only needed for Interrupt driven Version
 #ifndef CAN_INTERRUPT
 // #  define can_free(m)
-  void can_free(can_message * msg);
+void can_free(can_message * msg);
 #else
-  void can_free(can_message * msg);
+void can_free(can_message * msg);
 #endif
 
-
 /*****************************************************************************
  * Sending
  */
 
 can_message_raw * can_buffer_get_raw();
-void can_transmit_raw( can_message_raw *msg );
-
+void can_transmit_raw(can_message_raw *msg);
 
 /*****************************************************************************
  * Receiving
@@ -111,20 +104,16 @@ can_message_raw *can_get_raw_nb();
 // this is only needed for Interrupt driven Version
 #ifndef CAN_INTERRUPT
 // #  define can_free(m)
-  void can_free_raw(can_message_raw * msg);
+void can_free_raw(can_message_raw * msg);
 #else
-  void can_free_raw(can_message_raw * msg);
+void can_free_raw(can_message_raw * msg);
 #endif
 
-
-
-
 /*****************************************************************************
  * Sending
  */
 
-void can_transmit_v2( can_message_v2 *msg );
-
+void can_transmit_v2(can_message_v2 *msg);
 
 /*****************************************************************************
  * Receiving
@@ -134,6 +123,4 @@ can_message_v2 *can_get_v2_nb();
 
 void can_free_v2(can_message_v2 *msg);
 
-
-
 #endif
diff --git a/can/lap.c b/can/lap.c
index 5bc9909..e02bde8 100644
--- a/can/lap.c
+++ b/can/lap.c
@@ -9,46 +9,33 @@
  */
 
 // send ping to dst
-void lap_ping( can_addr dst )
-{
-	pdo_message *msg = (pdo_message *)can_buffer_get();
+void lap_ping(can_addr_t dst) {
+	pdo_message *msg = (pdo_message *) can_buffer_get();
 
 	msg->addr_src = 0;
 	msg->addr_dst = dst;
 	msg->port_src = PORT_MGT;
 	msg->port_dst = PORT_MGT;
-	msg->dlc      = 1;
-	msg->cmd      = FKT_MGT_PING;
+	msg->dlc = 1;
+	msg->cmd = FKT_MGT_PING;
 
-	can_transmit( (can_message *)msg );
+	can_transmit((can_message *) msg);
 }
 
 // send reset request to dst
-void lap_reset( can_addr dst )
-{
-	pdo_message *msg = (pdo_message *)can_buffer_get();
+void lap_reset(can_addr_t dst) {
+	pdo_message *msg = (pdo_message *) can_buffer_get();
 
 	msg->addr_src = 0;
 	msg->addr_dst = dst;
 	msg->port_src = PORT_MGT;
 	msg->port_dst = PORT_MGT;
-	msg->dlc      = 1;
-	msg->cmd      = FKT_MGT_RESET;
+	msg->dlc = 1;
+	msg->cmd = FKT_MGT_RESET;
 
-	can_transmit( (can_message *)msg );
+	can_transmit((can_message *) msg);
 }
 
-
-
-
-
-
-
-
-
-
-
-
 /*
 char *sdo_readbuf(lap_message *first_msg, 
 		unsigned char int length, unsigned char &reallength)
@@ -118,6 +105,5 @@ unsigned char sdo_sendbuf_nb(lap_message *fst_msg, unsigned char *buf, unsigned
 		can_transmit();
 	}
 	// XXX wait for ACK
-
 }
 */
diff --git a/can/lap.h b/can/lap.h
index 285e624..d0297eb 100644
--- a/can/lap.h
+++ b/can/lap.h
@@ -15,10 +15,10 @@
 
 // "inherits" from can_message
 typedef struct {
-	can_addr addr_src;
-	can_addr addr_dst;
-	can_port port_src;
-	can_port port_dst;
+	can_addr_t addr_src;
+	can_addr_t addr_dst;
+	can_port_t port_src;
+	can_port_t port_dst;
 	unsigned char dlc;
 	unsigned char cmd;
 	uint16_t index;
@@ -27,11 +27,11 @@ typedef struct {
 } sdo_message;
 
 // "inherits" from can_message
-typedef struct{
-	can_addr addr_src;
-	can_addr addr_dst;
-	can_port port_src;
-	can_port port_dst;
+typedef struct {
+	can_addr_t addr_src;
+	can_addr_t addr_dst;
+	can_port_t port_src;
+	can_port_t port_dst;
 	unsigned char dlc;
 	unsigned char cmd;
 	unsigned char data[7];
@@ -41,42 +41,74 @@ typedef struct{
  * Known ports and services
  */
 
-typedef enum { PORT_MGT=0x30, PORT_LAMPE=0x20, PORT_SDO=0x15, PORT_SDO_DATA=0x16, PORT_LAPD=0x18,
-		PORT_BORG=0x23, PORT_MOOD=0x17, PORT_REMOTE=0x21, PORT_GATE=0x22, PORT_CHUCK=0x26 }  ports;
+typedef enum {
+	PORT_MGT      = 0x30,
+	PORT_LAMPE    = 0x20,
+	PORT_SDO      = 0x15,
+	PORT_SDO_DATA = 0x16,
+	PORT_LAPD     = 0x18,
+	PORT_BORG     = 0x23,
+	PORT_MOOD     = 0x17,
+	PORT_REMOTE   = 0x21,
+	PORT_GATE     = 0x22,
+	PORT_CHUCK    = 0x26
+} ports;
 
-typedef enum { FKT_MGT_PING=0x00, FKT_MGT_PONG=0x01,
-		FKT_MGT_RESET=0x02, FKT_MGT_AWAKE=0x03, FKT_MGT_TIMEREQUEST=0x04, FKT_MGT_TIMEREPLY=0x05 }	lap_mgt_fkts;
+typedef enum {
+	FKT_MGT_PING        = 0x00,
+	FKT_MGT_PONG        = 0x01,
+	FKT_MGT_RESET       = 0x02,
+	FKT_MGT_AWAKE       = 0x03,
+	FKT_MGT_TIMEREQUEST = 0x04,
+	FKT_MGT_TIMEREPLY   = 0x05
+} lap_mgt_fkts;
 
-typedef enum { FKT_LAMPE_SET=0x00, FKT_LAMPE_SETMASK=0x01,
-		FKT_LAMPE_SETDELAY=0x02, FKT_LAMPE_ADD=0x03 }			lap_lampe_fkts;
+typedef enum {
+	FKT_LAMPE_SET      = 0x00,
+	FKT_LAMPE_SETMASK  = 0x01,
+	FKT_LAMPE_SETDELAY = 0x02,
+	FKT_LAMPE_ADD      = 0x03
+} lap_lampe_fkts;
 
-typedef enum { FKT_BORG_INFO=0x00, FKT_BORG_MODE=0x01, FKT_BORG_SCROLLTEXT_RESET=0x02,
-		FKT_BORG_SCROLLTEXT_APPEND=0x03 } lap_borg_fkts;
+typedef enum {
+	FKT_BORG_INFO              = 0x00,
+	FKT_BORG_MODE              = 0x01,
+	FKT_BORG_SCROLLTEXT_RESET  = 0x02,
+	FKT_BORG_SCROLLTEXT_APPEND = 0x03
+} lap_borg_fkts;
 
-typedef enum { FKT_ONOFF_INFO=0, FKT_ONOFF_SET=1, FKT_ONOFF_GET=2,
-        } lap_lapd_fkts;
+typedef enum {
+	FKT_ONOFF_INFO = 0,
+	FKT_ONOFF_SET  = 1,
+	FKT_ONOFF_GET  = 2
+} lap_lapd_fkts;
 
-typedef enum { FKT_MOOD_INFO=0x00, FKT_MOOD_GET=0x01, FKT_MOOD_SET=0x02, FKT_MOOD_ONOFF=0x03} lap_mood_fkts;
-#define SDO_CMD_READ 		0x20
-#define SDO_CMD_REPLY 		0x21
-#define SDO_CMD_INFO 		0x22
-#define SDO_CMD_READ_BLK	0x40
-#define SDO_CMD_READ_BLK_ACK	0x41
-#define SDO_CMD_WRITE_BLK	0x48
-#define SDO_CMD_WRITE_BLK_ACK	0x49
+typedef enum {
+	FKT_MOOD_INFO  = 0x00,
+	FKT_MOOD_GET   = 0x01,
+	FKT_MOOD_SET   = 0x02,
+	FKT_MOOD_ONOFF = 0x03
+} lap_mood_fkts;
 
+#define SDO_CMD_READ          0x20
+#define SDO_CMD_REPLY         0x21
+#define SDO_CMD_INFO          0x22
+#define SDO_CMD_READ_BLK      0x40
+#define SDO_CMD_READ_BLK_ACK  0x41
+#define SDO_CMD_WRITE_BLK     0x48
+#define SDO_CMD_WRITE_BLK_ACK 0x49
 
-#define SDO_CMD_ERROR_INDEX 	0x80
+#define SDO_CMD_ERROR_INDEX   0x80
 
-#define SDO_TYPE_UINT8_RO	 0x00
-#define SDO_TYPE_UINT8_RW	 0x01
-#define SDO_TYPE_UINT16_RO 	 0x04
-#define SDO_TYPE_UINT16_RW 	 0x05
-#define SDO_TYPE_UINT32_RO 	 0x08
-#define SDO_TYPE_UINT32_RW  	 0x09
-#define SDO_TYPE_STRING_RO	 0x80
-#define SDO_TYPE_STRING_RW	 0x81
-#define SDO_TYPE_STRING_WO	 0x82
+#define SDO_TYPE_UINT8_RO     0x00
+#define SDO_TYPE_UINT8_RW     0x01
+#define SDO_TYPE_UINT16_RO    0x04
+#define SDO_TYPE_UINT16_RW    0x05
+#define SDO_TYPE_UINT32_RO    0x08
+#define SDO_TYPE_UINT32_RW    0x09
+#define SDO_TYPE_STRING_RO    0x80
+#define SDO_TYPE_STRING_RW    0x81
+#define SDO_TYPE_STRING_WO    0x82
 
 
 /****************************************************************************
@@ -84,10 +116,10 @@ typedef enum { FKT_MOOD_INFO=0x00, FKT_MOOD_GET=0x01, FKT_MOOD_SET=0x02, FKT_MOO
  */
 
 // send ping to dst
-void lap_ping( can_addr dst );
+void lap_ping(can_addr_t dst);
 
 // send reset request to dst
-void lap_reset( can_addr dst );
+void lap_reset(can_addr_t dst);
 
 #ifdef LAP_TIME_EXTENSION
 //variables to save the last received hours and  minutes
diff --git a/can/spi.c b/can/spi.c
index 30b7ea0..8d3c6dd 100644
--- a/can/spi.c
+++ b/can/spi.c
@@ -1,6 +1,10 @@
+#ifdef __AVR__
 #include <avr/io.h>
+#endif
+
 #include "spi.h"
 
+#ifdef __AVR__
 
 void spi_init(){
 	//set output SPI pins to output
@@ -27,21 +31,21 @@ void spi_init(){
 }
 
 #ifndef SPI_HARDWARE
-unsigned char spi_data(unsigned char c){
+unsigned char spi_data(unsigned char c) {
 	unsigned char x, d=d;
-	for(x=0;x<8;x++){
-		if(c & 0x80){
-			SPI_PORT |= (1<<SPI_PIN_MOSI);
-		}else{
-			SPI_PORT &= ~(1<<SPI_PIN_MOSI);	
+	for(x = 0; x < 8; x++) {
+		if(c & 0x80) {
+			SPI_PORT |= (1 << SPI_PIN_MOSI);
+		} else {
+			SPI_PORT &= ~(1 << SPI_PIN_MOSI);
 		}
-		SPI_PORT |= (1<<SPI_PIN_SCK);
-		d<<=1;
-		if(SPI_PIN & (1<<SPI_PIN_MISO)){
-			d|=1;
+		SPI_PORT |= (1 << SPI_PIN_SCK);
+		d <<= 1;
+		if(SPI_PIN & (1 << SPI_PIN_MISO)) {
+			d |= 1;
 		}
-		SPI_PORT &= ~(1<<SPI_PIN_SCK);
-		c<<=1;
+		SPI_PORT &= ~(1 << SPI_PIN_SCK);
+		c <<= 1;
 	}
 	return d;
 }
@@ -53,3 +57,10 @@ unsigned char spi_data(unsigned char c) {
 	return (c);
 }
 #endif
+
+#else
+
+void spi_init(){}
+unsigned char spi_data(unsigned char c){return 0;}
+
+#endif
diff --git a/can/spi.h b/can/spi.h
index 89ebace..687be88 100644
--- a/can/spi.h
+++ b/can/spi.h
@@ -3,26 +3,8 @@
 
 #include "../config.h"
 
-/**
- * this enables the use of Hardware SPI on ATMEGA 
- *
- * #define SPI_HARDWARE 1
- * #define SPI_PORT PORTB
- * #define SPI_PIN PINB
- * #define SPI_DDR DDRB
- * 
- * #define SPI_PIN_MOSI PB5
- * #define SPI_PIN_MISO PB6
- * #define SPI_PIN_SCK PB7
- * #define SPI_PIN_SS PB4
- *
- */
-
-
 void spi_init();
 
 unsigned char spi_data(unsigned char c);
 
-
-
 #endif