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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#define DEBUG_WAR_CONSOLE_ON
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#define DEBUG_ERR_CONSOLE_ON
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#include <stddef.h> /* for NULL */
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#include "../include/hcs12/asm-m68hc12/portsaccess.h"
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#include "../include/hcs12/asm-m68hc12/ports_def.h"
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#include "../include/hcs12/asm-m68hc12/ports.h"
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7
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#include "../include/data.h"
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0
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#include "../include/hcs12/applicfg.h"
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#include "../include/hcs12/candriver.h"
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#include "../include/hcs12/interrupt.h"
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#include "../include/hcs12/canOpenDriver.h"
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#include "../include/can.h"
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#include "../include/objdictdef.h"
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#include "../include/timer.h"
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volatile static Message stackMsgRcv[NB_LINE_CAN][MAX_STACK_MSG_RCV];
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volatile static t_pointerStack ptrMsgRcv[NB_LINE_CAN];
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volatile static TIMEVAL last_time_set = TIMEVAL_MAX;
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static UNS8 timer_is_set = 0;
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/* Prototypes */
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UNS8 f_can_receive(UNS8 notused, Message *m);
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UNS8 canSend(UNS8 notused, Message *m);
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void __attribute__((interrupt)) timer4Hdl (void);
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#define max(a,b) a>b?a:b
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/******************************************************************************/
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void setTimer(TIMEVAL value)
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{
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IO_PORTS_16(TC4H) += value;
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timer_is_set = 1;
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}
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/******************************************************************************/
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TIMEVAL getElapsedTime()
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{
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return (IO_PORTS_16(TC4H) > last_time_set ? IO_PORTS_16(TC4H) - last_time_set : last_time_set - IO_PORTS_16(TC4H));
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}
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/******************************************************************************/
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void resetTimer(void)
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{
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}
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/******************************************************************************/
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void initTimer(void)
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{
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lock(); // Inhibition of interruptions
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// Configure the timer channel 4
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IO_PORTS_8(TIOS) |= 0x10; // Canal 4 in output
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IO_PORTS_8(TCTL1) &= ~(0x01 + 0x02); // Canal 4 unconnected to pin output
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IO_PORTS_8(TIE) |= 0x10; // allow interruption channel 4
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IO_PORTS_8(TSCR2) |= 0X05; // Pre-scaler = 32
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// If this value is changed, change must be done also
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// in void __attribute__((interrupt)) timer4Hdl (void)
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IO_PORTS_8(TSCR1) |= 0x80; // Start timer
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unlock(); // Allow interruptions
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}
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/******************************************************************************/
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void __attribute__((interrupt)) timer4Hdl (void)
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{
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lock();
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last_time_set = IO_PORTS_16(TC4H);
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IO_PORTS_8(TFLG1) = 0x10; // RAZ flag interruption timer channel 4
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// Compute the next event : When the timer reach the value of TC4, an interrupt is
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// started
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//IO_PORTS_16(TC4H) += 250; // To have an interruption every 1 ms
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//timerInterrupt(0);
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//MSG_WAR(0xFFFF, "timer4 IT", 0);
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{
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//MSG_WAR(0xFFFF, "t4 ", IO_PORTS_16(TCNTH) - IO_PORTS_16(TC4H));
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}
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TimeDispatch();
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unlock();
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}
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/******************************************************************************/
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void initSCI_0(void)
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{
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IO_PORTS_16(SCI0 + SCIBDH) =
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((1000000 / SERIAL_SCI0_BAUD_RATE) * BUS_CLOCK) >> 4 ;
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IO_PORTS_8(SCI0 + SCICR1) = 0; // format 8N1
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IO_PORTS_8(SCI0 + SCICR2) = 0x08; // Transmit enable only
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}
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/******************************************************************************/
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void initSCI_1(void)
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{
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IO_PORTS_16(SCI1 + SCIBDH) =
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((1000000 / SERIAL_SCI1_BAUD_RATE) * BUS_CLOCK) >> 4 ;
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IO_PORTS_8(SCI1 + SCICR1) = 0; // format 8N1
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IO_PORTS_8(SCI1 + SCICR2) = 0x08; // Transmit enable only
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}
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/******************************************************************************/
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char *
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hex_convert (char *buf, unsigned long value, char lastCar)
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{
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//Thanks to Stéphane Carrez for this function
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char num[32];
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int pos;
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*buf++ = '0';
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*buf++ = 'x';
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pos = 0;
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while (value != 0) {
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char c = value & 0x0F;
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num[pos++] = "0123456789ABCDEF"[(unsigned) c];
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value = (value >> 4) & (0x0fffffffL);
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}
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if (pos == 0)
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num[pos++] = '0';
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while (--pos >= 0)
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*buf++ = num[pos];
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*buf++ = lastCar;
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*buf = 0;
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return buf;
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}
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/******************************************************************************/
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void printSCI_str(char sci, const char * str)
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{
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char i = 0;
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while ((*(str + i) != 0) && (i < 0xFF)) {
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if (*(str + i) == '\n')
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{
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while ((IO_PORTS_8(sci + SCISR1) & 0X80) == 0); // wait if buffer not empty
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IO_PORTS_8(sci + SCIDRL) = 13; // return to start of line
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}
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while ((IO_PORTS_8(sci + SCISR1) & 0X80) == 0); // wait if buffer not empty
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IO_PORTS_8(sci + SCIDRL) = *(str + i++);
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}
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}
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/******************************************************************************/
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void printSCI_nbr(char sci, unsigned long nbr, char lastCar)
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{
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char strNbr[12];
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hex_convert(strNbr, nbr, lastCar);
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printSCI_str(sci, strNbr);
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}
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/******************************************************************************/
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// PLL 24 MHZ if quartz on board is 16 MHZ
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void initPLL(void)
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{
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IO_PORTS_8(CLKSEL) &= ~0x80; // unselect the PLL
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IO_PORTS_8(PLLCTL) |= 0X60; // PLL ON and bandwidth auto
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IO_PORTS_8(SYNR) = 0x02;
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IO_PORTS_8(REFDV) = 0x01;
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while ((IO_PORTS_8(CRGFLG) & 0x08) == 0);
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IO_PORTS_8(CLKSEL) |= 0x80;
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}
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/******************************************************************************/
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void initHCS12(void)
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{
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# ifdef USE_PLL
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MSG_WAR(0x3620, "Use the PLL ", 0);
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initPLL();
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# endif
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}
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/***************************************************************************/
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char canAddIdToFilter(UNS16 adrCAN, UNS8 nFilter, UNS16 id)
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{
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UNS8 fiMsb;
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UNS8 fiLsb;
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UNS8 idMsb = (UNS8) (id >> 3);
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UNS8 idLsb = (UNS8) (id << 5);
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if (! canTestInitMode(adrCAN)) {
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/* Error because not init mode */
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MSG_WAR(0X2600, "Not in init mode ", 0);
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return 1;
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}
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switch (nFilter) {
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case 0:
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nFilter = CANIDAR0; /* First bank */
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break;
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case 1:
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nFilter = CANIDAR2; /* First bank */
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break;
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case 2:
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nFilter = CANIDAR4; /* Second bank */
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break;
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case 3:
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nFilter = CANIDAR6; /* Second bank */
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}
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if (! IO_PORTS_16(adrCAN + nFilter)) {
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/* if CANIDARx = 0 */
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IO_PORTS_8(adrCAN + nFilter) = idMsb;
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IO_PORTS_8(adrCAN + nFilter + 1) = idLsb;
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}
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fiMsb = IO_PORTS_8(adrCAN + nFilter) ^ idMsb;
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fiLsb = IO_PORTS_8(adrCAN + nFilter + 1) ^ idLsb;
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/* address of CANIDMRx */
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IO_PORTS_8(adrCAN + nFilter + 4) = IO_PORTS_8(adrCAN + nFilter + 4) | fiMsb;
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IO_PORTS_8(adrCAN + nFilter + 5) = IO_PORTS_8(adrCAN + nFilter + 5) | fiLsb;
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IO_PORTS_8(adrCAN + nFilter + 5) |= 0x10; /* Not filtering on rtr value */
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return 0;
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}
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/***************************************************************************/
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char canChangeFilter(UNS16 adrCAN, canBusFilterInit fi)
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{
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/* If not in init mode, go to sleep before going in init mode*/
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if (! canTestInitMode(adrCAN)) {
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canSleepMode(adrCAN);
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canInitMode(adrCAN);
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}
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//update the filters configuration
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canInitFilter(adrCAN, fi);
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canInitModeQ(adrCAN);
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canSleepModeQ(adrCAN);
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canSetInterrupt(adrCAN);
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return 0;
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}
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/***************************************************************************/
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0
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char canEnable(UNS16 adrCAN)
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{
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/* Register CANCTL1
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bit 7 : 1 MSCAN enabled
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Other bits : default reset values
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*/
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IO_PORTS_8(adrCAN + CANCTL1) = 0X80;
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return 0;
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}
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/***************************************************************************/
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char canInit(UNS16 adrCAN, canBusInit bi)
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{
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/* If not in init mode, go to sleep before going in init mode*/
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if (! canTestInitMode(adrCAN)) {
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canSleepMode(adrCAN);
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canInitMode(adrCAN);
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}
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canEnable(adrCAN); /* Does nothing if already enable */
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/* The most secure way to go in init mode : put before MSCAN in sleep mode */
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//canSleepMode(adrCAN);
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/* Put MSCAN in Init mode */
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//canInitMode(adrCAN);
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canInitClock(adrCAN, bi.clk);
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/* Init CANCTL1 register. Must be in init mode */
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IO_PORTS_8(adrCAN + CANCTL1) &=0xC4;// 0xCB; /* Clr the bits that may be modified */
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IO_PORTS_8(adrCAN + CANCTL1) = (bi.cane << 7) | (bi.loopb << 5 ) |
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(bi.listen << 4) | (bi.wupm << 2);
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/* Initialize the filters for received msgs */
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/* We should decide to accept all the msgs */
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canInitFilter(adrCAN, bi.fi);
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/* Before to modify CANCTL0, we must leave the init mode */
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canInitModeQ(adrCAN);
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/* Init CANCTL0 register. MSCAN must not be in init mode */
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/* Do not change the value of wupe (should be 0) and slprq (should be 1) */
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/* Do not change the value of initrq (should be 0) */
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/* rxfrm is cleared, mupe also (should be before)*/
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IO_PORTS_8(adrCAN + CANCTL0) &= 0x53; /* Clr the bits that may be modified */
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IO_PORTS_8(adrCAN + CANCTL0) = (bi.cswai << 5) | (bi.time << 3);
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7
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canSetInterrupt(adrCAN);
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0
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canInitModeQ(adrCAN); /* Leave the init mode */
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canSleepModeQ(adrCAN); /* Leave the sleep mode */
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return 0;
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}
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/***************************************************************************/
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char canInitClock(UNS16 adrCAN, canBusTime clk)
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{
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if (! canTestInitMode(adrCAN)) {
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/* Not in Init mode */
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MSG_WAR(0X2601, "not in init mode ", 0);
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return 1;
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}
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/* Set or reset CLKSRC (register CANCTL1). Does not change the other bits*/
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clk.clksrc = clk.clksrc << 6;
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IO_PORTS_8(adrCAN + CANCTL1) &= 0xBF;
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IO_PORTS_8(adrCAN + CANCTL1) |= clk.clksrc;
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/* Build the CANBTR0 register */
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IO_PORTS_8(adrCAN + CANBTR0) = 0x00; /* Clear before changes */
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IO_PORTS_8(adrCAN + CANBTR0) = (clk.sjw << 6) | (clk.brp);
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/* Build the CANBTR1 register */
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IO_PORTS_8(adrCAN + CANBTR1) = 0x00; /* Clear before changes */
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IO_PORTS_8(adrCAN + CANBTR1) = (clk.samp << 7) | (clk.tseg2 << 4) |
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(clk.tseg1);
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return 0;
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332 |
}
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333 |
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/***************************************************************************/
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335 |
char canInit1Filter(UNS16 adrCAN, UNS8 nFilter, UNS16 ar, UNS16 mr)
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336 |
{
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337 |
if (! canTestInitMode(adrCAN)) {
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338 |
/* Error because not init mode */
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339 |
MSG_WAR(0X2602, "not in init mode ", 0);
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340 |
return 1;
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341 |
}
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342 |
switch (nFilter) {
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|
|
343 |
case 0:
|
|
|
344 |
nFilter = CANIDAR0; /* First bank */
|
|
|
345 |
break;
|
|
|
346 |
case 1:
|
|
|
347 |
nFilter = CANIDAR2; /* First bank */
|
|
|
348 |
break;
|
|
|
349 |
case 2:
|
|
|
350 |
nFilter = CANIDAR4; /* Second bank */
|
|
|
351 |
break;
|
|
|
352 |
case 3:
|
|
|
353 |
nFilter = CANIDAR6; /* Second bank */
|
|
|
354 |
}
|
|
|
355 |
/* address of CANIDARx */
|
|
|
356 |
IO_PORTS_8(adrCAN + nFilter) = (UNS8) (ar >> 8);
|
|
|
357 |
IO_PORTS_8(adrCAN + nFilter + 1) = (UNS8) (ar);
|
|
|
358 |
IO_PORTS_8(adrCAN + nFilter + 4) = (UNS8) (mr >> 8);
|
|
|
359 |
IO_PORTS_8(adrCAN + nFilter + 5) = (UNS8) (mr);
|
|
|
360 |
return 0;
|
|
|
361 |
}
|
|
|
362 |
|
|
|
363 |
/***************************************************************************/
|
|
|
364 |
char canInitFilter(UNS16 adrCAN, canBusFilterInit fi)
|
|
|
365 |
{
|
|
|
366 |
if (! canTestInitMode(adrCAN)) {
|
|
|
367 |
/* Error because not init mode */
|
|
|
368 |
MSG_WAR(0X2603, "not in init mode ", 0);
|
|
|
369 |
return 1;
|
|
|
370 |
}
|
|
|
371 |
IO_PORTS_8(adrCAN + CANIDAC) = fi.idam << 4;
|
|
|
372 |
IO_PORTS_8(adrCAN + CANIDAR0) = fi.canidar0;
|
|
|
373 |
IO_PORTS_8(adrCAN + CANIDMR0) = fi.canidmr0;
|
|
|
374 |
IO_PORTS_8(adrCAN + CANIDAR1) = fi.canidar1;
|
|
|
375 |
IO_PORTS_8(adrCAN + CANIDMR1) = fi.canidmr1;
|
|
|
376 |
IO_PORTS_8(adrCAN + CANIDAR2) = fi.canidar2;
|
|
|
377 |
IO_PORTS_8(adrCAN + CANIDMR2) = fi.canidmr2;
|
|
|
378 |
IO_PORTS_8(adrCAN + CANIDAR3) = fi.canidar3;
|
|
|
379 |
IO_PORTS_8(adrCAN + CANIDMR3) = fi.canidmr3;
|
|
|
380 |
IO_PORTS_8(adrCAN + CANIDAR4) = fi.canidar4;
|
|
|
381 |
IO_PORTS_8(adrCAN + CANIDMR4) = fi.canidmr4;
|
|
|
382 |
IO_PORTS_8(adrCAN + CANIDAR5) = fi.canidar5;
|
|
|
383 |
IO_PORTS_8(adrCAN + CANIDMR5) = fi.canidmr5;
|
|
|
384 |
IO_PORTS_8(adrCAN + CANIDAR6) = fi.canidar6;
|
|
|
385 |
IO_PORTS_8(adrCAN + CANIDMR6) = fi.canidmr6;
|
|
|
386 |
IO_PORTS_8(adrCAN + CANIDAR7) = fi.canidar7;
|
|
|
387 |
IO_PORTS_8(adrCAN + CANIDMR7) = fi.canidmr7;
|
|
|
388 |
return 0;
|
|
|
389 |
}
|
|
|
390 |
|
|
|
391 |
/***************************************************************************/
|
|
|
392 |
char canInitMode(UNS16 adrCAN)
|
|
|
393 |
{
|
|
|
394 |
IO_PORTS_8(adrCAN + CANCTL0) |= 0x01; /* Set the bit INITRQ */
|
|
|
395 |
while (! canTestInitMode(adrCAN)) {
|
|
|
396 |
}
|
|
|
397 |
return 0;
|
|
|
398 |
}
|
|
|
399 |
|
|
|
400 |
/***************************************************************************/
|
|
|
401 |
char canInitModeQ(UNS16 adrCAN)
|
|
|
402 |
{
|
|
|
403 |
IO_PORTS_8(adrCAN + CANCTL0) &= 0xFE; /* Clear the bit INITRQ */
|
|
|
404 |
while (canTestInitMode(adrCAN)) {
|
|
|
405 |
}
|
|
|
406 |
return 0;
|
|
|
407 |
}
|
|
|
408 |
|
|
|
409 |
/***************************************************************************/
|
|
|
410 |
char canMsgTransmit(UNS16 adrCAN, Message msg)
|
|
|
411 |
{
|
|
|
412 |
/* Remind : only CAN A msg implemented. ie id on 11 bits, not 29 */
|
|
|
413 |
UNS8 cantflg;
|
|
|
414 |
UNS8 i;
|
|
|
415 |
/* Looking for a free buffer */
|
|
|
416 |
cantflg = IO_PORTS_8(adrCAN + CANTFLG);
|
|
|
417 |
if ( cantflg == 0) { /* all the TXEx are set */
|
|
|
418 |
MSG_WAR(0X2604, "No buffer free. Msg to transmit is losted ", 0);
|
|
|
419 |
return 1; /* No buffer free */
|
|
|
420 |
}
|
|
|
421 |
else{
|
|
|
422 |
/* Selecting a buffer */
|
|
|
423 |
IO_PORTS_8(adrCAN + CANTBSEL) = cantflg;
|
|
|
424 |
/* We put ide = 0 because id is on 11 bits only */
|
|
|
425 |
IO_PORTS_8(adrCAN + CANTRSID) = (UNS8)(msg.cob_id.w >> 3);
|
|
|
426 |
IO_PORTS_8(adrCAN + CANTRSID + 1) = (UNS8)((msg.cob_id.w << 5)|
|
|
|
427 |
(msg.rtr << 4));
|
|
|
428 |
|
|
|
429 |
IO_PORTS_8(adrCAN + CANTRSLEN) = msg.len & 0X0F;
|
|
|
430 |
/* For the priority, we put the highter bits of the cob_id */
|
|
|
431 |
IO_PORTS_8(adrCAN + CANTRSPRI) = IO_PORTS_8(adrCAN + CANTRSID);
|
|
|
432 |
for (i = 0 ; i < msg.len ; i++) {
|
|
|
433 |
IO_PORTS_8(adrCAN + CANTRSDTA + i) = msg.data[i];
|
|
|
434 |
}
|
|
|
435 |
/* Transmitting the message */
|
|
|
436 |
cantflg = IO_PORTS_8(adrCAN + CANTBSEL);/* to know which buf is selected */
|
|
|
437 |
IO_PORTS_8(adrCAN + CANTBSEL) = 0x00;
|
|
|
438 |
IO_PORTS_8(adrCAN + CANTFLG) = cantflg; /* Ready to transmit ! */
|
|
|
439 |
|
|
|
440 |
}
|
|
|
441 |
return 0;
|
|
|
442 |
}
|
|
|
443 |
|
|
|
444 |
/***************************************************************************/
|
|
7
|
445 |
char canSetInterrupt(UNS16 adrCAN)
|
|
|
446 |
{
|
|
|
447 |
IO_PORTS_8(adrCAN + CANRIER) = 0X01; /* Allow interruptions on receive */
|
|
|
448 |
IO_PORTS_8(adrCAN + CANTIER) = 0X00; /* disallow interruptions on transmit */
|
|
|
449 |
return 0;
|
|
|
450 |
}
|
|
|
451 |
/***************************************************************************/
|
|
0
|
452 |
char canSleepMode(UNS16 adrCAN)
|
|
|
453 |
{
|
|
|
454 |
IO_PORTS_8(adrCAN + CANCTL0) &= 0xFB; /* clr the bit WUPE to avoid a wake-up*/
|
|
|
455 |
IO_PORTS_8(adrCAN + CANCTL0) |= 0x02; /* Set the bit SLPRQ. go to Sleep !*/
|
|
|
456 |
|
|
|
457 |
// IO_PORTS_8(adrCAN + CANCTL1) |= 0x04;
|
|
|
458 |
// IO_PORTS_8(adrCAN + CANCTL0) |= 0x02; /* Set the bit SLPRQ */
|
|
|
459 |
while ( ! canTestSleepMode(adrCAN)) {
|
|
|
460 |
}
|
|
|
461 |
|
|
|
462 |
return 0;
|
|
|
463 |
}
|
|
|
464 |
|
|
|
465 |
/***************************************************************************/
|
|
|
466 |
char canSleepModeQ(UNS16 adrCAN)
|
|
|
467 |
{
|
|
|
468 |
if (canTestInitMode(adrCAN)) {
|
|
|
469 |
/* Error because in init mode */
|
|
|
470 |
MSG_WAR(0X2606, "not in init mode ", 0);
|
|
|
471 |
return 1;
|
|
|
472 |
}
|
|
|
473 |
IO_PORTS_8(adrCAN + CANCTL0) &= 0xFD; /* clr the bit SLPRQ */
|
|
|
474 |
while ( canTestSleepMode(adrCAN)) {
|
|
|
475 |
}
|
|
|
476 |
return 0;
|
|
|
477 |
}
|
|
|
478 |
|
|
|
479 |
/***************************************************************************/
|
|
|
480 |
char canSleepWupMode(UNS16 adrCAN)
|
|
|
481 |
{
|
|
|
482 |
if (canTestInitMode(adrCAN)) {
|
|
|
483 |
MSG_WAR(0X2607, "not in init mode ", 0);
|
|
|
484 |
return 1;
|
|
|
485 |
}
|
|
|
486 |
IO_PORTS_8(adrCAN + CANCTL0) |= 0x06; /* Set the bits WUPE & SLPRQ */
|
|
|
487 |
while ( ! canTestSleepMode(adrCAN)) {
|
|
|
488 |
}
|
|
|
489 |
return 0;
|
|
|
490 |
}
|
|
|
491 |
|
|
|
492 |
/***************************************************************************/
|
|
|
493 |
char canTestInitMode(UNS16 adrCAN)
|
|
|
494 |
{
|
|
|
495 |
return IO_PORTS_8(adrCAN + CANCTL1) & 0x01; /* Test the bit INITAK */
|
|
|
496 |
}
|
|
|
497 |
|
|
|
498 |
/***************************************************************************/
|
|
|
499 |
char canTestSleepMode(UNS16 adrCAN)
|
|
|
500 |
{
|
|
|
501 |
return IO_PORTS_8(adrCAN + CANCTL1) & 0x02; /* Test the bit SLPAK */
|
|
|
502 |
}
|
|
|
503 |
|
|
|
504 |
/***************************************************************************/
|
|
|
505 |
UNS8 canSend(UNS8 notused, Message *m)
|
|
|
506 |
{
|
|
|
507 |
canMsgTransmit(CANOPEN_LINE_NUMBER_USED, *m);
|
|
|
508 |
return 0;
|
|
|
509 |
}
|
|
|
510 |
|
|
|
511 |
|
|
|
512 |
/**************************************************************************/
|
|
|
513 |
UNS8 f_can_receive(UNS8 notused, Message *msgRcv)
|
|
|
514 |
{
|
|
|
515 |
UNS8 i, j;
|
|
|
516 |
|
|
|
517 |
switch (CANOPEN_LINE_NUMBER_USED) {
|
|
|
518 |
case CAN0 : j = 0; break;
|
|
|
519 |
case CAN1 : j = 1; break;
|
|
|
520 |
case CAN2 : j = 2; break;
|
|
|
521 |
case CAN3 : j = 3; break;
|
|
|
522 |
case CAN4 : j = 4; break;
|
|
|
523 |
}
|
|
|
524 |
|
|
|
525 |
/* See if a message is pending in the stack */
|
|
|
526 |
if (ptrMsgRcv[j].r == ptrMsgRcv[j].w)
|
|
|
527 |
return 0x0; // No new message
|
|
|
528 |
|
|
|
529 |
/* Increment the reading pointer of the stack */
|
|
|
530 |
if (ptrMsgRcv[j].r == (MAX_STACK_MSG_RCV - 1))
|
|
|
531 |
ptrMsgRcv[j].r = 0;
|
|
|
532 |
else
|
|
|
533 |
ptrMsgRcv[j].r ++;
|
|
|
534 |
|
|
|
535 |
/* Store the message from the stack*/
|
|
|
536 |
msgRcv->cob_id.w = stackMsgRcv[j][ptrMsgRcv[j].r].cob_id.w;
|
|
|
537 |
msgRcv->len = stackMsgRcv[j][ptrMsgRcv[j].r].len;
|
|
|
538 |
msgRcv->rtr = stackMsgRcv[j][ptrMsgRcv[j].r].rtr;
|
|
|
539 |
for (i = 0 ; i < stackMsgRcv[j][ptrMsgRcv[j].r].len ; i++)
|
|
|
540 |
msgRcv->data[i] = stackMsgRcv[j][ptrMsgRcv[j].r].data[i];
|
|
|
541 |
return 0xFF;
|
|
|
542 |
}
|
|
|
543 |
|
|
|
544 |
|
|
|
545 |
/******************************************************************************
|
|
|
546 |
******************************* CAN INTERRUPT *******************************/
|
|
|
547 |
|
|
|
548 |
void __attribute__((interrupt)) can0HdlTra (void)
|
|
|
549 |
{
|
|
|
550 |
|
|
|
551 |
}
|
|
|
552 |
|
|
|
553 |
void __attribute__((interrupt)) can0HdlRcv (void)
|
|
|
554 |
{
|
|
|
555 |
UNS8 i;
|
|
|
556 |
lock();
|
|
|
557 |
IO_PORTS_8(PORTB) &= ~ 0x40; // led 6 port B : ON
|
|
|
558 |
UNS8 NewPtrW;
|
|
|
559 |
/* We are obliged to save the message while the interruption is pending */
|
|
|
560 |
/* Increment the writing stack pointer before writing the msg */
|
|
|
561 |
if (ptrMsgRcv[0].w == (MAX_STACK_MSG_RCV - 1))
|
|
|
562 |
NewPtrW = 0;
|
|
|
563 |
else
|
|
|
564 |
NewPtrW = ptrMsgRcv[0].w + 1;
|
|
|
565 |
|
|
|
566 |
if (NewPtrW == ptrMsgRcv[0].r) {
|
|
|
567 |
/* The stack is full. The last msg received before this one is lost */
|
|
|
568 |
MSG_WAR(0X1620, "Stack for received msg is full", 0);
|
|
|
569 |
//IO_PORTS_8(PORTB) &= ~0x40; // led 6 : ON (for debogue)
|
|
|
570 |
}
|
|
|
571 |
else
|
|
|
572 |
ptrMsgRcv[0].w = NewPtrW;
|
|
|
573 |
|
|
|
574 |
/* Store the message */
|
|
|
575 |
stackMsgRcv[0][ptrMsgRcv[0].w].cob_id.w = IO_PORTS_16(CAN0 + CANRCVID) >> 5;
|
|
|
576 |
stackMsgRcv[0][ptrMsgRcv[0].w].len = IO_PORTS_8(CAN0 + CANRCVLEN) & 0x0F;
|
|
|
577 |
stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN0 + CANRCVID + 1) >> 4) & 0x01;
|
|
|
578 |
for (i = 0 ; i < stackMsgRcv[0][ptrMsgRcv[0].w].len ; i++)
|
|
|
579 |
stackMsgRcv[0][ptrMsgRcv[0].w].data[i] = IO_PORTS_8(CAN0 + CANRCVDTA + i);
|
|
|
580 |
|
|
|
581 |
// The message is stored , so
|
|
|
582 |
// we can now release the receive foreground buffer
|
|
|
583 |
// and acknowledge the interruption
|
|
|
584 |
IO_PORTS_8(CAN0 + CANRFLG) |= 0x01;
|
|
|
585 |
// Not very usefull
|
|
|
586 |
IO_PORTS_8(CAN0 + CANCTL0) |= 0x80;
|
|
7
|
587 |
IO_PORTS_8(PORTB) |= 0x40; // led 6 port B : OFF
|
|
0
|
588 |
unlock();
|
|
|
589 |
}
|
|
|
590 |
|
|
|
591 |
void __attribute__((interrupt)) can0HdlWup (void)
|
|
|
592 |
{
|
|
|
593 |
|
|
|
594 |
}
|
|
|
595 |
|
|
|
596 |
void __attribute__((interrupt)) can0HdlErr (void)
|
|
|
597 |
{
|
|
|
598 |
|
|
|
599 |
}
|
|
|
600 |
|
|
|
601 |
void __attribute__((interrupt)) can1HdlTra (void)
|
|
|
602 |
{
|
|
|
603 |
|
|
|
604 |
}
|
|
|
605 |
|
|
|
606 |
void __attribute__((interrupt)) can1HdlRcv (void)
|
|
|
607 |
{
|
|
|
608 |
UNS8 i;
|
|
|
609 |
lock();
|
|
|
610 |
UNS8 NewPtrW;
|
|
|
611 |
/* We are obliged to save the message while the interruption is pending */
|
|
|
612 |
/* Increment the writing stack pointer before writing the msg */
|
|
|
613 |
if (ptrMsgRcv[1].w == (MAX_STACK_MSG_RCV - 1))
|
|
|
614 |
NewPtrW = 0;
|
|
|
615 |
else
|
|
|
616 |
NewPtrW = ptrMsgRcv[1].w + 1;
|
|
|
617 |
|
|
|
618 |
if (NewPtrW == ptrMsgRcv[1].r) {
|
|
|
619 |
/* The stack is full. The last msg received before this one is lost */
|
|
|
620 |
MSG_WAR(0X2620, "Stack for received msg is full", 0);
|
|
|
621 |
}
|
|
|
622 |
else
|
|
|
623 |
ptrMsgRcv[1].w = NewPtrW;
|
|
|
624 |
|
|
|
625 |
/* Store the message */
|
|
|
626 |
stackMsgRcv[1][ptrMsgRcv[1].w].cob_id.w = IO_PORTS_16(CAN1 + CANRCVID) >> 5;
|
|
|
627 |
stackMsgRcv[1][ptrMsgRcv[1].w].len = IO_PORTS_8(CAN1 + CANRCVLEN) & 0x0F;
|
|
|
628 |
stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN1 + CANRCVID + 1) >> 4) & 0x01;
|
|
|
629 |
for (i = 0 ; i < stackMsgRcv[1][ptrMsgRcv[1].w].len ; i++)
|
|
|
630 |
stackMsgRcv[1][ptrMsgRcv[1].w].data[i] = IO_PORTS_8(CAN1 + CANRCVDTA + i);
|
|
|
631 |
|
|
|
632 |
// The message is stored , so
|
|
|
633 |
// we can now release the receive foreground buffer
|
|
|
634 |
// and acknowledge the interruption
|
|
|
635 |
IO_PORTS_8(CAN1 + CANRFLG) |= 0x01;
|
|
|
636 |
// Not very usefull
|
|
|
637 |
IO_PORTS_8(CAN1 + CANCTL0) |= 0x80;
|
|
|
638 |
unlock();
|
|
|
639 |
}
|
|
|
640 |
|
|
|
641 |
void __attribute__((interrupt)) can1HdlWup (void)
|
|
|
642 |
{
|
|
|
643 |
|
|
|
644 |
}
|
|
|
645 |
|
|
|
646 |
void __attribute__((interrupt)) can1HdlErr (void)
|
|
|
647 |
{
|
|
|
648 |
|
|
|
649 |
}
|
|
|
650 |
|
|
|
651 |
void __attribute__((interrupt)) can2HdlTra (void)
|
|
|
652 |
{
|
|
|
653 |
|
|
|
654 |
}
|
|
|
655 |
|
|
|
656 |
void __attribute__((interrupt)) can2HdlRcv (void)
|
|
|
657 |
{
|
|
|
658 |
|
|
|
659 |
}
|
|
|
660 |
|
|
|
661 |
void __attribute__((interrupt)) can2HdlWup (void)
|
|
|
662 |
{
|
|
|
663 |
|
|
|
664 |
}
|
|
|
665 |
|
|
|
666 |
void __attribute__((interrupt)) can2HdlErr (void)
|
|
|
667 |
{
|
|
|
668 |
|
|
|
669 |
}
|
|
|
670 |
|
|
|
671 |
void __attribute__((interrupt)) can3HdlTra (void)
|
|
|
672 |
{
|
|
|
673 |
|
|
|
674 |
}
|
|
|
675 |
|
|
|
676 |
void __attribute__((interrupt)) can3HdlRcv (void)
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|
677 |
{
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|
678 |
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|
679 |
}
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|
680 |
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|
681 |
void __attribute__((interrupt)) can3HdlWup (void)
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|
682 |
{
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|
683 |
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|
684 |
}
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|
685 |
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|
686 |
void __attribute__((interrupt)) can3HdlErr (void)
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|
687 |
{
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|
688 |
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|
689 |
}
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|
690 |
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|
691 |
void __attribute__((interrupt)) can4HdlTra (void)
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|
692 |
{
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|
693 |
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|
694 |
}
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|
695 |
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|
696 |
void __attribute__((interrupt)) can4HdlRcv (void)
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|
697 |
{
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|
698 |
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|
|
699 |
}
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|
700 |
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|
701 |
void __attribute__((interrupt)) can4HdlWup (void)
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|
702 |
{
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|
703 |
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|
704 |
}
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|
705 |
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|
706 |
void __attribute__((interrupt)) can4HdlErr (void)
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|
|
707 |
{
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|
708 |
|
|
|
709 |
}
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|
710 |
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|
711 |
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|
|
712 |
|