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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #define DEBUG_WAR_CONSOLE_ON |
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24 #define DEBUG_ERR_CONSOLE_ON |
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25 |
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26 #include <stddef.h> /* for NULL */ |
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27 |
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28 #include "../include/hcs12/asm-m68hc12/portsaccess.h" |
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29 #include "../include/hcs12/asm-m68hc12/ports_def.h" |
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30 #include "../include/hcs12/asm-m68hc12/ports.h" |
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31 #include "../include/hcs12/applicfg.h" |
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32 #include "../include/hcs12/candriver.h" |
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33 #include "../include/hcs12/interrupt.h" |
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34 #include "../include/hcs12/canOpenDriver.h" |
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35 |
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36 #include "../include/can.h" |
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37 #include "../include/objdictdef.h" |
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38 #include "../include/timer.h" |
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39 |
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40 |
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41 |
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42 |
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43 |
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44 |
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45 volatile static Message stackMsgRcv[NB_LINE_CAN][MAX_STACK_MSG_RCV]; |
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46 volatile static t_pointerStack ptrMsgRcv[NB_LINE_CAN]; |
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47 |
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48 volatile static TIMEVAL last_time_set = TIMEVAL_MAX; |
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49 static UNS8 timer_is_set = 0; |
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50 |
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51 /* Prototypes */ |
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52 UNS8 f_can_receive(UNS8 notused, Message *m); |
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53 UNS8 canSend(UNS8 notused, Message *m); |
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54 void __attribute__((interrupt)) timer4Hdl (void); |
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55 |
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56 #define max(a,b) a>b?a:b |
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57 |
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58 /******************************************************************************/ |
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59 void setTimer(TIMEVAL value) |
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60 { |
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61 IO_PORTS_16(TC4H) += value; |
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62 timer_is_set = 1; |
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63 } |
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64 |
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65 /******************************************************************************/ |
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66 TIMEVAL getElapsedTime() |
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67 { |
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68 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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69 } |
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70 |
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71 |
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72 /******************************************************************************/ |
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73 void resetTimer(void) |
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74 { |
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75 |
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76 } |
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77 |
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78 /******************************************************************************/ |
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79 void initTimer(void) |
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80 { |
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81 lock(); // Inhibition of interruptions |
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82 |
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83 // Configure the timer channel 4 |
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84 IO_PORTS_8(TIOS) |= 0x10; // Canal 4 in output |
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85 IO_PORTS_8(TCTL1) &= ~(0x01 + 0x02); // Canal 4 unconnected to pin output |
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86 IO_PORTS_8(TIE) |= 0x10; // allow interruption channel 4 |
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87 IO_PORTS_8(TSCR2) |= 0X05; // Pre-scaler = 32 |
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88 // If this value is changed, change must be done also |
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89 // in void __attribute__((interrupt)) timer4Hdl (void) |
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90 |
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91 IO_PORTS_8(TSCR1) |= 0x80; // Start timer |
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92 unlock(); // Allow interruptions |
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93 } |
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94 |
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95 /******************************************************************************/ |
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96 void __attribute__((interrupt)) timer4Hdl (void) |
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97 { |
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98 lock(); |
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99 last_time_set = IO_PORTS_16(TC4H); |
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100 IO_PORTS_8(TFLG1) = 0x10; // RAZ flag interruption timer channel 4 |
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101 // Compute the next event : When the timer reach the value of TC4, an interrupt is |
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102 // started |
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103 //IO_PORTS_16(TC4H) += 250; // To have an interruption every 1 ms |
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104 //timerInterrupt(0); |
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105 //MSG_WAR(0xFFFF, "timer4 IT", 0); |
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106 { |
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107 //MSG_WAR(0xFFFF, "t4 ", IO_PORTS_16(TCNTH) - IO_PORTS_16(TC4H)); |
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108 } |
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109 TimeDispatch(); |
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110 unlock(); |
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111 } |
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112 |
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113 |
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114 /******************************************************************************/ |
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115 void initSCI_0(void) |
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116 { |
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117 IO_PORTS_16(SCI0 + SCIBDH) = |
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118 ((1000000 / SERIAL_SCI0_BAUD_RATE) * BUS_CLOCK) >> 4 ; |
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119 IO_PORTS_8(SCI0 + SCICR1) = 0; // format 8N1 |
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120 IO_PORTS_8(SCI0 + SCICR2) = 0x08; // Transmit enable only |
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121 } |
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122 |
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123 /******************************************************************************/ |
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124 void initSCI_1(void) |
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125 { |
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126 IO_PORTS_16(SCI1 + SCIBDH) = |
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127 ((1000000 / SERIAL_SCI1_BAUD_RATE) * BUS_CLOCK) >> 4 ; |
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128 IO_PORTS_8(SCI1 + SCICR1) = 0; // format 8N1 |
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129 IO_PORTS_8(SCI1 + SCICR2) = 0x08; // Transmit enable only |
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130 } |
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131 |
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132 |
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133 /******************************************************************************/ |
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134 char * |
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135 hex_convert (char *buf, unsigned long value, char lastCar) |
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136 { |
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137 //Thanks to Stéphane Carrez for this function |
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138 char num[32]; |
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139 int pos; |
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140 |
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141 *buf++ = '0'; |
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142 *buf++ = 'x'; |
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143 |
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144 pos = 0; |
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145 while (value != 0) { |
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146 char c = value & 0x0F; |
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147 num[pos++] = "0123456789ABCDEF"[(unsigned) c]; |
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148 value = (value >> 4) & (0x0fffffffL); |
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149 } |
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150 if (pos == 0) |
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151 num[pos++] = '0'; |
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152 |
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153 while (--pos >= 0) |
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154 *buf++ = num[pos]; |
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155 |
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156 *buf++ = lastCar; |
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157 *buf = 0; |
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158 return buf; |
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159 } |
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160 |
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161 /******************************************************************************/ |
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162 void printSCI_str(char sci, const char * str) |
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163 { |
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164 char i = 0; |
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165 |
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166 while ((*(str + i) != 0) && (i < 0xFF)) { |
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167 if (*(str + i) == '\n') |
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168 { |
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169 while ((IO_PORTS_8(sci + SCISR1) & 0X80) == 0); // wait if buffer not empty |
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170 IO_PORTS_8(sci + SCIDRL) = 13; // return to start of line |
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171 } |
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172 while ((IO_PORTS_8(sci + SCISR1) & 0X80) == 0); // wait if buffer not empty |
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173 IO_PORTS_8(sci + SCIDRL) = *(str + i++); |
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174 } |
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175 |
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176 } |
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177 |
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178 /******************************************************************************/ |
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179 void printSCI_nbr(char sci, unsigned long nbr, char lastCar) |
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180 { |
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181 char strNbr[12]; |
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182 hex_convert(strNbr, nbr, lastCar); |
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183 printSCI_str(sci, strNbr); |
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184 } |
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185 |
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186 /******************************************************************************/ |
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187 // PLL 24 MHZ if quartz on board is 16 MHZ |
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188 void initPLL(void) |
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189 { |
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190 IO_PORTS_8(CLKSEL) &= ~0x80; // unselect the PLL |
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191 IO_PORTS_8(PLLCTL) |= 0X60; // PLL ON and bandwidth auto |
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192 IO_PORTS_8(SYNR) = 0x02; |
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193 IO_PORTS_8(REFDV) = 0x01; |
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194 while ((IO_PORTS_8(CRGFLG) & 0x08) == 0); |
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195 IO_PORTS_8(CLKSEL) |= 0x80; |
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196 } |
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197 |
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198 /******************************************************************************/ |
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199 void initHCS12(void) |
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200 { |
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201 |
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202 # ifdef USE_PLL |
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203 MSG_WAR(0x3620, "Use the PLL ", 0); |
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204 initPLL(); |
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205 # endif |
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206 |
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207 } |
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208 |
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209 /***************************************************************************/ |
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210 char canAddIdToFilter(UNS16 adrCAN, UNS8 nFilter, UNS16 id) |
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211 { |
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212 UNS8 fiMsb; |
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213 UNS8 fiLsb; |
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214 UNS8 idMsb = (UNS8) (id >> 3); |
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215 UNS8 idLsb = (UNS8) (id << 5); |
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216 |
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217 if (! canTestInitMode(adrCAN)) { |
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218 /* Error because not init mode */ |
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219 MSG_WAR(0X2600, "Not in init mode ", 0); |
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220 return 1; |
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221 } |
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222 switch (nFilter) { |
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223 case 0: |
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224 nFilter = CANIDAR0; /* First bank */ |
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225 break; |
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226 case 1: |
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227 nFilter = CANIDAR2; /* First bank */ |
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228 break; |
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229 case 2: |
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230 nFilter = CANIDAR4; /* Second bank */ |
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231 break; |
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232 case 3: |
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233 nFilter = CANIDAR6; /* Second bank */ |
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234 } |
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235 if (! IO_PORTS_16(adrCAN + nFilter)) { |
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236 /* if CANIDARx = 0 */ |
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237 IO_PORTS_8(adrCAN + nFilter) = idMsb; |
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238 IO_PORTS_8(adrCAN + nFilter + 1) = idLsb; |
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239 } |
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240 fiMsb = IO_PORTS_8(adrCAN + nFilter) ^ idMsb; |
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241 fiLsb = IO_PORTS_8(adrCAN + nFilter + 1) ^ idLsb; |
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242 /* address of CANIDMRx */ |
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243 IO_PORTS_8(adrCAN + nFilter + 4) = IO_PORTS_8(adrCAN + nFilter + 4) | fiMsb; |
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244 IO_PORTS_8(adrCAN + nFilter + 5) = IO_PORTS_8(adrCAN + nFilter + 5) | fiLsb; |
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245 IO_PORTS_8(adrCAN + nFilter + 5) |= 0x10; /* Not filtering on rtr value */ |
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246 return 0; |
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247 } |
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248 |
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249 /***************************************************************************/ |
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250 char canEnable(UNS16 adrCAN) |
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251 { |
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252 /* Register CANCTL1 |
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253 bit 7 : 1 MSCAN enabled |
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254 Other bits : default reset values |
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255 */ |
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256 IO_PORTS_8(adrCAN + CANCTL1) = 0X80; |
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257 return 0; |
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258 } |
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259 |
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260 /***************************************************************************/ |
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261 char canInit(UNS16 adrCAN, canBusInit bi) |
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262 { |
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263 /* If not in init mode, go to sleep before going in init mode*/ |
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264 if (! canTestInitMode(adrCAN)) { |
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265 canSleepMode(adrCAN); |
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266 canInitMode(adrCAN); |
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267 } |
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268 |
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269 canEnable(adrCAN); /* Does nothing if already enable */ |
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270 /* The most secure way to go in init mode : put before MSCAN in sleep mode */ |
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271 //canSleepMode(adrCAN); |
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272 /* Put MSCAN in Init mode */ |
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273 //canInitMode(adrCAN); |
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274 canInitClock(adrCAN, bi.clk); |
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275 /* Init CANCTL1 register. Must be in init mode */ |
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276 IO_PORTS_8(adrCAN + CANCTL1) &=0xC4;// 0xCB; /* Clr the bits that may be modified */ |
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277 IO_PORTS_8(adrCAN + CANCTL1) = (bi.cane << 7) | (bi.loopb << 5 ) | |
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278 (bi.listen << 4) | (bi.wupm << 2); |
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279 /* Initialize the filters for received msgs */ |
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280 /* We should decide to accept all the msgs */ |
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281 canInitFilter(adrCAN, bi.fi); |
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282 /* Before to modify CANCTL0, we must leave the init mode */ |
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283 canInitModeQ(adrCAN); |
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284 /* Init CANCTL0 register. MSCAN must not be in init mode */ |
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285 /* Do not change the value of wupe (should be 0) and slprq (should be 1) */ |
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286 /* Do not change the value of initrq (should be 0) */ |
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287 /* rxfrm is cleared, mupe also (should be before)*/ |
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288 IO_PORTS_8(adrCAN + CANCTL0) &= 0x53; /* Clr the bits that may be modified */ |
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289 IO_PORTS_8(adrCAN + CANCTL0) = (bi.cswai << 5) | (bi.time << 3); |
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290 IO_PORTS_8(adrCAN + CANRIER) = 0X01; /* Allow interruptions on receive */ |
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291 IO_PORTS_8(adrCAN + CANTIER) = 0X00; /* disallow interruptions on transmit */ |
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292 canInitModeQ(adrCAN); /* Leave the init mode */ |
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293 canSleepModeQ(adrCAN); /* Leave the sleep mode */ |
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294 return 0; |
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295 } |
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296 |
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297 /***************************************************************************/ |
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298 char canInitClock(UNS16 adrCAN, canBusTime clk) |
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299 { |
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300 if (! canTestInitMode(adrCAN)) { |
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301 /* Not in Init mode */ |
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302 MSG_WAR(0X2601, "not in init mode ", 0); |
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303 return 1; |
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304 } |
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305 /* Set or reset CLKSRC (register CANCTL1). Does not change the other bits*/ |
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306 clk.clksrc = clk.clksrc << 6; |
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307 IO_PORTS_8(adrCAN + CANCTL1) &= 0xBF; |
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308 IO_PORTS_8(adrCAN + CANCTL1) |= clk.clksrc; |
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309 /* Build the CANBTR0 register */ |
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310 IO_PORTS_8(adrCAN + CANBTR0) = 0x00; /* Clear before changes */ |
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311 IO_PORTS_8(adrCAN + CANBTR0) = (clk.sjw << 6) | (clk.brp); |
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312 /* Build the CANBTR1 register */ |
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313 IO_PORTS_8(adrCAN + CANBTR1) = 0x00; /* Clear before changes */ |
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314 IO_PORTS_8(adrCAN + CANBTR1) = (clk.samp << 7) | (clk.tseg2 << 4) | |
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315 (clk.tseg1); |
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316 return 0; |
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317 } |
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318 |
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319 /***************************************************************************/ |
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320 char canInit1Filter(UNS16 adrCAN, UNS8 nFilter, UNS16 ar, UNS16 mr) |
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321 { |
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322 if (! canTestInitMode(adrCAN)) { |
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323 /* Error because not init mode */ |
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324 MSG_WAR(0X2602, "not in init mode ", 0); |
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325 return 1; |
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326 } |
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327 switch (nFilter) { |
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328 case 0: |
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329 nFilter = CANIDAR0; /* First bank */ |
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330 break; |
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331 case 1: |
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332 nFilter = CANIDAR2; /* First bank */ |
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333 break; |
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334 case 2: |
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335 nFilter = CANIDAR4; /* Second bank */ |
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336 break; |
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337 case 3: |
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338 nFilter = CANIDAR6; /* Second bank */ |
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339 } |
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340 /* address of CANIDARx */ |
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341 IO_PORTS_8(adrCAN + nFilter) = (UNS8) (ar >> 8); |
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342 IO_PORTS_8(adrCAN + nFilter + 1) = (UNS8) (ar); |
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343 IO_PORTS_8(adrCAN + nFilter + 4) = (UNS8) (mr >> 8); |
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344 IO_PORTS_8(adrCAN + nFilter + 5) = (UNS8) (mr); |
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345 return 0; |
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346 } |
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347 |
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348 /***************************************************************************/ |
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349 char canInitFilter(UNS16 adrCAN, canBusFilterInit fi) |
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350 { |
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351 if (! canTestInitMode(adrCAN)) { |
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352 /* Error because not init mode */ |
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353 MSG_WAR(0X2603, "not in init mode ", 0); |
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354 return 1; |
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355 } |
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356 IO_PORTS_8(adrCAN + CANIDAC) = fi.idam << 4; |
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357 IO_PORTS_8(adrCAN + CANIDAR0) = fi.canidar0; |
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358 IO_PORTS_8(adrCAN + CANIDMR0) = fi.canidmr0; |
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359 IO_PORTS_8(adrCAN + CANIDAR1) = fi.canidar1; |
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360 IO_PORTS_8(adrCAN + CANIDMR1) = fi.canidmr1; |
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361 IO_PORTS_8(adrCAN + CANIDAR2) = fi.canidar2; |
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362 IO_PORTS_8(adrCAN + CANIDMR2) = fi.canidmr2; |
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363 IO_PORTS_8(adrCAN + CANIDAR3) = fi.canidar3; |
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364 IO_PORTS_8(adrCAN + CANIDMR3) = fi.canidmr3; |
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365 IO_PORTS_8(adrCAN + CANIDAR4) = fi.canidar4; |
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366 IO_PORTS_8(adrCAN + CANIDMR4) = fi.canidmr4; |
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367 IO_PORTS_8(adrCAN + CANIDAR5) = fi.canidar5; |
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368 IO_PORTS_8(adrCAN + CANIDMR5) = fi.canidmr5; |
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369 IO_PORTS_8(adrCAN + CANIDAR6) = fi.canidar6; |
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370 IO_PORTS_8(adrCAN + CANIDMR6) = fi.canidmr6; |
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371 IO_PORTS_8(adrCAN + CANIDAR7) = fi.canidar7; |
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372 IO_PORTS_8(adrCAN + CANIDMR7) = fi.canidmr7; |
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373 return 0; |
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374 } |
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375 |
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376 /***************************************************************************/ |
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377 char canInitMode(UNS16 adrCAN) |
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378 { |
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379 IO_PORTS_8(adrCAN + CANCTL0) |= 0x01; /* Set the bit INITRQ */ |
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380 while (! canTestInitMode(adrCAN)) { |
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381 } |
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382 return 0; |
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383 } |
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384 |
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385 /***************************************************************************/ |
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386 char canInitModeQ(UNS16 adrCAN) |
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387 { |
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388 IO_PORTS_8(adrCAN + CANCTL0) &= 0xFE; /* Clear the bit INITRQ */ |
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389 while (canTestInitMode(adrCAN)) { |
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390 } |
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391 return 0; |
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392 } |
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393 |
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394 /***************************************************************************/ |
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395 char canMsgTransmit(UNS16 adrCAN, Message msg) |
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396 { |
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397 /* Remind : only CAN A msg implemented. ie id on 11 bits, not 29 */ |
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398 UNS8 cantflg; |
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399 UNS8 i; |
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400 /* Looking for a free buffer */ |
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401 cantflg = IO_PORTS_8(adrCAN + CANTFLG); |
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402 if ( cantflg == 0) { /* all the TXEx are set */ |
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403 MSG_WAR(0X2604, "No buffer free. Msg to transmit is losted ", 0); |
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404 return 1; /* No buffer free */ |
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405 } |
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406 else{ |
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407 /* Selecting a buffer */ |
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408 IO_PORTS_8(adrCAN + CANTBSEL) = cantflg; |
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409 /* We put ide = 0 because id is on 11 bits only */ |
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410 IO_PORTS_8(adrCAN + CANTRSID) = (UNS8)(msg.cob_id.w >> 3); |
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411 IO_PORTS_8(adrCAN + CANTRSID + 1) = (UNS8)((msg.cob_id.w << 5)| |
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412 (msg.rtr << 4)); |
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413 |
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414 IO_PORTS_8(adrCAN + CANTRSLEN) = msg.len & 0X0F; |
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415 /* For the priority, we put the highter bits of the cob_id */ |
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416 IO_PORTS_8(adrCAN + CANTRSPRI) = IO_PORTS_8(adrCAN + CANTRSID); |
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417 for (i = 0 ; i < msg.len ; i++) { |
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418 IO_PORTS_8(adrCAN + CANTRSDTA + i) = msg.data[i]; |
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419 } |
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420 /* Transmitting the message */ |
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421 cantflg = IO_PORTS_8(adrCAN + CANTBSEL);/* to know which buf is selected */ |
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422 IO_PORTS_8(adrCAN + CANTBSEL) = 0x00; |
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423 IO_PORTS_8(adrCAN + CANTFLG) = cantflg; /* Ready to transmit ! */ |
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424 |
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425 } |
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426 return 0; |
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427 } |
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428 |
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429 /***************************************************************************/ |
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430 char canSleepMode(UNS16 adrCAN) |
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431 { |
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432 IO_PORTS_8(adrCAN + CANCTL0) &= 0xFB; /* clr the bit WUPE to avoid a wake-up*/ |
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433 IO_PORTS_8(adrCAN + CANCTL0) |= 0x02; /* Set the bit SLPRQ. go to Sleep !*/ |
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434 |
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435 // IO_PORTS_8(adrCAN + CANCTL1) |= 0x04; |
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436 // IO_PORTS_8(adrCAN + CANCTL0) |= 0x02; /* Set the bit SLPRQ */ |
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437 while ( ! canTestSleepMode(adrCAN)) { |
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438 } |
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439 |
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440 return 0; |
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441 } |
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442 |
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443 /***************************************************************************/ |
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444 char canSleepModeQ(UNS16 adrCAN) |
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445 { |
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446 if (canTestInitMode(adrCAN)) { |
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447 /* Error because in init mode */ |
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448 MSG_WAR(0X2606, "not in init mode ", 0); |
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449 return 1; |
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450 } |
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451 IO_PORTS_8(adrCAN + CANCTL0) &= 0xFD; /* clr the bit SLPRQ */ |
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452 while ( canTestSleepMode(adrCAN)) { |
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453 } |
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454 return 0; |
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455 } |
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456 |
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457 /***************************************************************************/ |
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458 char canSleepWupMode(UNS16 adrCAN) |
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459 { |
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460 if (canTestInitMode(adrCAN)) { |
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461 MSG_WAR(0X2607, "not in init mode ", 0); |
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462 return 1; |
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463 } |
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464 IO_PORTS_8(adrCAN + CANCTL0) |= 0x06; /* Set the bits WUPE & SLPRQ */ |
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465 while ( ! canTestSleepMode(adrCAN)) { |
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466 } |
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467 return 0; |
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468 } |
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469 |
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470 /***************************************************************************/ |
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471 char canTestInitMode(UNS16 adrCAN) |
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472 { |
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473 return IO_PORTS_8(adrCAN + CANCTL1) & 0x01; /* Test the bit INITAK */ |
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474 } |
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475 |
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476 /***************************************************************************/ |
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477 char canTestSleepMode(UNS16 adrCAN) |
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478 { |
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479 return IO_PORTS_8(adrCAN + CANCTL1) & 0x02; /* Test the bit SLPAK */ |
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480 } |
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481 |
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482 /***************************************************************************/ |
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483 UNS8 canSend(UNS8 notused, Message *m) |
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484 { |
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485 canMsgTransmit(CANOPEN_LINE_NUMBER_USED, *m); |
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486 return 0; |
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487 } |
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488 |
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489 |
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490 /**************************************************************************/ |
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491 UNS8 f_can_receive(UNS8 notused, Message *msgRcv) |
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492 { |
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493 UNS8 i, j; |
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494 |
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495 switch (CANOPEN_LINE_NUMBER_USED) { |
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496 case CAN0 : j = 0; break; |
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497 case CAN1 : j = 1; break; |
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498 case CAN2 : j = 2; break; |
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499 case CAN3 : j = 3; break; |
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500 case CAN4 : j = 4; break; |
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501 } |
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502 |
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503 /* See if a message is pending in the stack */ |
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504 if (ptrMsgRcv[j].r == ptrMsgRcv[j].w) |
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505 return 0x0; // No new message |
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506 |
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507 /* Increment the reading pointer of the stack */ |
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508 if (ptrMsgRcv[j].r == (MAX_STACK_MSG_RCV - 1)) |
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509 ptrMsgRcv[j].r = 0; |
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510 else |
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511 ptrMsgRcv[j].r ++; |
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512 |
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513 /* Store the message from the stack*/ |
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514 msgRcv->cob_id.w = stackMsgRcv[j][ptrMsgRcv[j].r].cob_id.w; |
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515 msgRcv->len = stackMsgRcv[j][ptrMsgRcv[j].r].len; |
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516 msgRcv->rtr = stackMsgRcv[j][ptrMsgRcv[j].r].rtr; |
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517 for (i = 0 ; i < stackMsgRcv[j][ptrMsgRcv[j].r].len ; i++) |
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518 msgRcv->data[i] = stackMsgRcv[j][ptrMsgRcv[j].r].data[i]; |
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519 return 0xFF; |
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520 } |
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521 |
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522 |
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523 /****************************************************************************** |
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524 ******************************* CAN INTERRUPT *******************************/ |
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525 |
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526 void __attribute__((interrupt)) can0HdlTra (void) |
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527 { |
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528 |
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529 } |
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530 |
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531 void __attribute__((interrupt)) can0HdlRcv (void) |
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532 { |
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533 UNS8 i; |
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534 lock(); |
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535 IO_PORTS_8(PORTB) &= ~ 0x40; // led 6 port B : ON |
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536 UNS8 NewPtrW; |
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537 /* We are obliged to save the message while the interruption is pending */ |
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538 /* Increment the writing stack pointer before writing the msg */ |
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539 if (ptrMsgRcv[0].w == (MAX_STACK_MSG_RCV - 1)) |
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540 NewPtrW = 0; |
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541 else |
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542 NewPtrW = ptrMsgRcv[0].w + 1; |
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543 |
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544 if (NewPtrW == ptrMsgRcv[0].r) { |
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545 /* The stack is full. The last msg received before this one is lost */ |
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546 MSG_WAR(0X1620, "Stack for received msg is full", 0); |
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547 //IO_PORTS_8(PORTB) &= ~0x40; // led 6 : ON (for debogue) |
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548 } |
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549 else |
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550 ptrMsgRcv[0].w = NewPtrW; |
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551 |
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552 /* Store the message */ |
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553 stackMsgRcv[0][ptrMsgRcv[0].w].cob_id.w = IO_PORTS_16(CAN0 + CANRCVID) >> 5; |
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554 stackMsgRcv[0][ptrMsgRcv[0].w].len = IO_PORTS_8(CAN0 + CANRCVLEN) & 0x0F; |
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555 stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN0 + CANRCVID + 1) >> 4) & 0x01; |
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556 for (i = 0 ; i < stackMsgRcv[0][ptrMsgRcv[0].w].len ; i++) |
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557 stackMsgRcv[0][ptrMsgRcv[0].w].data[i] = IO_PORTS_8(CAN0 + CANRCVDTA + i); |
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558 |
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559 // The message is stored , so |
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560 // we can now release the receive foreground buffer |
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561 // and acknowledge the interruption |
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562 IO_PORTS_8(CAN0 + CANRFLG) |= 0x01; |
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563 // Not very usefull |
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564 IO_PORTS_8(CAN0 + CANCTL0) |= 0x80; |
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565 IO_PORTS_8(PORTB) |= 0x40; // led 6 port B : ON |
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566 unlock(); |
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567 } |
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568 |
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569 void __attribute__((interrupt)) can0HdlWup (void) |
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570 { |
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571 |
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572 } |
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573 |
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574 void __attribute__((interrupt)) can0HdlErr (void) |
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575 { |
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576 |
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577 } |
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578 |
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579 void __attribute__((interrupt)) can1HdlTra (void) |
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580 { |
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581 |
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582 } |
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583 |
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584 void __attribute__((interrupt)) can1HdlRcv (void) |
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585 { |
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586 UNS8 i; |
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587 lock(); |
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588 UNS8 NewPtrW; |
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589 /* We are obliged to save the message while the interruption is pending */ |
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590 /* Increment the writing stack pointer before writing the msg */ |
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591 if (ptrMsgRcv[1].w == (MAX_STACK_MSG_RCV - 1)) |
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592 NewPtrW = 0; |
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593 else |
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594 NewPtrW = ptrMsgRcv[1].w + 1; |
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595 |
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596 if (NewPtrW == ptrMsgRcv[1].r) { |
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597 /* The stack is full. The last msg received before this one is lost */ |
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598 MSG_WAR(0X2620, "Stack for received msg is full", 0); |
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599 } |
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600 else |
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601 ptrMsgRcv[1].w = NewPtrW; |
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602 |
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603 /* Store the message */ |
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604 stackMsgRcv[1][ptrMsgRcv[1].w].cob_id.w = IO_PORTS_16(CAN1 + CANRCVID) >> 5; |
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605 stackMsgRcv[1][ptrMsgRcv[1].w].len = IO_PORTS_8(CAN1 + CANRCVLEN) & 0x0F; |
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606 stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN1 + CANRCVID + 1) >> 4) & 0x01; |
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607 for (i = 0 ; i < stackMsgRcv[1][ptrMsgRcv[1].w].len ; i++) |
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608 stackMsgRcv[1][ptrMsgRcv[1].w].data[i] = IO_PORTS_8(CAN1 + CANRCVDTA + i); |
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609 |
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610 // The message is stored , so |
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611 // we can now release the receive foreground buffer |
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612 // and acknowledge the interruption |
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613 IO_PORTS_8(CAN1 + CANRFLG) |= 0x01; |
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614 // Not very usefull |
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615 IO_PORTS_8(CAN1 + CANCTL0) |= 0x80; |
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616 unlock(); |
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617 } |
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618 |
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619 void __attribute__((interrupt)) can1HdlWup (void) |
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620 { |
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621 |
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622 } |
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623 |
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624 void __attribute__((interrupt)) can1HdlErr (void) |
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625 { |
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626 |
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627 } |
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628 |
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629 void __attribute__((interrupt)) can2HdlTra (void) |
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630 { |
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631 |
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632 } |
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633 |
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634 void __attribute__((interrupt)) can2HdlRcv (void) |
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635 { |
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636 |
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637 } |
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638 |
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639 void __attribute__((interrupt)) can2HdlWup (void) |
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640 { |
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641 |
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642 } |
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643 |
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644 void __attribute__((interrupt)) can2HdlErr (void) |
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645 { |
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646 |
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647 } |
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648 |
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649 void __attribute__((interrupt)) can3HdlTra (void) |
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650 { |
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651 |
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652 } |
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653 |
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654 void __attribute__((interrupt)) can3HdlRcv (void) |
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655 { |
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656 |
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657 } |
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658 |
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659 void __attribute__((interrupt)) can3HdlWup (void) |
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660 { |
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661 |
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662 } |
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663 |
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664 void __attribute__((interrupt)) can3HdlErr (void) |
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665 { |
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666 |
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667 } |
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668 |
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669 void __attribute__((interrupt)) can4HdlTra (void) |
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670 { |
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671 |
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672 } |
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673 |
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674 void __attribute__((interrupt)) can4HdlRcv (void) |
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675 { |
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676 |
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677 } |
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678 |
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679 void __attribute__((interrupt)) can4HdlWup (void) |
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680 { |
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681 |
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682 } |
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683 |
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684 void __attribute__((interrupt)) can4HdlErr (void) |
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685 { |
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686 |
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687 } |
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688 |
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689 |
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690 |