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<a class="el" href="dir_d58fb241e647de6212c31ecccf9cbace.html">drivers</a> » <a class="el" href="dir_db1ed8bc1b9755aa465fb1d5c578dab2.html">hcs12</a></div>
<h1>canOpenDriver.c</h1><a href="canOpenDriver_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022
<a name="l00023"></a><a class="code" href="canOpenDriver_8c.html#4f52c00ab0d519e2965ebaa533975904">00023</a> <span class="preprocessor">#define DEBUG_WAR_CONSOLE_ON</span>
<a name="l00024"></a><a class="code" href="canOpenDriver_8c.html#bb416887a32f7e4333e095356774f07f">00024</a> <span class="preprocessor"></span><span class="preprocessor">#define DEBUG_ERR_CONSOLE_ON</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span>
<a name="l00026"></a>00026 <span class="preprocessor">#include <stddef.h></span> <span class="comment">/* for NULL */</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="preprocessor">#include "../include/hcs12/asm-m68hc12/portsaccess.h"</span>
<a name="l00029"></a>00029 <span class="preprocessor">#include "../include/hcs12/asm-m68hc12/ports_def.h"</span>
<a name="l00030"></a>00030 <span class="preprocessor">#include "../include/hcs12/asm-m68hc12/ports.h"</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include "../include/data.h"</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include "../include/hcs12/applicfg.h"</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include "../include/hcs12/candriver.h"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "../include/hcs12/interrupt.h"</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include "../include/hcs12/canOpenDriver.h"</span>
<a name="l00036"></a>00036 <span class="preprocessor">#include "../include/can.h"</span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "../include/objdictdef.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "../include/timer.h"</span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040
<a name="l00041"></a>00041
<a name="l00042"></a>00042
<a name="l00043"></a>00043
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="keyword">volatile</span> <span class="keyword">static</span> <a class="code" href="structMessage.html">Message</a> stackMsgRcv[<a class="code" href="candriver_8h.html#08b16baaf10a1b7fb8a3569a6c0f67ff">NB_LINE_CAN</a>][<a class="code" href="candriver_8h.html#604df069233e19d5960b444524a43042">MAX_STACK_MSG_RCV</a>];
<a name="l00046"></a>00046 <span class="keyword">volatile</span> <span class="keyword">static</span> <a class="code" href="structt__pointerStack.html">t_pointerStack</a> ptrMsgRcv[<a class="code" href="candriver_8h.html#08b16baaf10a1b7fb8a3569a6c0f67ff">NB_LINE_CAN</a>];
<a name="l00047"></a>00047
<a name="l00048"></a>00048 <span class="keyword">volatile</span> <span class="keyword">static</span> <a class="code" href="hcs12_2applicfg_8h.html#6ae11f09e1ebf40f3562857272fab8bf">TIMEVAL</a> last_time_set = <a class="code" href="hcs12_2applicfg_8h.html#35b2fd1a5f6b88bf3842ba3663e6f85e">TIMEVAL_MAX</a>;
<a name="l00049"></a>00049 <span class="keyword">static</span> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> timer_is_set = 0;
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="comment">/* Prototypes */</span>
<a name="l00052"></a>00052 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="canOpenDriver_8c.html#0bf58f014d47581c9ffd1b2db9a858d7">f_can_receive</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> notused, <a class="code" href="structMessage.html">Message</a> *m);
<a name="l00053"></a>00053 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> notused, <a class="code" href="structMessage.html">Message</a> *m);
<a name="l00054"></a><a class="code" href="interrupt_8h.html#efecbc6bd7cf74b7c63f446283749344">00054</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) timer4Hdl (<span class="keywordtype">void</span>);
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="preprocessor">#define max(a,b) a>b?a:b</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span>
<a name="l00058"></a>00058 <span class="comment">/******************************************************************************/</span>
<a name="l00059"></a>00059 <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#b8d05dee70f04b5c5190ab00e84da106">setTimer</a>(<a class="code" href="hcs12_2applicfg_8h.html#6ae11f09e1ebf40f3562857272fab8bf">TIMEVAL</a> value)
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 <a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#0574d848e9f01b848bef1ac914c73d9b">TC4H</a>) += value;
<a name="l00062"></a>00062 timer_is_set = 1;
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="comment">/******************************************************************************/</span>
<a name="l00066"></a><a class="code" href="timer_8h.html#4dccc204d52176bd547ab34d6858f5ba">00066</a> <a class="code" href="hcs12_2applicfg_8h.html#6ae11f09e1ebf40f3562857272fab8bf">TIMEVAL</a> <a class="code" href="canOpenDriver_8c.html#24dbe63e88d184388542037d16a8208d">getElapsedTime</a>()
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 <span class="keywordflow">return</span> (<a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#0574d848e9f01b848bef1ac914c73d9b">TC4H</a>) > last_time_set ? <a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#0574d848e9f01b848bef1ac914c73d9b">TC4H</a>) - last_time_set : last_time_set - <a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(TC4H));
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="comment">/******************************************************************************/</span>
<a name="l00073"></a><a class="code" href="canOpenDriver_8h.html#339b24f4eee897d3c45d88de9a4901e8">00073</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#339b24f4eee897d3c45d88de9a4901e8">resetTimer</a>(<span class="keywordtype">void</span>)
<a name="l00074"></a>00074 {
<a name="l00075"></a>00075
<a name="l00076"></a>00076 }
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="comment">/******************************************************************************/</span>
<a name="l00079"></a><a class="code" href="canOpenDriver_8h.html#02922529b60419a94afe8f369dda070b">00079</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#02922529b60419a94afe8f369dda070b">initTimer</a>(<span class="keywordtype">void</span>)
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 <a class="code" href="interrupt_8c.html#eb99ff49b4a6d5157416f9b5bd0d9c2c">lock</a>(); <span class="comment">// Inhibition of interruptions</span>
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="comment">// Configure the timer channel 4</span>
<a name="l00084"></a>00084 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#28fcfc6a7695ab5b61f4d7a2befcc184">TIOS</a>) |= 0x10; <span class="comment">// Canal 4 in output</span>
<a name="l00085"></a>00085 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#0a69f683a8ad4e238e8f259c58dffc12">TCTL1</a>) &= ~(0x01 + 0x02); <span class="comment">// Canal 4 unconnected to pin output</span>
<a name="l00086"></a>00086 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#047b752526fa845a214fbd2dda59bdaa">TIE</a>) |= 0x10; <span class="comment">// allow interruption channel 4</span>
<a name="l00087"></a>00087 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#22fb74e7419c4c4b208c3de49dd10499">TSCR2</a>) |= 0X05; <span class="comment">// Pre-scaler = 32 </span>
<a name="l00088"></a>00088 <span class="comment">// If this value is changed, change must be done also</span>
<a name="l00089"></a>00089 <span class="comment">// in void __attribute__((interrupt)) timer4Hdl (void)</span>
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#f2b3ab08ef5f8919912316e8906c1cf6">TSCR1</a>) |= 0x80; <span class="comment">// Start timer</span>
<a name="l00092"></a>00092 <a class="code" href="interrupt_8c.html#987ce601d6d4c8eedd68b58db3b7811a">unlock</a>(); <span class="comment">// Allow interruptions</span>
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <span class="comment">/******************************************************************************/</span>
<a name="l00096"></a>00096 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) timer4Hdl (<span class="keywordtype">void</span>)
<a name="l00097"></a>00097 {
<a name="l00098"></a>00098 <a class="code" href="interrupt_8c.html#eb99ff49b4a6d5157416f9b5bd0d9c2c">lock</a>();
<a name="l00099"></a>00099 last_time_set = <a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#0574d848e9f01b848bef1ac914c73d9b">TC4H</a>);
<a name="l00100"></a>00100 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#2403d0779edcb7a67ea56dd0d67a415e">TFLG1</a>) = 0x10; <span class="comment">// RAZ flag interruption timer channel 4</span>
<a name="l00101"></a>00101 <span class="comment">// Compute the next event : When the timer reach the value of TC4, an interrupt is</span>
<a name="l00102"></a>00102 <span class="comment">// started </span>
<a name="l00103"></a>00103 <span class="comment">//IO_PORTS_16(TC4H) += 250; // To have an interruption every 1 ms</span>
<a name="l00104"></a>00104 <span class="comment">//timerInterrupt(0);</span>
<a name="l00105"></a>00105 <span class="comment">//MSG_WAR(0xFFFF, "timer4 IT", 0);</span>
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 <span class="comment">//MSG_WAR(0xFFFF, "t4 ", IO_PORTS_16(TCNTH) - IO_PORTS_16(TC4H));</span>
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 <a class="code" href="timer_8c.html#fa75192a3238525618f8cb83004930cc">TimeDispatch</a>();
<a name="l00110"></a>00110 <a class="code" href="interrupt_8c.html#987ce601d6d4c8eedd68b58db3b7811a">unlock</a>();
<a name="l00111"></a>00111 }
<a name="l00112"></a>00112
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="comment">/******************************************************************************/</span>
<a name="l00115"></a><a class="code" href="hcs12_2applicfg_8h.html#f86db4b817c1a59a819cbdd51779bfaa">00115</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#f86db4b817c1a59a819cbdd51779bfaa">initSCI_0</a>(<span class="keywordtype">void</span>)
<a name="l00116"></a>00116 {
<a name="l00117"></a>00117 <a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#ce4d0e3ad518ef6a5657d7c63c907fca">SCI0</a> + <a class="code" href="ports__def_8h.html#652f96d37614999df43e03ff58626188">SCIBDH</a>) =
<a name="l00118"></a>00118 ((1000000 / <a class="code" href="hcs12_2applicfg_8h.html#759dabd0f6ef66964bb0b0bf8c426398">SERIAL_SCI0_BAUD_RATE</a>) * <a class="code" href="hcs12_2applicfg_8h.html#1caba0e524eb249e9f6bf160b74aa14e">BUS_CLOCK</a>) >> 4 ;
<a name="l00119"></a>00119 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#ce4d0e3ad518ef6a5657d7c63c907fca">SCI0</a> + <a class="code" href="ports__def_8h.html#8ff8f788cb324d81ebd4d429cabf5e23">SCICR1</a>) = 0; <span class="comment">// format 8N1</span>
<a name="l00120"></a>00120 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#ce4d0e3ad518ef6a5657d7c63c907fca">SCI0</a> + <a class="code" href="ports__def_8h.html#3e70365f6555966aa967d0bc56c71380">SCICR2</a>) = 0x08; <span class="comment">// Transmit enable only</span>
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="comment">/******************************************************************************/</span>
<a name="l00124"></a><a class="code" href="hcs12_2applicfg_8h.html#b56fa1754706a57059103710178bdb68">00124</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#b56fa1754706a57059103710178bdb68">initSCI_1</a>(<span class="keywordtype">void</span>)
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126 <a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#a97eca5571fe1a418a94018204d2f346">SCI1</a> + <a class="code" href="ports__def_8h.html#652f96d37614999df43e03ff58626188">SCIBDH</a>) =
<a name="l00127"></a>00127 ((1000000 / <a class="code" href="hcs12_2applicfg_8h.html#2831f0cbcc1686e98815825dba49c7f5">SERIAL_SCI1_BAUD_RATE</a>) * <a class="code" href="hcs12_2applicfg_8h.html#1caba0e524eb249e9f6bf160b74aa14e">BUS_CLOCK</a>) >> 4 ;
<a name="l00128"></a>00128 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#a97eca5571fe1a418a94018204d2f346">SCI1</a> + <a class="code" href="ports__def_8h.html#8ff8f788cb324d81ebd4d429cabf5e23">SCICR1</a>) = 0; <span class="comment">// format 8N1</span>
<a name="l00129"></a>00129 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#a97eca5571fe1a418a94018204d2f346">SCI1</a> + <a class="code" href="ports__def_8h.html#3e70365f6555966aa967d0bc56c71380">SCICR2</a>) = 0x08; <span class="comment">// Transmit enable only</span>
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131
<a name="l00132"></a>00132
<a name="l00133"></a>00133 <span class="comment">/******************************************************************************/</span>
<a name="l00134"></a>00134 <span class="keywordtype">char</span> *
<a name="l00135"></a><a class="code" href="hcs12_2applicfg_8h.html#2a9aef0efc98c5b41ef97ef91ad403e5">00135</a> <a class="code" href="canOpenDriver_8c.html#2a9aef0efc98c5b41ef97ef91ad403e5">hex_convert</a> (<span class="keywordtype">char</span> *buf, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> value, <span class="keywordtype">char</span> lastCar)
<a name="l00136"></a>00136 {
<a name="l00137"></a>00137 <span class="comment">//Thanks to Stéphane Carrez for this function</span>
<a name="l00138"></a>00138 <span class="keywordtype">char</span> num[32];
<a name="l00139"></a>00139 <span class="keywordtype">int</span> pos;
<a name="l00140"></a>00140
<a name="l00141"></a>00141 *buf++ = <span class="charliteral">'0'</span>;
<a name="l00142"></a>00142 *buf++ = <span class="charliteral">'x'</span>;
<a name="l00143"></a>00143
<a name="l00144"></a>00144 pos = 0;
<a name="l00145"></a>00145 <span class="keywordflow">while</span> (value != 0) {
<a name="l00146"></a>00146 <span class="keywordtype">char</span> c = value & 0x0F;
<a name="l00147"></a>00147 num[pos++] = <span class="stringliteral">"0123456789ABCDEF"</span>[(unsigned) c];
<a name="l00148"></a>00148 value = (value >> 4) & (0x0fffffffL);
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150 <span class="keywordflow">if</span> (pos == 0)
<a name="l00151"></a>00151 num[pos++] = <span class="charliteral">'0'</span>;
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keywordflow">while</span> (--pos >= 0)
<a name="l00154"></a>00154 *buf++ = num[pos];
<a name="l00155"></a>00155
<a name="l00156"></a>00156 *buf++ = lastCar;
<a name="l00157"></a>00157 *buf = 0;
<a name="l00158"></a>00158 <span class="keywordflow">return</span> buf;
<a name="l00159"></a>00159 }
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment">/******************************************************************************/</span>
<a name="l00162"></a><a class="code" href="hcs12_2applicfg_8h.html#6e3075ae435e83aefc018e5218c197d0">00162</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#6e3075ae435e83aefc018e5218c197d0">printSCI_str</a>(<span class="keywordtype">char</span> sci, <span class="keyword">const</span> <span class="keywordtype">char</span> * str)
<a name="l00163"></a>00163 {
<a name="l00164"></a>00164 <span class="keywordtype">char</span> i = 0;
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="keywordflow">while</span> ((*(str + i) != 0) && (i < 0xFF)) {
<a name="l00167"></a>00167 <span class="keywordflow">if</span> (*(str + i) == <span class="charliteral">'\n'</span>)
<a name="l00168"></a>00168 {
<a name="l00169"></a>00169 <span class="keywordflow">while</span> ((<a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(sci + <a class="code" href="ports__def_8h.html#157429033d11aa5ff7e3fc6e581efdb4">SCISR1</a>) & 0X80) == 0); <span class="comment">// wait if buffer not empty </span>
<a name="l00170"></a>00170 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(sci + <a class="code" href="ports__def_8h.html#ca0217e74eef8399b0d4429e236bfdc4">SCIDRL</a>) = 13; <span class="comment">// return to start of line</span>
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172 <span class="keywordflow">while</span> ((<a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(sci + <a class="code" href="ports__def_8h.html#157429033d11aa5ff7e3fc6e581efdb4">SCISR1</a>) & 0X80) == 0); <span class="comment">// wait if buffer not empty</span>
<a name="l00173"></a>00173 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(sci + <a class="code" href="ports__def_8h.html#ca0217e74eef8399b0d4429e236bfdc4">SCIDRL</a>) = *(str + i++);
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="comment">/******************************************************************************/</span>
<a name="l00179"></a><a class="code" href="hcs12_2applicfg_8h.html#80f5dbbc046cba0e5e9cf2bcc4c1e78e">00179</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#80f5dbbc046cba0e5e9cf2bcc4c1e78e">printSCI_nbr</a>(<span class="keywordtype">char</span> sci, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> nbr, <span class="keywordtype">char</span> lastCar)
<a name="l00180"></a>00180 {
<a name="l00181"></a>00181 <span class="keywordtype">char</span> strNbr[12];
<a name="l00182"></a>00182 <a class="code" href="canOpenDriver_8c.html#2a9aef0efc98c5b41ef97ef91ad403e5">hex_convert</a>(strNbr, nbr, lastCar);
<a name="l00183"></a>00183 <a class="code" href="canOpenDriver_8c.html#6e3075ae435e83aefc018e5218c197d0">printSCI_str</a>(sci, strNbr);
<a name="l00184"></a>00184 }
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="comment">/******************************************************************************/</span>
<a name="l00187"></a>00187 <span class="comment">// PLL 24 MHZ if quartz on board is 16 MHZ</span>
<a name="l00188"></a><a class="code" href="hcs12_2applicfg_8h.html#51e71c727eb7a49e2fde962a3d190a6b">00188</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#51e71c727eb7a49e2fde962a3d190a6b">initPLL</a>(<span class="keywordtype">void</span>)
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#7b3c436d31b2305ed9be91f5131d4e5f">CLKSEL</a>) &= ~0x80; <span class="comment">// unselect the PLL</span>
<a name="l00191"></a>00191 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#c5c4a1f05b54f73904b0c0aa7063a063">PLLCTL</a>) |= 0X60; <span class="comment">// PLL ON and bandwidth auto</span>
<a name="l00192"></a>00192 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#f89364e5f6f6b510b1a1d0019ed18457">SYNR</a>) = 0x02;
<a name="l00193"></a>00193 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#c977bdfc9a47c2c122b24c109b2ca1d2">REFDV</a>) = 0x01;
<a name="l00194"></a>00194 <span class="keywordflow">while</span> ((<a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#deed7374b4301e74bdde3ae8bc5e2e06">CRGFLG</a>) & 0x08) == 0);
<a name="l00195"></a>00195 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#7b3c436d31b2305ed9be91f5131d4e5f">CLKSEL</a>) |= 0x80;
<a name="l00196"></a>00196 }
<a name="l00197"></a>00197
<a name="l00198"></a>00198 <span class="comment">/******************************************************************************/</span>
<a name="l00199"></a><a class="code" href="hcs12_2applicfg_8h.html#c71399958d35a7f703416f025603ee26">00199</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#c71399958d35a7f703416f025603ee26">initHCS12</a>(<span class="keywordtype">void</span>)
<a name="l00200"></a>00200 {
<a name="l00201"></a>00201
<a name="l00202"></a>00202 <span class="preprocessor"># ifdef USE_PLL</span>
<a name="l00203"></a>00203 <span class="preprocessor"></span> <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3620, <span class="stringliteral">"Use the PLL "</span>, 0);
<a name="l00204"></a>00204 <a class="code" href="canOpenDriver_8c.html#51e71c727eb7a49e2fde962a3d190a6b">initPLL</a>();
<a name="l00205"></a>00205 <span class="preprocessor"># endif</span>
<a name="l00206"></a>00206 <span class="preprocessor"></span>
<a name="l00207"></a>00207 }
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <span class="comment">/***************************************************************************/</span>
<a name="l00210"></a><a class="code" href="candriver_8h.html#acfd181d5b055d1403930442e28ac643">00210</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#acfd181d5b055d1403930442e28ac643">canAddIdToFilter</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nFilter, <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> <span class="keywordtype">id</span>)
<a name="l00211"></a>00211 {
<a name="l00212"></a>00212 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> fiMsb;
<a name="l00213"></a>00213 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> fiLsb;
<a name="l00214"></a>00214 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> idMsb = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>) (<span class="keywordtype">id</span> >> 3);
<a name="l00215"></a>00215 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> idLsb = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>) (<span class="keywordtype">id</span> << 5);
<a name="l00216"></a>00216
<a name="l00217"></a>00217 <span class="keywordflow">if</span> (! <a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00218"></a>00218 <span class="comment">/* Error because not init mode */</span>
<a name="l00219"></a>00219 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0X2600, <span class="stringliteral">"Not in init mode "</span>, 0);
<a name="l00220"></a>00220 <span class="keywordflow">return</span> 1;
<a name="l00221"></a>00221 }
<a name="l00222"></a>00222 <span class="keywordflow">switch</span> (nFilter) {
<a name="l00223"></a>00223 <span class="keywordflow">case</span> 0:
<a name="l00224"></a>00224 nFilter = <a class="code" href="ports__def_8h.html#4ea6fce7126601177783202e9bbb7f6e">CANIDAR0</a>; <span class="comment">/* First bank */</span>
<a name="l00225"></a>00225 <span class="keywordflow">break</span>;
<a name="l00226"></a>00226 <span class="keywordflow">case</span> 1:
<a name="l00227"></a>00227 nFilter = <a class="code" href="ports__def_8h.html#b471d0faf75a4e68046160828b887d51">CANIDAR2</a>; <span class="comment">/* First bank */</span>
<a name="l00228"></a>00228 <span class="keywordflow">break</span>;
<a name="l00229"></a>00229 <span class="keywordflow">case</span> 2:
<a name="l00230"></a>00230 nFilter = <a class="code" href="ports__def_8h.html#c84502ad2ee270b91a50128888db9950">CANIDAR4</a>; <span class="comment">/* Second bank */</span>
<a name="l00231"></a>00231 <span class="keywordflow">break</span>;
<a name="l00232"></a>00232 <span class="keywordflow">case</span> 3:
<a name="l00233"></a>00233 nFilter = <a class="code" href="ports__def_8h.html#337dd0bc9f36b48b0e35f4113807f975">CANIDAR6</a>; <span class="comment">/* Second bank */</span>
<a name="l00234"></a>00234 }
<a name="l00235"></a>00235 <span class="keywordflow">if</span> (! <a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(adrCAN + nFilter)) {
<a name="l00236"></a>00236 <span class="comment">/* if CANIDARx = 0 */</span>
<a name="l00237"></a>00237 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter) = idMsb;
<a name="l00238"></a>00238 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 1) = idLsb;
<a name="l00239"></a>00239 }
<a name="l00240"></a>00240 fiMsb = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter) ^ idMsb;
<a name="l00241"></a>00241 fiLsb = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 1) ^ idLsb;
<a name="l00242"></a>00242 <span class="comment">/* address of CANIDMRx */</span>
<a name="l00243"></a>00243 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 4) = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 4) | fiMsb;
<a name="l00244"></a>00244 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 5) = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 5) | fiLsb;
<a name="l00245"></a>00245 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 5) |= 0x10; <span class="comment">/* Not filtering on rtr value */</span>
<a name="l00246"></a>00246 <span class="keywordflow">return</span> 0;
<a name="l00247"></a>00247 }
<a name="l00248"></a>00248
<a name="l00249"></a>00249 <span class="comment">/***************************************************************************/</span>
<a name="l00250"></a><a class="code" href="candriver_8h.html#751a41c9747b96ab400b5599370cea83">00250</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#751a41c9747b96ab400b5599370cea83">canChangeFilter</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN, <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> fi)
<a name="l00251"></a>00251 {
<a name="l00252"></a>00252 <span class="comment">/* If not in init mode, go to sleep before going in init mode*/</span>
<a name="l00253"></a>00253 <span class="keywordflow">if</span> (! <a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00254"></a>00254 <a class="code" href="canOpenDriver_8c.html#c7773223579ec7e0fab5238df214da89">canSleepMode</a>(adrCAN);
<a name="l00255"></a>00255 <a class="code" href="canOpenDriver_8c.html#0b98e4800c82d99981833aa4207f1eb9">canInitMode</a>(adrCAN);
<a name="l00256"></a>00256 }
<a name="l00257"></a>00257 <span class="comment">//update the filters configuration</span>
<a name="l00258"></a>00258 <a class="code" href="canOpenDriver_8c.html#b4502eef7616b25c74b1ac5a2245b085">canInitFilter</a>(adrCAN, fi);
<a name="l00259"></a>00259 <a class="code" href="canOpenDriver_8c.html#00ffb46abacfdfa56ebc70e15164113e">canInitModeQ</a>(adrCAN);
<a name="l00260"></a>00260 <a class="code" href="canOpenDriver_8c.html#a89f28005eea54f5b216eb72a18d45f3">canSleepModeQ</a>(adrCAN);
<a name="l00261"></a>00261 <a class="code" href="canOpenDriver_8c.html#5ad8616a3276f7f40149b551f09aa6a1">canSetInterrupt</a>(adrCAN);
<a name="l00262"></a>00262 <span class="keywordflow">return</span> 0;
<a name="l00263"></a>00263 }
<a name="l00264"></a>00264
<a name="l00265"></a>00265 <span class="comment">/***************************************************************************/</span>
<a name="l00266"></a><a class="code" href="candriver_8h.html#5a53a89d2e348d70331e6ebe269d155a">00266</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#5a53a89d2e348d70331e6ebe269d155a">canEnable</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN)
<a name="l00267"></a>00267 {
<a name="l00268"></a>00268 <span class="comment">/* Register CANCTL1</span>
<a name="l00269"></a>00269 <span class="comment"> bit 7 : 1 MSCAN enabled</span>
<a name="l00270"></a>00270 <span class="comment"> Other bits : default reset values</span>
<a name="l00271"></a>00271 <span class="comment"> */</span>
<a name="l00272"></a>00272 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#240dfdca4d2f0ba1a1243fad55d96961">CANCTL1</a>) = 0X80;
<a name="l00273"></a>00273 <span class="keywordflow">return</span> 0;
<a name="l00274"></a>00274 }
<a name="l00275"></a>00275
<a name="l00276"></a>00276 <span class="comment">/***************************************************************************/</span>
<a name="l00277"></a><a class="code" href="candriver_8h.html#3c4f7a31d94e5e7c7322535467b806de">00277</a> <span class="keywordtype">char</span> <a class="code" href="can__peak__win32_8c.html#9f623ce2d3a68e90dfdb1ff0d54a9b57">canInit</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN, <a class="code" href="structcanBusInit.html">canBusInit</a> bi)
<a name="l00278"></a>00278 {
<a name="l00279"></a>00279 <span class="comment">/* If not in init mode, go to sleep before going in init mode*/</span>
<a name="l00280"></a>00280 <span class="keywordflow">if</span> (! <a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00281"></a>00281 <a class="code" href="canOpenDriver_8c.html#c7773223579ec7e0fab5238df214da89">canSleepMode</a>(adrCAN);
<a name="l00282"></a>00282 <a class="code" href="canOpenDriver_8c.html#0b98e4800c82d99981833aa4207f1eb9">canInitMode</a>(adrCAN);
<a name="l00283"></a>00283 }
<a name="l00284"></a>00284
<a name="l00285"></a>00285 <a class="code" href="canOpenDriver_8c.html#5a53a89d2e348d70331e6ebe269d155a">canEnable</a>(adrCAN); <span class="comment">/* Does nothing if already enable */</span>
<a name="l00286"></a>00286 <span class="comment">/* The most secure way to go in init mode : put before MSCAN in sleep mode */</span>
<a name="l00287"></a>00287 <span class="comment">//canSleepMode(adrCAN);</span>
<a name="l00288"></a>00288 <span class="comment">/* Put MSCAN in Init mode */</span>
<a name="l00289"></a>00289 <span class="comment">//canInitMode(adrCAN);</span>
<a name="l00290"></a>00290 <a class="code" href="canOpenDriver_8c.html#6ec3ce6d79012dd8a08fa5aeb6a0489f">canInitClock</a>(adrCAN, bi.<a class="code" href="structcanBusInit.html#fc9eb7ca2f89001dca552e3f956beb73">clk</a>);
<a name="l00291"></a>00291 <span class="comment">/* Init CANCTL1 register. Must be in init mode */</span>
<a name="l00292"></a>00292 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#240dfdca4d2f0ba1a1243fad55d96961">CANCTL1</a>) &=0xC4;<span class="comment">// 0xCB; /* Clr the bits that may be modified */</span>
<a name="l00293"></a>00293 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#240dfdca4d2f0ba1a1243fad55d96961">CANCTL1</a>) = (bi.<a class="code" href="structcanBusInit.html#89208e27db0d71c7b4c34b396d8e4494">cane</a> << 7) | (bi.<a class="code" href="structcanBusInit.html#b12f39cd4161fdc5ad130b4bb8e4a484">loopb</a> << 5 ) |
<a name="l00294"></a>00294 (bi.<a class="code" href="structcanBusInit.html#9b6d43ba9be72e1f21e234d50a1676d6">listen</a> << 4) | (bi.<a class="code" href="structcanBusInit.html#ae0d3c3a91c165a0d782ff40be2e8e29">wupm</a> << 2);
<a name="l00295"></a>00295 <span class="comment">/* Initialize the filters for received msgs */</span>
<a name="l00296"></a>00296 <span class="comment">/* We should decide to accept all the msgs */</span>
<a name="l00297"></a>00297 <a class="code" href="canOpenDriver_8c.html#b4502eef7616b25c74b1ac5a2245b085">canInitFilter</a>(adrCAN, bi.<a class="code" href="structcanBusInit.html#ea84b860ae3e0e636b78d1c83e916ea0">fi</a>);
<a name="l00298"></a>00298 <span class="comment">/* Before to modify CANCTL0, we must leave the init mode */</span>
<a name="l00299"></a>00299 <a class="code" href="canOpenDriver_8c.html#00ffb46abacfdfa56ebc70e15164113e">canInitModeQ</a>(adrCAN);
<a name="l00300"></a>00300 <span class="comment">/* Init CANCTL0 register. MSCAN must not be in init mode */</span>
<a name="l00301"></a>00301 <span class="comment">/* Do not change the value of wupe (should be 0) and slprq (should be 1) */</span>
<a name="l00302"></a>00302 <span class="comment">/* Do not change the value of initrq (should be 0) */</span>
<a name="l00303"></a>00303 <span class="comment">/* rxfrm is cleared, mupe also (should be before)*/</span>
<a name="l00304"></a>00304 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) &= 0x53; <span class="comment">/* Clr the bits that may be modified */</span>
<a name="l00305"></a>00305 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) = (bi.<a class="code" href="structcanBusInit.html#28a919ea372601ea997ffd7665a31300">cswai</a> << 5) | (bi.<a class="code" href="structcanBusInit.html#85a64136e89c9106116e635487c8dbf8">time</a> << 3);
<a name="l00306"></a>00306 <a class="code" href="canOpenDriver_8c.html#5ad8616a3276f7f40149b551f09aa6a1">canSetInterrupt</a>(adrCAN);
<a name="l00307"></a>00307 <a class="code" href="canOpenDriver_8c.html#00ffb46abacfdfa56ebc70e15164113e">canInitModeQ</a>(adrCAN); <span class="comment">/* Leave the init mode */</span>
<a name="l00308"></a>00308 <a class="code" href="canOpenDriver_8c.html#a89f28005eea54f5b216eb72a18d45f3">canSleepModeQ</a>(adrCAN); <span class="comment">/* Leave the sleep mode */</span>
<a name="l00309"></a>00309 <span class="keywordflow">return</span> 0;
<a name="l00310"></a>00310 }
<a name="l00311"></a>00311
<a name="l00312"></a>00312 <span class="comment">/***************************************************************************/</span>
<a name="l00313"></a><a class="code" href="candriver_8h.html#6ec3ce6d79012dd8a08fa5aeb6a0489f">00313</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#6ec3ce6d79012dd8a08fa5aeb6a0489f">canInitClock</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN, <a class="code" href="structcanBusTime.html">canBusTime</a> clk)
<a name="l00314"></a>00314 {
<a name="l00315"></a>00315 <span class="keywordflow">if</span> (! <a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00316"></a>00316 <span class="comment">/* Not in Init mode */</span>
<a name="l00317"></a>00317 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0X2601, <span class="stringliteral">"not in init mode "</span>, 0);
<a name="l00318"></a>00318 <span class="keywordflow">return</span> 1;
<a name="l00319"></a>00319 }
<a name="l00320"></a>00320 <span class="comment">/* Set or reset CLKSRC (register CANCTL1). Does not change the other bits*/</span>
<a name="l00321"></a>00321 clk.<a class="code" href="structcanBusTime.html#04e7cf483b29918f0da5c562400e6071">clksrc</a> = clk.<a class="code" href="structcanBusTime.html#04e7cf483b29918f0da5c562400e6071">clksrc</a> << 6;
<a name="l00322"></a>00322 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#240dfdca4d2f0ba1a1243fad55d96961">CANCTL1</a>) &= 0xBF;
<a name="l00323"></a>00323 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#240dfdca4d2f0ba1a1243fad55d96961">CANCTL1</a>) |= clk.<a class="code" href="structcanBusTime.html#04e7cf483b29918f0da5c562400e6071">clksrc</a>;
<a name="l00324"></a>00324 <span class="comment">/* Build the CANBTR0 register */</span>
<a name="l00325"></a>00325 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#cad90fa39413a921ae2a0070cda37fb8">CANBTR0</a>) = 0x00; <span class="comment">/* Clear before changes */</span>
<a name="l00326"></a>00326 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#cad90fa39413a921ae2a0070cda37fb8">CANBTR0</a>) = (clk.<a class="code" href="structcanBusTime.html#deeefef09ef47dba2df92b45e563368f">sjw</a> << 6) | (clk.<a class="code" href="structcanBusTime.html#f2230f4eeb1d12dd051e7f6369cb1ebb">brp</a>);
<a name="l00327"></a>00327 <span class="comment">/* Build the CANBTR1 register */</span>
<a name="l00328"></a>00328 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#1b222f5b3e445f867728b8b77b5747c0">CANBTR1</a>) = 0x00; <span class="comment">/* Clear before changes */</span>
<a name="l00329"></a>00329 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#1b222f5b3e445f867728b8b77b5747c0">CANBTR1</a>) = (clk.<a class="code" href="structcanBusTime.html#a14822cbe84c152c1c79901f0c4fd0f1">samp</a> << 7) | (clk.<a class="code" href="structcanBusTime.html#7bafebcf05024a19e463f29b1c09c390">tseg2</a> << 4) |
<a name="l00330"></a>00330 (clk.<a class="code" href="structcanBusTime.html#3532d6d7cd2b1f3980b82dfce78f0fe9">tseg1</a>);
<a name="l00331"></a>00331 <span class="keywordflow">return</span> 0;
<a name="l00332"></a>00332 }
<a name="l00333"></a>00333
<a name="l00334"></a>00334 <span class="comment">/***************************************************************************/</span>
<a name="l00335"></a><a class="code" href="candriver_8h.html#5fb549697afb7918607aa113e01c543d">00335</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#5fb549697afb7918607aa113e01c543d">canInit1Filter</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nFilter, <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> ar, <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> mr)
<a name="l00336"></a>00336 {
<a name="l00337"></a>00337 <span class="keywordflow">if</span> (! <a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00338"></a>00338 <span class="comment">/* Error because not init mode */</span>
<a name="l00339"></a>00339 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0X2602, <span class="stringliteral">"not in init mode "</span>, 0);
<a name="l00340"></a>00340 <span class="keywordflow">return</span> 1;
<a name="l00341"></a>00341 }
<a name="l00342"></a>00342 <span class="keywordflow">switch</span> (nFilter) {
<a name="l00343"></a>00343 <span class="keywordflow">case</span> 0:
<a name="l00344"></a>00344 nFilter = <a class="code" href="ports__def_8h.html#4ea6fce7126601177783202e9bbb7f6e">CANIDAR0</a>; <span class="comment">/* First bank */</span>
<a name="l00345"></a>00345 <span class="keywordflow">break</span>;
<a name="l00346"></a>00346 <span class="keywordflow">case</span> 1:
<a name="l00347"></a>00347 nFilter = <a class="code" href="ports__def_8h.html#b471d0faf75a4e68046160828b887d51">CANIDAR2</a>; <span class="comment">/* First bank */</span>
<a name="l00348"></a>00348 <span class="keywordflow">break</span>;
<a name="l00349"></a>00349 <span class="keywordflow">case</span> 2:
<a name="l00350"></a>00350 nFilter = <a class="code" href="ports__def_8h.html#c84502ad2ee270b91a50128888db9950">CANIDAR4</a>; <span class="comment">/* Second bank */</span>
<a name="l00351"></a>00351 <span class="keywordflow">break</span>;
<a name="l00352"></a>00352 <span class="keywordflow">case</span> 3:
<a name="l00353"></a>00353 nFilter = <a class="code" href="ports__def_8h.html#337dd0bc9f36b48b0e35f4113807f975">CANIDAR6</a>; <span class="comment">/* Second bank */</span>
<a name="l00354"></a>00354 }
<a name="l00355"></a>00355 <span class="comment">/* address of CANIDARx */</span>
<a name="l00356"></a>00356 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter) = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>) (ar >> 8);
<a name="l00357"></a>00357 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 1) = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>) (ar);
<a name="l00358"></a>00358 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 4) = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>) (mr >> 8);
<a name="l00359"></a>00359 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + nFilter + 5) = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>) (mr);
<a name="l00360"></a>00360 <span class="keywordflow">return</span> 0;
<a name="l00361"></a>00361 }
<a name="l00362"></a>00362
<a name="l00363"></a>00363 <span class="comment">/***************************************************************************/</span>
<a name="l00364"></a><a class="code" href="candriver_8h.html#b4502eef7616b25c74b1ac5a2245b085">00364</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#b4502eef7616b25c74b1ac5a2245b085">canInitFilter</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN, <a class="code" href="structcanBusFilterInit.html">canBusFilterInit</a> fi)
<a name="l00365"></a>00365 {
<a name="l00366"></a>00366 <span class="keywordflow">if</span> (! <a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00367"></a>00367 <span class="comment">/* Error because not init mode */</span>
<a name="l00368"></a>00368 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0X2603, <span class="stringliteral">"not in init mode "</span>, 0);
<a name="l00369"></a>00369 <span class="keywordflow">return</span> 1;
<a name="l00370"></a>00370 }
<a name="l00371"></a>00371 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#d4df031fb910865881e20f7c6b2fe471">CANIDAC</a>) = fi.<a class="code" href="structcanBusFilterInit.html#bd65e55b40839cc85917717124ba8ff7">idam</a> << 4;
<a name="l00372"></a>00372 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#4ea6fce7126601177783202e9bbb7f6e">CANIDAR0</a>) = fi.<a class="code" href="structcanBusFilterInit.html#e73e4472088781055b2c634529a6c91e">canidar0</a>;
<a name="l00373"></a>00373 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#ad7580fe4fc28e38fa4f992c6376fd55">CANIDMR0</a>) = fi.<a class="code" href="structcanBusFilterInit.html#73219612204df8b0eece12ebf4fbb491">canidmr0</a>;
<a name="l00374"></a>00374 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#552073c8d5ec6b4878ca29c9c14f9e5f">CANIDAR1</a>) = fi.<a class="code" href="structcanBusFilterInit.html#c78d28e662944187916a14991d118dda">canidar1</a>;
<a name="l00375"></a>00375 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#6e4be06c891b6999ad8c3ffe931e87a8">CANIDMR1</a>) = fi.<a class="code" href="structcanBusFilterInit.html#612d35c1dda338351f6da31935ff95fd">canidmr1</a>;
<a name="l00376"></a>00376 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#b471d0faf75a4e68046160828b887d51">CANIDAR2</a>) = fi.<a class="code" href="structcanBusFilterInit.html#a16d44afd060e1c3ebf5cf66b2e8f9c4">canidar2</a>;
<a name="l00377"></a>00377 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#e5aa4334289b65b624b4cc06f7aac76d">CANIDMR2</a>) = fi.<a class="code" href="structcanBusFilterInit.html#c5f7826dc1ec90e292f04ab1cb073a38">canidmr2</a>;
<a name="l00378"></a>00378 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#41d16af61b06d38a97839682fb32fa05">CANIDAR3</a>) = fi.<a class="code" href="structcanBusFilterInit.html#0fd991a6f82c304f53acf589d4057133">canidar3</a>;
<a name="l00379"></a>00379 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#4b3674e7abe7e40fddb90734d8db94a7">CANIDMR3</a>) = fi.<a class="code" href="structcanBusFilterInit.html#b4edcd131fa7b019f6dff0c1a5b68ce3">canidmr3</a>;
<a name="l00380"></a>00380 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#c84502ad2ee270b91a50128888db9950">CANIDAR4</a>) = fi.<a class="code" href="structcanBusFilterInit.html#083024dc3a47331c1d8914d863fa6d87">canidar4</a>;
<a name="l00381"></a>00381 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#1fd254d1f8422e3913232bf02ac7b2c3">CANIDMR4</a>) = fi.<a class="code" href="structcanBusFilterInit.html#a8615d16f68111163e5175543135b896">canidmr4</a>;
<a name="l00382"></a>00382 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#55febe15b73d53fc9fb77ee18da2ac61">CANIDAR5</a>) = fi.<a class="code" href="structcanBusFilterInit.html#8498a6166aa348baa5d5cc32e07bffb9">canidar5</a>;
<a name="l00383"></a>00383 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#d7b533b251c9cca32c799be49e4631ee">CANIDMR5</a>) = fi.<a class="code" href="structcanBusFilterInit.html#5f0904c30b658b4a4ad59a8414df2e93">canidmr5</a>;
<a name="l00384"></a>00384 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#337dd0bc9f36b48b0e35f4113807f975">CANIDAR6</a>) = fi.<a class="code" href="structcanBusFilterInit.html#2194ca3ae6d6613b4f9a0db939661f0b">canidar6</a>;
<a name="l00385"></a>00385 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#1240a26636e314e734c6c003ad20b09d">CANIDMR6</a>) = fi.<a class="code" href="structcanBusFilterInit.html#590926f6af0adac2fdce41d43d77fc61">canidmr6</a>;
<a name="l00386"></a>00386 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#472536c4281754452f359e467617e04e">CANIDAR7</a>) = fi.<a class="code" href="structcanBusFilterInit.html#5c00e7405a498d9eb55816573f12c125">canidar7</a>;
<a name="l00387"></a>00387 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#1e2c3dfa167c21d6e7809162fe46b4fb">CANIDMR7</a>) = fi.<a class="code" href="structcanBusFilterInit.html#cde13291ed4cd72f9818efeb50a254fd">canidmr7</a>;
<a name="l00388"></a>00388 <span class="keywordflow">return</span> 0;
<a name="l00389"></a>00389 }
<a name="l00390"></a>00390
<a name="l00391"></a>00391 <span class="comment">/***************************************************************************/</span>
<a name="l00392"></a><a class="code" href="candriver_8h.html#0b98e4800c82d99981833aa4207f1eb9">00392</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#0b98e4800c82d99981833aa4207f1eb9">canInitMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN)
<a name="l00393"></a>00393 {
<a name="l00394"></a>00394 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) |= 0x01; <span class="comment">/* Set the bit INITRQ */</span>
<a name="l00395"></a>00395 <span class="keywordflow">while</span> (! <a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00396"></a>00396 }
<a name="l00397"></a>00397 <span class="keywordflow">return</span> 0;
<a name="l00398"></a>00398 }
<a name="l00399"></a>00399
<a name="l00400"></a>00400 <span class="comment">/***************************************************************************/</span>
<a name="l00401"></a><a class="code" href="candriver_8h.html#00ffb46abacfdfa56ebc70e15164113e">00401</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#00ffb46abacfdfa56ebc70e15164113e">canInitModeQ</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN)
<a name="l00402"></a>00402 {
<a name="l00403"></a>00403 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) &= 0xFE; <span class="comment">/* Clear the bit INITRQ */</span>
<a name="l00404"></a>00404 <span class="keywordflow">while</span> (<a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00405"></a>00405 }
<a name="l00406"></a>00406 <span class="keywordflow">return</span> 0;
<a name="l00407"></a>00407 }
<a name="l00408"></a>00408
<a name="l00409"></a>00409 <span class="comment">/***************************************************************************/</span>
<a name="l00410"></a><a class="code" href="candriver_8h.html#2f2d1ed55cfd9d7f85883f8d70d318ba">00410</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#2f2d1ed55cfd9d7f85883f8d70d318ba">canMsgTransmit</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN, <a class="code" href="structMessage.html">Message</a> msg)
<a name="l00411"></a>00411 {
<a name="l00412"></a>00412 <span class="comment">/* Remind : only CAN A msg implemented. ie id on 11 bits, not 29 */</span>
<a name="l00413"></a>00413 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> cantflg;
<a name="l00414"></a>00414 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
<a name="l00415"></a>00415 <span class="comment">/* Looking for a free buffer */</span>
<a name="l00416"></a>00416 cantflg = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#8f7285c2e876851969acd7742776bb3a">CANTFLG</a>);
<a name="l00417"></a>00417 <span class="keywordflow">if</span> ( cantflg == 0) { <span class="comment">/* all the TXEx are set */</span>
<a name="l00418"></a>00418 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0X2604, <span class="stringliteral">"No buffer free. Msg to transmit is losted "</span>, 0);
<a name="l00419"></a>00419 <span class="keywordflow">return</span> 1; <span class="comment">/* No buffer free */</span>
<a name="l00420"></a>00420 }
<a name="l00421"></a>00421 <span class="keywordflow">else</span>{
<a name="l00422"></a>00422 <span class="comment">/* Selecting a buffer */</span>
<a name="l00423"></a>00423 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#c074e4e6d925bb56de07c496125396f1">CANTBSEL</a>) = cantflg;
<a name="l00424"></a>00424 <span class="comment">/* We put ide = 0 because id is on 11 bits only */</span>
<a name="l00425"></a>00425 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fb97dce806f082b839d90b94748f438f">CANTRSID</a>) = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(msg.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> >> 3);
<a name="l00426"></a>00426 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fb97dce806f082b839d90b94748f438f">CANTRSID</a> + 1) = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)((msg.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> << 5)|
<a name="l00427"></a>00427 (msg.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> << 4));
<a name="l00428"></a>00428
<a name="l00429"></a>00429 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#12905724f8db152e59625974ef95ab92">CANTRSLEN</a>) = msg.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> & 0X0F;
<a name="l00430"></a>00430 <span class="comment">/* For the priority, we put the highter bits of the cob_id */</span>
<a name="l00431"></a>00431 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#c5c8c8420c09b43f3493eb3bd4e3028a">CANTRSPRI</a>) = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fb97dce806f082b839d90b94748f438f">CANTRSID</a>);
<a name="l00432"></a>00432 <span class="keywordflow">for</span> (i = 0 ; i < msg.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> ; i++) {
<a name="l00433"></a>00433 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#000be7a71981a5cceeb1fb12eb94c83a">CANTRSDTA</a> + i) = msg.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i];
<a name="l00434"></a>00434 }
<a name="l00435"></a>00435 <span class="comment">/* Transmitting the message */</span>
<a name="l00436"></a>00436 cantflg = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#c074e4e6d925bb56de07c496125396f1">CANTBSEL</a>);<span class="comment">/* to know which buf is selected */</span>
<a name="l00437"></a>00437 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#c074e4e6d925bb56de07c496125396f1">CANTBSEL</a>) = 0x00;
<a name="l00438"></a>00438 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#8f7285c2e876851969acd7742776bb3a">CANTFLG</a>) = cantflg; <span class="comment">/* Ready to transmit ! */</span>
<a name="l00439"></a>00439
<a name="l00440"></a>00440 }
<a name="l00441"></a>00441 <span class="keywordflow">return</span> 0;
<a name="l00442"></a>00442 }
<a name="l00443"></a>00443
<a name="l00444"></a>00444 <span class="comment">/***************************************************************************/</span>
<a name="l00445"></a><a class="code" href="candriver_8h.html#5ad8616a3276f7f40149b551f09aa6a1">00445</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#5ad8616a3276f7f40149b551f09aa6a1">canSetInterrupt</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN)
<a name="l00446"></a>00446 {
<a name="l00447"></a>00447 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#1b668ea916ba976c2dca30d5899c6b76">CANRIER</a>) = 0X01; <span class="comment">/* Allow interruptions on receive */</span>
<a name="l00448"></a>00448 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f90f32e22218770bdac62099d0833f5c">CANTIER</a>) = 0X00; <span class="comment">/* disallow interruptions on transmit */</span>
<a name="l00449"></a>00449 <span class="keywordflow">return</span> 0;
<a name="l00450"></a>00450 }
<a name="l00451"></a>00451 <span class="comment">/***************************************************************************/</span>
<a name="l00452"></a><a class="code" href="candriver_8h.html#c7773223579ec7e0fab5238df214da89">00452</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#c7773223579ec7e0fab5238df214da89">canSleepMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN)
<a name="l00453"></a>00453 {
<a name="l00454"></a>00454 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) &= 0xFB; <span class="comment">/* clr the bit WUPE to avoid a wake-up*/</span>
<a name="l00455"></a>00455 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) |= 0x02; <span class="comment">/* Set the bit SLPRQ. go to Sleep !*/</span>
<a name="l00456"></a>00456
<a name="l00457"></a>00457 <span class="comment">// IO_PORTS_8(adrCAN + CANCTL1) |= 0x04;</span>
<a name="l00458"></a>00458 <span class="comment">// IO_PORTS_8(adrCAN + CANCTL0) |= 0x02; /* Set the bit SLPRQ */ </span>
<a name="l00459"></a>00459 <span class="keywordflow">while</span> ( ! <a class="code" href="canOpenDriver_8c.html#fa79f2ac95a8143c2fb087260df39820">canTestSleepMode</a>(adrCAN)) {
<a name="l00460"></a>00460 }
<a name="l00461"></a>00461
<a name="l00462"></a>00462 <span class="keywordflow">return</span> 0;
<a name="l00463"></a>00463 }
<a name="l00464"></a>00464
<a name="l00465"></a>00465 <span class="comment">/***************************************************************************/</span>
<a name="l00466"></a><a class="code" href="candriver_8h.html#a89f28005eea54f5b216eb72a18d45f3">00466</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#a89f28005eea54f5b216eb72a18d45f3">canSleepModeQ</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN)
<a name="l00467"></a>00467 {
<a name="l00468"></a>00468 <span class="keywordflow">if</span> (<a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00469"></a>00469 <span class="comment">/* Error because in init mode */</span>
<a name="l00470"></a>00470 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0X2606, <span class="stringliteral">"not in init mode "</span>, 0);
<a name="l00471"></a>00471 <span class="keywordflow">return</span> 1;
<a name="l00472"></a>00472 }
<a name="l00473"></a>00473 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) &= 0xFD; <span class="comment">/* clr the bit SLPRQ */</span>
<a name="l00474"></a>00474 <span class="keywordflow">while</span> ( <a class="code" href="canOpenDriver_8c.html#fa79f2ac95a8143c2fb087260df39820">canTestSleepMode</a>(adrCAN)) {
<a name="l00475"></a>00475 }
<a name="l00476"></a>00476 <span class="keywordflow">return</span> 0;
<a name="l00477"></a>00477 }
<a name="l00478"></a>00478
<a name="l00479"></a>00479 <span class="comment">/***************************************************************************/</span>
<a name="l00480"></a><a class="code" href="candriver_8h.html#1ae1ad5d66ac87085baf5b9d0a4e62ca">00480</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#1ae1ad5d66ac87085baf5b9d0a4e62ca">canSleepWupMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN)
<a name="l00481"></a>00481 {
<a name="l00482"></a>00482 <span class="keywordflow">if</span> (<a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(adrCAN)) {
<a name="l00483"></a>00483 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0X2607, <span class="stringliteral">"not in init mode "</span>, 0);
<a name="l00484"></a>00484 <span class="keywordflow">return</span> 1;
<a name="l00485"></a>00485 }
<a name="l00486"></a>00486 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) |= 0x06; <span class="comment">/* Set the bits WUPE & SLPRQ */</span>
<a name="l00487"></a>00487 <span class="keywordflow">while</span> ( ! <a class="code" href="canOpenDriver_8c.html#fa79f2ac95a8143c2fb087260df39820">canTestSleepMode</a>(adrCAN)) {
<a name="l00488"></a>00488 }
<a name="l00489"></a>00489 <span class="keywordflow">return</span> 0;
<a name="l00490"></a>00490 }
<a name="l00491"></a>00491
<a name="l00492"></a>00492 <span class="comment">/***************************************************************************/</span>
<a name="l00493"></a><a class="code" href="candriver_8h.html#6beefe951b3c9de786c585257488fa82">00493</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#6beefe951b3c9de786c585257488fa82">canTestInitMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN)
<a name="l00494"></a>00494 {
<a name="l00495"></a>00495 <span class="keywordflow">return</span> <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#240dfdca4d2f0ba1a1243fad55d96961">CANCTL1</a>) & 0x01; <span class="comment">/* Test the bit INITAK */</span>
<a name="l00496"></a>00496 }
<a name="l00497"></a>00497
<a name="l00498"></a>00498 <span class="comment">/***************************************************************************/</span>
<a name="l00499"></a><a class="code" href="candriver_8h.html#fa79f2ac95a8143c2fb087260df39820">00499</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#fa79f2ac95a8143c2fb087260df39820">canTestSleepMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> adrCAN)
<a name="l00500"></a>00500 {
<a name="l00501"></a>00501 <span class="keywordflow">return</span> <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#240dfdca4d2f0ba1a1243fad55d96961">CANCTL1</a>) & 0x02; <span class="comment">/* Test the bit SLPAK */</span>
<a name="l00502"></a>00502 }
<a name="l00503"></a>00503
<a name="l00504"></a>00504 <span class="comment">/***************************************************************************/</span>
<a name="l00505"></a><a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">00505</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> notused, <a class="code" href="structMessage.html">Message</a> *m)
<a name="l00506"></a>00506 {
<a name="l00507"></a>00507 <a class="code" href="canOpenDriver_8c.html#2f2d1ed55cfd9d7f85883f8d70d318ba">canMsgTransmit</a>(<a class="code" href="candriver_8h.html#aec12501ba547723b21fd74636ea045a">CANOPEN_LINE_NUMBER_USED</a>, *m);
<a name="l00508"></a>00508 <span class="keywordflow">return</span> 0;
<a name="l00509"></a>00509 }
<a name="l00510"></a>00510
<a name="l00511"></a>00511
<a name="l00512"></a>00512 <span class="comment">/**************************************************************************/</span>
<a name="l00513"></a><a class="code" href="canOpenDriver_8c.html#0bf58f014d47581c9ffd1b2db9a858d7">00513</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="canOpenDriver_8c.html#0bf58f014d47581c9ffd1b2db9a858d7">f_can_receive</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> notused, <a class="code" href="structMessage.html">Message</a> *msgRcv)
<a name="l00514"></a>00514 {
<a name="l00515"></a>00515 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i, j;
<a name="l00516"></a>00516
<a name="l00517"></a>00517 <span class="keywordflow">switch</span> (<a class="code" href="candriver_8h.html#aec12501ba547723b21fd74636ea045a">CANOPEN_LINE_NUMBER_USED</a>) {
<a name="l00518"></a>00518 <span class="keywordflow">case</span> <a class="code" href="ports__def_8h.html#8882ee5d18ec64b8193396ec6bc66fe5">CAN0</a> : j = 0; <span class="keywordflow">break</span>;
<a name="l00519"></a>00519 <span class="keywordflow">case</span> <a class="code" href="ports__def_8h.html#4964ecb6a5c689aaf8ee2832b8093aac">CAN1</a> : j = 1; <span class="keywordflow">break</span>;
<a name="l00520"></a>00520 <span class="keywordflow">case</span> <a class="code" href="ports__def_8h.html#c5e4c86ed487dc91418b156e24808033">CAN2</a> : j = 2; <span class="keywordflow">break</span>;
<a name="l00521"></a>00521 <span class="keywordflow">case</span> <a class="code" href="ports__def_8h.html#7f7e6a91346348125edf55235dd7b36a">CAN3</a> : j = 3; <span class="keywordflow">break</span>;
<a name="l00522"></a>00522 <span class="keywordflow">case</span> <a class="code" href="ports__def_8h.html#0f0e1d717b051eb8002c096a58bdedad">CAN4</a> : j = 4; <span class="keywordflow">break</span>;
<a name="l00523"></a>00523 }
<a name="l00524"></a>00524
<a name="l00525"></a>00525 <span class="comment">/* See if a message is pending in the stack */</span>
<a name="l00526"></a>00526 <span class="keywordflow">if</span> (ptrMsgRcv[j].r == ptrMsgRcv[j].w)
<a name="l00527"></a>00527 <span class="keywordflow">return</span> 0x0; <span class="comment">// No new message</span>
<a name="l00528"></a>00528
<a name="l00529"></a>00529 <span class="comment">/* Increment the reading pointer of the stack */</span>
<a name="l00530"></a>00530 <span class="keywordflow">if</span> (ptrMsgRcv[j].r == (<a class="code" href="candriver_8h.html#604df069233e19d5960b444524a43042">MAX_STACK_MSG_RCV</a> - 1))
<a name="l00531"></a>00531 ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#828854582cfd2d911935d50deec2f89e">r</a> = 0;
<a name="l00532"></a>00532 <span class="keywordflow">else</span>
<a name="l00533"></a>00533 ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#828854582cfd2d911935d50deec2f89e">r</a> ++;
<a name="l00534"></a>00534
<a name="l00535"></a>00535 <span class="comment">/* Store the message from the stack*/</span>
<a name="l00536"></a>00536 msgRcv-><a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = stackMsgRcv[j][ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#828854582cfd2d911935d50deec2f89e">r</a>].<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>;
<a name="l00537"></a>00537 msgRcv-><a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = stackMsgRcv[j][ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#828854582cfd2d911935d50deec2f89e">r</a>].<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>;
<a name="l00538"></a>00538 msgRcv-><a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = stackMsgRcv[j][ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#828854582cfd2d911935d50deec2f89e">r</a>].<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a>;
<a name="l00539"></a>00539 <span class="keywordflow">for</span> (i = 0 ; i < stackMsgRcv[j][ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#828854582cfd2d911935d50deec2f89e">r</a>].<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> ; i++)
<a name="l00540"></a>00540 msgRcv-><a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i] = stackMsgRcv[j][ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#828854582cfd2d911935d50deec2f89e">r</a>].<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i];
<a name="l00541"></a>00541 <span class="keywordflow">return</span> 0xFF;
<a name="l00542"></a>00542 }
<a name="l00543"></a>00543
<a name="l00544"></a>00544
<a name="l00545"></a>00545 <span class="comment">/******************************************************************************</span>
<a name="l00546"></a>00546 <span class="comment"> ******************************* CAN INTERRUPT *******************************/</span>
<a name="l00547"></a>00547
<a name="l00548"></a>00548 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can0HdlTra (<span class="keywordtype">void</span>)
<a name="l00549"></a>00549 {
<a name="l00550"></a>00550
<a name="l00551"></a>00551 }
<a name="l00552"></a>00552
<a name="l00553"></a>00553 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can0HdlRcv (<span class="keywordtype">void</span>)
<a name="l00554"></a>00554 {
<a name="l00555"></a>00555 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
<a name="l00556"></a>00556 <a class="code" href="interrupt_8c.html#eb99ff49b4a6d5157416f9b5bd0d9c2c">lock</a>();
<a name="l00557"></a>00557 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) &= ~ 0x40; <span class="comment">// led 6 port B : ON</span>
<a name="l00558"></a>00558 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> NewPtrW;
<a name="l00559"></a>00559 <span class="comment">/* We are obliged to save the message while the interruption is pending */</span>
<a name="l00560"></a>00560 <span class="comment">/* Increment the writing stack pointer before writing the msg */</span>
<a name="l00561"></a>00561 <span class="keywordflow">if</span> (ptrMsgRcv[0].w == (<a class="code" href="candriver_8h.html#604df069233e19d5960b444524a43042">MAX_STACK_MSG_RCV</a> - 1))
<a name="l00562"></a>00562 NewPtrW = 0;
<a name="l00563"></a>00563 <span class="keywordflow">else</span>
<a name="l00564"></a>00564 NewPtrW = ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a> + 1;
<a name="l00565"></a>00565
<a name="l00566"></a>00566 <span class="keywordflow">if</span> (NewPtrW == ptrMsgRcv[0].r) {
<a name="l00567"></a>00567 <span class="comment">/* The stack is full. The last msg received before this one is lost */</span>
<a name="l00568"></a>00568 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0X1620, <span class="stringliteral">"Stack for received msg is full"</span>, 0);
<a name="l00569"></a>00569 <span class="comment">//IO_PORTS_8(PORTB) &= ~0x40; // led 6 : ON (for debogue)</span>
<a name="l00570"></a>00570 }
<a name="l00571"></a>00571 <span class="keywordflow">else</span>
<a name="l00572"></a>00572 ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a> = NewPtrW;
<a name="l00573"></a>00573
<a name="l00574"></a>00574 <span class="comment">/* Store the message */</span>
<a name="l00575"></a>00575 stackMsgRcv[0][ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a>].<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = <a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#8882ee5d18ec64b8193396ec6bc66fe5">CAN0</a> + <a class="code" href="ports__def_8h.html#bb97220e736e258a77d5fb130bab7e28">CANRCVID</a>) >> 5;
<a name="l00576"></a>00576 stackMsgRcv[0][ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a>].<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#8882ee5d18ec64b8193396ec6bc66fe5">CAN0</a> + <a class="code" href="ports__def_8h.html#6ca4999d30f20b2d4fb3b830062cbdc9">CANRCVLEN</a>) & 0x0F;
<a name="l00577"></a>00577 stackMsgRcv[0][ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a>].<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = (<a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#8882ee5d18ec64b8193396ec6bc66fe5">CAN0</a> + <a class="code" href="ports__def_8h.html#bb97220e736e258a77d5fb130bab7e28">CANRCVID</a> + 1) >> 4) & 0x01;
<a name="l00578"></a>00578 <span class="keywordflow">for</span> (i = 0 ; i < stackMsgRcv[0][ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a>].<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> ; i++)
<a name="l00579"></a>00579 stackMsgRcv[0][ptrMsgRcv[0].w].data[i] = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#8882ee5d18ec64b8193396ec6bc66fe5">CAN0</a> + <a class="code" href="ports__def_8h.html#6b3563b008d40f60625c78849f9d9db5">CANRCVDTA</a> + i);
<a name="l00580"></a>00580
<a name="l00581"></a>00581 <span class="comment">// The message is stored , so</span>
<a name="l00582"></a>00582 <span class="comment">// we can now release the receive foreground buffer</span>
<a name="l00583"></a>00583 <span class="comment">// and acknowledge the interruption</span>
<a name="l00584"></a>00584 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#8882ee5d18ec64b8193396ec6bc66fe5">CAN0</a> + <a class="code" href="ports__def_8h.html#30e056d80073eebadfff9ba800b086f8">CANRFLG</a>) |= 0x01;
<a name="l00585"></a>00585 <span class="comment">// Not very usefull</span>
<a name="l00586"></a>00586 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#8882ee5d18ec64b8193396ec6bc66fe5">CAN0</a> + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) |= 0x80;
<a name="l00587"></a>00587 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#09a0c85cd3da09d9cdf63a5ac4c39f77">PORTB</a>) |= 0x40; <span class="comment">// led 6 port B : OFF</span>
<a name="l00588"></a>00588 <a class="code" href="interrupt_8c.html#987ce601d6d4c8eedd68b58db3b7811a">unlock</a>();
<a name="l00589"></a>00589 }
<a name="l00590"></a>00590
<a name="l00591"></a>00591 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can0HdlWup (<span class="keywordtype">void</span>)
<a name="l00592"></a>00592 {
<a name="l00593"></a>00593
<a name="l00594"></a>00594 }
<a name="l00595"></a>00595
<a name="l00596"></a>00596 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can0HdlErr (<span class="keywordtype">void</span>)
<a name="l00597"></a>00597 {
<a name="l00598"></a>00598
<a name="l00599"></a>00599 }
<a name="l00600"></a>00600
<a name="l00601"></a>00601 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can1HdlTra (<span class="keywordtype">void</span>)
<a name="l00602"></a>00602 {
<a name="l00603"></a>00603
<a name="l00604"></a>00604 }
<a name="l00605"></a>00605
<a name="l00606"></a>00606 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can1HdlRcv (<span class="keywordtype">void</span>)
<a name="l00607"></a>00607 {
<a name="l00608"></a>00608 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i;
<a name="l00609"></a>00609 <a class="code" href="interrupt_8c.html#eb99ff49b4a6d5157416f9b5bd0d9c2c">lock</a>();
<a name="l00610"></a>00610 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> NewPtrW;
<a name="l00611"></a>00611 <span class="comment">/* We are obliged to save the message while the interruption is pending */</span>
<a name="l00612"></a>00612 <span class="comment">/* Increment the writing stack pointer before writing the msg */</span>
<a name="l00613"></a>00613 <span class="keywordflow">if</span> (ptrMsgRcv[1].w == (<a class="code" href="candriver_8h.html#604df069233e19d5960b444524a43042">MAX_STACK_MSG_RCV</a> - 1))
<a name="l00614"></a>00614 NewPtrW = 0;
<a name="l00615"></a>00615 <span class="keywordflow">else</span>
<a name="l00616"></a>00616 NewPtrW = ptrMsgRcv[1].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a> + 1;
<a name="l00617"></a>00617
<a name="l00618"></a>00618 <span class="keywordflow">if</span> (NewPtrW == ptrMsgRcv[1].r) {
<a name="l00619"></a>00619 <span class="comment">/* The stack is full. The last msg received before this one is lost */</span>
<a name="l00620"></a>00620 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0X2620, <span class="stringliteral">"Stack for received msg is full"</span>, 0);
<a name="l00621"></a>00621 }
<a name="l00622"></a>00622 <span class="keywordflow">else</span>
<a name="l00623"></a>00623 ptrMsgRcv[1].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a> = NewPtrW;
<a name="l00624"></a>00624
<a name="l00625"></a>00625 <span class="comment">/* Store the message */</span>
<a name="l00626"></a>00626 stackMsgRcv[1][ptrMsgRcv[1].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a>].<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = <a class="code" href="portsaccess_8h.html#05c3e46f52e97cb343d4a18d3dbe2eba">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#4964ecb6a5c689aaf8ee2832b8093aac">CAN1</a> + <a class="code" href="ports__def_8h.html#bb97220e736e258a77d5fb130bab7e28">CANRCVID</a>) >> 5;
<a name="l00627"></a>00627 stackMsgRcv[1][ptrMsgRcv[1].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a>].<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#4964ecb6a5c689aaf8ee2832b8093aac">CAN1</a> + <a class="code" href="ports__def_8h.html#6ca4999d30f20b2d4fb3b830062cbdc9">CANRCVLEN</a>) & 0x0F;
<a name="l00628"></a>00628 stackMsgRcv[0][ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a>].<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = (<a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#4964ecb6a5c689aaf8ee2832b8093aac">CAN1</a> + <a class="code" href="ports__def_8h.html#bb97220e736e258a77d5fb130bab7e28">CANRCVID</a> + 1) >> 4) & 0x01;
<a name="l00629"></a>00629 <span class="keywordflow">for</span> (i = 0 ; i < stackMsgRcv[1][ptrMsgRcv[1].<a class="code" href="structt__pointerStack.html#2932da8af07722bab7bb70042bca9e55">w</a>].<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> ; i++)
<a name="l00630"></a>00630 stackMsgRcv[1][ptrMsgRcv[1].w].data[i] = <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#4964ecb6a5c689aaf8ee2832b8093aac">CAN1</a> + <a class="code" href="ports__def_8h.html#6b3563b008d40f60625c78849f9d9db5">CANRCVDTA</a> + i);
<a name="l00631"></a>00631
<a name="l00632"></a>00632 <span class="comment">// The message is stored , so</span>
<a name="l00633"></a>00633 <span class="comment">// we can now release the receive foreground buffer</span>
<a name="l00634"></a>00634 <span class="comment">// and acknowledge the interruption</span>
<a name="l00635"></a>00635 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#4964ecb6a5c689aaf8ee2832b8093aac">CAN1</a> + <a class="code" href="ports__def_8h.html#30e056d80073eebadfff9ba800b086f8">CANRFLG</a>) |= 0x01;
<a name="l00636"></a>00636 <span class="comment">// Not very usefull</span>
<a name="l00637"></a>00637 <a class="code" href="portsaccess_8h.html#cdf97ea78c88c125dbbe6f2409de6ec1">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#4964ecb6a5c689aaf8ee2832b8093aac">CAN1</a> + <a class="code" href="ports__def_8h.html#fbdb48aab5af9bc4e1c286db2f4030f2">CANCTL0</a>) |= 0x80;
<a name="l00638"></a>00638 <a class="code" href="interrupt_8c.html#987ce601d6d4c8eedd68b58db3b7811a">unlock</a>();
<a name="l00639"></a>00639 }
<a name="l00640"></a>00640
<a name="l00641"></a>00641 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can1HdlWup (<span class="keywordtype">void</span>)
<a name="l00642"></a>00642 {
<a name="l00643"></a>00643
<a name="l00644"></a>00644 }
<a name="l00645"></a>00645
<a name="l00646"></a>00646 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can1HdlErr (<span class="keywordtype">void</span>)
<a name="l00647"></a>00647 {
<a name="l00648"></a>00648
<a name="l00649"></a>00649 }
<a name="l00650"></a>00650
<a name="l00651"></a>00651 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can2HdlTra (<span class="keywordtype">void</span>)
<a name="l00652"></a>00652 {
<a name="l00653"></a>00653
<a name="l00654"></a>00654 }
<a name="l00655"></a>00655
<a name="l00656"></a>00656 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can2HdlRcv (<span class="keywordtype">void</span>)
<a name="l00657"></a>00657 {
<a name="l00658"></a>00658
<a name="l00659"></a>00659 }
<a name="l00660"></a>00660
<a name="l00661"></a>00661 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can2HdlWup (<span class="keywordtype">void</span>)
<a name="l00662"></a>00662 {
<a name="l00663"></a>00663
<a name="l00664"></a>00664 }
<a name="l00665"></a>00665
<a name="l00666"></a>00666 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can2HdlErr (<span class="keywordtype">void</span>)
<a name="l00667"></a>00667 {
<a name="l00668"></a>00668
<a name="l00669"></a>00669 }
<a name="l00670"></a>00670
<a name="l00671"></a>00671 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can3HdlTra (<span class="keywordtype">void</span>)
<a name="l00672"></a>00672 {
<a name="l00673"></a>00673
<a name="l00674"></a>00674 }
<a name="l00675"></a>00675
<a name="l00676"></a>00676 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can3HdlRcv (<span class="keywordtype">void</span>)
<a name="l00677"></a>00677 {
<a name="l00678"></a>00678
<a name="l00679"></a>00679 }
<a name="l00680"></a>00680
<a name="l00681"></a>00681 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can3HdlWup (<span class="keywordtype">void</span>)
<a name="l00682"></a>00682 {
<a name="l00683"></a>00683
<a name="l00684"></a>00684 }
<a name="l00685"></a>00685
<a name="l00686"></a>00686 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can3HdlErr (<span class="keywordtype">void</span>)
<a name="l00687"></a>00687 {
<a name="l00688"></a>00688
<a name="l00689"></a>00689 }
<a name="l00690"></a>00690
<a name="l00691"></a>00691 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can4HdlTra (<span class="keywordtype">void</span>)
<a name="l00692"></a>00692 {
<a name="l00693"></a>00693
<a name="l00694"></a>00694 }
<a name="l00695"></a>00695
<a name="l00696"></a>00696 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can4HdlRcv (<span class="keywordtype">void</span>)
<a name="l00697"></a>00697 {
<a name="l00698"></a>00698
<a name="l00699"></a>00699 }
<a name="l00700"></a>00700
<a name="l00701"></a>00701 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can4HdlWup (<span class="keywordtype">void</span>)
<a name="l00702"></a>00702 {
<a name="l00703"></a>00703
<a name="l00704"></a>00704 }
<a name="l00705"></a>00705
<a name="l00706"></a>00706 <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#445500277ba0e363873b34cffc015745">__attribute__</a>((interrupt)) can4HdlErr (<span class="keywordtype">void</span>)
<a name="l00707"></a>00707 {
<a name="l00708"></a>00708
<a name="l00709"></a>00709 }
<a name="l00710"></a>00710
<a name="l00711"></a>00711
<a name="l00712"></a>00712
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:38 2007 for CanFestival by
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