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<a class="el" href="dir_65dd258ff9b9ef4cd7bd0d22f5e58dba.html">drivers</a> » <a class="el" href="dir_2d4bff0e9225ea81eb175e376cee668f.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#46f4d451cd14848ea37fa13729a473ef">00023</a> <span class="preprocessor">#define DEBUG_WAR_CONSOLE_ON</span>
<a name="l00024"></a><a class="code" href="canOpenDriver_8c.html#4352bb532729a0ef6576e3b8a8409bbc">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#e815437e20b35852b381f41b5b3feca3">NB_LINE_CAN</a>][<a class="code" href="candriver_8h.html#12ae319363148d264184861475351e3c">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#e815437e20b35852b381f41b5b3feca3">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#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> last_time_set = <a class="code" href="hcs12_2applicfg_8h.html#9b8b68779cc690a9f699155420328d0f">TIMEVAL_MAX</a>;
<a name="l00049"></a>00049 <span class="keyword">static</span> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">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#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="canOpenDriver_8c.html#e9619ed76d03ed5c17ec07267bb61f4a">f_can_receive</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">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#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> notused, <a class="code" href="structMessage.html">Message</a> *m);
<a name="l00054"></a><a class="code" href="interrupt_8h.html#65ceb3acb7311d7c20d54038d2ef2226">00054</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#9d1d38ef63c4a40d5e7eabf64f332590">__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#7996006c628d2df030b9684d7a86acd1">setTimer</a>(<a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> value)
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 <a class="code" href="portsaccess_8h.html#211ed1d0a2f0d5a31298728d8241fe08">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#9860b324bb905089251d8dcc3d8f2549">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#75efe30105165658d05d871255f8c0a2">00066</a> <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> <a class="code" href="canOpenDriver_8c.html#38b23a8ee3748bca3415967b90df1e15">getElapsedTime</a>()
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 <span class="keywordflow">return</span> (<a class="code" href="portsaccess_8h.html#211ed1d0a2f0d5a31298728d8241fe08">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#9860b324bb905089251d8dcc3d8f2549">TC4H</a>) > last_time_set ? <a class="code" href="portsaccess_8h.html#211ed1d0a2f0d5a31298728d8241fe08">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#9860b324bb905089251d8dcc3d8f2549">TC4H</a>) - last_time_set : last_time_set - <a class="code" href="portsaccess_8h.html#211ed1d0a2f0d5a31298728d8241fe08">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#bf5784dcd21f08822e6c0f39d363e77c">00073</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#bf5784dcd21f08822e6c0f39d363e77c">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#607bd2711b85a87fce51334bb36bad1a">00079</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#607bd2711b85a87fce51334bb36bad1a">initTimer</a>(<span class="keywordtype">void</span>)
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 <a class="code" href="interrupt_8c.html#a86d31d31831be20de69b1533b4acc5b">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#10dcf7ac56e4b31bedd1cc5d1eec4b21">TIOS</a>) |= 0x10; <span class="comment">// Canal 4 in output</span>
<a name="l00085"></a>00085 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#5aefe8417e558849ca0bd872719595ea">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#d08c02a4207f45c760524ed2868d273c">TIE</a>) |= 0x10; <span class="comment">// allow interruption channel 4</span>
<a name="l00087"></a>00087 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#f085a1593205cd8aad540234c4349ed3">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#12badb6c654787da20118f8926ea18a1">TSCR1</a>) |= 0x80; <span class="comment">// Start timer</span>
<a name="l00092"></a>00092 <a class="code" href="interrupt_8c.html#8704c06a2936e68f7c25dc0c1d335cca">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#9d1d38ef63c4a40d5e7eabf64f332590">__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#a86d31d31831be20de69b1533b4acc5b">lock</a>();
<a name="l00099"></a>00099 last_time_set = <a class="code" href="portsaccess_8h.html#211ed1d0a2f0d5a31298728d8241fe08">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#9860b324bb905089251d8dcc3d8f2549">TC4H</a>);
<a name="l00100"></a>00100 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#e52a2610689d54547a1a4dff635add96">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#7a5a515821c2e4fb2f66bac72389da00">TimeDispatch</a>();
<a name="l00110"></a>00110 <a class="code" href="interrupt_8c.html#8704c06a2936e68f7c25dc0c1d335cca">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#7baae9f015325b2f367c53dacb4b4f96">00115</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#7baae9f015325b2f367c53dacb4b4f96">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#211ed1d0a2f0d5a31298728d8241fe08">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#267a2608a7a02aab01b73a5c28a98a28">SCI0</a> + <a class="code" href="ports__def_8h.html#3d254a2eaa98dce94e4be4fae021e51d">SCIBDH</a>) =
<a name="l00118"></a>00118 ((1000000 / <a class="code" href="hcs12_2applicfg_8h.html#80430587549835e289ba2ca68874ea1d">SERIAL_SCI0_BAUD_RATE</a>) * <a class="code" href="hcs12_2applicfg_8h.html#c57c66da4348fe0a7bb06bbe32a0ab42">BUS_CLOCK</a>) >> 4 ;
<a name="l00119"></a>00119 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#267a2608a7a02aab01b73a5c28a98a28">SCI0</a> + <a class="code" href="ports__def_8h.html#3c40fdd2d2a0ddb828a2ea65bb6b7267">SCICR1</a>) = 0; <span class="comment">// format 8N1</span>
<a name="l00120"></a>00120 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#267a2608a7a02aab01b73a5c28a98a28">SCI0</a> + <a class="code" href="ports__def_8h.html#e89dad44646d6b62e5c2a11d24fe59d5">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#ceb141ec8f50c63115477e5bc2d009d3">00124</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#ceb141ec8f50c63115477e5bc2d009d3">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#211ed1d0a2f0d5a31298728d8241fe08">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#2b66652d91401d80103a23395c0342d2">SCI1</a> + <a class="code" href="ports__def_8h.html#3d254a2eaa98dce94e4be4fae021e51d">SCIBDH</a>) =
<a name="l00127"></a>00127 ((1000000 / <a class="code" href="hcs12_2applicfg_8h.html#4f40623ef7b0e329b8cb6346cf5bffd5">SERIAL_SCI1_BAUD_RATE</a>) * <a class="code" href="hcs12_2applicfg_8h.html#c57c66da4348fe0a7bb06bbe32a0ab42">BUS_CLOCK</a>) >> 4 ;
<a name="l00128"></a>00128 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#2b66652d91401d80103a23395c0342d2">SCI1</a> + <a class="code" href="ports__def_8h.html#3c40fdd2d2a0ddb828a2ea65bb6b7267">SCICR1</a>) = 0; <span class="comment">// format 8N1</span>
<a name="l00129"></a>00129 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#2b66652d91401d80103a23395c0342d2">SCI1</a> + <a class="code" href="ports__def_8h.html#e89dad44646d6b62e5c2a11d24fe59d5">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#a6dee6d8af8f3db1ce33d48ec4f2d8d0">00135</a> <a class="code" href="canOpenDriver_8c.html#a6dee6d8af8f3db1ce33d48ec4f2d8d0">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#c25a324480b0d958f256e3844f839ce8">00162</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#c25a324480b0d958f256e3844f839ce8">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(sci + <a class="code" href="ports__def_8h.html#a167664f6e660189c51e8a3a0e9911b8">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(sci + <a class="code" href="ports__def_8h.html#d009df9b899e4dbf8b4ccf4047f8c640">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(sci + <a class="code" href="ports__def_8h.html#a167664f6e660189c51e8a3a0e9911b8">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(sci + <a class="code" href="ports__def_8h.html#d009df9b899e4dbf8b4ccf4047f8c640">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#0f465bf86b85e2517730092ad24286b1">00179</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#0f465bf86b85e2517730092ad24286b1">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#a6dee6d8af8f3db1ce33d48ec4f2d8d0">hex_convert</a>(strNbr, nbr, lastCar);
<a name="l00183"></a>00183 <a class="code" href="canOpenDriver_8c.html#c25a324480b0d958f256e3844f839ce8">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#dc9e47be663af9d60b9844df30cd2057">00188</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#dc9e47be663af9d60b9844df30cd2057">initPLL</a>(<span class="keywordtype">void</span>)
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#a190d61f03a33a507491451d8eb5c3b4">CLKSEL</a>) &= ~0x80; <span class="comment">// unselect the PLL</span>
<a name="l00191"></a>00191 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#d591bb30e5c21025462a2d7f989da8b6">PLLCTL</a>) |= 0X60; <span class="comment">// PLL ON and bandwidth auto</span>
<a name="l00192"></a>00192 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#8d25c49ab657533d37a94ae9148e2d63">SYNR</a>) = 0x02;
<a name="l00193"></a>00193 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#a96e21600d37d8201fddd2ea6c1cfb08">REFDV</a>) = 0x01;
<a name="l00194"></a>00194 <span class="keywordflow">while</span> ((<a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#9425e8b4574e2ff95db17da35853541d">CRGFLG</a>) & 0x08) == 0);
<a name="l00195"></a>00195 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#a190d61f03a33a507491451d8eb5c3b4">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#be976c0f99ffecc3b40fbbeefdc53578">00199</a> <span class="keywordtype">void</span> <a class="code" href="canOpenDriver_8c.html#be976c0f99ffecc3b40fbbeefdc53578">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#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3620, <span class="stringliteral">"Use the PLL "</span>, 0);
<a name="l00204"></a>00204 <a class="code" href="canOpenDriver_8c.html#dc9e47be663af9d60b9844df30cd2057">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#9579ae456a8ee9cee1ae777a4a0ee3ac">00210</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#9579ae456a8ee9cee1ae777a4a0ee3ac">canAddIdToFilter</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nFilter, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> fiMsb;
<a name="l00213"></a>00213 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> fiLsb;
<a name="l00214"></a>00214 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> idMsb = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>) (<span class="keywordtype">id</span> >> 3);
<a name="l00215"></a>00215 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> idLsb = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">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#101ff5d32d811e558e601083c84989fc">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#d5dffc889e623fbc4f635e69276cdf20">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#3dbef24df28b286c0f082f1d13acb7dd">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#797d179578bfa2f8b1c1a935eaf5623d">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#b604e6ea87ce0bfaaa6a086b5721d002">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#f82e4a8ab50e2d2f349e362a76ccb2e1">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#211ed1d0a2f0d5a31298728d8241fe08">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter) = idMsb;
<a name="l00238"></a>00238 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter) ^ idMsb;
<a name="l00241"></a>00241 fiLsb = <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter + 4) = <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter + 4) | fiMsb;
<a name="l00244"></a>00244 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter + 5) = <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter + 5) | fiLsb;
<a name="l00245"></a>00245 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">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#7fd72f38fd09b6e79a50ac32d8cc0629">00250</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#7fd72f38fd09b6e79a50ac32d8cc0629">canChangeFilter</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#101ff5d32d811e558e601083c84989fc">canTestInitMode</a>(adrCAN)) {
<a name="l00254"></a>00254 <a class="code" href="canOpenDriver_8c.html#ce25028cdf7de7a16b2762cb3846ddd4">canSleepMode</a>(adrCAN);
<a name="l00255"></a>00255 <a class="code" href="canOpenDriver_8c.html#daff5eaa25245bff93a854283e2e0cb2">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#437cf0f7cee6930bc4d6f4743999e4f2">canInitFilter</a>(adrCAN, fi);
<a name="l00259"></a>00259 <a class="code" href="canOpenDriver_8c.html#a619f965cc88e08dec28de4833bfe50a">canInitModeQ</a>(adrCAN);
<a name="l00260"></a>00260 <a class="code" href="canOpenDriver_8c.html#e147ca22aacafc3fa806f32f3f3577cb">canSleepModeQ</a>(adrCAN);
<a name="l00261"></a>00261 <a class="code" href="canOpenDriver_8c.html#946843a5bc1823243b5120d57785f0ec">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#bf55daf34be2503cf0414e15abf2c69c">00266</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#bf55daf34be2503cf0414e15abf2c69c">canEnable</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#dc473fd8956dd241e70312f35c6d8a6a">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#2096ee596caa9bc31be5e100b383b9f8">00277</a> <span class="keywordtype">char</span> <a class="code" href="can__peak__win32_8c.html#cd636af61207be14f372fcbe0785f59d">canInit</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#101ff5d32d811e558e601083c84989fc">canTestInitMode</a>(adrCAN)) {
<a name="l00281"></a>00281 <a class="code" href="canOpenDriver_8c.html#ce25028cdf7de7a16b2762cb3846ddd4">canSleepMode</a>(adrCAN);
<a name="l00282"></a>00282 <a class="code" href="canOpenDriver_8c.html#daff5eaa25245bff93a854283e2e0cb2">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#bf55daf34be2503cf0414e15abf2c69c">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#83ad789afb5a949c85f8998b40d651c3">canInitClock</a>(adrCAN, bi.<a class="code" href="structcanBusInit.html#3416d1e391b6ced43c74c1a28d473b7c">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#dc473fd8956dd241e70312f35c6d8a6a">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#dc473fd8956dd241e70312f35c6d8a6a">CANCTL1</a>) = (bi.<a class="code" href="structcanBusInit.html#94b6d65fade44b397c1e48e658e7bffe">cane</a> << 7) | (bi.<a class="code" href="structcanBusInit.html#c8a539634dabd6c10519a59480cb250c">loopb</a> << 5 ) |
<a name="l00294"></a>00294 (bi.<a class="code" href="structcanBusInit.html#3576034b380091818fc88fb22aa408f2">listen</a> << 4) | (bi.<a class="code" href="structcanBusInit.html#acf29b4229abadb3f5ab7a6524b406e7">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#437cf0f7cee6930bc4d6f4743999e4f2">canInitFilter</a>(adrCAN, bi.<a class="code" href="structcanBusInit.html#3311c0959bc93dedb5bd13fb653eab7c">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#a619f965cc88e08dec28de4833bfe50a">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">CANCTL0</a>) = (bi.<a class="code" href="structcanBusInit.html#e55fa49debf408530d0e02e046c78fc2">cswai</a> << 5) | (bi.<a class="code" href="structcanBusInit.html#b2d867e2d4c69932e82294affc065529">time</a> << 3);
<a name="l00306"></a>00306 <a class="code" href="canOpenDriver_8c.html#946843a5bc1823243b5120d57785f0ec">canSetInterrupt</a>(adrCAN);
<a name="l00307"></a>00307 <a class="code" href="canOpenDriver_8c.html#a619f965cc88e08dec28de4833bfe50a">canInitModeQ</a>(adrCAN); <span class="comment">/* Leave the init mode */</span>
<a name="l00308"></a>00308 <a class="code" href="canOpenDriver_8c.html#e147ca22aacafc3fa806f32f3f3577cb">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#83ad789afb5a949c85f8998b40d651c3">00313</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#83ad789afb5a949c85f8998b40d651c3">canInitClock</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#101ff5d32d811e558e601083c84989fc">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#d5dffc889e623fbc4f635e69276cdf20">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#97e1ad879dbd38f6726eacb704121930">clksrc</a> = clk.<a class="code" href="structcanBusTime.html#97e1ad879dbd38f6726eacb704121930">clksrc</a> << 6;
<a name="l00322"></a>00322 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#dc473fd8956dd241e70312f35c6d8a6a">CANCTL1</a>) &= 0xBF;
<a name="l00323"></a>00323 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#dc473fd8956dd241e70312f35c6d8a6a">CANCTL1</a>) |= clk.<a class="code" href="structcanBusTime.html#97e1ad879dbd38f6726eacb704121930">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#337499c2d4f4e1a0d5aceee15f608661">CANBTR0</a>) = 0x00; <span class="comment">/* Clear before changes */</span>
<a name="l00326"></a>00326 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#337499c2d4f4e1a0d5aceee15f608661">CANBTR0</a>) = (clk.<a class="code" href="structcanBusTime.html#71915957851eb44a3dbdb5fb0cad45ff">sjw</a> << 6) | (clk.<a class="code" href="structcanBusTime.html#f0662795b937b5c54451aa845a980c0d">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#5d6a3951845c1580f5e949c9a0d125f9">CANBTR1</a>) = 0x00; <span class="comment">/* Clear before changes */</span>
<a name="l00329"></a>00329 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#5d6a3951845c1580f5e949c9a0d125f9">CANBTR1</a>) = (clk.<a class="code" href="structcanBusTime.html#14a31c3c0d6d2ea48ce1c0d00db2724c">samp</a> << 7) | (clk.<a class="code" href="structcanBusTime.html#1dfb7aa14ba56f5a73715f4d8c6befc9">tseg2</a> << 4) |
<a name="l00330"></a>00330 (clk.<a class="code" href="structcanBusTime.html#6187a598266f497d7ecd897af3fd0139">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#d5f0fc801fc795c7911fb7dc4f403428">00335</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#d5f0fc801fc795c7911fb7dc4f403428">canInit1Filter</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nFilter, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> ar, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#101ff5d32d811e558e601083c84989fc">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#d5dffc889e623fbc4f635e69276cdf20">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#3dbef24df28b286c0f082f1d13acb7dd">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#797d179578bfa2f8b1c1a935eaf5623d">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#b604e6ea87ce0bfaaa6a086b5721d002">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#f82e4a8ab50e2d2f349e362a76ccb2e1">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter) = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>) (ar >> 8);
<a name="l00357"></a>00357 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter + 1) = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>) (ar);
<a name="l00358"></a>00358 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter + 4) = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>) (mr >> 8);
<a name="l00359"></a>00359 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + nFilter + 5) = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">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#437cf0f7cee6930bc4d6f4743999e4f2">00364</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#437cf0f7cee6930bc4d6f4743999e4f2">canInitFilter</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#101ff5d32d811e558e601083c84989fc">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#d5dffc889e623fbc4f635e69276cdf20">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#a6f1271f7cb1a571455325bd5c1faf75">CANIDAC</a>) = fi.<a class="code" href="structcanBusFilterInit.html#5da0d810ad7e2e35a34737ba969caf39">idam</a> << 4;
<a name="l00372"></a>00372 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#3dbef24df28b286c0f082f1d13acb7dd">CANIDAR0</a>) = fi.<a class="code" href="structcanBusFilterInit.html#f999163cff995179c6ff8d24e0278fac">canidar0</a>;
<a name="l00373"></a>00373 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f25689a480f5005ad77df08c267e74a5">CANIDMR0</a>) = fi.<a class="code" href="structcanBusFilterInit.html#02ae05657cd22560f8a41a491f57d204">canidmr0</a>;
<a name="l00374"></a>00374 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#477013d5cec2a66850e15832e298d0f4">CANIDAR1</a>) = fi.<a class="code" href="structcanBusFilterInit.html#08dcbd19479f3a54e2a42a3d9ec9a255">canidar1</a>;
<a name="l00375"></a>00375 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#6de09487a770c9cb36b6faa478cf7f1e">CANIDMR1</a>) = fi.<a class="code" href="structcanBusFilterInit.html#ced1e6e7a19564d3ea5228bd61b6f235">canidmr1</a>;
<a name="l00376"></a>00376 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#797d179578bfa2f8b1c1a935eaf5623d">CANIDAR2</a>) = fi.<a class="code" href="structcanBusFilterInit.html#c124ee6cf0d365b7b4a36b60a7527191">canidar2</a>;
<a name="l00377"></a>00377 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#1cbb6468639d9ec26af7cc87ff4c450f">CANIDMR2</a>) = fi.<a class="code" href="structcanBusFilterInit.html#49dc105feb71df50a0af58069789f886">canidmr2</a>;
<a name="l00378"></a>00378 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#7ce2e5be60fad5bee375577ed386d2f7">CANIDAR3</a>) = fi.<a class="code" href="structcanBusFilterInit.html#c72887349184517379bb501c5f554c96">canidar3</a>;
<a name="l00379"></a>00379 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#1595d4498f6fb3c1ca694893a635c125">CANIDMR3</a>) = fi.<a class="code" href="structcanBusFilterInit.html#08039c51e6ced8e7f58de19092126158">canidmr3</a>;
<a name="l00380"></a>00380 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#b604e6ea87ce0bfaaa6a086b5721d002">CANIDAR4</a>) = fi.<a class="code" href="structcanBusFilterInit.html#464b3b7f0e07f2ffc00becab1455a427">canidar4</a>;
<a name="l00381"></a>00381 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#9bcdc0123f160670c8710d3b5d2b8db2">CANIDMR4</a>) = fi.<a class="code" href="structcanBusFilterInit.html#b9a81efcfccd87a948d62bd769b26b61">canidmr4</a>;
<a name="l00382"></a>00382 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#a3c7bd30f946d41e56ffd8f96da85801">CANIDAR5</a>) = fi.<a class="code" href="structcanBusFilterInit.html#1279a3436781a76dabb1258b53a83e6c">canidar5</a>;
<a name="l00383"></a>00383 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#c3cbf3300f1dcfde7331ddcf4da9e007">CANIDMR5</a>) = fi.<a class="code" href="structcanBusFilterInit.html#afce7265d09631e57c049f90437f5708">canidmr5</a>;
<a name="l00384"></a>00384 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f82e4a8ab50e2d2f349e362a76ccb2e1">CANIDAR6</a>) = fi.<a class="code" href="structcanBusFilterInit.html#3bb15152e7d9411fa8af42e856901670">canidar6</a>;
<a name="l00385"></a>00385 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#c6551f48a876990b4a28604da2750bc9">CANIDMR6</a>) = fi.<a class="code" href="structcanBusFilterInit.html#544b671460d71c1cdf601cc5c357d43c">canidmr6</a>;
<a name="l00386"></a>00386 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#523f1b8705f414b52fda63a0676f0418">CANIDAR7</a>) = fi.<a class="code" href="structcanBusFilterInit.html#10efad1ba33abe4fbc25f36abc169364">canidar7</a>;
<a name="l00387"></a>00387 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#a7fbd3471aa343d3222e8b94f3192d8c">CANIDMR7</a>) = fi.<a class="code" href="structcanBusFilterInit.html#56f25088d33f0cb1c0e305683c8235e1">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#daff5eaa25245bff93a854283e2e0cb2">00392</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#daff5eaa25245bff93a854283e2e0cb2">canInitMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN)
<a name="l00393"></a>00393 {
<a name="l00394"></a>00394 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">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#101ff5d32d811e558e601083c84989fc">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#a619f965cc88e08dec28de4833bfe50a">00401</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#a619f965cc88e08dec28de4833bfe50a">canInitModeQ</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN)
<a name="l00402"></a>00402 {
<a name="l00403"></a>00403 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">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#101ff5d32d811e558e601083c84989fc">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#cd855997446329e6b6338fe8644edf11">00410</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#cd855997446329e6b6338fe8644edf11">canMsgTransmit</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> cantflg;
<a name="l00414"></a>00414 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#0d4bda8f38a51aa06ed33a6d4979b628">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#d5dffc889e623fbc4f635e69276cdf20">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#0816c00dc3a3c061ca02f33694066bae">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#0a413814b056563ac46e1ce4675ea4bb">CANTRSID</a>) = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)(msg.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> >> 3);
<a name="l00426"></a>00426 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#0a413814b056563ac46e1ce4675ea4bb">CANTRSID</a> + 1) = (<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>)((msg.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> << 5)|
<a name="l00427"></a>00427 (msg.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> << 4));
<a name="l00428"></a>00428
<a name="l00429"></a>00429 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#d8f0f7ccd5cf8481e80c3b47f31fc5be">CANTRSLEN</a>) = msg.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#d93caa5ad078e519d8a6eec3a02e8701">CANTRSPRI</a>) = <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#0a413814b056563ac46e1ce4675ea4bb">CANTRSID</a>);
<a name="l00432"></a>00432 <span class="keywordflow">for</span> (i = 0 ; i < msg.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> ; i++) {
<a name="l00433"></a>00433 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#500debcf90a527e67ef992a0c9bd2d60">CANTRSDTA</a> + i) = msg.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#0816c00dc3a3c061ca02f33694066bae">CANTBSEL</a>);<span class="comment">/* to know which buf is selected */</span>
<a name="l00437"></a>00437 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#0816c00dc3a3c061ca02f33694066bae">CANTBSEL</a>) = 0x00;
<a name="l00438"></a>00438 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#0d4bda8f38a51aa06ed33a6d4979b628">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#946843a5bc1823243b5120d57785f0ec">00445</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#946843a5bc1823243b5120d57785f0ec">canSetInterrupt</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN)
<a name="l00446"></a>00446 {
<a name="l00447"></a>00447 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#5afdf13c92c512f02a1051a5a6e18825">CANRIER</a>) = 0X01; <span class="comment">/* Allow interruptions on receive */</span>
<a name="l00448"></a>00448 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#4394bb307317dde2322fcc2103455a99">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#ce25028cdf7de7a16b2762cb3846ddd4">00452</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#ce25028cdf7de7a16b2762cb3846ddd4">canSleepMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> adrCAN)
<a name="l00453"></a>00453 {
<a name="l00454"></a>00454 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">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#008cc4a90d79b5ef1169d32a83947142">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#e147ca22aacafc3fa806f32f3f3577cb">00466</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#e147ca22aacafc3fa806f32f3f3577cb">canSleepModeQ</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#101ff5d32d811e558e601083c84989fc">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#d5dffc889e623fbc4f635e69276cdf20">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">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#008cc4a90d79b5ef1169d32a83947142">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#bb8b891e76257224f7c2e20d273c72a5">00480</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#bb8b891e76257224f7c2e20d273c72a5">canSleepWupMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#101ff5d32d811e558e601083c84989fc">canTestInitMode</a>(adrCAN)) {
<a name="l00483"></a>00483 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">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#008cc4a90d79b5ef1169d32a83947142">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#101ff5d32d811e558e601083c84989fc">00493</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#101ff5d32d811e558e601083c84989fc">canTestInitMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#dc473fd8956dd241e70312f35c6d8a6a">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#008cc4a90d79b5ef1169d32a83947142">00499</a> <span class="keywordtype">char</span> <a class="code" href="canOpenDriver_8c.html#008cc4a90d79b5ef1169d32a83947142">canTestSleepMode</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(adrCAN + <a class="code" href="ports__def_8h.html#dc473fd8956dd241e70312f35c6d8a6a">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#fab789b9b2ee0ab6c6f27e67d6c03661">00505</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">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#cd855997446329e6b6338fe8644edf11">canMsgTransmit</a>(<a class="code" href="candriver_8h.html#b790d6b6969e61da0bab8965d9b2a59e">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#e9619ed76d03ed5c17ec07267bb61f4a">00513</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="canOpenDriver_8c.html#e9619ed76d03ed5c17ec07267bb61f4a">f_can_receive</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">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#c2e754635928189b98cf3f5b7e6dbffb">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#b790d6b6969e61da0bab8965d9b2a59e">CANOPEN_LINE_NUMBER_USED</a>) {
<a name="l00518"></a>00518 <span class="keywordflow">case</span> <a class="code" href="ports__def_8h.html#60f7f1ec9cb65946a45667f0ee19df87">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#08dc9c08183160c51923e1f6fca78471">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#c4d34af5dc6d4734591c6add92b92bd9">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#b9cead8784df02e54b8f0b93efc68d20">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#b2e2f5ff1a49a5f6718493b39d11df3d">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#12ae319363148d264184861475351e3c">MAX_STACK_MSG_RCV</a> - 1))
<a name="l00531"></a>00531 ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#a276e252993440068b1bc44faaa53fd7">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#a276e252993440068b1bc44faaa53fd7">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#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = stackMsgRcv[j][ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#a276e252993440068b1bc44faaa53fd7">r</a>].<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a>;
<a name="l00537"></a>00537 msgRcv-><a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = stackMsgRcv[j][ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#a276e252993440068b1bc44faaa53fd7">r</a>].<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a>;
<a name="l00538"></a>00538 msgRcv-><a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = stackMsgRcv[j][ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#a276e252993440068b1bc44faaa53fd7">r</a>].<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">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#a276e252993440068b1bc44faaa53fd7">r</a>].<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> ; i++)
<a name="l00540"></a>00540 msgRcv-><a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[i] = stackMsgRcv[j][ptrMsgRcv[j].<a class="code" href="structt__pointerStack.html#a276e252993440068b1bc44faaa53fd7">r</a>].<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i;
<a name="l00556"></a>00556 <a class="code" href="interrupt_8c.html#a86d31d31831be20de69b1533b4acc5b">lock</a>();
<a name="l00557"></a>00557 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">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#c2e754635928189b98cf3f5b7e6dbffb">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#12ae319363148d264184861475351e3c">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#b07f5d836a93a8aabc84ce62b55d8aeb">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#d5dffc889e623fbc4f635e69276cdf20">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#b07f5d836a93a8aabc84ce62b55d8aeb">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#b07f5d836a93a8aabc84ce62b55d8aeb">w</a>].<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = <a class="code" href="portsaccess_8h.html#211ed1d0a2f0d5a31298728d8241fe08">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#60f7f1ec9cb65946a45667f0ee19df87">CAN0</a> + <a class="code" href="ports__def_8h.html#e6fccb26506e93da78ca409166ba984f">CANRCVID</a>) >> 5;
<a name="l00576"></a>00576 stackMsgRcv[0][ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#b07f5d836a93a8aabc84ce62b55d8aeb">w</a>].<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#60f7f1ec9cb65946a45667f0ee19df87">CAN0</a> + <a class="code" href="ports__def_8h.html#b150ea9c99a1703e1de51fa998809724">CANRCVLEN</a>) & 0x0F;
<a name="l00577"></a>00577 stackMsgRcv[0][ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#b07f5d836a93a8aabc84ce62b55d8aeb">w</a>].<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = (<a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#60f7f1ec9cb65946a45667f0ee19df87">CAN0</a> + <a class="code" href="ports__def_8h.html#e6fccb26506e93da78ca409166ba984f">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#b07f5d836a93a8aabc84ce62b55d8aeb">w</a>].<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> ; i++)
<a name="l00579"></a>00579 stackMsgRcv[0][ptrMsgRcv[0].w].data[i] = <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#60f7f1ec9cb65946a45667f0ee19df87">CAN0</a> + <a class="code" href="ports__def_8h.html#1e1c356434eb7ac633c5926fc9460ee7">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#60f7f1ec9cb65946a45667f0ee19df87">CAN0</a> + <a class="code" href="ports__def_8h.html#d8589b8a3435c835c3eec0e7917840e0">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#60f7f1ec9cb65946a45667f0ee19df87">CAN0</a> + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">CANCTL0</a>) |= 0x80;
<a name="l00587"></a>00587 <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#fce1812cd48acadd667a2f8f27f2ee8f">PORTB</a>) |= 0x40; <span class="comment">// led 6 port B : OFF</span>
<a name="l00588"></a>00588 <a class="code" href="interrupt_8c.html#8704c06a2936e68f7c25dc0c1d335cca">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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i;
<a name="l00609"></a>00609 <a class="code" href="interrupt_8c.html#a86d31d31831be20de69b1533b4acc5b">lock</a>();
<a name="l00610"></a>00610 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">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#12ae319363148d264184861475351e3c">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#b07f5d836a93a8aabc84ce62b55d8aeb">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#d5dffc889e623fbc4f635e69276cdf20">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#b07f5d836a93a8aabc84ce62b55d8aeb">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#b07f5d836a93a8aabc84ce62b55d8aeb">w</a>].<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = <a class="code" href="portsaccess_8h.html#211ed1d0a2f0d5a31298728d8241fe08">IO_PORTS_16</a>(<a class="code" href="ports__def_8h.html#08dc9c08183160c51923e1f6fca78471">CAN1</a> + <a class="code" href="ports__def_8h.html#e6fccb26506e93da78ca409166ba984f">CANRCVID</a>) >> 5;
<a name="l00627"></a>00627 stackMsgRcv[1][ptrMsgRcv[1].<a class="code" href="structt__pointerStack.html#b07f5d836a93a8aabc84ce62b55d8aeb">w</a>].<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#08dc9c08183160c51923e1f6fca78471">CAN1</a> + <a class="code" href="ports__def_8h.html#b150ea9c99a1703e1de51fa998809724">CANRCVLEN</a>) & 0x0F;
<a name="l00628"></a>00628 stackMsgRcv[0][ptrMsgRcv[0].<a class="code" href="structt__pointerStack.html#b07f5d836a93a8aabc84ce62b55d8aeb">w</a>].<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = (<a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#08dc9c08183160c51923e1f6fca78471">CAN1</a> + <a class="code" href="ports__def_8h.html#e6fccb26506e93da78ca409166ba984f">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#b07f5d836a93a8aabc84ce62b55d8aeb">w</a>].<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> ; i++)
<a name="l00630"></a>00630 stackMsgRcv[1][ptrMsgRcv[1].w].data[i] = <a class="code" href="portsaccess_8h.html#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#08dc9c08183160c51923e1f6fca78471">CAN1</a> + <a class="code" href="ports__def_8h.html#1e1c356434eb7ac633c5926fc9460ee7">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#08dc9c08183160c51923e1f6fca78471">CAN1</a> + <a class="code" href="ports__def_8h.html#d8589b8a3435c835c3eec0e7917840e0">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#404819ab4502022c4943f130d7756ab8">IO_PORTS_8</a>(<a class="code" href="ports__def_8h.html#08dc9c08183160c51923e1f6fca78471">CAN1</a> + <a class="code" href="ports__def_8h.html#f9d979a53ab302013c59012f8d07c32d">CANCTL0</a>) |= 0x80;
<a name="l00638"></a>00638 <a class="code" href="interrupt_8c.html#8704c06a2936e68f7c25dc0c1d335cca">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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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#9d1d38ef63c4a40d5e7eabf64f332590">__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
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