etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #define DEBUG_WAR_CONSOLE_ON
etisserant@0: #define DEBUG_ERR_CONSOLE_ON
etisserant@0: 
etisserant@0: #include <stddef.h> /* for NULL */
etisserant@0: 
etisserant@0: #include "../include/hcs12/asm-m68hc12/portsaccess.h"
etisserant@0: #include "../include/hcs12/asm-m68hc12/ports_def.h"
etisserant@0: #include "../include/hcs12/asm-m68hc12/ports.h"
dejoigny@7: #include "../include/data.h"
etisserant@0: #include "../include/hcs12/applicfg.h"
etisserant@0: #include "../include/hcs12/candriver.h"
etisserant@0: #include "../include/hcs12/interrupt.h"
etisserant@0: #include "../include/hcs12/canOpenDriver.h"
etisserant@0: #include "../include/can.h"
etisserant@0: #include "../include/objdictdef.h"
etisserant@0: #include "../include/timer.h"
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: volatile static Message stackMsgRcv[NB_LINE_CAN][MAX_STACK_MSG_RCV]; 
etisserant@0: volatile static t_pointerStack ptrMsgRcv[NB_LINE_CAN];
etisserant@0:  
etisserant@0: volatile static TIMEVAL last_time_set = TIMEVAL_MAX;
etisserant@0: static UNS8 timer_is_set = 0;
etisserant@0: 
etisserant@0: /* Prototypes */
etisserant@0: UNS8 f_can_receive(UNS8 notused, Message *m);
etisserant@0: UNS8 canSend(UNS8 notused, Message *m);
etisserant@0: void __attribute__((interrupt)) timer4Hdl (void);
etisserant@0: 
etisserant@0: #define max(a,b) a>b?a:b
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void setTimer(TIMEVAL value)
etisserant@0: {
etisserant@0:   IO_PORTS_16(TC4H) += value;
etisserant@0:   timer_is_set = 1; 
etisserant@0: }
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: TIMEVAL getElapsedTime()
etisserant@0: {
etisserant@0:   return (IO_PORTS_16(TC4H) > last_time_set ? IO_PORTS_16(TC4H) - last_time_set : last_time_set - IO_PORTS_16(TC4H));
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void resetTimer(void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void initTimer(void)
etisserant@0: {
etisserant@0:   lock();   // Inhibition of interruptions
etisserant@0:  
etisserant@0:   // Configure the timer channel 4
etisserant@0:   IO_PORTS_8(TIOS) |= 0x10; // Canal 4 in output
etisserant@0:   IO_PORTS_8(TCTL1) &= ~(0x01 + 0x02); // Canal 4 unconnected to pin output
etisserant@0:   IO_PORTS_8(TIE) |= 0x10; // allow interruption channel 4
etisserant@0:   IO_PORTS_8(TSCR2) |= 0X05; // Pre-scaler = 32 
etisserant@0:                              // If this value is changed, change must be done also
etisserant@0:                              // in void __attribute__((interrupt)) timer4Hdl (void)
etisserant@0: 
etisserant@0:   IO_PORTS_8(TSCR1) |= 0x80; // Start timer
etisserant@0:   unlock(); // Allow interruptions
etisserant@0: }
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void __attribute__((interrupt)) timer4Hdl (void)
etisserant@0: {
etisserant@0:   lock();
etisserant@0:   last_time_set = IO_PORTS_16(TC4H);
etisserant@0:   IO_PORTS_8(TFLG1) = 0x10; // RAZ flag interruption timer channel 4
etisserant@0:   // Compute the next event : When the timer reach the value of TC4, an interrupt is
etisserant@0:   // started 
etisserant@0:   //IO_PORTS_16(TC4H) += 250; // To have an interruption every 1 ms
etisserant@0:   //timerInterrupt(0);
etisserant@0:   //MSG_WAR(0xFFFF, "timer4 IT", 0);
etisserant@0:   {
etisserant@0:     //MSG_WAR(0xFFFF, "t4 ", IO_PORTS_16(TCNTH) - IO_PORTS_16(TC4H));
etisserant@0:   }
etisserant@0:   TimeDispatch();
etisserant@0:   unlock();
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void initSCI_0(void)
etisserant@0: {
etisserant@0:   IO_PORTS_16(SCI0 + SCIBDH) = 
etisserant@0:     ((1000000 / SERIAL_SCI0_BAUD_RATE) * BUS_CLOCK) >> 4 ;  
etisserant@0:   IO_PORTS_8(SCI0  + SCICR1) = 0;    // format 8N1
etisserant@0:   IO_PORTS_8(SCI0  + SCICR2) = 0x08; // Transmit enable only
etisserant@0: }
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void initSCI_1(void)
etisserant@0: {
etisserant@0:   IO_PORTS_16(SCI1 + SCIBDH) = 
etisserant@0:     ((1000000 / SERIAL_SCI1_BAUD_RATE) * BUS_CLOCK) >> 4 ;  
etisserant@0:   IO_PORTS_8(SCI1  + SCICR1) = 0;    // format 8N1
etisserant@0:   IO_PORTS_8(SCI1  + SCICR2) = 0x08; // Transmit enable only
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: char *
etisserant@0: hex_convert (char *buf, unsigned long value, char lastCar)
etisserant@0: {
etisserant@0:   //Thanks to Stéphane Carrez for this function
etisserant@0:   char num[32];
etisserant@0:   int pos;
etisserant@0: 
etisserant@0:   *buf++ = '0';
etisserant@0:   *buf++ = 'x';
etisserant@0: 
etisserant@0:   pos = 0;
etisserant@0:   while (value != 0) {
etisserant@0:     char c = value & 0x0F;
etisserant@0:     num[pos++] = "0123456789ABCDEF"[(unsigned) c];
etisserant@0:     value = (value >> 4) & (0x0fffffffL);
etisserant@0:     }
etisserant@0:   if (pos == 0)
etisserant@0:     num[pos++] = '0';
etisserant@0: 
etisserant@0:   while (--pos >= 0)
etisserant@0:     *buf++ = num[pos];
etisserant@0: 
etisserant@0:   *buf++ = lastCar;
etisserant@0:   *buf = 0;
etisserant@0:   return buf;
etisserant@0: }
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void printSCI_str(char sci, const char * str) 
etisserant@0: {
etisserant@0:   char i = 0;
etisserant@0:   
etisserant@0:   while ((*(str + i) != 0) && (i < 0xFF)) {
etisserant@0:     if (*(str + i) == '\n')
etisserant@0:       {
etisserant@0: 	while ((IO_PORTS_8(sci + SCISR1) & 0X80) == 0); // wait if buffer not empty	
etisserant@0: 	IO_PORTS_8(sci + SCIDRL) = 13; // return to start of line
etisserant@0:       }
etisserant@0:     while ((IO_PORTS_8(sci + SCISR1) & 0X80) == 0); // wait if buffer not empty
etisserant@0:     IO_PORTS_8(sci + SCIDRL) = *(str + i++);
etisserant@0:   }
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void printSCI_nbr(char sci, unsigned long nbr, char lastCar) 
etisserant@0: {
etisserant@0:   char strNbr[12];
etisserant@0:   hex_convert(strNbr, nbr, lastCar);
etisserant@0:   printSCI_str(sci, strNbr);
etisserant@0: }
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: // PLL 24 MHZ if quartz on board is 16 MHZ
etisserant@0: void initPLL(void)
etisserant@0: {
etisserant@0:   IO_PORTS_8(CLKSEL) &= ~0x80; // unselect the PLL
etisserant@0:   IO_PORTS_8(PLLCTL) |= 0X60;  // PLL ON and bandwidth auto
etisserant@0:   IO_PORTS_8(SYNR) = 0x02;
etisserant@0:   IO_PORTS_8(REFDV) = 0x01;
etisserant@0:   while ((IO_PORTS_8(CRGFLG) & 0x08) == 0);
etisserant@0:   IO_PORTS_8(CLKSEL) |= 0x80;
etisserant@0: }
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void initHCS12(void)
etisserant@0: {
etisserant@0: 
etisserant@0: # ifdef USE_PLL
etisserant@0:   MSG_WAR(0x3620, "Use the PLL ", 0);
etisserant@0:   initPLL();
etisserant@0: # endif
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canAddIdToFilter(UNS16 adrCAN, UNS8 nFilter, UNS16 id)
etisserant@0: {
etisserant@0:   UNS8 fiMsb;
etisserant@0:   UNS8 fiLsb;
etisserant@0:   UNS8 idMsb = (UNS8) (id >> 3);
etisserant@0:   UNS8 idLsb = (UNS8) (id << 5);
etisserant@0: 
etisserant@0:   if (! canTestInitMode(adrCAN)) {
etisserant@0:     /* Error because not init mode */
etisserant@0:     MSG_WAR(0X2600, "Not in init mode ", 0);
etisserant@0:     return 1;   
etisserant@0:   }
etisserant@0:   switch (nFilter) {
etisserant@0:     case 0:
etisserant@0:       nFilter = CANIDAR0; /* First  bank */
etisserant@0:       break;
etisserant@0:     case 1:
etisserant@0:       nFilter = CANIDAR2; /* First  bank */
etisserant@0:       break;
etisserant@0:     case 2:
etisserant@0:       nFilter = CANIDAR4; /* Second bank */
etisserant@0:       break;
etisserant@0:     case 3:
etisserant@0:       nFilter = CANIDAR6; /* Second bank */   
etisserant@0:   }
etisserant@0:   if (! IO_PORTS_16(adrCAN + nFilter)) {
etisserant@0:     /* if CANIDARx = 0 */
etisserant@0:     IO_PORTS_8(adrCAN + nFilter) = idMsb;
etisserant@0:     IO_PORTS_8(adrCAN + nFilter + 1) = idLsb;
etisserant@0:   }
etisserant@0:   fiMsb = IO_PORTS_8(adrCAN + nFilter) ^ idMsb;
etisserant@0:   fiLsb = IO_PORTS_8(adrCAN + nFilter + 1) ^ idLsb;
etisserant@0:   /* address of CANIDMRx */
etisserant@0:   IO_PORTS_8(adrCAN + nFilter + 4) = IO_PORTS_8(adrCAN + nFilter + 4) | fiMsb;
etisserant@0:   IO_PORTS_8(adrCAN + nFilter + 5) = IO_PORTS_8(adrCAN + nFilter + 5) | fiLsb;
etisserant@0:   IO_PORTS_8(adrCAN + nFilter + 5) |= 0x10; /* Not filtering on rtr value */
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
dejoigny@7: char canChangeFilter(UNS16 adrCAN, canBusFilterInit fi)
dejoigny@7: {
dejoigny@7:   /* If not in init mode, go to sleep before going in init mode*/
dejoigny@7:   if (! canTestInitMode(adrCAN)) {
dejoigny@7:     canSleepMode(adrCAN);
dejoigny@7:     canInitMode(adrCAN); 
dejoigny@7:   }
dejoigny@7:   //update the filters configuration
dejoigny@7:   canInitFilter(adrCAN, fi);
dejoigny@7:   canInitModeQ(adrCAN);
dejoigny@7:   canSleepModeQ(adrCAN);
dejoigny@7:   canSetInterrupt(adrCAN);
dejoigny@7:   return 0;
dejoigny@7: }
dejoigny@7: 
dejoigny@7: /***************************************************************************/
etisserant@0: char canEnable(UNS16 adrCAN)
etisserant@0: {
etisserant@0:   /* Register CANCTL1
etisserant@0:   bit 7 : 1 MSCAN enabled
etisserant@0:   Other bits : default reset values
etisserant@0:   */
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL1) = 0X80;
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canInit(UNS16 adrCAN, canBusInit bi)
etisserant@0: {
etisserant@0:   /* If not in init mode, go to sleep before going in init mode*/
etisserant@0:   if (! canTestInitMode(adrCAN)) {
etisserant@0:     canSleepMode(adrCAN);
etisserant@0:     canInitMode(adrCAN); 
etisserant@0:   }
etisserant@0:   
etisserant@0:   canEnable(adrCAN);                  /* Does nothing if already enable */
etisserant@0:      /* The most secure way to go in init mode : put before MSCAN in sleep mode */
etisserant@0:       //canSleepMode(adrCAN);
etisserant@0:      /* Put MSCAN in Init mode */ 
etisserant@0:      //canInitMode(adrCAN);
etisserant@0:   canInitClock(adrCAN, bi.clk); 
etisserant@0:   /* Init CANCTL1 register. Must be in init mode */
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL1) &=0xC4;// 0xCB; /* Clr the bits that may be modified */
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL1) = (bi.cane << 7) | (bi.loopb << 5 ) | 
etisserant@0:     (bi.listen << 4) | (bi.wupm << 2);
etisserant@0:   /* Initialize the filters for received msgs */
etisserant@0:   /* We should decide to accept all the msgs  */
etisserant@0:   canInitFilter(adrCAN, bi.fi);
etisserant@0:   /* Before to modify CANCTL0, we must leave the init mode */
etisserant@0:   canInitModeQ(adrCAN);
etisserant@0:   /* Init CANCTL0 register. MSCAN must not be in init mode */
etisserant@0:   /* Do not change the value of wupe (should be 0) and slprq (should be 1) */
etisserant@0:   /* Do not change the value of initrq (should be 0) */	
etisserant@0:   /* rxfrm is cleared, mupe also (should be before)*/
etisserant@0:     IO_PORTS_8(adrCAN + CANCTL0) &= 0x53; /* Clr the bits that may be modified */
etisserant@0:     IO_PORTS_8(adrCAN + CANCTL0) = (bi.cswai << 5) | (bi.time << 3);
dejoigny@7:     canSetInterrupt(adrCAN);
etisserant@0:     canInitModeQ(adrCAN); /* Leave the init mode */
etisserant@0:     canSleepModeQ(adrCAN); /* Leave the sleep mode */    
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canInitClock(UNS16 adrCAN, canBusTime clk)
etisserant@0: {
etisserant@0:   if (! canTestInitMode(adrCAN)) {
etisserant@0:     /* Not in Init mode */
etisserant@0:     MSG_WAR(0X2601, "not in init mode ", 0);
etisserant@0:     return 1;   
etisserant@0:   }
etisserant@0:   /* Set or reset CLKSRC (register CANCTL1). Does not change the other bits*/
etisserant@0:   clk.clksrc = clk.clksrc << 6;
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL1) &= 0xBF;
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL1) |= clk.clksrc;
etisserant@0:   /* Build the CANBTR0 register */
etisserant@0:   IO_PORTS_8(adrCAN + CANBTR0) = 0x00;        /* Clear before changes */
etisserant@0:   IO_PORTS_8(adrCAN + CANBTR0) = (clk.sjw << 6) | (clk.brp);
etisserant@0:   /* Build the CANBTR1 register */
etisserant@0:   IO_PORTS_8(adrCAN + CANBTR1) = 0x00;        /* Clear before changes */
etisserant@0:   IO_PORTS_8(adrCAN + CANBTR1) = (clk.samp << 7) | (clk.tseg2 << 4) | 
etisserant@0:     (clk.tseg1);  
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canInit1Filter(UNS16 adrCAN, UNS8 nFilter, UNS16 ar, UNS16 mr)
etisserant@0: {
etisserant@0:   if (! canTestInitMode(adrCAN)) {
etisserant@0:     /* Error because not init mode */
etisserant@0:     MSG_WAR(0X2602, "not in init mode ", 0);
etisserant@0:     return 1;   
etisserant@0:   }
etisserant@0:   switch (nFilter) {
etisserant@0:     case 0:
etisserant@0:       nFilter = CANIDAR0; /* First  bank */
etisserant@0:       break; 
etisserant@0:     case 1:
etisserant@0:       nFilter = CANIDAR2; /* First  bank */
etisserant@0:       break;
etisserant@0:     case 2:
etisserant@0:       nFilter = CANIDAR4; /* Second bank */
etisserant@0:       break;
etisserant@0:     case 3:
etisserant@0:       nFilter = CANIDAR6; /* Second bank */   
etisserant@0:   }
etisserant@0:   /* address of CANIDARx */
etisserant@0:   IO_PORTS_8(adrCAN + nFilter)     = (UNS8) (ar >> 8);
etisserant@0:   IO_PORTS_8(adrCAN + nFilter + 1) = (UNS8) (ar);
etisserant@0:   IO_PORTS_8(adrCAN + nFilter + 4) = (UNS8) (mr >> 8);
etisserant@0:   IO_PORTS_8(adrCAN + nFilter + 5) = (UNS8) (mr);
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canInitFilter(UNS16 adrCAN, canBusFilterInit fi)
etisserant@0: {
etisserant@0: if (! canTestInitMode(adrCAN)) {
etisserant@0:     /* Error because not init mode */
etisserant@0:     MSG_WAR(0X2603, "not in init mode ", 0);
etisserant@0:     return 1;   
etisserant@0:   }
etisserant@0:   IO_PORTS_8(adrCAN + CANIDAC)  = fi.idam << 4;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDAR0) = fi.canidar0;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDMR0) = fi.canidmr0;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDAR1) = fi.canidar1;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDMR1) = fi.canidmr1;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDAR2) = fi.canidar2;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDMR2) = fi.canidmr2;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDAR3) = fi.canidar3;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDMR3) = fi.canidmr3;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDAR4) = fi.canidar4;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDMR4) = fi.canidmr4;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDAR5) = fi.canidar5;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDMR5) = fi.canidmr5;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDAR6) = fi.canidar6;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDMR6) = fi.canidmr6;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDAR7) = fi.canidar7;
etisserant@0:   IO_PORTS_8(adrCAN + CANIDMR7) = fi.canidmr7;
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canInitMode(UNS16 adrCAN)
etisserant@0: {
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL0) |= 0x01; /* Set the bit INITRQ */ 
etisserant@0:   while (! canTestInitMode(adrCAN)) {
etisserant@0:   }
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canInitModeQ(UNS16 adrCAN)
etisserant@0: {
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL0) &= 0xFE; /* Clear the bit INITRQ */ 
etisserant@0:   while (canTestInitMode(adrCAN)) {
etisserant@0:   }
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canMsgTransmit(UNS16 adrCAN, Message msg)
etisserant@0: {
etisserant@0:   /* Remind : only CAN A msg implemented. ie id on 11 bits, not 29 */
etisserant@0:   UNS8 cantflg;
etisserant@0:   UNS8 i;
etisserant@0:   /* Looking for a free buffer */
etisserant@0:   cantflg = IO_PORTS_8(adrCAN + CANTFLG);
etisserant@0:   if ( cantflg == 0) { /* all the TXEx are set */
etisserant@0:     MSG_WAR(0X2604, "No buffer free. Msg to transmit is losted ", 0);
etisserant@0:     return 1; /* No buffer free */
etisserant@0:   }
etisserant@0:   else{
etisserant@0:     /* Selecting a buffer */
etisserant@0:     IO_PORTS_8(adrCAN + CANTBSEL) = cantflg;
etisserant@0:     /* We put ide = 0 because id is on 11 bits only */
etisserant@365:      IO_PORTS_8(adrCAN + CANTRSID) = (UNS8)(msg.cob_id >> 3);
etisserant@365:     IO_PORTS_8(adrCAN + CANTRSID + 1) = (UNS8)((msg.cob_id << 5)|
etisserant@0:     (msg.rtr << 4));
etisserant@0:    
etisserant@0:     IO_PORTS_8(adrCAN + CANTRSLEN) = msg.len & 0X0F;
etisserant@0:     /* For the priority, we put the highter bits of the cob_id */
etisserant@0:     IO_PORTS_8(adrCAN + CANTRSPRI) = IO_PORTS_8(adrCAN + CANTRSID);
etisserant@0:     for (i = 0 ; i < msg.len ; i++) {
etisserant@0:       IO_PORTS_8(adrCAN + CANTRSDTA + i) = msg.data[i];
etisserant@0:     } 
etisserant@0:     /* Transmitting the message */ 
etisserant@0:     cantflg = IO_PORTS_8(adrCAN + CANTBSEL);/* to know which buf is selected */
etisserant@0:     IO_PORTS_8(adrCAN + CANTBSEL) = 0x00;  
etisserant@0:     IO_PORTS_8(adrCAN + CANTFLG) = cantflg;  /* Ready to transmit ! */  
etisserant@0:   
etisserant@0:  }
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
dejoigny@7: char canSetInterrupt(UNS16 adrCAN) 
dejoigny@7: {
dejoigny@7:   IO_PORTS_8(adrCAN + CANRIER) = 0X01; /* Allow interruptions on receive */
dejoigny@7:   IO_PORTS_8(adrCAN + CANTIER) = 0X00; /* disallow  interruptions on transmit */
dejoigny@7:   return 0;  
dejoigny@7: }
dejoigny@7: /***************************************************************************/
etisserant@0: char canSleepMode(UNS16 adrCAN)
etisserant@0: {
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL0) &= 0xFB;   /* clr the bit WUPE  to avoid a wake-up*/ 
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL0) |= 0x02;   /* Set the bit SLPRQ. go to Sleep !*/ 
etisserant@0: 
etisserant@0:    // IO_PORTS_8(adrCAN + CANCTL1) |= 0x04;
etisserant@0:    // IO_PORTS_8(adrCAN + CANCTL0) |= 0x02;   /* Set the bit SLPRQ */ 
etisserant@0:    while ( ! canTestSleepMode(adrCAN)) {
etisserant@0:      }
etisserant@0: 
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canSleepModeQ(UNS16 adrCAN)
etisserant@0: {
etisserant@0:   if (canTestInitMode(adrCAN)) {
etisserant@0:     /* Error because in init mode */
etisserant@0:     MSG_WAR(0X2606, "not in init mode ", 0);
etisserant@0:     return 1;   
etisserant@0:   }
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL0) &= 0xFD;   /* clr the bit SLPRQ */ 
etisserant@0:     while ( canTestSleepMode(adrCAN)) {
etisserant@0:     }
etisserant@0:   return 0;
etisserant@0: }
etisserant@0:  
etisserant@0: /***************************************************************************/
etisserant@0: char canSleepWupMode(UNS16 adrCAN)
etisserant@0: {
etisserant@0:   if (canTestInitMode(adrCAN)) {
etisserant@0:     MSG_WAR(0X2607, "not in init mode ", 0);
etisserant@0:     return 1;   
etisserant@0:   }
etisserant@0:   IO_PORTS_8(adrCAN + CANCTL0) |= 0x06;   /* Set the bits WUPE & SLPRQ */ 
etisserant@0:   while ( ! canTestSleepMode(adrCAN)) {
etisserant@0:   }
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canTestInitMode(UNS16 adrCAN)
etisserant@0: {
etisserant@0:   return IO_PORTS_8(adrCAN + CANCTL1) & 0x01; /* Test the bit INITAK */
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: char canTestSleepMode(UNS16 adrCAN)
etisserant@0: {
etisserant@0:   return IO_PORTS_8(adrCAN + CANCTL1) & 0x02; /* Test the bit SLPAK */
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 canSend(UNS8 notused, Message *m)
etisserant@0: {
etisserant@0:   canMsgTransmit(CANOPEN_LINE_NUMBER_USED, *m);
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /**************************************************************************/
etisserant@0: UNS8 f_can_receive(UNS8 notused, Message *msgRcv)
etisserant@0: { 
etisserant@0:   UNS8 i, j;
etisserant@0: 
etisserant@0:   switch (CANOPEN_LINE_NUMBER_USED) {
etisserant@0:   case CAN0 : j = 0; break;
etisserant@0:   case CAN1 : j = 1; break;
etisserant@0:   case CAN2 : j = 2; break;
etisserant@0:   case CAN3 : j = 3; break;
etisserant@0:   case CAN4 : j = 4; break;
etisserant@0:   }
etisserant@0: 
etisserant@0:   /* See if a message is pending in the stack */
etisserant@0:   if (ptrMsgRcv[j].r == ptrMsgRcv[j].w)
etisserant@0:     return 0x0; // No new message
etisserant@0: 
etisserant@0:   /* Increment the reading pointer of the stack */
etisserant@0:   if (ptrMsgRcv[j].r == (MAX_STACK_MSG_RCV - 1)) 
etisserant@0:      ptrMsgRcv[j].r = 0;
etisserant@0:   else
etisserant@0:     ptrMsgRcv[j].r ++;
etisserant@0: 
etisserant@0:   /* Store the message from the stack*/
etisserant@365:   msgRcv->cob_id = stackMsgRcv[j][ptrMsgRcv[j].r].cob_id;
etisserant@0:   msgRcv->len = stackMsgRcv[j][ptrMsgRcv[j].r].len;
etisserant@0:   msgRcv->rtr = stackMsgRcv[j][ptrMsgRcv[j].r].rtr;
etisserant@0:   for (i = 0 ; i < stackMsgRcv[j][ptrMsgRcv[j].r].len ; i++)
etisserant@0:     msgRcv->data[i] = stackMsgRcv[j][ptrMsgRcv[j].r].data[i];
etisserant@0:   return 0xFF;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /******************************************************************************
etisserant@0:  ******************************* CAN INTERRUPT  *******************************/
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can0HdlTra (void)
etisserant@0: {
etisserant@0:  
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can0HdlRcv (void)
etisserant@0: { 
etisserant@0:   UNS8 i;
etisserant@0:   lock();
etisserant@0:   IO_PORTS_8(PORTB) &= ~ 0x40; // led 6 port B : ON
etisserant@0:   UNS8 NewPtrW; 
etisserant@0:   /* We are obliged to save the message while the interruption is pending */
etisserant@0:   /* Increment the writing stack pointer before writing the msg */
etisserant@0:   if (ptrMsgRcv[0].w == (MAX_STACK_MSG_RCV - 1)) 
etisserant@0:     NewPtrW = 0;
etisserant@0:   else
etisserant@0:     NewPtrW = ptrMsgRcv[0].w + 1;
etisserant@0:   
etisserant@0:   if (NewPtrW == ptrMsgRcv[0].r) {
etisserant@0:     /* The stack is full. The last msg received before this one is lost */
etisserant@0:     MSG_WAR(0X1620, "Stack for received msg is full", 0);
etisserant@0:     //IO_PORTS_8(PORTB) &= ~0x40; // led  6         : ON (for debogue)
etisserant@0:   }
etisserant@0:   else
etisserant@0:     ptrMsgRcv[0].w = NewPtrW;
etisserant@0:   
etisserant@0:   /* Store the message */
etisserant@365:   stackMsgRcv[0][ptrMsgRcv[0].w].cob_id = IO_PORTS_16(CAN0 + CANRCVID) >> 5;
etisserant@0:   stackMsgRcv[0][ptrMsgRcv[0].w].len = IO_PORTS_8(CAN0 + CANRCVLEN) & 0x0F;
etisserant@0:   stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN0 + CANRCVID + 1) >> 4) & 0x01;
etisserant@0:   for (i = 0 ; i < stackMsgRcv[0][ptrMsgRcv[0].w].len ; i++)
etisserant@0:     stackMsgRcv[0][ptrMsgRcv[0].w].data[i] = IO_PORTS_8(CAN0 + CANRCVDTA + i);
etisserant@0:   
etisserant@0:   // The message is stored , so
etisserant@0:   // we can now release the receive foreground buffer
etisserant@0:   // and acknowledge the interruption
etisserant@0:   IO_PORTS_8(CAN0 + CANRFLG) |= 0x01;
etisserant@0:   // Not very usefull
etisserant@0:   IO_PORTS_8(CAN0 + CANCTL0) |= 0x80;
dejoigny@7:   IO_PORTS_8(PORTB) |= 0x40; // led 6 port B : OFF
etisserant@0:   unlock();
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can0HdlWup (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can0HdlErr (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can1HdlTra (void)
etisserant@0: {
etisserant@0:  
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can1HdlRcv (void)
etisserant@0: {
etisserant@0:   UNS8 i;
etisserant@0:   lock();
etisserant@0:   UNS8 NewPtrW; 
etisserant@0:   /* We are obliged to save the message while the interruption is pending */
etisserant@0:   /* Increment the writing stack pointer before writing the msg */
etisserant@0:   if (ptrMsgRcv[1].w == (MAX_STACK_MSG_RCV - 1)) 
etisserant@0:     NewPtrW = 0;
etisserant@0:   else
etisserant@0:     NewPtrW = ptrMsgRcv[1].w + 1;
etisserant@0:   
etisserant@0:   if (NewPtrW == ptrMsgRcv[1].r) {
etisserant@0:     /* The stack is full. The last msg received before this one is lost */
etisserant@0:     MSG_WAR(0X2620, "Stack for received msg is full", 0);
etisserant@0:   }
etisserant@0:   else
etisserant@0:     ptrMsgRcv[1].w = NewPtrW;
etisserant@0:   
etisserant@0:   /* Store the message */
etisserant@365:   stackMsgRcv[1][ptrMsgRcv[1].w].cob_id = IO_PORTS_16(CAN1 + CANRCVID) >> 5;
etisserant@0:   stackMsgRcv[1][ptrMsgRcv[1].w].len = IO_PORTS_8(CAN1 + CANRCVLEN) & 0x0F;
etisserant@0:   stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN1 + CANRCVID + 1) >> 4) & 0x01;
etisserant@0:   for (i = 0 ; i < stackMsgRcv[1][ptrMsgRcv[1].w].len ; i++)
etisserant@0:     stackMsgRcv[1][ptrMsgRcv[1].w].data[i] = IO_PORTS_8(CAN1 + CANRCVDTA + i);
etisserant@0:   
etisserant@0:   // The message is stored , so
etisserant@0:   // we can now release the receive foreground buffer
etisserant@0:   // and acknowledge the interruption
etisserant@0:   IO_PORTS_8(CAN1 + CANRFLG) |= 0x01;
etisserant@0:   // Not very usefull
etisserant@0:   IO_PORTS_8(CAN1 + CANCTL0) |= 0x80;
etisserant@0:   unlock();
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can1HdlWup (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can1HdlErr (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can2HdlTra (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can2HdlRcv (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can2HdlWup (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can2HdlErr (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can3HdlTra (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can3HdlRcv (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can3HdlWup (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can3HdlErr (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can4HdlTra (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can4HdlRcv (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can4HdlWup (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: void __attribute__((interrupt)) can4HdlErr (void)
etisserant@0: {
etisserant@0: 
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: