peter@520: /*
peter@520: This file is part of CanFestival, a library implementing CanOpen Stack.
peter@520: 
peter@520: Copyright (C): Edouard TISSERANT and Francis DUPIN
peter@520: AT91 Port: Peter CHRISTEN
peter@520: 
peter@520: See COPYING file for copyrights details.
peter@520: 
peter@520: This library is free software; you can redistribute it and/or
peter@520: modify it under the terms of the GNU Lesser General Public
peter@520: License as published by the Free Software Foundation; either
peter@520: version 2.1 of the License, or (at your option) any later version.
peter@520: 
peter@520: This library is distributed in the hope that it will be useful,
peter@520: but WITHOUT ANY WARRANTY; without even the implied warranty of
peter@520: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
peter@520: Lesser General Public License for more details.
peter@520: 
peter@520: You should have received a copy of the GNU Lesser General Public
peter@520: License along with this library; if not, write to the Free Software
peter@520: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
peter@520: */
peter@520: 
peter@520: //#define DEBUG_WAR_CONSOLE_ON
peter@520: //#define DEBUG_ERR_CONSOLE_ON
peter@520: 
peter@520: #include "can_AT91.h"
peter@520: #include "canfestival.h"
peter@520: 
peter@520: void can_irq_handler(void);
peter@520: 
peter@520: unsigned char canInit(unsigned int bitrate)
peter@520: /******************************************************************************
peter@520: Initialize the hardware to receive CAN messages and start the timer for the
peter@520: CANopen stack.
peter@520: INPUT	
peter@520: OUTPUT	
peter@520: ******************************************************************************/
peter@520: {
peter@520:   unsigned char i;
peter@520:   AT91S_CAN_MB *mb_ptr = AT91C_BASE_CAN_MB0;
peter@520: 
peter@520:   // Enable CAN PIOs
peter@520:   AT91F_CAN_CfgPIO();
peter@520:   // Enable CAN Clock
peter@520:   AT91F_CAN_CfgPMC();
peter@520: 
peter@520:   // Enable CAN Transceiver
peter@520:   AT91F_PIOA_CfgPMC();
peter@520: 
peter@520:   // Init CAN Interrupt Source Level
peter@520:   AT91F_AIC_ConfigureIt(AT91C_BASE_AIC,				// CAN base address
peter@520:                         AT91C_ID_CAN,				// CAN ID
peter@520:                         AT91C_AIC_PRIOR_HIGHEST,		// Max priority
peter@520:                         AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL,	// Level sensitive
peter@520:                         can_irq_handler);			// C Handler
peter@520: 
peter@520:   AT91F_AIC_EnableIt(AT91C_BASE_AIC, AT91C_ID_CAN);
peter@520: 
peter@520:   if (bitrate <= 500)
peter@520:   {
peter@520:     // CANopen 10..500 kbit with 16 tq, sample point is at 14 tq
peter@520:     // all values are added to 1 by hardware
peter@520:     // Resynchronisation jump width (SJW)	= 1 tq
peter@520:     // Propagation Time Segment (PRS)		= 5 tq
peter@520:     // Phase Segment 1 (PHS1)			= 8 tq
peter@520:     // Phase Segment 2 (PHS2)			= 2 tq
peter@520:     // Total					= 16 tq
peter@520:     AT91F_CAN_CfgBaudrateReg(AT91C_BASE_CAN,
peter@520:                              (AT91C_MASTER_CLOCK/16/1000/bitrate - 1) << 16 | 0x0471);
peter@520:   }
peter@520:   else
peter@520:     return 0;
peter@520: 
peter@520:   // Enable CAN and Wait for WakeUp Interrupt
peter@520: //  AT91F_CAN_EnableIt(AT91C_BASE_CAN, AT91C_CAN_WAKEUP);
peter@520:   AT91F_CAN_CfgModeReg(AT91C_BASE_CAN, AT91C_CAN_CANEN);
peter@520: 
peter@520:   // Reset all mailsboxes (MBs), filters are zero (accept all) by clear all MB
peter@520:   // Set the lower MBs as rx buffer
peter@520:   for (i = 0; i < NB_RX_MB; i++, mb_ptr++)
peter@520:   // Configure receive MBs as receive buffer, last as receive overwrite
peter@520:     AT91F_InitMailboxRegisters(mb_ptr,
peter@520: 				((i < (NB_RX_MB - 1)) ? AT91C_CAN_MOT_RX : AT91C_CAN_MOT_RXOVERWRITE)
peter@520: 				| AT91C_CAN_PRIOR,	// Mailbox Mode Reg
peter@520: 				0x00000000,		// Mailbox Acceptance Mask Reg
peter@520: 				0x00000000,		// Mailbox ID Reg
peter@520: 				0x00000000,		// Mailbox Data Low Reg
peter@520: 				0x00000000,		// Mailbox Data High Reg
peter@520: 				0x00000000);		// Mailbox Control Reg
peter@520:   for (   ; i < NB_MB; i++, mb_ptr++)
peter@520:   // Configure transmit MBs
peter@520:     AT91F_InitMailboxRegisters(mb_ptr,
peter@520: 				AT91C_CAN_MOT_TX
peter@520: 				| AT91C_CAN_PRIOR,	// Mailbox Mode Reg
peter@520: 				0x00000000,		// Mailbox Acceptance Mask Reg
peter@520: 				0x00000000,		// Mailbox ID Reg
peter@520: 				0x00000000,		// Mailbox Data Low Reg
peter@520: 				0x00000000,		// Mailbox Data High Reg
peter@520: 				0x00000000);		// Mailbox Control Reg
peter@520:   // Enable Reception on all receive Mailboxes
peter@520:   AT91F_CAN_InitTransferRequest(AT91C_BASE_CAN, RX_INT_MSK);
peter@520:   // Enable all receive interrupts
peter@520:   AT91F_CAN_EnableIt(AT91C_BASE_CAN, RX_INT_MSK);
peter@520:   return 1;
peter@520: }
peter@520: 
peter@520: unsigned char canSend(CAN_PORT notused, Message *m)
peter@520: /******************************************************************************
peter@520: The driver send a CAN message passed from the CANopen stack
peter@520: INPUT	CAN_PORT is not used (only 1 avaiable)
peter@520: 	Message *m pointer to message to send
peter@520: OUTPUT	1 if  hardware -> CAN frame
peter@520: ******************************************************************************/
peter@520: {
peter@520:   unsigned int mask;
peter@520:   AT91S_CAN_MB *mb_ptr = AT91C_BASE_CAN_MB0 + START_TX_MB;
peter@520: 
peter@520:   if ((AT91F_CAN_GetStatus(AT91C_BASE_CAN) & TX_INT_MSK) == 0)
peter@520:     return 0;			// No free MB for sending
peter@520: 
peter@520:   for (mask = 1 << START_TX_MB;
peter@520:        (mask & TX_INT_MSK) && !(AT91F_CAN_GetStatus(AT91C_BASE_CAN) & mask);
peter@520: 	mask <<= 1, mb_ptr++)	// Search the first free MB
peter@520:   {
peter@520:   }
peter@520:   AT91F_CAN_CfgMessageIDReg(mb_ptr, m->cob_id, 0);	// Set cob id
peter@520:   // Mailbox Control Register, set remote transmission request and data lenght code
peter@520:   AT91F_CAN_CfgMessageCtrlReg(mb_ptr, m->rtr ? AT91C_CAN_MRTR : 0 | (m->len << 16));	
peter@520:   AT91F_CAN_CfgMessageDataLow(mb_ptr, *(UNS32*)(&m->data[0]));// Mailbox Data Low Reg
peter@520:   AT91F_CAN_CfgMessageDataHigh(mb_ptr, *(UNS32*)(&m->data[4]));// Mailbox Data High Reg
peter@520:   // Start sending by writing the MB configuration register to transmit
peter@520:   AT91F_CAN_InitTransferRequest(AT91C_BASE_CAN, mask);
peter@520:   return 1;	// successful
peter@520: }
peter@520: 
peter@520: unsigned char canReceive(Message *m)
peter@520: /******************************************************************************
peter@520: The driver passes a received CAN message to the stack
peter@520: INPUT	Message *m pointer to received CAN message
peter@520: OUTPUT	1 if a message received
peter@520: ******************************************************************************/
peter@520: {
peter@520:   unsigned int mask;
peter@520:   AT91S_CAN_MB *mb_ptr = AT91C_BASE_CAN_MB0;
peter@520: 
peter@520:   if ((AT91F_CAN_GetStatus(AT91C_BASE_CAN) & RX_INT_MSK) == 0)
peter@520:     return 0;		// Nothing received
peter@520: 
peter@520:   for (mask = 1;
peter@520:        (mask & RX_INT_MSK) && !(AT91F_CAN_GetStatus(AT91C_BASE_CAN) & mask);
peter@520: 	mask <<= 1, mb_ptr++)	// Search the first MB received
peter@520:   {
peter@520:   }
peter@520:   m->cob_id = AT91F_CAN_GetFamilyID(mb_ptr);
peter@520:   m->len = (AT91F_CAN_GetMessageStatus(mb_ptr) & AT91C_CAN_MDLC) >> 16;
peter@520:   m->rtr = (AT91F_CAN_GetMessageStatus(mb_ptr) & AT91C_CAN_MRTR) ? 1 : 0;
peter@520:   *(UNS32*)(&m->data[0]) = AT91F_CAN_GetMessageDataLow(mb_ptr);
peter@520:   *(UNS32*)(&m->data[4]) = AT91F_CAN_GetMessageDataHigh(mb_ptr);
peter@520:   // Enable Reception on Mailbox
peter@520:   AT91F_CAN_CfgMessageModeReg(mb_ptr, AT91C_CAN_MOT_RX | AT91C_CAN_PRIOR);
peter@520:   AT91F_CAN_InitTransferRequest(AT91C_BASE_CAN, mask);
peter@520:   return 1;		// message received
peter@520: }
peter@520: 
peter@520: /******************************************************************************
peter@520: 
peter@520:  ******************************* CAN INTERRUPT  *******************************/
peter@520: 
peter@520: void can_irq_handler(void)
peter@520: /******************************************************************************
peter@520: CAN Interrupt
peter@520: ******************************************************************************/
peter@520: {
peter@520:   volatile unsigned int status;
peter@520:   static Message m = Message_Initializer;		// contain a CAN message
peter@520: 		
peter@520:   status = AT91F_CAN_GetStatus(AT91C_BASE_CAN) & AT91F_CAN_GetInterruptMaskStatus(AT91C_BASE_CAN);
peter@520: 
peter@520:   if(status & RX_INT_MSK)
peter@520:   {	// Rx Interrupt
peter@520:     if (canReceive(&m))			// a message received
peter@520:       canDispatch(&ObjDict_Data, &m);         // process it
peter@520:   }
peter@520: }