etisserant@375: /*
etisserant@375: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@375: 
etisserant@375: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@375: AVR Port: Andreas GLAUSER and Peter CHRISTEN
etisserant@375: 
etisserant@375: See COPYING file for copyrights details.
etisserant@375: 
etisserant@375: This library is free software; you can redistribute it and/or
etisserant@375: modify it under the terms of the GNU Lesser General Public
etisserant@375: License as published by the Free Software Foundation; either
etisserant@375: version 2.1 of the License, or (at your option) any later version.
etisserant@375: 
etisserant@375: This library is distributed in the hope that it will be useful,
etisserant@375: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@375: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@375: Lesser General Public License for more details.
etisserant@375: 
etisserant@375: You should have received a copy of the GNU Lesser General Public
etisserant@375: License along with this library; if not, write to the Free Software
etisserant@375: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@375: */
etisserant@375: 
etisserant@375: //#define DEBUG_WAR_CONSOLE_ON
etisserant@375: //#define DEBUG_ERR_CONSOLE_ON
etisserant@375: 
etisserant@375: #include "can_AVR.h"
etisserant@375: #include "canfestival.h"
etisserant@375: 
etisserant@375: volatile unsigned char msg_received = 0;
etisserant@375: 
etisserant@375: unsigned char canInit(unsigned int bitrate)
etisserant@375: /******************************************************************************
etisserant@375: Initialize the hardware to receive CAN messages and start the timer for the
etisserant@375: CANopen stack.
etisserant@375: INPUT	bitrate		bitrate in kilobit
etisserant@375: OUTPUT	1 if successful	
etisserant@375: ******************************************************************************/
etisserant@375: {
etisserant@375:   unsigned char i,k;
etisserant@375:     //- Pull-up on TxCAN & RxCAN one by one to use bit-addressing
etisserant@375:   CAN_PORT_DIR &= ~(1<<CAN_INPUT_PIN );
etisserant@375:   CAN_PORT_DIR &= ~(1<<CAN_OUTPUT_PIN);
etisserant@375:   CAN_PORT_OUT |=  (1<<CAN_INPUT_PIN );
etisserant@375:   CAN_PORT_OUT |=  (1<<CAN_OUTPUT_PIN);
etisserant@375: 
etisserant@375:   Can_reset();				// Reset the CAN controller
etisserant@375: 
etisserant@375:   if (bitrate <= 500)
etisserant@375:   {
etisserant@375:     // CANopen 10..500 kbit with 16 tq, sample point is at 14 tq
etisserant@375:     // all values are added to 1 by hardware
etisserant@375:     // Resynchronisation jump width (SJW)	= 1 tq 
etisserant@375:     // Propagation Time Segment (PRS)		= 5 tq
etisserant@375:     // Phase Segment 1 (PHS1)			= 8 tq 
etisserant@375:     // Phase Segment 2 (PHS2)			= 2 tq
etisserant@375:     // Total					= 16 tq
etisserant@375:     CANBT1 = ((F_CPU/16/1000/bitrate-1) << BRP);	// set bitrate
etisserant@375:     CANBT2 = ((1-1) << SJW) |((5-1) << PRS);	// set SJW, PRS
etisserant@375:     CANBT3 = (((2-1) << PHS2) | ((8-1) << PHS1) | (1<<SMP)); // set PHS1, PHS2, 3 sample points
etisserant@375:   }
etisserant@375:   else 
etisserant@375:     return 0;
etisserant@375: 
etisserant@375:   // Reset all mailsboxes (MObs), filters are zero (accept all) by clear all MOb
etisserant@375:   // Set the lower MObs as rx buffer
etisserant@375:   for (i = 0; i < NB_MOB; i++)
etisserant@375:   {
etisserant@375:     Can_set_mob(i);		// Change to MOb with the received message
etisserant@375:     Can_clear_mob();		// All MOb Registers=0
etisserant@375:     for (k = 0; k < NB_DATA_MAX; k++)
etisserant@375:       CANMSG = 0;		// MOb data FIFO
etisserant@375:     if (i < NB_RX_MOB)		// Is receive MOb
etisserant@375:       Can_config_rx_buffer();	// configure as receive buffer
etisserant@375:   }
etisserant@375:   // The tx MOb is still disabled, it will be set to tx mode when the first message will be sent
etisserant@375:   // Enable the general CAN interrupts
etisserant@375:   CANGIE = (1 << ENIT) | (1 << ENRX) | (1 << ENTX) | (0 << ENERR) | (0 << ENERG) | (0 << ENOVRT);
etisserant@375:   CANIE1 = 0x7F;	// Enable the interrupts of all MObs (0..14)
etisserant@375:   CANIE2 = 0xFF;   
etisserant@375:   Can_enable();                                 // Enable the CAN bus controller
etisserant@375:   return 1;
etisserant@375: }
etisserant@375: 
etisserant@375: unsigned char canSend(CAN_PORT notused, Message *m)
etisserant@375: /******************************************************************************
etisserant@375: The driver send a CAN message passed from the CANopen stack
etisserant@375: INPUT	CAN_PORT is not used (only 1 avaiable)
etisserant@375: 	Message *m pointer to message to send
etisserant@375: OUTPUT	1 if  hardware -> CAN frame
etisserant@375: ******************************************************************************/
etisserant@375: {
etisserant@375:   unsigned char i;
etisserant@375: 
etisserant@375:   for (i = START_TX_MOB; i < NB_MOB; i++)	// Search the first free MOb
etisserant@375:   {
etisserant@375:     Can_set_mob(i);			// Change to MOb
etisserant@375:     if ((CANCDMOB & CONMOB_MSK) == 0)	// MOb disabled = free
etisserant@375:     {
etisserant@375:       break;
etisserant@375:     }
etisserant@375:   }
etisserant@375:   if (i < NB_MOB)			// free MOb found
etisserant@375:   {
etisserant@375:     Can_set_mob(i);			// Switch to the sending messagebox
etisserant@375:     Can_set_std_id(m->cob_id);		// Set cob id
etisserant@375:     if (m->rtr)				// Set remote transmission request
etisserant@375:       Can_set_rtr();
etisserant@375:     Can_set_dlc(m->len);		// Set data lenght code
etisserant@375: 
etisserant@375:     for (i= 0; i < (m->len); i++)	// Add data bytes to the MOb
etisserant@375:       CANMSG = m->data[i];
etisserant@375:   // Start sending by writing the MB configuration register to transmit
etisserant@375:     Can_config_tx();		// Set the last MOb to transmit mode
etisserant@375:     return 1;	// succesful
etisserant@375:   }
etisserant@375:   else
etisserant@375:     return 0;	// not succesful
etisserant@375: }
etisserant@375: 
etisserant@375: unsigned char canReceive(Message *m)
etisserant@375: /******************************************************************************
etisserant@375: The driver pass a received CAN message to the stack
etisserant@375: INPUT	Message *m pointer to received CAN message
etisserant@375: OUTPUT	1 if a message received
etisserant@375: ******************************************************************************/
etisserant@375: {
etisserant@375:   unsigned char i;
etisserant@375: 
etisserant@375:   if (msg_received == 0)
etisserant@375:     return 0;		// Nothing received
etisserant@375: 
etisserant@375:   for (i = 0; i < NB_RX_MOB; i++)	// Search the first MOb received
etisserant@375:   {
etisserant@375:     Can_set_mob(i);			// Change to MOb
etisserant@375:     if ((CANCDMOB & CONMOB_MSK) == 0)	// MOb disabled = received
etisserant@375:     {
etisserant@375:       msg_received--;
etisserant@375:       break;
etisserant@375:     }
etisserant@375:   }
etisserant@375:   if (i < NB_RX_MOB)			// message found
etisserant@375:   {
etisserant@375:     Can_get_std_id(m->cob_id);		// Get cob id
etisserant@375:     m->rtr = Can_get_rtr();		// Get remote transmission request
etisserant@375:     m->len = Can_get_dlc();		// Get data lenght code
etisserant@375:     for (i= 0; i < (m->len); i++)	// get data bytes from the MOb
etisserant@375:       m->data[i] = CANMSG;
etisserant@375:     Can_config_rx_buffer();		// reset the MOb for receive
etisserant@375:     return 1;                  		// message received
etisserant@375:   }
etisserant@375:   else					// no message found
etisserant@375:   {
etisserant@375:     msg_received = 0;			// reset counter
etisserant@375:     return 0;                  		// no message received
etisserant@375:   }
etisserant@375: }
etisserant@375: 
groke6@384: /***************************************************************************/
groke6@384: unsigned char canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
groke6@384: {
groke6@384: 
groke6@384: 	return 0;
groke6@384: }
groke6@384: 
etisserant@375: #ifdef  __IAR_SYSTEMS_ICC__
etisserant@375: #pragma type_attribute = __interrupt
etisserant@375: #pragma vector=CANIT_vect
etisserant@375: void CANIT_interrupt(void)
etisserant@375: #else	// GCC
etisserant@375: ISR(CANIT_vect)
etisserant@375: #endif	// GCC
etisserant@375: /******************************************************************************
etisserant@375: CAN Interrupt
etisserant@375: ******************************************************************************/
etisserant@375: {
edouard@601:   unsigned char saved_page = CANPAGE;
etisserant@375:   unsigned char i;
etisserant@375: 
etisserant@375:   if (CANGIT & (1 << CANIT))	// is a messagebox interrupt
etisserant@375:   {
etisserant@375:     if ((CANSIT1 & TX_INT_MSK) == 0)	// is a Rx interrupt
etisserant@375:     {
etisserant@375:       for (i = 0; (i < NB_RX_MOB) && (CANGIT & (1 << CANIT)); i++)	// Search the first MOb received
etisserant@375:       {
etisserant@375:         Can_set_mob(i);			// Change to MOb
etisserant@375:         if (CANSTMOB & MOB_RX_COMPLETED)	// receive ok
etisserant@375:         {
etisserant@375:           Can_clear_status_mob();	// Clear status register
etisserant@375: 	  Can_mob_abort();		// disable the MOb = received
etisserant@375: 	  msg_received++;
etisserant@375:         }
etisserant@375:         else if (CANSTMOB & ~MOB_RX_COMPLETED)	// error
etisserant@375:         {
etisserant@375:           Can_clear_status_mob();	// Clear status register
etisserant@375: 	  Can_config_rx_buffer();	// reconfigure as receive buffer
etisserant@375:         }
etisserant@375:       }
etisserant@375:     }
etisserant@375:     else				// is a Tx interrupt	 
etisserant@375:     {
etisserant@375:       for (i = NB_RX_MOB; i < NB_MOB; i++)	// Search the first MOb transmitted
etisserant@375:       {
etisserant@375:         Can_set_mob(i);			// change to MOb
etisserant@375:         if (CANSTMOB)			// transmission ok or error
etisserant@375:         {
etisserant@375:           Can_clear_status_mob();	// clear status register
etisserant@375: 	  CANCDMOB = 0;			// disable the MOb
etisserant@375: 	  break;
etisserant@375:         }
etisserant@375:       }
etisserant@375:     }
etisserant@375:   }
etisserant@375: 
edouard@601:   CANPAGE = saved_page;
edouard@601: 
etisserant@375:   // Bus Off Interrupt Flag
etisserant@375:   if (CANGIT & (1 << BOFFIT))    // Finaly clear the interrupt status register
etisserant@375:   {
etisserant@375:     CANGIT |= (1 << BOFFIT);                    // Clear the interrupt flag
etisserant@375:   }
etisserant@375:   else
etisserant@375:     CANGIT |= (1 << BXOK) | (1 << SERG) | (1 << CERG) | (1 << FERG) | (1 << AERG);// Finaly clear other interrupts
etisserant@375: }
etisserant@375: 
etisserant@375: #ifdef  __IAR_SYSTEMS_ICC__
etisserant@375: #pragma type_attribute = __interrupt
etisserant@375: #pragma vector=OVRIT_vect
etisserant@375: void OVRIT_interrupt(void)
etisserant@375: #else	// GCC
etisserant@375: ISR(OVRIT_vect)
etisserant@375: #endif	// GCC
etisserant@375: /******************************************************************************
etisserant@375: CAN Timer Interrupt
etisserant@375: ******************************************************************************/
etisserant@375: {
etisserant@375:   CANGIT |= (1 << OVRTIM);
etisserant@375: }
etisserant@375: