diff -r 2cb34a4ac65a -r 6b5a4c21e061 doc/doxygen/html/canOpenDriver_8c-source.html --- a/doc/doxygen/html/canOpenDriver_8c-source.html Tue Jun 05 17:34:33 2007 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,736 +0,0 @@ - -
-00001 /* -00002 This file is part of CanFestival, a library implementing CanOpen Stack. -00003 -00004 Copyright (C): Edouard TISSERANT and Francis DUPIN -00005 -00006 See COPYING file for copyrights details. -00007 -00008 This library is free software; you can redistribute it and/or -00009 modify it under the terms of the GNU Lesser General Public -00010 License as published by the Free Software Foundation; either -00011 version 2.1 of the License, or (at your option) any later version. -00012 -00013 This library is distributed in the hope that it will be useful, -00014 but WITHOUT ANY WARRANTY; without even the implied warranty of -00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -00016 Lesser General Public License for more details. -00017 -00018 You should have received a copy of the GNU Lesser General Public -00019 License along with this library; if not, write to the Free Software -00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -00021 */ -00022 -00023 #define DEBUG_WAR_CONSOLE_ON -00024 #define DEBUG_ERR_CONSOLE_ON -00025 -00026 #include <stddef.h> /* for NULL */ -00027 -00028 #include "../include/hcs12/asm-m68hc12/portsaccess.h" -00029 #include "../include/hcs12/asm-m68hc12/ports_def.h" -00030 #include "../include/hcs12/asm-m68hc12/ports.h" -00031 #include "../include/data.h" -00032 #include "../include/hcs12/applicfg.h" -00033 #include "../include/hcs12/candriver.h" -00034 #include "../include/hcs12/interrupt.h" -00035 #include "../include/hcs12/canOpenDriver.h" -00036 #include "../include/can.h" -00037 #include "../include/objdictdef.h" -00038 #include "../include/timer.h" -00039 -00040 -00041 -00042 -00043 -00044 -00045 volatile static Message stackMsgRcv[NB_LINE_CAN][MAX_STACK_MSG_RCV]; -00046 volatile static t_pointerStack ptrMsgRcv[NB_LINE_CAN]; -00047 -00048 volatile static TIMEVAL last_time_set = TIMEVAL_MAX; -00049 static UNS8 timer_is_set = 0; -00050 -00051 /* Prototypes */ -00052 UNS8 f_can_receive(UNS8 notused, Message *m); -00053 UNS8 canSend(UNS8 notused, Message *m); -00054 void __attribute__((interrupt)) timer4Hdl (void); -00055 -00056 #define max(a,b) a>b?a:b -00057 -00058 /******************************************************************************/ -00059 void setTimer(TIMEVAL value) -00060 { -00061 IO_PORTS_16(TC4H) += value; -00062 timer_is_set = 1; -00063 } -00064 -00065 /******************************************************************************/ -00066 TIMEVAL getElapsedTime() -00067 { -00068 return (IO_PORTS_16(TC4H) > last_time_set ? IO_PORTS_16(TC4H) - last_time_set : last_time_set - IO_PORTS_16(TC4H)); -00069 } -00070 -00071 -00072 /******************************************************************************/ -00073 void resetTimer(void) -00074 { -00075 -00076 } -00077 -00078 /******************************************************************************/ -00079 void initTimer(void) -00080 { -00081 lock(); // Inhibition of interruptions -00082 -00083 // Configure the timer channel 4 -00084 IO_PORTS_8(TIOS) |= 0x10; // Canal 4 in output -00085 IO_PORTS_8(TCTL1) &= ~(0x01 + 0x02); // Canal 4 unconnected to pin output -00086 IO_PORTS_8(TIE) |= 0x10; // allow interruption channel 4 -00087 IO_PORTS_8(TSCR2) |= 0X05; // Pre-scaler = 32 -00088 // If this value is changed, change must be done also -00089 // in void __attribute__((interrupt)) timer4Hdl (void) -00090 -00091 IO_PORTS_8(TSCR1) |= 0x80; // Start timer -00092 unlock(); // Allow interruptions -00093 } -00094 -00095 /******************************************************************************/ -00096 void __attribute__((interrupt)) timer4Hdl (void) -00097 { -00098 lock(); -00099 last_time_set = IO_PORTS_16(TC4H); -00100 IO_PORTS_8(TFLG1) = 0x10; // RAZ flag interruption timer channel 4 -00101 // Compute the next event : When the timer reach the value of TC4, an interrupt is -00102 // started -00103 //IO_PORTS_16(TC4H) += 250; // To have an interruption every 1 ms -00104 //timerInterrupt(0); -00105 //MSG_WAR(0xFFFF, "timer4 IT", 0); -00106 { -00107 //MSG_WAR(0xFFFF, "t4 ", IO_PORTS_16(TCNTH) - IO_PORTS_16(TC4H)); -00108 } -00109 TimeDispatch(); -00110 unlock(); -00111 } -00112 -00113 -00114 /******************************************************************************/ -00115 void initSCI_0(void) -00116 { -00117 IO_PORTS_16(SCI0 + SCIBDH) = -00118 ((1000000 / SERIAL_SCI0_BAUD_RATE) * BUS_CLOCK) >> 4 ; -00119 IO_PORTS_8(SCI0 + SCICR1) = 0; // format 8N1 -00120 IO_PORTS_8(SCI0 + SCICR2) = 0x08; // Transmit enable only -00121 } -00122 -00123 /******************************************************************************/ -00124 void initSCI_1(void) -00125 { -00126 IO_PORTS_16(SCI1 + SCIBDH) = -00127 ((1000000 / SERIAL_SCI1_BAUD_RATE) * BUS_CLOCK) >> 4 ; -00128 IO_PORTS_8(SCI1 + SCICR1) = 0; // format 8N1 -00129 IO_PORTS_8(SCI1 + SCICR2) = 0x08; // Transmit enable only -00130 } -00131 -00132 -00133 /******************************************************************************/ -00134 char * -00135 hex_convert (char *buf, unsigned long value, char lastCar) -00136 { -00137 //Thanks to Stéphane Carrez for this function -00138 char num[32]; -00139 int pos; -00140 -00141 *buf++ = '0'; -00142 *buf++ = 'x'; -00143 -00144 pos = 0; -00145 while (value != 0) { -00146 char c = value & 0x0F; -00147 num[pos++] = "0123456789ABCDEF"[(unsigned) c]; -00148 value = (value >> 4) & (0x0fffffffL); -00149 } -00150 if (pos == 0) -00151 num[pos++] = '0'; -00152 -00153 while (--pos >= 0) -00154 *buf++ = num[pos]; -00155 -00156 *buf++ = lastCar; -00157 *buf = 0; -00158 return buf; -00159 } -00160 -00161 /******************************************************************************/ -00162 void printSCI_str(char sci, const char * str) -00163 { -00164 char i = 0; -00165 -00166 while ((*(str + i) != 0) && (i < 0xFF)) { -00167 if (*(str + i) == '\n') -00168 { -00169 while ((IO_PORTS_8(sci + SCISR1) & 0X80) == 0); // wait if buffer not empty -00170 IO_PORTS_8(sci + SCIDRL) = 13; // return to start of line -00171 } -00172 while ((IO_PORTS_8(sci + SCISR1) & 0X80) == 0); // wait if buffer not empty -00173 IO_PORTS_8(sci + SCIDRL) = *(str + i++); -00174 } -00175 -00176 } -00177 -00178 /******************************************************************************/ -00179 void printSCI_nbr(char sci, unsigned long nbr, char lastCar) -00180 { -00181 char strNbr[12]; -00182 hex_convert(strNbr, nbr, lastCar); -00183 printSCI_str(sci, strNbr); -00184 } -00185 -00186 /******************************************************************************/ -00187 // PLL 24 MHZ if quartz on board is 16 MHZ -00188 void initPLL(void) -00189 { -00190 IO_PORTS_8(CLKSEL) &= ~0x80; // unselect the PLL -00191 IO_PORTS_8(PLLCTL) |= 0X60; // PLL ON and bandwidth auto -00192 IO_PORTS_8(SYNR) = 0x02; -00193 IO_PORTS_8(REFDV) = 0x01; -00194 while ((IO_PORTS_8(CRGFLG) & 0x08) == 0); -00195 IO_PORTS_8(CLKSEL) |= 0x80; -00196 } -00197 -00198 /******************************************************************************/ -00199 void initHCS12(void) -00200 { -00201 -00202 # ifdef USE_PLL -00203 MSG_WAR(0x3620, "Use the PLL ", 0); -00204 initPLL(); -00205 # endif -00206 -00207 } -00208 -00209 /***************************************************************************/ -00210 char canAddIdToFilter(UNS16 adrCAN, UNS8 nFilter, UNS16 id) -00211 { -00212 UNS8 fiMsb; -00213 UNS8 fiLsb; -00214 UNS8 idMsb = (UNS8) (id >> 3); -00215 UNS8 idLsb = (UNS8) (id << 5); -00216 -00217 if (! canTestInitMode(adrCAN)) { -00218 /* Error because not init mode */ -00219 MSG_WAR(0X2600, "Not in init mode ", 0); -00220 return 1; -00221 } -00222 switch (nFilter) { -00223 case 0: -00224 nFilter = CANIDAR0; /* First bank */ -00225 break; -00226 case 1: -00227 nFilter = CANIDAR2; /* First bank */ -00228 break; -00229 case 2: -00230 nFilter = CANIDAR4; /* Second bank */ -00231 break; -00232 case 3: -00233 nFilter = CANIDAR6; /* Second bank */ -00234 } -00235 if (! IO_PORTS_16(adrCAN + nFilter)) { -00236 /* if CANIDARx = 0 */ -00237 IO_PORTS_8(adrCAN + nFilter) = idMsb; -00238 IO_PORTS_8(adrCAN + nFilter + 1) = idLsb; -00239 } -00240 fiMsb = IO_PORTS_8(adrCAN + nFilter) ^ idMsb; -00241 fiLsb = IO_PORTS_8(adrCAN + nFilter + 1) ^ idLsb; -00242 /* address of CANIDMRx */ -00243 IO_PORTS_8(adrCAN + nFilter + 4) = IO_PORTS_8(adrCAN + nFilter + 4) | fiMsb; -00244 IO_PORTS_8(adrCAN + nFilter + 5) = IO_PORTS_8(adrCAN + nFilter + 5) | fiLsb; -00245 IO_PORTS_8(adrCAN + nFilter + 5) |= 0x10; /* Not filtering on rtr value */ -00246 return 0; -00247 } -00248 -00249 /***************************************************************************/ -00250 char canChangeFilter(UNS16 adrCAN, canBusFilterInit fi) -00251 { -00252 /* If not in init mode, go to sleep before going in init mode*/ -00253 if (! canTestInitMode(adrCAN)) { -00254 canSleepMode(adrCAN); -00255 canInitMode(adrCAN); -00256 } -00257 //update the filters configuration -00258 canInitFilter(adrCAN, fi); -00259 canInitModeQ(adrCAN); -00260 canSleepModeQ(adrCAN); -00261 canSetInterrupt(adrCAN); -00262 return 0; -00263 } -00264 -00265 /***************************************************************************/ -00266 char canEnable(UNS16 adrCAN) -00267 { -00268 /* Register CANCTL1 -00269 bit 7 : 1 MSCAN enabled -00270 Other bits : default reset values -00271 */ -00272 IO_PORTS_8(adrCAN + CANCTL1) = 0X80; -00273 return 0; -00274 } -00275 -00276 /***************************************************************************/ -00277 char canInit(UNS16 adrCAN, canBusInit bi) -00278 { -00279 /* If not in init mode, go to sleep before going in init mode*/ -00280 if (! canTestInitMode(adrCAN)) { -00281 canSleepMode(adrCAN); -00282 canInitMode(adrCAN); -00283 } -00284 -00285 canEnable(adrCAN); /* Does nothing if already enable */ -00286 /* The most secure way to go in init mode : put before MSCAN in sleep mode */ -00287 //canSleepMode(adrCAN); -00288 /* Put MSCAN in Init mode */ -00289 //canInitMode(adrCAN); -00290 canInitClock(adrCAN, bi.clk); -00291 /* Init CANCTL1 register. Must be in init mode */ -00292 IO_PORTS_8(adrCAN + CANCTL1) &=0xC4;// 0xCB; /* Clr the bits that may be modified */ -00293 IO_PORTS_8(adrCAN + CANCTL1) = (bi.cane << 7) | (bi.loopb << 5 ) | -00294 (bi.listen << 4) | (bi.wupm << 2); -00295 /* Initialize the filters for received msgs */ -00296 /* We should decide to accept all the msgs */ -00297 canInitFilter(adrCAN, bi.fi); -00298 /* Before to modify CANCTL0, we must leave the init mode */ -00299 canInitModeQ(adrCAN); -00300 /* Init CANCTL0 register. MSCAN must not be in init mode */ -00301 /* Do not change the value of wupe (should be 0) and slprq (should be 1) */ -00302 /* Do not change the value of initrq (should be 0) */ -00303 /* rxfrm is cleared, mupe also (should be before)*/ -00304 IO_PORTS_8(adrCAN + CANCTL0) &= 0x53; /* Clr the bits that may be modified */ -00305 IO_PORTS_8(adrCAN + CANCTL0) = (bi.cswai << 5) | (bi.time << 3); -00306 canSetInterrupt(adrCAN); -00307 canInitModeQ(adrCAN); /* Leave the init mode */ -00308 canSleepModeQ(adrCAN); /* Leave the sleep mode */ -00309 return 0; -00310 } -00311 -00312 /***************************************************************************/ -00313 char canInitClock(UNS16 adrCAN, canBusTime clk) -00314 { -00315 if (! canTestInitMode(adrCAN)) { -00316 /* Not in Init mode */ -00317 MSG_WAR(0X2601, "not in init mode ", 0); -00318 return 1; -00319 } -00320 /* Set or reset CLKSRC (register CANCTL1). Does not change the other bits*/ -00321 clk.clksrc = clk.clksrc << 6; -00322 IO_PORTS_8(adrCAN + CANCTL1) &= 0xBF; -00323 IO_PORTS_8(adrCAN + CANCTL1) |= clk.clksrc; -00324 /* Build the CANBTR0 register */ -00325 IO_PORTS_8(adrCAN + CANBTR0) = 0x00; /* Clear before changes */ -00326 IO_PORTS_8(adrCAN + CANBTR0) = (clk.sjw << 6) | (clk.brp); -00327 /* Build the CANBTR1 register */ -00328 IO_PORTS_8(adrCAN + CANBTR1) = 0x00; /* Clear before changes */ -00329 IO_PORTS_8(adrCAN + CANBTR1) = (clk.samp << 7) | (clk.tseg2 << 4) | -00330 (clk.tseg1); -00331 return 0; -00332 } -00333 -00334 /***************************************************************************/ -00335 char canInit1Filter(UNS16 adrCAN, UNS8 nFilter, UNS16 ar, UNS16 mr) -00336 { -00337 if (! canTestInitMode(adrCAN)) { -00338 /* Error because not init mode */ -00339 MSG_WAR(0X2602, "not in init mode ", 0); -00340 return 1; -00341 } -00342 switch (nFilter) { -00343 case 0: -00344 nFilter = CANIDAR0; /* First bank */ -00345 break; -00346 case 1: -00347 nFilter = CANIDAR2; /* First bank */ -00348 break; -00349 case 2: -00350 nFilter = CANIDAR4; /* Second bank */ -00351 break; -00352 case 3: -00353 nFilter = CANIDAR6; /* Second bank */ -00354 } -00355 /* address of CANIDARx */ -00356 IO_PORTS_8(adrCAN + nFilter) = (UNS8) (ar >> 8); -00357 IO_PORTS_8(adrCAN + nFilter + 1) = (UNS8) (ar); -00358 IO_PORTS_8(adrCAN + nFilter + 4) = (UNS8) (mr >> 8); -00359 IO_PORTS_8(adrCAN + nFilter + 5) = (UNS8) (mr); -00360 return 0; -00361 } -00362 -00363 /***************************************************************************/ -00364 char canInitFilter(UNS16 adrCAN, canBusFilterInit fi) -00365 { -00366 if (! canTestInitMode(adrCAN)) { -00367 /* Error because not init mode */ -00368 MSG_WAR(0X2603, "not in init mode ", 0); -00369 return 1; -00370 } -00371 IO_PORTS_8(adrCAN + CANIDAC) = fi.idam << 4; -00372 IO_PORTS_8(adrCAN + CANIDAR0) = fi.canidar0; -00373 IO_PORTS_8(adrCAN + CANIDMR0) = fi.canidmr0; -00374 IO_PORTS_8(adrCAN + CANIDAR1) = fi.canidar1; -00375 IO_PORTS_8(adrCAN + CANIDMR1) = fi.canidmr1; -00376 IO_PORTS_8(adrCAN + CANIDAR2) = fi.canidar2; -00377 IO_PORTS_8(adrCAN + CANIDMR2) = fi.canidmr2; -00378 IO_PORTS_8(adrCAN + CANIDAR3) = fi.canidar3; -00379 IO_PORTS_8(adrCAN + CANIDMR3) = fi.canidmr3; -00380 IO_PORTS_8(adrCAN + CANIDAR4) = fi.canidar4; -00381 IO_PORTS_8(adrCAN + CANIDMR4) = fi.canidmr4; -00382 IO_PORTS_8(adrCAN + CANIDAR5) = fi.canidar5; -00383 IO_PORTS_8(adrCAN + CANIDMR5) = fi.canidmr5; -00384 IO_PORTS_8(adrCAN + CANIDAR6) = fi.canidar6; -00385 IO_PORTS_8(adrCAN + CANIDMR6) = fi.canidmr6; -00386 IO_PORTS_8(adrCAN + CANIDAR7) = fi.canidar7; -00387 IO_PORTS_8(adrCAN + CANIDMR7) = fi.canidmr7; -00388 return 0; -00389 } -00390 -00391 /***************************************************************************/ -00392 char canInitMode(UNS16 adrCAN) -00393 { -00394 IO_PORTS_8(adrCAN + CANCTL0) |= 0x01; /* Set the bit INITRQ */ -00395 while (! canTestInitMode(adrCAN)) { -00396 } -00397 return 0; -00398 } -00399 -00400 /***************************************************************************/ -00401 char canInitModeQ(UNS16 adrCAN) -00402 { -00403 IO_PORTS_8(adrCAN + CANCTL0) &= 0xFE; /* Clear the bit INITRQ */ -00404 while (canTestInitMode(adrCAN)) { -00405 } -00406 return 0; -00407 } -00408 -00409 /***************************************************************************/ -00410 char canMsgTransmit(UNS16 adrCAN, Message msg) -00411 { -00412 /* Remind : only CAN A msg implemented. ie id on 11 bits, not 29 */ -00413 UNS8 cantflg; -00414 UNS8 i; -00415 /* Looking for a free buffer */ -00416 cantflg = IO_PORTS_8(adrCAN + CANTFLG); -00417 if ( cantflg == 0) { /* all the TXEx are set */ -00418 MSG_WAR(0X2604, "No buffer free. Msg to transmit is losted ", 0); -00419 return 1; /* No buffer free */ -00420 } -00421 else{ -00422 /* Selecting a buffer */ -00423 IO_PORTS_8(adrCAN + CANTBSEL) = cantflg; -00424 /* We put ide = 0 because id is on 11 bits only */ -00425 IO_PORTS_8(adrCAN + CANTRSID) = (UNS8)(msg.cob_id.w >> 3); -00426 IO_PORTS_8(adrCAN + CANTRSID + 1) = (UNS8)((msg.cob_id.w << 5)| -00427 (msg.rtr << 4)); -00428 -00429 IO_PORTS_8(adrCAN + CANTRSLEN) = msg.len & 0X0F; -00430 /* For the priority, we put the highter bits of the cob_id */ -00431 IO_PORTS_8(adrCAN + CANTRSPRI) = IO_PORTS_8(adrCAN + CANTRSID); -00432 for (i = 0 ; i < msg.len ; i++) { -00433 IO_PORTS_8(adrCAN + CANTRSDTA + i) = msg.data[i]; -00434 } -00435 /* Transmitting the message */ -00436 cantflg = IO_PORTS_8(adrCAN + CANTBSEL);/* to know which buf is selected */ -00437 IO_PORTS_8(adrCAN + CANTBSEL) = 0x00; -00438 IO_PORTS_8(adrCAN + CANTFLG) = cantflg; /* Ready to transmit ! */ -00439 -00440 } -00441 return 0; -00442 } -00443 -00444 /***************************************************************************/ -00445 char canSetInterrupt(UNS16 adrCAN) -00446 { -00447 IO_PORTS_8(adrCAN + CANRIER) = 0X01; /* Allow interruptions on receive */ -00448 IO_PORTS_8(adrCAN + CANTIER) = 0X00; /* disallow interruptions on transmit */ -00449 return 0; -00450 } -00451 /***************************************************************************/ -00452 char canSleepMode(UNS16 adrCAN) -00453 { -00454 IO_PORTS_8(adrCAN + CANCTL0) &= 0xFB; /* clr the bit WUPE to avoid a wake-up*/ -00455 IO_PORTS_8(adrCAN + CANCTL0) |= 0x02; /* Set the bit SLPRQ. go to Sleep !*/ -00456 -00457 // IO_PORTS_8(adrCAN + CANCTL1) |= 0x04; -00458 // IO_PORTS_8(adrCAN + CANCTL0) |= 0x02; /* Set the bit SLPRQ */ -00459 while ( ! canTestSleepMode(adrCAN)) { -00460 } -00461 -00462 return 0; -00463 } -00464 -00465 /***************************************************************************/ -00466 char canSleepModeQ(UNS16 adrCAN) -00467 { -00468 if (canTestInitMode(adrCAN)) { -00469 /* Error because in init mode */ -00470 MSG_WAR(0X2606, "not in init mode ", 0); -00471 return 1; -00472 } -00473 IO_PORTS_8(adrCAN + CANCTL0) &= 0xFD; /* clr the bit SLPRQ */ -00474 while ( canTestSleepMode(adrCAN)) { -00475 } -00476 return 0; -00477 } -00478 -00479 /***************************************************************************/ -00480 char canSleepWupMode(UNS16 adrCAN) -00481 { -00482 if (canTestInitMode(adrCAN)) { -00483 MSG_WAR(0X2607, "not in init mode ", 0); -00484 return 1; -00485 } -00486 IO_PORTS_8(adrCAN + CANCTL0) |= 0x06; /* Set the bits WUPE & SLPRQ */ -00487 while ( ! canTestSleepMode(adrCAN)) { -00488 } -00489 return 0; -00490 } -00491 -00492 /***************************************************************************/ -00493 char canTestInitMode(UNS16 adrCAN) -00494 { -00495 return IO_PORTS_8(adrCAN + CANCTL1) & 0x01; /* Test the bit INITAK */ -00496 } -00497 -00498 /***************************************************************************/ -00499 char canTestSleepMode(UNS16 adrCAN) -00500 { -00501 return IO_PORTS_8(adrCAN + CANCTL1) & 0x02; /* Test the bit SLPAK */ -00502 } -00503 -00504 /***************************************************************************/ -00505 UNS8 canSend(UNS8 notused, Message *m) -00506 { -00507 canMsgTransmit(CANOPEN_LINE_NUMBER_USED, *m); -00508 return 0; -00509 } -00510 -00511 -00512 /**************************************************************************/ -00513 UNS8 f_can_receive(UNS8 notused, Message *msgRcv) -00514 { -00515 UNS8 i, j; -00516 -00517 switch (CANOPEN_LINE_NUMBER_USED) { -00518 case CAN0 : j = 0; break; -00519 case CAN1 : j = 1; break; -00520 case CAN2 : j = 2; break; -00521 case CAN3 : j = 3; break; -00522 case CAN4 : j = 4; break; -00523 } -00524 -00525 /* See if a message is pending in the stack */ -00526 if (ptrMsgRcv[j].r == ptrMsgRcv[j].w) -00527 return 0x0; // No new message -00528 -00529 /* Increment the reading pointer of the stack */ -00530 if (ptrMsgRcv[j].r == (MAX_STACK_MSG_RCV - 1)) -00531 ptrMsgRcv[j].r = 0; -00532 else -00533 ptrMsgRcv[j].r ++; -00534 -00535 /* Store the message from the stack*/ -00536 msgRcv->cob_id.w = stackMsgRcv[j][ptrMsgRcv[j].r].cob_id.w; -00537 msgRcv->len = stackMsgRcv[j][ptrMsgRcv[j].r].len; -00538 msgRcv->rtr = stackMsgRcv[j][ptrMsgRcv[j].r].rtr; -00539 for (i = 0 ; i < stackMsgRcv[j][ptrMsgRcv[j].r].len ; i++) -00540 msgRcv->data[i] = stackMsgRcv[j][ptrMsgRcv[j].r].data[i]; -00541 return 0xFF; -00542 } -00543 -00544 -00545 /****************************************************************************** -00546 ******************************* CAN INTERRUPT *******************************/ -00547 -00548 void __attribute__((interrupt)) can0HdlTra (void) -00549 { -00550 -00551 } -00552 -00553 void __attribute__((interrupt)) can0HdlRcv (void) -00554 { -00555 UNS8 i; -00556 lock(); -00557 IO_PORTS_8(PORTB) &= ~ 0x40; // led 6 port B : ON -00558 UNS8 NewPtrW; -00559 /* We are obliged to save the message while the interruption is pending */ -00560 /* Increment the writing stack pointer before writing the msg */ -00561 if (ptrMsgRcv[0].w == (MAX_STACK_MSG_RCV - 1)) -00562 NewPtrW = 0; -00563 else -00564 NewPtrW = ptrMsgRcv[0].w + 1; -00565 -00566 if (NewPtrW == ptrMsgRcv[0].r) { -00567 /* The stack is full. The last msg received before this one is lost */ -00568 MSG_WAR(0X1620, "Stack for received msg is full", 0); -00569 //IO_PORTS_8(PORTB) &= ~0x40; // led 6 : ON (for debogue) -00570 } -00571 else -00572 ptrMsgRcv[0].w = NewPtrW; -00573 -00574 /* Store the message */ -00575 stackMsgRcv[0][ptrMsgRcv[0].w].cob_id.w = IO_PORTS_16(CAN0 + CANRCVID) >> 5; -00576 stackMsgRcv[0][ptrMsgRcv[0].w].len = IO_PORTS_8(CAN0 + CANRCVLEN) & 0x0F; -00577 stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN0 + CANRCVID + 1) >> 4) & 0x01; -00578 for (i = 0 ; i < stackMsgRcv[0][ptrMsgRcv[0].w].len ; i++) -00579 stackMsgRcv[0][ptrMsgRcv[0].w].data[i] = IO_PORTS_8(CAN0 + CANRCVDTA + i); -00580 -00581 // The message is stored , so -00582 // we can now release the receive foreground buffer -00583 // and acknowledge the interruption -00584 IO_PORTS_8(CAN0 + CANRFLG) |= 0x01; -00585 // Not very usefull -00586 IO_PORTS_8(CAN0 + CANCTL0) |= 0x80; -00587 IO_PORTS_8(PORTB) |= 0x40; // led 6 port B : OFF -00588 unlock(); -00589 } -00590 -00591 void __attribute__((interrupt)) can0HdlWup (void) -00592 { -00593 -00594 } -00595 -00596 void __attribute__((interrupt)) can0HdlErr (void) -00597 { -00598 -00599 } -00600 -00601 void __attribute__((interrupt)) can1HdlTra (void) -00602 { -00603 -00604 } -00605 -00606 void __attribute__((interrupt)) can1HdlRcv (void) -00607 { -00608 UNS8 i; -00609 lock(); -00610 UNS8 NewPtrW; -00611 /* We are obliged to save the message while the interruption is pending */ -00612 /* Increment the writing stack pointer before writing the msg */ -00613 if (ptrMsgRcv[1].w == (MAX_STACK_MSG_RCV - 1)) -00614 NewPtrW = 0; -00615 else -00616 NewPtrW = ptrMsgRcv[1].w + 1; -00617 -00618 if (NewPtrW == ptrMsgRcv[1].r) { -00619 /* The stack is full. The last msg received before this one is lost */ -00620 MSG_WAR(0X2620, "Stack for received msg is full", 0); -00621 } -00622 else -00623 ptrMsgRcv[1].w = NewPtrW; -00624 -00625 /* Store the message */ -00626 stackMsgRcv[1][ptrMsgRcv[1].w].cob_id.w = IO_PORTS_16(CAN1 + CANRCVID) >> 5; -00627 stackMsgRcv[1][ptrMsgRcv[1].w].len = IO_PORTS_8(CAN1 + CANRCVLEN) & 0x0F; -00628 stackMsgRcv[0][ptrMsgRcv[0].w].rtr = (IO_PORTS_8(CAN1 + CANRCVID + 1) >> 4) & 0x01; -00629 for (i = 0 ; i < stackMsgRcv[1][ptrMsgRcv[1].w].len ; i++) -00630 stackMsgRcv[1][ptrMsgRcv[1].w].data[i] = IO_PORTS_8(CAN1 + CANRCVDTA + i); -00631 -00632 // The message is stored , so -00633 // we can now release the receive foreground buffer -00634 // and acknowledge the interruption -00635 IO_PORTS_8(CAN1 + CANRFLG) |= 0x01; -00636 // Not very usefull -00637 IO_PORTS_8(CAN1 + CANCTL0) |= 0x80; -00638 unlock(); -00639 } -00640 -00641 void __attribute__((interrupt)) can1HdlWup (void) -00642 { -00643 -00644 } -00645 -00646 void __attribute__((interrupt)) can1HdlErr (void) -00647 { -00648 -00649 } -00650 -00651 void __attribute__((interrupt)) can2HdlTra (void) -00652 { -00653 -00654 } -00655 -00656 void __attribute__((interrupt)) can2HdlRcv (void) -00657 { -00658 -00659 } -00660 -00661 void __attribute__((interrupt)) can2HdlWup (void) -00662 { -00663 -00664 } -00665 -00666 void __attribute__((interrupt)) can2HdlErr (void) -00667 { -00668 -00669 } -00670 -00671 void __attribute__((interrupt)) can3HdlTra (void) -00672 { -00673 -00674 } -00675 -00676 void __attribute__((interrupt)) can3HdlRcv (void) -00677 { -00678 -00679 } -00680 -00681 void __attribute__((interrupt)) can3HdlWup (void) -00682 { -00683 -00684 } -00685 -00686 void __attribute__((interrupt)) can3HdlErr (void) -00687 { -00688 -00689 } -00690 -00691 void __attribute__((interrupt)) can4HdlTra (void) -00692 { -00693 -00694 } -00695 -00696 void __attribute__((interrupt)) can4HdlRcv (void) -00697 { -00698 -00699 } -00700 -00701 void __attribute__((interrupt)) can4HdlWup (void) -00702 { -00703 -00704 } -00705 -00706 void __attribute__((interrupt)) can4HdlErr (void) -00707 { -00708 -00709 } -00710 -00711 -00712 -