canOpenDriver.c

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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 

Generated on Mon Jul 2 19:10:16 2007 for CanFestival by  doxygen 1.5.1