CRAC Team / AX12_PR

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CAN.cpp@3:0175a071dd65, 2017-05-20 (annotated)

Committer:
EdouardGE1
Date:
Sat May 20 09:36:35 2017 +0000
Revision:
3:0175a071dd65
Parent:
2:9d280856a536 
pour clement liste des fonctions des actions du petit robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matthieuvignon 2:9d280856a536 1 #include "all_includes.h"
matthieuvignon 2:9d280856a536 2
matthieuvignon 2:9d280856a536 3 extern CANMessage msgRxBuffer[SIZE_FIFO];
matthieuvignon 2:9d280856a536 4 extern CAN can;
matthieuvignon 2:9d280856a536 5 extern DigitalOut led2;
matthieuvignon 2:9d280856a536 6 extern void GetPositionAx12(void);
matthieuvignon 2:9d280856a536 7
matthieuvignon 2:9d280856a536 8 unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
matthieuvignon 2:9d280856a536 9 signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN
matthieuvignon 2:9d280856a536 10
matthieuvignon 2:9d280856a536 11 unsigned char FlagAx12 = 0;
matthieuvignon 2:9d280856a536 12
matthieuvignon 2:9d280856a536 13
matthieuvignon 2:9d280856a536 14 /*********************************************************************************************************/
matthieuvignon 2:9d280856a536 15 /* FUNCTION NAME: SendRawId */
matthieuvignon 2:9d280856a536 16 /* DESCRIPTION : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
matthieuvignon 2:9d280856a536 17 /*********************************************************************************************************/
matthieuvignon 2:9d280856a536 18 void SendRawId (unsigned short id)
matthieuvignon 2:9d280856a536 19 {
matthieuvignon 2:9d280856a536 20 CANMessage msgTx=CANMessage();
matthieuvignon 2:9d280856a536 21 msgTx.id=id;
matthieuvignon 2:9d280856a536 22 msgTx.len=0;
matthieuvignon 2:9d280856a536 23 can.write(msgTx);
matthieuvignon 2:9d280856a536 24 wait_us(50);
matthieuvignon 2:9d280856a536 25 }
matthieuvignon 2:9d280856a536 26
matthieuvignon 2:9d280856a536 27
matthieuvignon 2:9d280856a536 28 /*********************************************************************************************************/
matthieuvignon 2:9d280856a536 29 /* FUNCTION NAME: canRx_ISR */
matthieuvignon 2:9d280856a536 30 /* DESCRIPTION : lit les messages sur le can et les stocke dans la FIFO */
matthieuvignon 2:9d280856a536 31 /*********************************************************************************************************/
matthieuvignon 2:9d280856a536 32 void canRx_ISR (void)
matthieuvignon 2:9d280856a536 33 {
matthieuvignon 2:9d280856a536 34 if (can.read(msgRxBuffer[FIFO_ecriture]))
matthieuvignon 2:9d280856a536 35 FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
matthieuvignon 2:9d280856a536 36 }
matthieuvignon 2:9d280856a536 37
matthieuvignon 2:9d280856a536 38
matthieuvignon 2:9d280856a536 39
matthieuvignon 2:9d280856a536 40 /****************************************************************************************/
matthieuvignon 2:9d280856a536 41 /* FUNCTION NAME: canProcessRx */
matthieuvignon 2:9d280856a536 42 /* DESCRIPTION : Fonction de traitement des messages CAN */
matthieuvignon 2:9d280856a536 43 /****************************************************************************************/
matthieuvignon 2:9d280856a536 44 void canProcessRx(void){
matthieuvignon 2:9d280856a536 45 static signed char FIFO_occupation=0,FIFO_max_occupation=0;
matthieuvignon 2:9d280856a536 46 CANMessage msgTx=CANMessage();
matthieuvignon 2:9d280856a536 47 FIFO_occupation=FIFO_ecriture-FIFO_lecture;
matthieuvignon 2:9d280856a536 48 if(FIFO_occupation<0)
matthieuvignon 2:9d280856a536 49 FIFO_occupation=FIFO_occupation+SIZE_FIFO;
matthieuvignon 2:9d280856a536 50 if(FIFO_max_occupation<FIFO_occupation)
matthieuvignon 2:9d280856a536 51 FIFO_max_occupation=FIFO_occupation;
matthieuvignon 2:9d280856a536 52 if(FIFO_occupation!=0) {
matthieuvignon 2:9d280856a536 53
matthieuvignon 2:9d280856a536 54 switch(msgRxBuffer[FIFO_lecture].id) {
EdouardGE1 3:0175a071dd65 55
matthieuvignon 2:9d280856a536 56 case CHECK_AX12:
matthieuvignon 2:9d280856a536 57 SendRawId(ALIVE_AX12);
matthieuvignon 2:9d280856a536 58 FlagAx12 = 1;
matthieuvignon 2:9d280856a536 59 break;
matthieuvignon 2:9d280856a536 60
matthieuvignon 2:9d280856a536 61 case SERVO_AX12_ACTION :
matthieuvignon 2:9d280856a536 62
matthieuvignon 2:9d280856a536 63 ActionAx12=1;
matthieuvignon 2:9d280856a536 64 EtatAx12 = msgRxBuffer[FIFO_lecture].data[0];
matthieuvignon 2:9d280856a536 65
matthieuvignon 2:9d280856a536 66 //ACK de reception des actions a effectuer
matthieuvignon 2:9d280856a536 67 msgTx.id = SERVO_AX12_ACK;
matthieuvignon 2:9d280856a536 68 msgTx.len = 1;
matthieuvignon 2:9d280856a536 69 msgTx.data[0] = msgRxBuffer[FIFO_lecture].data[0];
matthieuvignon 2:9d280856a536 70 can.write(msgTx);
matthieuvignon 2:9d280856a536 71 break;
matthieuvignon 2:9d280856a536 72
matthieuvignon 2:9d280856a536 73 case 0x123:
matthieuvignon 2:9d280856a536 74 SendRawId(100);
matthieuvignon 2:9d280856a536 75 GetPositionAx12();
matthieuvignon 2:9d280856a536 76 break;
matthieuvignon 2:9d280856a536 77
matthieuvignon 2:9d280856a536 78 }
matthieuvignon 2:9d280856a536 79 action_a_effectuer=1;
matthieuvignon 2:9d280856a536 80 FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
matthieuvignon 2:9d280856a536 81 }
matthieuvignon 2:9d280856a536 82 }
matthieuvignon 2:9d280856a536 83
matthieuvignon 2:9d280856a536 84
matthieuvignon 2:9d280856a536 85
matthieuvignon 2:9d280856a536 86
matthieuvignon 2:9d280856a536 87 void CAN2_wrFilter (uint32_t id) {
matthieuvignon 2:9d280856a536 88 static int CAN_std_cnt = 0;
matthieuvignon 2:9d280856a536 89 uint32_t buf0, buf1;
matthieuvignon 2:9d280856a536 90 int cnt1, cnt2, bound1;
matthieuvignon 2:9d280856a536 91
matthieuvignon 2:9d280856a536 92 /* Acceptance Filter Memory full */
matthieuvignon 2:9d280856a536 93 if (((CAN_std_cnt + 1) >> 1) >= 512)
matthieuvignon 2:9d280856a536 94 return; /* error: objects full */
matthieuvignon 2:9d280856a536 95
matthieuvignon 2:9d280856a536 96 /* Setup Acceptance Filter Configuration
matthieuvignon 2:9d280856a536 97 Acceptance Filter Mode Register = Off */
matthieuvignon 2:9d280856a536 98 LPC_CANAF->AFMR = 0x00000001;
matthieuvignon 2:9d280856a536 99
matthieuvignon 2:9d280856a536 100 id |= 1 << 13; /* Add controller number(2) */
matthieuvignon 2:9d280856a536 101 id &= 0x0000F7FF; /* Mask out 16-bits of ID */
matthieuvignon 2:9d280856a536 102
matthieuvignon 2:9d280856a536 103 if (CAN_std_cnt == 0) { /* For entering first ID */
matthieuvignon 2:9d280856a536 104 LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
matthieuvignon 2:9d280856a536 105 } else if (CAN_std_cnt == 1) { /* For entering second ID */
matthieuvignon 2:9d280856a536 106 if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
matthieuvignon 2:9d280856a536 107 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
matthieuvignon 2:9d280856a536 108 else
matthieuvignon 2:9d280856a536 109 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
matthieuvignon 2:9d280856a536 110 } else {
matthieuvignon 2:9d280856a536 111 /* Find where to insert new ID */
matthieuvignon 2:9d280856a536 112 cnt1 = 0;
matthieuvignon 2:9d280856a536 113 cnt2 = CAN_std_cnt;
matthieuvignon 2:9d280856a536 114 bound1 = (CAN_std_cnt - 1) >> 1;
matthieuvignon 2:9d280856a536 115 while (cnt1 <= bound1) { /* Loop through standard existing IDs */
matthieuvignon 2:9d280856a536 116 if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id) {
matthieuvignon 2:9d280856a536 117 cnt2 = cnt1 * 2;
matthieuvignon 2:9d280856a536 118 break;
matthieuvignon 2:9d280856a536 119 }
matthieuvignon 2:9d280856a536 120 if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id) {
matthieuvignon 2:9d280856a536 121 cnt2 = cnt1 * 2 + 1;
matthieuvignon 2:9d280856a536 122 break;
matthieuvignon 2:9d280856a536 123 }
matthieuvignon 2:9d280856a536 124 cnt1++; /* cnt1 = U32 where to insert new ID */
matthieuvignon 2:9d280856a536 125 } /* cnt2 = U16 where to insert new ID */
matthieuvignon 2:9d280856a536 126
matthieuvignon 2:9d280856a536 127 if (cnt1 > bound1) { /* Adding ID as last entry */
matthieuvignon 2:9d280856a536 128 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
matthieuvignon 2:9d280856a536 129 LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
matthieuvignon 2:9d280856a536 130 else /* Odd number of IDs exists */
matthieuvignon 2:9d280856a536 131 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
matthieuvignon 2:9d280856a536 132 } else {
matthieuvignon 2:9d280856a536 133 buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
matthieuvignon 2:9d280856a536 134 if ((cnt2 & 0x0001) == 0) /* Insert new mask to even address */
matthieuvignon 2:9d280856a536 135 buf1 = (id << 16) | (buf0 >> 16);
matthieuvignon 2:9d280856a536 136 else /* Insert new mask to odd address */
matthieuvignon 2:9d280856a536 137 buf1 = (buf0 & 0xFFFF0000) | id;
matthieuvignon 2:9d280856a536 138
matthieuvignon 2:9d280856a536 139 LPC_CANAF_RAM->mask[cnt1] = buf1; /* Insert mask */
matthieuvignon 2:9d280856a536 140
matthieuvignon 2:9d280856a536 141 bound1 = CAN_std_cnt >> 1;
matthieuvignon 2:9d280856a536 142 /* Move all remaining standard mask entries one place up */
matthieuvignon 2:9d280856a536 143 while (cnt1 < bound1) {
matthieuvignon 2:9d280856a536 144 cnt1++;
matthieuvignon 2:9d280856a536 145 buf1 = LPC_CANAF_RAM->mask[cnt1];
matthieuvignon 2:9d280856a536 146 LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
matthieuvignon 2:9d280856a536 147 buf0 = buf1;
matthieuvignon 2:9d280856a536 148 }
matthieuvignon 2:9d280856a536 149
matthieuvignon 2:9d280856a536 150 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
matthieuvignon 2:9d280856a536 151 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);
matthieuvignon 2:9d280856a536 152 }
matthieuvignon 2:9d280856a536 153 }
matthieuvignon 2:9d280856a536 154 CAN_std_cnt++;
matthieuvignon 2:9d280856a536 155
matthieuvignon 2:9d280856a536 156 /* Calculate std ID start address (buf0) and ext ID start address <- none (buf1) */
matthieuvignon 2:9d280856a536 157 buf0 = ((CAN_std_cnt + 1) >> 1) << 2;
matthieuvignon 2:9d280856a536 158 buf1 = buf0;
matthieuvignon 2:9d280856a536 159
matthieuvignon 2:9d280856a536 160 /* Setup acceptance filter pointers */
matthieuvignon 2:9d280856a536 161 LPC_CANAF->SFF_sa = 0;
matthieuvignon 2:9d280856a536 162 LPC_CANAF->SFF_GRP_sa = buf0;
matthieuvignon 2:9d280856a536 163 LPC_CANAF->EFF_sa = buf0;
matthieuvignon 2:9d280856a536 164 LPC_CANAF->EFF_GRP_sa = buf1;
matthieuvignon 2:9d280856a536 165 LPC_CANAF->ENDofTable = buf1;
matthieuvignon 2:9d280856a536 166
matthieuvignon 2:9d280856a536 167 LPC_CANAF->AFMR = 0x00000000; /* Use acceptance filter */
matthieuvignon 2:9d280856a536 168 } // CAN2_wrFilter