File content as of revision 3:0175a071dd65:

#include "all_includes.h"

extern CANMessage msgRxBuffer[SIZE_FIFO];
extern CAN can;
extern DigitalOut led2;
extern void GetPositionAx12(void);

unsigned char FIFO_ecriture=0; //Position du fifo pour la reception CAN
signed char FIFO_lecture=0;//Position du fifo de lecture des messages CAN

unsigned char FlagAx12 = 0;


/*********************************************************************************************************/
/* FUNCTION NAME: SendRawId                                                                              */
/* DESCRIPTION  : Envoie un message sans donnée, c'est-à-dire contenant uniquement un ID, sur le bus CAN */
/*********************************************************************************************************/
void SendRawId (unsigned short id)
{
    CANMessage msgTx=CANMessage();
    msgTx.id=id;
    msgTx.len=0;
    can.write(msgTx);
    wait_us(50);
}


/*********************************************************************************************************/
/* FUNCTION NAME: canRx_ISR                                                                            */
/* DESCRIPTION  : lit les messages sur le can et les stocke dans la FIFO                                */
/*********************************************************************************************************/
void canRx_ISR (void)
{
    if (can.read(msgRxBuffer[FIFO_ecriture]))
        FIFO_ecriture=(FIFO_ecriture+1)%SIZE_FIFO;
}



/****************************************************************************************/
/* FUNCTION NAME: canProcessRx                                                          */
/* DESCRIPTION  : Fonction de traitement des messages CAN                               */
/****************************************************************************************/
void canProcessRx(void){
    static signed char FIFO_occupation=0,FIFO_max_occupation=0;
    CANMessage msgTx=CANMessage();
    FIFO_occupation=FIFO_ecriture-FIFO_lecture;
    if(FIFO_occupation<0)
        FIFO_occupation=FIFO_occupation+SIZE_FIFO;
    if(FIFO_max_occupation<FIFO_occupation)
        FIFO_max_occupation=FIFO_occupation;
    if(FIFO_occupation!=0) {
        
        switch(msgRxBuffer[FIFO_lecture].id) {
    
           case CHECK_AX12:
                SendRawId(ALIVE_AX12);
                FlagAx12 = 1;
                break;
            
            case SERVO_AX12_ACTION :
            
                ActionAx12=1; 
                EtatAx12 = msgRxBuffer[FIFO_lecture].data[0];
                
                //ACK de reception des actions a effectuer
                msgTx.id = SERVO_AX12_ACK;
                msgTx.len = 1;
                msgTx.data[0] = msgRxBuffer[FIFO_lecture].data[0];
                can.write(msgTx);
                break;
                
            case 0x123:
                SendRawId(100);
                GetPositionAx12();
                break;
            
        }
        action_a_effectuer=1;
        FIFO_lecture=(FIFO_lecture+1)%SIZE_FIFO;
    }
}
    
        
                                                                    

void CAN2_wrFilter (uint32_t id)  {
    static int CAN_std_cnt = 0;
    uint32_t buf0, buf1;
    int cnt1, cnt2, bound1;
 
    /* Acceptance Filter Memory full */
    if (((CAN_std_cnt + 1) >> 1) >= 512)
        return;                                       /* error: objects full */
 
    /* Setup Acceptance Filter Configuration
      Acceptance Filter Mode Register = Off  */
    LPC_CANAF->AFMR = 0x00000001;
 
    id |= 1 << 13;                        /* Add controller number(2) */
    id &= 0x0000F7FF;                            /* Mask out 16-bits of ID */
 
    if (CAN_std_cnt == 0)  {                     /* For entering first  ID */
        LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
    }  else if (CAN_std_cnt == 1)  {             /* For entering second ID */
        if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
            LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
        else
            LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
    }  else  {
        /* Find where to insert new ID */
        cnt1 = 0;
        cnt2 = CAN_std_cnt;
        bound1 = (CAN_std_cnt - 1) >> 1;
        while (cnt1 <= bound1)  {                  /* Loop through standard existing IDs */
            if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id)  {
                cnt2 = cnt1 * 2;
                break;
            }
            if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id)  {
                cnt2 = cnt1 * 2 + 1;
                break;
            }
            cnt1++;                                  /* cnt1 = U32 where to insert new ID */
        }                                          /* cnt2 = U16 where to insert new ID */
 
        if (cnt1 > bound1)  {                      /* Adding ID as last entry */
            if ((CAN_std_cnt & 0x0001) == 0)         /* Even number of IDs exists */
                LPC_CANAF_RAM->mask[cnt1]  = 0x0000FFFF | (id << 16);
            else                                     /* Odd  number of IDs exists */
                LPC_CANAF_RAM->mask[cnt1]  = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
        }  else  {
            buf0 = LPC_CANAF_RAM->mask[cnt1];        /* Remember current entry */
            if ((cnt2 & 0x0001) == 0)                /* Insert new mask to even address */
                buf1 = (id << 16) | (buf0 >> 16);
            else                                     /* Insert new mask to odd  address */
                buf1 = (buf0 & 0xFFFF0000) | id;
 
            LPC_CANAF_RAM->mask[cnt1] = buf1;        /* Insert mask */
 
            bound1 = CAN_std_cnt >> 1;
            /* Move all remaining standard mask entries one place up */
            while (cnt1 < bound1)  {
                cnt1++;
                buf1  = LPC_CANAF_RAM->mask[cnt1];
                LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
                buf0  = buf1;
            }
 
            if ((CAN_std_cnt & 0x0001) == 0)         /* Even number of IDs exists */
                LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);
        }
    }
    CAN_std_cnt++;
 
    /* Calculate std ID start address (buf0) and ext ID start address <- none (buf1) */
    buf0 = ((CAN_std_cnt + 1) >> 1) << 2;
    buf1 = buf0;
 
    /* Setup acceptance filter pointers */
    LPC_CANAF->SFF_sa     = 0;
    LPC_CANAF->SFF_GRP_sa = buf0;
    LPC_CANAF->EFF_sa     = buf0;
    LPC_CANAF->EFF_GRP_sa = buf1;
    LPC_CANAF->ENDofTable = buf1;
 
    LPC_CANAF->AFMR = 0x00000000;                  /* Use acceptance filter */
} // CAN2_wrFilter