Mouse code for the MacroRat
mbed-dev/targets/TARGET_NXP/TARGET_LPC408X/TARGET_LPC4088_DM/can_api.c@46:b156ef445742, 2017-06-03 (annotated)
- Committer:
- sahilmgandhi
- Date:
- Sat Jun 03 00:22:44 2017 +0000
- Revision:
- 46:b156ef445742
- Parent:
- 18:6a4db94011d3
Final code for internal battlebot competition.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sahilmgandhi | 18:6a4db94011d3 | 1 | /* mbed Microcontroller Library |
sahilmgandhi | 18:6a4db94011d3 | 2 | * Copyright (c) 2006-2013 ARM Limited |
sahilmgandhi | 18:6a4db94011d3 | 3 | * |
sahilmgandhi | 18:6a4db94011d3 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
sahilmgandhi | 18:6a4db94011d3 | 5 | * you may not use this file except in compliance with the License. |
sahilmgandhi | 18:6a4db94011d3 | 6 | * You may obtain a copy of the License at |
sahilmgandhi | 18:6a4db94011d3 | 7 | * |
sahilmgandhi | 18:6a4db94011d3 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
sahilmgandhi | 18:6a4db94011d3 | 9 | * |
sahilmgandhi | 18:6a4db94011d3 | 10 | * Unless required by applicable law or agreed to in writing, software |
sahilmgandhi | 18:6a4db94011d3 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
sahilmgandhi | 18:6a4db94011d3 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
sahilmgandhi | 18:6a4db94011d3 | 13 | * See the License for the specific language governing permissions and |
sahilmgandhi | 18:6a4db94011d3 | 14 | * limitations under the License. |
sahilmgandhi | 18:6a4db94011d3 | 15 | */ |
sahilmgandhi | 18:6a4db94011d3 | 16 | #include "can_api.h" |
sahilmgandhi | 18:6a4db94011d3 | 17 | |
sahilmgandhi | 18:6a4db94011d3 | 18 | #include "cmsis.h" |
sahilmgandhi | 18:6a4db94011d3 | 19 | #include "pinmap.h" |
sahilmgandhi | 18:6a4db94011d3 | 20 | |
sahilmgandhi | 18:6a4db94011d3 | 21 | #include <math.h> |
sahilmgandhi | 18:6a4db94011d3 | 22 | #include <string.h> |
sahilmgandhi | 18:6a4db94011d3 | 23 | |
sahilmgandhi | 18:6a4db94011d3 | 24 | #define CAN_NUM 2 |
sahilmgandhi | 18:6a4db94011d3 | 25 | |
sahilmgandhi | 18:6a4db94011d3 | 26 | /* Acceptance filter mode in AFMR register */ |
sahilmgandhi | 18:6a4db94011d3 | 27 | #define ACCF_OFF 0x01 |
sahilmgandhi | 18:6a4db94011d3 | 28 | #define ACCF_BYPASS 0x02 |
sahilmgandhi | 18:6a4db94011d3 | 29 | #define ACCF_ON 0x00 |
sahilmgandhi | 18:6a4db94011d3 | 30 | #define ACCF_FULLCAN 0x04 |
sahilmgandhi | 18:6a4db94011d3 | 31 | |
sahilmgandhi | 18:6a4db94011d3 | 32 | /* There are several bit timing calculators on the internet. |
sahilmgandhi | 18:6a4db94011d3 | 33 | http://www.port.de/engl/canprod/sv_req_form.html |
sahilmgandhi | 18:6a4db94011d3 | 34 | http://www.kvaser.com/can/index.htm |
sahilmgandhi | 18:6a4db94011d3 | 35 | */ |
sahilmgandhi | 18:6a4db94011d3 | 36 | |
sahilmgandhi | 18:6a4db94011d3 | 37 | static const PinMap PinMap_CAN_RD[] = { |
sahilmgandhi | 18:6a4db94011d3 | 38 | {P0_0 , CAN_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 39 | {P0_4 , CAN_2, 2}, |
sahilmgandhi | 18:6a4db94011d3 | 40 | {P0_21, CAN_1, 4}, |
sahilmgandhi | 18:6a4db94011d3 | 41 | {NC , NC , 0} |
sahilmgandhi | 18:6a4db94011d3 | 42 | }; |
sahilmgandhi | 18:6a4db94011d3 | 43 | |
sahilmgandhi | 18:6a4db94011d3 | 44 | static const PinMap PinMap_CAN_TD[] = { |
sahilmgandhi | 18:6a4db94011d3 | 45 | {P0_1 , CAN_1, 1}, |
sahilmgandhi | 18:6a4db94011d3 | 46 | {P0_5 , CAN_2, 2}, |
sahilmgandhi | 18:6a4db94011d3 | 47 | {NC , NC , 0} |
sahilmgandhi | 18:6a4db94011d3 | 48 | }; |
sahilmgandhi | 18:6a4db94011d3 | 49 | |
sahilmgandhi | 18:6a4db94011d3 | 50 | // Type definition to hold a CAN message |
sahilmgandhi | 18:6a4db94011d3 | 51 | struct CANMsg { |
sahilmgandhi | 18:6a4db94011d3 | 52 | unsigned int reserved1 : 16; |
sahilmgandhi | 18:6a4db94011d3 | 53 | unsigned int dlc : 4; // Bits 16..19: DLC - Data Length Counter |
sahilmgandhi | 18:6a4db94011d3 | 54 | unsigned int reserved0 : 10; |
sahilmgandhi | 18:6a4db94011d3 | 55 | unsigned int rtr : 1; // Bit 30: Set if this is a RTR message |
sahilmgandhi | 18:6a4db94011d3 | 56 | unsigned int type : 1; // Bit 31: Set if this is a 29-bit ID message |
sahilmgandhi | 18:6a4db94011d3 | 57 | unsigned int id; // CAN Message ID (11-bit or 29-bit) |
sahilmgandhi | 18:6a4db94011d3 | 58 | unsigned char data[8]; // CAN Message Data Bytes 0-7 |
sahilmgandhi | 18:6a4db94011d3 | 59 | }; |
sahilmgandhi | 18:6a4db94011d3 | 60 | typedef struct CANMsg CANMsg; |
sahilmgandhi | 18:6a4db94011d3 | 61 | |
sahilmgandhi | 18:6a4db94011d3 | 62 | static uint32_t can_irq_ids[CAN_NUM] = {0}; |
sahilmgandhi | 18:6a4db94011d3 | 63 | static can_irq_handler irq_handler; |
sahilmgandhi | 18:6a4db94011d3 | 64 | |
sahilmgandhi | 18:6a4db94011d3 | 65 | static uint32_t can_disable(can_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 66 | uint32_t sm = obj->dev->MOD; |
sahilmgandhi | 18:6a4db94011d3 | 67 | obj->dev->MOD |= 1; |
sahilmgandhi | 18:6a4db94011d3 | 68 | return sm; |
sahilmgandhi | 18:6a4db94011d3 | 69 | } |
sahilmgandhi | 18:6a4db94011d3 | 70 | |
sahilmgandhi | 18:6a4db94011d3 | 71 | static inline void can_enable(can_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 72 | if (obj->dev->MOD & 1) { |
sahilmgandhi | 18:6a4db94011d3 | 73 | obj->dev->MOD &= ~(1); |
sahilmgandhi | 18:6a4db94011d3 | 74 | } |
sahilmgandhi | 18:6a4db94011d3 | 75 | } |
sahilmgandhi | 18:6a4db94011d3 | 76 | |
sahilmgandhi | 18:6a4db94011d3 | 77 | int can_mode(can_t *obj, CanMode mode) |
sahilmgandhi | 18:6a4db94011d3 | 78 | { |
sahilmgandhi | 18:6a4db94011d3 | 79 | return 0; // not implemented |
sahilmgandhi | 18:6a4db94011d3 | 80 | } |
sahilmgandhi | 18:6a4db94011d3 | 81 | |
sahilmgandhi | 18:6a4db94011d3 | 82 | int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) { |
sahilmgandhi | 18:6a4db94011d3 | 83 | return 0; // not implemented |
sahilmgandhi | 18:6a4db94011d3 | 84 | } |
sahilmgandhi | 18:6a4db94011d3 | 85 | |
sahilmgandhi | 18:6a4db94011d3 | 86 | static inline void can_irq(uint32_t icr, uint32_t index) { |
sahilmgandhi | 18:6a4db94011d3 | 87 | uint32_t i; |
sahilmgandhi | 18:6a4db94011d3 | 88 | |
sahilmgandhi | 18:6a4db94011d3 | 89 | for(i = 0; i < 8; i++) |
sahilmgandhi | 18:6a4db94011d3 | 90 | { |
sahilmgandhi | 18:6a4db94011d3 | 91 | if((can_irq_ids[index] != 0) && (icr & (1 << i))) |
sahilmgandhi | 18:6a4db94011d3 | 92 | { |
sahilmgandhi | 18:6a4db94011d3 | 93 | switch (i) { |
sahilmgandhi | 18:6a4db94011d3 | 94 | case 0: irq_handler(can_irq_ids[index], IRQ_RX); break; |
sahilmgandhi | 18:6a4db94011d3 | 95 | case 1: irq_handler(can_irq_ids[index], IRQ_TX); break; |
sahilmgandhi | 18:6a4db94011d3 | 96 | case 2: irq_handler(can_irq_ids[index], IRQ_ERROR); break; |
sahilmgandhi | 18:6a4db94011d3 | 97 | case 3: irq_handler(can_irq_ids[index], IRQ_OVERRUN); break; |
sahilmgandhi | 18:6a4db94011d3 | 98 | case 4: irq_handler(can_irq_ids[index], IRQ_WAKEUP); break; |
sahilmgandhi | 18:6a4db94011d3 | 99 | case 5: irq_handler(can_irq_ids[index], IRQ_PASSIVE); break; |
sahilmgandhi | 18:6a4db94011d3 | 100 | case 6: irq_handler(can_irq_ids[index], IRQ_ARB); break; |
sahilmgandhi | 18:6a4db94011d3 | 101 | case 7: irq_handler(can_irq_ids[index], IRQ_BUS); break; |
sahilmgandhi | 18:6a4db94011d3 | 102 | case 8: irq_handler(can_irq_ids[index], IRQ_READY); break; |
sahilmgandhi | 18:6a4db94011d3 | 103 | } |
sahilmgandhi | 18:6a4db94011d3 | 104 | } |
sahilmgandhi | 18:6a4db94011d3 | 105 | } |
sahilmgandhi | 18:6a4db94011d3 | 106 | } |
sahilmgandhi | 18:6a4db94011d3 | 107 | |
sahilmgandhi | 18:6a4db94011d3 | 108 | // Have to check that the CAN block is active before reading the Interrupt |
sahilmgandhi | 18:6a4db94011d3 | 109 | // Control Register, or the mbed hangs |
sahilmgandhi | 18:6a4db94011d3 | 110 | void can_irq_n() { |
sahilmgandhi | 18:6a4db94011d3 | 111 | uint32_t icr; |
sahilmgandhi | 18:6a4db94011d3 | 112 | |
sahilmgandhi | 18:6a4db94011d3 | 113 | if(LPC_SC->PCONP & (1 << 13)) { |
sahilmgandhi | 18:6a4db94011d3 | 114 | icr = LPC_CAN1->ICR & 0x1FF; |
sahilmgandhi | 18:6a4db94011d3 | 115 | can_irq(icr, 0); |
sahilmgandhi | 18:6a4db94011d3 | 116 | } |
sahilmgandhi | 18:6a4db94011d3 | 117 | |
sahilmgandhi | 18:6a4db94011d3 | 118 | if(LPC_SC->PCONP & (1 << 14)) { |
sahilmgandhi | 18:6a4db94011d3 | 119 | icr = LPC_CAN2->ICR & 0x1FF; |
sahilmgandhi | 18:6a4db94011d3 | 120 | can_irq(icr, 1); |
sahilmgandhi | 18:6a4db94011d3 | 121 | } |
sahilmgandhi | 18:6a4db94011d3 | 122 | } |
sahilmgandhi | 18:6a4db94011d3 | 123 | |
sahilmgandhi | 18:6a4db94011d3 | 124 | // Register CAN object's irq handler |
sahilmgandhi | 18:6a4db94011d3 | 125 | void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) { |
sahilmgandhi | 18:6a4db94011d3 | 126 | irq_handler = handler; |
sahilmgandhi | 18:6a4db94011d3 | 127 | can_irq_ids[obj->index] = id; |
sahilmgandhi | 18:6a4db94011d3 | 128 | } |
sahilmgandhi | 18:6a4db94011d3 | 129 | |
sahilmgandhi | 18:6a4db94011d3 | 130 | // Unregister CAN object's irq handler |
sahilmgandhi | 18:6a4db94011d3 | 131 | void can_irq_free(can_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 132 | obj->dev->IER &= ~(1); |
sahilmgandhi | 18:6a4db94011d3 | 133 | can_irq_ids[obj->index] = 0; |
sahilmgandhi | 18:6a4db94011d3 | 134 | |
sahilmgandhi | 18:6a4db94011d3 | 135 | if ((can_irq_ids[0] == 0) && (can_irq_ids[1] == 0)) { |
sahilmgandhi | 18:6a4db94011d3 | 136 | NVIC_DisableIRQ(CAN_IRQn); |
sahilmgandhi | 18:6a4db94011d3 | 137 | } |
sahilmgandhi | 18:6a4db94011d3 | 138 | } |
sahilmgandhi | 18:6a4db94011d3 | 139 | |
sahilmgandhi | 18:6a4db94011d3 | 140 | // Clear or set a irq |
sahilmgandhi | 18:6a4db94011d3 | 141 | void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) { |
sahilmgandhi | 18:6a4db94011d3 | 142 | uint32_t ier; |
sahilmgandhi | 18:6a4db94011d3 | 143 | |
sahilmgandhi | 18:6a4db94011d3 | 144 | switch (type) { |
sahilmgandhi | 18:6a4db94011d3 | 145 | case IRQ_RX: ier = (1 << 0); break; |
sahilmgandhi | 18:6a4db94011d3 | 146 | case IRQ_TX: ier = (1 << 1); break; |
sahilmgandhi | 18:6a4db94011d3 | 147 | case IRQ_ERROR: ier = (1 << 2); break; |
sahilmgandhi | 18:6a4db94011d3 | 148 | case IRQ_OVERRUN: ier = (1 << 3); break; |
sahilmgandhi | 18:6a4db94011d3 | 149 | case IRQ_WAKEUP: ier = (1 << 4); break; |
sahilmgandhi | 18:6a4db94011d3 | 150 | case IRQ_PASSIVE: ier = (1 << 5); break; |
sahilmgandhi | 18:6a4db94011d3 | 151 | case IRQ_ARB: ier = (1 << 6); break; |
sahilmgandhi | 18:6a4db94011d3 | 152 | case IRQ_BUS: ier = (1 << 7); break; |
sahilmgandhi | 18:6a4db94011d3 | 153 | case IRQ_READY: ier = (1 << 8); break; |
sahilmgandhi | 18:6a4db94011d3 | 154 | default: return; |
sahilmgandhi | 18:6a4db94011d3 | 155 | } |
sahilmgandhi | 18:6a4db94011d3 | 156 | |
sahilmgandhi | 18:6a4db94011d3 | 157 | obj->dev->MOD |= 1; |
sahilmgandhi | 18:6a4db94011d3 | 158 | if(enable == 0) { |
sahilmgandhi | 18:6a4db94011d3 | 159 | obj->dev->IER &= ~ier; |
sahilmgandhi | 18:6a4db94011d3 | 160 | } |
sahilmgandhi | 18:6a4db94011d3 | 161 | else { |
sahilmgandhi | 18:6a4db94011d3 | 162 | obj->dev->IER |= ier; |
sahilmgandhi | 18:6a4db94011d3 | 163 | } |
sahilmgandhi | 18:6a4db94011d3 | 164 | obj->dev->MOD &= ~(1); |
sahilmgandhi | 18:6a4db94011d3 | 165 | |
sahilmgandhi | 18:6a4db94011d3 | 166 | // Enable NVIC if at least 1 interrupt is active |
sahilmgandhi | 18:6a4db94011d3 | 167 | if(((LPC_SC->PCONP & (1 << 13)) && LPC_CAN1->IER) || ((LPC_SC->PCONP & (1 << 14)) && LPC_CAN2->IER)) { |
sahilmgandhi | 18:6a4db94011d3 | 168 | NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq_n); |
sahilmgandhi | 18:6a4db94011d3 | 169 | NVIC_EnableIRQ(CAN_IRQn); |
sahilmgandhi | 18:6a4db94011d3 | 170 | } |
sahilmgandhi | 18:6a4db94011d3 | 171 | else { |
sahilmgandhi | 18:6a4db94011d3 | 172 | NVIC_DisableIRQ(CAN_IRQn); |
sahilmgandhi | 18:6a4db94011d3 | 173 | } |
sahilmgandhi | 18:6a4db94011d3 | 174 | } |
sahilmgandhi | 18:6a4db94011d3 | 175 | |
sahilmgandhi | 18:6a4db94011d3 | 176 | // This table has the sampling points as close to 75% as possible. The first |
sahilmgandhi | 18:6a4db94011d3 | 177 | // value is TSEG1, the second TSEG2. |
sahilmgandhi | 18:6a4db94011d3 | 178 | static const int timing_pts[23][2] = { |
sahilmgandhi | 18:6a4db94011d3 | 179 | {0x0, 0x0}, // 2, 50% |
sahilmgandhi | 18:6a4db94011d3 | 180 | {0x1, 0x0}, // 3, 67% |
sahilmgandhi | 18:6a4db94011d3 | 181 | {0x2, 0x0}, // 4, 75% |
sahilmgandhi | 18:6a4db94011d3 | 182 | {0x3, 0x0}, // 5, 80% |
sahilmgandhi | 18:6a4db94011d3 | 183 | {0x3, 0x1}, // 6, 67% |
sahilmgandhi | 18:6a4db94011d3 | 184 | {0x4, 0x1}, // 7, 71% |
sahilmgandhi | 18:6a4db94011d3 | 185 | {0x5, 0x1}, // 8, 75% |
sahilmgandhi | 18:6a4db94011d3 | 186 | {0x6, 0x1}, // 9, 78% |
sahilmgandhi | 18:6a4db94011d3 | 187 | {0x6, 0x2}, // 10, 70% |
sahilmgandhi | 18:6a4db94011d3 | 188 | {0x7, 0x2}, // 11, 73% |
sahilmgandhi | 18:6a4db94011d3 | 189 | {0x8, 0x2}, // 12, 75% |
sahilmgandhi | 18:6a4db94011d3 | 190 | {0x9, 0x2}, // 13, 77% |
sahilmgandhi | 18:6a4db94011d3 | 191 | {0x9, 0x3}, // 14, 71% |
sahilmgandhi | 18:6a4db94011d3 | 192 | {0xA, 0x3}, // 15, 73% |
sahilmgandhi | 18:6a4db94011d3 | 193 | {0xB, 0x3}, // 16, 75% |
sahilmgandhi | 18:6a4db94011d3 | 194 | {0xC, 0x3}, // 17, 76% |
sahilmgandhi | 18:6a4db94011d3 | 195 | {0xD, 0x3}, // 18, 78% |
sahilmgandhi | 18:6a4db94011d3 | 196 | {0xD, 0x4}, // 19, 74% |
sahilmgandhi | 18:6a4db94011d3 | 197 | {0xE, 0x4}, // 20, 75% |
sahilmgandhi | 18:6a4db94011d3 | 198 | {0xF, 0x4}, // 21, 76% |
sahilmgandhi | 18:6a4db94011d3 | 199 | {0xF, 0x5}, // 22, 73% |
sahilmgandhi | 18:6a4db94011d3 | 200 | {0xF, 0x6}, // 23, 70% |
sahilmgandhi | 18:6a4db94011d3 | 201 | {0xF, 0x7}, // 24, 67% |
sahilmgandhi | 18:6a4db94011d3 | 202 | }; |
sahilmgandhi | 18:6a4db94011d3 | 203 | |
sahilmgandhi | 18:6a4db94011d3 | 204 | static unsigned int can_speed(unsigned int pclk, unsigned int cclk, unsigned char psjw) { |
sahilmgandhi | 18:6a4db94011d3 | 205 | uint32_t btr; |
sahilmgandhi | 18:6a4db94011d3 | 206 | uint16_t brp = 0; |
sahilmgandhi | 18:6a4db94011d3 | 207 | uint32_t calcbit; |
sahilmgandhi | 18:6a4db94011d3 | 208 | uint32_t bitwidth; |
sahilmgandhi | 18:6a4db94011d3 | 209 | int hit = 0; |
sahilmgandhi | 18:6a4db94011d3 | 210 | int bits; |
sahilmgandhi | 18:6a4db94011d3 | 211 | |
sahilmgandhi | 18:6a4db94011d3 | 212 | bitwidth = (pclk / cclk); |
sahilmgandhi | 18:6a4db94011d3 | 213 | |
sahilmgandhi | 18:6a4db94011d3 | 214 | brp = bitwidth / 0x18; |
sahilmgandhi | 18:6a4db94011d3 | 215 | while ((!hit) && (brp < bitwidth / 4)) { |
sahilmgandhi | 18:6a4db94011d3 | 216 | brp++; |
sahilmgandhi | 18:6a4db94011d3 | 217 | for (bits = 22; bits > 0; bits--) { |
sahilmgandhi | 18:6a4db94011d3 | 218 | calcbit = (bits + 3) * (brp + 1); |
sahilmgandhi | 18:6a4db94011d3 | 219 | if (calcbit == bitwidth) { |
sahilmgandhi | 18:6a4db94011d3 | 220 | hit = 1; |
sahilmgandhi | 18:6a4db94011d3 | 221 | break; |
sahilmgandhi | 18:6a4db94011d3 | 222 | } |
sahilmgandhi | 18:6a4db94011d3 | 223 | } |
sahilmgandhi | 18:6a4db94011d3 | 224 | } |
sahilmgandhi | 18:6a4db94011d3 | 225 | |
sahilmgandhi | 18:6a4db94011d3 | 226 | if (hit) { |
sahilmgandhi | 18:6a4db94011d3 | 227 | btr = ((timing_pts[bits][1] << 20) & 0x00700000) |
sahilmgandhi | 18:6a4db94011d3 | 228 | | ((timing_pts[bits][0] << 16) & 0x000F0000) |
sahilmgandhi | 18:6a4db94011d3 | 229 | | ((psjw << 14) & 0x0000C000) |
sahilmgandhi | 18:6a4db94011d3 | 230 | | ((brp << 0) & 0x000003FF); |
sahilmgandhi | 18:6a4db94011d3 | 231 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 232 | btr = 0xFFFFFFFF; |
sahilmgandhi | 18:6a4db94011d3 | 233 | } |
sahilmgandhi | 18:6a4db94011d3 | 234 | |
sahilmgandhi | 18:6a4db94011d3 | 235 | return btr; |
sahilmgandhi | 18:6a4db94011d3 | 236 | |
sahilmgandhi | 18:6a4db94011d3 | 237 | } |
sahilmgandhi | 18:6a4db94011d3 | 238 | |
sahilmgandhi | 18:6a4db94011d3 | 239 | void can_init(can_t *obj, PinName rd, PinName td) { |
sahilmgandhi | 18:6a4db94011d3 | 240 | CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD); |
sahilmgandhi | 18:6a4db94011d3 | 241 | CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD); |
sahilmgandhi | 18:6a4db94011d3 | 242 | obj->dev = (LPC_CAN_TypeDef *)pinmap_merge(can_rd, can_td); |
sahilmgandhi | 18:6a4db94011d3 | 243 | MBED_ASSERT((int)obj->dev != NC); |
sahilmgandhi | 18:6a4db94011d3 | 244 | |
sahilmgandhi | 18:6a4db94011d3 | 245 | switch ((int)obj->dev) { |
sahilmgandhi | 18:6a4db94011d3 | 246 | case CAN_1: LPC_SC->PCONP |= 1 << 13; break; |
sahilmgandhi | 18:6a4db94011d3 | 247 | case CAN_2: LPC_SC->PCONP |= 1 << 14; break; |
sahilmgandhi | 18:6a4db94011d3 | 248 | } |
sahilmgandhi | 18:6a4db94011d3 | 249 | |
sahilmgandhi | 18:6a4db94011d3 | 250 | pinmap_pinout(rd, PinMap_CAN_RD); |
sahilmgandhi | 18:6a4db94011d3 | 251 | pinmap_pinout(td, PinMap_CAN_TD); |
sahilmgandhi | 18:6a4db94011d3 | 252 | |
sahilmgandhi | 18:6a4db94011d3 | 253 | switch ((int)obj->dev) { |
sahilmgandhi | 18:6a4db94011d3 | 254 | case CAN_1: obj->index = 0; break; |
sahilmgandhi | 18:6a4db94011d3 | 255 | case CAN_2: obj->index = 1; break; |
sahilmgandhi | 18:6a4db94011d3 | 256 | } |
sahilmgandhi | 18:6a4db94011d3 | 257 | |
sahilmgandhi | 18:6a4db94011d3 | 258 | can_reset(obj); |
sahilmgandhi | 18:6a4db94011d3 | 259 | obj->dev->IER = 0; // Disable Interrupts |
sahilmgandhi | 18:6a4db94011d3 | 260 | can_frequency(obj, 100000); |
sahilmgandhi | 18:6a4db94011d3 | 261 | |
sahilmgandhi | 18:6a4db94011d3 | 262 | LPC_CANAF->AFMR = ACCF_BYPASS; // Bypass Filter |
sahilmgandhi | 18:6a4db94011d3 | 263 | } |
sahilmgandhi | 18:6a4db94011d3 | 264 | |
sahilmgandhi | 18:6a4db94011d3 | 265 | void can_free(can_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 266 | switch ((int)obj->dev) { |
sahilmgandhi | 18:6a4db94011d3 | 267 | case CAN_1: LPC_SC->PCONP &= ~(1 << 13); break; |
sahilmgandhi | 18:6a4db94011d3 | 268 | case CAN_2: LPC_SC->PCONP &= ~(1 << 14); break; |
sahilmgandhi | 18:6a4db94011d3 | 269 | } |
sahilmgandhi | 18:6a4db94011d3 | 270 | } |
sahilmgandhi | 18:6a4db94011d3 | 271 | |
sahilmgandhi | 18:6a4db94011d3 | 272 | int can_frequency(can_t *obj, int f) { |
sahilmgandhi | 18:6a4db94011d3 | 273 | int pclk = PeripheralClock; |
sahilmgandhi | 18:6a4db94011d3 | 274 | |
sahilmgandhi | 18:6a4db94011d3 | 275 | int btr = can_speed(pclk, (unsigned int)f, 1); |
sahilmgandhi | 18:6a4db94011d3 | 276 | |
sahilmgandhi | 18:6a4db94011d3 | 277 | if (btr > 0) { |
sahilmgandhi | 18:6a4db94011d3 | 278 | uint32_t modmask = can_disable(obj); |
sahilmgandhi | 18:6a4db94011d3 | 279 | obj->dev->BTR = btr; |
sahilmgandhi | 18:6a4db94011d3 | 280 | obj->dev->MOD = modmask; |
sahilmgandhi | 18:6a4db94011d3 | 281 | return 1; |
sahilmgandhi | 18:6a4db94011d3 | 282 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 283 | return 0; |
sahilmgandhi | 18:6a4db94011d3 | 284 | } |
sahilmgandhi | 18:6a4db94011d3 | 285 | } |
sahilmgandhi | 18:6a4db94011d3 | 286 | |
sahilmgandhi | 18:6a4db94011d3 | 287 | int can_write(can_t *obj, CAN_Message msg, int cc) { |
sahilmgandhi | 18:6a4db94011d3 | 288 | unsigned int CANStatus; |
sahilmgandhi | 18:6a4db94011d3 | 289 | CANMsg m; |
sahilmgandhi | 18:6a4db94011d3 | 290 | |
sahilmgandhi | 18:6a4db94011d3 | 291 | can_enable(obj); |
sahilmgandhi | 18:6a4db94011d3 | 292 | |
sahilmgandhi | 18:6a4db94011d3 | 293 | m.id = msg.id ; |
sahilmgandhi | 18:6a4db94011d3 | 294 | m.dlc = msg.len & 0xF; |
sahilmgandhi | 18:6a4db94011d3 | 295 | m.rtr = msg.type; |
sahilmgandhi | 18:6a4db94011d3 | 296 | m.type = msg.format; |
sahilmgandhi | 18:6a4db94011d3 | 297 | memcpy(m.data, msg.data, msg.len); |
sahilmgandhi | 18:6a4db94011d3 | 298 | const unsigned int *buf = (const unsigned int *)&m; |
sahilmgandhi | 18:6a4db94011d3 | 299 | |
sahilmgandhi | 18:6a4db94011d3 | 300 | CANStatus = obj->dev->SR; |
sahilmgandhi | 18:6a4db94011d3 | 301 | if (CANStatus & 0x00000004) { |
sahilmgandhi | 18:6a4db94011d3 | 302 | obj->dev->TFI1 = buf[0] & 0xC00F0000; |
sahilmgandhi | 18:6a4db94011d3 | 303 | obj->dev->TID1 = buf[1]; |
sahilmgandhi | 18:6a4db94011d3 | 304 | obj->dev->TDA1 = buf[2]; |
sahilmgandhi | 18:6a4db94011d3 | 305 | obj->dev->TDB1 = buf[3]; |
sahilmgandhi | 18:6a4db94011d3 | 306 | if(cc) { |
sahilmgandhi | 18:6a4db94011d3 | 307 | obj->dev->CMR = 0x30; |
sahilmgandhi | 18:6a4db94011d3 | 308 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 309 | obj->dev->CMR = 0x21; |
sahilmgandhi | 18:6a4db94011d3 | 310 | } |
sahilmgandhi | 18:6a4db94011d3 | 311 | return 1; |
sahilmgandhi | 18:6a4db94011d3 | 312 | |
sahilmgandhi | 18:6a4db94011d3 | 313 | } else if (CANStatus & 0x00000400) { |
sahilmgandhi | 18:6a4db94011d3 | 314 | obj->dev->TFI2 = buf[0] & 0xC00F0000; |
sahilmgandhi | 18:6a4db94011d3 | 315 | obj->dev->TID2 = buf[1]; |
sahilmgandhi | 18:6a4db94011d3 | 316 | obj->dev->TDA2 = buf[2]; |
sahilmgandhi | 18:6a4db94011d3 | 317 | obj->dev->TDB2 = buf[3]; |
sahilmgandhi | 18:6a4db94011d3 | 318 | if (cc) { |
sahilmgandhi | 18:6a4db94011d3 | 319 | obj->dev->CMR = 0x50; |
sahilmgandhi | 18:6a4db94011d3 | 320 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 321 | obj->dev->CMR = 0x41; |
sahilmgandhi | 18:6a4db94011d3 | 322 | } |
sahilmgandhi | 18:6a4db94011d3 | 323 | return 1; |
sahilmgandhi | 18:6a4db94011d3 | 324 | |
sahilmgandhi | 18:6a4db94011d3 | 325 | } else if (CANStatus & 0x00040000) { |
sahilmgandhi | 18:6a4db94011d3 | 326 | obj->dev->TFI3 = buf[0] & 0xC00F0000; |
sahilmgandhi | 18:6a4db94011d3 | 327 | obj->dev->TID3 = buf[1]; |
sahilmgandhi | 18:6a4db94011d3 | 328 | obj->dev->TDA3 = buf[2]; |
sahilmgandhi | 18:6a4db94011d3 | 329 | obj->dev->TDB3 = buf[3]; |
sahilmgandhi | 18:6a4db94011d3 | 330 | if (cc) { |
sahilmgandhi | 18:6a4db94011d3 | 331 | obj->dev->CMR = 0x90; |
sahilmgandhi | 18:6a4db94011d3 | 332 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 333 | obj->dev->CMR = 0x81; |
sahilmgandhi | 18:6a4db94011d3 | 334 | } |
sahilmgandhi | 18:6a4db94011d3 | 335 | return 1; |
sahilmgandhi | 18:6a4db94011d3 | 336 | } |
sahilmgandhi | 18:6a4db94011d3 | 337 | |
sahilmgandhi | 18:6a4db94011d3 | 338 | return 0; |
sahilmgandhi | 18:6a4db94011d3 | 339 | } |
sahilmgandhi | 18:6a4db94011d3 | 340 | |
sahilmgandhi | 18:6a4db94011d3 | 341 | int can_read(can_t *obj, CAN_Message *msg, int handle) { |
sahilmgandhi | 18:6a4db94011d3 | 342 | CANMsg x; |
sahilmgandhi | 18:6a4db94011d3 | 343 | unsigned int *i = (unsigned int *)&x; |
sahilmgandhi | 18:6a4db94011d3 | 344 | |
sahilmgandhi | 18:6a4db94011d3 | 345 | can_enable(obj); |
sahilmgandhi | 18:6a4db94011d3 | 346 | |
sahilmgandhi | 18:6a4db94011d3 | 347 | if (obj->dev->GSR & 0x1) { |
sahilmgandhi | 18:6a4db94011d3 | 348 | *i++ = obj->dev->RFS; // Frame |
sahilmgandhi | 18:6a4db94011d3 | 349 | *i++ = obj->dev->RID; // ID |
sahilmgandhi | 18:6a4db94011d3 | 350 | *i++ = obj->dev->RDA; // Data A |
sahilmgandhi | 18:6a4db94011d3 | 351 | *i++ = obj->dev->RDB; // Data B |
sahilmgandhi | 18:6a4db94011d3 | 352 | obj->dev->CMR = 0x04; // release receive buffer |
sahilmgandhi | 18:6a4db94011d3 | 353 | |
sahilmgandhi | 18:6a4db94011d3 | 354 | msg->id = x.id; |
sahilmgandhi | 18:6a4db94011d3 | 355 | msg->len = x.dlc; |
sahilmgandhi | 18:6a4db94011d3 | 356 | msg->format = (x.type)? CANExtended : CANStandard; |
sahilmgandhi | 18:6a4db94011d3 | 357 | msg->type = (x.rtr)? CANRemote: CANData; |
sahilmgandhi | 18:6a4db94011d3 | 358 | memcpy(msg->data,x.data,x.dlc); |
sahilmgandhi | 18:6a4db94011d3 | 359 | return 1; |
sahilmgandhi | 18:6a4db94011d3 | 360 | } |
sahilmgandhi | 18:6a4db94011d3 | 361 | |
sahilmgandhi | 18:6a4db94011d3 | 362 | return 0; |
sahilmgandhi | 18:6a4db94011d3 | 363 | } |
sahilmgandhi | 18:6a4db94011d3 | 364 | |
sahilmgandhi | 18:6a4db94011d3 | 365 | void can_reset(can_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 366 | can_disable(obj); |
sahilmgandhi | 18:6a4db94011d3 | 367 | obj->dev->GSR = 0; // Reset error counter when CAN1MOD is in reset |
sahilmgandhi | 18:6a4db94011d3 | 368 | } |
sahilmgandhi | 18:6a4db94011d3 | 369 | |
sahilmgandhi | 18:6a4db94011d3 | 370 | unsigned char can_rderror(can_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 371 | return (obj->dev->GSR >> 16) & 0xFF; |
sahilmgandhi | 18:6a4db94011d3 | 372 | } |
sahilmgandhi | 18:6a4db94011d3 | 373 | |
sahilmgandhi | 18:6a4db94011d3 | 374 | unsigned char can_tderror(can_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 375 | return (obj->dev->GSR >> 24) & 0xFF; |
sahilmgandhi | 18:6a4db94011d3 | 376 | } |
sahilmgandhi | 18:6a4db94011d3 | 377 | |
sahilmgandhi | 18:6a4db94011d3 | 378 | void can_monitor(can_t *obj, int silent) { |
sahilmgandhi | 18:6a4db94011d3 | 379 | uint32_t mod_mask = can_disable(obj); |
sahilmgandhi | 18:6a4db94011d3 | 380 | if (silent) { |
sahilmgandhi | 18:6a4db94011d3 | 381 | obj->dev->MOD |= (1 << 1); |
sahilmgandhi | 18:6a4db94011d3 | 382 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 383 | obj->dev->MOD &= ~(1 << 1); |
sahilmgandhi | 18:6a4db94011d3 | 384 | } |
sahilmgandhi | 18:6a4db94011d3 | 385 | if (!(mod_mask & 1)) { |
sahilmgandhi | 18:6a4db94011d3 | 386 | can_enable(obj); |
sahilmgandhi | 18:6a4db94011d3 | 387 | } |
sahilmgandhi | 18:6a4db94011d3 | 388 | } |