MacroRat
Mouse code for the MacroRat
Diff: mbed-dev/targets/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c
- Revision:
- 18:6a4db94011d3
diff -r f713758f6238 -r 6a4db94011d3 mbed-dev/targets/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-dev/targets/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c Sun May 14 23:18:57 2017 +0000
@@ -0,0 +1,459 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2013 ARM Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "can_api.h"
+
+#include "cmsis.h"
+#include "mbed_error.h"
+
+#include <math.h>
+#include <string.h>
+
+/* Handy defines */
+#define MSG_OBJ_MAX 32
+#define DLC_MAX 8
+
+#define ID_STD_MASK 0x07FF
+#define ID_EXT_MASK 0x1FFFFFFF
+#define DLC_MASK 0x0F
+
+static uint32_t can_irq_id = 0;
+static can_irq_handler irq_handler;
+
+static uint32_t can_disable(can_t *obj) {
+ uint32_t sm = LPC_CAN->CNTL;
+ LPC_CAN->CNTL |= CANCNTL_INIT;
+ return sm;
+}
+
+static inline void can_enable(can_t *obj) {
+ if (LPC_CAN->CNTL & CANCNTL_INIT) {
+ LPC_CAN->CNTL &= ~CANCNTL_INIT;
+ }
+}
+
+int can_mode(can_t *obj, CanMode mode) {
+ int success = 0;
+ switch (mode) {
+ case MODE_RESET:
+ LPC_CAN->CNTL &=~CANCNTL_TEST;
+ can_disable(obj);
+ success = 1;
+ break;
+ case MODE_NORMAL:
+ LPC_CAN->CNTL &=~CANCNTL_TEST;
+ can_enable(obj);
+ success = 1;
+ break;
+ case MODE_SILENT:
+ LPC_CAN->CNTL |= CANCNTL_TEST;
+ LPC_CAN->TEST |= CANTEST_SILENT;
+ LPC_CAN->TEST &=~CANTEST_LBACK;
+ success = 1;
+ break;
+ case MODE_TEST_LOCAL:
+ LPC_CAN->CNTL |= CANCNTL_TEST;
+ LPC_CAN->TEST &=~CANTEST_SILENT;
+ LPC_CAN->TEST |= CANTEST_LBACK;
+ success = 1;
+ break;
+ case MODE_TEST_SILENT:
+ LPC_CAN->CNTL |= CANCNTL_TEST;
+ LPC_CAN->TEST |= (CANTEST_LBACK | CANTEST_SILENT);
+ success = 1;
+ break;
+ case MODE_TEST_GLOBAL:
+ default:
+ success = 0;
+ break;
+ }
+
+ return success;
+}
+
+int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
+ uint16_t i;
+
+ // Find first free message object
+ if(handle == 0) {
+ uint32_t msgval = LPC_CAN->MSGV1 | (LPC_CAN->MSGV2 << 16);
+ // Find first free messagebox
+ for(i = 0; i < 32; i++) {
+ if((msgval & (1 << i)) == 0) {
+ handle = i+1;
+ break;
+ }
+ }
+ }
+
+ if(handle > 0 && handle < 32) {
+ if(format == CANExtended) {
+ // Mark message valid, Direction = TX, Extended Frame, Set Identifier and mask everything
+ LPC_CAN->IF1_ARB1 = BFN_PREP(id, CANIFn_ARB1_ID);
+ LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | BFN_PREP(id >> 16, CANIFn_ARB2_ID);
+ LPC_CAN->IF1_MSK1 = BFN_PREP(mask, CANIFn_MSK1_MSK);
+ LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD /* | CANIFn_MSK2_MDIR */ | BFN_PREP(mask >> 16, CANIFn_MSK2_MSK);
+ }
+ else {
+ // Mark message valid, Direction = TX, Set Identifier and mask everything
+ LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | BFN_PREP(id << 2, CANIFn_ARB2_ID);
+ LPC_CAN->IF1_MSK2 = /* CANIFn_MSK2_MDIR | */ BFN_PREP(mask << 2, CANIFn_MSK2_MSK);
+ }
+
+ // Use mask, single message object and set DLC
+ LPC_CAN->IF1_MCTRL = CANIFn_MCTRL_UMASK | CANIFn_MCTRL_EOB | CANIFn_MCTRL_RXIE | BFN_PREP(DLC_MAX, CANIFn_MCTRL_DLC);
+
+ // Transfer all fields to message object
+ LPC_CAN->IF1_CMDMSK = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL;
+
+ // Start Transfer to given message number
+ LPC_CAN->IF1_CMDREQ = BFN_PREP(handle, CANIFn_CMDREQ_MN);
+
+ // Wait until transfer to message ram complete - TODO: maybe not block??
+ while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
+ }
+
+ return handle;
+}
+
+static inline void can_irq() {
+ irq_handler(can_irq_id, IRQ_RX);
+}
+
+// Register CAN object's irq handler
+void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) {
+ irq_handler = handler;
+ can_irq_id = id;
+}
+
+// Unregister CAN object's irq handler
+void can_irq_free(can_t *obj) {
+ LPC_CAN->CNTL &= ~CANCNTL_IE; // Disable Interrupts :)
+
+ can_irq_id = 0;
+ NVIC_DisableIRQ(CAN_IRQn);
+}
+
+// Clear or set a irq
+void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) {
+ // Put CAN in Reset Mode and enable interrupt
+ can_disable(obj);
+ if(enable == 0) {
+ LPC_CAN->CNTL &= ~(CANCNTL_IE | CANCNTL_SIE);
+ }
+ else {
+ LPC_CAN->CNTL |= CANCNTL_IE | CANCNTL_SIE;
+ }
+ // Take it out of reset...
+ can_enable(obj);
+
+ // Enable NVIC if at least 1 interrupt is active
+ NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq);
+ NVIC_EnableIRQ(CAN_IRQn);
+}
+
+// This table has the sampling points as close to 75% as possible. The first
+// value is TSEG1, the second TSEG2.
+static const int timing_pts[23][2] = {
+ {0x0, 0x0}, // 2, 50%
+ {0x1, 0x0}, // 3, 67%
+ {0x2, 0x0}, // 4, 75%
+ {0x3, 0x0}, // 5, 80%
+ {0x3, 0x1}, // 6, 67%
+ {0x4, 0x1}, // 7, 71%
+ {0x5, 0x1}, // 8, 75%
+ {0x6, 0x1}, // 9, 78%
+ {0x6, 0x2}, // 10, 70%
+ {0x7, 0x2}, // 11, 73%
+ {0x8, 0x2}, // 12, 75%
+ {0x9, 0x2}, // 13, 77%
+ {0x9, 0x3}, // 14, 71%
+ {0xA, 0x3}, // 15, 73%
+ {0xB, 0x3}, // 16, 75%
+ {0xC, 0x3}, // 17, 76%
+ {0xD, 0x3}, // 18, 78%
+ {0xD, 0x4}, // 19, 74%
+ {0xE, 0x4}, // 20, 75%
+ {0xF, 0x4}, // 21, 76%
+ {0xF, 0x5}, // 22, 73%
+ {0xF, 0x6}, // 23, 70%
+ {0xF, 0x7}, // 24, 67%
+};
+
+static unsigned int can_speed(unsigned int sclk, unsigned int cclk, unsigned char psjw) {
+ uint32_t btr;
+ uint32_t clkdiv = 1;
+ uint16_t brp = 0;
+ uint32_t calcbit;
+ uint32_t bitwidth;
+ int hit = 0;
+ int bits = 0;
+
+ bitwidth = sclk / cclk;
+
+ brp = bitwidth / 0x18;
+ while ((!hit) && (brp < bitwidth / 4)) {
+ brp++;
+ for (bits = 22; bits > 0; bits--) {
+ calcbit = (bits + 3) * (brp + 1);
+ if (calcbit == bitwidth) {
+ hit = 1;
+ break;
+ }
+ }
+ }
+
+ /* This might be funky
+ while(btr > 63 && clkdiv < 16) {
+ btr = btr / 2;
+ clkdiv = clkdiv * 2;
+ }
+ */
+ clkdiv = clkdiv - 1;
+
+ if (hit) {
+ btr = BFN_PREP(timing_pts[bits][1], CANBT_TSEG2)
+ | BFN_PREP(timing_pts[bits][0], CANBT_TSEG1)
+ | BFN_PREP(psjw, CANBT_SJW)
+ | BFN_PREP(brp, CANBT_BRP);
+ btr = btr | (clkdiv << 16);
+
+ } else {
+ btr = 0;
+ }
+
+ return btr;
+}
+
+
+int can_config_rxmsgobj(can_t *obj) {
+ uint16_t i = 0;
+
+ // Make sure the interface is available
+ //while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
+
+ // Mark message valid, Direction = RX, Don't care about anything else
+ LPC_CAN->IF1_ARB1 = 0;
+ LPC_CAN->IF1_ARB2 = 0;
+ LPC_CAN->IF1_MCTRL = 0;
+
+ for ( i = 0; i < MSG_OBJ_MAX; i++ )
+ {
+ // Transfer arb and control fields to message object
+ LPC_CAN->IF1_CMDMSK = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_TXRQST;
+
+ // Start Transfer to given message number
+ LPC_CAN->IF1_CMDREQ = BFN_PREP(i, CANIFn_CMDREQ_MN);
+
+ // Wait until transfer to message ram complete - TODO: maybe not block??
+ while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
+ }
+
+ // Accept all messages
+ can_filter(obj, 0, 0, CANStandard, 1);
+
+ return 1;
+}
+
+
+void can_init(can_t *obj, PinName rd, PinName td) {
+ // Enable power and clock
+ LPC_SYSCON->PRESETCTRL |= PRESETCTRL_CAN_RST_N;
+ LPC_SYSCON->SYSAHBCLKCTRL |= SYSAHBCLKCTRL_CAN;
+
+ // Enable Initialization mode
+ if (!(LPC_CAN->CNTL & CANCNTL_INIT)) {
+ LPC_CAN->CNTL |= CANCNTL_INIT;
+ }
+
+ can_frequency(obj, 125000);
+
+ // Resume operation
+ LPC_CAN->CNTL &= ~CANCNTL_INIT;
+ while ( LPC_CAN->CNTL & CANCNTL_INIT );
+
+ // Initialize RX message object
+ can_config_rxmsgobj(obj);
+}
+
+void can_free(can_t *obj) {
+ LPC_SYSCON->SYSAHBCLKCTRL &= ~(SYSAHBCLKCTRL_CAN);
+ LPC_SYSCON->PRESETCTRL &= ~(PRESETCTRL_CAN_RST_N);
+}
+
+int can_frequency(can_t *obj, int f) {
+ int btr = can_speed(SystemCoreClock, (unsigned int)f, 1);
+ int clkdiv = (btr >> 16) & 0x0F;
+ btr = btr & 0xFFFF;
+
+ if (btr > 0) {
+ uint32_t cntl_init = LPC_CAN->CNTL | CANCNTL_INIT;
+ // Set the bit clock
+ LPC_CAN->CNTL |= CANCNTL_CCE | CANCNTL_INIT;
+ LPC_CAN->CLKDIV = clkdiv;
+ LPC_CAN->BT = btr;
+ LPC_CAN->BRPE = 0x0000;
+ LPC_CAN->CNTL &= ~(CANCNTL_CCE | CANCNTL_INIT);
+ LPC_CAN->CNTL |= cntl_init;
+ return 1;
+ }
+ return 0;
+}
+
+int can_write(can_t *obj, CAN_Message msg, int cc) {
+ uint16_t msgnum = 0;
+
+ // Make sure controller is enabled
+ can_enable(obj);
+
+ // Make sure the interface is available
+ while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
+
+ // Set the direction bit based on the message type
+ uint32_t direction = 0;
+ if (msg.type == CANData) {
+ direction = CANIFn_ARB2_DIR;
+ }
+
+ if(msg.format == CANExtended) {
+ // Mark message valid, Extended Frame, Set Identifier and mask everything
+ LPC_CAN->IF1_ARB1 = BFN_PREP(msg.id, CANIFn_ARB1_ID);
+ LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | direction | BFN_PREP(msg.id >> 16, CANIFn_ARB2_ID);
+ LPC_CAN->IF1_MSK1 = BFN_PREP(ID_EXT_MASK, CANIFn_MSK1_MSK);
+ LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | BFN_PREP(ID_EXT_MASK >> 16, CANIFn_MSK2_MSK);
+ }
+ else {
+ // Mark message valid, Set Identifier and mask everything
+ LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | direction | BFN_PREP(msg.id << 2, CANIFn_ARB2_ID);
+ LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MDIR | BFN_PREP(ID_STD_MASK << 2, CANIFn_MSK2_MSK);
+ }
+
+ // Use mask, request transmission, single message object and set DLC
+ LPC_CAN->IF1_MCTRL = CANIFn_MCTRL_UMASK | CANIFn_MCTRL_TXRQST | CANIFn_MCTRL_EOB | BFN_PREP(msg.len, CANIFn_MCTRL_DLC);
+
+ LPC_CAN->IF1_DA1 = BFN_PREP(msg.data[1], CANIFn_DA1_DATA1) | BFN_PREP(msg.data[0], CANIFn_DA1_DATA0);
+ LPC_CAN->IF1_DA2 = BFN_PREP(msg.data[3], CANIFn_DA2_DATA3) | BFN_PREP(msg.data[2], CANIFn_DA2_DATA2);
+ LPC_CAN->IF1_DB1 = BFN_PREP(msg.data[5], CANIFn_DB1_DATA5) | BFN_PREP(msg.data[4], CANIFn_DB1_DATA4);
+ LPC_CAN->IF1_DB2 = BFN_PREP(msg.data[7], CANIFn_DB2_DATA7) | BFN_PREP(msg.data[6], CANIFn_DB2_DATA6);
+
+ // Transfer all fields to message object
+ LPC_CAN->IF1_CMDMSK = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_TXRQST | CANIFn_CMDMSK_DATA_A | CANIFn_CMDMSK_DATA_B;
+
+ // Start Transfer to given message number
+ LPC_CAN->IF1_CMDREQ = BFN_PREP(msgnum, CANIFn_CMDREQ_MN);
+
+ // Wait until transfer to message ram complete - TODO: maybe not block??
+ while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY);
+
+ // Wait until TXOK is set, then clear it - TODO: maybe not block
+ //while( !(LPC_CAN->STAT & CANSTAT_TXOK) );
+ LPC_CAN->STAT &= ~(CANSTAT_TXOK);
+
+ return 1;
+}
+
+int can_read(can_t *obj, CAN_Message *msg, int handle) {
+ uint16_t i;
+
+ // Make sure controller is enabled
+ can_enable(obj);
+
+ // Find first message object with new data
+ if(handle == 0) {
+ uint32_t newdata = LPC_CAN->ND1 | (LPC_CAN->ND2 << 16);
+ // Find first free messagebox
+ for(i = 0; i < 32; i++) {
+ if(newdata & (1 << i)) {
+ handle = i+1;
+ break;
+ }
+ }
+ }
+
+ if(handle > 0 && handle < 32) {
+ // Wait until message interface is free
+ while( LPC_CAN->IF2_CMDREQ & CANIFn_CMDREQ_BUSY );
+
+ // Transfer all fields to message object
+ LPC_CAN->IF2_CMDMSK = CANIFn_CMDMSK_RD | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_CLRINTPND | CANIFn_CMDMSK_TXRQST | CANIFn_CMDMSK_DATA_A | CANIFn_CMDMSK_DATA_B;
+
+ // Start Transfer from given message number
+ LPC_CAN->IF2_CMDREQ = BFN_PREP(handle, CANIFn_CMDREQ_MN);
+
+ // Wait until transfer to message ram complete
+ while( LPC_CAN->IF2_CMDREQ & CANIFn_CMDREQ_BUSY );
+
+ if (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_XTD) {
+ msg->format = CANExtended;
+ msg->id = (LPC_CAN->IF2_ARB1 & CANIFn_ARB2_ID_MASK) << 16;
+ msg->id |= (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_ID_MASK);
+ }
+ else {
+ msg->format = CANStandard;
+ msg->id = (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_ID_MASK) >> 2;
+ }
+
+ if (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_DIR) {
+ msg->type = CANRemote;
+ }
+ else {
+ msg->type = CANData;
+ }
+
+ msg->len = BFN_GET(LPC_CAN->IF2_MCTRL, CANIFn_MCTRL_DLC); // TODO: If > 8, len = 8
+ msg->data[0] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA0);
+ msg->data[1] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA1);
+ msg->data[2] = BFN_GET(LPC_CAN->IF2_DA2, CANIFn_DA2_DATA2);
+ msg->data[3] = BFN_GET(LPC_CAN->IF2_DA2, CANIFn_DA2_DATA3);
+ msg->data[4] = BFN_GET(LPC_CAN->IF2_DB1, CANIFn_DB1_DATA4);
+ msg->data[5] = BFN_GET(LPC_CAN->IF2_DB1, CANIFn_DB1_DATA5);
+ msg->data[6] = BFN_GET(LPC_CAN->IF2_DB2, CANIFn_DB2_DATA6);
+ msg->data[7] = BFN_GET(LPC_CAN->IF2_DB2, CANIFn_DB2_DATA7);
+
+ LPC_CAN->STAT &= ~(CANSTAT_RXOK);
+ return 1;
+ }
+
+ return 0;
+}
+
+void can_reset(can_t *obj) {
+ LPC_SYSCON->PRESETCTRL &= ~PRESETCTRL_CAN_RST_N;
+ LPC_CAN->STAT = 0;
+
+ can_config_rxmsgobj(obj);
+}
+
+unsigned char can_rderror(can_t *obj) {
+ return BFN_GET(LPC_CAN->EC, CANEC_REC);
+}
+
+unsigned char can_tderror(can_t *obj) {
+ return BFN_GET(LPC_CAN->EC, CANEC_TEC);
+}
+
+void can_monitor(can_t *obj, int silent) {
+ if (silent) {
+ LPC_CAN->CNTL |= CANCNTL_TEST;
+ LPC_CAN->TEST |= CANTEST_SILENT;
+ } else {
+ LPC_CAN->CNTL &= ~(CANCNTL_TEST);
+ LPC_CAN->TEST &= ~CANTEST_SILENT;
+ }
+
+ if (!(LPC_CAN->CNTL & CANCNTL_INIT)) {
+ LPC_CAN->CNTL |= CANCNTL_INIT;
+ }
+}