EL4121 Embedded System / mbed-os

mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

targets/TARGET_NXP/TARGET_LPC176X/can_api.c@0:b74591d5ab33, 2017-12-11 (annotated)

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 0:b74591d5ab33 1 /* mbed Microcontroller Library
be_bryan 0:b74591d5ab33 2 * Copyright (c) 2006-2013 ARM Limited
be_bryan 0:b74591d5ab33 3 *
be_bryan 0:b74591d5ab33 4 * Licensed under the Apache License, Version 2.0 (the "License");
be_bryan 0:b74591d5ab33 5 * you may not use this file except in compliance with the License.
be_bryan 0:b74591d5ab33 6 * You may obtain a copy of the License at
be_bryan 0:b74591d5ab33 7 *
be_bryan 0:b74591d5ab33 8 * http://www.apache.org/licenses/LICENSE-2.0
be_bryan 0:b74591d5ab33 9 *
be_bryan 0:b74591d5ab33 10 * Unless required by applicable law or agreed to in writing, software
be_bryan 0:b74591d5ab33 11 * distributed under the License is distributed on an "AS IS" BASIS,
be_bryan 0:b74591d5ab33 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
be_bryan 0:b74591d5ab33 13 * See the License for the specific language governing permissions and
be_bryan 0:b74591d5ab33 14 * limitations under the License.
be_bryan 0:b74591d5ab33 15 */
be_bryan 0:b74591d5ab33 16 #include "mbed_assert.h"
be_bryan 0:b74591d5ab33 17 #include "can_api.h"
be_bryan 0:b74591d5ab33 18
be_bryan 0:b74591d5ab33 19 #include "cmsis.h"
be_bryan 0:b74591d5ab33 20 #include "pinmap.h"
be_bryan 0:b74591d5ab33 21
be_bryan 0:b74591d5ab33 22 #include <math.h>
be_bryan 0:b74591d5ab33 23 #include <string.h>
be_bryan 0:b74591d5ab33 24
be_bryan 0:b74591d5ab33 25 #define CAN_NUM 2
be_bryan 0:b74591d5ab33 26
be_bryan 0:b74591d5ab33 27 /* Acceptance filter mode in AFMR register */
be_bryan 0:b74591d5ab33 28 #define ACCF_OFF 0x01
be_bryan 0:b74591d5ab33 29 #define ACCF_BYPASS 0x02
be_bryan 0:b74591d5ab33 30 #define ACCF_ON 0x00
be_bryan 0:b74591d5ab33 31 #define ACCF_FULLCAN 0x04
be_bryan 0:b74591d5ab33 32
be_bryan 0:b74591d5ab33 33 /* There are several bit timing calculators on the internet.
be_bryan 0:b74591d5ab33 34 http://www.port.de/engl/canprod/sv_req_form.html
be_bryan 0:b74591d5ab33 35 http://www.kvaser.com/can/index.htm
be_bryan 0:b74591d5ab33 36 */
be_bryan 0:b74591d5ab33 37
be_bryan 0:b74591d5ab33 38 static const PinMap PinMap_CAN_RD[] = {
be_bryan 0:b74591d5ab33 39 {P0_0 , CAN_1, 1},
be_bryan 0:b74591d5ab33 40 {P0_4 , CAN_2, 2},
be_bryan 0:b74591d5ab33 41 {P0_21, CAN_1, 3},
be_bryan 0:b74591d5ab33 42 {P2_7 , CAN_2, 1},
be_bryan 0:b74591d5ab33 43 {NC , NC , 0}
be_bryan 0:b74591d5ab33 44 };
be_bryan 0:b74591d5ab33 45
be_bryan 0:b74591d5ab33 46 static const PinMap PinMap_CAN_TD[] = {
be_bryan 0:b74591d5ab33 47 {P0_1 , CAN_1, 1},
be_bryan 0:b74591d5ab33 48 {P0_5 , CAN_2, 2},
be_bryan 0:b74591d5ab33 49 {P0_22, CAN_1, 3},
be_bryan 0:b74591d5ab33 50 {P2_8 , CAN_2, 1},
be_bryan 0:b74591d5ab33 51 {NC , NC , 0}
be_bryan 0:b74591d5ab33 52 };
be_bryan 0:b74591d5ab33 53
be_bryan 0:b74591d5ab33 54 // Type definition to hold a CAN message
be_bryan 0:b74591d5ab33 55 struct CANMsg {
be_bryan 0:b74591d5ab33 56 unsigned int reserved1 : 16;
be_bryan 0:b74591d5ab33 57 unsigned int dlc : 4; // Bits 16..19: DLC - Data Length Counter
be_bryan 0:b74591d5ab33 58 unsigned int reserved0 : 10;
be_bryan 0:b74591d5ab33 59 unsigned int rtr : 1; // Bit 30: Set if this is a RTR message
be_bryan 0:b74591d5ab33 60 unsigned int type : 1; // Bit 31: Set if this is a 29-bit ID message
be_bryan 0:b74591d5ab33 61 unsigned int id; // CAN Message ID (11-bit or 29-bit)
be_bryan 0:b74591d5ab33 62 unsigned char data[8]; // CAN Message Data Bytes 0-7
be_bryan 0:b74591d5ab33 63 };
be_bryan 0:b74591d5ab33 64 typedef struct CANMsg CANMsg;
be_bryan 0:b74591d5ab33 65
be_bryan 0:b74591d5ab33 66 static uint32_t can_irq_ids[CAN_NUM] = {0};
be_bryan 0:b74591d5ab33 67 static can_irq_handler irq_handler;
be_bryan 0:b74591d5ab33 68
be_bryan 0:b74591d5ab33 69 static uint32_t can_disable(can_t *obj) {
be_bryan 0:b74591d5ab33 70 uint32_t sm = obj->dev->MOD;
be_bryan 0:b74591d5ab33 71 obj->dev->MOD |= 1;
be_bryan 0:b74591d5ab33 72 return sm;
be_bryan 0:b74591d5ab33 73 }
be_bryan 0:b74591d5ab33 74
be_bryan 0:b74591d5ab33 75 static inline void can_enable(can_t *obj) {
be_bryan 0:b74591d5ab33 76 if (obj->dev->MOD & 1) {
be_bryan 0:b74591d5ab33 77 obj->dev->MOD &= ~(1);
be_bryan 0:b74591d5ab33 78 }
be_bryan 0:b74591d5ab33 79 }
be_bryan 0:b74591d5ab33 80
be_bryan 0:b74591d5ab33 81 int can_mode(can_t *obj, CanMode mode) {
be_bryan 0:b74591d5ab33 82 int success = 0;
be_bryan 0:b74591d5ab33 83 switch (mode) {
be_bryan 0:b74591d5ab33 84 case MODE_RESET:
be_bryan 0:b74591d5ab33 85 // Clear all special modes
be_bryan 0:b74591d5ab33 86 can_reset(obj);
be_bryan 0:b74591d5ab33 87 obj->dev->MOD &=~ 0x06;
be_bryan 0:b74591d5ab33 88 success = 1;
be_bryan 0:b74591d5ab33 89 break;
be_bryan 0:b74591d5ab33 90 case MODE_NORMAL:
be_bryan 0:b74591d5ab33 91 // Clear all special modes
be_bryan 0:b74591d5ab33 92 can_disable(obj);
be_bryan 0:b74591d5ab33 93 obj->dev->MOD &=~ 0x06;
be_bryan 0:b74591d5ab33 94 can_enable(obj);
be_bryan 0:b74591d5ab33 95 success = 1;
be_bryan 0:b74591d5ab33 96 break;
be_bryan 0:b74591d5ab33 97 case MODE_SILENT:
be_bryan 0:b74591d5ab33 98 // Set listen-only mode and clear self-test mode
be_bryan 0:b74591d5ab33 99 can_disable(obj);
be_bryan 0:b74591d5ab33 100 obj->dev->MOD |= 0x02;
be_bryan 0:b74591d5ab33 101 obj->dev->MOD &=~ 0x04;
be_bryan 0:b74591d5ab33 102 can_enable(obj);
be_bryan 0:b74591d5ab33 103 success = 1;
be_bryan 0:b74591d5ab33 104 break;
be_bryan 0:b74591d5ab33 105 case MODE_TEST_LOCAL:
be_bryan 0:b74591d5ab33 106 // Set self-test mode and clear listen-only mode
be_bryan 0:b74591d5ab33 107 can_disable(obj);
be_bryan 0:b74591d5ab33 108 obj->dev->MOD |= 0x04;
be_bryan 0:b74591d5ab33 109 obj->dev->MOD &=~ 0x02;
be_bryan 0:b74591d5ab33 110 can_enable(obj);
be_bryan 0:b74591d5ab33 111 success = 1;
be_bryan 0:b74591d5ab33 112 break;
be_bryan 0:b74591d5ab33 113 case MODE_TEST_SILENT:
be_bryan 0:b74591d5ab33 114 case MODE_TEST_GLOBAL:
be_bryan 0:b74591d5ab33 115 default:
be_bryan 0:b74591d5ab33 116 success = 0;
be_bryan 0:b74591d5ab33 117 break;
be_bryan 0:b74591d5ab33 118 }
be_bryan 0:b74591d5ab33 119
be_bryan 0:b74591d5ab33 120 return success;
be_bryan 0:b74591d5ab33 121 }
be_bryan 0:b74591d5ab33 122
be_bryan 0:b74591d5ab33 123 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
be_bryan 0:b74591d5ab33 124 return 0; // not implemented
be_bryan 0:b74591d5ab33 125 }
be_bryan 0:b74591d5ab33 126
be_bryan 0:b74591d5ab33 127 static inline void can_irq(uint32_t icr, uint32_t index) {
be_bryan 0:b74591d5ab33 128 uint32_t i;
be_bryan 0:b74591d5ab33 129
be_bryan 0:b74591d5ab33 130 for(i = 0; i < 8; i++)
be_bryan 0:b74591d5ab33 131 {
be_bryan 0:b74591d5ab33 132 if((can_irq_ids[index] != 0) && (icr & (1 << i)))
be_bryan 0:b74591d5ab33 133 {
be_bryan 0:b74591d5ab33 134 switch (i) {
be_bryan 0:b74591d5ab33 135 case 0: irq_handler(can_irq_ids[index], IRQ_RX); break;
be_bryan 0:b74591d5ab33 136 case 1: irq_handler(can_irq_ids[index], IRQ_TX); break;
be_bryan 0:b74591d5ab33 137 case 2: irq_handler(can_irq_ids[index], IRQ_ERROR); break;
be_bryan 0:b74591d5ab33 138 case 3: irq_handler(can_irq_ids[index], IRQ_OVERRUN); break;
be_bryan 0:b74591d5ab33 139 case 4: irq_handler(can_irq_ids[index], IRQ_WAKEUP); break;
be_bryan 0:b74591d5ab33 140 case 5: irq_handler(can_irq_ids[index], IRQ_PASSIVE); break;
be_bryan 0:b74591d5ab33 141 case 6: irq_handler(can_irq_ids[index], IRQ_ARB); break;
be_bryan 0:b74591d5ab33 142 case 7: irq_handler(can_irq_ids[index], IRQ_BUS); break;
be_bryan 0:b74591d5ab33 143 case 8: irq_handler(can_irq_ids[index], IRQ_READY); break;
be_bryan 0:b74591d5ab33 144 }
be_bryan 0:b74591d5ab33 145 }
be_bryan 0:b74591d5ab33 146 }
be_bryan 0:b74591d5ab33 147 }
be_bryan 0:b74591d5ab33 148
be_bryan 0:b74591d5ab33 149 // Have to check that the CAN block is active before reading the Interrupt
be_bryan 0:b74591d5ab33 150 // Control Register, or the mbed hangs
be_bryan 0:b74591d5ab33 151 void can_irq_n() {
be_bryan 0:b74591d5ab33 152 uint32_t icr;
be_bryan 0:b74591d5ab33 153
be_bryan 0:b74591d5ab33 154 if(LPC_SC->PCONP & (1 << 13)) {
be_bryan 0:b74591d5ab33 155 icr = LPC_CAN1->ICR & 0x1FF;
be_bryan 0:b74591d5ab33 156 can_irq(icr, 0);
be_bryan 0:b74591d5ab33 157 }
be_bryan 0:b74591d5ab33 158
be_bryan 0:b74591d5ab33 159 if(LPC_SC->PCONP & (1 << 14)) {
be_bryan 0:b74591d5ab33 160 icr = LPC_CAN2->ICR & 0x1FF;
be_bryan 0:b74591d5ab33 161 can_irq(icr, 1);
be_bryan 0:b74591d5ab33 162 }
be_bryan 0:b74591d5ab33 163 }
be_bryan 0:b74591d5ab33 164
be_bryan 0:b74591d5ab33 165 // Register CAN object's irq handler
be_bryan 0:b74591d5ab33 166 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) {
be_bryan 0:b74591d5ab33 167 irq_handler = handler;
be_bryan 0:b74591d5ab33 168 can_irq_ids[obj->index] = id;
be_bryan 0:b74591d5ab33 169 }
be_bryan 0:b74591d5ab33 170
be_bryan 0:b74591d5ab33 171 // Unregister CAN object's irq handler
be_bryan 0:b74591d5ab33 172 void can_irq_free(can_t *obj) {
be_bryan 0:b74591d5ab33 173 obj->dev->IER &= ~(1);
be_bryan 0:b74591d5ab33 174 can_irq_ids[obj->index] = 0;
be_bryan 0:b74591d5ab33 175
be_bryan 0:b74591d5ab33 176 if ((can_irq_ids[0] == 0) && (can_irq_ids[1] == 0)) {
be_bryan 0:b74591d5ab33 177 NVIC_DisableIRQ(CAN_IRQn);
be_bryan 0:b74591d5ab33 178 }
be_bryan 0:b74591d5ab33 179 }
be_bryan 0:b74591d5ab33 180
be_bryan 0:b74591d5ab33 181 // Clear or set a irq
be_bryan 0:b74591d5ab33 182 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) {
be_bryan 0:b74591d5ab33 183 uint32_t ier;
be_bryan 0:b74591d5ab33 184
be_bryan 0:b74591d5ab33 185 switch (type) {
be_bryan 0:b74591d5ab33 186 case IRQ_RX: ier = (1 << 0); break;
be_bryan 0:b74591d5ab33 187 case IRQ_TX: ier = (1 << 1); break;
be_bryan 0:b74591d5ab33 188 case IRQ_ERROR: ier = (1 << 2); break;
be_bryan 0:b74591d5ab33 189 case IRQ_OVERRUN: ier = (1 << 3); break;
be_bryan 0:b74591d5ab33 190 case IRQ_WAKEUP: ier = (1 << 4); break;
be_bryan 0:b74591d5ab33 191 case IRQ_PASSIVE: ier = (1 << 5); break;
be_bryan 0:b74591d5ab33 192 case IRQ_ARB: ier = (1 << 6); break;
be_bryan 0:b74591d5ab33 193 case IRQ_BUS: ier = (1 << 7); break;
be_bryan 0:b74591d5ab33 194 case IRQ_READY: ier = (1 << 8); break;
be_bryan 0:b74591d5ab33 195 default: return;
be_bryan 0:b74591d5ab33 196 }
be_bryan 0:b74591d5ab33 197
be_bryan 0:b74591d5ab33 198 obj->dev->MOD |= 1;
be_bryan 0:b74591d5ab33 199 if(enable == 0) {
be_bryan 0:b74591d5ab33 200 obj->dev->IER &= ~ier;
be_bryan 0:b74591d5ab33 201 }
be_bryan 0:b74591d5ab33 202 else {
be_bryan 0:b74591d5ab33 203 obj->dev->IER |= ier;
be_bryan 0:b74591d5ab33 204 }
be_bryan 0:b74591d5ab33 205 obj->dev->MOD &= ~(1);
be_bryan 0:b74591d5ab33 206
be_bryan 0:b74591d5ab33 207 // Enable NVIC if at least 1 interrupt is active
be_bryan 0:b74591d5ab33 208 if(((LPC_SC->PCONP & (1 << 13)) && LPC_CAN1->IER) || ((LPC_SC->PCONP & (1 << 14)) && LPC_CAN2->IER)) {
be_bryan 0:b74591d5ab33 209 NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq_n);
be_bryan 0:b74591d5ab33 210 NVIC_EnableIRQ(CAN_IRQn);
be_bryan 0:b74591d5ab33 211 }
be_bryan 0:b74591d5ab33 212 else {
be_bryan 0:b74591d5ab33 213 NVIC_DisableIRQ(CAN_IRQn);
be_bryan 0:b74591d5ab33 214 }
be_bryan 0:b74591d5ab33 215 }
be_bryan 0:b74591d5ab33 216
be_bryan 0:b74591d5ab33 217 static int can_pclk(can_t *obj) {
be_bryan 0:b74591d5ab33 218 int value = 0;
be_bryan 0:b74591d5ab33 219 switch ((int)obj->dev) {
be_bryan 0:b74591d5ab33 220 case CAN_1: value = (LPC_SC->PCLKSEL0 & (0x3 << 26)) >> 26; break;
be_bryan 0:b74591d5ab33 221 case CAN_2: value = (LPC_SC->PCLKSEL0 & (0x3 << 28)) >> 28; break;
be_bryan 0:b74591d5ab33 222 }
be_bryan 0:b74591d5ab33 223
be_bryan 0:b74591d5ab33 224 switch (value) {
be_bryan 0:b74591d5ab33 225 case 1: return 1;
be_bryan 0:b74591d5ab33 226 case 2: return 2;
be_bryan 0:b74591d5ab33 227 case 3: return 6;
be_bryan 0:b74591d5ab33 228 default: return 4;
be_bryan 0:b74591d5ab33 229 }
be_bryan 0:b74591d5ab33 230 }
be_bryan 0:b74591d5ab33 231
be_bryan 0:b74591d5ab33 232 // This table has the sampling points as close to 75% as possible. The first
be_bryan 0:b74591d5ab33 233 // value is TSEG1, the second TSEG2.
be_bryan 0:b74591d5ab33 234 static const int timing_pts[23][2] = {
be_bryan 0:b74591d5ab33 235 {0x0, 0x0}, // 2, 50%
be_bryan 0:b74591d5ab33 236 {0x1, 0x0}, // 3, 67%
be_bryan 0:b74591d5ab33 237 {0x2, 0x0}, // 4, 75%
be_bryan 0:b74591d5ab33 238 {0x3, 0x0}, // 5, 80%
be_bryan 0:b74591d5ab33 239 {0x3, 0x1}, // 6, 67%
be_bryan 0:b74591d5ab33 240 {0x4, 0x1}, // 7, 71%
be_bryan 0:b74591d5ab33 241 {0x5, 0x1}, // 8, 75%
be_bryan 0:b74591d5ab33 242 {0x6, 0x1}, // 9, 78%
be_bryan 0:b74591d5ab33 243 {0x6, 0x2}, // 10, 70%
be_bryan 0:b74591d5ab33 244 {0x7, 0x2}, // 11, 73%
be_bryan 0:b74591d5ab33 245 {0x8, 0x2}, // 12, 75%
be_bryan 0:b74591d5ab33 246 {0x9, 0x2}, // 13, 77%
be_bryan 0:b74591d5ab33 247 {0x9, 0x3}, // 14, 71%
be_bryan 0:b74591d5ab33 248 {0xA, 0x3}, // 15, 73%
be_bryan 0:b74591d5ab33 249 {0xB, 0x3}, // 16, 75%
be_bryan 0:b74591d5ab33 250 {0xC, 0x3}, // 17, 76%
be_bryan 0:b74591d5ab33 251 {0xD, 0x3}, // 18, 78%
be_bryan 0:b74591d5ab33 252 {0xD, 0x4}, // 19, 74%
be_bryan 0:b74591d5ab33 253 {0xE, 0x4}, // 20, 75%
be_bryan 0:b74591d5ab33 254 {0xF, 0x4}, // 21, 76%
be_bryan 0:b74591d5ab33 255 {0xF, 0x5}, // 22, 73%
be_bryan 0:b74591d5ab33 256 {0xF, 0x6}, // 23, 70%
be_bryan 0:b74591d5ab33 257 {0xF, 0x7}, // 24, 67%
be_bryan 0:b74591d5ab33 258 };
be_bryan 0:b74591d5ab33 259
be_bryan 0:b74591d5ab33 260 static unsigned int can_speed(unsigned int sclk, unsigned int pclk, unsigned int cclk, unsigned char psjw) {
be_bryan 0:b74591d5ab33 261 uint32_t btr;
be_bryan 0:b74591d5ab33 262 uint16_t brp = 0;
be_bryan 0:b74591d5ab33 263 uint32_t calcbit;
be_bryan 0:b74591d5ab33 264 uint32_t bitwidth;
be_bryan 0:b74591d5ab33 265 int hit = 0;
be_bryan 0:b74591d5ab33 266 int bits;
be_bryan 0:b74591d5ab33 267
be_bryan 0:b74591d5ab33 268 bitwidth = sclk / (pclk * cclk);
be_bryan 0:b74591d5ab33 269
be_bryan 0:b74591d5ab33 270 brp = bitwidth / 0x18;
be_bryan 0:b74591d5ab33 271 while ((!hit) && (brp < bitwidth / 4)) {
be_bryan 0:b74591d5ab33 272 brp++;
be_bryan 0:b74591d5ab33 273 for (bits = 22; bits > 0; bits--) {
be_bryan 0:b74591d5ab33 274 calcbit = (bits + 3) * (brp + 1);
be_bryan 0:b74591d5ab33 275 if (calcbit == bitwidth) {
be_bryan 0:b74591d5ab33 276 hit = 1;
be_bryan 0:b74591d5ab33 277 break;
be_bryan 0:b74591d5ab33 278 }
be_bryan 0:b74591d5ab33 279 }
be_bryan 0:b74591d5ab33 280 }
be_bryan 0:b74591d5ab33 281
be_bryan 0:b74591d5ab33 282 if (hit) {
be_bryan 0:b74591d5ab33 283 btr = ((timing_pts[bits][1] << 20) & 0x00700000)
be_bryan 0:b74591d5ab33 284 | ((timing_pts[bits][0] << 16) & 0x000F0000)
be_bryan 0:b74591d5ab33 285 | ((psjw << 14) & 0x0000C000)
be_bryan 0:b74591d5ab33 286 | ((brp << 0) & 0x000003FF);
be_bryan 0:b74591d5ab33 287 } else {
be_bryan 0:b74591d5ab33 288 btr = 0xFFFFFFFF;
be_bryan 0:b74591d5ab33 289 }
be_bryan 0:b74591d5ab33 290
be_bryan 0:b74591d5ab33 291 return btr;
be_bryan 0:b74591d5ab33 292
be_bryan 0:b74591d5ab33 293 }
be_bryan 0:b74591d5ab33 294
be_bryan 0:b74591d5ab33 295 void can_init_freq(can_t *obj, PinName rd, PinName td, int hz) {
be_bryan 0:b74591d5ab33 296 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
be_bryan 0:b74591d5ab33 297 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
be_bryan 0:b74591d5ab33 298 obj->dev = (LPC_CAN_TypeDef *)pinmap_merge(can_rd, can_td);
be_bryan 0:b74591d5ab33 299 MBED_ASSERT((int)obj->dev != NC);
be_bryan 0:b74591d5ab33 300
be_bryan 0:b74591d5ab33 301 switch ((int)obj->dev) {
be_bryan 0:b74591d5ab33 302 case CAN_1: LPC_SC->PCONP |= 1 << 13; break;
be_bryan 0:b74591d5ab33 303 case CAN_2: LPC_SC->PCONP |= 1 << 14; break;
be_bryan 0:b74591d5ab33 304 }
be_bryan 0:b74591d5ab33 305
be_bryan 0:b74591d5ab33 306 pinmap_pinout(rd, PinMap_CAN_RD);
be_bryan 0:b74591d5ab33 307 pinmap_pinout(td, PinMap_CAN_TD);
be_bryan 0:b74591d5ab33 308
be_bryan 0:b74591d5ab33 309 switch ((int)obj->dev) {
be_bryan 0:b74591d5ab33 310 case CAN_1: obj->index = 0; break;
be_bryan 0:b74591d5ab33 311 case CAN_2: obj->index = 1; break;
be_bryan 0:b74591d5ab33 312 }
be_bryan 0:b74591d5ab33 313
be_bryan 0:b74591d5ab33 314 can_reset(obj);
be_bryan 0:b74591d5ab33 315 obj->dev->IER = 0; // Disable Interrupts
be_bryan 0:b74591d5ab33 316 can_frequency(obj, hz);
be_bryan 0:b74591d5ab33 317
be_bryan 0:b74591d5ab33 318 LPC_CANAF->AFMR = ACCF_BYPASS; // Bypass Filter
be_bryan 0:b74591d5ab33 319 }
be_bryan 0:b74591d5ab33 320
be_bryan 0:b74591d5ab33 321 void can_init(can_t *obj, PinName rd, PinName td) {
be_bryan 0:b74591d5ab33 322 can_init_freq(obj, rd, td, 100000);
be_bryan 0:b74591d5ab33 323 }
be_bryan 0:b74591d5ab33 324
be_bryan 0:b74591d5ab33 325 void can_free(can_t *obj) {
be_bryan 0:b74591d5ab33 326 switch ((int)obj->dev) {
be_bryan 0:b74591d5ab33 327 case CAN_1: LPC_SC->PCONP &= ~(1 << 13); break;
be_bryan 0:b74591d5ab33 328 case CAN_2: LPC_SC->PCONP &= ~(1 << 14); break;
be_bryan 0:b74591d5ab33 329 }
be_bryan 0:b74591d5ab33 330 }
be_bryan 0:b74591d5ab33 331
be_bryan 0:b74591d5ab33 332 int can_frequency(can_t *obj, int f) {
be_bryan 0:b74591d5ab33 333 int pclk = can_pclk(obj);
be_bryan 0:b74591d5ab33 334
be_bryan 0:b74591d5ab33 335 int btr = can_speed(SystemCoreClock, pclk, (unsigned int)f, 1);
be_bryan 0:b74591d5ab33 336
be_bryan 0:b74591d5ab33 337 if (btr > 0) {
be_bryan 0:b74591d5ab33 338 uint32_t modmask = can_disable(obj);
be_bryan 0:b74591d5ab33 339 obj->dev->BTR = btr;
be_bryan 0:b74591d5ab33 340 obj->dev->MOD = modmask;
be_bryan 0:b74591d5ab33 341 return 1;
be_bryan 0:b74591d5ab33 342 } else {
be_bryan 0:b74591d5ab33 343 return 0;
be_bryan 0:b74591d5ab33 344 }
be_bryan 0:b74591d5ab33 345 }
be_bryan 0:b74591d5ab33 346
be_bryan 0:b74591d5ab33 347 int can_write(can_t *obj, CAN_Message msg, int cc) {
be_bryan 0:b74591d5ab33 348 unsigned int CANStatus;
be_bryan 0:b74591d5ab33 349 CANMsg m;
be_bryan 0:b74591d5ab33 350
be_bryan 0:b74591d5ab33 351 can_enable(obj);
be_bryan 0:b74591d5ab33 352
be_bryan 0:b74591d5ab33 353 m.id = msg.id ;
be_bryan 0:b74591d5ab33 354 m.dlc = msg.len & 0xF;
be_bryan 0:b74591d5ab33 355 m.rtr = msg.type;
be_bryan 0:b74591d5ab33 356 m.type = msg.format;
be_bryan 0:b74591d5ab33 357 memcpy(m.data, msg.data, msg.len);
be_bryan 0:b74591d5ab33 358 const unsigned int *buf = (const unsigned int *)&m;
be_bryan 0:b74591d5ab33 359
be_bryan 0:b74591d5ab33 360 CANStatus = obj->dev->SR;
be_bryan 0:b74591d5ab33 361
be_bryan 0:b74591d5ab33 362 // Send the message to ourself if in a test mode
be_bryan 0:b74591d5ab33 363 if (obj->dev->MOD & 0x04) {
be_bryan 0:b74591d5ab33 364 cc = 1;
be_bryan 0:b74591d5ab33 365 }
be_bryan 0:b74591d5ab33 366
be_bryan 0:b74591d5ab33 367 if (CANStatus & 0x00000004) {
be_bryan 0:b74591d5ab33 368 obj->dev->TFI1 = buf[0] & 0xC00F0000;
be_bryan 0:b74591d5ab33 369 obj->dev->TID1 = buf[1];
be_bryan 0:b74591d5ab33 370 obj->dev->TDA1 = buf[2];
be_bryan 0:b74591d5ab33 371 obj->dev->TDB1 = buf[3];
be_bryan 0:b74591d5ab33 372 if(cc) {
be_bryan 0:b74591d5ab33 373 obj->dev->CMR = 0x30;
be_bryan 0:b74591d5ab33 374 } else {
be_bryan 0:b74591d5ab33 375 obj->dev->CMR = 0x21;
be_bryan 0:b74591d5ab33 376 }
be_bryan 0:b74591d5ab33 377 return 1;
be_bryan 0:b74591d5ab33 378
be_bryan 0:b74591d5ab33 379 } else if (CANStatus & 0x00000400) {
be_bryan 0:b74591d5ab33 380 obj->dev->TFI2 = buf[0] & 0xC00F0000;
be_bryan 0:b74591d5ab33 381 obj->dev->TID2 = buf[1];
be_bryan 0:b74591d5ab33 382 obj->dev->TDA2 = buf[2];
be_bryan 0:b74591d5ab33 383 obj->dev->TDB2 = buf[3];
be_bryan 0:b74591d5ab33 384 if (cc) {
be_bryan 0:b74591d5ab33 385 obj->dev->CMR = 0x50;
be_bryan 0:b74591d5ab33 386 } else {
be_bryan 0:b74591d5ab33 387 obj->dev->CMR = 0x41;
be_bryan 0:b74591d5ab33 388 }
be_bryan 0:b74591d5ab33 389 return 1;
be_bryan 0:b74591d5ab33 390
be_bryan 0:b74591d5ab33 391 } else if (CANStatus & 0x00040000) {
be_bryan 0:b74591d5ab33 392 obj->dev->TFI3 = buf[0] & 0xC00F0000;
be_bryan 0:b74591d5ab33 393 obj->dev->TID3 = buf[1];
be_bryan 0:b74591d5ab33 394 obj->dev->TDA3 = buf[2];
be_bryan 0:b74591d5ab33 395 obj->dev->TDB3 = buf[3];
be_bryan 0:b74591d5ab33 396 if (cc) {
be_bryan 0:b74591d5ab33 397 obj->dev->CMR = 0x90;
be_bryan 0:b74591d5ab33 398 } else {
be_bryan 0:b74591d5ab33 399 obj->dev->CMR = 0x81;
be_bryan 0:b74591d5ab33 400 }
be_bryan 0:b74591d5ab33 401 return 1;
be_bryan 0:b74591d5ab33 402 }
be_bryan 0:b74591d5ab33 403
be_bryan 0:b74591d5ab33 404 return 0;
be_bryan 0:b74591d5ab33 405 }
be_bryan 0:b74591d5ab33 406
be_bryan 0:b74591d5ab33 407 int can_read(can_t *obj, CAN_Message *msg, int handle) {
be_bryan 0:b74591d5ab33 408 CANMsg x;
be_bryan 0:b74591d5ab33 409 unsigned int *i = (unsigned int *)&x;
be_bryan 0:b74591d5ab33 410
be_bryan 0:b74591d5ab33 411 can_enable(obj);
be_bryan 0:b74591d5ab33 412
be_bryan 0:b74591d5ab33 413 if (obj->dev->GSR & 0x1) {
be_bryan 0:b74591d5ab33 414 *i++ = obj->dev->RFS; // Frame
be_bryan 0:b74591d5ab33 415 *i++ = obj->dev->RID; // ID
be_bryan 0:b74591d5ab33 416 *i++ = obj->dev->RDA; // Data A
be_bryan 0:b74591d5ab33 417 *i++ = obj->dev->RDB; // Data B
be_bryan 0:b74591d5ab33 418 obj->dev->CMR = 0x04; // release receive buffer
be_bryan 0:b74591d5ab33 419
be_bryan 0:b74591d5ab33 420 msg->id = x.id;
be_bryan 0:b74591d5ab33 421 msg->len = x.dlc;
be_bryan 0:b74591d5ab33 422 msg->format = (x.type)? CANExtended : CANStandard;
be_bryan 0:b74591d5ab33 423 msg->type = (x.rtr)? CANRemote: CANData;
be_bryan 0:b74591d5ab33 424 memcpy(msg->data,x.data,x.dlc);
be_bryan 0:b74591d5ab33 425 return 1;
be_bryan 0:b74591d5ab33 426 }
be_bryan 0:b74591d5ab33 427
be_bryan 0:b74591d5ab33 428 return 0;
be_bryan 0:b74591d5ab33 429 }
be_bryan 0:b74591d5ab33 430
be_bryan 0:b74591d5ab33 431 void can_reset(can_t *obj) {
be_bryan 0:b74591d5ab33 432 can_disable(obj);
be_bryan 0:b74591d5ab33 433 obj->dev->GSR = 0; // Reset error counter when CAN1MOD is in reset
be_bryan 0:b74591d5ab33 434 }
be_bryan 0:b74591d5ab33 435
be_bryan 0:b74591d5ab33 436 unsigned char can_rderror(can_t *obj) {
be_bryan 0:b74591d5ab33 437 return (obj->dev->GSR >> 16) & 0xFF;
be_bryan 0:b74591d5ab33 438 }
be_bryan 0:b74591d5ab33 439
be_bryan 0:b74591d5ab33 440 unsigned char can_tderror(can_t *obj) {
be_bryan 0:b74591d5ab33 441 return (obj->dev->GSR >> 24) & 0xFF;
be_bryan 0:b74591d5ab33 442 }
be_bryan 0:b74591d5ab33 443
be_bryan 0:b74591d5ab33 444 void can_monitor(can_t *obj, int silent) {
be_bryan 0:b74591d5ab33 445 uint32_t mod_mask = can_disable(obj);
be_bryan 0:b74591d5ab33 446 if (silent) {
be_bryan 0:b74591d5ab33 447 obj->dev->MOD |= (1 << 1);
be_bryan 0:b74591d5ab33 448 } else {
be_bryan 0:b74591d5ab33 449 obj->dev->MOD &= ~(1 << 1);
be_bryan 0:b74591d5ab33 450 }
be_bryan 0:b74591d5ab33 451 if (!(mod_mask & 1)) {
be_bryan 0:b74591d5ab33 452 can_enable(obj);
be_bryan 0:b74591d5ab33 453 }
be_bryan 0:b74591d5ab33 454 }