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targets/hal/TARGET_NXP/TARGET_LPC15XX/can_api.c@0:9b334a45a8ff, 2015-10-01 (annotated)

Committer:
bogdanm
Date:
Thu Oct 01 15:25:22 2015 +0300
Revision:
0:9b334a45a8ff
Child:
144:ef7eb2e8f9f7
Initial commit on mbed-dev



Replaces mbed-src (now inactive)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bogdanm 0:9b334a45a8ff 1 /* mbed Microcontroller Library
bogdanm 0:9b334a45a8ff 2 * Copyright (c) 2006-2013 ARM Limited
bogdanm 0:9b334a45a8ff 3 *
bogdanm 0:9b334a45a8ff 4 * Licensed under the Apache License, Version 2.0 (the "License");
bogdanm 0:9b334a45a8ff 5 * you may not use this file except in compliance with the License.
bogdanm 0:9b334a45a8ff 6 * You may obtain a copy of the License at
bogdanm 0:9b334a45a8ff 7 *
bogdanm 0:9b334a45a8ff 8 * http://www.apache.org/licenses/LICENSE-2.0
bogdanm 0:9b334a45a8ff 9 *
bogdanm 0:9b334a45a8ff 10 * Unless required by applicable law or agreed to in writing, software
bogdanm 0:9b334a45a8ff 11 * distributed under the License is distributed on an "AS IS" BASIS,
bogdanm 0:9b334a45a8ff 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
bogdanm 0:9b334a45a8ff 13 * See the License for the specific language governing permissions and
bogdanm 0:9b334a45a8ff 14 * limitations under the License.
bogdanm 0:9b334a45a8ff 15 */
bogdanm 0:9b334a45a8ff 16
bogdanm 0:9b334a45a8ff 17 #include "can_api.h"
bogdanm 0:9b334a45a8ff 18
bogdanm 0:9b334a45a8ff 19 #include "cmsis.h"
bogdanm 0:9b334a45a8ff 20 #include "mbed_error.h"
bogdanm 0:9b334a45a8ff 21
bogdanm 0:9b334a45a8ff 22 #include <math.h>
bogdanm 0:9b334a45a8ff 23 #include <string.h>
bogdanm 0:9b334a45a8ff 24
bogdanm 0:9b334a45a8ff 25 /* Handy defines */
bogdanm 0:9b334a45a8ff 26 #define MSG_OBJ_MAX 32
bogdanm 0:9b334a45a8ff 27 #define DLC_MAX 8
bogdanm 0:9b334a45a8ff 28
bogdanm 0:9b334a45a8ff 29 #define ID_STD_MASK 0x07FF
bogdanm 0:9b334a45a8ff 30 #define ID_EXT_MASK 0x1FFFFFFF
bogdanm 0:9b334a45a8ff 31 #define DLC_MASK 0x0F
bogdanm 0:9b334a45a8ff 32
bogdanm 0:9b334a45a8ff 33 #define CANIFn_ARB2_DIR (1UL << 13)
bogdanm 0:9b334a45a8ff 34 #define CANIFn_ARB2_XTD (1UL << 14)
bogdanm 0:9b334a45a8ff 35 #define CANIFn_ARB2_MSGVAL (1UL << 15)
bogdanm 0:9b334a45a8ff 36 #define CANIFn_MSK2_MXTD (1UL << 15)
bogdanm 0:9b334a45a8ff 37 #define CANIFn_MSK2_MDIR (1UL << 14)
bogdanm 0:9b334a45a8ff 38 #define CANIFn_MCTRL_EOB (1UL << 7)
bogdanm 0:9b334a45a8ff 39 #define CANIFn_MCTRL_TXRQST (1UL << 8)
bogdanm 0:9b334a45a8ff 40 #define CANIFn_MCTRL_RMTEN (1UL << 9)
bogdanm 0:9b334a45a8ff 41 #define CANIFn_MCTRL_RXIE (1UL << 10)
bogdanm 0:9b334a45a8ff 42 #define CANIFn_MCTRL_TXIE (1UL << 11)
bogdanm 0:9b334a45a8ff 43 #define CANIFn_MCTRL_UMASK (1UL << 12)
bogdanm 0:9b334a45a8ff 44 #define CANIFn_MCTRL_INTPND (1UL << 13)
bogdanm 0:9b334a45a8ff 45 #define CANIFn_MCTRL_MSGLST (1UL << 14)
bogdanm 0:9b334a45a8ff 46 #define CANIFn_MCTRL_NEWDAT (1UL << 15)
bogdanm 0:9b334a45a8ff 47 #define CANIFn_CMDMSK_DATA_B (1UL << 0)
bogdanm 0:9b334a45a8ff 48 #define CANIFn_CMDMSK_DATA_A (1UL << 1)
bogdanm 0:9b334a45a8ff 49 #define CANIFn_CMDMSK_TXRQST (1UL << 2)
bogdanm 0:9b334a45a8ff 50 #define CANIFn_CMDMSK_NEWDAT (1UL << 2)
bogdanm 0:9b334a45a8ff 51 #define CANIFn_CMDMSK_CLRINTPND (1UL << 3)
bogdanm 0:9b334a45a8ff 52 #define CANIFn_CMDMSK_CTRL (1UL << 4)
bogdanm 0:9b334a45a8ff 53 #define CANIFn_CMDMSK_ARB (1UL << 5)
bogdanm 0:9b334a45a8ff 54 #define CANIFn_CMDMSK_MASK (1UL << 6)
bogdanm 0:9b334a45a8ff 55 #define CANIFn_CMDMSK_WR (1UL << 7)
bogdanm 0:9b334a45a8ff 56 #define CANIFn_CMDMSK_RD (0UL << 7)
bogdanm 0:9b334a45a8ff 57 #define CANIFn_CMDREQ_BUSY (1UL << 15)
bogdanm 0:9b334a45a8ff 58
bogdanm 0:9b334a45a8ff 59 #define CANCNTL_INIT (1 << 0) // Initialization
bogdanm 0:9b334a45a8ff 60 #define CANCNTL_IE (1 << 1) // Module interrupt enable
bogdanm 0:9b334a45a8ff 61 #define CANCNTL_SIE (1 << 2) // Status change interrupt enable
bogdanm 0:9b334a45a8ff 62 #define CANCNTL_EIE (1 << 3) // Error interrupt enable
bogdanm 0:9b334a45a8ff 63 #define CANCNTL_DAR (1 << 5) // Disable automatic retransmission
bogdanm 0:9b334a45a8ff 64 #define CANCNTL_CCE (1 << 6) // Configuration change enable
bogdanm 0:9b334a45a8ff 65 #define CANCNTL_TEST (1 << 7) // Test mode enable
bogdanm 0:9b334a45a8ff 66
bogdanm 0:9b334a45a8ff 67 #define CANTEST_BASIC (1 << 2) // Basic mode
bogdanm 0:9b334a45a8ff 68 #define CANTEST_SILENT (1 << 3) // Silent mode
bogdanm 0:9b334a45a8ff 69 #define CANTEST_LBACK (1 << 4) // Loop back mode
bogdanm 0:9b334a45a8ff 70 #define CANTEST_TX_MASK 0x0060 // Control of CAN_TXD pins
bogdanm 0:9b334a45a8ff 71 #define CANTEST_TX_SHIFT 5
bogdanm 0:9b334a45a8ff 72 #define CANTEST_RX (1 << 7) // Monitors the actual value of the CAN_RXD pin.
bogdanm 0:9b334a45a8ff 73
bogdanm 0:9b334a45a8ff 74 static uint32_t can_irq_id = 0;
bogdanm 0:9b334a45a8ff 75 static can_irq_handler irq_handler;
bogdanm 0:9b334a45a8ff 76
bogdanm 0:9b334a45a8ff 77 static inline void can_disable(can_t *obj) {
bogdanm 0:9b334a45a8ff 78 LPC_C_CAN0->CANCNTL |= 0x1;
bogdanm 0:9b334a45a8ff 79 }
bogdanm 0:9b334a45a8ff 80
bogdanm 0:9b334a45a8ff 81 static inline void can_enable(can_t *obj) {
bogdanm 0:9b334a45a8ff 82 if (LPC_C_CAN0->CANCNTL & 0x1) {
bogdanm 0:9b334a45a8ff 83 LPC_C_CAN0->CANCNTL &= ~(0x1);
bogdanm 0:9b334a45a8ff 84 }
bogdanm 0:9b334a45a8ff 85 }
bogdanm 0:9b334a45a8ff 86
bogdanm 0:9b334a45a8ff 87 int can_mode(can_t *obj, CanMode mode) {
bogdanm 0:9b334a45a8ff 88 int success = 0;
bogdanm 0:9b334a45a8ff 89 switch (mode) {
bogdanm 0:9b334a45a8ff 90 case MODE_RESET:
bogdanm 0:9b334a45a8ff 91 LPC_C_CAN0->CANCNTL &=~CANCNTL_TEST;
bogdanm 0:9b334a45a8ff 92 can_disable(obj);
bogdanm 0:9b334a45a8ff 93 success = 1;
bogdanm 0:9b334a45a8ff 94 break;
bogdanm 0:9b334a45a8ff 95 case MODE_NORMAL:
bogdanm 0:9b334a45a8ff 96 LPC_C_CAN0->CANCNTL &=~CANCNTL_TEST;
bogdanm 0:9b334a45a8ff 97 can_enable(obj);
bogdanm 0:9b334a45a8ff 98 success = 1;
bogdanm 0:9b334a45a8ff 99 break;
bogdanm 0:9b334a45a8ff 100 case MODE_SILENT:
bogdanm 0:9b334a45a8ff 101 LPC_C_CAN0->CANCNTL |= CANCNTL_TEST;
bogdanm 0:9b334a45a8ff 102 LPC_C_CAN0->CANTEST |= CANTEST_SILENT;
bogdanm 0:9b334a45a8ff 103 LPC_C_CAN0->CANTEST &=~ CANTEST_LBACK;
bogdanm 0:9b334a45a8ff 104 success = 1;
bogdanm 0:9b334a45a8ff 105 break;
bogdanm 0:9b334a45a8ff 106 case MODE_TEST_LOCAL:
bogdanm 0:9b334a45a8ff 107 LPC_C_CAN0->CANCNTL |= CANCNTL_TEST;
bogdanm 0:9b334a45a8ff 108 LPC_C_CAN0->CANTEST &=~CANTEST_SILENT;
bogdanm 0:9b334a45a8ff 109 LPC_C_CAN0->CANTEST |= CANTEST_LBACK;
bogdanm 0:9b334a45a8ff 110 success = 1;
bogdanm 0:9b334a45a8ff 111 break;
bogdanm 0:9b334a45a8ff 112 case MODE_TEST_SILENT:
bogdanm 0:9b334a45a8ff 113 LPC_C_CAN0->CANCNTL |= CANCNTL_TEST;
bogdanm 0:9b334a45a8ff 114 LPC_C_CAN0->CANTEST |= (CANTEST_LBACK | CANTEST_SILENT);
bogdanm 0:9b334a45a8ff 115 success = 1;
bogdanm 0:9b334a45a8ff 116 break;
bogdanm 0:9b334a45a8ff 117 case MODE_TEST_GLOBAL:
bogdanm 0:9b334a45a8ff 118 default:
bogdanm 0:9b334a45a8ff 119 success = 0;
bogdanm 0:9b334a45a8ff 120 break;
bogdanm 0:9b334a45a8ff 121 }
bogdanm 0:9b334a45a8ff 122
bogdanm 0:9b334a45a8ff 123 return success;
bogdanm 0:9b334a45a8ff 124 }
bogdanm 0:9b334a45a8ff 125
bogdanm 0:9b334a45a8ff 126 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
bogdanm 0:9b334a45a8ff 127 uint16_t i;
bogdanm 0:9b334a45a8ff 128
bogdanm 0:9b334a45a8ff 129 // Find first free message object
bogdanm 0:9b334a45a8ff 130 if (handle == 0) {
bogdanm 0:9b334a45a8ff 131 uint32_t msgval = LPC_C_CAN0->CANMSGV1 | (LPC_C_CAN0->CANMSGV2 << 16);
bogdanm 0:9b334a45a8ff 132
bogdanm 0:9b334a45a8ff 133 // Find first free messagebox
bogdanm 0:9b334a45a8ff 134 for (i = 0; i < 32; i++) {
bogdanm 0:9b334a45a8ff 135 if ((msgval & (1 << i)) == 0) {
bogdanm 0:9b334a45a8ff 136 handle = i+1;
bogdanm 0:9b334a45a8ff 137 break;
bogdanm 0:9b334a45a8ff 138 }
bogdanm 0:9b334a45a8ff 139 }
bogdanm 0:9b334a45a8ff 140 }
bogdanm 0:9b334a45a8ff 141
bogdanm 0:9b334a45a8ff 142 if (handle > 0 && handle < 32) {
bogdanm 0:9b334a45a8ff 143 if (format == CANExtended) {
bogdanm 0:9b334a45a8ff 144 // Mark message valid, Direction = TX, Extended Frame, Set Identifier and mask everything
bogdanm 0:9b334a45a8ff 145 LPC_C_CAN0->CANIF1_ARB1 = (id & 0xFFFF);
bogdanm 0:9b334a45a8ff 146 LPC_C_CAN0->CANIF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | ((id >> 16) & 0x1FFF);
bogdanm 0:9b334a45a8ff 147 LPC_C_CAN0->CANIF1_MSK1 = (mask & 0xFFFF);
bogdanm 0:9b334a45a8ff 148 LPC_C_CAN0->CANIF1_MSK2 = CANIFn_MSK2_MXTD /*| CANIFn_MSK2_MDIR*/ | ((mask >> 16) & 0x1FFF);
bogdanm 0:9b334a45a8ff 149 } else {
bogdanm 0:9b334a45a8ff 150 // Mark message valid, Direction = TX, Set Identifier and mask everything
bogdanm 0:9b334a45a8ff 151 LPC_C_CAN0->CANIF1_ARB2 = CANIFn_ARB2_MSGVAL | ((id << 2) & 0x1FFF);
bogdanm 0:9b334a45a8ff 152 LPC_C_CAN0->CANIF1_MSK2 = /*CANIFn_MSK2_MDIR |*/ ((mask << 2) & 0x1FFF);
bogdanm 0:9b334a45a8ff 153 }
bogdanm 0:9b334a45a8ff 154
bogdanm 0:9b334a45a8ff 155 // Use mask, single message object and set DLC
bogdanm 0:9b334a45a8ff 156 LPC_C_CAN0->CANIF1_MCTRL = CANIFn_MCTRL_UMASK | CANIFn_MCTRL_EOB | CANIFn_MCTRL_RXIE | (DLC_MAX & 0xF);
bogdanm 0:9b334a45a8ff 157
bogdanm 0:9b334a45a8ff 158 // Transfer all fields to message object
bogdanm 0:9b334a45a8ff 159 LPC_C_CAN0->CANIF1_CMDMSK_W = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL;
bogdanm 0:9b334a45a8ff 160
bogdanm 0:9b334a45a8ff 161 // Start Transfer to given message number
bogdanm 0:9b334a45a8ff 162 LPC_C_CAN0->CANIF1_CMDREQ = (handle & 0x3F);
bogdanm 0:9b334a45a8ff 163
bogdanm 0:9b334a45a8ff 164 // Wait until transfer to message ram complete - TODO: maybe not block??
bogdanm 0:9b334a45a8ff 165 while ( LPC_C_CAN0->CANIF1_CMDREQ & CANIFn_CMDREQ_BUSY );
bogdanm 0:9b334a45a8ff 166 }
bogdanm 0:9b334a45a8ff 167
bogdanm 0:9b334a45a8ff 168 return handle;
bogdanm 0:9b334a45a8ff 169 }
bogdanm 0:9b334a45a8ff 170
bogdanm 0:9b334a45a8ff 171 static inline void can_irq() {
bogdanm 0:9b334a45a8ff 172 irq_handler(can_irq_id, IRQ_RX);
bogdanm 0:9b334a45a8ff 173 }
bogdanm 0:9b334a45a8ff 174
bogdanm 0:9b334a45a8ff 175 // Register CAN object's irq handler
bogdanm 0:9b334a45a8ff 176 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) {
bogdanm 0:9b334a45a8ff 177 irq_handler = handler;
bogdanm 0:9b334a45a8ff 178 can_irq_id = id;
bogdanm 0:9b334a45a8ff 179 }
bogdanm 0:9b334a45a8ff 180
bogdanm 0:9b334a45a8ff 181 // Unregister CAN object's irq handler
bogdanm 0:9b334a45a8ff 182 void can_irq_free(can_t *obj) {
bogdanm 0:9b334a45a8ff 183 LPC_C_CAN0->CANCNTL &= ~(1UL << 1); // Disable Interrupts :)
bogdanm 0:9b334a45a8ff 184 can_irq_id = 0;
bogdanm 0:9b334a45a8ff 185 NVIC_DisableIRQ(C_CAN0_IRQn);
bogdanm 0:9b334a45a8ff 186 }
bogdanm 0:9b334a45a8ff 187
bogdanm 0:9b334a45a8ff 188 // Clear or set a irq
bogdanm 0:9b334a45a8ff 189 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) {
bogdanm 0:9b334a45a8ff 190 // Put CAN in Reset Mode and enable interrupt
bogdanm 0:9b334a45a8ff 191 can_disable(obj);
bogdanm 0:9b334a45a8ff 192 if (enable == 0) {
bogdanm 0:9b334a45a8ff 193 LPC_C_CAN0->CANCNTL &= ~(1UL << 1 | 1UL << 2);
bogdanm 0:9b334a45a8ff 194 } else {
bogdanm 0:9b334a45a8ff 195 LPC_C_CAN0->CANCNTL |= 1UL << 1 | 1UL << 2;
bogdanm 0:9b334a45a8ff 196 }
bogdanm 0:9b334a45a8ff 197 // Take it out of reset...
bogdanm 0:9b334a45a8ff 198 can_enable(obj);
bogdanm 0:9b334a45a8ff 199
bogdanm 0:9b334a45a8ff 200 // Enable NVIC if at least 1 interrupt is active
bogdanm 0:9b334a45a8ff 201 NVIC_SetVector(C_CAN0_IRQn, (uint32_t) &can_irq);
bogdanm 0:9b334a45a8ff 202 NVIC_EnableIRQ(C_CAN0_IRQn);
bogdanm 0:9b334a45a8ff 203 }
bogdanm 0:9b334a45a8ff 204
bogdanm 0:9b334a45a8ff 205 // This table has the sampling points as close to 75% as possible. The first
bogdanm 0:9b334a45a8ff 206 // value is TSEG1, the second TSEG2.
bogdanm 0:9b334a45a8ff 207 static const int timing_pts[23][2] = {
bogdanm 0:9b334a45a8ff 208 {0x0, 0x0}, // 2, 50%
bogdanm 0:9b334a45a8ff 209 {0x1, 0x0}, // 3, 67%
bogdanm 0:9b334a45a8ff 210 {0x2, 0x0}, // 4, 75%
bogdanm 0:9b334a45a8ff 211 {0x3, 0x0}, // 5, 80%
bogdanm 0:9b334a45a8ff 212 {0x3, 0x1}, // 6, 67%
bogdanm 0:9b334a45a8ff 213 {0x4, 0x1}, // 7, 71%
bogdanm 0:9b334a45a8ff 214 {0x5, 0x1}, // 8, 75%
bogdanm 0:9b334a45a8ff 215 {0x6, 0x1}, // 9, 78%
bogdanm 0:9b334a45a8ff 216 {0x6, 0x2}, // 10, 70%
bogdanm 0:9b334a45a8ff 217 {0x7, 0x2}, // 11, 73%
bogdanm 0:9b334a45a8ff 218 {0x8, 0x2}, // 12, 75%
bogdanm 0:9b334a45a8ff 219 {0x9, 0x2}, // 13, 77%
bogdanm 0:9b334a45a8ff 220 {0x9, 0x3}, // 14, 71%
bogdanm 0:9b334a45a8ff 221 {0xA, 0x3}, // 15, 73%
bogdanm 0:9b334a45a8ff 222 {0xB, 0x3}, // 16, 75%
bogdanm 0:9b334a45a8ff 223 {0xC, 0x3}, // 17, 76%
bogdanm 0:9b334a45a8ff 224 {0xD, 0x3}, // 18, 78%
bogdanm 0:9b334a45a8ff 225 {0xD, 0x4}, // 19, 74%
bogdanm 0:9b334a45a8ff 226 {0xE, 0x4}, // 20, 75%
bogdanm 0:9b334a45a8ff 227 {0xF, 0x4}, // 21, 76%
bogdanm 0:9b334a45a8ff 228 {0xF, 0x5}, // 22, 73%
bogdanm 0:9b334a45a8ff 229 {0xF, 0x6}, // 23, 70%
bogdanm 0:9b334a45a8ff 230 {0xF, 0x7}, // 24, 67%
bogdanm 0:9b334a45a8ff 231 };
bogdanm 0:9b334a45a8ff 232
bogdanm 0:9b334a45a8ff 233 static unsigned int can_speed(unsigned int sclk, unsigned int cclk, unsigned char psjw) {
bogdanm 0:9b334a45a8ff 234 uint32_t btr;
bogdanm 0:9b334a45a8ff 235 uint32_t clkdiv = 1;
bogdanm 0:9b334a45a8ff 236 uint16_t brp = 0;
bogdanm 0:9b334a45a8ff 237 uint32_t calcbit;
bogdanm 0:9b334a45a8ff 238 uint32_t bitwidth;
bogdanm 0:9b334a45a8ff 239 int hit = 0;
bogdanm 0:9b334a45a8ff 240 int bits = 0;
bogdanm 0:9b334a45a8ff 241
bogdanm 0:9b334a45a8ff 242 bitwidth = sclk / cclk;
bogdanm 0:9b334a45a8ff 243
bogdanm 0:9b334a45a8ff 244 brp = bitwidth / 0x18;
bogdanm 0:9b334a45a8ff 245 while ((!hit) && (brp < bitwidth / 4)) {
bogdanm 0:9b334a45a8ff 246 brp++;
bogdanm 0:9b334a45a8ff 247 for (bits = 22; bits > 0; bits--) {
bogdanm 0:9b334a45a8ff 248 calcbit = (bits + 3) * (brp + 1);
bogdanm 0:9b334a45a8ff 249 if (calcbit == bitwidth) {
bogdanm 0:9b334a45a8ff 250 hit = 1;
bogdanm 0:9b334a45a8ff 251 break;
bogdanm 0:9b334a45a8ff 252 }
bogdanm 0:9b334a45a8ff 253 }
bogdanm 0:9b334a45a8ff 254 }
bogdanm 0:9b334a45a8ff 255
bogdanm 0:9b334a45a8ff 256 clkdiv = clkdiv - 1;
bogdanm 0:9b334a45a8ff 257
bogdanm 0:9b334a45a8ff 258 if (hit) {
bogdanm 0:9b334a45a8ff 259 btr = (timing_pts[bits][1] & 0x7) << 12
bogdanm 0:9b334a45a8ff 260 | (timing_pts[bits][0] & 0xf) << 8
bogdanm 0:9b334a45a8ff 261 | (psjw & 0x3) << 6
bogdanm 0:9b334a45a8ff 262 | (brp & 0x3F);
bogdanm 0:9b334a45a8ff 263 btr = btr | (clkdiv << 16);
bogdanm 0:9b334a45a8ff 264 } else {
bogdanm 0:9b334a45a8ff 265 btr = 0;
bogdanm 0:9b334a45a8ff 266 }
bogdanm 0:9b334a45a8ff 267
bogdanm 0:9b334a45a8ff 268 return btr;
bogdanm 0:9b334a45a8ff 269 }
bogdanm 0:9b334a45a8ff 270
bogdanm 0:9b334a45a8ff 271
bogdanm 0:9b334a45a8ff 272 int can_config_rxmsgobj(can_t *obj) {
bogdanm 0:9b334a45a8ff 273 uint16_t i = 0;
bogdanm 0:9b334a45a8ff 274
bogdanm 0:9b334a45a8ff 275 // Make sure the interface is available
bogdanm 0:9b334a45a8ff 276 while ( LPC_C_CAN0->CANIF1_CMDREQ & CANIFn_CMDREQ_BUSY );
bogdanm 0:9b334a45a8ff 277
bogdanm 0:9b334a45a8ff 278 // Mark message valid, Direction = RX, Don't care about anything else
bogdanm 0:9b334a45a8ff 279 LPC_C_CAN0->CANIF1_ARB1 = 0;
bogdanm 0:9b334a45a8ff 280 LPC_C_CAN0->CANIF1_ARB2 = 0;
bogdanm 0:9b334a45a8ff 281 LPC_C_CAN0->CANIF1_MCTRL = 0;
bogdanm 0:9b334a45a8ff 282
bogdanm 0:9b334a45a8ff 283 for ( i = 0; i < MSG_OBJ_MAX; i++ ) {
bogdanm 0:9b334a45a8ff 284 // Transfer arb and control fields to message object
bogdanm 0:9b334a45a8ff 285 LPC_C_CAN0->CANIF1_CMDMSK_W = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_TXRQST;
bogdanm 0:9b334a45a8ff 286
bogdanm 0:9b334a45a8ff 287 // Start Transfer to given message number
bogdanm 0:9b334a45a8ff 288 LPC_C_CAN0->CANIF1_CMDREQ = (i & 0x3F);
bogdanm 0:9b334a45a8ff 289
bogdanm 0:9b334a45a8ff 290 // Wait until transfer to message ram complete - TODO: maybe not block??
bogdanm 0:9b334a45a8ff 291 while ( LPC_C_CAN0->CANIF1_CMDREQ & CANIFn_CMDREQ_BUSY );
bogdanm 0:9b334a45a8ff 292 }
bogdanm 0:9b334a45a8ff 293
bogdanm 0:9b334a45a8ff 294 // Accept all messages
bogdanm 0:9b334a45a8ff 295 can_filter(obj, 0, 0, CANStandard, 1);
bogdanm 0:9b334a45a8ff 296
bogdanm 0:9b334a45a8ff 297 return 1;
bogdanm 0:9b334a45a8ff 298 }
bogdanm 0:9b334a45a8ff 299
bogdanm 0:9b334a45a8ff 300
bogdanm 0:9b334a45a8ff 301 void can_init(can_t *obj, PinName rd, PinName td) {
bogdanm 0:9b334a45a8ff 302 // Enable power and clock
bogdanm 0:9b334a45a8ff 303 LPC_SYSCON->SYSAHBCLKCTRL1 |= (1UL << 7);
bogdanm 0:9b334a45a8ff 304 LPC_SYSCON->PRESETCTRL1 |= (1UL << 7);
bogdanm 0:9b334a45a8ff 305 LPC_SYSCON->PRESETCTRL1 &= ~(1UL << 7);
bogdanm 0:9b334a45a8ff 306
bogdanm 0:9b334a45a8ff 307 // Enable Initialization mode
bogdanm 0:9b334a45a8ff 308 if (!(LPC_C_CAN0->CANCNTL & (1UL << 0))) {
bogdanm 0:9b334a45a8ff 309 LPC_C_CAN0->CANCNTL |= (1UL << 0);
bogdanm 0:9b334a45a8ff 310 }
bogdanm 0:9b334a45a8ff 311
bogdanm 0:9b334a45a8ff 312 LPC_SWM->PINASSIGN[6] &= ~(0x00FFFF00L);
bogdanm 0:9b334a45a8ff 313 LPC_SWM->PINASSIGN[6] |= (rd << 16) | (td << 8);
bogdanm 0:9b334a45a8ff 314
bogdanm 0:9b334a45a8ff 315 can_frequency(obj, 100000);
bogdanm 0:9b334a45a8ff 316
bogdanm 0:9b334a45a8ff 317 // Resume operation
bogdanm 0:9b334a45a8ff 318 LPC_C_CAN0->CANCNTL &= ~(1UL << 0);
bogdanm 0:9b334a45a8ff 319 while ( LPC_C_CAN0->CANCNTL & (1UL << 0) );
bogdanm 0:9b334a45a8ff 320
bogdanm 0:9b334a45a8ff 321 // Initialize RX message object
bogdanm 0:9b334a45a8ff 322 can_config_rxmsgobj(obj);
bogdanm 0:9b334a45a8ff 323 }
bogdanm 0:9b334a45a8ff 324
bogdanm 0:9b334a45a8ff 325 void can_free(can_t *obj) {
bogdanm 0:9b334a45a8ff 326 LPC_SYSCON->SYSAHBCLKCTRL1 &= ~(1UL << 7);
bogdanm 0:9b334a45a8ff 327 LPC_SYSCON->PRESETCTRL1 &= ~(1UL << 7);
bogdanm 0:9b334a45a8ff 328 }
bogdanm 0:9b334a45a8ff 329
bogdanm 0:9b334a45a8ff 330 int can_frequency(can_t *obj, int f) {
bogdanm 0:9b334a45a8ff 331 int btr = can_speed(SystemCoreClock, (unsigned int)f, 1);
bogdanm 0:9b334a45a8ff 332 int clkdiv = (btr >> 16) & 0x0F;
bogdanm 0:9b334a45a8ff 333 btr = btr & 0xFFFF;
bogdanm 0:9b334a45a8ff 334
bogdanm 0:9b334a45a8ff 335 if (btr > 0) {
bogdanm 0:9b334a45a8ff 336 // Set the bit clock
bogdanm 0:9b334a45a8ff 337 LPC_C_CAN0->CANCNTL |= (1UL << 6 | 1UL << 0); // set CCE and INIT
bogdanm 0:9b334a45a8ff 338 LPC_C_CAN0->CANCLKDIV = clkdiv;
bogdanm 0:9b334a45a8ff 339 LPC_C_CAN0->CANBT = btr;
bogdanm 0:9b334a45a8ff 340 LPC_C_CAN0->CANBRPE = 0x0000;
bogdanm 0:9b334a45a8ff 341 LPC_C_CAN0->CANCNTL &= ~(1UL << 6 | 1UL << 0); // clear CCE and INIT
bogdanm 0:9b334a45a8ff 342 return 1;
bogdanm 0:9b334a45a8ff 343 }
bogdanm 0:9b334a45a8ff 344 return 0;
bogdanm 0:9b334a45a8ff 345 }
bogdanm 0:9b334a45a8ff 346
bogdanm 0:9b334a45a8ff 347 int can_write(can_t *obj, CAN_Message msg, int cc) {
bogdanm 0:9b334a45a8ff 348 uint16_t msgnum = 0;
bogdanm 0:9b334a45a8ff 349
bogdanm 0:9b334a45a8ff 350 // Make sure controller is enabled
bogdanm 0:9b334a45a8ff 351 can_enable(obj);
bogdanm 0:9b334a45a8ff 352
bogdanm 0:9b334a45a8ff 353 // Make sure the interface is available
bogdanm 0:9b334a45a8ff 354 while ( LPC_C_CAN0->CANIF1_CMDREQ & CANIFn_CMDREQ_BUSY );
bogdanm 0:9b334a45a8ff 355
bogdanm 0:9b334a45a8ff 356 // Set the direction bit based on the message type
bogdanm 0:9b334a45a8ff 357 uint32_t direction = 0;
bogdanm 0:9b334a45a8ff 358 if (msg.type == CANData) {
bogdanm 0:9b334a45a8ff 359 direction = CANIFn_ARB2_DIR;
bogdanm 0:9b334a45a8ff 360 }
bogdanm 0:9b334a45a8ff 361
bogdanm 0:9b334a45a8ff 362 if (msg.format == CANExtended) {
bogdanm 0:9b334a45a8ff 363 // Mark message valid, Extended Frame, Set Identifier and mask everything
bogdanm 0:9b334a45a8ff 364 LPC_C_CAN0->CANIF1_ARB1 = (msg.id & 0xFFFF);
bogdanm 0:9b334a45a8ff 365 LPC_C_CAN0->CANIF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | direction | ((msg.id >> 16) & 0x1FFFF);
bogdanm 0:9b334a45a8ff 366 LPC_C_CAN0->CANIF1_MSK1 = (ID_EXT_MASK & 0xFFFF);
bogdanm 0:9b334a45a8ff 367 LPC_C_CAN0->CANIF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | ((ID_EXT_MASK >> 16) & 0x1FFF);
bogdanm 0:9b334a45a8ff 368 } else {
bogdanm 0:9b334a45a8ff 369 // Mark message valid, Set Identifier and mask everything
bogdanm 0:9b334a45a8ff 370 LPC_C_CAN0->CANIF1_ARB2 = CANIFn_ARB2_MSGVAL | direction | ((msg.id << 2) & 0x1FFF);
bogdanm 0:9b334a45a8ff 371 LPC_C_CAN0->CANIF1_MSK2 = CANIFn_MSK2_MDIR | ((ID_STD_MASK << 2) & 0x1FFF);
bogdanm 0:9b334a45a8ff 372 }
bogdanm 0:9b334a45a8ff 373
bogdanm 0:9b334a45a8ff 374 // Use mask, request transmission, single message object and set DLC
bogdanm 0:9b334a45a8ff 375 LPC_C_CAN0->CANIF1_MCTRL = CANIFn_MCTRL_UMASK | CANIFn_MCTRL_TXRQST | CANIFn_MCTRL_EOB | (msg.len & 0xF);
bogdanm 0:9b334a45a8ff 376
bogdanm 0:9b334a45a8ff 377 LPC_C_CAN0->CANIF1_DA1 = ((msg.data[1] & 0xFF) << 8) | (msg.data[0] & 0xFF);
bogdanm 0:9b334a45a8ff 378 LPC_C_CAN0->CANIF1_DA2 = ((msg.data[3] & 0xFF) << 8) | (msg.data[2] & 0xFF);
bogdanm 0:9b334a45a8ff 379 LPC_C_CAN0->CANIF1_DB1 = ((msg.data[5] & 0xFF) << 8) | (msg.data[4] & 0xFF);
bogdanm 0:9b334a45a8ff 380 LPC_C_CAN0->CANIF1_DB2 = ((msg.data[7] & 0xFF) << 8) | (msg.data[6] & 0xFF);
bogdanm 0:9b334a45a8ff 381
bogdanm 0:9b334a45a8ff 382 // Transfer all fields to message object
bogdanm 0:9b334a45a8ff 383 LPC_C_CAN0->CANIF1_CMDMSK_W = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_TXRQST | CANIFn_CMDMSK_DATA_A | CANIFn_CMDMSK_DATA_B;
bogdanm 0:9b334a45a8ff 384
bogdanm 0:9b334a45a8ff 385 // Start Transfer to given message number
bogdanm 0:9b334a45a8ff 386 LPC_C_CAN0->CANIF1_CMDREQ = (msgnum & 0x3F);
bogdanm 0:9b334a45a8ff 387
bogdanm 0:9b334a45a8ff 388 // Wait until transfer to message ram complete - TODO: maybe not block??
bogdanm 0:9b334a45a8ff 389 while ( LPC_C_CAN0->CANIF1_CMDREQ & CANIFn_CMDREQ_BUSY);
bogdanm 0:9b334a45a8ff 390
bogdanm 0:9b334a45a8ff 391 // Wait until TXOK is set, then clear it - TODO: maybe not block
bogdanm 0:9b334a45a8ff 392 //while ( !(LPC_C_CAN0->STAT & CANSTAT_TXOK) );
bogdanm 0:9b334a45a8ff 393 LPC_C_CAN0->CANSTAT &= ~(1UL << 3);
bogdanm 0:9b334a45a8ff 394
bogdanm 0:9b334a45a8ff 395 return 1;
bogdanm 0:9b334a45a8ff 396 }
bogdanm 0:9b334a45a8ff 397
bogdanm 0:9b334a45a8ff 398 int can_read(can_t *obj, CAN_Message *msg, int handle) {
bogdanm 0:9b334a45a8ff 399 uint16_t i;
bogdanm 0:9b334a45a8ff 400
bogdanm 0:9b334a45a8ff 401 // Make sure controller is enabled
bogdanm 0:9b334a45a8ff 402 can_enable(obj);
bogdanm 0:9b334a45a8ff 403
bogdanm 0:9b334a45a8ff 404 // Find first message object with new data
bogdanm 0:9b334a45a8ff 405 if (handle == 0) {
bogdanm 0:9b334a45a8ff 406 uint32_t newdata = LPC_C_CAN0->CANND1 | (LPC_C_CAN0->CANND2 << 16);
bogdanm 0:9b334a45a8ff 407 // Find first free messagebox
bogdanm 0:9b334a45a8ff 408 for (i = 0; i < 32; i++) {
bogdanm 0:9b334a45a8ff 409 if (newdata & (1 << i)) {
bogdanm 0:9b334a45a8ff 410 handle = i+1;
bogdanm 0:9b334a45a8ff 411 break;
bogdanm 0:9b334a45a8ff 412 }
bogdanm 0:9b334a45a8ff 413 }
bogdanm 0:9b334a45a8ff 414 }
bogdanm 0:9b334a45a8ff 415
bogdanm 0:9b334a45a8ff 416 if (handle > 0 && handle < 32) {
bogdanm 0:9b334a45a8ff 417 // Wait until message interface is free
bogdanm 0:9b334a45a8ff 418 while ( LPC_C_CAN0->CANIF2_CMDREQ & CANIFn_CMDREQ_BUSY );
bogdanm 0:9b334a45a8ff 419
bogdanm 0:9b334a45a8ff 420 // Transfer all fields to message object
bogdanm 0:9b334a45a8ff 421 LPC_C_CAN0->CANIF2_CMDMSK_W = 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;
bogdanm 0:9b334a45a8ff 422
bogdanm 0:9b334a45a8ff 423 // Start Transfer from given message number
bogdanm 0:9b334a45a8ff 424 LPC_C_CAN0->CANIF2_CMDREQ = (handle & 0x3F);
bogdanm 0:9b334a45a8ff 425
bogdanm 0:9b334a45a8ff 426 // Wait until transfer to message ram complete
bogdanm 0:9b334a45a8ff 427 while ( LPC_C_CAN0->CANIF2_CMDREQ & CANIFn_CMDREQ_BUSY );
bogdanm 0:9b334a45a8ff 428
bogdanm 0:9b334a45a8ff 429 if (LPC_C_CAN0->CANIF2_ARB2 & CANIFn_ARB2_XTD) {
bogdanm 0:9b334a45a8ff 430 msg->format = CANExtended;
bogdanm 0:9b334a45a8ff 431 msg->id = (LPC_C_CAN0->CANIF2_ARB1 & 0x1FFF) << 16;
bogdanm 0:9b334a45a8ff 432 msg->id |= (LPC_C_CAN0->CANIF2_ARB2 & 0x1FFF);
bogdanm 0:9b334a45a8ff 433 } else {
bogdanm 0:9b334a45a8ff 434 msg->format = CANStandard;
bogdanm 0:9b334a45a8ff 435 msg->id = (LPC_C_CAN0->CANIF2_ARB2 & 0x1FFF) >> 2;
bogdanm 0:9b334a45a8ff 436 }
bogdanm 0:9b334a45a8ff 437
bogdanm 0:9b334a45a8ff 438 if (LPC_C_CAN0->CANIF2_ARB2 & CANIFn_ARB2_DIR) {
bogdanm 0:9b334a45a8ff 439 msg->type = CANRemote;
bogdanm 0:9b334a45a8ff 440 }
bogdanm 0:9b334a45a8ff 441 else {
bogdanm 0:9b334a45a8ff 442 msg->type = CANData;
bogdanm 0:9b334a45a8ff 443 }
bogdanm 0:9b334a45a8ff 444
bogdanm 0:9b334a45a8ff 445 msg->len = (LPC_C_CAN0->CANIF2_MCTRL & 0xF); // TODO: If > 8, len = 8
bogdanm 0:9b334a45a8ff 446 msg->data[0] = ((LPC_C_CAN0->CANIF2_DA1 >> 0) & 0xFF);
bogdanm 0:9b334a45a8ff 447 msg->data[1] = ((LPC_C_CAN0->CANIF2_DA1 >> 8) & 0xFF);
bogdanm 0:9b334a45a8ff 448 msg->data[2] = ((LPC_C_CAN0->CANIF2_DA2 >> 0) & 0xFF);
bogdanm 0:9b334a45a8ff 449 msg->data[3] = ((LPC_C_CAN0->CANIF2_DA2 >> 8) & 0xFF);
bogdanm 0:9b334a45a8ff 450 msg->data[4] = ((LPC_C_CAN0->CANIF2_DB1 >> 0) & 0xFF);
bogdanm 0:9b334a45a8ff 451 msg->data[5] = ((LPC_C_CAN0->CANIF2_DB1 >> 8) & 0xFF);
bogdanm 0:9b334a45a8ff 452 msg->data[6] = ((LPC_C_CAN0->CANIF2_DB2 >> 0) & 0xFF);
bogdanm 0:9b334a45a8ff 453 msg->data[7] = ((LPC_C_CAN0->CANIF2_DB2 >> 8) & 0xFF);
bogdanm 0:9b334a45a8ff 454
bogdanm 0:9b334a45a8ff 455 LPC_C_CAN0->CANSTAT &= ~(1UL << 4);
bogdanm 0:9b334a45a8ff 456 return 1;
bogdanm 0:9b334a45a8ff 457 }
bogdanm 0:9b334a45a8ff 458 return 0;
bogdanm 0:9b334a45a8ff 459 }
bogdanm 0:9b334a45a8ff 460
bogdanm 0:9b334a45a8ff 461 void can_reset(can_t *obj) {
bogdanm 0:9b334a45a8ff 462 LPC_SYSCON->PRESETCTRL1 &= ~(1UL << 7);
bogdanm 0:9b334a45a8ff 463 LPC_C_CAN0->CANSTAT = 0;
bogdanm 0:9b334a45a8ff 464 can_config_rxmsgobj(obj);
bogdanm 0:9b334a45a8ff 465 }
bogdanm 0:9b334a45a8ff 466
bogdanm 0:9b334a45a8ff 467 unsigned char can_rderror(can_t *obj) {
bogdanm 0:9b334a45a8ff 468 return ((LPC_C_CAN0->CANEC >> 8) & 0x7F);
bogdanm 0:9b334a45a8ff 469 }
bogdanm 0:9b334a45a8ff 470
bogdanm 0:9b334a45a8ff 471 unsigned char can_tderror(can_t *obj) {
bogdanm 0:9b334a45a8ff 472 return (LPC_C_CAN0->CANEC & 0xFF);
bogdanm 0:9b334a45a8ff 473 }
bogdanm 0:9b334a45a8ff 474
bogdanm 0:9b334a45a8ff 475 void can_monitor(can_t *obj, int silent) {
bogdanm 0:9b334a45a8ff 476 if (silent) {
bogdanm 0:9b334a45a8ff 477 LPC_C_CAN0->CANCNTL |= (1UL << 7);
bogdanm 0:9b334a45a8ff 478 LPC_C_CAN0->CANTEST |= (1UL << 3);
bogdanm 0:9b334a45a8ff 479 } else {
bogdanm 0:9b334a45a8ff 480 LPC_C_CAN0->CANCNTL &= ~(1UL << 7);
bogdanm 0:9b334a45a8ff 481 LPC_C_CAN0->CANTEST &= ~(1UL << 3);
bogdanm 0:9b334a45a8ff 482 }
bogdanm 0:9b334a45a8ff 483
bogdanm 0:9b334a45a8ff 484 if (!(LPC_C_CAN0->CANCNTL & (1UL << 0))) {
bogdanm 0:9b334a45a8ff 485 LPC_C_CAN0->CANCNTL |= (1UL << 0);
bogdanm 0:9b334a45a8ff 486 }
bogdanm 0:9b334a45a8ff 487 }