Andrew Boyson
/
lpc1768
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Dependents: test-lpc1768 oldheating gps motorhome ... more
Revision 71:2f8af23950de, committed 2022-06-03
- Comitter:
- andrewboyson
- Date:
- Fri Jun 03 11:51:13 2022 +0000
- Parent:
- 70:3ae450c74c5e
- Commit message:
- Added can module
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/can/can.c Fri Jun 03 11:51:13 2022 +0000
@@ -0,0 +1,64 @@
+
+#include "log.h"
+#include "mstimer.h"
+
+#define AFMR *((volatile unsigned *)0x4003C000) // Acceptance Filter Mode Register
+
+#define CAN2MOD *((volatile unsigned *)0x40048000) // CAN Mode register
+#define CAN2CMR *((volatile unsigned *)0x40048004) // CAN Command register
+#define CAN2GSR *((volatile unsigned *)0x40048008) // CAN Global Status register
+#define CAN2ICR *((volatile unsigned *)0x4004800C) // CAN Interrupt and Capture Register
+#define CAN2IER *((volatile unsigned *)0x40048010) // CAN Interrupt Enable Register
+#define CAN2BTR *((volatile unsigned *)0x40048014) // CAN Bus Timing Register
+#define CAN2TFI1 *((volatile unsigned *)0x40048030) // CAN Transmit Frame Information register
+#define CAN2TID1 *((volatile unsigned *)0x40048034) // CAN Transmit Identifier Register
+#define CAN2TDA1 *((volatile unsigned *)0x40048038) // CAN Transmit Data Register A
+#define CAN2TDB1 *((volatile unsigned *)0x4004803C) // CAN Transmit Data Register B
+#define CAN2RFS *((volatile unsigned *)0x40048020) // CAN Receive Frame Status register
+#define CAN2RID *((volatile unsigned *)0x40048024) // CAN Receive Identifier register
+#define CAN2RDA *((volatile unsigned *)0x40048028) // CAN Receive Data register A
+#define CAN2RDB *((volatile unsigned *)0x4004802C) // CAN Receive Data register B
+
+void (*CanReceive)(uint16_t id, int length, uint32_t dataA, uint32_t dataB);
+void CanInit()
+{
+ LogTime("Can init started\r\n");
+ /*
+ 00: BRP = 95 : Clock is 96 / 4 = 24MHz and we want 1.000MHz so prescale by BRP+1 = 24: BRP = 23.
+ 14: SJW = 3 : 4 can clocks
+ 16: TESG1 = 4 : 5 can clocks
+ 20: TESG2 = 3 : 4 can clocks
+ */
+ CAN2BTR = 0;
+ CAN2BTR |= 23 << 00;
+ CAN2BTR |= 3 << 14;
+ CAN2BTR |= 4 << 16;
+ CAN2BTR |= 3 << 20;
+
+ AFMR |= 1 << 1; //Accept all messages
+
+ CAN2MOD = 0; //Controller to operating mode
+}
+void CanSend(uint16_t id, int length, uint32_t dataA, uint32_t dataB)
+{
+ if (length > 8) length = 8;
+ CAN2CMR |= 1 << 5; //STB1 Select Tx Buffer 1
+ CAN2TFI1 = 0;
+ CAN2TFI1 |= length << 16; //DLC Data Length Code
+ CAN2TFI1 |= 0 << 30; //RTR Remote TRansmission
+ CAN2TFI1 |= 0 << 31; // FF Extended frame (0 = 11 bit id; 1 = 29 bit id)
+ CAN2TID1 = id;
+ CAN2TDA1 = dataA;
+ CAN2TDB1 = dataB;
+ CAN2CMR |= 1 << 0; //TR Transmission Request
+}
+void CanMain()
+{
+ if (CAN2GSR & 0x01) //RBS Receive Buffer Status - At least one complete message is available in CANxRFS CANxRID CANxRDA CANxRDB
+ {
+ uint16_t id = CAN2RID & 0x3FF;
+ int length = (CAN2RFS >> 16) & 0xF;
+ CanReceive(id, length, CAN2RDA, CAN2RDB);
+ CAN2CMR |= 1 << 2; //RRB Release Receive Buffer
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/can/can.h Fri Jun 03 11:51:13 2022 +0000 @@ -0,0 +1,5 @@ +#include <stdint.h> +extern void (*CanReceive)(uint16_t id, int length, uint32_t dataA, uint32_t dataB); +extern void CanSend (uint16_t id, int length, uint32_t dataA, uint32_t dataB); +extern void CanInit(void); +extern void CanMain(void); \ No newline at end of file
--- a/i2c/i2c1.c Tue May 18 16:25:19 2021 +0000
+++ b/i2c/i2c1.c Fri Jun 03 11:51:13 2022 +0000
@@ -59,7 +59,7 @@
if (I2C1Busy && MsTimerRelative(_msTimeOut, TIMEOUT_MS))
{
- LogTime("I2C1 -> Timeout\r\n");
+ if (I2C1Trace) LogTime("I2C1 -> Timeout\r\n");
*_pResult = I2C1_RESULT_TIMED_OUT;
I2C1Busy = false;
I2C1CONSET = 0x10; //Set STO bit
@@ -74,19 +74,19 @@
{
case 0x08: //Received START
case 0x10: //Received a repeated START
- if (I2C1Trace) { LogTimeF("I2C1 -> addr %02x + W\r\n", _addr); }
+ if (I2C1Trace) LogTimeF("I2C1 -> addr %02x + W\r\n", _addr);
I2C1DAT = (_addr << 1) | 0; //Send the address + W
I2C1CONCLR = 0x08; //Clear S1
index = 0;
break;
case 0x18: //received ACK after address
- if (I2C1Trace) { LogTimeF("I2C1 -> data%d %02x\r\n", index, _pData[index]); }
+ if (I2C1Trace) LogTimeF("I2C1 -> data%d %02x\r\n", index, _pData[index]);
I2C1DAT = _pData[index]; //Load the data to be sent
I2C1CONCLR = 0x20; //Reset the start bit
I2C1CONCLR = 0x08; //Clear S1
break;
case 0x20: //received NAK after address
- if (I2C1Trace) { LogTime("I2C1 -> Stop\r\n"); }
+ if (I2C1Trace) LogTime("I2C1 -> Stop\r\n");
*_pResult = I2C1_RESULT_FAILED;
I2C1Busy = false;
I2C1CONSET = 0x10; //Set STO bit
@@ -96,27 +96,27 @@
index++;
if (index >= _length)
{
- if (I2C1Trace) { LogTime("I2C1 -> Stop\r\n"); }
+ if (I2C1Trace) LogTime("I2C1 -> Stop\r\n");
*_pResult = I2C1_RESULT_OK;
I2C1Busy = false;
I2C1CONSET = 0x10; //Set STO bit
}
else
{
- if (I2C1Trace) { LogTimeF("I2C1 -> data%d %02x\r\n", index, _pData[index]); }
+ if (I2C1Trace) LogTimeF("I2C1 -> data%d %02x\r\n", index, _pData[index]);
I2C1DAT = _pData[index];//Load the data to be sent
}
I2C1CONCLR = 0x08; //Clear S1
break;
case 0x30: //received NAK after data
- if (I2C1Trace) { LogTime("I2C1 -> Stop\r\n"); }
+ if (I2C1Trace) LogTime("I2C1 -> Stop\r\n");
*_pResult = I2C1_RESULT_FAILED;
I2C1Busy = false;
I2C1CONSET = 0x10; //Set STO bit
I2C1CONCLR = 0x08; //Clear S1
break;
case 0x38: //Arbitration lost
- if (I2C1Trace) { LogTime("I2C1 -> Start\r\n"); }
+ if (I2C1Trace) LogTime("I2C1 -> Start\r\n");
*_pResult = I2C1_RESULT_FAILED;
I2C1Busy = false;
I2C1CONSET = 0x20; //Set STA bit