Joris Aerts
/
mbed-src
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Revision 637:ed69428d4850, committed 2015-12-22
- Comitter:
- jaerts
- Date:
- Tue Dec 22 13:22:16 2015 +0000
- Parent:
- 636:2eeeebd316f9
- Commit message:
- Add very shady LPC1768 CAN Filter implementation
Changed in this revision
| targets/hal/TARGET_NXP/TARGET_LPC176X/can_api.c | Show annotated file Show diff for this revision Revisions of this file |
--- a/targets/hal/TARGET_NXP/TARGET_LPC176X/can_api.c Thu Nov 26 11:20:41 2015 +0000
+++ b/targets/hal/TARGET_NXP/TARGET_LPC176X/can_api.c Tue Dec 22 13:22:16 2015 +0000
@@ -63,6 +63,9 @@
};
typedef struct CANMsg CANMsg;
+static int CAN_std_cnt = 0;
+static int CAN_ext_cnt = 0;
+
static uint32_t can_irq_ids[CAN_NUM] = {0};
static can_irq_handler irq_handler;
@@ -121,7 +124,129 @@
}
int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
- return 0; // not implemented
+ uint32_t buf0, buf1;
+ int cnt1, cnt2, bound1;
+
+ /* Acceptance Filter Memory full */
+ if ((((CAN_std_cnt + 1) >> 1) + CAN_ext_cnt) >= 512)
+ return 0; /* error: objects full */
+
+ /* Setup Acceptance Filter Configuration
+ Acceptance Filter Mode Register = Off */
+ LPC_CANAF->AFMR = 0x00000001;
+
+ if (format == CANStandard) { /* Add mask for standard identifiers */
+ id |= (int)obj->index << 13; /* Add controller number */
+ id &= 0x0000F7FF; /* Mask out 16-bits of ID */
+
+ /* Move all remaining extended mask entries one place up
+ if new entry will increase standard ID filters list */
+ if ((CAN_std_cnt & 0x0001) == 0 && CAN_ext_cnt != 0) {
+ cnt1 = (CAN_std_cnt >> 1);
+ bound1 = CAN_ext_cnt;
+ buf0 = LPC_CANAF_RAM->mask[cnt1];
+ while (bound1--) {
+ cnt1++;
+ buf1 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = buf0;
+ buf0 = buf1;
+ }
+ }
+
+ if (CAN_std_cnt == 0) { /* For entering first ID */
+ LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
+ } else if (CAN_std_cnt == 1) { /* For entering second ID */
+ if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
+ LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
+ else
+ LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
+ } else {
+ /* Find where to insert new ID */
+ cnt1 = 0;
+ cnt2 = CAN_std_cnt;
+ bound1 = (CAN_std_cnt - 1) >> 1;
+ while (cnt1 <= bound1) { /* Loop through standard existing IDs */
+ if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id) {
+ cnt2 = cnt1 * 2;
+ break;
+ }
+ if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id) {
+ cnt2 = cnt1 * 2 + 1;
+ break;
+ }
+ cnt1++; /* cnt1 = U32 where to insert new ID */
+ } /* cnt2 = U16 where to insert new ID */
+
+ if (cnt1 > bound1) { /* Adding ID as last entry */
+ if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
+ LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
+ else /* Odd number of IDs exists */
+ LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
+ } else {
+ buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
+ if ((cnt2 & 0x0001) == 0) /* Insert new mask to even address */
+ buf1 = (id << 16) | (buf0 >> 16);
+ else /* Insert new mask to odd address */
+ buf1 = (buf0 & 0xFFFF0000) | id;
+
+ LPC_CANAF_RAM->mask[cnt1] = buf1; /* Insert mask */
+
+ bound1 = CAN_std_cnt >> 1;
+ /* Move all remaining standard mask entries one place up */
+ while (cnt1 < bound1) {
+ cnt1++;
+ buf1 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
+ buf0 = buf1;
+ }
+
+ if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
+ LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);
+ }
+ }
+ CAN_std_cnt++;
+ } else { /* Add mask for extended identifiers */
+ id |= (int)obj->index << 29; /* Add controller number */
+
+ cnt1 = ((CAN_std_cnt + 1) >> 1);
+ cnt2 = 0;
+ while (cnt2 < CAN_ext_cnt) { /* Loop through extended existing masks */
+ if (LPC_CANAF_RAM->mask[cnt1] > id)
+ break;
+ cnt1++; /* cnt1 = U32 where to insert new mask */
+ cnt2++;
+ }
+
+ buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
+ LPC_CANAF_RAM->mask[cnt1] = id; /* Insert mask */
+
+ CAN_ext_cnt++;
+
+ bound1 = CAN_ext_cnt - 1;
+ /* Move all remaining extended mask entries one place up */
+ while (cnt2 < bound1) {
+ cnt1++;
+ cnt2++;
+ buf1 = LPC_CANAF_RAM->mask[cnt1];
+ LPC_CANAF_RAM->mask[cnt1] = buf0;
+ buf0 = buf1;
+ }
+ }
+
+ /* Calculate std ID start address (buf0) and ext ID start address (buf1) */
+ buf0 = ((CAN_std_cnt + 1) >> 1) << 2;
+ buf1 = buf0 + (CAN_ext_cnt << 2);
+
+ /* Setup acceptance filter pointers */
+ LPC_CANAF->SFF_sa = 0;
+ LPC_CANAF->SFF_GRP_sa = buf0;
+ LPC_CANAF->EFF_sa = buf0;
+ LPC_CANAF->EFF_GRP_sa = buf1;
+ LPC_CANAF->ENDofTable = buf1;
+
+ LPC_CANAF->AFMR = 0x00000000; /* Use acceptance filter */
+
+ return 1;
}
static inline void can_irq(uint32_t icr, uint32_t index) {