mbed library sources modified for open wear
Dependents: openwear-lifelogger-example
Fork of mbed-src by
targets/hal/TARGET_NXP/TARGET_LPC408X/can_api.c@15:4892fe388435, 2013-08-07 (annotated)
- Committer:
- bogdanm
- Date:
- Wed Aug 07 16:43:59 2013 +0300
- Revision:
- 15:4892fe388435
- Child:
- 16:7da2369b400c
Added LPC4088 target and interrupt chaining code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bogdanm | 15:4892fe388435 | 1 | /* mbed Microcontroller Library |
bogdanm | 15:4892fe388435 | 2 | * Copyright (c) 2006-2013 ARM Limited |
bogdanm | 15:4892fe388435 | 3 | * |
bogdanm | 15:4892fe388435 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
bogdanm | 15:4892fe388435 | 5 | * you may not use this file except in compliance with the License. |
bogdanm | 15:4892fe388435 | 6 | * You may obtain a copy of the License at |
bogdanm | 15:4892fe388435 | 7 | * |
bogdanm | 15:4892fe388435 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
bogdanm | 15:4892fe388435 | 9 | * |
bogdanm | 15:4892fe388435 | 10 | * Unless required by applicable law or agreed to in writing, software |
bogdanm | 15:4892fe388435 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
bogdanm | 15:4892fe388435 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
bogdanm | 15:4892fe388435 | 13 | * See the License for the specific language governing permissions and |
bogdanm | 15:4892fe388435 | 14 | * limitations under the License. |
bogdanm | 15:4892fe388435 | 15 | */ |
bogdanm | 15:4892fe388435 | 16 | #include <math.h> |
bogdanm | 15:4892fe388435 | 17 | #include <string.h> |
bogdanm | 15:4892fe388435 | 18 | |
bogdanm | 15:4892fe388435 | 19 | #include "can_api.h" |
bogdanm | 15:4892fe388435 | 20 | #include "cmsis.h" |
bogdanm | 15:4892fe388435 | 21 | #include "pinmap.h" |
bogdanm | 15:4892fe388435 | 22 | #include "error.h" |
bogdanm | 15:4892fe388435 | 23 | |
bogdanm | 15:4892fe388435 | 24 | /* Acceptance filter mode in AFMR register */ |
bogdanm | 15:4892fe388435 | 25 | #define ACCF_OFF 0x01 |
bogdanm | 15:4892fe388435 | 26 | #define ACCF_BYPASS 0x02 |
bogdanm | 15:4892fe388435 | 27 | #define ACCF_ON 0x00 |
bogdanm | 15:4892fe388435 | 28 | #define ACCF_FULLCAN 0x04 |
bogdanm | 15:4892fe388435 | 29 | |
bogdanm | 15:4892fe388435 | 30 | /* There are several bit timing calculators on the internet. |
bogdanm | 15:4892fe388435 | 31 | http://www.port.de/engl/canprod/sv_req_form.html |
bogdanm | 15:4892fe388435 | 32 | http://www.kvaser.com/can/index.htm |
bogdanm | 15:4892fe388435 | 33 | */ |
bogdanm | 15:4892fe388435 | 34 | |
bogdanm | 15:4892fe388435 | 35 | static const PinMap PinMap_CAN_RD[] = { |
bogdanm | 15:4892fe388435 | 36 | {P0_0 , CAN_1, 1}, |
bogdanm | 15:4892fe388435 | 37 | {P0_4 , CAN_2, 2}, |
bogdanm | 15:4892fe388435 | 38 | {P0_21, CAN_1, 4}, |
bogdanm | 15:4892fe388435 | 39 | {P2_7 , CAN_2, 1}, |
bogdanm | 15:4892fe388435 | 40 | {NC , NC , 0} |
bogdanm | 15:4892fe388435 | 41 | }; |
bogdanm | 15:4892fe388435 | 42 | |
bogdanm | 15:4892fe388435 | 43 | static const PinMap PinMap_CAN_TD[] = { |
bogdanm | 15:4892fe388435 | 44 | {P0_1 , CAN_1, 1}, |
bogdanm | 15:4892fe388435 | 45 | {P0_5 , CAN_2, 2}, |
bogdanm | 15:4892fe388435 | 46 | {P0_22, CAN_1, 4}, |
bogdanm | 15:4892fe388435 | 47 | {P2_8 , CAN_2, 1}, |
bogdanm | 15:4892fe388435 | 48 | {NC , NC , 0} |
bogdanm | 15:4892fe388435 | 49 | }; |
bogdanm | 15:4892fe388435 | 50 | |
bogdanm | 15:4892fe388435 | 51 | // Type definition to hold a CAN message |
bogdanm | 15:4892fe388435 | 52 | struct CANMsg { |
bogdanm | 15:4892fe388435 | 53 | unsigned int reserved1 : 16; |
bogdanm | 15:4892fe388435 | 54 | unsigned int dlc : 4; // Bits 16..19: DLC - Data Length Counter |
bogdanm | 15:4892fe388435 | 55 | unsigned int reserved0 : 10; |
bogdanm | 15:4892fe388435 | 56 | unsigned int rtr : 1; // Bit 30: Set if this is a RTR message |
bogdanm | 15:4892fe388435 | 57 | unsigned int type : 1; // Bit 31: Set if this is a 29-bit ID message |
bogdanm | 15:4892fe388435 | 58 | unsigned int id; // CAN Message ID (11-bit or 29-bit) |
bogdanm | 15:4892fe388435 | 59 | unsigned char data[8]; // CAN Message Data Bytes 0-7 |
bogdanm | 15:4892fe388435 | 60 | }; |
bogdanm | 15:4892fe388435 | 61 | typedef struct CANMsg CANMsg; |
bogdanm | 15:4892fe388435 | 62 | |
bogdanm | 15:4892fe388435 | 63 | static uint32_t can_disable(can_t *obj) { |
bogdanm | 15:4892fe388435 | 64 | uint32_t sm = obj->dev->MOD; |
bogdanm | 15:4892fe388435 | 65 | obj->dev->MOD |= 1; |
bogdanm | 15:4892fe388435 | 66 | return sm; |
bogdanm | 15:4892fe388435 | 67 | } |
bogdanm | 15:4892fe388435 | 68 | |
bogdanm | 15:4892fe388435 | 69 | static inline void can_enable(can_t *obj) { |
bogdanm | 15:4892fe388435 | 70 | if (obj->dev->MOD & 1) { |
bogdanm | 15:4892fe388435 | 71 | obj->dev->MOD &= ~(1); |
bogdanm | 15:4892fe388435 | 72 | } |
bogdanm | 15:4892fe388435 | 73 | } |
bogdanm | 15:4892fe388435 | 74 | |
bogdanm | 15:4892fe388435 | 75 | // This table has the sampling points as close to 75% as possible. The first |
bogdanm | 15:4892fe388435 | 76 | // value is TSEG1, the second TSEG2. |
bogdanm | 15:4892fe388435 | 77 | static const int timing_pts[23][2] = { |
bogdanm | 15:4892fe388435 | 78 | {0x0, 0x0}, // 2, 50% |
bogdanm | 15:4892fe388435 | 79 | {0x1, 0x0}, // 3, 67% |
bogdanm | 15:4892fe388435 | 80 | {0x2, 0x0}, // 4, 75% |
bogdanm | 15:4892fe388435 | 81 | {0x3, 0x0}, // 5, 80% |
bogdanm | 15:4892fe388435 | 82 | {0x3, 0x1}, // 6, 67% |
bogdanm | 15:4892fe388435 | 83 | {0x4, 0x1}, // 7, 71% |
bogdanm | 15:4892fe388435 | 84 | {0x5, 0x1}, // 8, 75% |
bogdanm | 15:4892fe388435 | 85 | {0x6, 0x1}, // 9, 78% |
bogdanm | 15:4892fe388435 | 86 | {0x6, 0x2}, // 10, 70% |
bogdanm | 15:4892fe388435 | 87 | {0x7, 0x2}, // 11, 73% |
bogdanm | 15:4892fe388435 | 88 | {0x8, 0x2}, // 12, 75% |
bogdanm | 15:4892fe388435 | 89 | {0x9, 0x2}, // 13, 77% |
bogdanm | 15:4892fe388435 | 90 | {0x9, 0x3}, // 14, 71% |
bogdanm | 15:4892fe388435 | 91 | {0xA, 0x3}, // 15, 73% |
bogdanm | 15:4892fe388435 | 92 | {0xB, 0x3}, // 16, 75% |
bogdanm | 15:4892fe388435 | 93 | {0xC, 0x3}, // 17, 76% |
bogdanm | 15:4892fe388435 | 94 | {0xD, 0x3}, // 18, 78% |
bogdanm | 15:4892fe388435 | 95 | {0xD, 0x4}, // 19, 74% |
bogdanm | 15:4892fe388435 | 96 | {0xE, 0x4}, // 20, 75% |
bogdanm | 15:4892fe388435 | 97 | {0xF, 0x4}, // 21, 76% |
bogdanm | 15:4892fe388435 | 98 | {0xF, 0x5}, // 22, 73% |
bogdanm | 15:4892fe388435 | 99 | {0xF, 0x6}, // 23, 70% |
bogdanm | 15:4892fe388435 | 100 | {0xF, 0x7}, // 24, 67% |
bogdanm | 15:4892fe388435 | 101 | }; |
bogdanm | 15:4892fe388435 | 102 | |
bogdanm | 15:4892fe388435 | 103 | static unsigned int can_speed(unsigned int sclk, unsigned int pclk, unsigned int cclk, unsigned char psjw) { |
bogdanm | 15:4892fe388435 | 104 | uint32_t btr; |
bogdanm | 15:4892fe388435 | 105 | uint16_t brp = 0; |
bogdanm | 15:4892fe388435 | 106 | uint32_t calcbit; |
bogdanm | 15:4892fe388435 | 107 | uint32_t bitwidth; |
bogdanm | 15:4892fe388435 | 108 | int hit = 0; |
bogdanm | 15:4892fe388435 | 109 | int bits; |
bogdanm | 15:4892fe388435 | 110 | |
bogdanm | 15:4892fe388435 | 111 | bitwidth = sclk / (pclk * cclk); |
bogdanm | 15:4892fe388435 | 112 | |
bogdanm | 15:4892fe388435 | 113 | brp = bitwidth / 0x18; |
bogdanm | 15:4892fe388435 | 114 | while ((!hit) && (brp < bitwidth / 4)) { |
bogdanm | 15:4892fe388435 | 115 | brp++; |
bogdanm | 15:4892fe388435 | 116 | for (bits = 22; bits > 0; bits--) { |
bogdanm | 15:4892fe388435 | 117 | calcbit = (bits + 3) * (brp + 1); |
bogdanm | 15:4892fe388435 | 118 | if (calcbit == bitwidth) { |
bogdanm | 15:4892fe388435 | 119 | hit = 1; |
bogdanm | 15:4892fe388435 | 120 | break; |
bogdanm | 15:4892fe388435 | 121 | } |
bogdanm | 15:4892fe388435 | 122 | } |
bogdanm | 15:4892fe388435 | 123 | } |
bogdanm | 15:4892fe388435 | 124 | |
bogdanm | 15:4892fe388435 | 125 | if (hit) { |
bogdanm | 15:4892fe388435 | 126 | btr = ((timing_pts[bits][1] << 20) & 0x00700000) |
bogdanm | 15:4892fe388435 | 127 | | ((timing_pts[bits][0] << 16) & 0x000F0000) |
bogdanm | 15:4892fe388435 | 128 | | ((psjw << 14) & 0x0000C000) |
bogdanm | 15:4892fe388435 | 129 | | ((brp << 0) & 0x000003FF); |
bogdanm | 15:4892fe388435 | 130 | } else { |
bogdanm | 15:4892fe388435 | 131 | btr = 0xFFFFFFFF; |
bogdanm | 15:4892fe388435 | 132 | } |
bogdanm | 15:4892fe388435 | 133 | |
bogdanm | 15:4892fe388435 | 134 | return btr; |
bogdanm | 15:4892fe388435 | 135 | } |
bogdanm | 15:4892fe388435 | 136 | |
bogdanm | 15:4892fe388435 | 137 | void can_init(can_t *obj, PinName rd, PinName td) { |
bogdanm | 15:4892fe388435 | 138 | CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD); |
bogdanm | 15:4892fe388435 | 139 | CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD); |
bogdanm | 15:4892fe388435 | 140 | obj->dev = (LPC_CAN_TypeDef *)pinmap_merge(can_rd, can_td); |
bogdanm | 15:4892fe388435 | 141 | if ((int)obj->dev == NC) { |
bogdanm | 15:4892fe388435 | 142 | error("CAN pin mapping failed"); |
bogdanm | 15:4892fe388435 | 143 | } |
bogdanm | 15:4892fe388435 | 144 | |
bogdanm | 15:4892fe388435 | 145 | switch ((int)obj->dev) { |
bogdanm | 15:4892fe388435 | 146 | case CAN_1: LPC_SC->PCONP |= 1 << 13; break; |
bogdanm | 15:4892fe388435 | 147 | case CAN_2: LPC_SC->PCONP |= 1 << 14; break; |
bogdanm | 15:4892fe388435 | 148 | } |
bogdanm | 15:4892fe388435 | 149 | |
bogdanm | 15:4892fe388435 | 150 | pinmap_pinout(rd, PinMap_CAN_RD); |
bogdanm | 15:4892fe388435 | 151 | pinmap_pinout(td, PinMap_CAN_TD); |
bogdanm | 15:4892fe388435 | 152 | |
bogdanm | 15:4892fe388435 | 153 | can_reset(obj); |
bogdanm | 15:4892fe388435 | 154 | obj->dev->IER = 0; // Disable Interrupts |
bogdanm | 15:4892fe388435 | 155 | can_frequency(obj, 100000); |
bogdanm | 15:4892fe388435 | 156 | |
bogdanm | 15:4892fe388435 | 157 | LPC_CANAF->AFMR = ACCF_BYPASS; // Bypass Filter |
bogdanm | 15:4892fe388435 | 158 | } |
bogdanm | 15:4892fe388435 | 159 | |
bogdanm | 15:4892fe388435 | 160 | void can_free(can_t *obj) { |
bogdanm | 15:4892fe388435 | 161 | switch ((int)obj->dev) { |
bogdanm | 15:4892fe388435 | 162 | case CAN_1: LPC_SC->PCONP &= ~(1 << 13); break; |
bogdanm | 15:4892fe388435 | 163 | case CAN_2: LPC_SC->PCONP &= ~(1 << 14); break; |
bogdanm | 15:4892fe388435 | 164 | } |
bogdanm | 15:4892fe388435 | 165 | } |
bogdanm | 15:4892fe388435 | 166 | |
bogdanm | 15:4892fe388435 | 167 | int can_frequency(can_t *obj, int f) { |
bogdanm | 15:4892fe388435 | 168 | int pclk = PeripheralClock; |
bogdanm | 15:4892fe388435 | 169 | int btr = can_speed(SystemCoreClock, pclk, (unsigned int)f, 1); |
bogdanm | 15:4892fe388435 | 170 | |
bogdanm | 15:4892fe388435 | 171 | if (btr > 0) { |
bogdanm | 15:4892fe388435 | 172 | uint32_t modmask = can_disable(obj); |
bogdanm | 15:4892fe388435 | 173 | obj->dev->BTR = btr; |
bogdanm | 15:4892fe388435 | 174 | obj->dev->MOD = modmask; |
bogdanm | 15:4892fe388435 | 175 | return 1; |
bogdanm | 15:4892fe388435 | 176 | } else { |
bogdanm | 15:4892fe388435 | 177 | return 0; |
bogdanm | 15:4892fe388435 | 178 | } |
bogdanm | 15:4892fe388435 | 179 | } |
bogdanm | 15:4892fe388435 | 180 | |
bogdanm | 15:4892fe388435 | 181 | int can_write(can_t *obj, CAN_Message msg, int cc) { |
bogdanm | 15:4892fe388435 | 182 | unsigned int CANStatus; |
bogdanm | 15:4892fe388435 | 183 | CANMsg m; |
bogdanm | 15:4892fe388435 | 184 | |
bogdanm | 15:4892fe388435 | 185 | can_enable(obj); |
bogdanm | 15:4892fe388435 | 186 | |
bogdanm | 15:4892fe388435 | 187 | m.id = msg.id ; |
bogdanm | 15:4892fe388435 | 188 | m.dlc = msg.len & 0xF; |
bogdanm | 15:4892fe388435 | 189 | m.rtr = msg.type; |
bogdanm | 15:4892fe388435 | 190 | m.type = msg.format; |
bogdanm | 15:4892fe388435 | 191 | memcpy(m.data, msg.data, msg.len); |
bogdanm | 15:4892fe388435 | 192 | const unsigned int *buf = (const unsigned int *)&m; |
bogdanm | 15:4892fe388435 | 193 | |
bogdanm | 15:4892fe388435 | 194 | CANStatus = obj->dev->SR; |
bogdanm | 15:4892fe388435 | 195 | if (CANStatus & 0x00000004) { |
bogdanm | 15:4892fe388435 | 196 | obj->dev->TFI1 = buf[0] & 0xC00F0000; |
bogdanm | 15:4892fe388435 | 197 | obj->dev->TID1 = buf[1]; |
bogdanm | 15:4892fe388435 | 198 | obj->dev->TDA1 = buf[2]; |
bogdanm | 15:4892fe388435 | 199 | obj->dev->TDB1 = buf[3]; |
bogdanm | 15:4892fe388435 | 200 | if(cc) { |
bogdanm | 15:4892fe388435 | 201 | obj->dev->CMR = 0x30; |
bogdanm | 15:4892fe388435 | 202 | } else { |
bogdanm | 15:4892fe388435 | 203 | obj->dev->CMR = 0x21; |
bogdanm | 15:4892fe388435 | 204 | } |
bogdanm | 15:4892fe388435 | 205 | return 1; |
bogdanm | 15:4892fe388435 | 206 | |
bogdanm | 15:4892fe388435 | 207 | } else if (CANStatus & 0x00000400) { |
bogdanm | 15:4892fe388435 | 208 | obj->dev->TFI2 = buf[0] & 0xC00F0000; |
bogdanm | 15:4892fe388435 | 209 | obj->dev->TID2 = buf[1]; |
bogdanm | 15:4892fe388435 | 210 | obj->dev->TDA2 = buf[2]; |
bogdanm | 15:4892fe388435 | 211 | obj->dev->TDB2 = buf[3]; |
bogdanm | 15:4892fe388435 | 212 | if (cc) { |
bogdanm | 15:4892fe388435 | 213 | obj->dev->CMR = 0x50; |
bogdanm | 15:4892fe388435 | 214 | } else { |
bogdanm | 15:4892fe388435 | 215 | obj->dev->CMR = 0x41; |
bogdanm | 15:4892fe388435 | 216 | } |
bogdanm | 15:4892fe388435 | 217 | return 1; |
bogdanm | 15:4892fe388435 | 218 | |
bogdanm | 15:4892fe388435 | 219 | } else if (CANStatus & 0x00040000) { |
bogdanm | 15:4892fe388435 | 220 | obj->dev->TFI3 = buf[0] & 0xC00F0000; |
bogdanm | 15:4892fe388435 | 221 | obj->dev->TID3 = buf[1]; |
bogdanm | 15:4892fe388435 | 222 | obj->dev->TDA3 = buf[2]; |
bogdanm | 15:4892fe388435 | 223 | obj->dev->TDB3 = buf[3]; |
bogdanm | 15:4892fe388435 | 224 | if (cc) { |
bogdanm | 15:4892fe388435 | 225 | obj->dev->CMR = 0x90; |
bogdanm | 15:4892fe388435 | 226 | } else { |
bogdanm | 15:4892fe388435 | 227 | obj->dev->CMR = 0x81; |
bogdanm | 15:4892fe388435 | 228 | } |
bogdanm | 15:4892fe388435 | 229 | return 1; |
bogdanm | 15:4892fe388435 | 230 | } |
bogdanm | 15:4892fe388435 | 231 | |
bogdanm | 15:4892fe388435 | 232 | return 0; |
bogdanm | 15:4892fe388435 | 233 | } |
bogdanm | 15:4892fe388435 | 234 | |
bogdanm | 15:4892fe388435 | 235 | int can_read(can_t *obj, CAN_Message *msg) { |
bogdanm | 15:4892fe388435 | 236 | CANMsg x; |
bogdanm | 15:4892fe388435 | 237 | unsigned int *i = (unsigned int *)&x; |
bogdanm | 15:4892fe388435 | 238 | |
bogdanm | 15:4892fe388435 | 239 | can_enable(obj); |
bogdanm | 15:4892fe388435 | 240 | |
bogdanm | 15:4892fe388435 | 241 | if (obj->dev->GSR & 0x1) { |
bogdanm | 15:4892fe388435 | 242 | *i++ = obj->dev->RFS; // Frame |
bogdanm | 15:4892fe388435 | 243 | *i++ = obj->dev->RID; // ID |
bogdanm | 15:4892fe388435 | 244 | *i++ = obj->dev->RDA; // Data A |
bogdanm | 15:4892fe388435 | 245 | *i++ = obj->dev->RDB; // Data B |
bogdanm | 15:4892fe388435 | 246 | obj->dev->CMR = 0x04; // release receive buffer |
bogdanm | 15:4892fe388435 | 247 | |
bogdanm | 15:4892fe388435 | 248 | msg->id = x.id; |
bogdanm | 15:4892fe388435 | 249 | msg->len = x.dlc; |
bogdanm | 15:4892fe388435 | 250 | msg->format = (x.type)? CANExtended : CANStandard; |
bogdanm | 15:4892fe388435 | 251 | msg->type = (x.rtr)? CANRemote: CANData; |
bogdanm | 15:4892fe388435 | 252 | memcpy(msg->data,x.data,x.dlc); |
bogdanm | 15:4892fe388435 | 253 | return 1; |
bogdanm | 15:4892fe388435 | 254 | } |
bogdanm | 15:4892fe388435 | 255 | |
bogdanm | 15:4892fe388435 | 256 | return 0; |
bogdanm | 15:4892fe388435 | 257 | } |
bogdanm | 15:4892fe388435 | 258 | |
bogdanm | 15:4892fe388435 | 259 | void can_reset(can_t *obj) { |
bogdanm | 15:4892fe388435 | 260 | can_disable(obj); |
bogdanm | 15:4892fe388435 | 261 | obj->dev->GSR = 0; // Reset error counter when CAN1MOD is in reset |
bogdanm | 15:4892fe388435 | 262 | } |
bogdanm | 15:4892fe388435 | 263 | |
bogdanm | 15:4892fe388435 | 264 | unsigned char can_rderror(can_t *obj) { |
bogdanm | 15:4892fe388435 | 265 | return (obj->dev->GSR >> 16) & 0xFF; |
bogdanm | 15:4892fe388435 | 266 | } |
bogdanm | 15:4892fe388435 | 267 | |
bogdanm | 15:4892fe388435 | 268 | unsigned char can_tderror(can_t *obj) { |
bogdanm | 15:4892fe388435 | 269 | return (obj->dev->GSR >> 24) & 0xFF; |
bogdanm | 15:4892fe388435 | 270 | } |
bogdanm | 15:4892fe388435 | 271 | |
bogdanm | 15:4892fe388435 | 272 | void can_monitor(can_t *obj, int silent) { |
bogdanm | 15:4892fe388435 | 273 | uint32_t mod_mask = can_disable(obj); |
bogdanm | 15:4892fe388435 | 274 | if (silent) { |
bogdanm | 15:4892fe388435 | 275 | obj->dev->MOD |= (1 << 1); |
bogdanm | 15:4892fe388435 | 276 | } else { |
bogdanm | 15:4892fe388435 | 277 | obj->dev->MOD &= ~(1 << 1); |
bogdanm | 15:4892fe388435 | 278 | } |
bogdanm | 15:4892fe388435 | 279 | if (!(mod_mask & 1)) { |
bogdanm | 15:4892fe388435 | 280 | can_enable(obj); |
bogdanm | 15:4892fe388435 | 281 | } |
bogdanm | 15:4892fe388435 | 282 | } |