minicube.net . / mbed-src-LPC1114FN28

Fork of mbed-src file paths change. LPC1114FN28 use only.

Fork of mbed-src by mbed official

Information

この情報は2013/10/28時点での解決方法です。
現在はmbed-src、標準ライブラリで問題なくコンパイルが可能です。

・使う物
LPC1114FN28
mbed SDK

LPC1114FN28でmbed-SDKのLibraryを使うとCompile出来ない。（2013/10/28） /media/uploads/minicube/mbed_lpc1114_sdk.png

パスが通ってないだけのようなのでファイルを以下に移動する。

mbed-src\targets\cmsis\TARGET_NXP\TARGET_LPC11XX_11CXX\
mbed-src\targets\cmsis\TARGET_NXP\TARGET_LPC11XX_11CXX\TARGET_LPC11XX\

にあるファイルをすべて

mbed-src\targets\cmsis\TARGET_NXP\

へ移動

mbed-src\targets\cmsis\TARGET_NXP\TARGET_LPC11XX_11CXX\にある

TOOLCHAIN_ARM_MICRO

をフォルダごと

mbed-src\targets\cmsis\TARGET_NXP\

へ移動

mbed-src\targets\hal\TARGET_NXP\TARGET_LPC11XX_11CXX\
mbed-src\targets\hal\TARGET_NXP\TARGET_LPC11XX_11CXX\TARGET_LPC11XX\

にあるファイルをすべて

mbed-src\targets\hal\TARGET_NXP\

へ移動

移動後は以下のような構成になると思います。
※不要なファイルは削除してあります。

/media/uploads/minicube/mbed_lpc1114_sdk_tree.png


ファイルの移動が面倒なので以下に本家からフォークしたライブラリを置いておきます。

Import librarymbed-src-LPC1114FN28

Fork of mbed-src file paths change. LPC1114FN28 use only.

Last commit 27 Oct 2013 by minicube.net .


エラーが出力される場合

"TOOLCHAIN_ARM_MICRO"が無いとエラーになる。

Error: Undefined symbol _initial_sp (referred from entry2.o).
Error: Undefined symbol _heap_base (referred from malloc.o).
Error: Undefined symbol _heap_limit (referred from malloc.o).

LPC1114FN28はMicrolibを使ってCompileされるため上記のエラーになるようです。

targets/hal/TARGET_NXP/TARGET_LPC408X/can_api.c@29:6ac4027eff2b, 2013-09-23 (annotated)

Committer:
mbed_official
Date:
Mon Sep 23 11:30:07 2013 +0100
Revision:
29:6ac4027eff2b
Parent:
22:dbd009839d5e
Child:
41:e8b66477f5bf
Synchronized with git revision 4e23b72a78e8adfcaf3e52831780eca6d7a7bafe

Who changed what in which revision?

UserRevisionLine numberNew 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 */
emilmont 17:151ab7482c89 16 #include "can_api.h"
bogdanm 15:4892fe388435 17
bogdanm 15:4892fe388435 18 #include "cmsis.h"
bogdanm 15:4892fe388435 19 #include "pinmap.h"
bogdanm 15:4892fe388435 20 #include "error.h"
bogdanm 15:4892fe388435 21
emilmont 17:151ab7482c89 22 #include <math.h>
emilmont 17:151ab7482c89 23 #include <string.h>
emilmont 17:151ab7482c89 24
emilmont 17:151ab7482c89 25 #define CAN_NUM 2
emilmont 16:7da2369b400c 26
bogdanm 15:4892fe388435 27 /* Acceptance filter mode in AFMR register */
bogdanm 15:4892fe388435 28 #define ACCF_OFF 0x01
bogdanm 15:4892fe388435 29 #define ACCF_BYPASS 0x02
bogdanm 15:4892fe388435 30 #define ACCF_ON 0x00
bogdanm 15:4892fe388435 31 #define ACCF_FULLCAN 0x04
bogdanm 15:4892fe388435 32
bogdanm 15:4892fe388435 33 /* There are several bit timing calculators on the internet.
bogdanm 15:4892fe388435 34 http://www.port.de/engl/canprod/sv_req_form.html
bogdanm 15:4892fe388435 35 http://www.kvaser.com/can/index.htm
bogdanm 15:4892fe388435 36 */
bogdanm 15:4892fe388435 37
bogdanm 15:4892fe388435 38 static const PinMap PinMap_CAN_RD[] = {
bogdanm 15:4892fe388435 39 {P0_0 , CAN_1, 1},
bogdanm 15:4892fe388435 40 {P0_4 , CAN_2, 2},
bogdanm 15:4892fe388435 41 {P0_21, CAN_1, 4},
bogdanm 15:4892fe388435 42 {P2_7 , CAN_2, 1},
bogdanm 15:4892fe388435 43 {NC , NC , 0}
bogdanm 15:4892fe388435 44 };
bogdanm 15:4892fe388435 45
bogdanm 15:4892fe388435 46 static const PinMap PinMap_CAN_TD[] = {
bogdanm 15:4892fe388435 47 {P0_1 , CAN_1, 1},
bogdanm 15:4892fe388435 48 {P0_5 , CAN_2, 2},
bogdanm 15:4892fe388435 49 {P0_22, CAN_1, 4},
bogdanm 15:4892fe388435 50 {P2_8 , CAN_2, 1},
bogdanm 15:4892fe388435 51 {NC , NC , 0}
bogdanm 15:4892fe388435 52 };
bogdanm 15:4892fe388435 53
bogdanm 15:4892fe388435 54 // Type definition to hold a CAN message
bogdanm 15:4892fe388435 55 struct CANMsg {
bogdanm 15:4892fe388435 56 unsigned int reserved1 : 16;
bogdanm 15:4892fe388435 57 unsigned int dlc : 4; // Bits 16..19: DLC - Data Length Counter
bogdanm 15:4892fe388435 58 unsigned int reserved0 : 10;
bogdanm 15:4892fe388435 59 unsigned int rtr : 1; // Bit 30: Set if this is a RTR message
bogdanm 15:4892fe388435 60 unsigned int type : 1; // Bit 31: Set if this is a 29-bit ID message
bogdanm 15:4892fe388435 61 unsigned int id; // CAN Message ID (11-bit or 29-bit)
bogdanm 15:4892fe388435 62 unsigned char data[8]; // CAN Message Data Bytes 0-7
bogdanm 15:4892fe388435 63 };
bogdanm 15:4892fe388435 64 typedef struct CANMsg CANMsg;
bogdanm 15:4892fe388435 65
emilmont 17:151ab7482c89 66 static uint32_t can_irq_ids[CAN_NUM] = {0};
emilmont 17:151ab7482c89 67 static can_irq_handler irq_handler;
emilmont 17:151ab7482c89 68
bogdanm 15:4892fe388435 69 static uint32_t can_disable(can_t *obj) {
bogdanm 15:4892fe388435 70 uint32_t sm = obj->dev->MOD;
bogdanm 15:4892fe388435 71 obj->dev->MOD |= 1;
bogdanm 15:4892fe388435 72 return sm;
bogdanm 15:4892fe388435 73 }
bogdanm 15:4892fe388435 74
bogdanm 15:4892fe388435 75 static inline void can_enable(can_t *obj) {
bogdanm 15:4892fe388435 76 if (obj->dev->MOD & 1) {
bogdanm 15:4892fe388435 77 obj->dev->MOD &= ~(1);
bogdanm 15:4892fe388435 78 }
bogdanm 15:4892fe388435 79 }
bogdanm 15:4892fe388435 80
emilmont 17:151ab7482c89 81 int can_mode(can_t *obj, CanMode mode)
emilmont 17:151ab7482c89 82 {
emilmont 17:151ab7482c89 83 return 0; // not implemented
emilmont 17:151ab7482c89 84 }
emilmont 17:151ab7482c89 85
emilmont 17:151ab7482c89 86 static inline void can_irq(uint32_t icr, uint32_t index) {
emilmont 17:151ab7482c89 87 uint32_t i;
emilmont 17:151ab7482c89 88
emilmont 17:151ab7482c89 89 for(i = 0; i < 8; i++)
emilmont 17:151ab7482c89 90 {
emilmont 17:151ab7482c89 91 if((can_irq_ids[index] != 0) && (icr & (1 << i)))
emilmont 17:151ab7482c89 92 {
emilmont 17:151ab7482c89 93 switch (i) {
emilmont 17:151ab7482c89 94 case 0: irq_handler(can_irq_ids[index], IRQ_RX); break;
emilmont 17:151ab7482c89 95 case 1: irq_handler(can_irq_ids[index], IRQ_TX); break;
emilmont 17:151ab7482c89 96 case 2: irq_handler(can_irq_ids[index], IRQ_ERROR); break;
emilmont 17:151ab7482c89 97 case 3: irq_handler(can_irq_ids[index], IRQ_OVERRUN); break;
emilmont 17:151ab7482c89 98 case 4: irq_handler(can_irq_ids[index], IRQ_WAKEUP); break;
emilmont 17:151ab7482c89 99 case 5: irq_handler(can_irq_ids[index], IRQ_PASSIVE); break;
emilmont 17:151ab7482c89 100 case 6: irq_handler(can_irq_ids[index], IRQ_ARB); break;
emilmont 17:151ab7482c89 101 case 7: irq_handler(can_irq_ids[index], IRQ_BUS); break;
emilmont 17:151ab7482c89 102 case 8: irq_handler(can_irq_ids[index], IRQ_READY); break;
emilmont 17:151ab7482c89 103 }
emilmont 17:151ab7482c89 104 }
emilmont 17:151ab7482c89 105 }
emilmont 17:151ab7482c89 106 }
emilmont 17:151ab7482c89 107
emilmont 17:151ab7482c89 108 // Have to check that the CAN block is active before reading the Interrupt
emilmont 17:151ab7482c89 109 // Control Register, or the mbed hangs
emilmont 17:151ab7482c89 110 void can_irq_n() {
emilmont 17:151ab7482c89 111 uint32_t icr;
emilmont 17:151ab7482c89 112
emilmont 17:151ab7482c89 113 if(LPC_SC->PCONP & (1 << 13)) {
emilmont 17:151ab7482c89 114 icr = LPC_CAN1->ICR & 0x1FF;
emilmont 17:151ab7482c89 115 can_irq(icr, 0);
emilmont 17:151ab7482c89 116 }
emilmont 17:151ab7482c89 117
emilmont 17:151ab7482c89 118 if(LPC_SC->PCONP & (1 << 14)) {
emilmont 17:151ab7482c89 119 icr = LPC_CAN2->ICR & 0x1FF;
emilmont 17:151ab7482c89 120 can_irq(icr, 1);
emilmont 17:151ab7482c89 121 }
emilmont 17:151ab7482c89 122 }
emilmont 17:151ab7482c89 123
emilmont 17:151ab7482c89 124 // Register CAN object's irq handler
emilmont 17:151ab7482c89 125 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) {
emilmont 17:151ab7482c89 126 irq_handler = handler;
emilmont 17:151ab7482c89 127 can_irq_ids[obj->index] = id;
emilmont 17:151ab7482c89 128 }
emilmont 17:151ab7482c89 129
emilmont 17:151ab7482c89 130 // Unregister CAN object's irq handler
emilmont 17:151ab7482c89 131 void can_irq_free(can_t *obj) {
emilmont 17:151ab7482c89 132 obj->dev->IER &= ~(1);
emilmont 17:151ab7482c89 133 can_irq_ids[obj->index] = 0;
emilmont 17:151ab7482c89 134
emilmont 17:151ab7482c89 135 if ((can_irq_ids[0] == 0) && (can_irq_ids[1] == 0)) {
emilmont 17:151ab7482c89 136 NVIC_DisableIRQ(CAN_IRQn);
emilmont 17:151ab7482c89 137 }
emilmont 17:151ab7482c89 138 }
emilmont 17:151ab7482c89 139
emilmont 17:151ab7482c89 140 // Clear or set a irq
emilmont 17:151ab7482c89 141 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) {
emilmont 17:151ab7482c89 142 uint32_t ier;
emilmont 17:151ab7482c89 143
emilmont 17:151ab7482c89 144 switch (type) {
emilmont 17:151ab7482c89 145 case IRQ_RX: ier = (1 << 0); break;
emilmont 17:151ab7482c89 146 case IRQ_TX: ier = (1 << 1); break;
emilmont 17:151ab7482c89 147 case IRQ_ERROR: ier = (1 << 2); break;
emilmont 17:151ab7482c89 148 case IRQ_OVERRUN: ier = (1 << 3); break;
emilmont 17:151ab7482c89 149 case IRQ_WAKEUP: ier = (1 << 4); break;
emilmont 17:151ab7482c89 150 case IRQ_PASSIVE: ier = (1 << 5); break;
emilmont 17:151ab7482c89 151 case IRQ_ARB: ier = (1 << 6); break;
emilmont 17:151ab7482c89 152 case IRQ_BUS: ier = (1 << 7); break;
emilmont 17:151ab7482c89 153 case IRQ_READY: ier = (1 << 8); break;
emilmont 17:151ab7482c89 154 default: return;
emilmont 17:151ab7482c89 155 }
emilmont 17:151ab7482c89 156
emilmont 17:151ab7482c89 157 obj->dev->MOD |= 1;
emilmont 17:151ab7482c89 158 if(enable == 0) {
emilmont 17:151ab7482c89 159 obj->dev->IER &= ~ier;
emilmont 17:151ab7482c89 160 }
emilmont 17:151ab7482c89 161 else {
emilmont 17:151ab7482c89 162 obj->dev->IER |= ier;
emilmont 17:151ab7482c89 163 }
emilmont 17:151ab7482c89 164 obj->dev->MOD &= ~(1);
emilmont 17:151ab7482c89 165
emilmont 17:151ab7482c89 166 // Enable NVIC if at least 1 interrupt is active
mbed_official 29:6ac4027eff2b 167 if(((LPC_SC->PCONP & (1 << 13)) && LPC_CAN1->IER) || ((LPC_SC->PCONP & (1 << 14)) && LPC_CAN2->IER)) {
emilmont 17:151ab7482c89 168 NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq_n);
emilmont 17:151ab7482c89 169 NVIC_EnableIRQ(CAN_IRQn);
emilmont 17:151ab7482c89 170 }
emilmont 17:151ab7482c89 171 else {
emilmont 17:151ab7482c89 172 NVIC_DisableIRQ(CAN_IRQn);
emilmont 17:151ab7482c89 173 }
emilmont 17:151ab7482c89 174 }
emilmont 17:151ab7482c89 175
bogdanm 15:4892fe388435 176 // This table has the sampling points as close to 75% as possible. The first
bogdanm 15:4892fe388435 177 // value is TSEG1, the second TSEG2.
bogdanm 15:4892fe388435 178 static const int timing_pts[23][2] = {
bogdanm 15:4892fe388435 179 {0x0, 0x0}, // 2, 50%
bogdanm 15:4892fe388435 180 {0x1, 0x0}, // 3, 67%
bogdanm 15:4892fe388435 181 {0x2, 0x0}, // 4, 75%
bogdanm 15:4892fe388435 182 {0x3, 0x0}, // 5, 80%
bogdanm 15:4892fe388435 183 {0x3, 0x1}, // 6, 67%
bogdanm 15:4892fe388435 184 {0x4, 0x1}, // 7, 71%
bogdanm 15:4892fe388435 185 {0x5, 0x1}, // 8, 75%
bogdanm 15:4892fe388435 186 {0x6, 0x1}, // 9, 78%
bogdanm 15:4892fe388435 187 {0x6, 0x2}, // 10, 70%
bogdanm 15:4892fe388435 188 {0x7, 0x2}, // 11, 73%
bogdanm 15:4892fe388435 189 {0x8, 0x2}, // 12, 75%
bogdanm 15:4892fe388435 190 {0x9, 0x2}, // 13, 77%
bogdanm 15:4892fe388435 191 {0x9, 0x3}, // 14, 71%
bogdanm 15:4892fe388435 192 {0xA, 0x3}, // 15, 73%
bogdanm 15:4892fe388435 193 {0xB, 0x3}, // 16, 75%
bogdanm 15:4892fe388435 194 {0xC, 0x3}, // 17, 76%
bogdanm 15:4892fe388435 195 {0xD, 0x3}, // 18, 78%
bogdanm 15:4892fe388435 196 {0xD, 0x4}, // 19, 74%
bogdanm 15:4892fe388435 197 {0xE, 0x4}, // 20, 75%
bogdanm 15:4892fe388435 198 {0xF, 0x4}, // 21, 76%
bogdanm 15:4892fe388435 199 {0xF, 0x5}, // 22, 73%
bogdanm 15:4892fe388435 200 {0xF, 0x6}, // 23, 70%
bogdanm 15:4892fe388435 201 {0xF, 0x7}, // 24, 67%
bogdanm 15:4892fe388435 202 };
bogdanm 15:4892fe388435 203
bogdanm 15:4892fe388435 204 static unsigned int can_speed(unsigned int sclk, unsigned int pclk, unsigned int cclk, unsigned char psjw) {
bogdanm 15:4892fe388435 205 uint32_t btr;
bogdanm 15:4892fe388435 206 uint16_t brp = 0;
bogdanm 15:4892fe388435 207 uint32_t calcbit;
bogdanm 15:4892fe388435 208 uint32_t bitwidth;
bogdanm 15:4892fe388435 209 int hit = 0;
bogdanm 15:4892fe388435 210 int bits;
bogdanm 15:4892fe388435 211
bogdanm 15:4892fe388435 212 bitwidth = sclk / (pclk * cclk);
bogdanm 15:4892fe388435 213
bogdanm 15:4892fe388435 214 brp = bitwidth / 0x18;
bogdanm 15:4892fe388435 215 while ((!hit) && (brp < bitwidth / 4)) {
bogdanm 15:4892fe388435 216 brp++;
bogdanm 15:4892fe388435 217 for (bits = 22; bits > 0; bits--) {
bogdanm 15:4892fe388435 218 calcbit = (bits + 3) * (brp + 1);
bogdanm 15:4892fe388435 219 if (calcbit == bitwidth) {
bogdanm 15:4892fe388435 220 hit = 1;
bogdanm 15:4892fe388435 221 break;
bogdanm 15:4892fe388435 222 }
bogdanm 15:4892fe388435 223 }
bogdanm 15:4892fe388435 224 }
bogdanm 15:4892fe388435 225
bogdanm 15:4892fe388435 226 if (hit) {
bogdanm 15:4892fe388435 227 btr = ((timing_pts[bits][1] << 20) & 0x00700000)
bogdanm 15:4892fe388435 228 | ((timing_pts[bits][0] << 16) & 0x000F0000)
bogdanm 15:4892fe388435 229 | ((psjw << 14) & 0x0000C000)
bogdanm 15:4892fe388435 230 | ((brp << 0) & 0x000003FF);
bogdanm 15:4892fe388435 231 } else {
bogdanm 15:4892fe388435 232 btr = 0xFFFFFFFF;
bogdanm 15:4892fe388435 233 }
bogdanm 15:4892fe388435 234
bogdanm 15:4892fe388435 235 return btr;
emilmont 17:151ab7482c89 236
bogdanm 15:4892fe388435 237 }
bogdanm 15:4892fe388435 238
bogdanm 15:4892fe388435 239 void can_init(can_t *obj, PinName rd, PinName td) {
bogdanm 15:4892fe388435 240 CANName can_rd = (CANName)pinmap_peripheral(rd, PinMap_CAN_RD);
bogdanm 15:4892fe388435 241 CANName can_td = (CANName)pinmap_peripheral(td, PinMap_CAN_TD);
bogdanm 15:4892fe388435 242 obj->dev = (LPC_CAN_TypeDef *)pinmap_merge(can_rd, can_td);
bogdanm 15:4892fe388435 243 if ((int)obj->dev == NC) {
bogdanm 15:4892fe388435 244 error("CAN pin mapping failed");
bogdanm 15:4892fe388435 245 }
emilmont 17:151ab7482c89 246
bogdanm 15:4892fe388435 247 switch ((int)obj->dev) {
bogdanm 15:4892fe388435 248 case CAN_1: LPC_SC->PCONP |= 1 << 13; break;
bogdanm 15:4892fe388435 249 case CAN_2: LPC_SC->PCONP |= 1 << 14; break;
bogdanm 15:4892fe388435 250 }
emilmont 17:151ab7482c89 251
bogdanm 15:4892fe388435 252 pinmap_pinout(rd, PinMap_CAN_RD);
bogdanm 15:4892fe388435 253 pinmap_pinout(td, PinMap_CAN_TD);
bogdanm 15:4892fe388435 254
emilmont 17:151ab7482c89 255 switch ((int)obj->dev) {
emilmont 17:151ab7482c89 256 case CAN_1: obj->index = 0; break;
emilmont 17:151ab7482c89 257 case CAN_2: obj->index = 1; break;
emilmont 17:151ab7482c89 258 }
emilmont 17:151ab7482c89 259
bogdanm 15:4892fe388435 260 can_reset(obj);
bogdanm 15:4892fe388435 261 obj->dev->IER = 0; // Disable Interrupts
bogdanm 15:4892fe388435 262 can_frequency(obj, 100000);
emilmont 17:151ab7482c89 263
bogdanm 15:4892fe388435 264 LPC_CANAF->AFMR = ACCF_BYPASS; // Bypass Filter
bogdanm 15:4892fe388435 265 }
bogdanm 15:4892fe388435 266
bogdanm 15:4892fe388435 267 void can_free(can_t *obj) {
bogdanm 15:4892fe388435 268 switch ((int)obj->dev) {
bogdanm 15:4892fe388435 269 case CAN_1: LPC_SC->PCONP &= ~(1 << 13); break;
bogdanm 15:4892fe388435 270 case CAN_2: LPC_SC->PCONP &= ~(1 << 14); break;
bogdanm 15:4892fe388435 271 }
bogdanm 15:4892fe388435 272 }
bogdanm 15:4892fe388435 273
bogdanm 15:4892fe388435 274 int can_frequency(can_t *obj, int f) {
bogdanm 15:4892fe388435 275 int pclk = PeripheralClock;
emilmont 17:151ab7482c89 276
bogdanm 15:4892fe388435 277 int btr = can_speed(SystemCoreClock, pclk, (unsigned int)f, 1);
emilmont 17:151ab7482c89 278
bogdanm 15:4892fe388435 279 if (btr > 0) {
bogdanm 15:4892fe388435 280 uint32_t modmask = can_disable(obj);
bogdanm 15:4892fe388435 281 obj->dev->BTR = btr;
bogdanm 15:4892fe388435 282 obj->dev->MOD = modmask;
bogdanm 15:4892fe388435 283 return 1;
bogdanm 15:4892fe388435 284 } else {
bogdanm 15:4892fe388435 285 return 0;
bogdanm 15:4892fe388435 286 }
bogdanm 15:4892fe388435 287 }
bogdanm 15:4892fe388435 288
bogdanm 15:4892fe388435 289 int can_write(can_t *obj, CAN_Message msg, int cc) {
bogdanm 15:4892fe388435 290 unsigned int CANStatus;
bogdanm 15:4892fe388435 291 CANMsg m;
emilmont 17:151ab7482c89 292
bogdanm 15:4892fe388435 293 can_enable(obj);
emilmont 17:151ab7482c89 294
bogdanm 15:4892fe388435 295 m.id = msg.id ;
bogdanm 15:4892fe388435 296 m.dlc = msg.len & 0xF;
bogdanm 15:4892fe388435 297 m.rtr = msg.type;
bogdanm 15:4892fe388435 298 m.type = msg.format;
bogdanm 15:4892fe388435 299 memcpy(m.data, msg.data, msg.len);
bogdanm 15:4892fe388435 300 const unsigned int *buf = (const unsigned int *)&m;
emilmont 17:151ab7482c89 301
bogdanm 15:4892fe388435 302 CANStatus = obj->dev->SR;
bogdanm 15:4892fe388435 303 if (CANStatus & 0x00000004) {
bogdanm 15:4892fe388435 304 obj->dev->TFI1 = buf[0] & 0xC00F0000;
bogdanm 15:4892fe388435 305 obj->dev->TID1 = buf[1];
bogdanm 15:4892fe388435 306 obj->dev->TDA1 = buf[2];
bogdanm 15:4892fe388435 307 obj->dev->TDB1 = buf[3];
bogdanm 15:4892fe388435 308 if(cc) {
bogdanm 15:4892fe388435 309 obj->dev->CMR = 0x30;
bogdanm 15:4892fe388435 310 } else {
bogdanm 15:4892fe388435 311 obj->dev->CMR = 0x21;
bogdanm 15:4892fe388435 312 }
bogdanm 15:4892fe388435 313 return 1;
emilmont 17:151ab7482c89 314
bogdanm 15:4892fe388435 315 } else if (CANStatus & 0x00000400) {
bogdanm 15:4892fe388435 316 obj->dev->TFI2 = buf[0] & 0xC00F0000;
bogdanm 15:4892fe388435 317 obj->dev->TID2 = buf[1];
bogdanm 15:4892fe388435 318 obj->dev->TDA2 = buf[2];
bogdanm 15:4892fe388435 319 obj->dev->TDB2 = buf[3];
bogdanm 15:4892fe388435 320 if (cc) {
bogdanm 15:4892fe388435 321 obj->dev->CMR = 0x50;
bogdanm 15:4892fe388435 322 } else {
bogdanm 15:4892fe388435 323 obj->dev->CMR = 0x41;
bogdanm 15:4892fe388435 324 }
bogdanm 15:4892fe388435 325 return 1;
emilmont 17:151ab7482c89 326
bogdanm 15:4892fe388435 327 } else if (CANStatus & 0x00040000) {
bogdanm 15:4892fe388435 328 obj->dev->TFI3 = buf[0] & 0xC00F0000;
bogdanm 15:4892fe388435 329 obj->dev->TID3 = buf[1];
bogdanm 15:4892fe388435 330 obj->dev->TDA3 = buf[2];
bogdanm 15:4892fe388435 331 obj->dev->TDB3 = buf[3];
bogdanm 15:4892fe388435 332 if (cc) {
bogdanm 15:4892fe388435 333 obj->dev->CMR = 0x90;
bogdanm 15:4892fe388435 334 } else {
bogdanm 15:4892fe388435 335 obj->dev->CMR = 0x81;
bogdanm 15:4892fe388435 336 }
bogdanm 15:4892fe388435 337 return 1;
bogdanm 15:4892fe388435 338 }
emilmont 17:151ab7482c89 339
bogdanm 15:4892fe388435 340 return 0;
bogdanm 15:4892fe388435 341 }
bogdanm 15:4892fe388435 342
bogdanm 15:4892fe388435 343 int can_read(can_t *obj, CAN_Message *msg) {
bogdanm 15:4892fe388435 344 CANMsg x;
bogdanm 15:4892fe388435 345 unsigned int *i = (unsigned int *)&x;
emilmont 17:151ab7482c89 346
bogdanm 15:4892fe388435 347 can_enable(obj);
emilmont 17:151ab7482c89 348
bogdanm 15:4892fe388435 349 if (obj->dev->GSR & 0x1) {
bogdanm 15:4892fe388435 350 *i++ = obj->dev->RFS; // Frame
bogdanm 15:4892fe388435 351 *i++ = obj->dev->RID; // ID
bogdanm 15:4892fe388435 352 *i++ = obj->dev->RDA; // Data A
bogdanm 15:4892fe388435 353 *i++ = obj->dev->RDB; // Data B
bogdanm 15:4892fe388435 354 obj->dev->CMR = 0x04; // release receive buffer
emilmont 17:151ab7482c89 355
bogdanm 15:4892fe388435 356 msg->id = x.id;
bogdanm 15:4892fe388435 357 msg->len = x.dlc;
bogdanm 15:4892fe388435 358 msg->format = (x.type)? CANExtended : CANStandard;
bogdanm 15:4892fe388435 359 msg->type = (x.rtr)? CANRemote: CANData;
bogdanm 15:4892fe388435 360 memcpy(msg->data,x.data,x.dlc);
bogdanm 15:4892fe388435 361 return 1;
bogdanm 15:4892fe388435 362 }
emilmont 17:151ab7482c89 363
bogdanm 15:4892fe388435 364 return 0;
bogdanm 15:4892fe388435 365 }
bogdanm 15:4892fe388435 366
bogdanm 15:4892fe388435 367 void can_reset(can_t *obj) {
bogdanm 15:4892fe388435 368 can_disable(obj);
bogdanm 15:4892fe388435 369 obj->dev->GSR = 0; // Reset error counter when CAN1MOD is in reset
bogdanm 15:4892fe388435 370 }
bogdanm 15:4892fe388435 371
bogdanm 15:4892fe388435 372 unsigned char can_rderror(can_t *obj) {
bogdanm 15:4892fe388435 373 return (obj->dev->GSR >> 16) & 0xFF;
bogdanm 15:4892fe388435 374 }
bogdanm 15:4892fe388435 375
bogdanm 15:4892fe388435 376 unsigned char can_tderror(can_t *obj) {
bogdanm 15:4892fe388435 377 return (obj->dev->GSR >> 24) & 0xFF;
bogdanm 15:4892fe388435 378 }
bogdanm 15:4892fe388435 379
bogdanm 15:4892fe388435 380 void can_monitor(can_t *obj, int silent) {
bogdanm 15:4892fe388435 381 uint32_t mod_mask = can_disable(obj);
bogdanm 15:4892fe388435 382 if (silent) {
bogdanm 15:4892fe388435 383 obj->dev->MOD |= (1 << 1);
bogdanm 15:4892fe388435 384 } else {
bogdanm 15:4892fe388435 385 obj->dev->MOD &= ~(1 << 1);
bogdanm 15:4892fe388435 386 }
bogdanm 15:4892fe388435 387 if (!(mod_mask & 1)) {
bogdanm 15:4892fe388435 388 can_enable(obj);
bogdanm 15:4892fe388435 389 }
bogdanm 15:4892fe388435 390 }