Fork of mbed-src file paths change. LPC1114FN28 use only.
Fork of mbed-src by
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)
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。
![]() |
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.
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@22:dbd009839d5e, 2013-09-13 (annotated)
- Committer:
- mbed_official
- Date:
- Fri Sep 13 14:22:58 2013 +0100
- Revision:
- 22:dbd009839d5e
- Parent:
- 17:151ab7482c89
- Child:
- 29:6ac4027eff2b
Synchronized with git revision 2481fbe2a21f381cba6e6c3abdaceaed7e288e06
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 | */ |
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 | 22:dbd009839d5e | 167 | if((LPC_CAN1->IER | LPC_CAN2->IER) != 0) { |
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 | } |