Ken Todotani / mbed-src

mbed library sources

Fork of mbed-src by mbed official

targets/hal/TARGET_NXP/TARGET_LPC11XX_11CXX/TARGET_LPC11CXX/can_api.c@250:a49055e7a707, 2014-07-08 (annotated)

Committer:
mbed_official
Date:
Tue Jul 08 11:15:08 2014 +0100
Revision:
250:a49055e7a707
Parent:
225:2af4c5d0160c
Child:
251:de9a1e4ffd79
Synchronized with git revision 3197042b65f8d28e856e1a7812d45e2fbe80e3f1



Full URL: https://github.com/mbedmicro/mbed/commit/3197042b65f8d28e856e1a7812d45e2fbe80e3f1/



error.h -> mbed_error.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 41:e8b66477f5bf 1 /* mbed Microcontroller Library
mbed_official 41:e8b66477f5bf 2 * Copyright (c) 2006-2013 ARM Limited
mbed_official 41:e8b66477f5bf 3 *
mbed_official 41:e8b66477f5bf 4 * Licensed under the Apache License, Version 2.0 (the "License");
mbed_official 41:e8b66477f5bf 5 * you may not use this file except in compliance with the License.
mbed_official 41:e8b66477f5bf 6 * You may obtain a copy of the License at
mbed_official 41:e8b66477f5bf 7 *
mbed_official 41:e8b66477f5bf 8 * http://www.apache.org/licenses/LICENSE-2.0
mbed_official 41:e8b66477f5bf 9 *
mbed_official 41:e8b66477f5bf 10 * Unless required by applicable law or agreed to in writing, software
mbed_official 41:e8b66477f5bf 11 * distributed under the License is distributed on an "AS IS" BASIS,
mbed_official 41:e8b66477f5bf 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
mbed_official 41:e8b66477f5bf 13 * See the License for the specific language governing permissions and
mbed_official 41:e8b66477f5bf 14 * limitations under the License.
mbed_official 41:e8b66477f5bf 15 */
mbed_official 41:e8b66477f5bf 16 #include "can_api.h"
mbed_official 41:e8b66477f5bf 17
mbed_official 41:e8b66477f5bf 18 #include "cmsis.h"
mbed_official 250:a49055e7a707 19 #include "mbed_error.h"
mbed_official 41:e8b66477f5bf 20
mbed_official 41:e8b66477f5bf 21 #include <math.h>
mbed_official 41:e8b66477f5bf 22 #include <string.h>
mbed_official 41:e8b66477f5bf 23
mbed_official 41:e8b66477f5bf 24 /* Handy defines */
mbed_official 41:e8b66477f5bf 25 #define MSG_OBJ_MAX 32
mbed_official 41:e8b66477f5bf 26 #define DLC_MAX 8
mbed_official 41:e8b66477f5bf 27
mbed_official 41:e8b66477f5bf 28 #define ID_STD_MASK 0x07FF
mbed_official 41:e8b66477f5bf 29 #define ID_EXT_MASK 0x1FFFFFFF
mbed_official 41:e8b66477f5bf 30 #define DLC_MASK 0x0F
mbed_official 41:e8b66477f5bf 31
mbed_official 41:e8b66477f5bf 32 static uint32_t can_irq_id = 0;
mbed_official 41:e8b66477f5bf 33 static can_irq_handler irq_handler;
mbed_official 41:e8b66477f5bf 34
mbed_official 41:e8b66477f5bf 35 static uint32_t can_disable(can_t *obj) {
mbed_official 41:e8b66477f5bf 36 uint32_t sm = LPC_CAN->CNTL;
mbed_official 41:e8b66477f5bf 37 LPC_CAN->CNTL |= CANCNTL_INIT;
mbed_official 41:e8b66477f5bf 38 return sm;
mbed_official 41:e8b66477f5bf 39 }
mbed_official 41:e8b66477f5bf 40
mbed_official 41:e8b66477f5bf 41 static inline void can_enable(can_t *obj) {
mbed_official 41:e8b66477f5bf 42 if (LPC_CAN->CNTL & CANCNTL_INIT) {
mbed_official 41:e8b66477f5bf 43 LPC_CAN->CNTL &= ~CANCNTL_INIT;
mbed_official 41:e8b66477f5bf 44 }
mbed_official 41:e8b66477f5bf 45 }
mbed_official 41:e8b66477f5bf 46
mbed_official 41:e8b66477f5bf 47 int can_mode(can_t *obj, CanMode mode) {
mbed_official 41:e8b66477f5bf 48 return 0; // not implemented
mbed_official 41:e8b66477f5bf 49 }
mbed_official 41:e8b66477f5bf 50
mbed_official 41:e8b66477f5bf 51 int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
mbed_official 41:e8b66477f5bf 52 uint16_t i;
mbed_official 41:e8b66477f5bf 53
mbed_official 41:e8b66477f5bf 54 // Find first free message object
mbed_official 41:e8b66477f5bf 55 if(handle == 0) {
mbed_official 41:e8b66477f5bf 56 uint32_t msgval = LPC_CAN->MSGV1 | (LPC_CAN->MSGV2 << 16);
mbed_official 41:e8b66477f5bf 57 // Find first free messagebox
mbed_official 41:e8b66477f5bf 58 for(i = 0; i < 32; i++) {
mbed_official 41:e8b66477f5bf 59 if((msgval & (1 << i)) == 0) {
mbed_official 41:e8b66477f5bf 60 handle = i+1;
mbed_official 41:e8b66477f5bf 61 break;
mbed_official 41:e8b66477f5bf 62 }
mbed_official 41:e8b66477f5bf 63 }
mbed_official 41:e8b66477f5bf 64 }
mbed_official 41:e8b66477f5bf 65
mbed_official 41:e8b66477f5bf 66 if(handle > 0 && handle < 32) {
mbed_official 41:e8b66477f5bf 67 if(format == CANExtended) {
mbed_official 41:e8b66477f5bf 68 // Mark message valid, Direction = TX, Extended Frame, Set Identifier and mask everything
mbed_official 41:e8b66477f5bf 69 LPC_CAN->IF1_ARB1 = BFN_PREP(id, CANIFn_ARB1_ID);
mbed_official 41:e8b66477f5bf 70 LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | BFN_PREP(id >> 16, CANIFn_ARB2_ID);
mbed_official 41:e8b66477f5bf 71 LPC_CAN->IF1_MSK1 = BFN_PREP(mask, CANIFn_MSK1_MSK);
mbed_official 225:2af4c5d0160c 72 LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD /* | CANIFn_MSK2_MDIR */ | BFN_PREP(mask >> 16, CANIFn_MSK2_MSK);
mbed_official 41:e8b66477f5bf 73 }
mbed_official 41:e8b66477f5bf 74 else {
mbed_official 41:e8b66477f5bf 75 // Mark message valid, Direction = TX, Set Identifier and mask everything
mbed_official 41:e8b66477f5bf 76 LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | BFN_PREP(id << 2, CANIFn_ARB2_ID);
mbed_official 225:2af4c5d0160c 77 LPC_CAN->IF1_MSK2 = /* CANIFn_MSK2_MDIR | */ BFN_PREP(mask << 2, CANIFn_MSK2_MSK);
mbed_official 41:e8b66477f5bf 78 }
mbed_official 41:e8b66477f5bf 79
mbed_official 41:e8b66477f5bf 80 // Use mask, single message object and set DLC
mbed_official 41:e8b66477f5bf 81 LPC_CAN->IF1_MCTRL = CANIFn_MCTRL_UMASK | CANIFn_MCTRL_EOB | CANIFn_MCTRL_RXIE | BFN_PREP(DLC_MAX, CANIFn_MCTRL_DLC);
mbed_official 41:e8b66477f5bf 82
mbed_official 41:e8b66477f5bf 83 // Transfer all fields to message object
mbed_official 41:e8b66477f5bf 84 LPC_CAN->IF1_CMDMSK = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL;
mbed_official 41:e8b66477f5bf 85
mbed_official 41:e8b66477f5bf 86 // Start Transfer to given message number
mbed_official 41:e8b66477f5bf 87 LPC_CAN->IF1_CMDREQ = BFN_PREP(handle, CANIFn_CMDREQ_MN);
mbed_official 41:e8b66477f5bf 88
mbed_official 41:e8b66477f5bf 89 // Wait until transfer to message ram complete - TODO: maybe not block??
mbed_official 203:0f54f988aa69 90 while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
mbed_official 41:e8b66477f5bf 91 }
mbed_official 41:e8b66477f5bf 92
mbed_official 41:e8b66477f5bf 93 return handle;
mbed_official 41:e8b66477f5bf 94 }
mbed_official 41:e8b66477f5bf 95
mbed_official 41:e8b66477f5bf 96 static inline void can_irq() {
mbed_official 41:e8b66477f5bf 97 irq_handler(can_irq_id, IRQ_RX);
mbed_official 41:e8b66477f5bf 98 }
mbed_official 41:e8b66477f5bf 99
mbed_official 41:e8b66477f5bf 100 // Register CAN object's irq handler
mbed_official 41:e8b66477f5bf 101 void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) {
mbed_official 41:e8b66477f5bf 102 irq_handler = handler;
mbed_official 203:0f54f988aa69 103 can_irq_id = id;
mbed_official 41:e8b66477f5bf 104 }
mbed_official 41:e8b66477f5bf 105
mbed_official 41:e8b66477f5bf 106 // Unregister CAN object's irq handler
mbed_official 41:e8b66477f5bf 107 void can_irq_free(can_t *obj) {
mbed_official 41:e8b66477f5bf 108 LPC_CAN->CNTL &= ~CANCNTL_IE; // Disable Interrupts :)
mbed_official 41:e8b66477f5bf 109
mbed_official 41:e8b66477f5bf 110 can_irq_id = 0;
mbed_official 41:e8b66477f5bf 111 NVIC_DisableIRQ(CAN_IRQn);
mbed_official 41:e8b66477f5bf 112 }
mbed_official 41:e8b66477f5bf 113
mbed_official 41:e8b66477f5bf 114 // Clear or set a irq
mbed_official 41:e8b66477f5bf 115 void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) {
mbed_official 41:e8b66477f5bf 116 // Put CAN in Reset Mode and enable interrupt
mbed_official 41:e8b66477f5bf 117 can_disable(obj);
mbed_official 41:e8b66477f5bf 118 if(enable == 0) {
mbed_official 41:e8b66477f5bf 119 LPC_CAN->CNTL &= ~(CANCNTL_IE | CANCNTL_SIE);
mbed_official 41:e8b66477f5bf 120 }
mbed_official 41:e8b66477f5bf 121 else {
mbed_official 41:e8b66477f5bf 122 LPC_CAN->CNTL |= CANCNTL_IE | CANCNTL_SIE;
mbed_official 41:e8b66477f5bf 123 }
mbed_official 41:e8b66477f5bf 124 // Take it out of reset...
mbed_official 41:e8b66477f5bf 125 can_enable(obj);
mbed_official 41:e8b66477f5bf 126
mbed_official 41:e8b66477f5bf 127 // Enable NVIC if at least 1 interrupt is active
mbed_official 41:e8b66477f5bf 128 NVIC_SetVector(CAN_IRQn, (uint32_t) &can_irq);
mbed_official 41:e8b66477f5bf 129 NVIC_EnableIRQ(CAN_IRQn);
mbed_official 41:e8b66477f5bf 130 }
mbed_official 41:e8b66477f5bf 131
mbed_official 41:e8b66477f5bf 132 // This table has the sampling points as close to 75% as possible. The first
mbed_official 41:e8b66477f5bf 133 // value is TSEG1, the second TSEG2.
mbed_official 41:e8b66477f5bf 134 static const int timing_pts[23][2] = {
mbed_official 41:e8b66477f5bf 135 {0x0, 0x0}, // 2, 50%
mbed_official 41:e8b66477f5bf 136 {0x1, 0x0}, // 3, 67%
mbed_official 41:e8b66477f5bf 137 {0x2, 0x0}, // 4, 75%
mbed_official 41:e8b66477f5bf 138 {0x3, 0x0}, // 5, 80%
mbed_official 41:e8b66477f5bf 139 {0x3, 0x1}, // 6, 67%
mbed_official 41:e8b66477f5bf 140 {0x4, 0x1}, // 7, 71%
mbed_official 41:e8b66477f5bf 141 {0x5, 0x1}, // 8, 75%
mbed_official 41:e8b66477f5bf 142 {0x6, 0x1}, // 9, 78%
mbed_official 41:e8b66477f5bf 143 {0x6, 0x2}, // 10, 70%
mbed_official 41:e8b66477f5bf 144 {0x7, 0x2}, // 11, 73%
mbed_official 41:e8b66477f5bf 145 {0x8, 0x2}, // 12, 75%
mbed_official 41:e8b66477f5bf 146 {0x9, 0x2}, // 13, 77%
mbed_official 41:e8b66477f5bf 147 {0x9, 0x3}, // 14, 71%
mbed_official 41:e8b66477f5bf 148 {0xA, 0x3}, // 15, 73%
mbed_official 41:e8b66477f5bf 149 {0xB, 0x3}, // 16, 75%
mbed_official 41:e8b66477f5bf 150 {0xC, 0x3}, // 17, 76%
mbed_official 41:e8b66477f5bf 151 {0xD, 0x3}, // 18, 78%
mbed_official 41:e8b66477f5bf 152 {0xD, 0x4}, // 19, 74%
mbed_official 41:e8b66477f5bf 153 {0xE, 0x4}, // 20, 75%
mbed_official 41:e8b66477f5bf 154 {0xF, 0x4}, // 21, 76%
mbed_official 41:e8b66477f5bf 155 {0xF, 0x5}, // 22, 73%
mbed_official 41:e8b66477f5bf 156 {0xF, 0x6}, // 23, 70%
mbed_official 41:e8b66477f5bf 157 {0xF, 0x7}, // 24, 67%
mbed_official 41:e8b66477f5bf 158 };
mbed_official 41:e8b66477f5bf 159
mbed_official 41:e8b66477f5bf 160 static unsigned int can_speed(unsigned int sclk, unsigned int cclk, unsigned char psjw) {
mbed_official 41:e8b66477f5bf 161 uint32_t btr;
mbed_official 41:e8b66477f5bf 162 uint32_t clkdiv = 1;
mbed_official 41:e8b66477f5bf 163 uint16_t brp = 0;
mbed_official 41:e8b66477f5bf 164 uint32_t calcbit;
mbed_official 41:e8b66477f5bf 165 uint32_t bitwidth;
mbed_official 41:e8b66477f5bf 166 int hit = 0;
mbed_official 41:e8b66477f5bf 167 int bits = 0;
mbed_official 41:e8b66477f5bf 168
mbed_official 41:e8b66477f5bf 169 bitwidth = sclk / cclk;
mbed_official 41:e8b66477f5bf 170
mbed_official 41:e8b66477f5bf 171 brp = bitwidth / 0x18;
mbed_official 41:e8b66477f5bf 172 while ((!hit) && (brp < bitwidth / 4)) {
mbed_official 41:e8b66477f5bf 173 brp++;
mbed_official 41:e8b66477f5bf 174 for (bits = 22; bits > 0; bits--) {
mbed_official 41:e8b66477f5bf 175 calcbit = (bits + 3) * (brp + 1);
mbed_official 41:e8b66477f5bf 176 if (calcbit == bitwidth) {
mbed_official 41:e8b66477f5bf 177 hit = 1;
mbed_official 41:e8b66477f5bf 178 break;
mbed_official 41:e8b66477f5bf 179 }
mbed_official 41:e8b66477f5bf 180 }
mbed_official 41:e8b66477f5bf 181 }
mbed_official 41:e8b66477f5bf 182
mbed_official 41:e8b66477f5bf 183 /* This might be funky
mbed_official 41:e8b66477f5bf 184 while(btr > 63 && clkdiv < 16) {
mbed_official 41:e8b66477f5bf 185 btr = btr / 2;
mbed_official 41:e8b66477f5bf 186 clkdiv = clkdiv * 2;
mbed_official 41:e8b66477f5bf 187 }
mbed_official 41:e8b66477f5bf 188 */
mbed_official 41:e8b66477f5bf 189 clkdiv = clkdiv - 1;
mbed_official 41:e8b66477f5bf 190
mbed_official 41:e8b66477f5bf 191 if (hit) {
mbed_official 41:e8b66477f5bf 192 btr = BFN_PREP(timing_pts[bits][1], CANBT_TSEG2)
mbed_official 41:e8b66477f5bf 193 | BFN_PREP(timing_pts[bits][0], CANBT_TSEG1)
mbed_official 41:e8b66477f5bf 194 | BFN_PREP(psjw, CANBT_SJW)
mbed_official 41:e8b66477f5bf 195 | BFN_PREP(brp, CANBT_BRP);
mbed_official 41:e8b66477f5bf 196 btr = btr | (clkdiv << 16);
mbed_official 41:e8b66477f5bf 197
mbed_official 41:e8b66477f5bf 198 } else {
mbed_official 41:e8b66477f5bf 199 btr = 0;
mbed_official 41:e8b66477f5bf 200 }
mbed_official 41:e8b66477f5bf 201
mbed_official 41:e8b66477f5bf 202 return btr;
mbed_official 41:e8b66477f5bf 203 }
mbed_official 41:e8b66477f5bf 204
mbed_official 41:e8b66477f5bf 205
mbed_official 41:e8b66477f5bf 206 int can_config_rxmsgobj(can_t *obj) {
mbed_official 41:e8b66477f5bf 207 uint16_t i = 0;
mbed_official 41:e8b66477f5bf 208
mbed_official 41:e8b66477f5bf 209 // Make sure the interface is available
mbed_official 41:e8b66477f5bf 210 //while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
mbed_official 41:e8b66477f5bf 211
mbed_official 41:e8b66477f5bf 212 // Mark message valid, Direction = RX, Don't care about anything else
mbed_official 41:e8b66477f5bf 213 LPC_CAN->IF1_ARB1 = 0;
mbed_official 41:e8b66477f5bf 214 LPC_CAN->IF1_ARB2 = 0;
mbed_official 41:e8b66477f5bf 215 LPC_CAN->IF1_MCTRL = 0;
mbed_official 41:e8b66477f5bf 216
mbed_official 41:e8b66477f5bf 217 for ( i = 0; i < MSG_OBJ_MAX; i++ )
mbed_official 41:e8b66477f5bf 218 {
mbed_official 41:e8b66477f5bf 219 // Transfer arb and control fields to message object
mbed_official 41:e8b66477f5bf 220 LPC_CAN->IF1_CMDMSK = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_TXRQST;
mbed_official 41:e8b66477f5bf 221
mbed_official 41:e8b66477f5bf 222 // Start Transfer to given message number
mbed_official 41:e8b66477f5bf 223 LPC_CAN->IF1_CMDREQ = BFN_PREP(i, CANIFn_CMDREQ_MN);
mbed_official 41:e8b66477f5bf 224
mbed_official 41:e8b66477f5bf 225 // Wait until transfer to message ram complete - TODO: maybe not block??
mbed_official 41:e8b66477f5bf 226 while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
mbed_official 41:e8b66477f5bf 227 }
mbed_official 41:e8b66477f5bf 228
mbed_official 41:e8b66477f5bf 229 // Accept all messages
mbed_official 41:e8b66477f5bf 230 can_filter(obj, 0, 0, CANStandard, 1);
mbed_official 41:e8b66477f5bf 231
mbed_official 41:e8b66477f5bf 232 return 1;
mbed_official 41:e8b66477f5bf 233 }
mbed_official 41:e8b66477f5bf 234
mbed_official 41:e8b66477f5bf 235
mbed_official 41:e8b66477f5bf 236 void can_init(can_t *obj, PinName rd, PinName td) {
mbed_official 41:e8b66477f5bf 237 // Enable power and clock
mbed_official 41:e8b66477f5bf 238 LPC_SYSCON->PRESETCTRL |= PRESETCTRL_CAN_RST_N;
mbed_official 41:e8b66477f5bf 239 LPC_SYSCON->SYSAHBCLKCTRL |= SYSAHBCLKCTRL_CAN;
mbed_official 41:e8b66477f5bf 240
mbed_official 41:e8b66477f5bf 241 // Enable Initialization mode
mbed_official 41:e8b66477f5bf 242 if (!(LPC_CAN->CNTL & CANCNTL_INIT)) {
mbed_official 41:e8b66477f5bf 243 LPC_CAN->CNTL |= CANCNTL_INIT;
mbed_official 41:e8b66477f5bf 244 }
mbed_official 41:e8b66477f5bf 245
mbed_official 41:e8b66477f5bf 246 can_frequency(obj, 125000);
mbed_official 41:e8b66477f5bf 247
mbed_official 41:e8b66477f5bf 248 // Resume operation
mbed_official 41:e8b66477f5bf 249 LPC_CAN->CNTL &= ~CANCNTL_INIT;
mbed_official 41:e8b66477f5bf 250 while ( LPC_CAN->CNTL & CANCNTL_INIT );
mbed_official 41:e8b66477f5bf 251
mbed_official 41:e8b66477f5bf 252 // Initialize RX message object
mbed_official 41:e8b66477f5bf 253 can_config_rxmsgobj(obj);
mbed_official 41:e8b66477f5bf 254 }
mbed_official 41:e8b66477f5bf 255
mbed_official 41:e8b66477f5bf 256 void can_free(can_t *obj) {
mbed_official 41:e8b66477f5bf 257 LPC_SYSCON->SYSAHBCLKCTRL &= ~(SYSAHBCLKCTRL_CAN);
mbed_official 41:e8b66477f5bf 258 LPC_SYSCON->PRESETCTRL &= ~(PRESETCTRL_CAN_RST_N);
mbed_official 41:e8b66477f5bf 259 }
mbed_official 41:e8b66477f5bf 260
mbed_official 41:e8b66477f5bf 261 int can_frequency(can_t *obj, int f) {
mbed_official 41:e8b66477f5bf 262 int btr = can_speed(SystemCoreClock, (unsigned int)f, 1);
mbed_official 41:e8b66477f5bf 263 int clkdiv = (btr >> 16) & 0x0F;
mbed_official 41:e8b66477f5bf 264 btr = btr & 0xFFFF;
mbed_official 41:e8b66477f5bf 265
mbed_official 41:e8b66477f5bf 266 if (btr > 0) {
mbed_official 203:0f54f988aa69 267 uint32_t cntl_init = LPC_CAN->CNTL | CANCNTL_INIT;
mbed_official 41:e8b66477f5bf 268 // Set the bit clock
mbed_official 203:0f54f988aa69 269 LPC_CAN->CNTL |= CANCNTL_CCE | CANCNTL_INIT;
mbed_official 41:e8b66477f5bf 270 LPC_CAN->CLKDIV = clkdiv;
mbed_official 41:e8b66477f5bf 271 LPC_CAN->BT = btr;
mbed_official 41:e8b66477f5bf 272 LPC_CAN->BRPE = 0x0000;
mbed_official 203:0f54f988aa69 273 LPC_CAN->CNTL &= ~(CANCNTL_CCE | CANCNTL_INIT);
mbed_official 203:0f54f988aa69 274 LPC_CAN->CNTL |= cntl_init;
mbed_official 41:e8b66477f5bf 275 return 1;
mbed_official 41:e8b66477f5bf 276 }
mbed_official 41:e8b66477f5bf 277 return 0;
mbed_official 41:e8b66477f5bf 278 }
mbed_official 41:e8b66477f5bf 279
mbed_official 203:0f54f988aa69 280 int can_write(can_t *obj, CAN_Message msg, int cc) {
mbed_official 41:e8b66477f5bf 281 uint16_t msgnum = 0;
mbed_official 41:e8b66477f5bf 282
mbed_official 41:e8b66477f5bf 283 // Make sure controller is enabled
mbed_official 41:e8b66477f5bf 284 can_enable(obj);
mbed_official 41:e8b66477f5bf 285
mbed_official 41:e8b66477f5bf 286 // Make sure the interface is available
mbed_official 41:e8b66477f5bf 287 while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY );
mbed_official 41:e8b66477f5bf 288
mbed_official 225:2af4c5d0160c 289 // Set the direction bit based on the message type
mbed_official 225:2af4c5d0160c 290 uint32_t direction = 0;
mbed_official 225:2af4c5d0160c 291 if (msg.type == CANData) {
mbed_official 225:2af4c5d0160c 292 direction = CANIFn_ARB2_DIR;
mbed_official 225:2af4c5d0160c 293 }
mbed_official 225:2af4c5d0160c 294
mbed_official 41:e8b66477f5bf 295 if(msg.format == CANExtended) {
mbed_official 225:2af4c5d0160c 296 // Mark message valid, Extended Frame, Set Identifier and mask everything
mbed_official 41:e8b66477f5bf 297 LPC_CAN->IF1_ARB1 = BFN_PREP(msg.id, CANIFn_ARB1_ID);
mbed_official 225:2af4c5d0160c 298 LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | CANIFn_ARB2_XTD | direction | BFN_PREP(msg.id >> 16, CANIFn_ARB2_ID);
mbed_official 41:e8b66477f5bf 299 LPC_CAN->IF1_MSK1 = BFN_PREP(ID_EXT_MASK, CANIFn_MSK1_MSK);
mbed_official 41:e8b66477f5bf 300 LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MXTD | CANIFn_MSK2_MDIR | BFN_PREP(ID_EXT_MASK >> 16, CANIFn_MSK2_MSK);
mbed_official 41:e8b66477f5bf 301 }
mbed_official 41:e8b66477f5bf 302 else {
mbed_official 225:2af4c5d0160c 303 // Mark message valid, Set Identifier and mask everything
mbed_official 225:2af4c5d0160c 304 LPC_CAN->IF1_ARB2 = CANIFn_ARB2_MSGVAL | direction | BFN_PREP(msg.id << 2, CANIFn_ARB2_ID);
mbed_official 41:e8b66477f5bf 305 LPC_CAN->IF1_MSK2 = CANIFn_MSK2_MDIR | BFN_PREP(ID_STD_MASK << 2, CANIFn_MSK2_MSK);
mbed_official 41:e8b66477f5bf 306 }
mbed_official 41:e8b66477f5bf 307
mbed_official 41:e8b66477f5bf 308 // Use mask, request transmission, single message object and set DLC
mbed_official 41:e8b66477f5bf 309 LPC_CAN->IF1_MCTRL = CANIFn_MCTRL_UMASK | CANIFn_MCTRL_TXRQST | CANIFn_MCTRL_EOB | BFN_PREP(msg.len, CANIFn_MCTRL_DLC);
mbed_official 41:e8b66477f5bf 310
mbed_official 41:e8b66477f5bf 311 LPC_CAN->IF1_DA1 = BFN_PREP(msg.data[1], CANIFn_DA1_DATA1) | BFN_PREP(msg.data[0], CANIFn_DA1_DATA0);
mbed_official 41:e8b66477f5bf 312 LPC_CAN->IF1_DA2 = BFN_PREP(msg.data[3], CANIFn_DA2_DATA3) | BFN_PREP(msg.data[2], CANIFn_DA2_DATA2);
mbed_official 41:e8b66477f5bf 313 LPC_CAN->IF1_DB1 = BFN_PREP(msg.data[5], CANIFn_DB1_DATA5) | BFN_PREP(msg.data[4], CANIFn_DB1_DATA4);
mbed_official 41:e8b66477f5bf 314 LPC_CAN->IF1_DB2 = BFN_PREP(msg.data[7], CANIFn_DB2_DATA7) | BFN_PREP(msg.data[6], CANIFn_DB2_DATA6);
mbed_official 41:e8b66477f5bf 315
mbed_official 41:e8b66477f5bf 316 // Transfer all fields to message object
mbed_official 41:e8b66477f5bf 317 LPC_CAN->IF1_CMDMSK = CANIFn_CMDMSK_WR | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_TXRQST | CANIFn_CMDMSK_DATA_A | CANIFn_CMDMSK_DATA_B;
mbed_official 41:e8b66477f5bf 318
mbed_official 41:e8b66477f5bf 319 // Start Transfer to given message number
mbed_official 41:e8b66477f5bf 320 LPC_CAN->IF1_CMDREQ = BFN_PREP(msgnum, CANIFn_CMDREQ_MN);
mbed_official 41:e8b66477f5bf 321
mbed_official 41:e8b66477f5bf 322 // Wait until transfer to message ram complete - TODO: maybe not block??
mbed_official 41:e8b66477f5bf 323 while( LPC_CAN->IF1_CMDREQ & CANIFn_CMDREQ_BUSY);
mbed_official 41:e8b66477f5bf 324
mbed_official 41:e8b66477f5bf 325 // Wait until TXOK is set, then clear it - TODO: maybe not block
mbed_official 41:e8b66477f5bf 326 //while( !(LPC_CAN->STAT & CANSTAT_TXOK) );
mbed_official 41:e8b66477f5bf 327 LPC_CAN->STAT &= ~(CANSTAT_TXOK);
mbed_official 41:e8b66477f5bf 328
mbed_official 41:e8b66477f5bf 329 return 1;
mbed_official 41:e8b66477f5bf 330 }
mbed_official 41:e8b66477f5bf 331
mbed_official 41:e8b66477f5bf 332 int can_read(can_t *obj, CAN_Message *msg, int handle) {
mbed_official 41:e8b66477f5bf 333 uint16_t i;
mbed_official 41:e8b66477f5bf 334
mbed_official 41:e8b66477f5bf 335 // Make sure controller is enabled
mbed_official 41:e8b66477f5bf 336 can_enable(obj);
mbed_official 41:e8b66477f5bf 337
mbed_official 41:e8b66477f5bf 338 // Find first message object with new data
mbed_official 41:e8b66477f5bf 339 if(handle == 0) {
mbed_official 41:e8b66477f5bf 340 uint32_t newdata = LPC_CAN->ND1 | (LPC_CAN->ND2 << 16);
mbed_official 41:e8b66477f5bf 341 // Find first free messagebox
mbed_official 41:e8b66477f5bf 342 for(i = 0; i < 32; i++) {
mbed_official 41:e8b66477f5bf 343 if(newdata & (1 << i)) {
mbed_official 41:e8b66477f5bf 344 handle = i+1;
mbed_official 41:e8b66477f5bf 345 break;
mbed_official 41:e8b66477f5bf 346 }
mbed_official 41:e8b66477f5bf 347 }
mbed_official 41:e8b66477f5bf 348 }
mbed_official 41:e8b66477f5bf 349
mbed_official 41:e8b66477f5bf 350 if(handle > 0 && handle < 32) {
mbed_official 41:e8b66477f5bf 351 // Wait until message interface is free
mbed_official 41:e8b66477f5bf 352 while( LPC_CAN->IF2_CMDREQ & CANIFn_CMDREQ_BUSY );
mbed_official 41:e8b66477f5bf 353
mbed_official 41:e8b66477f5bf 354 // Transfer all fields to message object
mbed_official 41:e8b66477f5bf 355 LPC_CAN->IF2_CMDMSK = CANIFn_CMDMSK_RD | CANIFn_CMDMSK_MASK | CANIFn_CMDMSK_ARB | CANIFn_CMDMSK_CTRL | CANIFn_CMDMSK_CLRINTPND | CANIFn_CMDMSK_TXRQST | CANIFn_CMDMSK_DATA_A | CANIFn_CMDMSK_DATA_B;
mbed_official 41:e8b66477f5bf 356
mbed_official 41:e8b66477f5bf 357 // Start Transfer from given message number
mbed_official 41:e8b66477f5bf 358 LPC_CAN->IF2_CMDREQ = BFN_PREP(handle, CANIFn_CMDREQ_MN);
mbed_official 41:e8b66477f5bf 359
mbed_official 41:e8b66477f5bf 360 // Wait until transfer to message ram complete
mbed_official 41:e8b66477f5bf 361 while( LPC_CAN->IF2_CMDREQ & CANIFn_CMDREQ_BUSY );
mbed_official 41:e8b66477f5bf 362
mbed_official 203:0f54f988aa69 363 if (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_XTD) {
mbed_official 203:0f54f988aa69 364 msg->format = CANExtended;
mbed_official 41:e8b66477f5bf 365 msg->id = (LPC_CAN->IF2_ARB1 & CANIFn_ARB2_ID_MASK) << 16;
mbed_official 41:e8b66477f5bf 366 msg->id |= (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_ID_MASK);
mbed_official 41:e8b66477f5bf 367 }
mbed_official 41:e8b66477f5bf 368 else {
mbed_official 203:0f54f988aa69 369 msg->format = CANStandard;
mbed_official 41:e8b66477f5bf 370 msg->id = (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_ID_MASK) >> 2;
mbed_official 41:e8b66477f5bf 371 }
mbed_official 41:e8b66477f5bf 372
mbed_official 225:2af4c5d0160c 373 if (LPC_CAN->IF2_ARB2 & CANIFn_ARB2_DIR) {
mbed_official 225:2af4c5d0160c 374 msg->type = CANRemote;
mbed_official 225:2af4c5d0160c 375 }
mbed_official 225:2af4c5d0160c 376 else {
mbed_official 225:2af4c5d0160c 377 msg->type = CANData;
mbed_official 225:2af4c5d0160c 378 }
mbed_official 225:2af4c5d0160c 379
mbed_official 41:e8b66477f5bf 380 msg->len = BFN_GET(LPC_CAN->IF2_MCTRL, CANIFn_MCTRL_DLC); // TODO: If > 8, len = 8
mbed_official 41:e8b66477f5bf 381 msg->data[0] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA0);
mbed_official 41:e8b66477f5bf 382 msg->data[1] = BFN_GET(LPC_CAN->IF2_DA1, CANIFn_DA1_DATA1);
mbed_official 41:e8b66477f5bf 383 msg->data[2] = BFN_GET(LPC_CAN->IF2_DA2, CANIFn_DA2_DATA2);
mbed_official 41:e8b66477f5bf 384 msg->data[3] = BFN_GET(LPC_CAN->IF2_DA2, CANIFn_DA2_DATA3);
mbed_official 41:e8b66477f5bf 385 msg->data[4] = BFN_GET(LPC_CAN->IF2_DB1, CANIFn_DB1_DATA4);
mbed_official 41:e8b66477f5bf 386 msg->data[5] = BFN_GET(LPC_CAN->IF2_DB1, CANIFn_DB1_DATA5);
mbed_official 41:e8b66477f5bf 387 msg->data[6] = BFN_GET(LPC_CAN->IF2_DB2, CANIFn_DB2_DATA6);
mbed_official 41:e8b66477f5bf 388 msg->data[7] = BFN_GET(LPC_CAN->IF2_DB2, CANIFn_DB2_DATA7);
mbed_official 41:e8b66477f5bf 389
mbed_official 41:e8b66477f5bf 390 LPC_CAN->STAT &= ~(CANSTAT_RXOK);
mbed_official 41:e8b66477f5bf 391 return 1;
mbed_official 41:e8b66477f5bf 392 }
mbed_official 41:e8b66477f5bf 393
mbed_official 41:e8b66477f5bf 394 return 0;
mbed_official 41:e8b66477f5bf 395 }
mbed_official 41:e8b66477f5bf 396
mbed_official 41:e8b66477f5bf 397 void can_reset(can_t *obj) {
mbed_official 41:e8b66477f5bf 398 LPC_SYSCON->PRESETCTRL &= ~PRESETCTRL_CAN_RST_N;
mbed_official 41:e8b66477f5bf 399 LPC_CAN->STAT = 0;
mbed_official 41:e8b66477f5bf 400
mbed_official 41:e8b66477f5bf 401 can_config_rxmsgobj(obj);
mbed_official 41:e8b66477f5bf 402 }
mbed_official 41:e8b66477f5bf 403
mbed_official 41:e8b66477f5bf 404 unsigned char can_rderror(can_t *obj) {
mbed_official 41:e8b66477f5bf 405 return BFN_GET(LPC_CAN->EC, CANEC_REC);
mbed_official 41:e8b66477f5bf 406 }
mbed_official 41:e8b66477f5bf 407
mbed_official 41:e8b66477f5bf 408 unsigned char can_tderror(can_t *obj) {
mbed_official 41:e8b66477f5bf 409 return BFN_GET(LPC_CAN->EC, CANEC_TEC);
mbed_official 41:e8b66477f5bf 410 }
mbed_official 41:e8b66477f5bf 411
mbed_official 41:e8b66477f5bf 412 void can_monitor(can_t *obj, int silent) {
mbed_official 41:e8b66477f5bf 413 if (silent) {
mbed_official 41:e8b66477f5bf 414 LPC_CAN->CNTL |= CANCNTL_TEST;
mbed_official 41:e8b66477f5bf 415 LPC_CAN->TEST |= CANTEST_SILENT;
mbed_official 41:e8b66477f5bf 416 } else {
mbed_official 41:e8b66477f5bf 417 LPC_CAN->CNTL &= ~(CANCNTL_TEST);
mbed_official 41:e8b66477f5bf 418 LPC_CAN->TEST &= ~CANTEST_SILENT;
mbed_official 41:e8b66477f5bf 419 }
mbed_official 41:e8b66477f5bf 420
mbed_official 41:e8b66477f5bf 421 if (!(LPC_CAN->CNTL & CANCNTL_INIT)) {
mbed_official 41:e8b66477f5bf 422 LPC_CAN->CNTL |= CANCNTL_INIT;
mbed_official 41:e8b66477f5bf 423 }
mbed_official 41:e8b66477f5bf 424 }