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Rev | Author | Line No. | Line |
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691 | holgerb | 1 | #include "91x_lib.h" |
2 | #include "91x_can.h" |
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3 | #include "timer1.h" |
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4 | #include "led.h" |
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5 | #include "canbus.h" |
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6 | #include "main.h" |
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7 | #include "uart1.h" |
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8 | |||
9 | canmsg CanMsg; |
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10 | canmsg RxCanMsg; |
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11 | volatile u32 frame_received_flag; |
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12 | |||
13 | GPIO_InitTypeDef GPIO_InitStructure; |
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14 | CAN_InitTypeDef CAN_InitStructure; |
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15 | |||
16 | |||
17 | typedef enum { |
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18 | NA, |
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19 | Priority_1, |
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20 | Priority_2, |
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21 | Priority_3 |
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22 | }VIC_Priority; |
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23 | |||
24 | /* buffer for receive messages */ |
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25 | canmsg RxCanMsg; |
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26 | |||
27 | /* used message object numbers */ |
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28 | enum { |
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29 | CAN_TX_MSGOBJ = 0, |
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30 | CAN_RX_MSGOBJ = 1 |
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31 | }; |
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32 | |||
33 | /* array of pre-defined transmit messages */ |
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34 | canmsg TxCanMsg[3] = { |
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35 | { CAN_STD_ID, 0x123, 4, { 0x01, 0x02, 0x04, 0x08 } }, |
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36 | { CAN_STD_ID, 0x321, 2, { 0xAA, 0x55, 0xAA, 0x55 } }, |
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37 | { CAN_EXT_ID, 0x12345678, 8, { 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17 } } |
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38 | }; |
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39 | |||
40 | void CAN_IO_Init(void) |
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41 | { |
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42 | // P5.0 alternate input 1, CAN_RX pin |
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43 | GPIO_StructInit(&GPIO_InitStructure); |
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44 | GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0; |
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45 | GPIO_InitStructure.GPIO_Direction=GPIO_PinInput; |
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46 | GPIO_InitStructure.GPIO_IPInputConnected=GPIO_IPInputConnected_Enable; |
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47 | GPIO_InitStructure.GPIO_Alternate=GPIO_InputAlt1; |
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48 | GPIO_Init(GPIO5,&GPIO_InitStructure); |
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49 | // P5.1 CAN_TX |
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50 | GPIO_StructInit(&GPIO_InitStructure); |
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51 | GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1; |
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52 | GPIO_InitStructure.GPIO_Direction=GPIO_PinOutput; |
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53 | GPIO_InitStructure.GPIO_Type=GPIO_Type_PushPull; |
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54 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt2; |
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55 | GPIO_Init(GPIO5,&GPIO_InitStructure); |
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56 | } |
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57 | |||
58 | |||
59 | |||
60 | /******************************************************************************* |
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61 | * Function Name : CAN_IRQHandler |
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62 | * Description : This function handles the CAN interrupt request |
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63 | *******************************************************************************/ |
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64 | void CAN_IRQHandler(void) |
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65 | { |
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66 | u32 msgobj = 0; |
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67 | if(CAN->IDR == 0x8000) /* status interrupt */ |
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68 | { |
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69 | (void)CAN->SR; /* read the status register to clear*/ |
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70 | } |
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71 | else if(CAN->IDR >= 1 && CAN->IDR <= 32) |
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72 | { |
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73 | /* get the message object number that caused the interrupt to occur */ |
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74 | switch(msgobj = CAN->IDR - 1) |
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75 | { |
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76 | case 0 /* CAN_TX_MSGOBJ */: |
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77 | DebugOut.Analog[17]++; |
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78 | CAN_ReleaseTxMessage(msgobj); |
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79 | break; |
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80 | |||
81 | case 1 /* CAN_RX_MSGOBJ */: |
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82 | CAN_ReceiveMessage(msgobj, FALSE, &RxCanMsg); |
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83 | CAN_ReleaseRxMessage(msgobj); |
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84 | frame_received_flag = 1; |
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85 | DebugOut.Analog[19]++; |
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86 | break; |
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87 | |||
88 | default: |
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89 | CAN_ReleaseMessage(msgobj); |
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90 | break; |
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91 | } |
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92 | } |
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93 | |||
94 | /*write any value to VIC0 VAR*/ |
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95 | VIC0->VAR = 0xFF; |
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96 | |||
97 | } |
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98 | |||
99 | void CanSend(void) |
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100 | { |
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101 | // CAN_SetUnusedAllMsgObj(); |
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102 | // CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE); |
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103 | // CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE); |
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104 | //CAN_UpdateMsgObj(CAN_TX_MSGOBJ, &TxCanMsg[1]); |
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105 | TxCanMsg[1].Data[0] = DebugOut.Analog[24] / 256; |
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106 | TxCanMsg[1].Data[1] = DebugOut.Analog[24] % 256; |
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107 | CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]); |
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108 | } |
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109 | |||
110 | void CanReceive(void) |
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111 | { |
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112 | |||
113 | } |
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114 | |||
115 | |||
116 | void CanbusInit(void) |
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117 | { |
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118 | UART1_PutString("\r\n Canbus init..."); |
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119 | CAN_IO_Init(); |
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120 | SCU_APBPeriphClockConfig(__CAN, ENABLE); |
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121 | SCU_APBPeriphReset(__CAN, DISABLE); |
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122 | |||
123 | VIC_Config(CAN_ITLine, VIC_IRQ, Priority_1); |
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124 | CAN_InitStructure.CAN_ConfigParameters=CAN_CR_IE; |
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125 | CAN_InitStructure.CAN_Bitrate = CAN_BITRATE_1M; |
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126 | CAN_Init(&CAN_InitStructure); |
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127 | VIC_ITCmd(CAN_ITLine, ENABLE); |
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128 | |||
129 | CAN_SetUnusedAllMsgObj(); |
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130 | CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE); |
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131 | CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE); |
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132 | |||
133 | UART1_PutString("ok"); |
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134 | } |
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135 | |||
136 | void ProcessCanBus(void) |
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137 | { |
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138 | |||
139 | CanSend(); |
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140 | CanReceive(); |
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141 | if(CAN_GetTransmitErrorCounter() > 200) CanbusInit(); |
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142 | |||
143 | //DebugOut.Analog[16] = CAN->SR ; |
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144 | |||
145 | if(frame_received_flag) |
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146 | { |
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147 | frame_received_flag = 0; |
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148 | DebugOut.Analog[16] = RxCanMsg.Data[0] * 256 + RxCanMsg.Data[1]; |
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149 | } |
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150 | |||
151 | } |
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152 | |||
153 | |||
154 | |||
155 | |||
156 |