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Rev | Author | Line No. | Line |
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696 | holgerb | 1 | #include <string.h> |
691 | holgerb | 2 | #include "91x_lib.h" |
3 | #include "91x_can.h" |
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4 | #include "timer1.h" |
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5 | #include "led.h" |
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6 | #include "canbus.h" |
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698 | holgerb | 7 | #include "compass.h" |
691 | holgerb | 8 | #include "main.h" |
698 | holgerb | 9 | #include "uart0.h" |
691 | holgerb | 10 | #include "uart1.h" |
696 | holgerb | 11 | #include "GPS.h" |
691 | holgerb | 12 | |
13 | canmsg CanMsg; |
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14 | canmsg RxCanMsg; |
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696 | holgerb | 15 | volatile u32 AllMsgsReceived; |
698 | holgerb | 16 | u32 CanbusTimeOut = 0; |
691 | holgerb | 17 | |
18 | GPIO_InitTypeDef GPIO_InitStructure; |
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19 | CAN_InitTypeDef CAN_InitStructure; |
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20 | |||
21 | |||
22 | typedef enum { |
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23 | NA, |
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24 | Priority_1, |
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25 | Priority_2, |
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26 | Priority_3 |
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27 | }VIC_Priority; |
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28 | |||
29 | /* buffer for receive messages */ |
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696 | holgerb | 30 | canmsg RxCanTxMsg; |
691 | holgerb | 31 | |
32 | /* used message object numbers */ |
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33 | enum { |
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34 | CAN_TX_MSGOBJ = 0, |
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35 | CAN_RX_MSGOBJ = 1 |
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36 | }; |
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37 | |||
698 | holgerb | 38 | #define CAN_MSG_ADR_MA 0x200 |
39 | #define CAN_MSG_ADR_SL 0x300 |
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691 | holgerb | 40 | |
698 | holgerb | 41 | u32 CAN_IdTx; // I am Sending in this ID-Range |
42 | u32 CAN_IdRx; // I am Receiving in this ID-Range |
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696 | holgerb | 43 | |
44 | CanMessage_t CanTxMessage[MAX_CAN_MSG]; |
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45 | CanMessage_t CanRxMessage[MAX_CAN_MSG]; |
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46 | |||
691 | holgerb | 47 | void CAN_IO_Init(void) |
48 | { |
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49 | // P5.0 alternate input 1, CAN_RX pin |
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50 | GPIO_StructInit(&GPIO_InitStructure); |
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51 | GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0; |
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52 | GPIO_InitStructure.GPIO_Direction=GPIO_PinInput; |
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53 | GPIO_InitStructure.GPIO_IPInputConnected=GPIO_IPInputConnected_Enable; |
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54 | GPIO_InitStructure.GPIO_Alternate=GPIO_InputAlt1; |
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55 | GPIO_Init(GPIO5,&GPIO_InitStructure); |
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56 | // P5.1 CAN_TX |
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57 | GPIO_StructInit(&GPIO_InitStructure); |
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58 | GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1; |
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59 | GPIO_InitStructure.GPIO_Direction=GPIO_PinOutput; |
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60 | GPIO_InitStructure.GPIO_Type=GPIO_Type_PushPull; |
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61 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt2; |
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62 | GPIO_Init(GPIO5,&GPIO_InitStructure); |
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63 | } |
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64 | |||
65 | |||
66 | |||
67 | /******************************************************************************* |
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68 | * Function Name : CAN_IRQHandler |
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69 | * Description : This function handles the CAN interrupt request |
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70 | *******************************************************************************/ |
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71 | void CAN_IRQHandler(void) |
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72 | { |
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73 | u32 msgobj = 0; |
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74 | if(CAN->IDR == 0x8000) /* status interrupt */ |
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75 | { |
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76 | (void)CAN->SR; /* read the status register to clear*/ |
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77 | } |
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78 | else if(CAN->IDR >= 1 && CAN->IDR <= 32) |
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79 | { |
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80 | /* get the message object number that caused the interrupt to occur */ |
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81 | switch(msgobj = CAN->IDR - 1) |
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82 | { |
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83 | case 0 /* CAN_TX_MSGOBJ */: |
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84 | CAN_ReleaseTxMessage(msgobj); |
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85 | break; |
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86 | |||
87 | case 1 /* CAN_RX_MSGOBJ */: |
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88 | CAN_ReceiveMessage(msgobj, FALSE, &RxCanMsg); |
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696 | holgerb | 89 | CAN_ReleaseRxMessage(msgobj); |
90 | |||
698 | holgerb | 91 | if(RxCanMsg.Id >= CAN_IdRx && RxCanMsg.Id < CAN_IdRx + MAX_CAN_MSG) |
696 | holgerb | 92 | { |
698 | holgerb | 93 | memcpy(&CanRxMessage[RxCanMsg.Id - CAN_IdRx], &RxCanMsg,sizeof(RxCanMsg)); |
696 | holgerb | 94 | } |
698 | holgerb | 95 | if(RxCanMsg.Id == CAN_IdRx + MAX_CAN_MSG - 1) |
696 | holgerb | 96 | { |
97 | AllMsgsReceived = 1; |
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98 | } |
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698 | holgerb | 99 | // DebugOut.Analog[] = RxCanMsg.Id; |
691 | holgerb | 100 | break; |
101 | |||
102 | default: |
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103 | CAN_ReleaseMessage(msgobj); |
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104 | break; |
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105 | } |
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106 | } |
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107 | |||
108 | /*write any value to VIC0 VAR*/ |
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109 | VIC0->VAR = 0xFF; |
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110 | |||
111 | } |
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112 | |||
113 | void CanSend(void) |
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114 | { |
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696 | holgerb | 115 | static u32 index = 1; |
698 | holgerb | 116 | |
710 | holgerb | 117 | if(CAN_SendMessage(CAN_TX_MSGOBJ, (canmsg*) &CanTxMessage[index]) == SUCCESS) |
696 | holgerb | 118 | { |
119 | if(++index >= MAX_CAN_MSG) |
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120 | { |
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698 | holgerb | 121 | u32 i; |
696 | holgerb | 122 | index = 0; |
698 | holgerb | 123 | CanTxMessage[CAN_ID_STATUS].D.Byte[0] = ErrorCode; |
124 | |||
696 | holgerb | 125 | CanTxMessage[CAN_ID_FS_LON].D.sLong = GPS_FailsafePosition.Longitude; |
126 | CanTxMessage[CAN_ID_FS_LAT].D.sLong = GPS_FailsafePosition.Latitude; |
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698 | holgerb | 127 | |
128 | CanTxMessage[CAN_ID_STATUS].D.Byte[0] = ErrorCode; |
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129 | CanTxMessage[CAN_ID_STATUS].D.Byte[1] = FC.StatusFlags; |
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130 | CanTxMessage[CAN_ID_STATUS].D.Byte[2] = FC.StatusFlags2; |
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131 | CanTxMessage[CAN_ID_STATUS].D.Byte[3] = FC.StatusFlags3; |
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132 | CanTxMessage[CAN_ID_STATUS].D.Byte[4] = NC_To_FC_Flags; |
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133 | CanTxMessage[CAN_ID_STATUS].D.Byte[5] = EarthMagneticField/5; // in % |
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134 | CanTxMessage[CAN_ID_STATUS].D.Int[3] = GyroCompassCorrected; |
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135 | |||
136 | for(i=0; i<8;i++) |
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137 | { |
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138 | CanTxMessage[CAN_ID_TEXT1].D.Byte[i] = ErrorMSG[i]; |
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139 | CanTxMessage[CAN_ID_TEXT2].D.Byte[i] = ErrorMSG[i + 8]; |
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140 | CanTxMessage[CAN_ID_TEXT3].D.Byte[i] = ErrorMSG[i + 16]; |
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141 | } |
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696 | holgerb | 142 | } |
143 | } |
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691 | holgerb | 144 | } |
145 | |||
146 | void CanReceive(void) |
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147 | { |
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148 | |||
149 | } |
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150 | |||
151 | |||
152 | void CanbusInit(void) |
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153 | { |
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154 | UART1_PutString("\r\n Canbus init..."); |
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155 | CAN_IO_Init(); |
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156 | SCU_APBPeriphClockConfig(__CAN, ENABLE); |
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157 | SCU_APBPeriphReset(__CAN, DISABLE); |
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158 | |||
159 | VIC_Config(CAN_ITLine, VIC_IRQ, Priority_1); |
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160 | CAN_InitStructure.CAN_ConfigParameters=CAN_CR_IE; |
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161 | CAN_InitStructure.CAN_Bitrate = CAN_BITRATE_1M; |
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162 | CAN_Init(&CAN_InitStructure); |
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163 | VIC_ITCmd(CAN_ITLine, ENABLE); |
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164 | |||
165 | CAN_SetUnusedAllMsgObj(); |
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166 | CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE); |
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167 | CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE); |
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168 | |||
696 | holgerb | 169 | u32 i; |
698 | holgerb | 170 | |
171 | if(IamMaster == SLAVE) |
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172 | { |
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173 | CAN_IdRx = CAN_MSG_ADR_MA; |
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174 | CAN_IdTx = CAN_MSG_ADR_SL; |
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175 | } |
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176 | else |
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177 | { |
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178 | CAN_IdRx = CAN_MSG_ADR_SL; |
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179 | CAN_IdTx = CAN_MSG_ADR_MA; |
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180 | } |
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181 | |||
696 | holgerb | 182 | for(i=0; i< MAX_CAN_MSG;i++) |
183 | { |
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698 | holgerb | 184 | // clear TX Buffer |
696 | holgerb | 185 | CanTxMessage[i].IdType = CAN_STD_ID; |
698 | holgerb | 186 | CanTxMessage[i].Id = i + CAN_IdTx; |
696 | holgerb | 187 | CanTxMessage[i].Length = 8; |
698 | holgerb | 188 | CanTxMessage[i].D.Long = 0; |
189 | |||
190 | // clear receiving Buffer |
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191 | CanRxMessage[i].Id = 0; |
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192 | CanRxMessage[i].D.Long = 0; |
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696 | holgerb | 193 | } |
194 | |||
698 | holgerb | 195 | CanTxMessage[CAN_ID_VERSION].D.Byte[0] = 0; |
196 | CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
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197 | CanTxMessage[CAN_ID_VERSION].D.Byte[2] = GPS_Version/1000; |
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198 | CanTxMessage[CAN_ID_VERSION].D.Byte[3] = UART_VersionInfo.HWMajor; |
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199 | CanTxMessage[CAN_ID_VERSION].D.Byte[4] = CAN_SLAVE_COMPATIBLE; |
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200 | CanTxMessage[CAN_ID_VERSION].D.Byte[5] = VERSION_PATCH; |
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201 | CanTxMessage[CAN_ID_VERSION].D.Byte[6] = VERSION_MINOR; |
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202 | CanTxMessage[CAN_ID_VERSION].D.Byte[7] = VERSION_MAJOR; |
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696 | holgerb | 203 | |
691 | holgerb | 204 | UART1_PutString("ok"); |
205 | } |
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206 | |||
207 | void ProcessCanBus(void) |
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208 | { |
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698 | holgerb | 209 | u32 errorcnt = 0; |
691 | holgerb | 210 | CanSend(); |
211 | CanReceive(); |
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212 | |||
698 | holgerb | 213 | errorcnt = CAN_GetTransmitErrorCounter(); |
214 | DebugOut.Analog[18] = errorcnt; |
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215 | //if(errorcnt > 200) CanbusInit(); |
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216 | |||
691 | holgerb | 217 | //DebugOut.Analog[16] = CAN->SR ; |
218 | |||
696 | holgerb | 219 | if(AllMsgsReceived) |
691 | holgerb | 220 | { |
698 | holgerb | 221 | u32 i; |
696 | holgerb | 222 | AllMsgsReceived = 0; |
710 | holgerb | 223 | // DebugOut.Analog[16]++; |
698 | holgerb | 224 | CanbusTimeOut = 1000; |
225 | for(i=0; i<8;i++) |
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226 | { |
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227 | PartnerErrorMSG[i] = CanRxMessage[CAN_ID_TEXT1].D.Byte[i]; |
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228 | PartnerErrorMSG[i+8] = CanRxMessage[CAN_ID_TEXT2].D.Byte[i]; |
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229 | PartnerErrorMSG[i+16] = CanRxMessage[CAN_ID_TEXT3].D.Byte[i]; |
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230 | } |
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231 | Partner.ErrorCode = CanRxMessage[CAN_ID_STATUS].D.Byte[0]; |
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232 | Partner.StatusFlags = CanRxMessage[CAN_ID_STATUS].D.Byte[1]; |
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233 | Partner.StatusFlags2 = CanRxMessage[CAN_ID_STATUS].D.Byte[2]; |
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234 | Partner.StatusFlags3 = CanRxMessage[CAN_ID_STATUS].D.Byte[3]; |
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235 | Partner.NC_To_FC_Flags = CanRxMessage[CAN_ID_STATUS].D.Byte[4]; |
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236 | Partner.MagnetField = CanRxMessage[CAN_ID_STATUS].D.Byte[5]; |
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237 | Partner.GyroCompassCorrected = CanRxMessage[CAN_ID_STATUS].D.Int[3]; |
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696 | holgerb | 238 | |
698 | holgerb | 239 | CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
696 | holgerb | 240 | |
698 | holgerb | 241 | if(IamMaster == SLAVE) |
696 | holgerb | 242 | { |
243 | GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |
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244 | GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
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698 | holgerb | 245 | //DebugOut.Analog[17] = CanRxMessage[CAN_ID_FS_LON].D.sLong / 100000; |
246 | //DebugOut.Analog[18] = CanRxMessage[CAN_ID_FS_LAT].D.sLong / 100000; |
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696 | holgerb | 247 | } |
691 | holgerb | 248 | } |
249 | } |
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250 | |||
251 | |||
252 | |||
253 | |||
254 |