Rev 693 |
Go to most recent revision |
Blame |
Compare with Previous |
Last modification |
View Log
| RSS feed
#include "91x_lib.h"
#include "91x_can.h"
#include "timer1.h"
#include "led.h"
#include "canbus.h"
#include "main.h"
#include "uart1.h"
canmsg CanMsg;
canmsg RxCanMsg;
volatile u32 frame_received_flag;
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
typedef enum {
NA,
Priority_1,
Priority_2,
Priority_3
}VIC_Priority;
/* buffer for receive messages */
canmsg RxCanMsg;
/* used message object numbers */
enum {
CAN_TX_MSGOBJ = 0,
CAN_RX_MSGOBJ = 1
};
/* array of pre-defined transmit messages */
canmsg TxCanMsg[3] = {
{ CAN_STD_ID, 0x123, 4, { 0x01, 0x02, 0x04, 0x08 } },
{ CAN_STD_ID, 0x321, 2, { 0xAA, 0x55, 0xAA, 0x55 } },
{ CAN_EXT_ID, 0x12345678, 8, { 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17 } }
};
void CAN_IO_Init(void)
{
// P5.0 alternate input 1, CAN_RX pin
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0;
GPIO_InitStructure.GPIO_Direction=GPIO_PinInput;
GPIO_InitStructure.GPIO_IPInputConnected=GPIO_IPInputConnected_Enable;
GPIO_InitStructure.GPIO_Alternate=GPIO_InputAlt1;
GPIO_Init(GPIO5,&GPIO_InitStructure);
// P5.1 CAN_TX
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_1;
GPIO_InitStructure.GPIO_Direction=GPIO_PinOutput;
GPIO_InitStructure.GPIO_Type=GPIO_Type_PushPull;
GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt2;
GPIO_Init(GPIO5,&GPIO_InitStructure);
}
/*******************************************************************************
* Function Name : CAN_IRQHandler
* Description : This function handles the CAN interrupt request
*******************************************************************************/
void CAN_IRQHandler(void)
{
u32 msgobj = 0;
if(CAN->IDR == 0x8000) /* status interrupt */
{
(void)CAN->SR; /* read the status register to clear*/
}
else if(CAN->IDR >= 1 && CAN->IDR <= 32)
{
/* get the message object number that caused the interrupt to occur */
switch(msgobj = CAN->IDR - 1)
{
case 0 /* CAN_TX_MSGOBJ */:
DebugOut.Analog[17]++;
CAN_ReleaseTxMessage(msgobj);
break;
case 1 /* CAN_RX_MSGOBJ */:
CAN_ReceiveMessage(msgobj, FALSE, &RxCanMsg);
CAN_ReleaseRxMessage(msgobj);
frame_received_flag = 1;
DebugOut.Analog[19]++;
break;
default:
CAN_ReleaseMessage(msgobj);
break;
}
}
/*write any value to VIC0 VAR*/
VIC0->VAR = 0xFF;
}
void CanSend(void)
{
// CAN_SetUnusedAllMsgObj();
// CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE);
// CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);
//CAN_UpdateMsgObj(CAN_TX_MSGOBJ, &TxCanMsg[1]);
TxCanMsg[1].Data[0] = DebugOut.Analog[24] / 256;
TxCanMsg[1].Data[1] = DebugOut.Analog[24] % 256;
CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]);
}
void CanReceive(void)
{
}
void CanbusInit(void)
{
UART1_PutString("\r\n Canbus init...");
CAN_IO_Init();
SCU_APBPeriphClockConfig(__CAN, ENABLE);
SCU_APBPeriphReset(__CAN, DISABLE);
VIC_Config(CAN_ITLine, VIC_IRQ, Priority_1);
CAN_InitStructure.CAN_ConfigParameters=CAN_CR_IE;
CAN_InitStructure.CAN_Bitrate = CAN_BITRATE_1M;
CAN_Init(&CAN_InitStructure);
VIC_ITCmd(CAN_ITLine, ENABLE);
CAN_SetUnusedAllMsgObj();
CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE);
CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);
UART1_PutString("ok");
}
void ProcessCanBus(void)
{
CanSend();
CanReceive();
if(CAN_GetTransmitErrorCounter() > 200) CanbusInit();
//DebugOut.Analog[16] = CAN->SR ;
if(frame_received_flag)
{
frame_received_flag = 0;
DebugOut.Analog[16] = RxCanMsg.Data[0] * 256 + RxCanMsg.Data[1];
}
}