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rt-thread/bsp/tms320f28379d/libraries/common/deprecated/driverlib/can.c

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[BSP][tms320f28379d] Add port for tms320f28379d
2018-09-02 18:44:28 +08:00
//###########################################################################
//
// FILE: can.c
//
// TITLE: F2837xD CAN Initialization & Support Functions.
//
// NOTE: The CAN bus bridge uses a different addressing scheme in order to
// allow byte accesses. Because of this, 32-bit reads/writes can execute
// abnormally at higher optimization levels. The CAN driver functions
// have been adjusted to explicitly use two 16-bit read/writes to access
// the full 32-bit register where HWREGH(base + offset) represents the
// lower 16-bits and HWREGH(base + offset + 2) represents the upper
// 16-bits.
//
//###########################################################################
// $TI Release: F2837xD Support Library v3.05.00.00 $
// $Release Date: Tue Jun 26 03:15:23 CDT 2018 $
// $Copyright:
// Copyright (C) 2013-2018 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
// Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the
// distribution.
//
// Neither the name of Texas Instruments Incorporated nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//###########################################################################
//*****************************************************************************
//! \addtogroup can_api
//! @{
//*****************************************************************************
#include "F28x_Project.h"
#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_can.h"
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/can.h"
#include "driverlib/debug.h"
#include "driverlib/interrupt.h"
//*****************************************************************************
// This is the maximum number that can be stored as an 11bit Message
// identifier.
//*****************************************************************************
#define CAN_MAX_11BIT_MSG_ID (0x7ff)
//*****************************************************************************
// This is used as the loop delay for accessing the CAN controller registers.
//*****************************************************************************
// The maximum CAN bit timing divisor is 13.
#define CAN_MAX_BIT_DIVISOR (13)
// The minimum CAN bit timing divisor is 5.
#define CAN_MIN_BIT_DIVISOR (5)
// The maximum CAN pre-divisor is 1024.
#define CAN_MAX_PRE_DIVISOR (1024)
// The minimum CAN pre-divisor is 1.
#define CAN_MIN_PRE_DIVISOR (1)
//*****************************************************************************
// This table is used by the CANBitRateSet() API as the register defaults for
// the bit timing values.
//*****************************************************************************
static const uint16_t g_ui16CANBitValues[] =
{
0x1100, // TSEG2 2, TSEG1 2, SJW 1, Divide 5
0x1200, // TSEG2 2, TSEG1 3, SJW 1, Divide 6
0x2240, // TSEG2 3, TSEG1 3, SJW 2, Divide 7
0x2340, // TSEG2 3, TSEG1 4, SJW 2, Divide 8
0x3340, // TSEG2 4, TSEG1 4, SJW 2, Divide 9
0x3440, // TSEG2 4, TSEG1 5, SJW 2, Divide 10
0x3540, // TSEG2 4, TSEG1 6, SJW 2, Divide 11
0x3640, // TSEG2 4, TSEG1 7, SJW 2, Divide 12
0x3740 // TSEG2 4, TSEG1 8, SJW 2, Divide 13
};
//*****************************************************************************
//! \internal
//! Checks a CAN base address.
//!
//! \param ui32Base is the base address of the CAN controller.
//!
//! This function determines if a CAN controller base address is valid.
//!
//! \return Returns \b true if the base address is valid and \b false
//! otherwise.
//
//*****************************************************************************
#ifdef DEBUG
static bool
CANBaseValid(uint32_t ui32Base)
{
return((ui32Base == CANA_BASE) || (ui32Base == CANB_BASE));
}
#endif
//*****************************************************************************
//! \internal
//!
//! Returns the CAN controller interrupt number.
//!
//! \param ui32Base is the base address of the selected CAN controller
//! \param ucNumber is the interrupt line number requested, valid values are 0
//! or 1
//!
//! Given a CAN controller base address and interrupt line number, returns the
//! corresponding interrupt number.
//!
//! \return Returns a CAN interrupt number, or -1 if \e ui32Port is invalid.
//
//*****************************************************************************
static int32_t
CANIntNumberGet(uint32_t ui32Base, unsigned char ucNumber)
{
int32_t lIntNumber;
// Return the interrupt number for the given CAN controller.
switch(ui32Base)
{
// Return the interrupt number for CAN 0
case CANA_BASE:
{
switch(ucNumber)
{
case 0:
{
lIntNumber = INT_CANA_0;
break;
}
case 1:
{
lIntNumber = INT_CANA_1;
break;
}
default:
{
lIntNumber = -1;
break;
}
}
break;
}
// Return the interrupt number for CAN 1
case CANB_BASE:
{
switch(ucNumber)
{
case 0:
{
lIntNumber = INT_CANB_0;
break;
}
case 1:
{
lIntNumber = INT_CANB_1;
break;
}
default:
{
lIntNumber = -1;
break;
}
}
break;
}
// Return -1 to indicate a bad address was passed in.
default:
{
lIntNumber = -1;
}
}
return(lIntNumber);
}
//*****************************************************************************
//! \internal
//!
//! Copies data from a buffer to the CAN Data registers.
//!
//! \param pucData is a pointer to the data to be written out to the CAN
//! controller's data registers.
//! \param pui32Register is an uint32_t pointer to the first register of the
//! CAN controller's data registers. For example, in order to use the IF1
//! register set on CAN controller A, the value would be: \b CANA_BASE \b +
//! \b CAN_O_IF1DATA.
//! \param iSize is the number of bytes to copy into the CAN controller.
//!
//! This function takes the steps necessary to copy data from a contiguous
//! buffer in memory into the non-contiguous data registers used by the CAN
//! controller. This function is rarely used outside of the CANMessageSet()
//! function.
//!
//! This function replaces the original CANWriteDataReg() API and performs the
//! same actions. A macro is provided in <tt>can.h</tt> to map the original
//! API to this API.
//!
//! \return None.
//
//*****************************************************************************
static void
CANDataRegWrite(unsigned char *pucData, uint32_t *pui32Register, int16_t iSize)
{
int16_t iIdx;
unsigned char * pucRegister = (unsigned char *) pui32Register;
// Loop always copies 1 or 2 bytes per iteration.
for(iIdx = 0; iIdx < iSize; iIdx++ )
{
// Write out the data 8 bits at a time.
HWREGB(pucRegister++) = pucData[iIdx];
}
}
//*****************************************************************************
//! \internal
//!
//! Copies data from a buffer to the CAN Data registers.
//!
//! \param pucData is a pointer to the location to store the data read from the
//! CAN controller's data registers.
//! \param pui32Register is an uint32_t pointer to the first register of the
//! CAN controller's data registers. For example, in order to use the IF1
//! register set on CAN controller A, the value would be: \b CANA_BASE \b +
//! \b CAN_O_IF1DATA.
//! \param iSize is the number of bytes to copy from the CAN controller.
//!
//! This function takes the steps necessary to copy data to a contiguous buffer
//! in memory from the non-contiguous data registers used by the CAN
//! controller. This function is rarely used outside of the CANMessageGet()
//! function.
//!
//! This function replaces the original CANReadDataReg() API and performs the
//! same actions. A macro is provided in <tt>can.h</tt> to map the original
//! API to this API.
//!
//! \return None.
//
//*****************************************************************************
static void
CANDataRegRead(unsigned char *pucData, uint32_t *pui32Register, int16_t iSize)
{
int16_t iIdx;
unsigned char * pucRegister = (unsigned char *) pui32Register;
// Loop always copies 1 or 2 bytes per iteration.
for(iIdx = 0; iIdx < iSize; iIdx++ )
{
// Read out the data
pucData[iIdx] = HWREGB(pucRegister++);
}
}
//*****************************************************************************
//
//! Initializes the CAN controller after reset.
//!
//! \param ui32Base is the base address of the CAN controller.
//!
//! After reset, the CAN controller is left in the disabled state. However,
//! the memory used for message objects contains undefined values and must be
//! cleared prior to enabling the CAN controller the first time. This prevents
//! unwanted transmission or reception of data before the message objects are
//! configured. This function must be called before enabling the controller
//! the first time.
//!
//! \return None.
//
//*****************************************************************************
void
CANInit(uint32_t ui32Base)
{
int16_t iMsg;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
// Place CAN controller in init state, regardless of previous state. This
// will put controller in idle, and allow the message object RAM to be
// programmed.
HWREGH(ui32Base + CAN_O_CTL) = CAN_CTL_INIT;
HWREGH(ui32Base + CAN_O_CTL) = CAN_CTL_SWR;
// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}
// Clear the message value bit in the arbitration register. This indicates
// the message is not valid and is a "safe" condition to leave the message
// object. The same arb reg is used to program all the message objects.
HWREGH(ui32Base + CAN_O_IF1CMD + 2) = (CAN_IF1CMD_DIR | CAN_IF1CMD_ARB |
CAN_IF1CMD_CONTROL) >> 16;
HWREGH(ui32Base + CAN_O_IF1ARB) = 0;
HWREGH(ui32Base + CAN_O_IF1ARB + 2) = 0;
HWREGH(ui32Base + CAN_O_IF1MCTL) = 0;
HWREGH(ui32Base + CAN_O_IF1MCTL + 2) = 0;
HWREGH(ui32Base + CAN_O_IF2CMD + 2) = (CAN_IF2CMD_DIR | CAN_IF2CMD_ARB |
CAN_IF2CMD_CONTROL) >> 16;
HWREGH(ui32Base + CAN_O_IF2ARB) = 0;
HWREGH(ui32Base + CAN_O_IF2ARB + 2) = 0;
HWREGH(ui32Base + CAN_O_IF2MCTL) = 0;
HWREGH(ui32Base + CAN_O_IF2MCTL + 2) = 0;
// Loop through to program all 32 message objects
for(iMsg = 1; iMsg <= 32; iMsg+=2)
{
// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}
// Initiate programming the message object
HWREGH(ui32Base + CAN_O_IF1CMD) = iMsg;
// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF2CMD) & CAN_IF2CMD_BUSY)
{
}
// Initiate programming the message object
HWREGH(ui32Base + CAN_O_IF2CMD) = iMsg + 1;
}
// Make sure that the interrupt and new data flags are updated for the
// message objects.
HWREGH(ui32Base + CAN_O_IF1CMD + 2) = (CAN_IF1CMD_TXRQST |
CAN_IF1CMD_CLRINTPND) >> 16;
HWREGH(ui32Base + CAN_O_IF2CMD + 2) = (CAN_IF2CMD_TXRQST |
CAN_IF2CMD_CLRINTPND) >> 16;
// Loop through to program all 32 message objects
for(iMsg = 1; iMsg <= 32; iMsg+=2)
{
// Wait for busy bit to clear.
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}
// Initiate programming the message object
HWREGH(ui32Base + CAN_O_IF1CMD) = iMsg;
// Wait for busy bit to clear.
while(HWREGH(ui32Base + CAN_O_IF2CMD) & CAN_IF2CMD_BUSY)
{
}
// Initiate programming the message object
HWREGH(ui32Base + CAN_O_IF2CMD) = iMsg + 1;
}
// Acknowledge any pending status interrupts.
HWREG(ui32Base + CAN_O_ES);
}
//*****************************************************************************
//
//! Enables the CAN controller.
//!
//! \param ui32Base is the base address of the CAN controller to enable.
//!
//! Enables the CAN controller for message processing. Once enabled, the
//! controller will automatically transmit any pending frames, and process any
//! received frames. The controller can be stopped by calling CANDisable().
//! Prior to calling CANEnable(), CANInit() should have been called to
//! initialize the controller and the CAN bus clock should be configured by
//! calling CANBitTimingSet().
//!
//! \return None.
//
//*****************************************************************************
void
CANEnable(uint32_t ui32Base)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
// Clear the init bit in the control register.
HWREGH(ui32Base + CAN_O_CTL) = HWREGH(ui32Base + CAN_O_CTL) &
~CAN_CTL_INIT;
}
//*****************************************************************************
//
//! Disables the CAN controller.
//!
//! \param ui32Base is the base address of the CAN controller to disable.
//!
//! Disables the CAN controller for message processing. When disabled, the
//! controller will no longer automatically process data on the CAN bus. The
//! controller can be restarted by calling CANEnable(). The state of the CAN
//! controller and the message objects in the controller are left as they were
//! before this call was made.
//!
//! \return None.
//
//*****************************************************************************
void
CANDisable(uint32_t ui32Base)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
// Set the init bit in the control register.
HWREGH(ui32Base + CAN_O_CTL) = HWREGH(ui32Base + CAN_O_CTL) |
CAN_CTL_INIT;
}
//*****************************************************************************
//
//! Select CAN peripheral clock source
//!
//! \param ui32Base is the base address of the CAN controller to disable.
//! \param ui16Source is the clock source to select for the given CAN
//! peripheral: \n
//! 0 - Selected CPU SYSCLKOUT (CPU1.Sysclk or CPU2.Sysclk)
//! (default at reset) \n
//! 1 - External Oscillator (OSC) clock (direct from X1/X2) \n
//! 2 - AUXCLKIN = GPIOn(GPIO19)
//!
//! Selects the desired clock source for use with a given CAN peripheral.
//!
//! \return None.
//
//*****************************************************************************
void CANClkSourceSelect(uint32_t ui32Base, uint16_t ui16Source)
{
EALLOW;
switch(ui32Base)
{
case CANA_BASE:
{
ClkCfgRegs.CLKSRCCTL2.bit.CANABCLKSEL = ui16Source;
}
case CANB_BASE:
{
ClkCfgRegs.CLKSRCCTL2.bit.CANBBCLKSEL = ui16Source;
}
default:
break;
}
EDIS;
}
//*****************************************************************************
//
//! Reads the current settings for the CAN controller bit timing.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param pClkParms is a pointer to a structure to hold the timing parameters.
//!
//! This function reads the current configuration of the CAN controller bit
//! clock timing, and stores the resulting information in the structure
//! supplied by the caller. Refer to CANBitTimingSet() for the meaning of the
//! values that are returned in the structure pointed to by \e pClkParms.
//!
//! This function replaces the original CANGetBitTiming() API and performs the
//! same actions. A macro is provided in <tt>can.h</tt> to map the original
//! API to this API.
//!
//! \return None.
//
//*****************************************************************************
void
CANBitTimingGet(uint32_t ui32Base, tCANBitClkParms *pClkParms)
{
uint32_t uBitReg;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT(pClkParms != 0);
uBitReg = HWREG(ui32Base + CAN_O_BTR);
// Set the phase 2 segment.
pClkParms->uPhase2Seg = ((uBitReg & CAN_BTR_TSEG2_M) >> 12) + 1;
// Set the phase 1 segment.
pClkParms->uSyncPropPhase1Seg = ((uBitReg & CAN_BTR_TSEG1_M) >> 8) + 1;
// Set the synchronous jump width.
pClkParms->uSJW = ((uBitReg & CAN_BTR_SJW_M) >> 6) + 1;
// Set the pre-divider for the CAN bus bit clock.
pClkParms->uQuantumPrescaler = ((uBitReg & CAN_BTR_BRP_M) |
((uBitReg & CAN_BTR_BRPE_M) >> 10)) + 1;
}
//*****************************************************************************
//
//! This function is used to set the CAN bit timing values to a nominal setting
//! based on a desired bit rate.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32SourceClock is the clock frequency for the CAN peripheral in Hz.
//! \param ui32BitRate is the desired bit rate.
//!
//! This function will set the CAN bit timing for the bit rate passed in the
//! \e ui32BitRate parameter based on the \e ui32SourceClock parameter. The CAN
//! bit clock is calculated to be an average timing value that should work for
//! most systems. If tighter timing requirements are needed, then the
//! CANBitTimingSet() function is available for full customization of all of
//! the CAN bit timing values. Since not all bit rates can be matched
//! exactly, the bit rate is set to the value closest to the desired bit rate
//! without being higher than the \e ui32BitRate value.
//!
//! \return This function returns the bit rate that the CAN controller was
//! configured to use or it returns 0 to indicate that the bit rate was not
//! changed because the requested bit rate was not valid.
//
//*****************************************************************************
uint32_t
CANBitRateSet(uint32_t ui32Base, uint32_t ui32SourceClock, uint32_t ui32BitRate)
{
uint32_t ui32DesiredRatio;
uint32_t ui32CANBits;
uint32_t ui32PreDivide;
uint32_t ui32RegValue;
uint16_t ui16CANCTL;
ASSERT(ui32BitRate != 0);
// Calculate the desired clock rate.
ui32DesiredRatio = ui32SourceClock / ui32BitRate;
// If the ratio of CAN bit rate to processor clock is too small or too
// large then return 0 indicating that no bit rate was set.
ASSERT(ui32DesiredRatio <= (CAN_MAX_PRE_DIVISOR * CAN_MAX_BIT_DIVISOR));
ASSERT(ui32DesiredRatio >= (CAN_MIN_PRE_DIVISOR * CAN_MIN_BIT_DIVISOR));
// Make sure that the Desired Ratio is not too large. This enforces the
// requirement that the bit rate is larger than requested.
if((ui32SourceClock / ui32DesiredRatio) > ui32BitRate)
{
ui32DesiredRatio += 1;
}
// Check all possible values to find a matching value.
while(ui32DesiredRatio <= CAN_MAX_PRE_DIVISOR * CAN_MAX_BIT_DIVISOR)
{
// Loop through all possible CAN bit divisors.
for(ui32CANBits = CAN_MAX_BIT_DIVISOR;
ui32CANBits >= CAN_MIN_BIT_DIVISOR;
ui32CANBits--)
{
// For a given CAN bit divisor save the pre divisor.
ui32PreDivide = ui32DesiredRatio / ui32CANBits;
// If the calculated divisors match the desired clock ratio then
// return these bit rate and set the CAN bit timing.
if((ui32PreDivide * ui32CANBits) == ui32DesiredRatio)
{
// Start building the bit timing value by adding the bit timing
// in time quanta.
ui32RegValue =
g_ui16CANBitValues[ui32CANBits - CAN_MIN_BIT_DIVISOR];
// To set the bit timing register, the controller must be
// placed
// in init mode (if not already), and also configuration change
// bit enabled. The state of the register should be saved
// so it can be restored.
ui16CANCTL = HWREGH(ui32Base + CAN_O_CTL);
HWREGH(ui32Base + CAN_O_CTL) = ui16CANCTL | CAN_CTL_INIT |
CAN_CTL_CCE;
// Now add in the pre-scalar on the bit rate.
ui32RegValue |= ((ui32PreDivide - 1) & CAN_BTR_BRP_M) |
(((ui32PreDivide - 1) << 10) & CAN_BTR_BRPE_M);
// Set the clock bits in the and the bits of the
// pre-scalar.
HWREGH(ui32Base + CAN_O_BTR) = (ui32RegValue &
CAN_REG_WORD_MASK);
HWREGH(ui32Base + CAN_O_BTR + 2) = (ui32RegValue >> 16);
// Restore the saved CAN Control register.
HWREGH(ui32Base + CAN_O_CTL) = ui16CANCTL;
// Return the computed bit rate.
return(ui32SourceClock / ( ui32PreDivide * ui32CANBits));
}
}
// Move the divisor up one and look again. Only in rare cases are
// more than 2 loops required to find the value.
ui32DesiredRatio++;
}
return(0);
}
//*****************************************************************************
//
//! Configures the CAN controller bit timing.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param pClkParms points to the structure with the clock parameters.
//!
//! Configures the various timing parameters for the CAN bus bit timing:
//! Propagation segment, Phase Buffer 1 segment, Phase Buffer 2 segment, and
//! the Synchronization Jump Width. The values for Propagation and Phase
//! Buffer 1 segments are derived from the combination
//! \e pClkParms->uSyncPropPhase1Seg parameter. Phase Buffer 2 is determined
//! from the \e pClkParms->uPhase2Seg parameter. These two parameters, along
//! with \e pClkParms->uSJW are based in units of bit time quanta. The actual
//! quantum time is determined by the \e pClkParms->uQuantumPrescaler value,
//! which specifies the divisor for the CAN module clock.
//!
//! The total bit time, in quanta, will be the sum of the two Seg parameters,
//! as follows:
//!
//! bit_time_q = uSyncPropPhase1Seg + uPhase2Seg + 1
//!
//! Note that the Sync_Seg is always one quantum in duration, and will be added
//! to derive the correct duration of Prop_Seg and Phase1_Seg.
//!
//! The equation to determine the actual bit rate is as follows:
//!
//! CAN Clock /
//! ((\e uSyncPropPhase1Seg + \e uPhase2Seg + 1) * (\e uQuantumPrescaler))
//!
//! This means that with \e uSyncPropPhase1Seg = 4, \e uPhase2Seg = 1,
//! \e uQuantumPrescaler = 2 and an 8 MHz CAN clock, that the bit rate will be
//! (8 MHz) / ((5 + 2 + 1) * 2) or 500 Kbit/sec.
//!
//! \return None.
//
//*****************************************************************************
void
CANBitTimingSet(uint32_t ui32Base, tCANBitClkParms *pClkParms)
{
uint32_t uBitReg;
uint16_t uSavedInit;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT(pClkParms != 0);
// The phase 1 segment must be in the range from 2 to 16.
ASSERT((pClkParms->uSyncPropPhase1Seg >= 2) &&
(pClkParms->uSyncPropPhase1Seg <= 16));
// The phase 2 segment must be in the range from 1 to 8.
ASSERT((pClkParms->uPhase2Seg >= 1) && (pClkParms->uPhase2Seg <= 8));
// The synchronous jump windows must be in the range from 1 to 4.
ASSERT((pClkParms->uSJW >= 1) && (pClkParms->uSJW <= 4));
// The CAN clock pre-divider must be in the range from 1 to 1024.
ASSERT((pClkParms->uQuantumPrescaler <= 1024) &&
(pClkParms->uQuantumPrescaler >= 1));
// To set the bit timing register, the controller must be placed in init
// mode (if not already), and also configuration change bit enabled. State
// of the init bit should be saved so it can be restored at the end.
uSavedInit = HWREGH(ui32Base + CAN_O_CTL);
HWREGH(ui32Base + CAN_O_CTL) = uSavedInit | CAN_CTL_INIT | CAN_CTL_CCE;
// Set the bit fields of the bit timing register according to the parms.
uBitReg = ((pClkParms->uPhase2Seg - 1) << 12) & CAN_BTR_TSEG2_M;
uBitReg |= ((pClkParms->uSyncPropPhase1Seg - 1) << 8) & CAN_BTR_TSEG1_M;
uBitReg |= ((pClkParms->uSJW - 1) << 6) & CAN_BTR_SJW_M;
uBitReg |= (pClkParms->uQuantumPrescaler - 1) & CAN_BTR_BRP_M;
uBitReg |= ((pClkParms->uQuantumPrescaler - 1) << 10)& CAN_BTR_BRPE_M;
HWREGH(ui32Base + CAN_O_BTR) = uBitReg & CAN_REG_WORD_MASK;
HWREGH(ui32Base + CAN_O_BTR + 2) = uBitReg >> 16;
// Clear the config change bit, and restore the init bit.
uSavedInit &= ~CAN_CTL_CCE;
// If Init was not set before, then clear it.
if(uSavedInit & CAN_CTL_INIT)
{
uSavedInit &= ~CAN_CTL_INIT;
}
HWREGH(ui32Base + CAN_O_CTL) = uSavedInit;
}
//*****************************************************************************
//
//! Registers an interrupt handler for the CAN controller.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ucIntNumber is the interrupt line to register (0 or 1).
//! \param pfnHandler is a pointer to the function to be called when the
//! enabled CAN interrupts occur.
//!
//! This function registers the interrupt handler in the interrupt vector
//! table, and enables CAN interrupts on the interrupt controller; specific CAN
//! interrupt sources must be enabled using CANIntEnable(). The interrupt
//! handler being registered must clear the source of the interrupt using
//! CANIntClear().
//!
//! If the application is using a static interrupt vector table stored in
//! flash, then it is not necessary to register the interrupt handler this way.
//! Instead, IntEnable() should be used to enable CAN interrupts on the
//! interrupt controller.
//!
//! \sa IntRegister() for important information about registering interrupt
//! handlers.
//!
//! \return None.
//
//*****************************************************************************
void
CANIntRegister(uint32_t ui32Base, unsigned char ucIntNumber,
void (*pfnHandler)(void))
{
uint32_t ui32IntNumber;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
// Get the actual interrupt number for this CAN controller.
ui32IntNumber = CANIntNumberGet(ui32Base, ucIntNumber);
// Register the interrupt handler.
IntRegister(ui32IntNumber, pfnHandler);
// Enable the CAN interrupt.
IntEnable(ui32IntNumber);
}
//*****************************************************************************
//! Unregisters an interrupt handler for the CAN controller.
//!
//! \param ui32Base is the base address of the controller.
//! \param ucIntNumber is the interrupt line to un-register (0 or 1).
//!
//! This function unregisters the previously registered interrupt handler and
//! disables the interrupt on the interrupt controller.
//!
//! \sa IntRegister() for important information about registering interrupt
//! handlers.
//!
//! \return None.
//
//*****************************************************************************
void
CANIntUnregister(uint32_t ui32Base, unsigned char ucIntNumber)
{
uint32_t ui32IntNumber;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
// Get the actual interrupt number for this CAN controller.
ui32IntNumber = CANIntNumberGet(ui32Base, ucIntNumber);
// Register the interrupt handler.
IntUnregister(ui32IntNumber);
// Disable the CAN interrupt.
IntDisable(ui32IntNumber);
}
//*****************************************************************************
//
//! Enables individual CAN controller interrupt sources.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32IntFlags is the bit mask of the interrupt sources to be enabled.
//!
//! Enables specific interrupt sources of the CAN controller. Only enabled
//! sources will cause a processor interrupt.
//!
//! The \e ui32IntFlags parameter is the logical OR of any of the following:
//!
//! - \b CAN_INT_ERROR - a controller error condition has occurred
//! - \b CAN_INT_STATUS - a message transfer has completed, or a bus error has
//! been detected
//! - \b CAN_INT_IE0 - allow CAN controller to generate interrupts on interrupt
//! line 0
//! - \b CAN_INT_IE1 - allow CAN controller to generate interrupts on interrupt
//! line 1
//!
//! In order to generate status or error interrupts, \b CAN_INT_IE0 must be
//! enabled.
//! Further, for any particular transaction from a message object to generate
//! an interrupt, that message object must have interrupts enabled (see
//! CANMessageSet()). \b CAN_INT_ERROR will generate an interrupt if the
//! controller enters the ``bus off'' condition, or if the error counters reach
//! a limit. \b CAN_INT_STATUS will generate an interrupt under quite a few
//! status conditions and may provide more interrupts than the application
//! needs to handle. When an interrupt occurs, use CANIntStatus() to determine
//! the cause.
//!
//! \return None.
//
//*****************************************************************************
void
CANIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32IntFlags & ~(CAN_INT_ERROR | CAN_INT_STATUS | CAN_INT_IE0 |
CAN_INT_IE1)) == 0);
// Enable the specified interrupts.
HWREGH(ui32Base + CAN_O_CTL) = (HWREGH(ui32Base + CAN_O_CTL) |
(ui32IntFlags & CAN_REG_WORD_MASK));
HWREGH(ui32Base + CAN_O_CTL + 2) = (HWREGH(ui32Base + CAN_O_CTL + 2) |
(ui32IntFlags >> 16));
}
//*****************************************************************************
//
//! Disables individual CAN controller interrupt sources.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32IntFlags is the bit mask of the interrupt sources to be disabled.
//!
//! Disables the specified CAN controller interrupt sources. Only enabled
//! interrupt sources can cause a processor interrupt.
//!
//! The \e ui32IntFlags parameter has the same definition as in the
//! CANIntEnable() function.
//!
//! \return None.
//
//*****************************************************************************
void
CANIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32IntFlags & ~(CAN_INT_ERROR | CAN_INT_STATUS | CAN_INT_IE0 |
CAN_INT_IE1)) == 0);
// Disable the specified interrupts.
HWREGH(ui32Base + CAN_O_CTL) = HWREGH(ui32Base + CAN_O_CTL) &
~(ui32IntFlags & CAN_REG_WORD_MASK);
HWREGH(ui32Base + CAN_O_CTL + 2) = HWREGH(ui32Base + CAN_O_CTL + 2) &
~(ui32IntFlags >> 16);
}
//*****************************************************************************
//
//! Returns the current CAN controller interrupt status.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param eIntStsReg indicates which interrupt status register to read
//!
//! Returns the value of one of two interrupt status registers. The interrupt
//! status register read is determined by the \e eIntStsReg parameter, which
//! can have one of the following values:
//!
//! - \b CAN_INT_STS_CAUSE - indicates the cause of the interrupt
//! - \b CAN_INT_STS_OBJECT - indicates pending interrupts of all message
//! objects
//!
//! \b CAN_INT_STS_CAUSE returns the value of the controller interrupt register
//! and indicates the cause of the interrupt. It will be a value of
//! \b CAN_INT_INT0ID_STATUS if the cause is a status interrupt. In this case,
//! the status register should be read with the CANStatusGet() function.
//! Calling this function to read the status will also clear the status
//! interrupt. If the value of the interrupt register is in the range 1-32,
//! then this indicates the number of the highest priority message object that
//! has an interrupt pending. The message object interrupt can be cleared by
//! using the CANIntClear() function, or by reading the message using
//! CANMessageGet() in the case of a received message. The interrupt handler
//! can read the interrupt status again to make sure all pending interrupts are
//! cleared before returning from the interrupt.
//!
//! \b CAN_INT_STS_OBJECT returns a bit mask indicating which message objects
//! have pending interrupts. This can be used to discover all of the pending
//! interrupts at once, as opposed to repeatedly reading the interrupt register
//! by using \b CAN_INT_STS_CAUSE.
//!
//! \return Returns the value of one of the interrupt status registers.
//
//*****************************************************************************
uint32_t
CANIntStatus(uint32_t ui32Base, tCANIntStsReg eIntStsReg)
{
uint32_t ui32Status;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
// See which status the caller is looking for.
switch(eIntStsReg)
{
// The caller wants the global interrupt status for the CAN controller
// specified by ui32Base.
case CAN_INT_STS_CAUSE:
{
ui32Status = HWREG(ui32Base + CAN_O_INT);
break;
}
// The caller wants the current message status interrupt for all
// messages.
case CAN_INT_STS_OBJECT:
{
// Read message object interrupt status
ui32Status = HWREG(ui32Base + CAN_O_IPEN_21);
break;
}
// Request was for unknown status so just return 0.
default:
{
ui32Status = 0;
break;
}
}
// Return the interrupt status value
return(ui32Status);
}
//*****************************************************************************
//
//! Clears a CAN interrupt source.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32IntClr is a value indicating which interrupt source to clear.
//!
//! This function can be used to clear a specific interrupt source. The
//! \e ui32IntClr parameter should be one of the following values:
//!
//! - \b CAN_INT_INTID_STATUS - Clears a status interrupt.
//! - 1-32 - Clears the specified message object interrupt
//!
//! It is not necessary to use this function to clear an interrupt. This
//! should only be used if the application wants to clear an interrupt source
//! without taking the normal interrupt action.
//!
//! Normally, the status interrupt is cleared by reading the controller status
//! using CANStatusGet(). A specific message object interrupt is normally
//! cleared by reading the message object using CANMessageGet().
//!
//! \return None.
//
//*****************************************************************************
void
CANIntClear(uint32_t ui32Base, uint32_t ui32IntClr)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32IntClr == CAN_INT_INT0ID_STATUS) ||
((ui32IntClr>=1) && (ui32IntClr <=32)));
if(ui32IntClr == CAN_INT_INT0ID_STATUS)
{
// Simply read and discard the status to clear the interrupt.
HWREG(ui32Base + CAN_O_ES);
}
else
{
// Wait to be sure that this interface is not busy.
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}
// Only change the interrupt pending state by setting only the
// CAN_IF1CMD_CLRINTPND bit.
HWREGH(ui32Base + CAN_O_IF1CMD + 2) = CAN_IF1CMD_CLRINTPND >> 16;
// Send the clear pending interrupt command to the CAN controller.
HWREGH(ui32Base + CAN_O_IF1CMD) = ui32IntClr & CAN_IF1CMD_MSG_NUM_M;
// Wait to be sure that this interface is not busy.
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}
}
}
//*****************************************************************************
//
//! Sets the CAN controller automatic retransmission behavior.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param bAutoRetry enables automatic retransmission.
//!
//! Enables or disables automatic retransmission of messages with detected
//! errors. If \e bAutoRetry is \b true, then automatic retransmission is
//! enabled, otherwise it is disabled.
//!
//! \return None.
//
//*****************************************************************************
void
CANRetrySet(uint32_t ui32Base, bool bAutoRetry)
{
uint16_t ui16CtlReg;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ui16CtlReg = HWREGH(ui32Base + CAN_O_CTL);
// Conditionally set the DAR bit to enable/disable auto-retry.
if(bAutoRetry)
{
// Clearing the DAR bit tells the controller to not disable the
// auto-retry of messages which were not transmitted or received
// correctly.
ui16CtlReg &= ~CAN_CTL_DAR;
}
else
{
// Setting the DAR bit tells the controller to disable the auto-retry
// of messages which were not transmitted or received correctly.
ui16CtlReg |= CAN_CTL_DAR;
}
HWREGH(ui32Base + CAN_O_CTL) = ui16CtlReg;
}
//*****************************************************************************
//
//! Returns the current setting for automatic retransmission.
//!
//! \param ui32Base is the base address of the CAN controller.
//!
//! Reads the current setting for the automatic retransmission in the CAN
//! controller and returns it to the caller.
//!
//! \return Returns \b true if automatic retransmission is enabled, \b false
//! otherwise.
//
//*****************************************************************************
bool
CANRetryGet(uint32_t ui32Base)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
// Read the disable automatic retry setting from the CAN controller.
if(HWREGH(ui32Base + CAN_O_CTL) & CAN_CTL_DAR)
{
// Automatic data retransmission is not enabled.
return(false);
}
// Automatic data retransmission is enabled.
return(true);
}
//*****************************************************************************
//
//! Reads one of the controller status registers.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param eStatusReg is the status register to read.
//!
//! Reads a status register of the CAN controller and returns it to the caller.
//! The different status registers are:
//!
//! - \b CAN_STS_CONTROL - the main controller status
//! - \b CAN_STS_TXREQUEST - bit mask of objects pending transmission
//! - \b CAN_STS_NEWDAT - bit mask of objects with new data
//! - \b CAN_STS_MSGVAL - bit mask of objects with valid configuration
//!
//! When reading the main controller status register, a pending status
//! interrupt will be cleared. This should be used in the interrupt handler
//! for the CAN controller if the cause is a status interrupt. The controller
//! status register fields are as follows:
//!
//! - \b CAN_STATUS_PDA - controller in local power down mode
//! - \b CAN_STATUS_WAKE_UP - controller initiated system wake up
//! - \b CAN_STATUS_PERR - parity error detected
//! - \b CAN_STATUS_BUS_OFF - controller is in bus-off condition
//! - \b CAN_STATUS_EWARN - an error counter has reached a limit of at least 96
//! - \b CAN_STATUS_EPASS - CAN controller is in the error passive state
//! - \b CAN_STATUS_RXOK - a message was received successfully (independent of
//! any message filtering).
//! - \b CAN_STATUS_TXOK - a message was successfully transmitted
//! - \b CAN_STATUS_LEC_NONE - no error
//! - \b CAN_STATUS_LEC_STUFF - stuffing error detected
//! - \b CAN_STATUS_LEC_FORM - a format error occurred in the fixed format part
//! of a message
//! - \b CAN_STATUS_LEC_ACK - a transmitted message was not acknowledged
//! - \b CAN_STATUS_LEC_BIT1 - dominant level detected when trying to send in
//! recessive mode
//! - \b CAN_STATUS_LEC_BIT0 - recessive level detected when trying to send in
//! dominant mode
//! - \b CAN_STATUS_LEC_CRC - CRC error in received message
//!
//! The remaining status registers are 32-bit bit maps to the message objects.
//! They can be used to quickly obtain information about the status of all the
//! message objects without needing to query each one. They contain the
//! following information:
//!
//! - \b CAN_STS_TXREQUEST - if a message object's TxRequest bit is set, that
//! means that a transmission is pending on that object. The application can
//! use this to determine which objects are still waiting to send a message.
//! - \b CAN_STS_NEWDAT - if a message object's NewDat bit is set, that means
//! that a new message has been received in that object, and has not yet been
//! picked up by the host application
//! - \b CAN_STS_MSGVAL - if a message object's MsgVal bit is set, that means
//! it has a valid configuration programmed. The host application can use this
//! to determine which message objects are empty/unused.
//!
//! \return Returns the value of the status register.
//
//*****************************************************************************
uint32_t
CANStatusGet(uint32_t ui32Base, tCANStsReg eStatusReg)
{
uint32_t ui32Status;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
switch(eStatusReg)
{
// Just return the global CAN status register since that is what was
// requested.
case CAN_STS_CONTROL:
{
ui32Status = HWREG(ui32Base + CAN_O_ES);
break;
}
// Return objects with valid transmit requests
case CAN_STS_TXREQUEST:
{
ui32Status = HWREG(ui32Base + CAN_O_TXRQ_21);
break;
}
// Return messages objects with new data
case CAN_STS_NEWDAT:
{
ui32Status = HWREG(ui32Base + CAN_O_NDAT_21);
break;
}
// Return valid message objects
case CAN_STS_MSGVAL:
{
ui32Status = HWREG(ui32Base + CAN_O_MVAL_21);
break;
}
// Unknown CAN status requested so return 0.
default:
{
ui32Status = 0;
break;
}
}
return(ui32Status);
}
//*****************************************************************************
//
//! Reads the CAN controller error counter register.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param pui32RxCount is a pointer to storage for the receive error counter.
//! \param pui32TxCount is a pointer to storage for the transmit error counter.
//!
//! Reads the error counter register and returns the transmit and receive error
//! counts to the caller along with a flag indicating if the controller receive
//! counter has reached the error passive limit. The values of the receive and
//! transmit error counters are returned through the pointers provided as
//! parameters.
//!
//! After this call, \e *pui32RxCount will hold the current receive error count
//! and \e *pui32TxCount will hold the current transmit error count.
//!
//! \return Returns \b true if the receive error count has reached the error
//! passive limit, and \b false if the error count is below the error passive
//! limit.
//
//*****************************************************************************
bool
CANErrCntrGet(uint32_t ui32Base, uint32_t *pui32RxCount,
uint32_t *pui32TxCount)
{
uint16_t ui16CANError;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
// Read the current count of transmit/receive errors.
ui16CANError = HWREGH(ui32Base + CAN_O_ERRC);
// Extract the error numbers from the register value.
*pui32RxCount = (ui16CANError & CAN_ERRC_REC_M) >> CAN_ERRC_REC_S;
*pui32TxCount = (ui16CANError & CAN_ERRC_TEC_M) >> CAN_ERRC_TEC_S;
if(ui16CANError & CAN_ERRC_RP)
{
return(true);
}
return(false);
}
//*****************************************************************************
//
//! Configures a message object in the CAN controller.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32ObjID is the object number to configure (1-32).
//! \param pMsgObject is a pointer to a structure containing message object
//! settings.
//! \param eMsgType indicates the type of message for this object.
//!
//! This function is used to configure any one of the 32 message objects in the
//! CAN controller. A message object can be configured as any type of CAN
//! message object as well as several options for automatic transmission and
//! reception. This call also allows the message object to be configured to
//! generate interrupts on completion of message receipt or transmission. The
//! message object can also be configured with a filter/mask so that actions
//! are only taken when a message that meets certain parameters is seen on the
//! CAN bus.
//!
//! The \e eMsgType parameter must be one of the following values:
//!
//! - \b MSG_OBJ_TYPE_TX - CAN transmit message object.
//! - \b MSG_OBJ_TYPE_TX_REMOTE - CAN transmit remote request message object.
//! - \b MSG_OBJ_TYPE_RX - CAN receive message object.
//! - \b MSG_OBJ_TYPE_RX_REMOTE - CAN receive remote request message object.
//! - \b MSG_OBJ_TYPE_RXTX_REMOTE - CAN remote frame receive remote, then
//! transmit message object.
//!
//! The message object pointed to by \e pMsgObject must be populated by the
//! caller, as follows:
//!
//! - \e ui32MsgID - contains the message ID, either 11 or 29 bits.
//! - \e ui32MsgIDMask - mask of bits from \e ui32MsgID that must match if
//! identifier filtering is enabled.
//! - \e ui32Flags
//! - Set \b MSG_OBJ_TX_INT_ENABLE flag to enable interrupt on transmission.
//! - Set \b MSG_OBJ_RX_INT_ENABLE flag to enable interrupt on receipt.
//! - Set \b MSG_OBJ_USE_ID_FILTER flag to enable filtering based on the
//! identifier mask specified by \e ui32MsgIDMask.
//! - \e ui32MsgLen - the number of bytes in the message data. This should be
//! non-zero even for a remote frame; it should match the expected bytes of the
//! data responding data frame.
//! - \e pucMsgData - points to a buffer containing up to 8 bytes of data for a
//! data frame.
//!
//! \b Example: To send a data frame or remote frame(in response to a remote
//! request), take the following steps:
//!
//! -# Set \e eMsgType to \b MSG_OBJ_TYPE_TX.
//! -# Set \e pMsgObject->ui32MsgID to the message ID.
//! -# Set \e pMsgObject->ui32Flags. Make sure to set \b MSG_OBJ_TX_INT_ENABLE to
//! allow an interrupt to be generated when the message is sent.
//! -# Set \e pMsgObject->ui32MsgLen to the number of bytes in the data frame.
//! -# Set \e pMsgObject->pucMsgData to point to an array containing the bytes
//! to send in the message.
//! -# Call this function with \e ui32ObjID set to one of the 32 object buffers.
//!
//! \b Example: To receive a specific data frame, take the following steps:
//!
//! -# Set \e eMsgObjType to \b MSG_OBJ_TYPE_RX.
//! -# Set \e pMsgObject->ui32MsgID to the full message ID, or a partial mask to
//! use partial ID matching.
//! -# Set \e pMsgObject->ui32MsgIDMask bits that should be used for masking
//! during comparison.
//! -# Set \e pMsgObject->ui32Flags as follows:
//! - Set \b MSG_OBJ_TX_INT_ENABLE flag to be interrupted when the data frame
//! is received.
//! - Set \b MSG_OBJ_USE_ID_FILTER flag to enable identifier based filtering.
//! -# Set \e pMsgObject->ui32MsgLen to the number of bytes in the expected data
//! frame.
//! -# The buffer pointed to by \e pMsgObject->pucMsgData and
//! \e pMsgObject->ui32MsgLen are not used by this call as no data is present at
//! the time of the call.
//! -# Call this function with \e ui32ObjID set to one of the 32 object buffers.
//!
//! If you specify a message object buffer that already contains a message
//! definition, it will be overwritten.
//!
//! \return None.
//
//*****************************************************************************
void
CANMessageSet(uint32_t ui32Base, uint32_t ui32ObjID, tCANMsgObject *pMsgObject,
tMsgObjType eMsgType)
{
uint32_t ui32CmdMaskReg;
uint32_t ui32MaskReg;
uint32_t ui32ArbReg;
uint32_t ui32MsgCtrl;
bool bTransferData;
bool bUseExtendedID;
bTransferData = 0;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32ObjID <= 32) && (ui32ObjID != 0));
ASSERT((eMsgType == MSG_OBJ_TYPE_TX) ||
(eMsgType == MSG_OBJ_TYPE_TX_REMOTE) ||
(eMsgType == MSG_OBJ_TYPE_RX) ||
(eMsgType == MSG_OBJ_TYPE_RX_REMOTE) ||
(eMsgType == MSG_OBJ_TYPE_TX_REMOTE) ||
(eMsgType == MSG_OBJ_TYPE_RXTX_REMOTE));
// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}
// See if we need to use an extended identifier or not.
if((pMsgObject->ui32MsgID > CAN_MAX_11BIT_MSG_ID) ||
(pMsgObject->ui32Flags & MSG_OBJ_EXTENDED_ID))
{
bUseExtendedID = 1;
}
else
{
bUseExtendedID = 0;
}
// This is always a write to the Message object as this call is setting a
// message object. This call will also always set all size bits so it sets
// both data bits. The call will use the CONTROL register to set control
// bits so this bit needs to be set as well.
ui32CmdMaskReg = (CAN_IF1CMD_DIR | CAN_IF1CMD_DATA_A | CAN_IF1CMD_DATA_B |
CAN_IF1CMD_CONTROL);
// Initialize the values to a known state before filling them in based on
// the type of message object that is being configured.
ui32ArbReg = 0;
ui32MsgCtrl = 0;
ui32MaskReg = 0;
switch(eMsgType)
{
// Transmit message object.
case MSG_OBJ_TYPE_TX:
{
// Set the TXRQST bit and the reset the rest of the register.
ui32MsgCtrl |= CAN_IF1MCTL_TXRQST;
ui32ArbReg = CAN_IF1ARB_DIR;
bTransferData = 1;
break;
}
// Transmit remote request message object
case MSG_OBJ_TYPE_TX_REMOTE:
{
// Set the TXRQST bit and the reset the rest of the register.
ui32MsgCtrl |= CAN_IF1MCTL_TXRQST;
ui32ArbReg = 0;
break;
}
// Receive message object.
case MSG_OBJ_TYPE_RX:
{
// This clears the DIR bit along with everything else. The TXRQST
// bit was cleared by defaulting ui32MsgCtrl to 0.
ui32ArbReg = 0;
break;
}
// Receive remote request message object.
case MSG_OBJ_TYPE_RX_REMOTE:
{
// The DIR bit is set to one for remote receivers. The TXRQST bit
// was cleared by defaulting ui32MsgCtrl to 0.
ui32ArbReg = CAN_IF1ARB_DIR;
// Set this object so that it only indicates that a remote frame
// was received and allow for software to handle it by sending back
// a data frame.
ui32MsgCtrl = CAN_IF1MCTL_UMASK;
// Use the full Identifier by default.
ui32MaskReg = CAN_IF1MSK_MSK_M;
// Make sure to send the mask to the message object.
ui32CmdMaskReg |= CAN_IF1CMD_MASK;
break;
}
// Remote frame receive remote, with auto-transmit message object.
case MSG_OBJ_TYPE_RXTX_REMOTE:
{
// Oddly the DIR bit is set to one for remote receivers.
ui32ArbReg = CAN_IF1ARB_DIR;
// Set this object to auto answer if a matching identifier is seen.
ui32MsgCtrl = CAN_IF1MCTL_RMTEN | CAN_IF1MCTL_UMASK;
// The data to be returned needs to be filled in.
bTransferData = 1;
break;
}
// This case should never happen due to the ASSERT statement at the
// beginning of this function.
default:
{
return;
}
}
// Configure the Mask Registers.
if(pMsgObject->ui32Flags & MSG_OBJ_USE_ID_FILTER)
{
if(bUseExtendedID)
{
// Set the 29 bits of Identifier mask that were requested.
ui32MaskReg = pMsgObject->ui32MsgIDMask & CAN_IF1MSK_MSK_M;
}
else
{
// Put the 11 bit Mask Identifier into the upper bits of the field
// in the register.
ui32MaskReg = ((pMsgObject->ui32MsgIDMask << CAN_IF1ARB_STD_ID_S) &
CAN_IF1ARB_STD_ID_M);
}
}
// If the caller wants to filter on the extended ID bit then set it.
if((pMsgObject->ui32Flags & MSG_OBJ_USE_EXT_FILTER) ==
MSG_OBJ_USE_EXT_FILTER)
{
ui32MaskReg |= CAN_IF1MSK_MXTD;
}
// The caller wants to filter on the message direction field.
if((pMsgObject->ui32Flags & MSG_OBJ_USE_DIR_FILTER) ==
MSG_OBJ_USE_DIR_FILTER)
{
ui32MaskReg |= CAN_IF1MSK_MDIR;
}
if(pMsgObject->ui32Flags & (MSG_OBJ_USE_ID_FILTER | MSG_OBJ_USE_DIR_FILTER |
MSG_OBJ_USE_EXT_FILTER))
{
// Set the UMASK bit to enable using the mask register.
ui32MsgCtrl |= CAN_IF1MCTL_UMASK;
// Set the MASK bit so that this gets transferred to the Message
// Object.
ui32CmdMaskReg |= CAN_IF1CMD_MASK;
}
// Set the Arb bit so that this gets transferred to the Message object.
ui32CmdMaskReg |= CAN_IF1CMD_ARB;
// Configure the Arbitration registers.
if(bUseExtendedID)
{
// Set the 29 bit version of the Identifier for this message object.
// Mark the message as valid and set the extended ID bit.
ui32ArbReg |= (pMsgObject->ui32MsgID & CAN_IF1ARB_ID_M) |
CAN_IF1ARB_MSGVAL | CAN_IF1ARB_XTD;
}
else
{
// Set the 11 bit version of the Identifier for this message object.
// The lower 18 bits are set to zero.
// Mark the message as valid.
ui32ArbReg |= ((pMsgObject->ui32MsgID << CAN_IF1ARB_STD_ID_S) &
CAN_IF1ARB_STD_ID_M) | CAN_IF1ARB_MSGVAL;
}
// Set the data length since this is set for all transfers. This is also a
// single transfer and not a FIFO transfer so set EOB bit.
ui32MsgCtrl |= (pMsgObject->ui32MsgLen & CAN_IF1MCTL_DLC_M);
// Mark this as the last entry if this is not the last entry in a FIFO.
if((pMsgObject->ui32Flags & MSG_OBJ_FIFO) == 0)
{
ui32MsgCtrl |= CAN_IF1MCTL_EOB;
}
// Enable transmit interrupts if they should be enabled.
if(pMsgObject->ui32Flags & MSG_OBJ_TX_INT_ENABLE)
{
ui32MsgCtrl |= CAN_IF1MCTL_TXIE;
}
// Enable receive interrupts if they should be enabled.
if(pMsgObject->ui32Flags & MSG_OBJ_RX_INT_ENABLE)
{
ui32MsgCtrl |= CAN_IF1MCTL_RXIE;
}
// Write the data out to the CAN Data registers if needed.
if(bTransferData)
{
CANDataRegWrite(pMsgObject->pucMsgData,
(uint32_t *)(ui32Base + CAN_O_IF1DATA),
pMsgObject->ui32MsgLen);
}
// Write out the registers to program the message object.
HWREGH(ui32Base + CAN_O_IF1CMD + 2) = ui32CmdMaskReg >> 16;
HWREGH(ui32Base + CAN_O_IF1MSK) = ui32MaskReg & CAN_REG_WORD_MASK;
HWREGH(ui32Base + CAN_O_IF1MSK + 2) = ui32MaskReg >> 16;
HWREGH(ui32Base + CAN_O_IF1ARB) = ui32ArbReg & CAN_REG_WORD_MASK;
HWREGH(ui32Base + CAN_O_IF1ARB + 2) = ui32ArbReg >> 16;
HWREGH(ui32Base + CAN_O_IF1MCTL) = ui32MsgCtrl & CAN_REG_WORD_MASK;
// Transfer the message object to the message object specific by ui32ObjID.
HWREGH(ui32Base + CAN_O_IF1CMD) = ui32ObjID & CAN_IF1CMD_MSG_NUM_M;
return;
}
//*****************************************************************************
//
//! Reads a CAN message from one of the message object buffers.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32ObjID is the object number to read (1-32).
//! \param pMsgObject points to a structure containing message object fields.
//! \param bClrPendingInt indicates whether an associated interrupt should be
//! cleared.
//!
//! This function is used to read the contents of one of the 32 message objects
//! in the CAN controller, and return it to the caller. The data returned is
//! stored in the fields of the caller-supplied structure pointed to by
//! \e pMsgObject. The data consists of all of the parts of a CAN message,
//! plus some control and status information.
//!
//! Normally this is used to read a message object that has received and stored
//! a CAN message with a certain identifier. However, this could also be used
//! to read the contents of a message object in order to load the fields of the
//! structure in case only part of the structure needs to be changed from a
//! previous setting.
//!
//! When using CANMessageGet, all of the same fields of the structure are
//! populated in the same way as when the CANMessageSet() function is used,
//! with the following exceptions:
//!
//! \e pMsgObject->ui32Flags:
//!
//! - \b MSG_OBJ_NEW_DATA indicates if this is new data since the last time it
//! was read
//! - \b MSG_OBJ_DATA_LOST indicates that at least one message was received on
//! this message object, and not read by the host before being overwritten.
//!
//! \return None.
//
//*****************************************************************************
void
CANMessageGet(uint32_t ui32Base, uint32_t ui32ObjID, tCANMsgObject *pMsgObject,
bool bClrPendingInt)
{
uint32_t ui32CmdMaskReg;
uint32_t ui32MaskReg;
uint32_t ui32ArbReg;
uint32_t ui32MsgCtrl;
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32ObjID <= 32) && (ui32ObjID != 0));
// This is always a read to the Message object as this call is setting a
// message object.
ui32CmdMaskReg = (CAN_IF2CMD_DATA_A | CAN_IF2CMD_DATA_B |
CAN_IF2CMD_CONTROL | CAN_IF2CMD_MASK | CAN_IF2CMD_ARB);
// Clear a pending interrupt and new data in a message object.
if(bClrPendingInt)
{
ui32CmdMaskReg |= CAN_IF2CMD_CLRINTPND | CAN_IF2CMD_TXRQST;
}
// Set up the request for data from the message object.
HWREGH(ui32Base + CAN_O_IF2CMD + 2) = ui32CmdMaskReg >> 16;
// Transfer the message object to the message object specified by ui32ObjID.
HWREGH(ui32Base + CAN_O_IF2CMD) = ui32ObjID & CAN_IF2CMD_MSG_NUM_M;
// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF2CMD) & CAN_IF2CMD_BUSY)
{
}
// Read out the IF Registers.
ui32MaskReg = HWREG(ui32Base + CAN_O_IF2MSK);
ui32ArbReg = HWREG(ui32Base + CAN_O_IF2ARB);
ui32MsgCtrl = HWREG(ui32Base + CAN_O_IF2MCTL);
pMsgObject->ui32Flags = MSG_OBJ_NO_FLAGS;
// Determine if this is a remote frame by checking the TXRQST and DIR bits.
if((!(ui32MsgCtrl & CAN_IF2MCTL_TXRQST) && (ui32ArbReg & CAN_IF2ARB_DIR)) ||
((ui32MsgCtrl & CAN_IF2MCTL_TXRQST) && (!(ui32ArbReg & CAN_IF2ARB_DIR))))
{
pMsgObject->ui32Flags |= MSG_OBJ_REMOTE_FRAME;
}
// Get the identifier out of the register, the format depends on size of
// the mask.
if(ui32ArbReg & CAN_IF2ARB_XTD)
{
// Set the 29 bit version of the Identifier for this message object.
pMsgObject->ui32MsgID = ui32ArbReg & CAN_IF2ARB_ID_M;
pMsgObject->ui32Flags |= MSG_OBJ_EXTENDED_ID;
}
else
{
// The Identifier is an 11 bit value.
pMsgObject->ui32MsgID = (ui32ArbReg &
CAN_IF2ARB_STD_ID_M) >> CAN_IF2ARB_STD_ID_S;
}
// Indicate that we lost some data.
if(ui32MsgCtrl & CAN_IF2MCTL_MSGLST)
{
pMsgObject->ui32Flags |= MSG_OBJ_DATA_LOST;
}
// Set the flag to indicate if ID masking was used.
if(ui32MsgCtrl & CAN_IF2MCTL_UMASK)
{
if(ui32ArbReg & CAN_IF2ARB_XTD)
{
// The Identifier Mask is assumed to also be a 29 bit value.
pMsgObject->ui32MsgIDMask = (ui32MaskReg & CAN_IF2MSK_MSK_M);
// If this is a fully specified Mask and a remote frame then don't
// set the MSG_OBJ_USE_ID_FILTER because the ID was not really
// filtered.
if((pMsgObject->ui32MsgIDMask != 0x1fffffff) ||
((pMsgObject->ui32Flags & MSG_OBJ_REMOTE_FRAME) == 0))
{
pMsgObject->ui32Flags |= MSG_OBJ_USE_ID_FILTER;
}
}
else
{
// The Identifier Mask is assumed to also be an 11 bit value.
pMsgObject->ui32MsgIDMask = ((ui32MaskReg & CAN_IF2MSK_MSK_M) >>
18);
// If this is a fully specified Mask and a remote frame then don't
// set the MSG_OBJ_USE_ID_FILTER because the ID was not really
// filtered.
if((pMsgObject->ui32MsgIDMask != 0x7ff) ||
((pMsgObject->ui32Flags & MSG_OBJ_REMOTE_FRAME) == 0))
{
pMsgObject->ui32Flags |= MSG_OBJ_USE_ID_FILTER;
}
}
// Indicate if the extended bit was used in filtering.
if(ui32MaskReg & CAN_IF2MSK_MXTD)
{
pMsgObject->ui32Flags |= MSG_OBJ_USE_EXT_FILTER;
}
// Indicate if direction filtering was enabled.
if(ui32MaskReg & CAN_IF2MSK_MDIR)
{
pMsgObject->ui32Flags |= MSG_OBJ_USE_DIR_FILTER;
}
}
// Set the interrupt flags.
if(ui32MsgCtrl & CAN_IF2MCTL_TXIE)
{
pMsgObject->ui32Flags |= MSG_OBJ_TX_INT_ENABLE;
}
if(ui32MsgCtrl & CAN_IF2MCTL_RXIE)
{
pMsgObject->ui32Flags |= MSG_OBJ_RX_INT_ENABLE;
}
// See if there is new data available.
if(ui32MsgCtrl & CAN_IF2MCTL_NEWDAT)
{
// Get the amount of data needed to be read.
pMsgObject->ui32MsgLen = (ui32MsgCtrl & CAN_IF2MCTL_DLC_M);
// Don't read any data for a remote frame, there is nothing valid in
// that buffer anyway.
if((pMsgObject->ui32Flags & MSG_OBJ_REMOTE_FRAME) == 0)
{
// Read out the data from the CAN registers.
CANDataRegRead(pMsgObject->pucMsgData,
(uint32_t *)(ui32Base + CAN_O_IF2DATA),
pMsgObject->ui32MsgLen);
}
// Now clear out the new data flag.
HWREGH(ui32Base + CAN_O_IF2CMD + 2) = CAN_IF2CMD_TXRQST >> 16;
// Transfer the message object to the message object specified by
// ui32ObjID.
HWREGH(ui32Base + CAN_O_IF2CMD) = ui32ObjID & CAN_IF2CMD_MSG_NUM_M;
// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF2CMD) & CAN_IF2CMD_BUSY)
{
}
// Indicate that there is new data in this message.
pMsgObject->ui32Flags |= MSG_OBJ_NEW_DATA;
}
else
{
// Along with the MSG_OBJ_NEW_DATA not being set the amount of data
// needs to be set to zero if none was available.
pMsgObject->ui32MsgLen = 0;
}
}
//*****************************************************************************
//
//! Clears a message object so that it is no longer used.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32ObjID is the message object number to disable (1-32).
//!
//! This function frees the specified message object from use. Once a message
//! object has been ``cleared,'' it will no longer automatically send or
//! receive messages, or generate interrupts.
//!
//! \return None.
//
//*****************************************************************************
void
CANMessageClear(uint32_t ui32Base, uint32_t ui32ObjID)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32ObjID >= 1) && (ui32ObjID <= 32));
// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}
// Clear the message value bit in the arbitration register. This indicates
// the message is not valid.
HWREGH(ui32Base + CAN_O_IF1CMD + 2) = (CAN_IF1CMD_DIR |
CAN_IF1CMD_ARB) >> 16;
HWREGH(ui32Base + CAN_O_IF1ARB) = 0;
HWREGH(ui32Base + CAN_O_IF1ARB + 2) = 0;
// Initiate programming the message object
HWREGH(ui32Base + CAN_O_IF1CMD) = ui32ObjID & CAN_IF1CMD_MSG_NUM_M;
}
//*****************************************************************************
//
//! CAN Global interrupt Enable function.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32IntFlags is the bit mask of the interrupt sources to be enabled.
//!
//! Enables specific CAN interrupt in the global interrupt enable register
//!
//! The \e ui32IntFlags parameter is the logical OR of any of the following:
//!
//! CAN_GLB_INT_CANINT0 -Global Interrupt Enable bit for CAN INT0
//! CAN_GLB_INT_CANINT1 -Global Interrupt Enable bit for CAN INT1
//!
//! \return None.
//
//*****************************************************************************
void
CANGlobalIntEnable(uint32_t ui32Base, uint32_t ui32IntFlags)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32IntFlags & ~(CAN_GLB_INT_CANINT0 |
CAN_GLB_INT_CANINT1)) == 0);
//enable the requested interrupts
HWREGH(ui32Base + CAN_O_GLB_INT_EN) |= ui32IntFlags;
}
//*****************************************************************************
//
//! CAN Global interrupt Disable function.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32IntFlags is the bit mask of the interrupt sources to be enabled.
//!
//! Disables the specific CAN interrupt in the global interrupt enable register
//!
//! The \e ui32IntFlags parameter is the logical OR of any of the following:
//!
//! CAN_GLB_INT_CANINT0 -Global Interrupt bit for CAN INT0
//! CAN_GLB_INT_CANINT1 -Global Interrupt bit for CAN INT1
//!
//! \return None.
//
//*****************************************************************************
void
CANGlobalIntDisable(uint32_t ui32Base, uint32_t ui32IntFlags)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32IntFlags & ~(CAN_GLB_INT_CANINT0 |
CAN_GLB_INT_CANINT1)) == 0);
//disable the requested interrupts
HWREGH(ui32Base + CAN_O_GLB_INT_EN) &= ~ui32IntFlags;
}
//*****************************************************************************
//
//! CAN Global interrupt Clear function.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32IntFlags is the bit mask of the interrupt sources to be enabled.
//!
//! Clear the specific CAN interrupt bit in the global interrupt flag register.
//!
//! The \e ui32IntFlags parameter is the logical OR of any of the following:
//!
//! CAN_GLB_INT_CANINT0 -Global Interrupt bit for CAN INT0
//! CAN_GLB_INT_CANINT1 -Global Interrupt bit for CAN INT1
//!
//! \return None.
//
//*****************************************************************************
void
CANGlobalIntClear(uint32_t ui32Base, uint32_t ui32IntFlags)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32IntFlags & ~(CAN_GLB_INT_CANINT0 |
CAN_GLB_INT_CANINT1)) == 0);
//clear the requested interrupts
HWREGH(ui32Base + CAN_O_GLB_INT_CLR) = ui32IntFlags;
}
//*****************************************************************************
//
//! CAN Global interrupt Status function.
//!
//! \param ui32Base is the base address of the CAN controller.
//! \param ui32IntFlags is the bit mask of the interrupt sources to be checked.
//!
//! Get the status of the specific CAN interrupt bits in the global interrupt
//! flag register.
//!
//! The \e ui32IntFlags parameter is the logical OR of any of the following:
//!
//! CAN_GLB_INT_CANINT0 -Global Interrupt bit for CAN INT0
//! CAN_GLB_INT_CANINT1 -Global Interrupt bit for CAN INT1
//!
//! \return True if any of the requested interrupt bit(s) is (are) set.
//
//*****************************************************************************
bool
CANGlobalIntstatusGet(uint32_t ui32Base, uint32_t ui32IntFlags)
{
// Check the arguments.
ASSERT(CANBaseValid(ui32Base));
ASSERT((ui32IntFlags & ~(CAN_GLB_INT_CANINT0 |
CAN_GLB_INT_CANINT1)) == 0);
//enable the requested interrupts
if(HWREGH(ui32Base + CAN_O_GLB_INT_FLG) & ui32IntFlags)
{
return true;
}
else
{
return false;
}
}
//*****************************************************************************
// Close the Doxygen group.
//! @}
//*****************************************************************************