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rt-thread/bsp/lpc408x/Libraries/Drivers/source/lpc_can.c

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/**********************************************************************
* $Id$ lpc_can.c 2011-06-02
*//**
* @file lpc_can.c
* @brief Contains all functions support for CAN firmware library on
* LPC
* @version 1.0
* @date 02. June. 2011
* @author NXP MCU SW Application Team
*
* Copyright(C) 2011, NXP Semiconductor
* All rights reserved.
*
***********************************************************************
* Software that is described herein is for illustrative purposes only
* which provides customers with programming information regarding the
* products. This software is supplied "AS IS" without any warranties.
* NXP Semiconductors assumes no responsibility or liability for the
* use of the software, conveys no license or title under any patent,
* copyright, or mask work right to the product. NXP Semiconductors
* reserves the right to make changes in the software without
* notification. NXP Semiconductors also make no representation or
* warranty that such application will be suitable for the specified
* use without further testing or modification.
* Permission to use, copy, modify, and distribute this software and its
* documentation is hereby granted, under NXP Semiconductors'
* relevant copyright in the software, without fee, provided that it
* is used in conjunction with NXP Semiconductors microcontrollers. This
* copyright, permission, and disclaimer notice must appear in all copies of
* this code.
**********************************************************************/
/* Peripheral group ----------------------------------------------------------- */
/** @addtogroup CAN
* @{
*/
#ifdef __BUILD_WITH_EXAMPLE__
#include "lpc_libcfg.h"
#else
#include "lpc_libcfg_default.h"
#endif /* __BUILD_WITH_EXAMPLE__ */
#ifdef _CAN
/* Includes ------------------------------------------------------------------- */
#include "lpc_can.h"
#include "lpc_clkpwr.h"
/* Private Variables ---------------------------------------------------------- */
/** @defgroup CAN_Private_Variables CAN Private Variables
* @{
*/
FunctionalState FULLCAN_ENABLE;
/* Counts number of filters (CAN message objects) used */
uint16_t CANAF_FullCAN_cnt = 0;
uint16_t CANAF_std_cnt = 0;
uint16_t CANAF_gstd_cnt = 0;
uint16_t CANAF_ext_cnt = 0;
uint16_t CANAF_gext_cnt = 0;
/* End of Private Variables ----------------------------------------------------*/
/**
* @}
*/
/* Private Variables ---------------------------------------------------------- */
static LPC_CAN_TypeDef* CAN_GetPointer (uint8_t canId);
static void can_SetBaudrate (LPC_CAN_TypeDef *CANx, uint32_t baudrate);
/*********************************************************************//**
* @brief Setting CAN baud rate (bps)
* @param[in] canId point to LPC_CAN_TypeDef object, should be:
* - LPC_CAN1: CAN1 peripheral
* - LPC_CAN2: CAN2 peripheral
* @return The pointer to CAN peripheral that's expected to use
***********************************************************************/
static LPC_CAN_TypeDef* CAN_GetPointer (uint8_t canId)
{
LPC_CAN_TypeDef* pCan;
switch (canId)
{
case CAN_ID_1:
pCan = LPC_CAN1;
break;
case CAN_ID_2:
pCan = LPC_CAN2;
break;
default:
pCan = NULL;
break;
}
return pCan;
}
/*********************************************************************//**
* @brief Setting CAN baud rate (bps)
* @param[in] CANx point to LPC_CAN_TypeDef object, should be:
* - LPC_CAN1: CAN1 peripheral
* - LPC_CAN2: CAN2 peripheral
* @param[in] baudrate: is the baud rate value will be set
* @return None
***********************************************************************/
static void can_SetBaudrate (LPC_CAN_TypeDef *CANx, uint32_t baudrate)
{
uint32_t result = 0;
uint8_t NT, TSEG1, TSEG2;
uint32_t CANPclk = 0;
uint32_t BRP;
CANPclk = CLKPWR_GetCLK(CLKPWR_CLKTYPE_PER);
result = CANPclk / baudrate;
/* Calculate suitable nominal time value
* NT (nominal time) = (TSEG1 + TSEG2 + 3)
* NT <= 24
* TSEG1 >= 2*TSEG2
*/
for(NT = 24; NT > 0; NT = NT-2)
{
if ((result%NT) == 0)
{
BRP = result / NT - 1;
NT--;
TSEG2 = (NT/3) - 1;
TSEG1 = NT -(NT/3) - 1;
break;
}
}
/* Enter reset mode */
CANx->MOD = 0x01;
/* Set bit timing
* Default: SAM = 0x00;
* SJW = 0x03;
*/
CANx->BTR = (TSEG2 << 20) | (TSEG1 << 16) | (3 << 14) | BRP;
/* Return to normal operating */
CANx->MOD = 0;
}
/* End of Private Functions ----------------------------------------------------*/
/* Public Functions ----------------------------------------------------------- */
/** @addtogroup CAN_Public_Functions
* @{
*/
/********************************************************************//**
* @brief Initialize CAN peripheral with given baudrate
* @param[in] canId The Id of the expected CAN component
*
* @param[in] baudrate: the value of CAN baudrate will be set (bps)
* @return None
*********************************************************************/
void CAN_Init(uint8_t canId, uint32_t baudrate)
{
LPC_CAN_TypeDef* pCan = CAN_GetPointer(canId);
uint16_t i;
if(canId == CAN_ID_1)
{
/* Turn on power and clock for CAN1 */
CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, ENABLE);
}
else if(canId == CAN_ID_2)
{
/* Turn on power and clock for CAN2 */
CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, ENABLE);
}
else
{
return;
}
pCan->MOD = 1; // Enter Reset Mode
pCan->IER = 0; // Disable All CAN Interrupts
pCan->GSR = 0;
/* Request command to release Rx, Tx buffer and clear data overrun */
//pCan->CMR = CAN_CMR_AT | CAN_CMR_RRB | CAN_CMR_CDO;
pCan->CMR = (1 << 1) | (1 << 2) | (1 << 3);
/* Read to clear interrupt pending in interrupt capture register */
i = pCan->ICR;
pCan->MOD = 0;// Return Normal operating
//Reset CANAF value
LPC_CANAF->AFMR = 0x01;
//clear ALUT RAM
for (i = 0; i < 512; i++)
{
LPC_CANAF_RAM->mask[i] = 0x00;
}
LPC_CANAF->SFF_sa = 0x00;
LPC_CANAF->SFF_GRP_sa = 0x00;
LPC_CANAF->EFF_sa = 0x00;
LPC_CANAF->EFF_GRP_sa = 0x00;
LPC_CANAF->ENDofTable = 0x00;
LPC_CANAF->AFMR = 0x00;
/* Set baudrate */
can_SetBaudrate (pCan, baudrate);
}
/********************************************************************//**
* @brief CAN deInit
* @param[in] canId The Id of the expected CAN component
*
* @return None
*********************************************************************/
void CAN_DeInit(uint8_t canId)
{
if(canId == CAN_ID_1)
{
/* Turn on power and clock for CAN1 */
CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN1, DISABLE);
}
else if(canId == CAN_ID_2)
{
/* Turn on power and clock for CAN1 */
CLKPWR_ConfigPPWR(CLKPWR_PCONP_PCAN2, DISABLE);
}
return;
}
/********************************************************************//**
* @brief Setup Acceptance Filter Look-Up Table
* @param[in] CANAFx pointer to LPC_CANAF_TypeDef
* Should be: LPC_CANAF
* @param[in] AFSection the pointer to AF_SectionDef structure
* It contain information about 5 sections will be install in AFLUT
* @return CAN Error could be:
* - CAN_OBJECTS_FULL_ERROR: No more rx or tx objects available
* - CAN_AF_ENTRY_ERROR: table error-violation of ascending numerical order
* - CAN_OK: ID is added into table successfully
*********************************************************************/
CAN_ERROR CAN_SetupAFLUT(AF_SectionDef* AFSection)
{
uint8_t ctrl1,ctrl2;
uint8_t dis1, dis2;
uint16_t SID, ID_temp,i, count = 0;
uint32_t EID, entry, buf;
uint16_t lowerSID, upperSID;
uint32_t lowerEID, upperEID;
LPC_CANAF->AFMR = 0x01;
/***** setup FullCAN Table *****/
if(AFSection->FullCAN_Sec == NULL)
{
FULLCAN_ENABLE = DISABLE;
}
else
{
FULLCAN_ENABLE = ENABLE;
for(i = 0; i < (AFSection->FC_NumEntry); i++)
{
if(count + 1 > 64)
{
return CAN_OBJECTS_FULL_ERROR;
}
ctrl1 = AFSection->FullCAN_Sec->controller;
SID = AFSection->FullCAN_Sec->id_11;
dis1 = AFSection->FullCAN_Sec->disable;
entry = 0x00; //reset entry value
if((CANAF_FullCAN_cnt & 0x00000001)==0)
{
if(count != 0x00)
{
buf = LPC_CANAF_RAM->mask[count-1];
ID_temp = (buf & 0xE7FF); //mask controller & identifier bits
if(ID_temp > ((ctrl1<<13)|SID))
{
return CAN_AF_ENTRY_ERROR;
}
}
entry = (ctrl1<<29)|(dis1<<28)|(SID<<16)|(1<<27);
LPC_CANAF_RAM->mask[count] &= 0x0000FFFF;
LPC_CANAF_RAM->mask[count] |= entry;
CANAF_FullCAN_cnt++;
if(CANAF_FullCAN_cnt == AFSection->FC_NumEntry) //this is the lastest FullCAN entry
count++;
}
else
{
buf = LPC_CANAF_RAM->mask[count];
ID_temp = (buf >>16) & 0xE7FF;
if(ID_temp > ((ctrl1<<13)|SID))
{
return CAN_AF_ENTRY_ERROR;
}
entry = (ctrl1 << 13) | (dis1 << 12) | (SID << 0) | (1 << 11);
LPC_CANAF_RAM->mask[count] &= 0xFFFF0000;
LPC_CANAF_RAM->mask[count]|= entry;
count++;
CANAF_FullCAN_cnt++;
}
AFSection->FullCAN_Sec = (FullCAN_Entry *)((uint32_t)(AFSection->FullCAN_Sec)+ sizeof(FullCAN_Entry));
}
}
/***** Setup Explicit Standard Frame Format Section *****/
if(AFSection->SFF_Sec != NULL)
{
for(i=0;i<(AFSection->SFF_NumEntry);i++)
{
if(count + 1 > 512)
{
return CAN_OBJECTS_FULL_ERROR;
}
ctrl1 = AFSection->SFF_Sec->controller;
SID = AFSection->SFF_Sec->id_11;
dis1 = AFSection->SFF_Sec->disable;
entry = 0x00; //reset entry value
if((CANAF_std_cnt & 0x00000001)==0)
{
if(CANAF_std_cnt !=0 )
{
buf = LPC_CANAF_RAM->mask[count-1];
ID_temp = (buf & 0xE7FF); //mask controller & identifier bits
if(ID_temp > ((ctrl1<<13)|SID))
{
return CAN_AF_ENTRY_ERROR;
}
}
entry = (ctrl1<<29)|(dis1<<28)|(SID<<16);
LPC_CANAF_RAM->mask[count] &= 0x0000FFFF;
LPC_CANAF_RAM->mask[count] |= entry;
CANAF_std_cnt++;
if(CANAF_std_cnt == AFSection->SFF_NumEntry)//if this is the last SFF entry
count++;
}
else
{
buf = LPC_CANAF_RAM->mask[count];
ID_temp = (buf >>16) & 0xE7FF;
if(ID_temp > ((ctrl1<<13)|SID))
{
return CAN_AF_ENTRY_ERROR;
}
entry = (ctrl1 << 13) | (dis1 << 12) | (SID << 0);
LPC_CANAF_RAM->mask[count] &= 0xFFFF0000;
LPC_CANAF_RAM->mask[count] |= entry;
count++;
CANAF_std_cnt++;
}
AFSection->SFF_Sec = (SFF_Entry *)((uint32_t)(AFSection->SFF_Sec)+ sizeof(SFF_Entry));
}
}
/***** Setup Group of Standard Frame Format Identifier Section *****/
if(AFSection->SFF_GPR_Sec != NULL)
{
for(i=0;i<(AFSection->SFF_GPR_NumEntry);i++)
{
if(count + 1 > 512)
{
return CAN_OBJECTS_FULL_ERROR;
}
ctrl1 = AFSection->SFF_GPR_Sec->controller1;
ctrl2 = AFSection->SFF_GPR_Sec->controller2;
dis1 = AFSection->SFF_GPR_Sec->disable1;
dis2 = AFSection->SFF_GPR_Sec->disable2;
lowerSID = AFSection->SFF_GPR_Sec->lowerID;
upperSID = AFSection->SFF_GPR_Sec->upperID;
entry = 0x00;
if(CANAF_gstd_cnt!=0)
{
buf = LPC_CANAF_RAM->mask[count-1];
ID_temp = buf & 0xE7FF;
if((ctrl1 != ctrl2)||(lowerSID > upperSID)||(ID_temp > ((ctrl1<<13)|lowerSID)))
{
return CAN_AF_ENTRY_ERROR;
}
}
entry = (ctrl1 << 29)|(dis1 << 28)|(lowerSID << 16)| \
(ctrl2 << 13)|(dis2 << 12)|(upperSID << 0);
LPC_CANAF_RAM->mask[count] = entry;
CANAF_gstd_cnt++;
count++;
AFSection->SFF_GPR_Sec = (SFF_GPR_Entry *)((uint32_t)(AFSection->SFF_GPR_Sec)+ sizeof(SFF_GPR_Entry));
}
}
/***** Setup Explicit Extend Frame Format Identifier Section *****/
if(AFSection->EFF_Sec != NULL)
{
for(i=0;i<(AFSection->EFF_NumEntry);i++)
{
if(count + 1 > 512)
{
return CAN_OBJECTS_FULL_ERROR;
}
EID = AFSection->EFF_Sec->ID_29;
ctrl1 = AFSection->EFF_Sec->controller;
entry = 0x00; //reset entry value
entry = (ctrl1 << 29)|(EID << 0);
if(CANAF_ext_cnt != 0)
{
buf = LPC_CANAF_RAM->mask[count-1];
// EID_temp = buf & 0x0FFFFFFF;
if(buf > entry)
{
return CAN_AF_ENTRY_ERROR;
}
}
LPC_CANAF_RAM->mask[count] = entry;
CANAF_ext_cnt ++;
count++;
AFSection->EFF_Sec = (EFF_Entry *)((uint32_t)(AFSection->EFF_Sec)+ sizeof(EFF_Entry));
}
}
/***** Setup Group of Extended Frame Format Identifier Section *****/
if(AFSection->EFF_GPR_Sec != NULL)
{
for(i=0;i<(AFSection->EFF_GPR_NumEntry);i++)
{
if(count + 2 > 512)
{
return CAN_OBJECTS_FULL_ERROR;
}
ctrl1 = AFSection->EFF_GPR_Sec->controller1;
ctrl2 = AFSection->EFF_GPR_Sec->controller2;
lowerEID = AFSection->EFF_GPR_Sec->lowerEID;
upperEID = AFSection->EFF_GPR_Sec->upperEID;
entry = 0x00;
if(CANAF_gext_cnt != 0)
{
buf = LPC_CANAF_RAM->mask[count-1];
// EID_temp = buf & 0x0FFFFFFF;
if((ctrl1 != ctrl2) || (lowerEID > upperEID) || (buf > ((ctrl1 << 29)|(lowerEID << 0))))
{
return CAN_AF_ENTRY_ERROR;
}
}
entry = (ctrl1 << 29)|(lowerEID << 0);
LPC_CANAF_RAM->mask[count++] = entry;
entry = (ctrl2 << 29)|(upperEID << 0);
LPC_CANAF_RAM->mask[count++] = entry;
CANAF_gext_cnt++;
AFSection->EFF_GPR_Sec = (EFF_GPR_Entry *)((uint32_t)(AFSection->EFF_GPR_Sec)+ sizeof(EFF_GPR_Entry));
}
}
//update address values
LPC_CANAF->SFF_sa = ((CANAF_FullCAN_cnt + 1)>>1)<<2;
LPC_CANAF->SFF_GRP_sa = LPC_CANAF->SFF_sa + (((CANAF_std_cnt+1)>>1)<< 2);
LPC_CANAF->EFF_sa = LPC_CANAF->SFF_GRP_sa + (CANAF_gstd_cnt << 2);
LPC_CANAF->EFF_GRP_sa = LPC_CANAF->EFF_sa + (CANAF_ext_cnt << 2);
LPC_CANAF->ENDofTable = LPC_CANAF->EFF_GRP_sa + (CANAF_gext_cnt << 3);
if(FULLCAN_ENABLE == DISABLE)
{
LPC_CANAF->AFMR = 0x00; // Normal mode
}
else
{
LPC_CANAF->AFMR = 0x04;
}
return CAN_OK;
}
/********************************************************************//**
* @brief Add Explicit ID into AF Look-Up Table dynamically.
* @param[in] canId The Id of the expected CAN component
*
* @param[in] id: The ID of entry will be added
* @param[in] format: is the type of ID Frame Format, should be:
* - STD_ID_FORMAT: 11-bit ID value
* - EXT_ID_FORMAT: 29-bit ID value
* @return CAN Error, could be:
* - CAN_OBJECTS_FULL_ERROR: No more rx or tx objects available
* - CAN_ID_EXIT_ERROR: ID exited in table
* - CAN_OK: ID is added into table successfully
*********************************************************************/
CAN_ERROR CAN_LoadExplicitEntry(uint8_t canId, uint32_t id, CAN_ID_FORMAT_Type format)
{
uint32_t buf0 = 0, buf1 = 0;
int16_t cnt1 = 0, cnt2 = 0, bound1 = 0, total = 0;
/* Acceptance Filter Memory full - return */
total =((CANAF_FullCAN_cnt + 1) >> 1) + CANAF_FullCAN_cnt * 3 + ((CANAF_std_cnt + 1) >> 1) \
+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt << 1);
if (total >= 512)
{
//don't have enough space
return CAN_OBJECTS_FULL_ERROR;
}
/* Setup Acceptance Filter Configuration
Acceptance Filter Mode Register = Off */
LPC_CANAF->AFMR = 0x00000001;
/*********** Add Explicit Standard Identifier Frame Format entry *********/
if(format == STD_ID_FORMAT)
{
id &= 0x07FF;
id |= canId << 13;/* Add controller number */
/* Move all remaining sections one place up
if new entry will increase FullCAN list */
if ((CANAF_std_cnt & 0x0001) == 0)
{
cnt1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1);
bound1 = total - cnt1;
buf0 = LPC_CANAF_RAM->mask[cnt1];
while(bound1--)
{
cnt1++;
buf1 = LPC_CANAF_RAM->mask[cnt1];
LPC_CANAF_RAM->mask[cnt1] = buf0;
buf0 = buf1;
}
}
if (CANAF_std_cnt == 0)
{
cnt2 = (CANAF_FullCAN_cnt + 1)>>1;
/* For entering first ID */
LPC_CANAF_RAM->mask[cnt2] = 0x0000FFFF | (id << 16);
}
else if (CANAF_std_cnt == 1)
{
cnt2 = (CANAF_FullCAN_cnt + 1) >> 1;
/* For entering second ID */
if (((LPC_CANAF_RAM->mask[cnt2] >> 16)& 0xE7FF) > id)
{
LPC_CANAF_RAM->mask[cnt2] = (LPC_CANAF_RAM->mask[cnt2] >> 16) | (id << 16);
}
else
{
LPC_CANAF_RAM->mask[cnt2] = (LPC_CANAF_RAM->mask[cnt2] & 0xFFFF0000) | id;
}
}
else
{
/* Find where to insert new ID */
cnt1 = (CANAF_FullCAN_cnt+1)>>1;
cnt2 = CANAF_std_cnt;
bound1 = ((CANAF_FullCAN_cnt+1)>>1)+((CANAF_std_cnt+1)>>1);
while (cnt1 < bound1)
{
/* Loop through standard existing IDs */
if (((LPC_CANAF_RAM->mask[cnt1] >> 16) & 0xE7FF) > id)
{
cnt2 = cnt1 * 2;
break;
}
if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000E7FF) > id)
{
cnt2 = cnt1 * 2 + 1;
break;
}
cnt1++;
}
/* cnt1 = U32 where to insert new ID */
/* cnt2 = U16 where to insert new ID */
if (cnt1 == bound1)
{
/* Adding ID as last entry */
/* Even number of IDs exists */
if ((CANAF_std_cnt & 0x0001) == 0)
{
LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
}
/* Odd number of IDs exists */
else
{
LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
}
}
else
{
buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
if ((cnt2 & 0x0001) == 0)
{
/* Insert new mask to even address*/
buf1 = (id << 16) | (buf0 >> 16);
}
else
{
/* Insert new mask to odd address */
buf1 = (buf0 & 0xFFFF0000) | id;
}
LPC_CANAF_RAM->mask[cnt1] = buf1;/* Insert mask */
bound1 = ((CANAF_FullCAN_cnt + 1) >> 1) + ((CANAF_std_cnt+1) >> 1) - 1;
/* Move all remaining standard mask entries one place up */
while (cnt1 < bound1)
{
cnt1++;
buf1 = LPC_CANAF_RAM->mask[cnt1];
LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
buf0 = buf1;
}
if ((CANAF_std_cnt & 0x0001) == 0)
{
/* Even number of IDs exists */
LPC_CANAF_RAM->mask[cnt1+1] = (buf0 <<16) |(0x0000FFFF);
}
}
}
CANAF_std_cnt++;
//update address values
LPC_CANAF->SFF_GRP_sa += 0x04 ;
LPC_CANAF->EFF_sa += 0x04 ;
LPC_CANAF->EFF_GRP_sa += 0x04;
LPC_CANAF->ENDofTable += 0x04;
}
/*********** Add Explicit Extended Identifier Frame Format entry *********/
else
{
/* Add controller number */
id |= canId << 29;
cnt1 = ((CANAF_FullCAN_cnt+1) >> 1) + (((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt);
cnt2 = 0;
while (cnt2 < CANAF_ext_cnt)
{
/* Loop through extended existing masks*/
if (LPC_CANAF_RAM->mask[cnt1] > id)
{
break;
}
cnt1++;/* cnt1 = U32 where to insert new mask */
cnt2++;
}
buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
LPC_CANAF_RAM->mask[cnt1] = id; /* Insert mask */
CANAF_ext_cnt++;
bound1 = total;
/* Move all remaining extended mask entries one place up*/
while (cnt2 < bound1)
{
cnt1++;
cnt2++;
buf1 = LPC_CANAF_RAM->mask[cnt1];
LPC_CANAF_RAM->mask[cnt1] = buf0;
buf0 = buf1;
}
/* update address values */
LPC_CANAF->EFF_GRP_sa += 4;
LPC_CANAF->ENDofTable += 4;
}
if(CANAF_FullCAN_cnt == 0) //not use FullCAN mode
{
LPC_CANAF->AFMR = 0x00;//not use FullCAN mode
}
else
{
LPC_CANAF->AFMR = 0x04;
}
return CAN_OK;
}
/********************************************************************//**
* @brief Load FullCAN entry into AFLUT
* @param[in] canId The Id of the expected CAN component
*
* @param[in] id: identifier of entry that will be added
* @return CAN_ERROR, could be:
* - CAN_OK: loading is successful
* - CAN_ID_EXIT_ERROR: ID exited in FullCAN Section
* - CAN_OBJECTS_FULL_ERROR: no more space available
*********************************************************************/
CAN_ERROR CAN_LoadFullCANEntry (uint8_t canId, uint16_t id)
{
uint32_t buf0 = 0, buf1 = 0, buf2 = 0;
uint32_t tmp0 = 0, tmp1 = 0, tmp2 = 0;
int16_t cnt1 = 0, cnt2 = 0, bound1 = 0, total = 0;
/* Acceptance Filter Memory full - return */
total =((CANAF_FullCAN_cnt + 1) >> 1) + CANAF_FullCAN_cnt*3 + ((CANAF_std_cnt + 1) >> 1) \
+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt << 1);
//don't have enough space for this fullCAN Entry and its Object(3*32 bytes)
if ((total >= 508) || (CANAF_FullCAN_cnt >= 64))
{
return CAN_OBJECTS_FULL_ERROR;
}
/* Setup Acceptance Filter Configuration
Acceptance Filter Mode Register = Off */
LPC_CANAF->AFMR = 0x00000001;
/* Add mask for standard identifiers */
id &= 0x07FF;
id |= (canId << 13) | (1 << 11);
/* Move all remaining sections one place up
if new entry will increase FullCAN list */
if (((CANAF_FullCAN_cnt & 0x0001) == 0)&&(total!=0))
{
//then remove remaining section
cnt1 = (CANAF_FullCAN_cnt >> 1);
bound1 = total;
buf0 = LPC_CANAF_RAM->mask[cnt1];
while (bound1--)
{
cnt1++;
buf1 = LPC_CANAF_RAM->mask[cnt1];
LPC_CANAF_RAM->mask[cnt1] = buf0;
buf0 = buf1;
}
}
if (CANAF_FullCAN_cnt == 0)
{
/* For entering first ID */
LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
}
else if (CANAF_FullCAN_cnt == 1)
{
/* For entering second ID */
if (((LPC_CANAF_RAM->mask[0] >> 16)& 0xE7FF) > id)
{
LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
}
else
{
LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
}
}
else
{
/* Find where to insert new ID */
cnt1 = 0;
cnt2 = CANAF_FullCAN_cnt;
bound1 = (CANAF_FullCAN_cnt - 1) >> 1;
while (cnt1 <= bound1)
{
/* Loop through standard existing IDs */
if (((LPC_CANAF_RAM->mask[cnt1] >> 16) & 0xE7FF) > (id & 0xE7FF))
{
cnt2 = cnt1 * 2;
break;
}
if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000E7FF) > (id & 0xE7FF))
{
cnt2 = cnt1 * 2 + 1;
break;
}
cnt1++;
}
/* cnt1 = U32 where to insert new ID */
/* cnt2 = U16 where to insert new ID */
if (cnt1 > bound1)
{
/* Adding ID as last entry */
/* Even number of IDs exists */
if ((CANAF_FullCAN_cnt & 0x0001) == 0)
{
LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
}
/* Odd number of IDs exists */
else
{
LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
}
}
else
{
buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
if ((cnt2 & 0x0001) == 0)
{
/* Insert new mask to even address*/
buf1 = (id << 16) | (buf0 >> 16);
}
else
{
/* Insert new mask to odd address */
buf1 = (buf0 & 0xFFFF0000) | id;
}
LPC_CANAF_RAM->mask[cnt1] = buf1;/* Insert mask */
bound1 = CANAF_FullCAN_cnt >> 1;
/* Move all remaining standard mask entries one place up */
while (cnt1 < bound1)
{
cnt1++;
buf1 = LPC_CANAF_RAM->mask[cnt1];
LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
buf0 = buf1;
}
if ((CANAF_FullCAN_cnt & 0x0001) == 0)
{
/* Even number of IDs exists */
LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000)
| (0x0000FFFF);
}
}
}
//restruct FulCAN Object Section
bound1 = CANAF_FullCAN_cnt - cnt2;
cnt1 = total - (CANAF_FullCAN_cnt)*3 + cnt2*3 + 1;
buf0 = LPC_CANAF_RAM->mask[cnt1];
buf1 = LPC_CANAF_RAM->mask[cnt1+1];
buf2 = LPC_CANAF_RAM->mask[cnt1+2];
LPC_CANAF_RAM->mask[cnt1]=LPC_CANAF_RAM->mask[cnt1+1]= LPC_CANAF_RAM->mask[cnt1+2]=0x00;
cnt1+=3;
while(bound1--)
{
tmp0 = LPC_CANAF_RAM->mask[cnt1];
tmp1 = LPC_CANAF_RAM->mask[cnt1+1];
tmp2 = LPC_CANAF_RAM->mask[cnt1+2];
LPC_CANAF_RAM->mask[cnt1]= buf0;
LPC_CANAF_RAM->mask[cnt1+1]= buf1;
LPC_CANAF_RAM->mask[cnt1+2]= buf2;
buf0 = tmp0;
buf1 = tmp1;
buf2 = tmp2;
cnt1+=3;
}
CANAF_FullCAN_cnt++;
//update address values
LPC_CANAF->SFF_sa += 0x04;
LPC_CANAF->SFF_GRP_sa += 0x04 ;
LPC_CANAF->EFF_sa += 0x04 ;
LPC_CANAF->EFF_GRP_sa += 0x04;
LPC_CANAF->ENDofTable += 0x04;
LPC_CANAF->AFMR = 0x04;
return CAN_OK;
}
/********************************************************************//**
* @brief Load Group entry into AFLUT
* @param[in] canId The Id of the expected CAN component
*
* @param[in] lowerID, upperID: lower and upper identifier of entry
* @param[in] format: type of ID format, should be:
* - STD_ID_FORMAT: Standard ID format (11-bit value)
* - EXT_ID_FORMAT: Extended ID format (29-bit value)
* @return CAN_ERROR, could be:
* - CAN_OK: loading is successful
* - CAN_CONFLICT_ID_ERROR: Conflict ID occurs
* - CAN_OBJECTS_FULL_ERROR: no more space available
*********************************************************************/
CAN_ERROR CAN_LoadGroupEntry(uint8_t canId, uint32_t lowerID,
uint32_t upperID, CAN_ID_FORMAT_Type format)
{
uint32_t buf0, buf1, entry1, entry2, LID,UID;
int16_t cnt1, bound1, total;
if(lowerID > upperID)
return CAN_CONFLICT_ID_ERROR;
total =((CANAF_FullCAN_cnt+1) >> 1)+ CANAF_FullCAN_cnt*3 +((CANAF_std_cnt + 1) >> 1) \
+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt<<1);
/* Setup Acceptance Filter Configuration
Acceptance Filter Mode Register = Off */
LPC_CANAF->AFMR = 0x00000001;
/*********Add Group of Standard Identifier Frame Format************/
if(format == STD_ID_FORMAT)
{
if ((total >= 512))
{
//don't have enough space
return CAN_OBJECTS_FULL_ERROR;
}
lowerID &=0x7FF; //mask ID
upperID &=0x7FF;
entry1 = (canId << 29) | (lowerID << 16) | (canId << 13)|(upperID << 0);
cnt1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1);
//if this is the first Group standard ID entry
if(CANAF_gstd_cnt == 0)
{
LPC_CANAF_RAM->mask[cnt1] = entry1;
}
else
{
//find the position to add new Group entry
bound1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt;
while(cnt1 < bound1)
{
//compare controller first
while((LPC_CANAF_RAM->mask[cnt1] >> 29)< (entry1 >> 29))//increase until meet greater or equal controller
cnt1++;
buf0 = LPC_CANAF_RAM->mask[cnt1];
if((LPC_CANAF_RAM->mask[cnt1] >> 29)> (entry1 >> 29)) //meet greater controller
{
//add at this position
LPC_CANAF_RAM->mask[cnt1] = entry1;
break;
}
else //meet equal controller
{
LID = (buf0 >> 16)&0x7FF;
UID = buf0 & 0x7FF;
if (upperID <= LID)
{
//add new entry before this entry
LPC_CANAF_RAM->mask[cnt1] = entry1;
break;
}
else if (lowerID >= UID)
{
//load next entry to compare
cnt1 ++;
}
else
return CAN_CONFLICT_ID_ERROR;
}
}
if(cnt1 >= bound1)
{
//add new entry at the last position in this list
buf0 = LPC_CANAF_RAM->mask[cnt1];
LPC_CANAF_RAM->mask[cnt1] = entry1;
}
//remove all remaining entry of this section one place up
bound1 = total - cnt1;
while(bound1--)
{
cnt1++;
buf1 = LPC_CANAF_RAM->mask[cnt1];
LPC_CANAF_RAM->mask[cnt1] = buf0;
buf0 = buf1;
}
}
CANAF_gstd_cnt++;
//update address values
LPC_CANAF->EFF_sa +=0x04 ;
LPC_CANAF->EFF_GRP_sa +=0x04;
LPC_CANAF->ENDofTable +=0x04;
}
/*********Add Group of Extended Identifier Frame Format************/
else
{
if ((total >= 511))
{
//don't have enough space
return CAN_OBJECTS_FULL_ERROR;
}
lowerID &= 0x1FFFFFFF; //mask ID
upperID &= 0x1FFFFFFF;
entry1 = (canId << 29)|(lowerID << 0);
entry2 = (canId << 29)|(upperID << 0);
cnt1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt + CANAF_ext_cnt;
//if this is the first Group standard ID entry
if(CANAF_gext_cnt == 0)
{
LPC_CANAF_RAM->mask[cnt1] = entry1;
LPC_CANAF_RAM->mask[cnt1+1] = entry2;
}
else
{
//find the position to add new Group entry
bound1 = ((CANAF_FullCAN_cnt+1)>>1) + ((CANAF_std_cnt + 1) >> 1) + CANAF_gstd_cnt \
+ CANAF_ext_cnt + (CANAF_gext_cnt<<1);
while(cnt1 < bound1)
{
while((LPC_CANAF_RAM->mask[cnt1] >>29)< canId) //increase until meet greater or equal controller
cnt1++;
buf0 = LPC_CANAF_RAM->mask[cnt1];
buf1 = LPC_CANAF_RAM->mask[cnt1+1];
if((LPC_CANAF_RAM->mask[cnt1] >> 29)> canId) //meet greater controller
{
//add at this position
LPC_CANAF_RAM->mask[cnt1] = entry1;
LPC_CANAF_RAM->mask[++cnt1] = entry2;
break;
}
else //meet equal controller
{
LID = buf0 & 0x1FFFFFFF; //mask ID
UID = buf1 & 0x1FFFFFFF;
if (upperID <= LID)
{
//add new entry before this entry
LPC_CANAF_RAM->mask[cnt1] = entry1;
LPC_CANAF_RAM->mask[++cnt1] = entry2;
break;
}
else if (lowerID >= UID)
{
//load next entry to compare
cnt1 +=2;
}
else
return CAN_CONFLICT_ID_ERROR;
}
}
if(cnt1 >= bound1)
{
//add new entry at the last position in this list
buf0 = LPC_CANAF_RAM->mask[cnt1];
buf1 = LPC_CANAF_RAM->mask[cnt1+1];
LPC_CANAF_RAM->mask[cnt1] = entry1;
LPC_CANAF_RAM->mask[++cnt1] = entry2;
}
//remove all remaining entry of this section two place up
bound1 = total - cnt1 + 1;
cnt1++;
while(bound1>0)
{
entry1 = LPC_CANAF_RAM->mask[cnt1];
entry2 = LPC_CANAF_RAM->mask[cnt1+1];
LPC_CANAF_RAM->mask[cnt1] = buf0;
LPC_CANAF_RAM->mask[cnt1+1] = buf1;
buf0 = entry1;
buf1 = entry2;
cnt1 +=2;
bound1 -=2;
}
}
CANAF_gext_cnt++;
//update address values
LPC_CANAF->ENDofTable +=0x08;
}
LPC_CANAF->AFMR = 0x04;
return CAN_OK;
}
/********************************************************************//**
* @brief Remove AFLUT entry (FullCAN entry and Explicit Standard entry)
* @param[in] EntryType: the type of entry that want to remove, should be:
* - FULLCAN_ENTRY
* - EXPLICIT_STANDARD_ENTRY
* - GROUP_STANDARD_ENTRY
* - EXPLICIT_EXTEND_ENTRY
* - GROUP_EXTEND_ENTRY
* @param[in] position: the position of this entry in its section
* Note: the first position is 0
* @return CAN_ERROR, could be:
* - CAN_OK: removing is successful
* - CAN_ENTRY_NOT_EXIT_ERROR: entry want to remove is not exit
*********************************************************************/
CAN_ERROR CAN_RemoveEntry(AFLUT_ENTRY_Type EntryType, uint16_t position)
{
uint16_t cnt, bound, total;
uint32_t buf0, buf1;
/* Setup Acceptance Filter Configuration
Acceptance Filter Mode Register = Off */
LPC_CANAF->AFMR = 0x00000001;
total = ((CANAF_FullCAN_cnt + 1) >> 1) + ((CANAF_std_cnt + 1) >> 1) + \
+ CANAF_gstd_cnt + CANAF_ext_cnt + (CANAF_gext_cnt << 1);
/************** Remove FullCAN Entry *************/
if(EntryType == FULLCAN_ENTRY)
{
if((CANAF_FullCAN_cnt == 0)||(position >= CANAF_FullCAN_cnt))
{
return CAN_ENTRY_NOT_EXIT_ERROR;
}
else
{
cnt = position >> 1;
buf0 = LPC_CANAF_RAM->mask[cnt];
bound = (CANAF_FullCAN_cnt - position -1)>>1;
if((position & 0x0001) == 0) //event position
{
while(bound--)
{
//remove all remaining FullCAN entry one place down
buf1 = LPC_CANAF_RAM->mask[cnt+1];
LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16);
buf0 = buf1;
cnt++;
}
}
else //odd position
{
while(bound--)
{
//remove all remaining FullCAN entry one place down
buf1 = LPC_CANAF_RAM->mask[cnt+1];
LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000)|(buf1 >> 16);
LPC_CANAF_RAM->mask[cnt+1] = LPC_CANAF_RAM->mask[cnt+1] << 16;
buf0 = buf1<<16;
cnt++;
}
}
if((CANAF_FullCAN_cnt & 0x0001) == 0)
{
if((position & 0x0001)==0)
LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF);
else
LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF;
}
else
{
//remove all remaining section one place down
cnt = (CANAF_FullCAN_cnt + 1)>>1;
bound = total + CANAF_FullCAN_cnt * 3;
while(bound>cnt)
{
LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
cnt++;
}
LPC_CANAF_RAM->mask[cnt-1]=0x00;
//update address values
LPC_CANAF->SFF_sa -= 0x04;
LPC_CANAF->SFF_GRP_sa -= 0x04 ;
LPC_CANAF->EFF_sa -= 0x04 ;
LPC_CANAF->EFF_GRP_sa -= 0x04;
LPC_CANAF->ENDofTable -= 0x04;
}
CANAF_FullCAN_cnt--;
//delete its FullCAN Object in the FullCAN Object section
//remove all remaining FullCAN Object three place down
cnt = total + position * 3;
bound = (CANAF_FullCAN_cnt - position + 1) * 3;
while(bound)
{
LPC_CANAF_RAM->mask[cnt]= LPC_CANAF_RAM->mask[cnt+3];;
LPC_CANAF_RAM->mask[cnt+1]= LPC_CANAF_RAM->mask[cnt+4];
LPC_CANAF_RAM->mask[cnt+2]= LPC_CANAF_RAM->mask[cnt+5];
bound -= 3;
cnt += 3;
}
}
}
/************** Remove Explicit Standard ID Entry *************/
else if(EntryType == EXPLICIT_STANDARD_ENTRY)
{
if((CANAF_std_cnt == 0)||(position >= CANAF_std_cnt))
{
return CAN_ENTRY_NOT_EXIT_ERROR;
}
else
{
cnt = ((CANAF_FullCAN_cnt+1) >> 1) + (position >> 1);
buf0 = LPC_CANAF_RAM->mask[cnt];
bound = (CANAF_std_cnt - position - 1) >> 1;
if((position & 0x0001) == 0) //event position
{
while(bound--)
{
//remove all remaining FullCAN entry one place down
buf1 = LPC_CANAF_RAM->mask[cnt + 1];
LPC_CANAF_RAM->mask[cnt] = (buf1 >> 16) | (buf0 << 16);
buf0 = buf1;
cnt++;
}
}
else //odd position
{
while(bound--)
{
//remove all remaining FullCAN entry one place down
buf1 = LPC_CANAF_RAM->mask[cnt + 1];
LPC_CANAF_RAM->mask[cnt] = (buf0 & 0xFFFF0000) | (buf1 >> 16);
LPC_CANAF_RAM->mask[cnt + 1] = LPC_CANAF_RAM->mask[cnt + 1] << 16;
buf0 = buf1<<16;
cnt++;
}
}
if((CANAF_std_cnt & 0x0001) == 0)
{
if((position & 0x0001)==0)
LPC_CANAF_RAM->mask[cnt] = (buf0 << 16) | (0x0000FFFF);
else
LPC_CANAF_RAM->mask[cnt] = buf0 | 0x0000FFFF;
}
else
{
//remove all remaining section one place down
cnt = ((CANAF_FullCAN_cnt + 1)>>1) + ((CANAF_std_cnt + 1) >> 1);
bound = total + CANAF_FullCAN_cnt * 3;
while(bound>cnt)
{
LPC_CANAF_RAM->mask[cnt-1] = LPC_CANAF_RAM->mask[cnt];
cnt++;
}
LPC_CANAF_RAM->mask[cnt-1]=0x00;
//update address value
LPC_CANAF->SFF_GRP_sa -= 0x04 ;
LPC_CANAF->EFF_sa -= 0x04 ;
LPC_CANAF->EFF_GRP_sa -= 0x04;
LPC_CANAF->ENDofTable -= 0x04;
}
CANAF_std_cnt--;
}
}
/************** Remove Group of Standard ID Entry *************/
else if(EntryType == GROUP_STANDARD_ENTRY)
{
if((CANAF_gstd_cnt == 0)||(position >= CANAF_gstd_cnt))
{
return CAN_ENTRY_NOT_EXIT_ERROR;
}
else
{
cnt = ((CANAF_FullCAN_cnt + 1) >> 1) + ((CANAF_std_cnt + 1) >> 1)+ position + 1;
bound = total + CANAF_FullCAN_cnt * 3;
while (cnt < bound)
{
LPC_CANAF_RAM->mask[cnt - 1] = LPC_CANAF_RAM->mask[cnt];
cnt++;
}
LPC_CANAF_RAM->mask[cnt - 1]=0x00;
}
CANAF_gstd_cnt--;
//update address value
LPC_CANAF->EFF_sa -= 0x04;
LPC_CANAF->EFF_GRP_sa -= 0x04;
LPC_CANAF->ENDofTable -= 0x04;
}
/************** Remove Explicit Extended ID Entry *************/
else if(EntryType == EXPLICIT_EXTEND_ENTRY)
{
if((CANAF_ext_cnt == 0)||(position >= CANAF_ext_cnt))
{
return CAN_ENTRY_NOT_EXIT_ERROR;
}
else
{
cnt = ((CANAF_FullCAN_cnt + 1) >> 1) + ((CANAF_std_cnt + 1) >> 1)+ CANAF_gstd_cnt + position + 1;
bound = total + CANAF_FullCAN_cnt * 3;
while (cnt<bound)
{
LPC_CANAF_RAM->mask[cnt - 1] = LPC_CANAF_RAM->mask[cnt];
cnt++;
}
LPC_CANAF_RAM->mask[cnt - 1]=0x00;
}
CANAF_ext_cnt--;
LPC_CANAF->EFF_GRP_sa -= 0x04;
LPC_CANAF->ENDofTable -= 0x04;
}
/************** Remove Group of Extended ID Entry *************/
else
{
if((CANAF_gext_cnt == 0)||(position >= CANAF_gext_cnt))
{
return CAN_ENTRY_NOT_EXIT_ERROR;
}
else
{
cnt = total - (CANAF_gext_cnt << 1) + (position << 1);
bound = total + CANAF_FullCAN_cnt * 3;
while (cnt<bound)
{
//remove all remaining entry two place up
LPC_CANAF_RAM->mask[cnt] = LPC_CANAF_RAM->mask[cnt + 2];
LPC_CANAF_RAM->mask[cnt + 1] = LPC_CANAF_RAM->mask[cnt + 3];
cnt += 2;
}
}
CANAF_gext_cnt--;
LPC_CANAF->ENDofTable -= 0x08;
}
LPC_CANAF->AFMR = 0x04;
return CAN_OK;
}
/********************************************************************//**
* @brief Send message data
* @param[in] canId The Id of the expected CAN component
*
* @param[in] CAN_Msg point to the CAN_MSG_Type Structure, it contains message
* information such as: ID, DLC, RTR, ID Format
* @return Status:
* - SUCCESS: send message successfully
* - ERROR: send message unsuccessfully
*********************************************************************/
Status CAN_SendMsg (uint8_t canId, CAN_MSG_Type *CAN_Msg)
{
LPC_CAN_TypeDef* pCan = CAN_GetPointer(canId);
uint32_t data;
//Check status of Transmit Buffer 1
if (pCan->SR & (1 << 2))
{
/* Transmit Channel 1 is available */
/* Write frame informations and frame data into its CANxTFI1,
* CANxTID1, CANxTDA1, CANxTDB1 register */
pCan->TFI1 &= ~ 0x000F0000;
pCan->TFI1 |= (CAN_Msg->len) << 16;
if(CAN_Msg->type == REMOTE_FRAME)
{
pCan->TFI1 |= (1 << 30); //set bit RTR
}
else
{
pCan->TFI1 &= ~(1 << 30);
}
if(CAN_Msg->format == EXT_ID_FORMAT)
{
pCan->TFI1 |= (((uint32_t)1) << 31); //set bit FF
}
else
{
pCan->TFI1 &= ~(((uint32_t)1) << 31);
}
/* Write CAN ID*/
pCan->TID1 = CAN_Msg->id;
/*Write first 4 data bytes*/
data = (CAN_Msg->dataA[0]) | (((CAN_Msg->dataA[1]))<< 8) | ((CAN_Msg->dataA[2]) << 16) | ((CAN_Msg->dataA[3]) << 24);
pCan->TDA1 = data;
/*Write second 4 data bytes*/
data = (CAN_Msg->dataB[0]) | (((CAN_Msg->dataB[1])) << 8)|((CAN_Msg->dataB[2]) << 16)|((CAN_Msg->dataB[3]) << 24);
pCan->TDB1 = data;
/*Write transmission request*/
pCan->CMR = 0x21;
return SUCCESS;
}
//check status of Transmit Buffer 2
else if((pCan->SR) & (1 << 10))
{
/* Transmit Channel 2 is available */
/* Write frame informations and frame data into its CANxTFI2,
* CANxTID2, CANxTDA2, CANxTDB2 register */
pCan->TFI2 &= ~0x000F0000;
pCan->TFI2 |= (CAN_Msg->len) << 16;
if(CAN_Msg->type == REMOTE_FRAME)
{
pCan->TFI2 |= (1 << 30); //set bit RTR
}
else
{
pCan->TFI2 &= ~(1 << 30);
}
if(CAN_Msg->format == EXT_ID_FORMAT)
{
pCan->TFI2 |= (((uint32_t)1) << 31); //set bit FF
}
else
{
pCan->TFI2 &= ~(((uint32_t)1) << 31);
}
/* Write CAN ID*/
pCan->TID2 = CAN_Msg->id;
/*Write first 4 data bytes*/
data = (CAN_Msg->dataA[0]) | (((CAN_Msg->dataA[1])) << 8) | ((CAN_Msg->dataA[2]) << 16)|((CAN_Msg->dataA[3]) << 24);
pCan->TDA2 = data;
/*Write second 4 data bytes*/
data = (CAN_Msg->dataB[0]) | (((CAN_Msg->dataB[1])) << 8) | ((CAN_Msg->dataB[2]) << 16) | ((CAN_Msg->dataB[3]) << 24);
pCan->TDB2 = data;
/*Write transmission request*/
pCan->CMR = 0x41;
return SUCCESS;
}
//check status of Transmit Buffer 3
else if (pCan->SR & (1<<18))
{
/* Transmit Channel 3 is available */
/* Write frame informations and frame data into its CANxTFI3,
* CANxTID3, CANxTDA3, CANxTDB3 register */
pCan->TFI3 &= ~0x000F0000;
pCan->TFI3 |= (CAN_Msg->len) << 16;
if(CAN_Msg->type == REMOTE_FRAME)
{
pCan->TFI3 |= (1 << 30); //set bit RTR
}
else
{
pCan->TFI3 &= ~(1 << 30);
}
if(CAN_Msg->format == EXT_ID_FORMAT)
{
pCan->TFI3 |= (((uint32_t)1) << 31); //set bit FF
}
else
{
pCan->TFI3 &= ~(((uint32_t)1) << 31);
}
/* Write CAN ID*/
pCan->TID3 = CAN_Msg->id;
/*Write first 4 data bytes*/
data = (CAN_Msg->dataA[0]) | (((CAN_Msg->dataA[1])) << 8) | ((CAN_Msg->dataA[2]) << 16) | ((CAN_Msg->dataA[3]) << 24);
pCan->TDA3 = data;
/*Write second 4 data bytes*/
data = (CAN_Msg->dataB[0]) | (((CAN_Msg->dataB[1])) << 8) | ((CAN_Msg->dataB[2]) << 16) | ((CAN_Msg->dataB[3]) << 24);
pCan->TDB3 = data;
/*Write transmission request*/
pCan->CMR = 0x81;
return SUCCESS;
}
else
{
return ERROR;
}
}
/********************************************************************//**
* @brief Receive message data
* @param[in] canId The Id of the expected CAN component
*
* @param[in] CAN_Msg point to the CAN_MSG_Type Struct, it will contain received
* message information such as: ID, DLC, RTR, ID Format
* @return Status:
* - SUCCESS: receive message successfully
* - ERROR: receive message unsuccessfully
*********************************************************************/
Status CAN_ReceiveMsg (uint8_t canId, CAN_MSG_Type *CAN_Msg)
{
LPC_CAN_TypeDef* pCan = CAN_GetPointer(canId);
uint32_t data;
//check status of Receive Buffer
if((pCan->SR &0x00000001))
{
/* Receive message is available */
/* Read frame informations */
CAN_Msg->format = (uint8_t)(((pCan->RFS) & 0x80000000) >> 31);
CAN_Msg->type = (uint8_t)(((pCan->RFS) & 0x40000000) >> 30);
CAN_Msg->len = (uint8_t)(((pCan->RFS) & 0x000F0000) >> 16);
/* Read CAN message identifier */
CAN_Msg->id = pCan->RID;
/* Read the data if received message was DATA FRAME */
if (CAN_Msg->type == DATA_FRAME)
{
/* Read first 4 data bytes */
data = pCan->RDA;
*((uint8_t *) &CAN_Msg->dataA[0])= data & 0x000000FF;
*((uint8_t *) &CAN_Msg->dataA[1])= (data & 0x0000FF00) >> 8;;
*((uint8_t *) &CAN_Msg->dataA[2])= (data & 0x00FF0000) >> 16;
*((uint8_t *) &CAN_Msg->dataA[3])= (data & 0xFF000000) >> 24;
/* Read second 4 data bytes */
data = pCan->RDB;
*((uint8_t *) &CAN_Msg->dataB[0])= data & 0x000000FF;
*((uint8_t *) &CAN_Msg->dataB[1])= (data & 0x0000FF00) >> 8;
*((uint8_t *) &CAN_Msg->dataB[2])= (data & 0x00FF0000) >> 16;
*((uint8_t *) &CAN_Msg->dataB[3])= (data & 0xFF000000) >> 24;
/*release receive buffer*/
pCan->CMR = 0x04;
}
else
{
/* Received Frame is a Remote Frame, not have data, we just receive
* message information only */
pCan->CMR = 0x04; /*release receive buffer*/
return SUCCESS;
}
}
else
{
// no receive message available
return ERROR;
}
return SUCCESS;
}
/********************************************************************//**
* @brief Receive FullCAN Object
* @param[in] CANAFx: CAN Acceptance Filter register, should be: LPC_CANAF
* @param[in] CAN_Msg point to the CAN_MSG_Type Struct, it will contain received
* message information such as: ID, DLC, RTR, ID Format
* @return CAN_ERROR, could be:
* - CAN_FULL_OBJ_NOT_RCV: FullCAN Object is not be received
* - CAN_OK: Received FullCAN Object successful
*
*********************************************************************/
CAN_ERROR FCAN_ReadObj (CAN_MSG_Type *CAN_Msg)
{
uint32_t *pSrc, data;
uint32_t interrut_word, msg_idx, test_bit, head_idx, tail_idx;
interrut_word = 0;
if (LPC_CANAF->FCANIC0 != 0)
{
interrut_word = LPC_CANAF->FCANIC0;
head_idx = 0;
tail_idx = 31;
}
else if (LPC_CANAF->FCANIC1 != 0)
{
interrut_word = LPC_CANAF->FCANIC1;
head_idx = 32;
tail_idx = 63;
}
if (interrut_word != 0)
{
/* Detect for interrupt pending */
msg_idx = 0;
for (msg_idx = head_idx; msg_idx <= tail_idx; msg_idx++)
{
test_bit = interrut_word & 0x1;
interrut_word = interrut_word >> 1;
if (test_bit)
{
pSrc = (uint32_t *) (LPC_CANAF->ENDofTable + LPC_CANAF_RAM_BASE + msg_idx * 12);
/* Has been finished updating the content */
if ((*pSrc & 0x03000000L) == 0x03000000L)
{
/*clear semaphore*/
*pSrc &= 0xFCFFFFFF;
/*Set to DatA*/
pSrc++;
/* Copy to dest buf */
data = *pSrc;
*((uint8_t *) &CAN_Msg->dataA[0])= data & 0x000000FF;
*((uint8_t *) &CAN_Msg->dataA[1])= (data & 0x0000FF00) >> 8;
*((uint8_t *) &CAN_Msg->dataA[2])= (data & 0x00FF0000) >> 16;
*((uint8_t *) &CAN_Msg->dataA[3])= (data & 0xFF000000) >> 24;
/*Set to DatB*/
pSrc++;
/* Copy to dest buf */
data = *pSrc;
*((uint8_t *) &CAN_Msg->dataB[0])= data & 0x000000FF;
*((uint8_t *) &CAN_Msg->dataB[1])= (data & 0x0000FF00) >> 8;
*((uint8_t *) &CAN_Msg->dataB[2])= (data & 0x00FF0000) >> 16;
*((uint8_t *) &CAN_Msg->dataB[3])= (data & 0xFF000000) >> 24;
/*Back to Dat1*/
pSrc -= 2;
CAN_Msg->id = *pSrc & 0x7FF;
CAN_Msg->len = (uint8_t) (*pSrc >> 16) & 0x0F;
CAN_Msg->format = 0; //FullCAN Object ID always is 11-bit value
CAN_Msg->type = (uint8_t)(*pSrc >> 30) &0x01;
/*Re-read semaphore*/
if ((*pSrc & 0x03000000L) == 0)
{
return CAN_OK;
}
}
}
}
}
return CAN_FULL_OBJ_NOT_RCV;
}
/********************************************************************//**
* @brief Get CAN Control Status
* @param[in] canId The Id of the expected CAN component
*
* @param[in] arg: type of CAN status to get from CAN status register
* Should be:
* - CANCTRL_GLOBAL_STS: CAN Global Status
* - CANCTRL_INT_CAP: CAN Interrupt and Capture
* - CANCTRL_ERR_WRN: CAN Error Warning Limit
* - CANCTRL_STS: CAN Control Status
* @return Current Control Status that you want to get value
*********************************************************************/
uint32_t CAN_GetCTRLStatus (uint8_t canId, CAN_CTRL_STS_Type arg)
{
LPC_CAN_TypeDef* pCan = CAN_GetPointer(canId);
switch (arg)
{
case CANCTRL_GLOBAL_STS:
return pCan->GSR;
case CANCTRL_INT_CAP:
return pCan->ICR;
case CANCTRL_ERR_WRN:
return pCan->EWL;
default: // CANCTRL_STS
return pCan->SR;
}
}
/********************************************************************//**
* @brief Get CAN Central Status
* @param[in] CANCRx point to LPC_CANCR_TypeDef, should be: LPC_CANCR
* @param[in] arg: type of CAN status to get from CAN Central status register
* Should be:
* - CANCR_TX_STS: Central CAN Tx Status
* - CANCR_RX_STS: Central CAN Rx Status
* - CANCR_MS: Central CAN Miscellaneous Status
* @return Current Central Status that you want to get value
*********************************************************************/
uint32_t CAN_GetCRStatus (CAN_CR_STS_Type arg)
{
switch (arg)
{
case CANCR_TX_STS:
return LPC_CANCR->TxSR;
case CANCR_RX_STS:
return LPC_CANCR->RxSR;
default: // CANCR_MS
return LPC_CANCR->MSR;
}
}
/********************************************************************//**
* @brief Enable/Disable CAN Interrupt
* @param[in] canId The Id of the expected CAN component
*
* @param[in] arg: type of CAN interrupt that you want to enable/disable
* Should be:
* - CANINT_RIE: CAN Receiver Interrupt Enable
* - CANINT_TIE1: CAN Transmit Interrupt Enable
* - CANINT_EIE: CAN Error Warning Interrupt Enable
* - CANINT_DOIE: CAN Data Overrun Interrupt Enable
* - CANINT_WUIE: CAN Wake-Up Interrupt Enable
* - CANINT_EPIE: CAN Error Passive Interrupt Enable
* - CANINT_ALIE: CAN Arbitration Lost Interrupt Enable
* - CANINT_BEIE: CAN Bus Error Interrupt Enable
* - CANINT_IDIE: CAN ID Ready Interrupt Enable
* - CANINT_TIE2: CAN Transmit Interrupt Enable for Buffer2
* - CANINT_TIE3: CAN Transmit Interrupt Enable for Buffer3
* - CANINT_FCE: FullCAN Interrupt Enable
* @param[in] NewState: New state of this function, should be:
* - ENABLE
* - DISABLE
* @return none
*********************************************************************/
void CAN_IRQCmd (uint8_t canId, CAN_INT_EN_Type arg, FunctionalState NewState)
{
LPC_CAN_TypeDef* pCan = CAN_GetPointer(canId);
if(NewState == ENABLE)
{
if(arg == CANINT_FCE)
{
LPC_CANAF->AFMR = 0x01;
LPC_CANAF->FCANIE = 0x01;
LPC_CANAF->AFMR = 0x04;
}
else
pCan->IER |= (1 << arg);
}
else
{
if(arg == CANINT_FCE)
{
LPC_CANAF->AFMR = 0x01;
LPC_CANAF->FCANIE = 0x01;
LPC_CANAF->AFMR = 0x00;
}
else
pCan->IER &= ~(1 << arg);
}
}
/********************************************************************//**
* @brief Setting Acceptance Filter mode
* @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: LPC_CANAF
* @param[in] AFMode: type of AF mode that you want to set, should be:
* - CAN_NORMAL: Normal mode
* - CAN_ACC_OFF: Acceptance Filter Off Mode
* - CAN_ACC_BP: Acceptance Fileter Bypass Mode
* - CAN_EFCAN: FullCAN Mode Enhancement
* @return none
*********************************************************************/
void CAN_SetAFMode (CAN_AFMODE_Type AFMode)
{
switch(AFMode)
{
case CAN_NORMAL:
LPC_CANAF->AFMR = 0x00;
break;
case CAN_ACC_OFF:
LPC_CANAF->AFMR = 0x01;
break;
case CAN_ACC_BP:
LPC_CANAF->AFMR = 0x02;
break;
case CAN_EFCAN:
LPC_CANAF->AFMR = 0x04;
break;
}
}
/********************************************************************//**
* @brief Enable/Disable CAN Mode
* @param[in] canId The Id of the expected CAN component
*
* @param[in] mode: type of CAN mode that you want to enable/disable, should be:
* - CAN_OPERATING_MODE: Normal Operating Mode
* - CAN_RESET_MODE: Reset Mode
* - CAN_LISTENONLY_MODE: Listen Only Mode
* - CAN_SELFTEST_MODE: Self Test Mode
* - CAN_TXPRIORITY_MODE: Transmit Priority Mode
* - CAN_SLEEP_MODE: Sleep Mode
* - CAN_RXPOLARITY_MODE: Receive Polarity Mode
* - CAN_TEST_MODE: Test Mode
* @param[in] NewState: New State of this function, should be:
* - ENABLE
* - DISABLE
* @return none
*********************************************************************/
void CAN_ModeConfig(uint8_t canId, CAN_MODE_Type mode, FunctionalState NewState)
{
LPC_CAN_TypeDef* pCan = CAN_GetPointer(canId);
switch(mode)
{
case CAN_OPERATING_MODE:
pCan->MOD = 0x00;
break;
case CAN_RESET_MODE:
if(NewState == ENABLE)
pCan->MOD |= CAN_MOD_RM;
else
pCan->MOD &= ~CAN_MOD_RM;
break;
case CAN_LISTENONLY_MODE:
pCan->MOD |=CAN_MOD_RM;//Enter Reset mode
if(NewState == ENABLE)
pCan->MOD |= CAN_MOD_LOM;
else
pCan->MOD &= ~ CAN_MOD_LOM;
pCan->MOD &= ~ CAN_MOD_RM;//Release Reset mode
break;
case CAN_SELFTEST_MODE:
pCan->MOD |= CAN_MOD_RM;//Enter Reset mode
if(NewState == ENABLE)
pCan->MOD |= CAN_MOD_STM;
else
pCan->MOD &= ~ CAN_MOD_STM;
pCan->MOD &= ~ CAN_MOD_RM;//Release Reset mode
break;
case CAN_TXPRIORITY_MODE:
if(NewState == ENABLE)
pCan->MOD |= CAN_MOD_TPM;
else
pCan->MOD &= ~ CAN_MOD_TPM;
break;
case CAN_SLEEP_MODE:
if(NewState == ENABLE)
pCan->MOD |= CAN_MOD_SM;
else
pCan->MOD &= ~ CAN_MOD_SM;
break;
case CAN_RXPOLARITY_MODE:
if(NewState == ENABLE)
pCan->MOD |= CAN_MOD_RPM;
else
pCan->MOD &= ~ CAN_MOD_RPM;
break;
case CAN_TEST_MODE:
if(NewState == ENABLE)
pCan->MOD |= CAN_MOD_TM;
else
pCan->MOD &= ~ CAN_MOD_TM;
break;
}
}
/*********************************************************************//**
* @brief Set CAN command request
* @param[in] canId The Id of the expected CAN component
*
* @param[in] CMRType command request type, should be:
* - CAN_CMR_TR: Transmission request
* - CAN_CMR_AT: Abort Transmission request
* - CAN_CMR_RRB: Release Receive Buffer request
* - CAN_CMR_CDO: Clear Data Overrun request
* - CAN_CMR_SRR: Self Reception request
* - CAN_CMR_STB1: Select Tx Buffer 1 request
* - CAN_CMR_STB2: Select Tx Buffer 2 request
* - CAN_CMR_STB3: Select Tx Buffer 3 request
* @return CANICR (CAN interrupt and Capture register) value
**********************************************************************/
void CAN_SetCommand(uint8_t canId, uint32_t CMRType)
{
LPC_CAN_TypeDef* pCan = CAN_GetPointer(canId);
pCan->CMR |= CMRType;
}
/*********************************************************************//**
* @brief Get CAN interrupt status
* @param[in] canId The Id of the expected CAN component
*
* @return CANICR (CAN interrupt and Capture register) value
**********************************************************************/
uint32_t CAN_IntGetStatus(uint8_t canId)
{
LPC_CAN_TypeDef* pCan = CAN_GetPointer(canId);
return pCan->ICR;
}
/*********************************************************************//**
* @brief Check if FullCAN interrupt enable or not
* @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: LPC_CANAF
* @return IntStatus, could be:
* - SET: if FullCAN interrupt is enable
* - RESET: if FullCAN interrupt is disable
**********************************************************************/
IntStatus CAN_FullCANIntGetStatus (void)
{
if (LPC_CANAF->FCANIE)
return SET;
return RESET;
}
/*********************************************************************//**
* @brief Get value of FullCAN interrupt and capture register
* @param[in] CANAFx point to LPC_CANAF_TypeDef object, should be: LPC_CANAF
* @param[in] type: FullCAN IC type, should be:
* - FULLCAN_IC0: FullCAN Interrupt Capture 0
* - FULLCAN_IC1: FullCAN Interrupt Capture 1
* @return FCANIC0 or FCANIC1 (FullCAN interrupt and Capture register) value
**********************************************************************/
uint32_t CAN_FullCANPendGetStatus(FullCAN_IC_Type type)
{
if (type == FULLCAN_IC0)
return LPC_CANAF->FCANIC0;
return LPC_CANAF->FCANIC1;
}
/* End of Public Variables ---------------------------------------------------------- */
/**
* @}
*/
#endif /*_CAN*/
/**
* @}
*/
/* --------------------------------- End Of File ------------------------------ */
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